USARBot.KSCarWheelJoint

/* The Safe KCarWheelJoint 
 * When the constraint force is larger than KForceThreshold,
 * we remove the motor's torque and apply a brake torgue to
 * the joint.
 * 
 * Author: Jijun Wang
 */
class KSCarWheelJoint extends KCarWheelJoint;
var float StallTime;
var float StallTimeLeft;
var float oldTorque;
var bool bNeedRestore;

simulated function Tick(float delta) {
    //local vector Force;
    
    //KGetConstraintForce(Force);
    //log("force:"@VSize(Force)/50);
    if (StallTimeLeft>0)
        StallTimeLeft -= delta;
    else if (bNeedRestore) {
            KMotorTorque = oldTorque;
            bNeedRestore = false;
    }
}

event KForceExceed(float forceMag) {
    log("ForceExceed"@forceMag);
    if (StallTimeLeft<=0) {
        oldTorque = KMotorTorque;
        bNeedRestore = true;
    }
    StallTimeLeft = StallTime;
    KMotorTorque = KMotorTorque/2;
    KBraking = oldTorque/2;
}

defaultproperties {
    KForceThreshold=200
    StallTime=1.0
}