1/**************************************************************************/
2/* vehicle_body_3d.h */
3/**************************************************************************/
4/* This file is part of: */
5/* GODOT ENGINE */
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8/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
9/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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29/**************************************************************************/
30
31#ifndef VEHICLE_BODY_3D_H
32#define VEHICLE_BODY_3D_H
33
34#include "scene/3d/physics_body_3d.h"
35
36class VehicleBody3D;
37
38class VehicleWheel3D : public Node3D {
39 GDCLASS(VehicleWheel3D, Node3D);
40
41 friend class VehicleBody3D;
42
43 Transform3D m_worldTransform;
44 Transform3D local_xform;
45 bool engine_traction = false;
46 bool steers = false;
47
48 Vector3 m_chassisConnectionPointCS; //const
49 Vector3 m_wheelDirectionCS; //const
50 Vector3 m_wheelAxleCS; // const or modified by steering
51
52 real_t m_suspensionRestLength = 0.15;
53 real_t m_maxSuspensionTravel = 0.2;
54 real_t m_wheelRadius = 0.5;
55
56 real_t m_suspensionStiffness = 5.88;
57 real_t m_wheelsDampingCompression = 0.83;
58 real_t m_wheelsDampingRelaxation = 0.88;
59 real_t m_frictionSlip = 10.5;
60 real_t m_maxSuspensionForce = 6000.0;
61 bool m_bIsFrontWheel = false;
62
63 VehicleBody3D *body = nullptr;
64
65 //btVector3 m_wheelAxleCS; // const or modified by steering ?
66
67 real_t m_steering = 0.0;
68 real_t m_rotation = 0.0;
69 real_t m_deltaRotation = 0.0;
70 real_t m_rpm = 0.0;
71 real_t m_rollInfluence = 0.1;
72 real_t m_engineForce = 0.0;
73 real_t m_brake = 0.0;
74
75 real_t m_clippedInvContactDotSuspension = 1.0;
76 real_t m_suspensionRelativeVelocity = 0.0;
77 //calculated by suspension
78 real_t m_wheelsSuspensionForce = 0.0;
79 real_t m_skidInfo = 0.0;
80
81 struct RaycastInfo {
82 //set by raycaster
83 Vector3 m_contactNormalWS; //contactnormal
84 Vector3 m_contactPointWS; //raycast hitpoint
85 real_t m_suspensionLength = 0.0;
86 Vector3 m_hardPointWS; //raycast starting point
87 Vector3 m_wheelDirectionWS; //direction in worldspace
88 Vector3 m_wheelAxleWS; // axle in worldspace
89 bool m_isInContact = false;
90 PhysicsBody3D *m_groundObject = nullptr; //could be general void* ptr
91 } m_raycastInfo;
92
93 void _update(PhysicsDirectBodyState3D *s);
94
95protected:
96 void _notification(int p_what);
97 static void _bind_methods();
98
99public:
100 void set_radius(real_t p_radius);
101 real_t get_radius() const;
102
103 void set_suspension_rest_length(real_t p_length);
104 real_t get_suspension_rest_length() const;
105
106 void set_suspension_travel(real_t p_length);
107 real_t get_suspension_travel() const;
108
109 void set_suspension_stiffness(real_t p_value);
110 real_t get_suspension_stiffness() const;
111
112 void set_suspension_max_force(real_t p_value);
113 real_t get_suspension_max_force() const;
114
115 void set_damping_compression(real_t p_value);
116 real_t get_damping_compression() const;
117
118 void set_damping_relaxation(real_t p_value);
119 real_t get_damping_relaxation() const;
120
121 void set_friction_slip(real_t p_value);
122 real_t get_friction_slip() const;
123
124 void set_use_as_traction(bool p_enable);
125 bool is_used_as_traction() const;
126
127 void set_use_as_steering(bool p_enabled);
128 bool is_used_as_steering() const;
129
130 bool is_in_contact() const;
131
132 Node3D *get_contact_body() const;
133
134 void set_roll_influence(real_t p_value);
135 real_t get_roll_influence() const;
136
137 real_t get_skidinfo() const;
138
139 real_t get_rpm() const;
140
141 void set_engine_force(real_t p_engine_force);
142 real_t get_engine_force() const;
143
144 void set_brake(real_t p_brake);
145 real_t get_brake() const;
146
147 void set_steering(real_t p_steering);
148 real_t get_steering() const;
149
150 PackedStringArray get_configuration_warnings() const override;
151
152 VehicleWheel3D();
153};
154
155class VehicleBody3D : public RigidBody3D {
156 GDCLASS(VehicleBody3D, RigidBody3D);
157
158 real_t engine_force = 0.0;
159 real_t brake = 0.0;
160
161 real_t m_pitchControl = 0.0;
162 real_t m_steeringValue = 0.0;
163 real_t m_currentVehicleSpeedKmHour = 0.0;
164
165 HashSet<RID> exclude;
166
167 Vector<Vector3> m_forwardWS;
168 Vector<Vector3> m_axle;
169 Vector<real_t> m_forwardImpulse;
170 Vector<real_t> m_sideImpulse;
171
172 struct btVehicleWheelContactPoint {
173 PhysicsDirectBodyState3D *m_s = nullptr;
174 PhysicsBody3D *m_body1 = nullptr;
175 Vector3 m_frictionPositionWorld;
176 Vector3 m_frictionDirectionWorld;
177 real_t m_jacDiagABInv = 0.0;
178 real_t m_maxImpulse = 0.0;
179
180 btVehicleWheelContactPoint(PhysicsDirectBodyState3D *s, PhysicsBody3D *body1, const Vector3 &frictionPosWorld, const Vector3 &frictionDirectionWorld, real_t maxImpulse);
181 };
182
183 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);
184 real_t _calc_rolling_friction(btVehicleWheelContactPoint &contactPoint);
185
186 void _update_friction(PhysicsDirectBodyState3D *s);
187 void _update_suspension(PhysicsDirectBodyState3D *s);
188 real_t _ray_cast(int p_idx, PhysicsDirectBodyState3D *s);
189 void _update_wheel_transform(VehicleWheel3D &wheel, PhysicsDirectBodyState3D *s);
190 void _update_wheel(int p_idx, PhysicsDirectBodyState3D *s);
191
192 friend class VehicleWheel3D;
193 Vector<VehicleWheel3D *> wheels;
194
195 static void _bind_methods();
196
197 static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
198 virtual void _body_state_changed(PhysicsDirectBodyState3D *p_state) override;
199
200public:
201 void set_engine_force(real_t p_engine_force);
202 real_t get_engine_force() const;
203
204 void set_brake(real_t p_brake);
205 real_t get_brake() const;
206
207 void set_steering(real_t p_steering);
208 real_t get_steering() const;
209
210 VehicleBody3D();
211};
212
213#endif // VEHICLE_BODY_3D_H
214