#ifndef VEHICLE_BODY_H #define VEHICLE_BODY_H /*************************************************************************/ /* vehicle_body.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ /* "Software"), to deal in the Software without restriction, including */ /* without limitation the rights to use, copy, modify, merge, publish, */ /* distribute, sublicense, and/or sell copies of the Software, and to */ /* permit persons to whom the Software is furnished to do so, subject to */ /* the following conditions: */ /* */ /* The above copyright notice and this permission notice shall be */ /* included in all copies or substantial portions of the Software. */ /* */ /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ #include "scene/3d/physics_body.h" class VehicleBody; class VehicleWheel : public Spatial { GDCLASS(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_rpm; 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; bool is_in_contact() const; Spatial *get_contact_body() const; void set_roll_influence(float p_value); float get_roll_influence() const; float get_skidinfo() const; 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(); }; class VehicleBody : public RigidBody { GDCLASS(VehicleBody, RigidBody); float engine_force; float brake; 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, const real_t p_rollInfluence); 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_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; VehicleBody(); }; #endif // VEHICLE_BODY_H