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Diffstat (limited to 'scene/3d/vehicle_body_3d.cpp')
-rw-r--r--scene/3d/vehicle_body_3d.cpp61
1 files changed, 32 insertions, 29 deletions
diff --git a/scene/3d/vehicle_body_3d.cpp b/scene/3d/vehicle_body_3d.cpp
index 92c0e09947..5b2d01f8df 100644
--- a/scene/3d/vehicle_body_3d.cpp
+++ b/scene/3d/vehicle_body_3d.cpp
@@ -124,7 +124,7 @@ void VehicleWheel3D::_update(PhysicsDirectBodyState3D *s) {
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)) {
@@ -225,6 +225,10 @@ 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);
@@ -257,6 +261,7 @@ 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);
@@ -275,7 +280,7 @@ 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", "");
@@ -407,9 +412,14 @@ 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);
@@ -444,7 +454,7 @@ 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);
@@ -470,7 +480,7 @@ 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];
@@ -558,7 +568,7 @@ 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);
@@ -584,7 +594,7 @@ 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;
@@ -771,7 +781,7 @@ 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);
@@ -802,24 +812,21 @@ 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
@@ -831,20 +838,20 @@ 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 Transform3D &chassisWorldTransform = state->get_transform();
+ const Transform3D &chassisWorldTransform = p_state->get_transform();
Vector3 fwd(
chassisWorldTransform.basis[0][Vector3::AXIS_Z],
@@ -864,8 +871,6 @@ 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) {
@@ -919,14 +924,12 @@ 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 2024-12-26 12:01:57 +0000