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Diffstat (limited to 'scene/3d/physics/vehicle_body_3d.h')
| -rw-r--r-- | scene/3d/physics/vehicle_body_3d.h | 214 |
1 files changed, 214 insertions, 0 deletions
diff --git a/scene/3d/physics/vehicle_body_3d.h b/scene/3d/physics/vehicle_body_3d.h new file mode 100644 index 0000000000..def9984440 --- /dev/null +++ b/scene/3d/physics/vehicle_body_3d.h @@ -0,0 +1,214 @@ +/**************************************************************************/ +/* vehicle_body_3d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* 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_3D_H +#define VEHICLE_BODY_3D_H + +#include "scene/3d/physics/physics_body_3d.h" +#include "scene/3d/physics/rigid_body_3d.h" + +class VehicleBody3D; + +class VehicleWheel3D : public Node3D { + GDCLASS(VehicleWheel3D, Node3D); + + friend class VehicleBody3D; + + Transform3D m_worldTransform; + Transform3D 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_maxSuspensionTravel = 0.2; + 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; + + Node3D *get_contact_body() 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; + + PackedStringArray 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; + + HashSet<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(); + + static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state); + virtual void _body_state_changed(PhysicsDirectBodyState3D *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_3D_H |