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/*************************************************************************/
/* vehicle_body_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* 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 */
/* "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_3d.h"
class VehicleBody3D;
class VehicleWheel3D : public Node3D {
GDCLASS(VehicleWheel3D, Node3D);
friend class VehicleBody3D;
Transform m_worldTransform;
Transform local_xform;
bool engine_traction = false;
bool steers = false;
Vector3 m_chassisConnectionPointCS; //const
Vector3 m_wheelDirectionCS; //const
Vector3 m_wheelAxleCS; // const or modified by steering
real_t m_suspensionRestLength = 0.15;
real_t m_maxSuspensionTravelCm = 500.0;
real_t m_wheelRadius = 0.5;
real_t m_suspensionStiffness = 5.88;
real_t m_wheelsDampingCompression = 0.83;
real_t m_wheelsDampingRelaxation = 0.88;
real_t m_frictionSlip = 10.5;
real_t m_maxSuspensionForce = 6000.0;
bool m_bIsFrontWheel = false;
VehicleBody3D *body = nullptr;
//btVector3 m_wheelAxleCS; // const or modified by steering ?
real_t m_steering = 0.0;
real_t m_rotation = 0.0;
real_t m_deltaRotation = 0.0;
real_t m_rpm = 0.0;
real_t m_rollInfluence = 0.1;
real_t m_engineForce = 0.0;
real_t m_brake = 0.0;
real_t m_clippedInvContactDotSuspension = 1.0;
real_t m_suspensionRelativeVelocity = 0.0;
//calculated by suspension
real_t m_wheelsSuspensionForce = 0.0;
real_t m_skidInfo = 0.0;
struct RaycastInfo {
//set by raycaster
Vector3 m_contactNormalWS; //contactnormal
Vector3 m_contactPointWS; //raycast hitpoint
real_t m_suspensionLength = 0.0;
Vector3 m_hardPointWS; //raycast starting point
Vector3 m_wheelDirectionWS; //direction in worldspace
Vector3 m_wheelAxleWS; // axle in worldspace
bool m_isInContact = false;
PhysicsBody3D *m_groundObject = nullptr; //could be general void* ptr
} m_raycastInfo;
void _update(PhysicsDirectBodyState3D *s);
protected:
void _notification(int p_what);
static void _bind_methods();
public:
void set_radius(real_t p_radius);
real_t get_radius() const;
void set_suspension_rest_length(real_t p_length);
real_t get_suspension_rest_length() const;
void set_suspension_travel(real_t p_length);
real_t get_suspension_travel() const;
void set_suspension_stiffness(real_t p_value);
real_t get_suspension_stiffness() const;
void set_suspension_max_force(real_t p_value);
real_t get_suspension_max_force() const;
void set_damping_compression(real_t p_value);
real_t get_damping_compression() const;
void set_damping_relaxation(real_t p_value);
real_t get_damping_relaxation() const;
void set_friction_slip(real_t p_value);
real_t 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(real_t p_value);
real_t get_roll_influence() const;
real_t get_skidinfo() const;
real_t get_rpm() const;
void set_engine_force(real_t p_engine_force);
real_t get_engine_force() const;
void set_brake(real_t p_brake);
real_t get_brake() const;
void set_steering(real_t p_steering);
real_t get_steering() const;
TypedArray<String> get_configuration_warnings() const override;
VehicleWheel3D();
};
class VehicleBody3D : public RigidBody3D {
GDCLASS(VehicleBody3D, RigidBody3D);
real_t engine_force = 0.0;
real_t brake = 0.0;
real_t m_pitchControl = 0.0;
real_t m_steeringValue = 0.0;
real_t m_currentVehicleSpeedKmHour = 0.0;
Set<RID> exclude;
Vector<Vector3> m_forwardWS;
Vector<Vector3> m_axle;
Vector<real_t> m_forwardImpulse;
Vector<real_t> m_sideImpulse;
struct btVehicleWheelContactPoint {
PhysicsDirectBodyState3D *m_s = nullptr;
PhysicsBody3D *m_body1 = nullptr;
Vector3 m_frictionPositionWorld;
Vector3 m_frictionDirectionWorld;
real_t m_jacDiagABInv = 0.0;
real_t m_maxImpulse = 0.0;
btVehicleWheelContactPoint(PhysicsDirectBodyState3D *s, PhysicsBody3D *body1, const Vector3 &frictionPosWorld, const Vector3 &frictionDirectionWorld, real_t maxImpulse);
};
void _resolve_single_bilateral(PhysicsDirectBodyState3D *s, const Vector3 &pos1, PhysicsBody3D *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(PhysicsDirectBodyState3D *s);
void _update_suspension(PhysicsDirectBodyState3D *s);
real_t _ray_cast(int p_idx, PhysicsDirectBodyState3D *s);
void _update_wheel_transform(VehicleWheel3D &wheel, PhysicsDirectBodyState3D *s);
void _update_wheel(int p_idx, PhysicsDirectBodyState3D *s);
friend class VehicleWheel3D;
Vector<VehicleWheel3D *> wheels;
static void _bind_methods();
void _direct_state_changed(Object *p_state) override;
public:
void set_engine_force(real_t p_engine_force);
real_t get_engine_force() const;
void set_brake(real_t p_brake);
real_t get_brake() const;
void set_steering(real_t p_steering);
real_t get_steering() const;
VehicleBody3D();
};
#endif // VEHICLE_BODY_H
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