/*************************************************************************/ /* vehicle_body_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ /* "Software"), to deal in the Software without restriction, including */ /* without limitation the rights to use, copy, modify, merge, publish, */ /* distribute, sublicense, and/or sell copies of the Software, and to */ /* permit persons to whom the Software is furnished to do so, subject to */ /* the following conditions: */ /* */ /* The above copyright notice and this permission notice shall be */ /* included in all copies or substantial portions of the Software. */ /* */ /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ #ifndef VEHICLE_BODY_H #define VEHICLE_BODY_H #include "scene/3d/physics_body_3d.h" class VehicleBody3D; class VehicleWheel3D : public Node3D { GDCLASS(VehicleWheel3D, Node3D); friend class VehicleBody3D; Transform m_worldTransform; Transform local_xform; bool engine_traction = false; bool steers = false; Vector3 m_chassisConnectionPointCS; //const Vector3 m_wheelDirectionCS; //const Vector3 m_wheelAxleCS; // const or modified by steering real_t m_suspensionRestLength = 0.15; real_t m_maxSuspensionTravelCm = 500.0; real_t m_wheelRadius = 0.5; real_t m_suspensionStiffness = 5.88; real_t m_wheelsDampingCompression = 0.83; real_t m_wheelsDampingRelaxation = 0.88; real_t m_frictionSlip = 10.5; real_t m_maxSuspensionForce = 6000.0; bool m_bIsFrontWheel = false; VehicleBody3D *body = nullptr; //btVector3 m_wheelAxleCS; // const or modified by steering ? real_t m_steering = 0.0; real_t m_rotation = 0.0; real_t m_deltaRotation = 0.0; real_t m_rpm = 0.0; real_t m_rollInfluence = 0.1; real_t m_engineForce = 0.0; real_t m_brake = 0.0; real_t m_clippedInvContactDotSuspension = 1.0; real_t m_suspensionRelativeVelocity = 0.0; //calculated by suspension real_t m_wheelsSuspensionForce = 0.0; real_t m_skidInfo = 0.0; struct RaycastInfo { //set by raycaster Vector3 m_contactNormalWS; //contactnormal Vector3 m_contactPointWS; //raycast hitpoint real_t m_suspensionLength = 0.0; Vector3 m_hardPointWS; //raycast starting point Vector3 m_wheelDirectionWS; //direction in worldspace Vector3 m_wheelAxleWS; // axle in worldspace bool m_isInContact = false; PhysicsBody3D *m_groundObject; //could be general void* ptr } m_raycastInfo; void _update(PhysicsDirectBodyState3D *s); protected: void _notification(int p_what); static void _bind_methods(); public: void set_radius(real_t p_radius); real_t get_radius() const; void set_suspension_rest_length(real_t p_length); real_t get_suspension_rest_length() const; void set_suspension_travel(real_t p_length); real_t get_suspension_travel() const; void set_suspension_stiffness(real_t p_value); real_t get_suspension_stiffness() const; void set_suspension_max_force(real_t p_value); real_t get_suspension_max_force() const; void set_damping_compression(real_t p_value); real_t get_damping_compression() const; void set_damping_relaxation(real_t p_value); real_t get_damping_relaxation() const; void set_friction_slip(real_t p_value); real_t get_friction_slip() const; void set_use_as_traction(bool p_enable); bool is_used_as_traction() const; void set_use_as_steering(bool p_enabled); bool is_used_as_steering() const; bool is_in_contact() const; void set_roll_influence(real_t p_value); real_t get_roll_influence() const; real_t get_skidinfo() const; real_t get_rpm() const; void set_engine_force(real_t p_engine_force); real_t get_engine_force() const; void set_brake(real_t p_brake); real_t get_brake() const; void set_steering(real_t p_steering); real_t get_steering() const; String get_configuration_warning() const override; VehicleWheel3D(); }; class VehicleBody3D : public RigidBody3D { GDCLASS(VehicleBody3D, RigidBody3D); real_t engine_force = 0.0; real_t brake = 0.0; real_t m_pitchControl = 0.0; real_t m_steeringValue = 0.0; real_t m_currentVehicleSpeedKmHour = 0.0; Set exclude; Vector m_forwardWS; Vector m_axle; Vector m_forwardImpulse; Vector m_sideImpulse; struct btVehicleWheelContactPoint { PhysicsDirectBodyState3D *m_s = nullptr; PhysicsBody3D *m_body1 = nullptr; Vector3 m_frictionPositionWorld; Vector3 m_frictionDirectionWorld; real_t m_jacDiagABInv = 0.0; real_t m_maxImpulse = 0.0; btVehicleWheelContactPoint(PhysicsDirectBodyState3D *s, PhysicsBody3D *body1, const Vector3 &frictionPosWorld, const Vector3 &frictionDirectionWorld, real_t maxImpulse); }; 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); real_t _calc_rolling_friction(btVehicleWheelContactPoint &contactPoint); void _update_friction(PhysicsDirectBodyState3D *s); void _update_suspension(PhysicsDirectBodyState3D *s); real_t _ray_cast(int p_idx, PhysicsDirectBodyState3D *s); void _update_wheel_transform(VehicleWheel3D &wheel, PhysicsDirectBodyState3D *s); void _update_wheel(int p_idx, PhysicsDirectBodyState3D *s); friend class VehicleWheel3D; Vector wheels; static void _bind_methods(); void _direct_state_changed(Object *p_state) override; public: void set_engine_force(real_t p_engine_force); real_t get_engine_force() const; void set_brake(real_t p_brake); real_t get_brake() const; void set_steering(real_t p_steering); real_t get_steering() const; VehicleBody3D(); }; #endif // VEHICLE_BODY_H