diff options
Diffstat (limited to 'scene/3d/vehicle_body.cpp')
| -rw-r--r-- | scene/3d/vehicle_body.cpp | 214 |
1 files changed, 206 insertions, 8 deletions
diff --git a/scene/3d/vehicle_body.cpp b/scene/3d/vehicle_body.cpp index 7680c1d56c..07abd1dcd2 100644 --- a/scene/3d/vehicle_body.cpp +++ b/scene/3d/vehicle_body.cpp @@ -125,19 +125,161 @@ void VehicleWheel::_update(PhysicsDirectBodyState *s) { } } +void VehicleWheel::set_radius(float p_radius) { + + m_wheelRadius=p_radius; + update_gizmo(); +} + +float VehicleWheel::get_radius() const{ + + return m_wheelRadius; +} + +void VehicleWheel::set_suspension_rest_length(float p_length){ + + m_suspensionRestLength=p_length; + update_gizmo(); +} +float VehicleWheel::get_suspension_rest_length() const{ + + return m_suspensionRestLength; +} + +void VehicleWheel::set_suspension_travel(float p_length){ + + m_maxSuspensionTravelCm=p_length/0.01; +} +float VehicleWheel::get_suspension_travel() const{ + + return m_maxSuspensionTravelCm*0.01; +} + +void VehicleWheel::set_suspension_stiffness(float p_value){ + + m_suspensionStiffness=p_value; +} +float VehicleWheel::get_suspension_stiffness() const{ + + return m_suspensionStiffness; +} + +void VehicleWheel::set_suspension_max_force(float p_value){ + + m_maxSuspensionForce=p_value; +} +float VehicleWheel::get_suspension_max_force() const{ + + return m_maxSuspensionForce; +} + +void VehicleWheel::set_damping_compression(float p_value){ + + m_wheelsDampingCompression=p_value; +} +float VehicleWheel::get_damping_compression() const{ + + return m_wheelsDampingRelaxation; +} + +void VehicleWheel::set_damping_relaxation(float p_value){ + + m_wheelsDampingRelaxation=p_value; +} +float VehicleWheel::get_damping_relaxation() const{ + + return m_wheelsDampingRelaxation; +} + +void VehicleWheel::set_friction_slip(float p_value) { + + m_frictionSlip=p_value; +} +float VehicleWheel::get_friction_slip() const{ + + return m_frictionSlip; +} + + void VehicleWheel::_bind_methods() { + ObjectTypeDB::bind_method(_MD("set_radius","length"),&VehicleWheel::set_radius); + ObjectTypeDB::bind_method(_MD("get_radius"),&VehicleWheel::get_radius); + + ObjectTypeDB::bind_method(_MD("set_suspension_rest_length","length"),&VehicleWheel::set_suspension_rest_length); + ObjectTypeDB::bind_method(_MD("get_suspension_rest_length"),&VehicleWheel::get_suspension_rest_length); + + ObjectTypeDB::bind_method(_MD("set_suspension_travel","length"),&VehicleWheel::set_suspension_travel); + ObjectTypeDB::bind_method(_MD("get_suspension_travel"),&VehicleWheel::get_suspension_travel); + + ObjectTypeDB::bind_method(_MD("set_suspension_stiffness","length"),&VehicleWheel::set_suspension_stiffness); + ObjectTypeDB::bind_method(_MD("get_suspension_stiffness"),&VehicleWheel::get_suspension_stiffness); + + ObjectTypeDB::bind_method(_MD("set_suspension_max_force","length"),&VehicleWheel::set_suspension_max_force); + ObjectTypeDB::bind_method(_MD("get_suspension_max_force"),&VehicleWheel::get_suspension_max_force); + + ObjectTypeDB::bind_method(_MD("set_damping_compression","length"),&VehicleWheel::set_damping_compression); + ObjectTypeDB::bind_method(_MD("get_damping_compression"),&VehicleWheel::get_damping_compression); + + ObjectTypeDB::bind_method(_MD("set_damping_relaxation","length"),&VehicleWheel::set_damping_relaxation); + ObjectTypeDB::bind_method(_MD("get_damping_relaxation"),&VehicleWheel::get_damping_relaxation); + + ObjectTypeDB::bind_method(_MD("set_use_as_traction","enable"),&VehicleWheel::set_use_as_traction); + ObjectTypeDB::bind_method(_MD("is_used_as_traction"),&VehicleWheel::is_used_as_traction); + + ObjectTypeDB::bind_method(_MD("set_use_as_steering","enable"),&VehicleWheel::set_use_as_steering); + ObjectTypeDB::bind_method(_MD("is_used_as_steering"),&VehicleWheel::is_used_as_steering); + + ObjectTypeDB::bind_method(_MD("set_friction_slip","length"),&VehicleWheel::set_friction_slip); + ObjectTypeDB::bind_method(_MD("get_friction_slip"),&VehicleWheel::get_friction_slip); + + + ADD_PROPERTY(PropertyInfo(Variant::BOOL,"type/traction"),_SCS("set_use_as_traction"),_SCS("is_used_as_traction")); + ADD_PROPERTY(PropertyInfo(Variant::BOOL,"type/steering"),_SCS("set_use_as_steering"),_SCS("is_used_as_steering")); + ADD_PROPERTY(PropertyInfo(Variant::REAL,"wheel/radius"),_SCS("set_radius"),_SCS("get_radius")); + ADD_PROPERTY(PropertyInfo(Variant::REAL,"wheel/rest_length"),_SCS("set_suspension_rest_length"),_SCS("get_suspension_rest_length")); + ADD_PROPERTY(PropertyInfo(Variant::REAL,"wheel/friction_slip"),_SCS("set_friction_slip"),_SCS("get_friction_slip")); + ADD_PROPERTY(PropertyInfo(Variant::REAL,"suspension/travel"),_SCS("set_suspension_travel"),_SCS("get_suspension_travel")); + ADD_PROPERTY(PropertyInfo(Variant::REAL,"suspension/stiffness"),_SCS("set_suspension_stiffness"),_SCS("get_suspension_stiffness")); + ADD_PROPERTY(PropertyInfo(Variant::REAL,"suspension/max_force"),_SCS("set_suspension_max_force"),_SCS("get_suspension_max_force")); + ADD_PROPERTY(PropertyInfo(Variant::REAL,"damping/compression"),_SCS("set_damping_compression"),_SCS("get_damping_compression")); + ADD_PROPERTY(PropertyInfo(Variant::REAL,"damping/relaxation"),_SCS("set_damping_relaxation"),_SCS("get_damping_relaxation")); + +} + + +void VehicleWheel::set_use_as_traction(bool p_enable) { + + engine_traction=p_enable; +} + +bool VehicleWheel::is_used_as_traction() const{ + + return engine_traction; +} + + +void VehicleWheel::set_use_as_steering(bool p_enabled){ + + steers=p_enabled; +} + +bool VehicleWheel::is_used_as_steering() const{ + + return steers; } VehicleWheel::VehicleWheel() { + steers=false; + engine_traction=false; m_steering = real_t(0.); - m_engineForce = real_t(0.); + //m_engineForce = real_t(0.); m_rotation = real_t(0.); m_deltaRotation = real_t(0.); m_brake = real_t(0.); @@ -172,6 +314,7 @@ void VehicleBody::_update_wheel_transform(VehicleWheel& wheel ,PhysicsDirectBody //} wheel.m_raycastInfo.m_hardPointWS = chassisTrans.xform( wheel.m_chassisConnectionPointCS ); + //wheel.m_raycastInfo.m_hardPointWS+=s->get_linear_velocity()*s->get_step(); wheel.m_raycastInfo.m_wheelDirectionWS = chassisTrans.get_basis().xform( wheel.m_wheelDirectionCS).normalized(); wheel.m_raycastInfo.m_wheelAxleWS = chassisTrans.get_basis().xform( wheel.m_wheelAxleCS ).normalized(); } @@ -189,12 +332,16 @@ void VehicleBody::_update_wheel(int p_idx,PhysicsDirectBodyState *s) { // up.normalize(); //rotate around steering over de wheelAxleWS - real_t steering = wheel.m_steering; + real_t steering = wheel.steers?m_steeringValue:0.0; + //print_line(itos(p_idx)+": "+rtos(steering)); Matrix3 steeringMat(up,steering); Matrix3 rotatingMat(right,-wheel.m_rotation); +// if (p_idx==1) +// print_line("steeringMat " +steeringMat); + Matrix3 basis2( right[0],up[0],fwd[0], right[1],up[1],fwd[1], @@ -202,9 +349,11 @@ void VehicleBody::_update_wheel(int p_idx,PhysicsDirectBodyState *s) { ); wheel.m_worldTransform.set_basis(steeringMat * rotatingMat * basis2); + //wheel.m_worldTransform.set_basis(basis2 * (steeringMat * rotatingMat)); wheel.m_worldTransform.set_origin( wheel.m_raycastInfo.m_hardPointWS + wheel.m_raycastInfo.m_wheelDirectionWS * wheel.m_raycastInfo.m_suspensionLength ); + } @@ -221,9 +370,10 @@ real_t VehicleBody::_ray_cast(int p_idx,PhysicsDirectBodyState *s) { real_t raylen = wheel.m_suspensionRestLength+wheel.m_wheelRadius; Vector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen); - const Vector3& source = wheel.m_raycastInfo.m_hardPointWS; + Vector3 source = wheel.m_raycastInfo.m_hardPointWS; wheel.m_raycastInfo.m_contactPointWS = source + rayvector; const Vector3& target = wheel.m_raycastInfo.m_contactPointWS; + source-=wheel.m_wheelRadius * wheel.m_raycastInfo.m_wheelDirectionWS; real_t param = real_t(0.); @@ -552,9 +702,10 @@ void VehicleBody::_update_friction(PhysicsDirectBodyState *s) { //const btTransform& wheelTrans = getWheelTransformWS( i ); - Matrix3 wheelBasis0 = wheelInfo.get_global_transform().basis; + Matrix3 wheelBasis0 = wheelInfo.m_worldTransform.basis;//get_global_transform().basis; + m_axle[i] = wheelBasis0.get_axis(Vector3::AXIS_X); - m_axle[i] = wheelInfo.m_raycastInfo.m_wheelAxleWS; + //m_axle[i] = wheelInfo.m_raycastInfo.m_wheelAxleWS; const Vector3& surfNormalWS = wheelInfo.m_raycastInfo.m_contactNormalWS; real_t proj = m_axle[i].dot(surfNormalWS); @@ -592,9 +743,9 @@ void VehicleBody::_update_friction(PhysicsDirectBodyState *s) { if (wheelInfo.m_raycastInfo.m_isInContact) { - if (wheelInfo.m_engineForce != 0.f) + if (engine_force != 0.f) { - rollingFriction = wheelInfo.m_engineForce* s->get_step(); + rollingFriction = engine_force* s->get_step(); } else { real_t defaultRollingFrictionImpulse = 0.f; @@ -721,9 +872,11 @@ void VehicleBody::_direct_state_changed(Object *p_state) { _update_wheel(i,s); } + for(int i=0;i<wheels.size();i++) { _ray_cast(i,s); + wheels[i]->set_transform(s->get_transform().inverse() * wheels[i]->m_worldTransform); } _update_suspension(s); @@ -808,6 +961,35 @@ real_t VehicleBody::get_friction() const{ return friction; } +void VehicleBody::set_engine_force(float p_force) { + + engine_force=p_force; +} + +float VehicleBody::get_engine_force() const{ + + return engine_force; +} + +void VehicleBody::set_brake(float p_brake){ + + brake=p_brake; +} +float VehicleBody::get_brake() const{ + + return brake; +} + +void VehicleBody::set_steering(float p_steering){ + + m_steeringValue=p_steering; +} +float VehicleBody::get_steering() const{ + + return m_steeringValue; +} + + void VehicleBody::_bind_methods(){ ObjectTypeDB::bind_method(_MD("set_mass","mass"),&VehicleBody::set_mass); @@ -816,8 +998,20 @@ void VehicleBody::_bind_methods(){ ObjectTypeDB::bind_method(_MD("set_friction","friction"),&VehicleBody::set_friction); ObjectTypeDB::bind_method(_MD("get_friction"),&VehicleBody::get_friction); + ObjectTypeDB::bind_method(_MD("set_engine_force","engine_force"),&VehicleBody::set_engine_force); + ObjectTypeDB::bind_method(_MD("get_engine_force"),&VehicleBody::get_engine_force); + + ObjectTypeDB::bind_method(_MD("set_brake","brake"),&VehicleBody::set_brake); + ObjectTypeDB::bind_method(_MD("get_brake"),&VehicleBody::get_brake); + + ObjectTypeDB::bind_method(_MD("set_steering","steering"),&VehicleBody::set_steering); + ObjectTypeDB::bind_method(_MD("get_steering"),&VehicleBody::get_steering); + ObjectTypeDB::bind_method(_MD("_direct_state_changed"),&VehicleBody::_direct_state_changed); + ADD_PROPERTY( PropertyInfo(Variant::REAL,"motion/engine_force",PROPERTY_HINT_RANGE,"0.01,1024.0,0.01"),_SCS("set_engine_force"),_SCS("get_engine_force")); + ADD_PROPERTY( PropertyInfo(Variant::REAL,"motion/brake",PROPERTY_HINT_RANGE,"0.01,1024.0,0.01"),_SCS("set_brake"),_SCS("get_brake")); + ADD_PROPERTY( PropertyInfo(Variant::REAL,"motion/steering",PROPERTY_HINT_RANGE,"0.01,1024.0,0.01"),_SCS("set_steering"),_SCS("get_steering")); ADD_PROPERTY( PropertyInfo(Variant::REAL,"body/mass",PROPERTY_HINT_RANGE,"0.01,65536,0.01"),_SCS("set_mass"),_SCS("get_mass")); ADD_PROPERTY( PropertyInfo(Variant::REAL,"body/friction",PROPERTY_HINT_RANGE,"0.01,1,0.01"),_SCS("set_friction"),_SCS("get_friction")); @@ -833,8 +1027,11 @@ VehicleBody::VehicleBody() : PhysicsBody(PhysicsServer::BODY_MODE_RIGID) { m_currentVehicleSpeedKmHour = real_t(0.); m_steeringValue = real_t(0.); + engine_force=0; + brake=0; + + - mass=1; friction=1; ccd=false; @@ -842,5 +1039,6 @@ VehicleBody::VehicleBody() : PhysicsBody(PhysicsServer::BODY_MODE_RIGID) { exclude.insert(get_rid()); PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(),this,"_direct_state_changed"); + set_mass(40); } |