187 lines
4.3 KiB
C++
187 lines
4.3 KiB
C++
#ifndef VEHICLE_BODY_H
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#define VEHICLE_BODY_H
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#include "scene/3d/physics_body.h"
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class VehicleBody;
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class VehicleWheel : public Spatial {
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OBJ_TYPE(VehicleWheel,Spatial);
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friend class VehicleBody;
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Transform m_worldTransform;
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Transform local_xform;
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bool engine_traction;
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bool steers;
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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;
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real_t m_maxSuspensionTravelCm;
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real_t m_wheelRadius;
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real_t m_suspensionStiffness;
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real_t m_wheelsDampingCompression;
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real_t m_wheelsDampingRelaxation;
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real_t m_frictionSlip;
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real_t m_maxSuspensionForce;
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bool m_bIsFrontWheel;
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VehicleBody *body;
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// btVector3 m_wheelAxleCS; // const or modified by steering ?
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real_t m_steering;
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real_t m_rotation;
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real_t m_deltaRotation;
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real_t m_rollInfluence;
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//real_t m_engineForce;
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real_t m_brake;
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real_t m_clippedInvContactDotSuspension;
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real_t m_suspensionRelativeVelocity;
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//calculated by suspension
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real_t m_wheelsSuspensionForce;
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real_t m_skidInfo;
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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;
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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;
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PhysicsBody* m_groundObject; //could be general void* ptr
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} m_raycastInfo;
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void _update(PhysicsDirectBodyState *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(float p_radius);
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float get_radius() const;
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void set_suspension_rest_length(float p_length);
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float get_suspension_rest_length() const;
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void set_suspension_travel(float p_length);
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float get_suspension_travel() const;
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void set_suspension_stiffness(float p_value);
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float get_suspension_stiffness() const;
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void set_suspension_max_force(float p_value);
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float get_suspension_max_force() const;
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void set_damping_compression(float p_value);
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float get_damping_compression() const;
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void set_damping_relaxation(float p_value);
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float get_damping_relaxation() const;
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void set_friction_slip(float p_value);
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float 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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VehicleWheel();
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};
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class VehicleBody : public PhysicsBody {
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OBJ_TYPE(VehicleBody,PhysicsBody);
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real_t mass;
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real_t friction;
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float engine_force;
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float brake;
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Vector3 linear_velocity;
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Vector3 angular_velocity;
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bool ccd;
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real_t m_pitchControl;
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real_t m_steeringValue;
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real_t m_currentVehicleSpeedKmHour;
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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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PhysicsDirectBodyState *m_s;
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PhysicsBody* m_body1;
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Vector3 m_frictionPositionWorld;
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Vector3 m_frictionDirectionWorld;
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real_t m_jacDiagABInv;
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real_t m_maxImpulse;
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btVehicleWheelContactPoint(PhysicsDirectBodyState *s,PhysicsBody* body1,const Vector3& frictionPosWorld,const Vector3& frictionDirectionWorld, real_t maxImpulse);
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};
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void _resolve_single_bilateral(PhysicsDirectBodyState *s, const Vector3& pos1, PhysicsBody* body2, const Vector3& pos2, const Vector3& normal, real_t& impulse);
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real_t _calc_rolling_friction(btVehicleWheelContactPoint& contactPoint);
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void _update_friction(PhysicsDirectBodyState *s);
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void _update_suspension(PhysicsDirectBodyState *s);
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real_t _ray_cast(int p_idx,PhysicsDirectBodyState *s);
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void _update_wheel_transform(VehicleWheel& wheel ,PhysicsDirectBodyState *s);
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void _update_wheel(int p_idx,PhysicsDirectBodyState *s);
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friend class VehicleWheel;
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Vector<VehicleWheel*> wheels;
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static void _bind_methods();
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void _direct_state_changed(Object *p_state);
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public:
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void set_mass(real_t p_mass);
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real_t get_mass() const;
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void set_friction(real_t p_friction);
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real_t get_friction() const;
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void set_engine_force(float p_engine_force);
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float get_engine_force() const;
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void set_brake(float p_force);
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float get_brake() const;
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void set_steering(float p_steering);
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float get_steering() const;
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Vector3 get_linear_velocity() const;
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VehicleBody();
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};
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#endif // VEHICLE_BODY_H
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