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Add per-wheel throttle, brake, and steering for vehicles

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This commit is contained in:
Jon Ring 2019-07-18 14:16:28 -04:00
parent d087a9e328
commit 18103f2b89
2 changed files with 70 additions and 9 deletions
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68
scene/3d/vehicle_body.cpp
View file

@ -272,6 +272,20 @@ void VehicleWheel::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_rpm"), &VehicleWheel::get_rpm);
ClassDB::bind_method(D_METHOD("set_engine_force", "engine_force"), &VehicleWheel::set_engine_force);
ClassDB::bind_method(D_METHOD("get_engine_force"), &VehicleWheel::get_engine_force);
ClassDB::bind_method(D_METHOD("set_brake", "brake"), &VehicleWheel::set_brake);
ClassDB::bind_method(D_METHOD("get_brake"), &VehicleWheel::get_brake);
ClassDB::bind_method(D_METHOD("set_steering", "steering"), &VehicleWheel::set_steering);
ClassDB::bind_method(D_METHOD("get_steering"), &VehicleWheel::get_steering);
ADD_GROUP("Per-Wheel Motion", "");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "engine_force", PROPERTY_HINT_RANGE, "0.00,1024.0,0.01,or_greater"), "set_engine_force", "get_engine_force");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "brake", PROPERTY_HINT_RANGE, "0.0,1.0,0.01"), "set_brake", "get_brake");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "steering", PROPERTY_HINT_RANGE, "-180,180.0,0.01"), "set_steering", "get_steering");
ADD_GROUP("VehicleBody Motion", "");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "use_as_traction"), "set_use_as_traction", "is_used_as_traction");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "use_as_steering"), "set_use_as_steering", "is_used_as_steering");
ADD_GROUP("Wheel", "wheel_");
@ -288,6 +302,34 @@ void VehicleWheel::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::REAL, "damping_relaxation"), "set_damping_relaxation", "get_damping_relaxation");
}
void VehicleWheel::set_engine_force(float p_engine_force) {
m_engineForce = p_engine_force;
}
float VehicleWheel::get_engine_force() const {
return m_engineForce;
}
void VehicleWheel::set_brake(float p_brake) {
m_brake = p_brake;
}
float VehicleWheel::get_brake() const {
return m_brake;
}
void VehicleWheel::set_steering(float p_steering) {
m_steering = p_steering;
}
float VehicleWheel::get_steering() const {
return m_steering;
}
void VehicleWheel::set_use_as_traction(bool p_enable) {
engine_traction = p_enable;
@ -374,10 +416,7 @@ void VehicleBody::_update_wheel(int p_idx, PhysicsDirectBodyState *s) {
Vector3 fwd = up.cross(right);
fwd = fwd.normalized();
//rotate around steering over de wheelAxleWS
real_t steering = wheel.steers ? m_steeringValue : 0.0;
Basis steeringMat(up, steering);
Basis steeringMat(up, wheel.m_steering);
Basis rotatingMat(right, wheel.m_rotation);
@ -723,12 +762,11 @@ void VehicleBody::_update_friction(PhysicsDirectBodyState *s) {
real_t rollingFriction = 0.f;
if (wheelInfo.m_raycastInfo.m_isInContact) {
if (engine_force != 0.f && wheelInfo.engine_traction) {
rollingFriction = -engine_force * s->get_step();
if (wheelInfo.m_engineForce != 0.f) {
rollingFriction = -wheelInfo.m_engineForce * s->get_step();
} else {
real_t defaultRollingFrictionImpulse = 0.f;
float cbrake = MAX(wheelInfo.m_brake, brake);
real_t maxImpulse = cbrake ? cbrake : defaultRollingFrictionImpulse;
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);
}
@ -886,6 +924,11 @@ void VehicleBody::_direct_state_changed(Object *p_state) {
void VehicleBody::set_engine_force(float p_engine_force) {
engine_force = p_engine_force;
for (int i = 0; i < wheels.size(); i++) {
VehicleWheel &wheelInfo = *wheels[i];
if (wheelInfo.engine_traction)
wheelInfo.m_engineForce = p_engine_force;
}
}
float VehicleBody::get_engine_force() const {
@ -896,6 +939,10 @@ float VehicleBody::get_engine_force() const {
void VehicleBody::set_brake(float p_brake) {
brake = p_brake;
for (int i = 0; i < wheels.size(); i++) {
VehicleWheel &wheelInfo = *wheels[i];
wheelInfo.m_brake = p_brake;
}
}
float VehicleBody::get_brake() const {
@ -905,6 +952,11 @@ float VehicleBody::get_brake() const {
void VehicleBody::set_steering(float p_steering) {
m_steeringValue = p_steering;
for (int i = 0; i < wheels.size(); i++) {
VehicleWheel &wheelInfo = *wheels[i];
if (wheelInfo.steers)
wheelInfo.m_steering = p_steering;
}
}
float VehicleBody::get_steering() const {

11
scene/3d/vehicle_body.h
View file

@ -70,7 +70,7 @@ class VehicleWheel : public Spatial {
real_t m_deltaRotation;
real_t m_rpm;
real_t m_rollInfluence;
//real_t m_engineForce;
real_t m_engineForce;
real_t m_brake;
real_t m_clippedInvContactDotSuspension;
@ -137,6 +137,15 @@ public:
float get_rpm() const;
void set_engine_force(float p_engine_force);
float get_engine_force() const;
void set_brake(float p_brake);
float get_brake() const;
void set_steering(float p_steering);
float get_steering() const;
String get_configuration_warning() const;
VehicleWheel();