1 files changed, 142 insertions, 0 deletions
diff --git a/scene/3d/vehicle_body.h b/scene/3d/vehicle_body.h
new file mode 100644
index 0000000000..97137da699
--- /dev/null
+++ b/scene/3d/vehicle_body.h
@@ -0,0 +1,142 @@
+#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;
+
+
+	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:
+
+
+	VehicleWheel();
+
+};
+
+
+class VehicleBody : public PhysicsBody {
+
+	OBJ_TYPE(VehicleBody,PhysicsBody);
+
+	real_t mass;
+	real_t friction;
+
+	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;
+
+
+	VehicleBody();
+};
+
+#endif // VEHICLE_BODY_H