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Merge pull request #14907 from scayze/rigid_vehicle

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Added RigidBody functionality to VehicleBody
This commit is contained in:
Juan Linietsky 2018-01-08 11:50:49 -03:00 committed by GitHub
commit c791c1d48e
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 22 additions and 77 deletions
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5
scene/3d/physics_body.h
View file

@ -115,7 +115,7 @@ public:
MODE_KINEMATIC,
};
private:
protected:
bool can_sleep;
PhysicsDirectBodyState *state;
Mode mode;
@ -178,9 +178,8 @@ private:
void _body_exit_tree(ObjectID p_id);
void _body_inout(int p_status, ObjectID p_instance, int p_body_shape, int p_local_shape);
void _direct_state_changed(Object *p_state);
virtual void _direct_state_changed(Object *p_state);
protected:
void _notification(int p_what);
static void _bind_methods();

75
scene/3d/vehicle_body.cpp
View file

@ -375,7 +375,7 @@ void VehicleBody::_update_wheel(int p_idx, PhysicsDirectBodyState *s) {
Basis steeringMat(up, steering);
Basis rotatingMat(right, -wheel.m_rotation);
Basis rotatingMat(right, wheel.m_rotation);
/*
if (p_idx==1)
@ -816,26 +816,24 @@ void VehicleBody::_update_friction(PhysicsDirectBodyState *s) {
void VehicleBody::_direct_state_changed(Object *p_state) {
PhysicsDirectBodyState *s = Object::cast_to<PhysicsDirectBodyState>(p_state);
RigidBody::_direct_state_changed(p_state);
set_ignore_transform_notification(true);
set_global_transform(s->get_transform());
set_ignore_transform_notification(false);
state = Object::cast_to<PhysicsDirectBodyState>(p_state);
float step = s->get_step();
float step = state->get_step();
for (int i = 0; i < wheels.size(); i++) {
_update_wheel(i, s);
_update_wheel(i, state);
}
for (int i = 0; i < wheels.size(); i++) {
_ray_cast(i, s);
wheels[i]->set_transform(s->get_transform().inverse() * wheels[i]->m_worldTransform);
_ray_cast(i, state);
wheels[i]->set_transform(state->get_transform().inverse() * wheels[i]->m_worldTransform);
}
_update_suspension(s);
_update_suspension(state);
for (int i = 0; i < wheels.size(); i++) {
@ -848,21 +846,21 @@ void VehicleBody::_direct_state_changed(Object *p_state) {
suspensionForce = wheel.m_maxSuspensionForce;
}
Vector3 impulse = wheel.m_raycastInfo.m_contactNormalWS * suspensionForce * step;
Vector3 relpos = wheel.m_raycastInfo.m_contactPointWS - s->get_transform().origin;
Vector3 relpos = wheel.m_raycastInfo.m_contactPointWS - state->get_transform().origin;
s->apply_impulse(relpos, impulse);
state->apply_impulse(relpos, impulse);
//getRigidBody()->applyImpulse(impulse, relpos);
}
_update_friction(s);
_update_friction(state);
for (int i = 0; i < wheels.size(); i++) {
VehicleWheel &wheel = *wheels[i];
Vector3 relpos = wheel.m_raycastInfo.m_hardPointWS - s->get_transform().origin;
Vector3 vel = s->get_linear_velocity() + (s->get_angular_velocity()).cross(relpos); // * mPos);
Vector3 relpos = wheel.m_raycastInfo.m_hardPointWS - state->get_transform().origin;
Vector3 vel = state->get_linear_velocity() + (state->get_angular_velocity()).cross(relpos); // * mPos);
if (wheel.m_raycastInfo.m_isInContact) {
const Transform &chassisWorldTransform = s->get_transform();
const Transform &chassisWorldTransform = state->get_transform();
Vector3 fwd(
chassisWorldTransform.basis[0][Vector3::AXIS_Z],
@ -883,29 +881,8 @@ void VehicleBody::_direct_state_changed(Object *p_state) {
wheel.m_deltaRotation *= real_t(0.99); //damping of rotation when not in contact
}
linear_velocity = s->get_linear_velocity();
}
void VehicleBody::set_mass(real_t p_mass) {
mass = p_mass;
PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_MASS, mass);
}
real_t VehicleBody::get_mass() const {
return mass;
}
void VehicleBody::set_friction(real_t p_friction) {
friction = p_friction;
PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_FRICTION, friction);
}
real_t VehicleBody::get_friction() const {
return friction;
state = NULL;
}
void VehicleBody::set_engine_force(float p_engine_force) {
@ -936,18 +913,8 @@ float VehicleBody::get_steering() const {
return m_steeringValue;
}
Vector3 VehicleBody::get_linear_velocity() const {
return linear_velocity;
}
void VehicleBody::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_mass", "mass"), &VehicleBody::set_mass);
ClassDB::bind_method(D_METHOD("get_mass"), &VehicleBody::get_mass);
ClassDB::bind_method(D_METHOD("set_friction", "friction"), &VehicleBody::set_friction);
ClassDB::bind_method(D_METHOD("get_friction"), &VehicleBody::get_friction);
ClassDB::bind_method(D_METHOD("set_engine_force", "engine_force"), &VehicleBody::set_engine_force);
ClassDB::bind_method(D_METHOD("get_engine_force"), &VehicleBody::get_engine_force);
@ -957,21 +924,14 @@ void VehicleBody::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_steering", "steering"), &VehicleBody::set_steering);
ClassDB::bind_method(D_METHOD("get_steering"), &VehicleBody::get_steering);
ClassDB::bind_method(D_METHOD("get_linear_velocity"), &VehicleBody::get_linear_velocity);
ClassDB::bind_method(D_METHOD("_direct_state_changed"), &VehicleBody::_direct_state_changed);
ADD_GROUP("Motion", "");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "engine_force", PROPERTY_HINT_RANGE, "0.00,1024.0,0.01"), "set_engine_force", "get_engine_force");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "brake", PROPERTY_HINT_RANGE, "0.0,1.0,0.01"), "set_brake", "get_brake");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "steering", PROPERTY_HINT_RANGE, "-180,180.0,0.01"), "set_steering", "get_steering");
ADD_GROUP("Mass", "");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "mass", PROPERTY_HINT_RANGE, "0.01,65536,0.01"), "set_mass", "get_mass");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "friction", PROPERTY_HINT_RANGE, "0.01,1,0.01"), "set_friction", "get_friction");
}
VehicleBody::VehicleBody() :
PhysicsBody(PhysicsServer::BODY_MODE_RIGID) {
RigidBody() {
m_pitchControl = 0;
m_currentVehicleSpeedKmHour = real_t(0.);
@ -982,10 +942,11 @@ VehicleBody::VehicleBody() :
friction = 1;
state = NULL;
ccd = false;
exclude.insert(get_rid());
PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed");
//PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed");
set_mass(40);
}

19
scene/3d/vehicle_body.h
View file

@ -139,20 +139,13 @@ public:
VehicleWheel();
};
class VehicleBody : public PhysicsBody {
class VehicleBody : public RigidBody {
GDCLASS(VehicleBody, PhysicsBody);
real_t mass;
real_t friction;
GDCLASS(VehicleBody, RigidBody);
float engine_force;
float brake;
Vector3 linear_velocity;
Vector3 angular_velocity;
bool ccd;
real_t m_pitchControl;
real_t m_steeringValue;
real_t m_currentVehicleSpeedKmHour;
@ -192,12 +185,6 @@ class VehicleBody : public PhysicsBody {
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;
void set_engine_force(float p_engine_force);
float get_engine_force() const;
@ -207,8 +194,6 @@ public:
void set_steering(float p_steering);
float get_steering() const;
Vector3 get_linear_velocity() const;
VehicleBody();
};