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Diffstat (limited to 'scene/3d/vehicle_body_3d.cpp')
-rw-r--r--scene/3d/vehicle_body_3d.cpp182
1 files changed, 74 insertions, 108 deletions
diff --git a/scene/3d/vehicle_body_3d.cpp b/scene/3d/vehicle_body_3d.cpp
index b58f313c16..92c0e09947 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) 2007-2020 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 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 */
@@ -79,40 +79,40 @@ 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_axis(Vector3::AXIS_Y).normalized();
+ m_wheelAxleCS = get_transform().basis.get_axis(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;
}
}
-String VehicleWheel3D::get_configuration_warning() const {
- String warning = Node3D::get_configuration_warning();
+TypedArray<String> VehicleWheel3D::get_configuration_warnings() const {
+ TypedArray<String> warnings = Node::get_configuration_warnings();
if (!Object::cast_to<VehicleBody3D>(get_parent())) {
- if (!warning.empty()) {
- warning += "\n\n";
- }
- warning += TTR("VehicleWheel3D serves to provide a wheel system to a VehicleBody3D. Please use it as a child of a VehicleBody3D.");
+ warnings.push_back(TTR("VehicleWheel3D serves to provide a wheel system to a VehicleBody3D. Please use it as a child of a VehicleBody3D."));
}
- return warning;
+ return warnings;
}
void VehicleWheel3D::_update(PhysicsDirectBodyState3D *s) {
@@ -147,77 +147,77 @@ void VehicleWheel3D::_update(PhysicsDirectBodyState3D *s) {
}
}
-void VehicleWheel3D::set_radius(float p_radius) {
+void VehicleWheel3D::set_radius(real_t p_radius) {
m_wheelRadius = p_radius;
- update_gizmo();
+ update_gizmos();
}
-float VehicleWheel3D::get_radius() const {
+real_t VehicleWheel3D::get_radius() const {
return m_wheelRadius;
}
-void VehicleWheel3D::set_suspension_rest_length(float p_length) {
+void VehicleWheel3D::set_suspension_rest_length(real_t p_length) {
m_suspensionRestLength = p_length;
- update_gizmo();
+ update_gizmos();
}
-float VehicleWheel3D::get_suspension_rest_length() const {
+real_t VehicleWheel3D::get_suspension_rest_length() const {
return m_suspensionRestLength;
}
-void VehicleWheel3D::set_suspension_travel(float p_length) {
+void VehicleWheel3D::set_suspension_travel(real_t p_length) {
m_maxSuspensionTravelCm = p_length / 0.01;
}
-float VehicleWheel3D::get_suspension_travel() const {
+real_t VehicleWheel3D::get_suspension_travel() const {
return m_maxSuspensionTravelCm * 0.01;
}
-void VehicleWheel3D::set_suspension_stiffness(float p_value) {
+void VehicleWheel3D::set_suspension_stiffness(real_t p_value) {
m_suspensionStiffness = p_value;
}
-float VehicleWheel3D::get_suspension_stiffness() const {
+real_t VehicleWheel3D::get_suspension_stiffness() const {
return m_suspensionStiffness;
}
-void VehicleWheel3D::set_suspension_max_force(float p_value) {
+void VehicleWheel3D::set_suspension_max_force(real_t p_value) {
m_maxSuspensionForce = p_value;
}
-float VehicleWheel3D::get_suspension_max_force() const {
+real_t VehicleWheel3D::get_suspension_max_force() const {
return m_maxSuspensionForce;
}
-void VehicleWheel3D::set_damping_compression(float p_value) {
+void VehicleWheel3D::set_damping_compression(real_t p_value) {
m_wheelsDampingCompression = p_value;
}
-float VehicleWheel3D::get_damping_compression() const {
+real_t VehicleWheel3D::get_damping_compression() const {
return m_wheelsDampingCompression;
}
-void VehicleWheel3D::set_damping_relaxation(float p_value) {
+void VehicleWheel3D::set_damping_relaxation(real_t p_value) {
m_wheelsDampingRelaxation = p_value;
}
-float VehicleWheel3D::get_damping_relaxation() const {
+real_t VehicleWheel3D::get_damping_relaxation() const {
return m_wheelsDampingRelaxation;
}
-void VehicleWheel3D::set_friction_slip(float p_value) {
+void VehicleWheel3D::set_friction_slip(real_t p_value) {
m_frictionSlip = p_value;
}
-float VehicleWheel3D::get_friction_slip() const {
+real_t VehicleWheel3D::get_friction_slip() const {
return m_frictionSlip;
}
-void VehicleWheel3D::set_roll_influence(float p_value) {
+void VehicleWheel3D::set_roll_influence(real_t p_value) {
m_rollInfluence = p_value;
}
-float VehicleWheel3D::get_roll_influence() const {
+real_t VehicleWheel3D::get_roll_influence() const {
return m_rollInfluence;
}
@@ -295,27 +295,27 @@ void VehicleWheel3D::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "damping_relaxation"), "set_damping_relaxation", "get_damping_relaxation");
}
-void VehicleWheel3D::set_engine_force(float p_engine_force) {
+void VehicleWheel3D::set_engine_force(real_t p_engine_force) {
m_engineForce = p_engine_force;
}
-float VehicleWheel3D::get_engine_force() const {
+real_t VehicleWheel3D::get_engine_force() const {
return m_engineForce;
}
-void VehicleWheel3D::set_brake(float p_brake) {
+void VehicleWheel3D::set_brake(real_t p_brake) {
m_brake = p_brake;
}
-float VehicleWheel3D::get_brake() const {
+real_t VehicleWheel3D::get_brake() const {
return m_brake;
}
-void VehicleWheel3D::set_steering(float p_steering) {
+void VehicleWheel3D::set_steering(real_t p_steering) {
m_steering = p_steering;
}
-float VehicleWheel3D::get_steering() const {
+real_t VehicleWheel3D::get_steering() const {
return m_steering;
}
@@ -335,45 +335,21 @@ bool VehicleWheel3D::is_used_as_steering() const {
return steers;
}
-float VehicleWheel3D::get_skidinfo() const {
+real_t VehicleWheel3D::get_skidinfo() const {
return m_skidInfo;
}
-float VehicleWheel3D::get_rpm() const {
+real_t VehicleWheel3D::get_rpm() const {
return m_rpm;
}
VehicleWheel3D::VehicleWheel3D() {
- steers = false;
- engine_traction = false;
- m_steering = real_t(0.);
- m_engineForce = real_t(0.);
- m_rotation = real_t(0.);
- m_deltaRotation = real_t(0.);
- m_brake = real_t(0.);
- m_rollInfluence = real_t(0.1);
-
- m_suspensionRestLength = 0.15;
- m_wheelRadius = 0.5; //0.28;
- m_suspensionStiffness = 5.88;
- m_wheelsDampingCompression = 0.83;
- m_wheelsDampingRelaxation = 0.88;
- m_frictionSlip = 10.5;
- m_bIsFrontWheel = false;
- m_maxSuspensionTravelCm = 500;
- m_maxSuspensionForce = 6000;
-
- m_suspensionRelativeVelocity = 0;
- m_clippedInvContactDotSuspension = 1.0;
- m_raycastInfo.m_isInContact = false;
-
- body = nullptr;
}
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);
@@ -431,7 +407,7 @@ 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);
+ bool col = ss->intersect_ray(source, target, rr, exclude, get_collision_mask());
wheel.m_raycastInfo.m_groundObject = nullptr;
@@ -564,7 +540,7 @@ void VehicleBody3D::_resolve_single_bilateral(PhysicsDirectBodyState3D *s, const
Vector3 vel = vel1 - vel2;
Basis b2trans;
- float b2invmass = 0;
+ real_t b2invmass = 0;
Vector3 b2lv;
Vector3 b2av;
Vector3 b2invinertia; //todo
@@ -587,7 +563,7 @@ void VehicleBody3D::_resolve_single_bilateral(PhysicsDirectBodyState3D *s, const
b2invmass);
// FIXME: rel_vel assignment here is overwritten by the following assignment.
- // What seems to be intended in the next next assignment is: rel_vel = normal.dot(rel_vel);
+ // What seems to be intended in the next assignment is: rel_vel = normal.dot(rel_vel);
// Investigate why.
real_t rel_vel = jac.getRelativeVelocity(
s->get_linear_velocity(),
@@ -622,8 +598,8 @@ VehicleBody3D::btVehicleWheelContactPoint::btVehicleWheelContactPoint(PhysicsDir
m_frictionPositionWorld(frictionPosWorld),
m_frictionDirectionWorld(frictionDirectionWorld),
m_maxImpulse(maxImpulse) {
- float denom0 = 0;
- float denom1 = 0;
+ real_t denom0 = 0;
+ real_t denom1 = 0;
{
Vector3 r0 = frictionPosWorld - s->get_transform().origin;
@@ -634,7 +610,6 @@ VehicleBody3D::btVehicleWheelContactPoint::btVehicleWheelContactPoint(PhysicsDir
/* TODO: Why is this code unused?
if (body1) {
-
Vector3 r0 = frictionPosWorld - body1->get_global_transform().origin;
Vector3 c0 = (r0).cross(frictionDirectionWorld);
Vector3 vec = s->get_inverse_inertia_tensor().xform_inv(c0).cross(r0);
@@ -812,7 +787,7 @@ 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; //?
@@ -831,8 +806,9 @@ 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");
- float step = state->get_step();
+ real_t step = state->get_step();
for (int i = 0; i < wheels.size(); i++) {
_update_wheel(i, state);
@@ -868,7 +844,7 @@ void VehicleBody3D::_direct_state_changed(Object *p_state) {
Vector3 vel = state->get_linear_velocity() + (state->get_angular_velocity()).cross(relpos); // * mPos);
if (wheel.m_raycastInfo.m_isInContact) {
- const Transform &chassisWorldTransform = state->get_transform();
+ const Transform3D &chassisWorldTransform = state->get_transform();
Vector3 fwd(
chassisWorldTransform.basis[0][Vector3::AXIS_Z],
@@ -892,7 +868,7 @@ void VehicleBody3D::_direct_state_changed(Object *p_state) {
state = nullptr;
}
-void VehicleBody3D::set_engine_force(float p_engine_force) {
+void VehicleBody3D::set_engine_force(real_t p_engine_force) {
engine_force = p_engine_force;
for (int i = 0; i < wheels.size(); i++) {
VehicleWheel3D &wheelInfo = *wheels[i];
@@ -902,11 +878,11 @@ void VehicleBody3D::set_engine_force(float p_engine_force) {
}
}
-float VehicleBody3D::get_engine_force() const {
+real_t VehicleBody3D::get_engine_force() const {
return engine_force;
}
-void VehicleBody3D::set_brake(float p_brake) {
+void VehicleBody3D::set_brake(real_t p_brake) {
brake = p_brake;
for (int i = 0; i < wheels.size(); i++) {
VehicleWheel3D &wheelInfo = *wheels[i];
@@ -914,11 +890,11 @@ void VehicleBody3D::set_brake(float p_brake) {
}
}
-float VehicleBody3D::get_brake() const {
+real_t VehicleBody3D::get_brake() const {
return brake;
}
-void VehicleBody3D::set_steering(float p_steering) {
+void VehicleBody3D::set_steering(real_t p_steering) {
m_steeringValue = p_steering;
for (int i = 0; i < wheels.size(); i++) {
VehicleWheel3D &wheelInfo = *wheels[i];
@@ -928,7 +904,7 @@ void VehicleBody3D::set_steering(float p_steering) {
}
}
-float VehicleBody3D::get_steering() const {
+real_t VehicleBody3D::get_steering() const {
return m_steeringValue;
}
@@ -949,18 +925,8 @@ void VehicleBody3D::_bind_methods() {
}
VehicleBody3D::VehicleBody3D() {
- m_pitchControl = 0;
- m_currentVehicleSpeedKmHour = real_t(0.);
- m_steeringValue = real_t(0.);
-
- engine_force = 0;
- brake = 0;
-
- state = nullptr;
- ccd = false;
-
exclude.insert(get_rid());
- //PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed");
+ //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 2024-12-23 01:11:00 +0000