214 lines
7.2 KiB
C++
214 lines
7.2 KiB
C++
/*************************************************************************/
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/* vehicle_body_3d.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef VEHICLE_BODY_H
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#define VEHICLE_BODY_H
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#include "scene/3d/physics_body_3d.h"
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class VehicleBody3D;
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class VehicleWheel3D : public Node3D {
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GDCLASS(VehicleWheel3D, Node3D);
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friend class VehicleBody3D;
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Transform3D m_worldTransform;
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Transform3D local_xform;
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bool engine_traction = false;
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bool steers = false;
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Vector3 m_chassisConnectionPointCS; //const
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Vector3 m_wheelDirectionCS; //const
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Vector3 m_wheelAxleCS; // const or modified by steering
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real_t m_suspensionRestLength = 0.15;
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real_t m_maxSuspensionTravelCm = 500.0;
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real_t m_wheelRadius = 0.5;
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real_t m_suspensionStiffness = 5.88;
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real_t m_wheelsDampingCompression = 0.83;
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real_t m_wheelsDampingRelaxation = 0.88;
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real_t m_frictionSlip = 10.5;
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real_t m_maxSuspensionForce = 6000.0;
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bool m_bIsFrontWheel = false;
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VehicleBody3D *body = nullptr;
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//btVector3 m_wheelAxleCS; // const or modified by steering ?
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real_t m_steering = 0.0;
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real_t m_rotation = 0.0;
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real_t m_deltaRotation = 0.0;
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real_t m_rpm = 0.0;
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real_t m_rollInfluence = 0.1;
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real_t m_engineForce = 0.0;
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real_t m_brake = 0.0;
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real_t m_clippedInvContactDotSuspension = 1.0;
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real_t m_suspensionRelativeVelocity = 0.0;
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//calculated by suspension
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real_t m_wheelsSuspensionForce = 0.0;
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real_t m_skidInfo = 0.0;
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struct RaycastInfo {
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//set by raycaster
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Vector3 m_contactNormalWS; //contactnormal
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Vector3 m_contactPointWS; //raycast hitpoint
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real_t m_suspensionLength = 0.0;
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Vector3 m_hardPointWS; //raycast starting point
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Vector3 m_wheelDirectionWS; //direction in worldspace
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Vector3 m_wheelAxleWS; // axle in worldspace
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bool m_isInContact = false;
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PhysicsBody3D *m_groundObject = nullptr; //could be general void* ptr
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} m_raycastInfo;
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void _update(PhysicsDirectBodyState3D *s);
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protected:
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void _notification(int p_what);
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static void _bind_methods();
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public:
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void set_radius(real_t p_radius);
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real_t get_radius() const;
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void set_suspension_rest_length(real_t p_length);
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real_t get_suspension_rest_length() const;
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void set_suspension_travel(real_t p_length);
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real_t get_suspension_travel() const;
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void set_suspension_stiffness(real_t p_value);
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real_t get_suspension_stiffness() const;
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void set_suspension_max_force(real_t p_value);
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real_t get_suspension_max_force() const;
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void set_damping_compression(real_t p_value);
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real_t get_damping_compression() const;
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void set_damping_relaxation(real_t p_value);
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real_t get_damping_relaxation() const;
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void set_friction_slip(real_t p_value);
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real_t get_friction_slip() const;
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void set_use_as_traction(bool p_enable);
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bool is_used_as_traction() const;
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void set_use_as_steering(bool p_enabled);
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bool is_used_as_steering() const;
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bool is_in_contact() const;
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Node3D *get_contact_body() const;
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void set_roll_influence(real_t p_value);
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real_t get_roll_influence() const;
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real_t get_skidinfo() const;
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real_t get_rpm() const;
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void set_engine_force(real_t p_engine_force);
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real_t get_engine_force() const;
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void set_brake(real_t p_brake);
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real_t get_brake() const;
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void set_steering(real_t p_steering);
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real_t get_steering() const;
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TypedArray<String> get_configuration_warnings() const override;
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VehicleWheel3D();
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};
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class VehicleBody3D : public RigidDynamicBody3D {
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GDCLASS(VehicleBody3D, RigidDynamicBody3D);
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real_t engine_force = 0.0;
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real_t brake = 0.0;
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real_t m_pitchControl = 0.0;
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real_t m_steeringValue = 0.0;
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real_t m_currentVehicleSpeedKmHour = 0.0;
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Set<RID> exclude;
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Vector<Vector3> m_forwardWS;
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Vector<Vector3> m_axle;
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Vector<real_t> m_forwardImpulse;
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Vector<real_t> m_sideImpulse;
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struct btVehicleWheelContactPoint {
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PhysicsDirectBodyState3D *m_s = nullptr;
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PhysicsBody3D *m_body1 = nullptr;
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Vector3 m_frictionPositionWorld;
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Vector3 m_frictionDirectionWorld;
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real_t m_jacDiagABInv = 0.0;
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real_t m_maxImpulse = 0.0;
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btVehicleWheelContactPoint(PhysicsDirectBodyState3D *s, PhysicsBody3D *body1, const Vector3 &frictionPosWorld, const Vector3 &frictionDirectionWorld, real_t maxImpulse);
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};
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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);
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real_t _calc_rolling_friction(btVehicleWheelContactPoint &contactPoint);
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void _update_friction(PhysicsDirectBodyState3D *s);
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void _update_suspension(PhysicsDirectBodyState3D *s);
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real_t _ray_cast(int p_idx, PhysicsDirectBodyState3D *s);
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void _update_wheel_transform(VehicleWheel3D &wheel, PhysicsDirectBodyState3D *s);
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void _update_wheel(int p_idx, PhysicsDirectBodyState3D *s);
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friend class VehicleWheel3D;
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Vector<VehicleWheel3D *> wheels;
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static void _bind_methods();
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static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
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virtual void _body_state_changed(PhysicsDirectBodyState3D *p_state) override;
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public:
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void set_engine_force(real_t p_engine_force);
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real_t get_engine_force() const;
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void set_brake(real_t p_brake);
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real_t get_brake() const;
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void set_steering(real_t p_steering);
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real_t get_steering() const;
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VehicleBody3D();
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};
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#endif // VEHICLE_BODY_H
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