Hi everybody
I have a problem about the wheel collision with vertical wall. I try to simulate a robot in its environment.
When a wheel hit a wall, instead of detecting collision, the wheel go through the wall until the robot body hits the wall.
At this very moment there is a collision, but it is too late for my simulation because I need my wheel having adherence
with the vertical wall.
Here is a picture of my problem:
The wall is composed by a MeshCollisionShape created with this code
[java]Mesh vertex = new Mesh();
vertex.setBuffer(Type.Position, 3, gVertices);
vertex.setBuffer(Type.Index, 3, gIndices);
vertex.updateBound();
indexVertexArrays = new MeshCollisionShape(vertex);
Geometry geomVertex = new Geometry("environment", vertex);
Material m1 = new Material(assetManager, "Common/MatDefs/Misc/ShowNormals.j3md");
geomVertex.setMaterial(m1);
rootNode.attachChild(geomVertex);
staticBody = new RigidBodyControl(indexVertexArrays, 0);
bullet.getPhysicsSpace().add(staticBody); [/java]
And the robot is created by that code
[java]//Setting up material composing the robot
Material mat = new Material(getAssetManager(), "Common/MatDefs/Misc/Unshaded.j3md");
mat.getAdditionalRenderState().setWireframe(true);
mat.setColor("Color", ColorRGBA.Red);
//Setting up robot body
CompoundCollisionShape compoundShape = new CompoundCollisionShape();
BoxCollisionShape box = new BoxCollisionShape(new Vector3f(.24f, .12f, .05f));
compoundShape.addChildShape(box, new Vector3f(0, 0, 0));
Box vehicleBody = new Box(.24f, .12f, .05f);
Geometry geomVehicle = new Geometry("corps voiture", vehicleBody);
geomVehicle.setMaterial(mat);
//create vehicle node
Node vehicleNode = new Node("vehicleNode");
vehicle = new VehicleControl(compoundShape, 400);
vehicleNode.addControl(vehicle);
vehicleNode.attachChild(geomVehicle);
//setting suspension values for wheels, this can be a bit tricky
//see also https://docs.google.com/Doc?docid=0AXVUZ5xw6XpKZGNuZG56a3FfMzU0Z2NyZnF4Zmo&hl=en
float stiffness = 60.0f;//200=f1 car
float compValue = .3f; //(should be lower than damp)
float dampValue = .4f;
vehicle.setSuspensionCompression(compValue * 2.0f * FastMath.sqrt(stiffness));
vehicle.setSuspensionDamping(dampValue * 2.0f * FastMath.sqrt(stiffness));
vehicle.setSuspensionStiffness(stiffness);
vehicle.setMaxSuspensionForce(10000.0f);
//Create four wheels and add them at their locations
Vector3f wheelDirection = new Vector3f(0, 0, -1); // was 0, -1, 0
Vector3f wheelAxle = new Vector3f(0, 1, 0); // was -1, 0, 0
float radius = 0.05f;
float restLength = 0.03f;
float zOff = 0.04f;
float yOff = .1f;
float xOff = .25f;
//Structure for wheels
Cylinder wheelMesh = new Cylinder(16, 16, radius, radius * 0.6f, true);
//Creating and attaching each wheel to the robot body
Node node1 = new Node("wheel 1 node");
Geometry wheels1 = new Geometry("wheel 1", wheelMesh);
node1.attachChild(wheels1);
wheels1.rotate(0, FastMath.HALF_PI, 0);
wheels1.setMaterial(mat);
vehicle.addWheel(node1, new Vector3f(xOff, yOff, -zOff),
wheelDirection, wheelAxle, restLength, radius, true);
Node node2 = new Node("wheel 2 node");
Geometry wheels2 = new Geometry("wheel 2", wheelMesh);
node2.attachChild(wheels2);
wheels2.rotate(0, FastMath.HALF_PI, 0);
wheels2.setMaterial(mat);
vehicle.addWheel(node2, new Vector3f(xOff, -yOff, -zOff),
wheelDirection, wheelAxle, restLength, radius, true);
Node node3 = new Node("wheel 3 node");
Geometry wheels3 = new Geometry("wheel 3", wheelMesh);
node3.attachChild(wheels3);
wheels3.rotate(0, FastMath.HALF_PI, 0);
wheels3.setMaterial(mat);
vehicle.addWheel(node3, new Vector3f(-xOff, yOff, -zOff),
wheelDirection, wheelAxle, restLength, radius, false);
Node node4 = new Node("wheel 4 node");
Geometry wheels4 = new Geometry("wheel 4", wheelMesh);
node4.attachChild(wheels4);
wheels4.rotate(0, FastMath.HALF_PI, 0);
wheels4.setMaterial(mat);
vehicle.addWheel(node4, new Vector3f(-xOff, -yOff, -zOff),
wheelDirection, wheelAxle, restLength, radius, false);
vehicleNode.attachChild(node1);
vehicleNode.attachChild(node2);
vehicleNode.attachChild(node3);
vehicleNode.attachChild(node4);
vehicleNode.setMaterial(mat);
rootNode.attachChild(vehicleNode);
//Adding vehicle in the simulation space
bullet.getPhysicsSpace().add(vehicle);
vehicle.setDamping(0.95f, 0.95f);
vehicle.setPhysicsLocation(new Vector3f(5f, 5f, 50f)); [/java]
`
So is there is something obvious that I missed or anything else that could help me?
Thank’s for reading this and maybe give help 
.
and… sorry for my poor english … -_-