Basic vehicle simulation
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Lubos Lenco
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236
Sources/cycles/trait/VehicleBody.hx
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236
Sources/cycles/trait/VehicleBody.hx
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@ -0,0 +1,236 @@
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package cycles.trait;
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import lue.Eg;
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import lue.trait.Trait;
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import lue.node.Node;
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import lue.node.CameraNode;
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import lue.node.Transform;
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#if WITH_PHYSICS
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import haxebullet.Bullet;
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#end
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class VehicleBody extends Trait {
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#if (!WITH_PHYSICS)
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public function new() { super(); }
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#else
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var physics:PhysicsWorld;
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var transform:Transform;
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var camera:CameraNode;
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// Wheels
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var wheels:Array<VehicleWheel> = [];
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var wheelNames:Array<String>;
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var m_vehicle:BtRaycastVehiclePointer = null;
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var m_carChassis:BtRigidBodyPointer;
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var startTransform:BtTransformPointer;
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var gEngineForce = 0.0;
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var gBreakingForce = 0.0;
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var gVehicleSteering = 0.0;
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var maxEngineForce = 3000.0;
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var maxBreakingForce = 100.0;
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public function new(wheelName1:String, wheelName2:String, wheelName3:String, wheelName4:String) {
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super();
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//wheelNames = [wheelName1, wheelName2, wheelName3, wheelName4];
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wheelNames = ["Wheel0", "Wheel1", "Wheel2", "Wheel3"];
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requestInit(init);
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requestUpdate(update);
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kha.input.Keyboard.get().notify(onKeyDown, onKeyUp);
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}
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var up = false;
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var down = false;
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var left = false;
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var right = false;
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function onKeyDown(key:kha.Key, char:String) {
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if (key == kha.Key.UP) up = true;
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else if (key == kha.Key.DOWN) down = true;
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else if (key == kha.Key.LEFT) left = true;
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else if (key == kha.Key.RIGHT) right = true;
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}
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function onKeyUp(key:kha.Key, char:String) {
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if (key == kha.Key.UP) up = false;
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else if (key == kha.Key.DOWN) down = false;
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else if (key == kha.Key.LEFT) left = false;
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else if (key == kha.Key.RIGHT) right = false;
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}
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function init() {
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physics = Root.physics;
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transform = node.transform;
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camera = Node.cameras[0];
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for (n in wheelNames) {
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wheels.push(Eg.root.getChild(n).getTrait(VehicleWheel));
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}
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var rightIndex = 0;
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var upIndex = 2;
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var forwardIndex = 1;
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var wheelDirectionCS0 = BtVector3.create(0, 0, -1);
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var wheelAxleCS = BtVector3.create(1, 0, 0);
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var wheelFriction = 1000;
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var suspensionStiffness = 20.0;
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var suspensionDamping = 2.3;
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var suspensionCompression = 4.4;
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var suspensionRestLength = 0.6;
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var rollInfluence = 0.1;
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var chassisShape = BtBoxShape.create(BtVector3.create(
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transform.size.x / 2,
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transform.size.y / 2,
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transform.size.z / 2).value);
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var compound = BtCompoundShape.create();
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var localTrans = BtTransform.create();
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localTrans.value.setIdentity();
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localTrans.value.setOrigin(BtVector3.create(0, 0, 1).value);
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#if js
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compound.addChildShape(localTrans, chassisShape);
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#elseif cpp
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compound.value.addChildShape(localTrans.value, chassisShape);
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#end
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var tr = BtTransform.create();
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tr.value.setIdentity();
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tr.value.setOrigin(BtVector3.create(
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transform.pos.x,
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transform.pos.y,
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transform.pos.z).value);
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tr.value.setRotation(BtQuaternion.create(
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transform.rot.x,
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transform.rot.y,
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transform.rot.z,
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transform.rot.w).value);
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startTransform = tr; // Cpp workaround
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m_carChassis = createRigidBody(500, compound);
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// Create vehicle
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var m_tuning = BtVehicleTuning.create();
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var m_vehicleRayCaster = BtDefaultVehicleRaycaster.create(physics.world);
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m_vehicle = BtRaycastVehicle.create(m_tuning.value, m_carChassis, m_vehicleRayCaster);
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// Never deactivate the vehicle
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m_carChassis.value.setActivationState(BtCollisionObject.DISABLE_DEACTIVATION);
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// Choose coordinate system
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m_vehicle.value.setCoordinateSystem(rightIndex, upIndex, forwardIndex);
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// Add wheels
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for (w in wheels) {
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m_vehicle.value.addWheel(
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w.connectionPointCS0.value,
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wheelDirectionCS0.value,
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wheelAxleCS.value,
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suspensionRestLength,
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w.wheelRadius,
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m_tuning.value,
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w.isFrontWheel);
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}
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// Setup wheels
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for (i in 0...m_vehicle.value.getNumWheels()){
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var wheel = m_vehicle.value.getWheelInfo(i);
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wheel.m_suspensionStiffness = suspensionStiffness;
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wheel.m_wheelsDampingRelaxation = suspensionDamping;
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wheel.m_wheelsDampingCompression = suspensionCompression;
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wheel.m_frictionSlip = wheelFriction;
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wheel.m_rollInfluence = rollInfluence;
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}
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physics.world.value.addAction(m_vehicle);
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}
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function update() {
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if (m_vehicle == null) return;
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if (up) {
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gEngineForce = maxEngineForce;
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}
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else if (down) {
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gEngineForce = -maxEngineForce;
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}
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else {
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gEngineForce = 0;
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gBreakingForce = 20;
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}
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if (left) {
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gVehicleSteering = 0.2;
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}
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else if (right) {
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gVehicleSteering = -0.2;
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}
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else {
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gVehicleSteering = 0;
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}
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m_vehicle.value.applyEngineForce(gEngineForce, 2);
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m_vehicle.value.setBrake(gBreakingForce, 2);
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m_vehicle.value.applyEngineForce(gEngineForce, 3);
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m_vehicle.value.setBrake(gBreakingForce, 3);
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m_vehicle.value.setSteeringValue(gVehicleSteering, 0);
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m_vehicle.value.setSteeringValue(gVehicleSteering, 1);
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for (i in 0...m_vehicle.value.getNumWheels()) {
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// Synchronize the wheels with the chassis worldtransform
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m_vehicle.value.updateWheelTransform(i, true);
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// Update wheels transforms
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var trans = m_vehicle.value.getWheelTransformWS(i);
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//wheels[i].trans = trans;
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//wheels[i].syncTransform();
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var p = trans.getOrigin();
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var q = trans.getRotation();
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wheels[i].node.transform.pos.set(p.x(), p.y(), p.z());
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wheels[i].node.transform.rot.set(q.x(), q.y(), q.z(), q.w());
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wheels[i].node.transform.dirty = true;
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}
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var trans = m_carChassis.value.getWorldTransform();
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var p = trans.getOrigin();
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var q = trans.getRotation();
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transform.pos.set(p.x(), p.y(), p.z());
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transform.rot.set(q.x(), q.y(), q.z(), q.w());
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var up = transform.matrix.up();
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transform.pos.add(up);
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transform.dirty = true;
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camera.updateMatrix();
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}
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function createRigidBody(mass:Float, shape:BtCompoundShapePointer):BtRigidBodyPointer {
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var localInertia = BtVector3.create(0, 0, 0);
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shape.value.calculateLocalInertia(mass, localInertia.value);
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var centerOfMassOffset = BtTransform.create();
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centerOfMassOffset.value.setIdentity();
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var myMotionState = BtDefaultMotionState.create(startTransform.value, centerOfMassOffset.value);
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var cInfo = BtRigidBodyConstructionInfo.create(mass, myMotionState, shape, localInertia.value).value;
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var body = BtRigidBody.create(cInfo);
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body.value.setLinearVelocity(BtVector3.create(0, 0, 0).value);
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body.value.setAngularVelocity(BtVector3.create(0, 0, 0).value);
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physics.world.value.addRigidBody(body);
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return body;
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}
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#end
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}
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75
Sources/cycles/trait/VehicleWheel.hx
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75
Sources/cycles/trait/VehicleWheel.hx
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@ -0,0 +1,75 @@
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package cycles.trait;
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import lue.trait.Trait;
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#if WITH_PHYSICS
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import haxebullet.Bullet;
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#end
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class VehicleWheel extends Trait {
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#if (!WITH_PHYSICS)
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public function new() { super(); }
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#else
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public var connectionPointCS0:BtVector3Pointer;
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public var isFrontWheel:Bool;
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public var wheelRadius = 0.715;
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public var wheelWidth = 0.35;
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var id:Int;
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public function new(id:Int) {
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super();
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this.id = id;
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var CUBE_HALF_EXTENTS = 1;
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var connectionHeight = 0.9; //1.2;
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if (id == 0) {
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isFrontWheel = true;
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connectionPointCS0 = BtVector3.create(
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CUBE_HALF_EXTENTS - (0.3 * wheelWidth),
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2 * CUBE_HALF_EXTENTS - wheelRadius,
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connectionHeight
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);
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}
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else if (id == 1) {
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isFrontWheel = true;
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connectionPointCS0 = BtVector3.create(
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-CUBE_HALF_EXTENTS + (0.3 * wheelWidth),
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2 * CUBE_HALF_EXTENTS - wheelRadius,
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connectionHeight
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);
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}
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else if (id == 2) {
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isFrontWheel = false;
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connectionPointCS0 = BtVector3.create(
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-CUBE_HALF_EXTENTS + (0.3 * wheelWidth),
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-2 * CUBE_HALF_EXTENTS + wheelRadius,
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connectionHeight
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);
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}
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else if (id == 3) {
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isFrontWheel = false;
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connectionPointCS0 = BtVector3.create(
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CUBE_HALF_EXTENTS - (0.3 * wheelWidth),
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-2 * CUBE_HALF_EXTENTS + wheelRadius,
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connectionHeight
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);
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}
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}
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/*public var trans:BtTransform;
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public function syncTransform() {
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var p = trans.getOrigin();
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var q = trans.getRotation();
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node.transform.pos.set(p.x(), p.y(), p.z());
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node.transform.rot.set(q.x(), q.y(), q.z(), q.w());
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node.transform.dirty = true;
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}*/
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#end
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}
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@ -1548,8 +1548,12 @@ class ArmoryExporter(bpy.types.Operator, ExportHelper):
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deltaPos2 = v2 - v0
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deltaUV1 = uv1 - uv0
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deltaUV2 = uv2 - uv0
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r = 1.0 / (deltaUV1.x * deltaUV2.y - deltaUV1.y * deltaUV2.x);
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tangent = (deltaPos1 * deltaUV2.y - deltaPos2 * deltaUV1.y) * r;
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d = (deltaUV1.x * deltaUV2.y - deltaUV1.y * deltaUV2.x)
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if d != 0:
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r = 1.0 / d
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else:
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r = 1.0
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tangent = (deltaPos1 * deltaUV2.y - deltaPos2 * deltaUV1.y) * r
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tangents.append(tangent.x)
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tangents.append(tangent.y)
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