1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
|
#ifndef VEHICLE_BODY_H
#define VEHICLE_BODY_H
#include "scene/3d/physics_body.h"
class VehicleBody;
class VehicleWheel : public Spatial {
OBJ_TYPE(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;
VehicleWheel();
};
class VehicleBody : public PhysicsBody {
OBJ_TYPE(VehicleBody,PhysicsBody);
real_t mass;
real_t friction;
float engine_force;
float brake;
Vector3 linear_velocity;
Vector3 angular_velocity;
bool ccd;
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);
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_mass(real_t p_mass);
real_t get_mass() const;
void set_friction(real_t p_friction);
real_t get_friction() const;
void set_engine_force(float p_engine_force);
float get_engine_force() const;
void set_brake(float p_force);
float get_brake() const;
void set_steering(float p_steering);
float get_steering() const;
VehicleBody();
};
#endif // VEHICLE_BODY_H
|