1a2cb755e2
-=-=-=-=-=-=-=-=-=-=-=-=-= -New Vehicle (Based on Bullet's RaycastVehicle) - Vehiclebody/VehicleWheel. Demo will come soon, old vehicle (CarBody) will go away soon too. -A lot of fixes to the 3D physics engine -Added KinematicBody with demo -Fixed the space query API for 2D (demo will come soon). 3D is WIP. -Fixed long-standing bug with body_enter/body_exit for Area and Area2D -Performance variables now includes physics (active bodies, collision pairs and islands) -Ability to see what's inside of instanced scenes! -Fixed Blend Shapes (no bs+skeleton yet) -Added an Android JavaClassWrapper singleton for using Android native classes directly from GDScript. This is very Alpha!
185 lines
4.3 KiB
C++
185 lines
4.3 KiB
C++
#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;
|
|
bool engine_traction;
|
|
bool steers;
|
|
|
|
|
|
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:
|
|
|
|
void set_radius(float p_radius);
|
|
float get_radius() const;
|
|
|
|
void set_suspension_rest_length(float p_length);
|
|
float get_suspension_rest_length() const;
|
|
|
|
void set_suspension_travel(float p_length);
|
|
float get_suspension_travel() const;
|
|
|
|
void set_suspension_stiffness(float p_value);
|
|
float get_suspension_stiffness() const;
|
|
|
|
void set_suspension_max_force(float p_value);
|
|
float get_suspension_max_force() const;
|
|
|
|
void set_damping_compression(float p_value);
|
|
float get_damping_compression() const;
|
|
|
|
void set_damping_relaxation(float p_value);
|
|
float get_damping_relaxation() const;
|
|
|
|
void set_friction_slip(float p_value);
|
|
float 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;
|
|
|
|
VehicleWheel();
|
|
|
|
};
|
|
|
|
|
|
class VehicleBody : public PhysicsBody {
|
|
|
|
OBJ_TYPE(VehicleBody,PhysicsBody);
|
|
|
|
real_t mass;
|
|
real_t friction;
|
|
|
|
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;
|
|
|
|
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;
|
|
|
|
void set_engine_force(float p_engine_force);
|
|
float get_engine_force() const;
|
|
|
|
void set_brake(float p_force);
|
|
float get_brake() const;
|
|
|
|
void set_steering(float p_steering);
|
|
float get_steering() const;
|
|
|
|
|
|
VehicleBody();
|
|
};
|
|
|
|
#endif // VEHICLE_BODY_H
|