966 lines
33 KiB
C++
966 lines
33 KiB
C++
/*************************************************************************/
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/* vehicle_body_3d.cpp */
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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) 2007-2020 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2020 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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#include "vehicle_body_3d.h"
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#define ROLLING_INFLUENCE_FIX
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class btVehicleJacobianEntry {
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public:
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Vector3 m_linearJointAxis;
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Vector3 m_aJ;
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Vector3 m_bJ;
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Vector3 m_0MinvJt;
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Vector3 m_1MinvJt;
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//Optimization: can be stored in the w/last component of one of the vectors
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real_t m_Adiag;
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real_t getDiagonal() const { return m_Adiag; }
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btVehicleJacobianEntry() {}
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//constraint between two different rigidbodies
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btVehicleJacobianEntry(
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const Basis &world2A,
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const Basis &world2B,
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const Vector3 &rel_pos1,
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const Vector3 &rel_pos2,
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const Vector3 &jointAxis,
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const Vector3 &inertiaInvA,
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const real_t massInvA,
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const Vector3 &inertiaInvB,
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const real_t massInvB) :
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m_linearJointAxis(jointAxis) {
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m_aJ = world2A.xform(rel_pos1.cross(m_linearJointAxis));
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m_bJ = world2B.xform(rel_pos2.cross(-m_linearJointAxis));
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m_0MinvJt = inertiaInvA * m_aJ;
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m_1MinvJt = inertiaInvB * m_bJ;
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m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
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//btAssert(m_Adiag > real_t(0.0));
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}
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real_t getRelativeVelocity(const Vector3 &linvelA, const Vector3 &angvelA, const Vector3 &linvelB, const Vector3 &angvelB) {
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Vector3 linrel = linvelA - linvelB;
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Vector3 angvela = angvelA * m_aJ;
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Vector3 angvelb = angvelB * m_bJ;
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linrel *= m_linearJointAxis;
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angvela += angvelb;
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angvela += linrel;
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real_t rel_vel2 = angvela[0] + angvela[1] + angvela[2];
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return rel_vel2 + CMP_EPSILON;
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}
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};
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void VehicleWheel3D::_notification(int p_what) {
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if (p_what == NOTIFICATION_ENTER_TREE) {
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VehicleBody3D *cb = Object::cast_to<VehicleBody3D>(get_parent());
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if (!cb) {
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return;
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}
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body = cb;
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local_xform = get_transform();
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cb->wheels.push_back(this);
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m_chassisConnectionPointCS = get_transform().origin;
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m_wheelDirectionCS = -get_transform().basis.get_axis(Vector3::AXIS_Y).normalized();
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m_wheelAxleCS = get_transform().basis.get_axis(Vector3::AXIS_X).normalized();
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}
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if (p_what == NOTIFICATION_EXIT_TREE) {
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VehicleBody3D *cb = Object::cast_to<VehicleBody3D>(get_parent());
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if (!cb) {
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return;
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}
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cb->wheels.erase(this);
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body = nullptr;
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}
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}
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String VehicleWheel3D::get_configuration_warning() const {
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String warning = Node3D::get_configuration_warning();
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if (!Object::cast_to<VehicleBody3D>(get_parent())) {
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if (!warning.empty()) {
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warning += "\n\n";
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}
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warning += TTR("VehicleWheel3D serves to provide a wheel system to a VehicleBody3D. Please use it as a child of a VehicleBody3D.");
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}
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return warning;
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}
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void VehicleWheel3D::_update(PhysicsDirectBodyState3D *s) {
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if (m_raycastInfo.m_isInContact)
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{
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real_t project = m_raycastInfo.m_contactNormalWS.dot(m_raycastInfo.m_wheelDirectionWS);
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Vector3 chassis_velocity_at_contactPoint;
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Vector3 relpos = m_raycastInfo.m_contactPointWS - s->get_transform().origin;
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chassis_velocity_at_contactPoint = s->get_linear_velocity() +
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(s->get_angular_velocity()).cross(relpos); // * mPos);
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real_t projVel = m_raycastInfo.m_contactNormalWS.dot(chassis_velocity_at_contactPoint);
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if (project >= real_t(-0.1)) {
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m_suspensionRelativeVelocity = real_t(0.0);
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m_clippedInvContactDotSuspension = real_t(1.0) / real_t(0.1);
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} else {
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real_t inv = real_t(-1.) / project;
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m_suspensionRelativeVelocity = projVel * inv;
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m_clippedInvContactDotSuspension = inv;
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}
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}
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else // Not in contact : position wheel in a nice (rest length) position
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{
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m_raycastInfo.m_suspensionLength = m_suspensionRestLength;
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m_suspensionRelativeVelocity = real_t(0.0);
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m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS;
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m_clippedInvContactDotSuspension = real_t(1.0);
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}
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}
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void VehicleWheel3D::set_radius(float p_radius) {
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m_wheelRadius = p_radius;
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update_gizmo();
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}
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float VehicleWheel3D::get_radius() const {
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return m_wheelRadius;
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}
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void VehicleWheel3D::set_suspension_rest_length(float p_length) {
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m_suspensionRestLength = p_length;
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update_gizmo();
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}
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float VehicleWheel3D::get_suspension_rest_length() const {
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return m_suspensionRestLength;
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}
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void VehicleWheel3D::set_suspension_travel(float p_length) {
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m_maxSuspensionTravelCm = p_length / 0.01;
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}
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float VehicleWheel3D::get_suspension_travel() const {
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return m_maxSuspensionTravelCm * 0.01;
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}
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void VehicleWheel3D::set_suspension_stiffness(float p_value) {
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m_suspensionStiffness = p_value;
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}
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float VehicleWheel3D::get_suspension_stiffness() const {
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return m_suspensionStiffness;
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}
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void VehicleWheel3D::set_suspension_max_force(float p_value) {
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m_maxSuspensionForce = p_value;
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}
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float VehicleWheel3D::get_suspension_max_force() const {
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return m_maxSuspensionForce;
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}
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void VehicleWheel3D::set_damping_compression(float p_value) {
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m_wheelsDampingCompression = p_value;
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}
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float VehicleWheel3D::get_damping_compression() const {
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return m_wheelsDampingCompression;
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}
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void VehicleWheel3D::set_damping_relaxation(float p_value) {
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m_wheelsDampingRelaxation = p_value;
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}
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float VehicleWheel3D::get_damping_relaxation() const {
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return m_wheelsDampingRelaxation;
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}
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void VehicleWheel3D::set_friction_slip(float p_value) {
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m_frictionSlip = p_value;
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}
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float VehicleWheel3D::get_friction_slip() const {
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return m_frictionSlip;
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}
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void VehicleWheel3D::set_roll_influence(float p_value) {
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m_rollInfluence = p_value;
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}
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float VehicleWheel3D::get_roll_influence() const {
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return m_rollInfluence;
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}
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bool VehicleWheel3D::is_in_contact() const {
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return m_raycastInfo.m_isInContact;
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}
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void VehicleWheel3D::_bind_methods() {
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ClassDB::bind_method(D_METHOD("set_radius", "length"), &VehicleWheel3D::set_radius);
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ClassDB::bind_method(D_METHOD("get_radius"), &VehicleWheel3D::get_radius);
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ClassDB::bind_method(D_METHOD("set_suspension_rest_length", "length"), &VehicleWheel3D::set_suspension_rest_length);
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ClassDB::bind_method(D_METHOD("get_suspension_rest_length"), &VehicleWheel3D::get_suspension_rest_length);
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ClassDB::bind_method(D_METHOD("set_suspension_travel", "length"), &VehicleWheel3D::set_suspension_travel);
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ClassDB::bind_method(D_METHOD("get_suspension_travel"), &VehicleWheel3D::get_suspension_travel);
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ClassDB::bind_method(D_METHOD("set_suspension_stiffness", "length"), &VehicleWheel3D::set_suspension_stiffness);
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ClassDB::bind_method(D_METHOD("get_suspension_stiffness"), &VehicleWheel3D::get_suspension_stiffness);
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ClassDB::bind_method(D_METHOD("set_suspension_max_force", "length"), &VehicleWheel3D::set_suspension_max_force);
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ClassDB::bind_method(D_METHOD("get_suspension_max_force"), &VehicleWheel3D::get_suspension_max_force);
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ClassDB::bind_method(D_METHOD("set_damping_compression", "length"), &VehicleWheel3D::set_damping_compression);
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ClassDB::bind_method(D_METHOD("get_damping_compression"), &VehicleWheel3D::get_damping_compression);
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ClassDB::bind_method(D_METHOD("set_damping_relaxation", "length"), &VehicleWheel3D::set_damping_relaxation);
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ClassDB::bind_method(D_METHOD("get_damping_relaxation"), &VehicleWheel3D::get_damping_relaxation);
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ClassDB::bind_method(D_METHOD("set_use_as_traction", "enable"), &VehicleWheel3D::set_use_as_traction);
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ClassDB::bind_method(D_METHOD("is_used_as_traction"), &VehicleWheel3D::is_used_as_traction);
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ClassDB::bind_method(D_METHOD("set_use_as_steering", "enable"), &VehicleWheel3D::set_use_as_steering);
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ClassDB::bind_method(D_METHOD("is_used_as_steering"), &VehicleWheel3D::is_used_as_steering);
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ClassDB::bind_method(D_METHOD("set_friction_slip", "length"), &VehicleWheel3D::set_friction_slip);
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ClassDB::bind_method(D_METHOD("get_friction_slip"), &VehicleWheel3D::get_friction_slip);
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ClassDB::bind_method(D_METHOD("is_in_contact"), &VehicleWheel3D::is_in_contact);
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ClassDB::bind_method(D_METHOD("set_roll_influence", "roll_influence"), &VehicleWheel3D::set_roll_influence);
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ClassDB::bind_method(D_METHOD("get_roll_influence"), &VehicleWheel3D::get_roll_influence);
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ClassDB::bind_method(D_METHOD("get_skidinfo"), &VehicleWheel3D::get_skidinfo);
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ClassDB::bind_method(D_METHOD("get_rpm"), &VehicleWheel3D::get_rpm);
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ClassDB::bind_method(D_METHOD("set_engine_force", "engine_force"), &VehicleWheel3D::set_engine_force);
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ClassDB::bind_method(D_METHOD("get_engine_force"), &VehicleWheel3D::get_engine_force);
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ClassDB::bind_method(D_METHOD("set_brake", "brake"), &VehicleWheel3D::set_brake);
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ClassDB::bind_method(D_METHOD("get_brake"), &VehicleWheel3D::get_brake);
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ClassDB::bind_method(D_METHOD("set_steering", "steering"), &VehicleWheel3D::set_steering);
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ClassDB::bind_method(D_METHOD("get_steering"), &VehicleWheel3D::get_steering);
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ADD_GROUP("Per-Wheel Motion", "");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "engine_force", PROPERTY_HINT_RANGE, "0.00,1024.0,0.01,or_greater"), "set_engine_force", "get_engine_force");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "brake", PROPERTY_HINT_RANGE, "0.0,1.0,0.01"), "set_brake", "get_brake");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "steering", PROPERTY_HINT_RANGE, "-180,180.0,0.01"), "set_steering", "get_steering");
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ADD_GROUP("VehicleBody3D Motion", "");
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "use_as_traction"), "set_use_as_traction", "is_used_as_traction");
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "use_as_steering"), "set_use_as_steering", "is_used_as_steering");
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ADD_GROUP("Wheel", "wheel_");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "wheel_roll_influence"), "set_roll_influence", "get_roll_influence");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "wheel_radius"), "set_radius", "get_radius");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "wheel_rest_length"), "set_suspension_rest_length", "get_suspension_rest_length");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "wheel_friction_slip"), "set_friction_slip", "get_friction_slip");
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ADD_GROUP("Suspension", "suspension_");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "suspension_travel"), "set_suspension_travel", "get_suspension_travel");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "suspension_stiffness"), "set_suspension_stiffness", "get_suspension_stiffness");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "suspension_max_force"), "set_suspension_max_force", "get_suspension_max_force");
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ADD_GROUP("Damping", "damping_");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "damping_compression"), "set_damping_compression", "get_damping_compression");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "damping_relaxation"), "set_damping_relaxation", "get_damping_relaxation");
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}
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void VehicleWheel3D::set_engine_force(float p_engine_force) {
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m_engineForce = p_engine_force;
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}
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float VehicleWheel3D::get_engine_force() const {
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return m_engineForce;
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}
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void VehicleWheel3D::set_brake(float p_brake) {
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m_brake = p_brake;
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}
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float VehicleWheel3D::get_brake() const {
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return m_brake;
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}
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void VehicleWheel3D::set_steering(float p_steering) {
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m_steering = p_steering;
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}
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float VehicleWheel3D::get_steering() const {
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return m_steering;
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}
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void VehicleWheel3D::set_use_as_traction(bool p_enable) {
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engine_traction = p_enable;
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}
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bool VehicleWheel3D::is_used_as_traction() const {
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return engine_traction;
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}
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void VehicleWheel3D::set_use_as_steering(bool p_enabled) {
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steers = p_enabled;
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}
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bool VehicleWheel3D::is_used_as_steering() const {
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return steers;
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}
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float VehicleWheel3D::get_skidinfo() const {
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return m_skidInfo;
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}
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float VehicleWheel3D::get_rpm() const {
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return m_rpm;
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}
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VehicleWheel3D::VehicleWheel3D() {
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steers = false;
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engine_traction = false;
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m_steering = real_t(0.);
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m_engineForce = real_t(0.);
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m_rotation = real_t(0.);
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m_deltaRotation = real_t(0.);
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m_brake = real_t(0.);
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m_rollInfluence = real_t(0.1);
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m_suspensionRestLength = 0.15;
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m_wheelRadius = 0.5; //0.28;
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m_suspensionStiffness = 5.88;
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m_wheelsDampingCompression = 0.83;
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m_wheelsDampingRelaxation = 0.88;
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m_frictionSlip = 10.5;
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m_bIsFrontWheel = false;
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m_maxSuspensionTravelCm = 500;
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m_maxSuspensionForce = 6000;
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m_suspensionRelativeVelocity = 0;
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m_clippedInvContactDotSuspension = 1.0;
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m_raycastInfo.m_isInContact = false;
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body = nullptr;
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}
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void VehicleBody3D::_update_wheel_transform(VehicleWheel3D &wheel, PhysicsDirectBodyState3D *s) {
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wheel.m_raycastInfo.m_isInContact = false;
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Transform chassisTrans = s->get_transform();
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/*
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if (interpolatedTransform && (getRigidBody()->getMotionState())) {
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getRigidBody()->getMotionState()->getWorldTransform(chassisTrans);
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}
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*/
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wheel.m_raycastInfo.m_hardPointWS = chassisTrans.xform(wheel.m_chassisConnectionPointCS);
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//wheel.m_raycastInfo.m_hardPointWS+=s->get_linear_velocity()*s->get_step();
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wheel.m_raycastInfo.m_wheelDirectionWS = chassisTrans.get_basis().xform(wheel.m_wheelDirectionCS).normalized();
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wheel.m_raycastInfo.m_wheelAxleWS = chassisTrans.get_basis().xform(wheel.m_wheelAxleCS).normalized();
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}
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void VehicleBody3D::_update_wheel(int p_idx, PhysicsDirectBodyState3D *s) {
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VehicleWheel3D &wheel = *wheels[p_idx];
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_update_wheel_transform(wheel, s);
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Vector3 up = -wheel.m_raycastInfo.m_wheelDirectionWS;
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const Vector3 &right = wheel.m_raycastInfo.m_wheelAxleWS;
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Vector3 fwd = up.cross(right);
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fwd = fwd.normalized();
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Basis steeringMat(up, wheel.m_steering);
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Basis rotatingMat(right, wheel.m_rotation);
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Basis basis2(
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right[0], up[0], fwd[0],
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right[1], up[1], fwd[1],
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right[2], up[2], fwd[2]);
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wheel.m_worldTransform.set_basis(steeringMat * rotatingMat * basis2);
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//wheel.m_worldTransform.set_basis(basis2 * (steeringMat * rotatingMat));
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wheel.m_worldTransform.set_origin(
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wheel.m_raycastInfo.m_hardPointWS + wheel.m_raycastInfo.m_wheelDirectionWS * wheel.m_raycastInfo.m_suspensionLength);
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}
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real_t VehicleBody3D::_ray_cast(int p_idx, PhysicsDirectBodyState3D *s) {
|
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VehicleWheel3D &wheel = *wheels[p_idx];
|
|
|
|
_update_wheel_transform(wheel, s);
|
|
|
|
real_t depth = -1;
|
|
|
|
real_t raylen = wheel.m_suspensionRestLength + wheel.m_wheelRadius;
|
|
|
|
Vector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen);
|
|
Vector3 source = wheel.m_raycastInfo.m_hardPointWS;
|
|
wheel.m_raycastInfo.m_contactPointWS = source + rayvector;
|
|
const Vector3 &target = wheel.m_raycastInfo.m_contactPointWS;
|
|
source -= wheel.m_wheelRadius * wheel.m_raycastInfo.m_wheelDirectionWS;
|
|
|
|
real_t param = real_t(0.);
|
|
|
|
PhysicsDirectSpaceState3D::RayResult rr;
|
|
|
|
PhysicsDirectSpaceState3D *ss = s->get_space_state();
|
|
|
|
bool col = ss->intersect_ray(source, target, rr, exclude);
|
|
|
|
wheel.m_raycastInfo.m_groundObject = nullptr;
|
|
|
|
if (col) {
|
|
param = source.distance_to(rr.position) / source.distance_to(target);
|
|
depth = raylen * param;
|
|
wheel.m_raycastInfo.m_contactNormalWS = rr.normal;
|
|
|
|
wheel.m_raycastInfo.m_isInContact = true;
|
|
if (rr.collider) {
|
|
wheel.m_raycastInfo.m_groundObject = Object::cast_to<PhysicsBody3D>(rr.collider);
|
|
}
|
|
|
|
real_t hitDistance = param * raylen;
|
|
wheel.m_raycastInfo.m_suspensionLength = hitDistance - wheel.m_wheelRadius;
|
|
//clamp on max suspension travel
|
|
|
|
real_t minSuspensionLength = wheel.m_suspensionRestLength - wheel.m_maxSuspensionTravelCm * real_t(0.01);
|
|
real_t maxSuspensionLength = wheel.m_suspensionRestLength + wheel.m_maxSuspensionTravelCm * real_t(0.01);
|
|
if (wheel.m_raycastInfo.m_suspensionLength < minSuspensionLength) {
|
|
wheel.m_raycastInfo.m_suspensionLength = minSuspensionLength;
|
|
}
|
|
if (wheel.m_raycastInfo.m_suspensionLength > maxSuspensionLength) {
|
|
wheel.m_raycastInfo.m_suspensionLength = maxSuspensionLength;
|
|
}
|
|
|
|
wheel.m_raycastInfo.m_contactPointWS = rr.position;
|
|
|
|
real_t denominator = wheel.m_raycastInfo.m_contactNormalWS.dot(wheel.m_raycastInfo.m_wheelDirectionWS);
|
|
|
|
Vector3 chassis_velocity_at_contactPoint;
|
|
//Vector3 relpos = wheel.m_raycastInfo.m_contactPointWS-getRigidBody()->getCenterOfMassPosition();
|
|
|
|
//chassis_velocity_at_contactPoint = getRigidBody()->getVelocityInLocalPoint(relpos);
|
|
|
|
chassis_velocity_at_contactPoint = s->get_linear_velocity() +
|
|
(s->get_angular_velocity()).cross(wheel.m_raycastInfo.m_contactPointWS - s->get_transform().origin); // * mPos);
|
|
|
|
real_t projVel = wheel.m_raycastInfo.m_contactNormalWS.dot(chassis_velocity_at_contactPoint);
|
|
|
|
if (denominator >= real_t(-0.1)) {
|
|
wheel.m_suspensionRelativeVelocity = real_t(0.0);
|
|
wheel.m_clippedInvContactDotSuspension = real_t(1.0) / real_t(0.1);
|
|
} else {
|
|
real_t inv = real_t(-1.) / denominator;
|
|
wheel.m_suspensionRelativeVelocity = projVel * inv;
|
|
wheel.m_clippedInvContactDotSuspension = inv;
|
|
}
|
|
|
|
} else {
|
|
wheel.m_raycastInfo.m_isInContact = false;
|
|
//put wheel info as in rest position
|
|
wheel.m_raycastInfo.m_suspensionLength = wheel.m_suspensionRestLength;
|
|
wheel.m_suspensionRelativeVelocity = real_t(0.0);
|
|
wheel.m_raycastInfo.m_contactNormalWS = -wheel.m_raycastInfo.m_wheelDirectionWS;
|
|
wheel.m_clippedInvContactDotSuspension = real_t(1.0);
|
|
}
|
|
|
|
return depth;
|
|
}
|
|
|
|
void VehicleBody3D::_update_suspension(PhysicsDirectBodyState3D *s) {
|
|
real_t chassisMass = mass;
|
|
|
|
for (int w_it = 0; w_it < wheels.size(); w_it++) {
|
|
VehicleWheel3D &wheel_info = *wheels[w_it];
|
|
|
|
if (wheel_info.m_raycastInfo.m_isInContact) {
|
|
real_t force;
|
|
//Spring
|
|
{
|
|
real_t susp_length = wheel_info.m_suspensionRestLength;
|
|
real_t current_length = wheel_info.m_raycastInfo.m_suspensionLength;
|
|
|
|
real_t length_diff = (susp_length - current_length);
|
|
|
|
force = wheel_info.m_suspensionStiffness * length_diff * wheel_info.m_clippedInvContactDotSuspension;
|
|
}
|
|
|
|
// Damper
|
|
{
|
|
real_t projected_rel_vel = wheel_info.m_suspensionRelativeVelocity;
|
|
{
|
|
real_t susp_damping;
|
|
if (projected_rel_vel < real_t(0.0)) {
|
|
susp_damping = wheel_info.m_wheelsDampingCompression;
|
|
} else {
|
|
susp_damping = wheel_info.m_wheelsDampingRelaxation;
|
|
}
|
|
force -= susp_damping * projected_rel_vel;
|
|
}
|
|
}
|
|
|
|
// RESULT
|
|
wheel_info.m_wheelsSuspensionForce = force * chassisMass;
|
|
if (wheel_info.m_wheelsSuspensionForce < real_t(0.)) {
|
|
wheel_info.m_wheelsSuspensionForce = real_t(0.);
|
|
}
|
|
} else {
|
|
wheel_info.m_wheelsSuspensionForce = real_t(0.0);
|
|
}
|
|
}
|
|
}
|
|
|
|
//bilateral constraint between two dynamic objects
|
|
void VehicleBody3D::_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 normalLenSqr = normal.length_squared();
|
|
//ERR_FAIL_COND( normalLenSqr < real_t(1.1));
|
|
|
|
if (normalLenSqr > real_t(1.1)) {
|
|
impulse = real_t(0.);
|
|
return;
|
|
}
|
|
|
|
Vector3 rel_pos1 = pos1 - s->get_transform().origin;
|
|
Vector3 rel_pos2;
|
|
if (body2) {
|
|
rel_pos2 = pos2 - body2->get_global_transform().origin;
|
|
}
|
|
//this jacobian entry could be re-used for all iterations
|
|
|
|
Vector3 vel1 = s->get_linear_velocity() + (s->get_angular_velocity()).cross(rel_pos1); // * mPos);
|
|
Vector3 vel2;
|
|
|
|
if (body2) {
|
|
vel2 = body2->get_linear_velocity() + body2->get_angular_velocity().cross(rel_pos2);
|
|
}
|
|
|
|
Vector3 vel = vel1 - vel2;
|
|
|
|
Basis b2trans;
|
|
float b2invmass = 0;
|
|
Vector3 b2lv;
|
|
Vector3 b2av;
|
|
Vector3 b2invinertia; //todo
|
|
|
|
if (body2) {
|
|
b2trans = body2->get_global_transform().basis.transposed();
|
|
b2invmass = body2->get_inverse_mass();
|
|
b2lv = body2->get_linear_velocity();
|
|
b2av = body2->get_angular_velocity();
|
|
}
|
|
|
|
btVehicleJacobianEntry jac(s->get_transform().basis.transposed(),
|
|
b2trans,
|
|
rel_pos1,
|
|
rel_pos2,
|
|
normal,
|
|
s->get_inverse_inertia_tensor().get_main_diagonal(),
|
|
1.0 / mass,
|
|
b2invinertia,
|
|
b2invmass);
|
|
|
|
// FIXME: rel_vel assignment here is overwritten by the following assignment.
|
|
// What seems to be intended in the next next assignment is: rel_vel = normal.dot(rel_vel);
|
|
// Investigate why.
|
|
real_t rel_vel = jac.getRelativeVelocity(
|
|
s->get_linear_velocity(),
|
|
s->get_transform().basis.transposed().xform(s->get_angular_velocity()),
|
|
b2lv,
|
|
b2trans.xform(b2av));
|
|
|
|
rel_vel = normal.dot(vel);
|
|
|
|
// !BAS! We had this set to 0.4, in bullet its 0.2
|
|
real_t contactDamping = real_t(0.2);
|
|
|
|
if (p_rollInfluence > 0.0) {
|
|
// !BAS! But seeing we apply this frame by frame, makes more sense to me to make this time based
|
|
// keeping in mind our anti roll factor if it is set
|
|
contactDamping = MIN(contactDamping, s->get_step() / p_rollInfluence);
|
|
}
|
|
|
|
#define ONLY_USE_LINEAR_MASS
|
|
#ifdef ONLY_USE_LINEAR_MASS
|
|
real_t massTerm = real_t(1.) / ((1.0 / mass) + b2invmass);
|
|
impulse = -contactDamping * rel_vel * massTerm;
|
|
#else
|
|
real_t velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
|
|
impulse = velocityImpulse;
|
|
#endif
|
|
}
|
|
|
|
VehicleBody3D::btVehicleWheelContactPoint::btVehicleWheelContactPoint(PhysicsDirectBodyState3D *s, PhysicsBody3D *body1, const Vector3 &frictionPosWorld, const Vector3 &frictionDirectionWorld, real_t maxImpulse) :
|
|
m_s(s),
|
|
m_body1(body1),
|
|
m_frictionPositionWorld(frictionPosWorld),
|
|
m_frictionDirectionWorld(frictionDirectionWorld),
|
|
m_maxImpulse(maxImpulse) {
|
|
float denom0 = 0;
|
|
float denom1 = 0;
|
|
|
|
{
|
|
Vector3 r0 = frictionPosWorld - s->get_transform().origin;
|
|
Vector3 c0 = (r0).cross(frictionDirectionWorld);
|
|
Vector3 vec = s->get_inverse_inertia_tensor().xform_inv(c0).cross(r0);
|
|
denom0 = s->get_inverse_mass() + frictionDirectionWorld.dot(vec);
|
|
}
|
|
|
|
/* TODO: Why is this code unused?
|
|
if (body1) {
|
|
|
|
Vector3 r0 = frictionPosWorld - body1->get_global_transform().origin;
|
|
Vector3 c0 = (r0).cross(frictionDirectionWorld);
|
|
Vector3 vec = s->get_inverse_inertia_tensor().xform_inv(c0).cross(r0);
|
|
//denom1= body1->get_inverse_mass() + frictionDirectionWorld.dot(vec);
|
|
|
|
}
|
|
*/
|
|
|
|
real_t relaxation = 1.f;
|
|
m_jacDiagABInv = relaxation / (denom0 + denom1);
|
|
}
|
|
|
|
real_t VehicleBody3D::_calc_rolling_friction(btVehicleWheelContactPoint &contactPoint) {
|
|
real_t j1 = 0.f;
|
|
|
|
const Vector3 &contactPosWorld = contactPoint.m_frictionPositionWorld;
|
|
|
|
Vector3 rel_pos1 = contactPosWorld - contactPoint.m_s->get_transform().origin;
|
|
Vector3 rel_pos2;
|
|
if (contactPoint.m_body1) {
|
|
rel_pos2 = contactPosWorld - contactPoint.m_body1->get_global_transform().origin;
|
|
}
|
|
|
|
real_t maxImpulse = contactPoint.m_maxImpulse;
|
|
|
|
Vector3 vel1 = contactPoint.m_s->get_linear_velocity() + (contactPoint.m_s->get_angular_velocity()).cross(rel_pos1); // * mPos);
|
|
|
|
Vector3 vel2;
|
|
if (contactPoint.m_body1) {
|
|
vel2 = contactPoint.m_body1->get_linear_velocity() + contactPoint.m_body1->get_angular_velocity().cross(rel_pos2);
|
|
}
|
|
|
|
Vector3 vel = vel1 - vel2;
|
|
|
|
real_t vrel = contactPoint.m_frictionDirectionWorld.dot(vel);
|
|
|
|
// calculate j that moves us to zero relative velocity
|
|
j1 = -vrel * contactPoint.m_jacDiagABInv;
|
|
|
|
return CLAMP(j1, -maxImpulse, maxImpulse);
|
|
}
|
|
|
|
static const real_t sideFrictionStiffness2 = real_t(1.0);
|
|
void VehicleBody3D::_update_friction(PhysicsDirectBodyState3D *s) {
|
|
//calculate the impulse, so that the wheels don't move sidewards
|
|
int numWheel = wheels.size();
|
|
if (!numWheel) {
|
|
return;
|
|
}
|
|
|
|
m_forwardWS.resize(numWheel);
|
|
m_axle.resize(numWheel);
|
|
m_forwardImpulse.resize(numWheel);
|
|
m_sideImpulse.resize(numWheel);
|
|
|
|
//collapse all those loops into one!
|
|
for (int i = 0; i < wheels.size(); i++) {
|
|
m_sideImpulse.write[i] = real_t(0.);
|
|
m_forwardImpulse.write[i] = real_t(0.);
|
|
}
|
|
|
|
{
|
|
for (int i = 0; i < wheels.size(); i++) {
|
|
VehicleWheel3D &wheelInfo = *wheels[i];
|
|
|
|
if (wheelInfo.m_raycastInfo.m_isInContact) {
|
|
//const btTransform& wheelTrans = getWheelTransformWS( i );
|
|
|
|
Basis wheelBasis0 = wheelInfo.m_worldTransform.basis; //get_global_transform().basis;
|
|
|
|
m_axle.write[i] = wheelBasis0.get_axis(Vector3::AXIS_X);
|
|
//m_axle[i] = wheelInfo.m_raycastInfo.m_wheelAxleWS;
|
|
|
|
const Vector3 &surfNormalWS = wheelInfo.m_raycastInfo.m_contactNormalWS;
|
|
real_t proj = m_axle[i].dot(surfNormalWS);
|
|
m_axle.write[i] -= surfNormalWS * proj;
|
|
m_axle.write[i] = m_axle[i].normalized();
|
|
|
|
m_forwardWS.write[i] = surfNormalWS.cross(m_axle[i]);
|
|
m_forwardWS.write[i].normalize();
|
|
|
|
_resolve_single_bilateral(s, wheelInfo.m_raycastInfo.m_contactPointWS,
|
|
wheelInfo.m_raycastInfo.m_groundObject, wheelInfo.m_raycastInfo.m_contactPointWS,
|
|
m_axle[i], m_sideImpulse.write[i], wheelInfo.m_rollInfluence);
|
|
|
|
m_sideImpulse.write[i] *= sideFrictionStiffness2;
|
|
}
|
|
}
|
|
}
|
|
|
|
real_t sideFactor = real_t(1.);
|
|
real_t fwdFactor = 0.5;
|
|
|
|
bool sliding = false;
|
|
{
|
|
for (int wheel = 0; wheel < wheels.size(); wheel++) {
|
|
VehicleWheel3D &wheelInfo = *wheels[wheel];
|
|
|
|
//class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
|
|
|
|
real_t rollingFriction = 0.f;
|
|
|
|
if (wheelInfo.m_raycastInfo.m_isInContact) {
|
|
if (wheelInfo.m_engineForce != 0.f) {
|
|
rollingFriction = -wheelInfo.m_engineForce * s->get_step();
|
|
} else {
|
|
real_t defaultRollingFrictionImpulse = 0.f;
|
|
real_t maxImpulse = wheelInfo.m_brake ? wheelInfo.m_brake : defaultRollingFrictionImpulse;
|
|
btVehicleWheelContactPoint contactPt(s, wheelInfo.m_raycastInfo.m_groundObject, wheelInfo.m_raycastInfo.m_contactPointWS, m_forwardWS[wheel], maxImpulse);
|
|
rollingFriction = _calc_rolling_friction(contactPt);
|
|
}
|
|
}
|
|
|
|
//switch between active rolling (throttle), braking and non-active rolling friction (no throttle/break)
|
|
|
|
m_forwardImpulse.write[wheel] = real_t(0.);
|
|
wheelInfo.m_skidInfo = real_t(1.);
|
|
|
|
if (wheelInfo.m_raycastInfo.m_isInContact) {
|
|
wheelInfo.m_skidInfo = real_t(1.);
|
|
|
|
real_t maximp = wheelInfo.m_wheelsSuspensionForce * s->get_step() * wheelInfo.m_frictionSlip;
|
|
real_t maximpSide = maximp;
|
|
|
|
real_t maximpSquared = maximp * maximpSide;
|
|
|
|
m_forwardImpulse.write[wheel] = rollingFriction; //wheelInfo.m_engineForce* timeStep;
|
|
|
|
real_t x = (m_forwardImpulse[wheel]) * fwdFactor;
|
|
real_t y = (m_sideImpulse[wheel]) * sideFactor;
|
|
|
|
real_t impulseSquared = (x * x + y * y);
|
|
|
|
if (impulseSquared > maximpSquared) {
|
|
sliding = true;
|
|
|
|
real_t factor = maximp / Math::sqrt(impulseSquared);
|
|
|
|
wheelInfo.m_skidInfo *= factor;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if (sliding) {
|
|
for (int wheel = 0; wheel < wheels.size(); wheel++) {
|
|
if (m_sideImpulse[wheel] != real_t(0.)) {
|
|
if (wheels[wheel]->m_skidInfo < real_t(1.)) {
|
|
m_forwardImpulse.write[wheel] *= wheels[wheel]->m_skidInfo;
|
|
m_sideImpulse.write[wheel] *= wheels[wheel]->m_skidInfo;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// apply the impulses
|
|
{
|
|
for (int wheel = 0; wheel < wheels.size(); wheel++) {
|
|
VehicleWheel3D &wheelInfo = *wheels[wheel];
|
|
|
|
Vector3 rel_pos = wheelInfo.m_raycastInfo.m_contactPointWS -
|
|
s->get_transform().origin;
|
|
|
|
if (m_forwardImpulse[wheel] != real_t(0.)) {
|
|
s->apply_impulse(m_forwardWS[wheel] * (m_forwardImpulse[wheel]), rel_pos);
|
|
}
|
|
if (m_sideImpulse[wheel] != real_t(0.)) {
|
|
PhysicsBody3D *groundObject = wheelInfo.m_raycastInfo.m_groundObject;
|
|
|
|
Vector3 rel_pos2;
|
|
if (groundObject) {
|
|
rel_pos2 = wheelInfo.m_raycastInfo.m_contactPointWS - groundObject->get_global_transform().origin;
|
|
}
|
|
|
|
Vector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel];
|
|
|
|
#if defined ROLLING_INFLUENCE_FIX // fix. It only worked if car's up was along Y - VT.
|
|
Vector3 vChassisWorldUp = s->get_transform().basis.transposed()[1]; //getRigidBody()->getCenterOfMassTransform().getBasis().getColumn(m_indexUpAxis);
|
|
rel_pos -= vChassisWorldUp * (vChassisWorldUp.dot(rel_pos) * (1.f - wheelInfo.m_rollInfluence));
|
|
#else
|
|
rel_pos[1] *= wheelInfo.m_rollInfluence; //?
|
|
#endif
|
|
s->apply_impulse(sideImp, rel_pos);
|
|
|
|
//apply friction impulse on the ground
|
|
//todo
|
|
//groundObject->applyImpulse(-sideImp,rel_pos2);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void VehicleBody3D::_direct_state_changed(Object *p_state) {
|
|
RigidBody3D::_direct_state_changed(p_state);
|
|
|
|
state = Object::cast_to<PhysicsDirectBodyState3D>(p_state);
|
|
|
|
float step = state->get_step();
|
|
|
|
for (int i = 0; i < wheels.size(); i++) {
|
|
_update_wheel(i, state);
|
|
}
|
|
|
|
for (int i = 0; i < wheels.size(); i++) {
|
|
_ray_cast(i, state);
|
|
wheels[i]->set_transform(state->get_transform().inverse() * wheels[i]->m_worldTransform);
|
|
}
|
|
|
|
_update_suspension(state);
|
|
|
|
for (int i = 0; i < wheels.size(); i++) {
|
|
//apply suspension force
|
|
VehicleWheel3D &wheel = *wheels[i];
|
|
|
|
real_t suspensionForce = wheel.m_wheelsSuspensionForce;
|
|
|
|
if (suspensionForce > wheel.m_maxSuspensionForce) {
|
|
suspensionForce = wheel.m_maxSuspensionForce;
|
|
}
|
|
Vector3 impulse = wheel.m_raycastInfo.m_contactNormalWS * suspensionForce * step;
|
|
Vector3 relative_position = wheel.m_raycastInfo.m_contactPointWS - state->get_transform().origin;
|
|
|
|
state->apply_impulse(impulse, relative_position);
|
|
}
|
|
|
|
_update_friction(state);
|
|
|
|
for (int i = 0; i < wheels.size(); i++) {
|
|
VehicleWheel3D &wheel = *wheels[i];
|
|
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 = state->get_transform();
|
|
|
|
Vector3 fwd(
|
|
chassisWorldTransform.basis[0][Vector3::AXIS_Z],
|
|
chassisWorldTransform.basis[1][Vector3::AXIS_Z],
|
|
chassisWorldTransform.basis[2][Vector3::AXIS_Z]);
|
|
|
|
real_t proj = fwd.dot(wheel.m_raycastInfo.m_contactNormalWS);
|
|
fwd -= wheel.m_raycastInfo.m_contactNormalWS * proj;
|
|
|
|
real_t proj2 = fwd.dot(vel);
|
|
|
|
wheel.m_deltaRotation = (proj2 * step) / (wheel.m_wheelRadius);
|
|
}
|
|
|
|
wheel.m_rotation += wheel.m_deltaRotation;
|
|
wheel.m_rpm = ((wheel.m_deltaRotation / step) * 60) / Math_TAU;
|
|
|
|
wheel.m_deltaRotation *= real_t(0.99); //damping of rotation when not in contact
|
|
}
|
|
|
|
state = nullptr;
|
|
}
|
|
|
|
void VehicleBody3D::set_engine_force(float p_engine_force) {
|
|
engine_force = p_engine_force;
|
|
for (int i = 0; i < wheels.size(); i++) {
|
|
VehicleWheel3D &wheelInfo = *wheels[i];
|
|
if (wheelInfo.engine_traction) {
|
|
wheelInfo.m_engineForce = p_engine_force;
|
|
}
|
|
}
|
|
}
|
|
|
|
float VehicleBody3D::get_engine_force() const {
|
|
return engine_force;
|
|
}
|
|
|
|
void VehicleBody3D::set_brake(float p_brake) {
|
|
brake = p_brake;
|
|
for (int i = 0; i < wheels.size(); i++) {
|
|
VehicleWheel3D &wheelInfo = *wheels[i];
|
|
wheelInfo.m_brake = p_brake;
|
|
}
|
|
}
|
|
|
|
float VehicleBody3D::get_brake() const {
|
|
return brake;
|
|
}
|
|
|
|
void VehicleBody3D::set_steering(float p_steering) {
|
|
m_steeringValue = p_steering;
|
|
for (int i = 0; i < wheels.size(); i++) {
|
|
VehicleWheel3D &wheelInfo = *wheels[i];
|
|
if (wheelInfo.steers) {
|
|
wheelInfo.m_steering = p_steering;
|
|
}
|
|
}
|
|
}
|
|
|
|
float VehicleBody3D::get_steering() const {
|
|
return m_steeringValue;
|
|
}
|
|
|
|
void VehicleBody3D::_bind_methods() {
|
|
ClassDB::bind_method(D_METHOD("set_engine_force", "engine_force"), &VehicleBody3D::set_engine_force);
|
|
ClassDB::bind_method(D_METHOD("get_engine_force"), &VehicleBody3D::get_engine_force);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_brake", "brake"), &VehicleBody3D::set_brake);
|
|
ClassDB::bind_method(D_METHOD("get_brake"), &VehicleBody3D::get_brake);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_steering", "steering"), &VehicleBody3D::set_steering);
|
|
ClassDB::bind_method(D_METHOD("get_steering"), &VehicleBody3D::get_steering);
|
|
|
|
ADD_GROUP("Motion", "");
|
|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "engine_force", PROPERTY_HINT_RANGE, "0.00,1024.0,0.01,or_greater"), "set_engine_force", "get_engine_force");
|
|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "brake", PROPERTY_HINT_RANGE, "0.0,1.0,0.01"), "set_brake", "get_brake");
|
|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "steering", PROPERTY_HINT_RANGE, "-180,180.0,0.01"), "set_steering", "get_steering");
|
|
}
|
|
|
|
VehicleBody3D::VehicleBody3D() {
|
|
m_pitchControl = 0;
|
|
m_currentVehicleSpeedKmHour = real_t(0.);
|
|
m_steeringValue = real_t(0.);
|
|
|
|
engine_force = 0;
|
|
brake = 0;
|
|
|
|
state = nullptr;
|
|
ccd = false;
|
|
|
|
exclude.insert(get_rid());
|
|
//PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed");
|
|
|
|
set_mass(40);
|
|
}
|