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/*************************************************************************/
/* vehicle_body.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2019 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 */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef VEHICLE_BODY_H
#define VEHICLE_BODY_H
#include "scene/3d/physics_body.h"
class VehicleBody;
class VehicleWheel : public Spatial {
GDCLASS(VehicleWheel, Spatial);
friend class VehicleBody;
Transform m_worldTransform;
Transform local_xform;
bool engine_traction;
bool steers;
Vector3 m_chassisConnectionPointCS; //const
Vector3 m_wheelDirectionCS; //const
Vector3 m_wheelAxleCS; // const or modified by steering
real_t m_suspensionRestLength;
real_t m_maxSuspensionTravelCm;
real_t m_wheelRadius;
real_t m_suspensionStiffness;
real_t m_wheelsDampingCompression;
real_t m_wheelsDampingRelaxation;
real_t m_frictionSlip;
real_t m_maxSuspensionForce;
bool m_bIsFrontWheel;
VehicleBody *body;
//btVector3 m_wheelAxleCS; // const or modified by steering ?
real_t m_steering;
real_t m_rotation;
real_t m_deltaRotation;
real_t m_rollInfluence;
//real_t m_engineForce;
real_t m_brake;
real_t m_clippedInvContactDotSuspension;
real_t m_suspensionRelativeVelocity;
//calculated by suspension
real_t m_wheelsSuspensionForce;
real_t m_skidInfo;
struct RaycastInfo {
//set by raycaster
Vector3 m_contactNormalWS; //contactnormal
Vector3 m_contactPointWS; //raycast hitpoint
real_t m_suspensionLength;
Vector3 m_hardPointWS; //raycast starting point
Vector3 m_wheelDirectionWS; //direction in worldspace
Vector3 m_wheelAxleWS; // axle in worldspace
bool m_isInContact;
PhysicsBody *m_groundObject; //could be general void* ptr
} m_raycastInfo;
void _update(PhysicsDirectBodyState *s);
protected:
void _notification(int p_what);
static void _bind_methods();
public:
void set_radius(float p_radius);
float get_radius() const;
void set_suspension_rest_length(float p_length);
float get_suspension_rest_length() const;
void set_suspension_travel(float p_length);
float get_suspension_travel() const;
void set_suspension_stiffness(float p_value);
float get_suspension_stiffness() const;
void set_suspension_max_force(float p_value);
float get_suspension_max_force() const;
void set_damping_compression(float p_value);
float get_damping_compression() const;
void set_damping_relaxation(float p_value);
float get_damping_relaxation() const;
void set_friction_slip(float p_value);
float get_friction_slip() const;
void set_use_as_traction(bool p_enable);
bool is_used_as_traction() const;
void set_use_as_steering(bool p_enabled);
bool is_used_as_steering() const;
bool is_in_contact() const;
void set_roll_influence(float p_value);
float get_roll_influence() const;
float get_skidinfo() const;
String get_configuration_warning() const;
VehicleWheel();
};
class VehicleBody : public RigidBody {
GDCLASS(VehicleBody, RigidBody);
float engine_force;
float brake;
real_t m_pitchControl;
real_t m_steeringValue;
real_t m_currentVehicleSpeedKmHour;
Set<RID> exclude;
Vector<Vector3> m_forwardWS;
Vector<Vector3> m_axle;
Vector<real_t> m_forwardImpulse;
Vector<real_t> m_sideImpulse;
struct btVehicleWheelContactPoint {
PhysicsDirectBodyState *m_s;
PhysicsBody *m_body1;
Vector3 m_frictionPositionWorld;
Vector3 m_frictionDirectionWorld;
real_t m_jacDiagABInv;
real_t m_maxImpulse;
btVehicleWheelContactPoint(PhysicsDirectBodyState *s, PhysicsBody *body1, const Vector3 &frictionPosWorld, const Vector3 &frictionDirectionWorld, real_t maxImpulse);
};
void _resolve_single_bilateral(PhysicsDirectBodyState *s, const Vector3 &pos1, PhysicsBody *body2, const Vector3 &pos2, const Vector3 &normal, real_t &impulse, const real_t p_rollInfluence);
real_t _calc_rolling_friction(btVehicleWheelContactPoint &contactPoint);
void _update_friction(PhysicsDirectBodyState *s);
void _update_suspension(PhysicsDirectBodyState *s);
real_t _ray_cast(int p_idx, PhysicsDirectBodyState *s);
void _update_wheel_transform(VehicleWheel &wheel, PhysicsDirectBodyState *s);
void _update_wheel(int p_idx, PhysicsDirectBodyState *s);
friend class VehicleWheel;
Vector<VehicleWheel *> wheels;
static void _bind_methods();
void _direct_state_changed(Object *p_state);
public:
void set_engine_force(float p_engine_force);
float get_engine_force() const;
void set_brake(float p_brake);
float get_brake() const;
void set_steering(float p_steering);
float get_steering() const;
VehicleBody();
};
#endif // VEHICLE_BODY_H
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