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-rw-r--r--scene/3d/vehicle_body_3d.cpp132
1 files changed, 66 insertions, 66 deletions
diff --git a/scene/3d/vehicle_body_3d.cpp b/scene/3d/vehicle_body_3d.cpp
index 9493f686c4..19c90cdeb5 100644
--- a/scene/3d/vehicle_body_3d.cpp
+++ b/scene/3d/vehicle_body_3d.cpp
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
@@ -40,7 +40,7 @@ public:
Vector3 m_0MinvJt;
Vector3 m_1MinvJt;
//Optimization: can be stored in the w/last component of one of the vectors
- real_t m_Adiag;
+ real_t m_Adiag = 0.0;
real_t getDiagonal() const { return m_Adiag; }
@@ -79,26 +79,29 @@ public:
};
void VehicleWheel3D::_notification(int p_what) {
- if (p_what == NOTIFICATION_ENTER_TREE) {
- VehicleBody3D *cb = Object::cast_to<VehicleBody3D>(get_parent());
- if (!cb) {
- return;
- }
- body = cb;
- local_xform = get_transform();
- cb->wheels.push_back(this);
-
- m_chassisConnectionPointCS = get_transform().origin;
- m_wheelDirectionCS = -get_transform().basis.get_axis(Vector3::AXIS_Y).normalized();
- m_wheelAxleCS = get_transform().basis.get_axis(Vector3::AXIS_X).normalized();
- }
- if (p_what == NOTIFICATION_EXIT_TREE) {
- VehicleBody3D *cb = Object::cast_to<VehicleBody3D>(get_parent());
- if (!cb) {
- return;
- }
- cb->wheels.erase(this);
- body = nullptr;
+ switch (p_what) {
+ case NOTIFICATION_ENTER_TREE: {
+ VehicleBody3D *cb = Object::cast_to<VehicleBody3D>(get_parent());
+ if (!cb) {
+ return;
+ }
+ body = cb;
+ local_xform = get_transform();
+ cb->wheels.push_back(this);
+
+ m_chassisConnectionPointCS = get_transform().origin;
+ m_wheelDirectionCS = -get_transform().basis.get_column(Vector3::AXIS_Y).normalized();
+ m_wheelAxleCS = get_transform().basis.get_column(Vector3::AXIS_X).normalized();
+ } break;
+
+ case NOTIFICATION_EXIT_TREE: {
+ VehicleBody3D *cb = Object::cast_to<VehicleBody3D>(get_parent());
+ if (!cb) {
+ return;
+ }
+ cb->wheels.erase(this);
+ body = nullptr;
+ } break;
}
}
@@ -106,22 +109,20 @@ TypedArray<String> VehicleWheel3D::get_configuration_warnings() const {
TypedArray<String> warnings = Node::get_configuration_warnings();
if (!Object::cast_to<VehicleBody3D>(get_parent())) {
- warnings.push_back(TTR("VehicleWheel3D serves to provide a wheel system to a VehicleBody3D. Please use it as a child of a VehicleBody3D."));
+ warnings.push_back(RTR("VehicleWheel3D serves to provide a wheel system to a VehicleBody3D. Please use it as a child of a VehicleBody3D."));
}
return warnings;
}
void VehicleWheel3D::_update(PhysicsDirectBodyState3D *s) {
- if (m_raycastInfo.m_isInContact)
-
- {
+ if (m_raycastInfo.m_isInContact) {
real_t project = m_raycastInfo.m_contactNormalWS.dot(m_raycastInfo.m_wheelDirectionWS);
Vector3 chassis_velocity_at_contactPoint;
Vector3 relpos = m_raycastInfo.m_contactPointWS - s->get_transform().origin;
chassis_velocity_at_contactPoint = s->get_linear_velocity() +
- (s->get_angular_velocity()).cross(relpos); // * mPos);
+ (s->get_angular_velocity()).cross(relpos); // * mPos);
real_t projVel = m_raycastInfo.m_contactNormalWS.dot(chassis_velocity_at_contactPoint);
if (project >= real_t(-0.1)) {
@@ -132,11 +133,7 @@ void VehicleWheel3D::_update(PhysicsDirectBodyState3D *s) {
m_suspensionRelativeVelocity = projVel * inv;
m_clippedInvContactDotSuspension = inv;
}
-
- }
-
- else // Not in contact : position wheel in a nice (rest length) position
- {
+ } else { // Not in contact : position wheel in a nice (rest length) position
m_raycastInfo.m_suspensionLength = m_suspensionRestLength;
m_suspensionRelativeVelocity = real_t(0.0);
m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS;
@@ -146,7 +143,7 @@ void VehicleWheel3D::_update(PhysicsDirectBodyState3D *s) {
void VehicleWheel3D::set_radius(real_t p_radius) {
m_wheelRadius = p_radius;
- update_gizmo();
+ update_gizmos();
}
real_t VehicleWheel3D::get_radius() const {
@@ -155,7 +152,7 @@ real_t VehicleWheel3D::get_radius() const {
void VehicleWheel3D::set_suspension_rest_length(real_t p_length) {
m_suspensionRestLength = p_length;
- update_gizmo();
+ update_gizmos();
}
real_t VehicleWheel3D::get_suspension_rest_length() const {
@@ -222,6 +219,10 @@ bool VehicleWheel3D::is_in_contact() const {
return m_raycastInfo.m_isInContact;
}
+Node3D *VehicleWheel3D::get_contact_body() const {
+ return m_raycastInfo.m_groundObject;
+}
+
void VehicleWheel3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_radius", "length"), &VehicleWheel3D::set_radius);
ClassDB::bind_method(D_METHOD("get_radius"), &VehicleWheel3D::get_radius);
@@ -254,6 +255,7 @@ void VehicleWheel3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_friction_slip"), &VehicleWheel3D::get_friction_slip);
ClassDB::bind_method(D_METHOD("is_in_contact"), &VehicleWheel3D::is_in_contact);
+ ClassDB::bind_method(D_METHOD("get_contact_body"), &VehicleWheel3D::get_contact_body);
ClassDB::bind_method(D_METHOD("set_roll_influence", "roll_influence"), &VehicleWheel3D::set_roll_influence);
ClassDB::bind_method(D_METHOD("get_roll_influence"), &VehicleWheel3D::get_roll_influence);
@@ -272,7 +274,7 @@ void VehicleWheel3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_steering"), &VehicleWheel3D::get_steering);
ADD_GROUP("Per-Wheel Motion", "");
- ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "engine_force", PROPERTY_HINT_RANGE, "0.00,1024.0,0.01,or_greater"), "set_engine_force", "get_engine_force");
+ ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "engine_force", PROPERTY_HINT_RANGE, "-1024,1024.0,0.01,or_greater"), "set_engine_force", "get_engine_force");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "brake", PROPERTY_HINT_RANGE, "0.0,1.0,0.01"), "set_brake", "get_brake");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "steering", PROPERTY_HINT_RANGE, "-180,180.0,0.01"), "set_steering", "get_steering");
ADD_GROUP("VehicleBody3D Motion", "");
@@ -346,7 +348,7 @@ VehicleWheel3D::VehicleWheel3D() {
void VehicleBody3D::_update_wheel_transform(VehicleWheel3D &wheel, PhysicsDirectBodyState3D *s) {
wheel.m_raycastInfo.m_isInContact = false;
- Transform chassisTrans = s->get_transform();
+ Transform3D chassisTrans = s->get_transform();
/*
if (interpolatedTransform && (getRigidBody()->getMotionState())) {
getRigidBody()->getMotionState()->getWorldTransform(chassisTrans);
@@ -404,9 +406,14 @@ real_t VehicleBody3D::_ray_cast(int p_idx, PhysicsDirectBodyState3D *s) {
PhysicsDirectSpaceState3D *ss = s->get_space_state();
- bool col = ss->intersect_ray(source, target, rr, exclude, get_collision_mask());
+ PhysicsDirectSpaceState3D::RayParameters ray_params;
+ ray_params.from = source;
+ ray_params.to = target;
+ ray_params.exclude = exclude;
+ ray_params.collision_mask = get_collision_mask();
wheel.m_raycastInfo.m_groundObject = nullptr;
+ bool col = ss->intersect_ray(ray_params, rr);
if (col) {
param = source.distance_to(rr.position) / source.distance_to(target);
@@ -441,7 +448,7 @@ real_t VehicleBody3D::_ray_cast(int p_idx, PhysicsDirectBodyState3D *s) {
//chassis_velocity_at_contactPoint = getRigidBody()->getVelocityInLocalPoint(relpos);
chassis_velocity_at_contactPoint = s->get_linear_velocity() +
- (s->get_angular_velocity()).cross(wheel.m_raycastInfo.m_contactPointWS - s->get_transform().origin); // * mPos);
+ (s->get_angular_velocity()).cross(wheel.m_raycastInfo.m_contactPointWS - s->get_transform().origin); // * mPos);
real_t projVel = wheel.m_raycastInfo.m_contactNormalWS.dot(chassis_velocity_at_contactPoint);
@@ -467,7 +474,7 @@ real_t VehicleBody3D::_ray_cast(int p_idx, PhysicsDirectBodyState3D *s) {
}
void VehicleBody3D::_update_suspension(PhysicsDirectBodyState3D *s) {
- real_t chassisMass = mass;
+ real_t chassisMass = get_mass();
for (int w_it = 0; w_it < wheels.size(); w_it++) {
VehicleWheel3D &wheel_info = *wheels[w_it];
@@ -555,7 +562,7 @@ void VehicleBody3D::_resolve_single_bilateral(PhysicsDirectBodyState3D *s, const
rel_pos2,
normal,
s->get_inverse_inertia_tensor().get_main_diagonal(),
- 1.0 / mass,
+ 1.0 / get_mass(),
b2invinertia,
b2invmass);
@@ -581,7 +588,7 @@ void VehicleBody3D::_resolve_single_bilateral(PhysicsDirectBodyState3D *s, const
#define ONLY_USE_LINEAR_MASS
#ifdef ONLY_USE_LINEAR_MASS
- real_t massTerm = real_t(1.) / ((1.0 / mass) + b2invmass);
+ real_t massTerm = real_t(1.) / ((1.0 / get_mass()) + b2invmass);
impulse = -contactDamping * rel_vel * massTerm;
#else
real_t velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
@@ -677,7 +684,7 @@ void VehicleBody3D::_update_friction(PhysicsDirectBodyState3D *s) {
Basis wheelBasis0 = wheelInfo.m_worldTransform.basis; //get_global_transform().basis;
- m_axle.write[i] = wheelBasis0.get_axis(Vector3::AXIS_X);
+ m_axle.write[i] = wheelBasis0.get_column(Vector3::AXIS_X);
//m_axle[i] = wheelInfo.m_raycastInfo.m_wheelAxleWS;
const Vector3 &surfNormalWS = wheelInfo.m_raycastInfo.m_contactNormalWS;
@@ -768,7 +775,7 @@ void VehicleBody3D::_update_friction(PhysicsDirectBodyState3D *s) {
VehicleWheel3D &wheelInfo = *wheels[wheel];
Vector3 rel_pos = wheelInfo.m_raycastInfo.m_contactPointWS -
- s->get_transform().origin;
+ s->get_transform().origin;
if (m_forwardImpulse[wheel] != real_t(0.)) {
s->apply_impulse(m_forwardWS[wheel] * (m_forwardImpulse[wheel]), rel_pos);
@@ -784,7 +791,7 @@ void VehicleBody3D::_update_friction(PhysicsDirectBodyState3D *s) {
Vector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel];
#if defined ROLLING_INFLUENCE_FIX // fix. It only worked if car's up was along Y - VT.
- Vector3 vChassisWorldUp = s->get_transform().basis.transposed()[1]; //getRigidBody()->getCenterOfMassTransform().getBasis().getColumn(m_indexUpAxis);
+ Vector3 vChassisWorldUp = s->get_transform().basis.transposed()[1]; //getRigidBody()->getCenterOfMassTransform3D().getBasis().getColumn(m_indexUpAxis);
rel_pos -= vChassisWorldUp * (vChassisWorldUp.dot(rel_pos) * (1.f - wheelInfo.m_rollInfluence));
#else
rel_pos[1] *= wheelInfo.m_rollInfluence; //?
@@ -799,24 +806,21 @@ void VehicleBody3D::_update_friction(PhysicsDirectBodyState3D *s) {
}
}
-void VehicleBody3D::_direct_state_changed(Object *p_state) {
- RigidBody3D::_direct_state_changed(p_state);
-
- state = Object::cast_to<PhysicsDirectBodyState3D>(p_state);
- ERR_FAIL_NULL_MSG(state, "Method '_direct_state_changed' must receive a valid PhysicsDirectBodyState3D object as argument");
+void VehicleBody3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) {
+ RigidDynamicBody3D::_body_state_changed(p_state);
- real_t step = state->get_step();
+ real_t step = p_state->get_step();
for (int i = 0; i < wheels.size(); i++) {
- _update_wheel(i, state);
+ _update_wheel(i, p_state);
}
for (int i = 0; i < wheels.size(); i++) {
- _ray_cast(i, state);
- wheels[i]->set_transform(state->get_transform().inverse() * wheels[i]->m_worldTransform);
+ _ray_cast(i, p_state);
+ wheels[i]->set_transform(p_state->get_transform().inverse() * wheels[i]->m_worldTransform);
}
- _update_suspension(state);
+ _update_suspension(p_state);
for (int i = 0; i < wheels.size(); i++) {
//apply suspension force
@@ -828,20 +832,20 @@ void VehicleBody3D::_direct_state_changed(Object *p_state) {
suspensionForce = wheel.m_maxSuspensionForce;
}
Vector3 impulse = wheel.m_raycastInfo.m_contactNormalWS * suspensionForce * step;
- Vector3 relative_position = wheel.m_raycastInfo.m_contactPointWS - state->get_transform().origin;
+ Vector3 relative_position = wheel.m_raycastInfo.m_contactPointWS - p_state->get_transform().origin;
- state->apply_impulse(impulse, relative_position);
+ p_state->apply_impulse(impulse, relative_position);
}
- _update_friction(state);
+ _update_friction(p_state);
for (int i = 0; i < wheels.size(); i++) {
VehicleWheel3D &wheel = *wheels[i];
- Vector3 relpos = wheel.m_raycastInfo.m_hardPointWS - state->get_transform().origin;
- Vector3 vel = state->get_linear_velocity() + (state->get_angular_velocity()).cross(relpos); // * mPos);
+ Vector3 relpos = wheel.m_raycastInfo.m_hardPointWS - p_state->get_transform().origin;
+ Vector3 vel = p_state->get_linear_velocity() + (p_state->get_angular_velocity()).cross(relpos); // * mPos);
if (wheel.m_raycastInfo.m_isInContact) {
- const Transform &chassisWorldTransform = state->get_transform();
+ const Transform3D &chassisWorldTransform = p_state->get_transform();
Vector3 fwd(
chassisWorldTransform.basis[0][Vector3::AXIS_Z],
@@ -861,8 +865,6 @@ void VehicleBody3D::_direct_state_changed(Object *p_state) {
wheel.m_deltaRotation *= real_t(0.99); //damping of rotation when not in contact
}
-
- state = nullptr;
}
void VehicleBody3D::set_engine_force(real_t p_engine_force) {
@@ -916,14 +918,12 @@ void VehicleBody3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_steering"), &VehicleBody3D::get_steering);
ADD_GROUP("Motion", "");
- ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "engine_force", PROPERTY_HINT_RANGE, "0.00,1024.0,0.01,or_greater"), "set_engine_force", "get_engine_force");
+ ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "engine_force", PROPERTY_HINT_RANGE, "-1024,1024.0,0.01,or_greater"), "set_engine_force", "get_engine_force");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "brake", PROPERTY_HINT_RANGE, "0.0,1.0,0.01"), "set_brake", "get_brake");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "steering", PROPERTY_HINT_RANGE, "-180,180.0,0.01"), "set_steering", "get_steering");
}
VehicleBody3D::VehicleBody3D() {
exclude.insert(get_rid());
- //PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), callable_mp(this, &VehicleBody3D::_direct_state_changed));
-
set_mass(40);
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-15 06:36:39 +0000