// SPDX-FileCopyrightText: 2021 Jorrit Rouwe // SPDX-License-Identifier: MIT #include #include #include #include #include #include #include #include #include JPH_IMPLEMENT_RTTI_VIRTUAL(VehicleConstraintTest) { JPH_ADD_BASE_CLASS(VehicleConstraintTest, VehicleTest) } VehicleConstraintTest::~VehicleConstraintTest() { mPhysicsSystem->RemoveStepListener(mVehicleConstraint); } void VehicleConstraintTest::Initialize() { VehicleTest::Initialize(); const float wheel_radius = 0.3f; const float wheel_width = 0.1f; const float half_vehicle_length = 2.0f; const float half_vehicle_width = 0.9f; const float half_vehicle_height = 0.2f; const float suspension_min_length = 0.3f; const float suspension_max_length = 0.5f; const float max_steering_angle = DegreesToRadians(30); // Create collision testers mTesters[0] = new VehicleCollisionTesterRay(Layers::MOVING); mTesters[1] = new VehicleCollisionTesterCastSphere(Layers::MOVING, 0.5f * wheel_width); // Create vehicle body Vec3 position(0, 2, 0); RefConst car_shape = OffsetCenterOfMassShapeSettings(Vec3(0, -half_vehicle_height, 0), new BoxShape(Vec3(half_vehicle_width, half_vehicle_height, half_vehicle_length))).Create().Get(); BodyCreationSettings car_body_settings(car_shape, position, Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING); car_body_settings.mOverrideMassProperties = EOverrideMassProperties::CalculateInertia; car_body_settings.mMassPropertiesOverride.mMass = 1500.0f; mCarBody = mBodyInterface->CreateBody(car_body_settings); mBodyInterface->AddBody(mCarBody->GetID(), EActivation::Activate); // Create vehicle constraint VehicleConstraintSettings vehicle; vehicle.mDrawConstraintSize = 0.1f; vehicle.mMaxPitchRollAngle = DegreesToRadians(60.0f); // Wheels WheelSettingsWV *w1 = new WheelSettingsWV; w1->mPosition = Vec3(half_vehicle_width, -0.9f * half_vehicle_height, half_vehicle_length - 2.0f * wheel_radius); w1->mMaxSteerAngle = max_steering_angle; w1->mMaxHandBrakeTorque = 0.0f; // Front wheel doesn't have hand brake WheelSettingsWV *w2 = new WheelSettingsWV; w2->mPosition = Vec3(-half_vehicle_width, -0.9f * half_vehicle_height, half_vehicle_length - 2.0f * wheel_radius); w2->mMaxSteerAngle = max_steering_angle; w2->mMaxHandBrakeTorque = 0.0f; // Front wheel doesn't have hand brake WheelSettingsWV *w3 = new WheelSettingsWV; w3->mPosition = Vec3(half_vehicle_width, -0.9f * half_vehicle_height, -half_vehicle_length + 2.0f * wheel_radius); w3->mMaxSteerAngle = 0.0f; WheelSettingsWV *w4 = new WheelSettingsWV; w4->mPosition = Vec3(-half_vehicle_width, -0.9f * half_vehicle_height, -half_vehicle_length + 2.0f * wheel_radius); w4->mMaxSteerAngle = 0.0f; vehicle.mWheels = { w1, w2, w3, w4 }; for (WheelSettings *w : vehicle.mWheels) { w->mRadius = wheel_radius; w->mWidth = wheel_width; w->mSuspensionMinLength = suspension_min_length; w->mSuspensionMaxLength = suspension_max_length; } WheeledVehicleControllerSettings *controller = new WheeledVehicleControllerSettings; vehicle.mController = controller; // Differential controller->mDifferentials.resize(sFourWheelDrive? 2 : 1); controller->mDifferentials[0].mLeftWheel = 0; controller->mDifferentials[0].mRightWheel = 1; if (sFourWheelDrive) { controller->mDifferentials[1].mLeftWheel = 2; controller->mDifferentials[1].mRightWheel = 3; // Split engine torque controller->mDifferentials[0].mEngineTorqueRatio = controller->mDifferentials[1].mEngineTorqueRatio = 0.5f; } // Anti rollbars if (sAntiRollbar) { vehicle.mAntiRollBars.resize(2); vehicle.mAntiRollBars[0].mLeftWheel = 0; vehicle.mAntiRollBars[0].mRightWheel = 1; vehicle.mAntiRollBars[1].mLeftWheel = 2; vehicle.mAntiRollBars[1].mRightWheel = 3; } mVehicleConstraint = new VehicleConstraint(*mCarBody, vehicle); mPhysicsSystem->AddConstraint(mVehicleConstraint); mPhysicsSystem->AddStepListener(mVehicleConstraint); } void VehicleConstraintTest::PrePhysicsUpdate(const PreUpdateParams &inParams) { // Determine acceleration and brake float forward = 0.0f, right = 0.0f, brake = 0.0f, hand_brake = 0.0f; if (inParams.mKeyboard->IsKeyPressed(DIK_UP)) forward = 1.0f; else if (inParams.mKeyboard->IsKeyPressed(DIK_DOWN)) forward = -1.0f; // Check if we're reversing direction if (mPreviousForward * forward < 0.0f) { // Get vehicle velocity in local space to the body of the vehicle float velocity = (mCarBody->GetRotation().Conjugated() * mCarBody->GetLinearVelocity()).GetZ(); if ((forward > 0.0f && velocity < -0.1f) || (forward < 0.0f && velocity > 0.1f)) { // Brake while we've not stopped yet forward = 0.0f; brake = 1.0f; } else { // When we've come to a stop, accept the new direction mPreviousForward = forward; } } // Hand brake will cancel gas pedal if (inParams.mKeyboard->IsKeyPressed(DIK_Z)) { forward = 0.0f; hand_brake = 1.0f; } // Steering if (inParams.mKeyboard->IsKeyPressed(DIK_LEFT)) right = -1.0f; else if (inParams.mKeyboard->IsKeyPressed(DIK_RIGHT)) right = 1.0f; // On user input, assure that the car is active if (right != 0.0f || forward != 0.0f || brake != 0.0f || hand_brake != 0.0f) mBodyInterface->ActivateBody(mCarBody->GetID()); WheeledVehicleController *controller = static_cast(mVehicleConstraint->GetController()); // Update vehicle statistics controller->GetEngine().mMaxTorque = sMaxEngineTorque; controller->GetTransmission().mClutchStrength = sClutchStrength; // Set slip ratios to the same for everything float limited_slip_ratio = sLimitedSlipDifferentials? 1.4f : FLT_MAX; controller->SetDifferentialLimitedSlipRatio(limited_slip_ratio); for (VehicleDifferentialSettings &d : controller->GetDifferentials()) d.mLimitedSlipRatio = limited_slip_ratio; // Pass the input on to the constraint controller->SetDriverInput(forward, right, brake, hand_brake); // Set the collision tester mVehicleConstraint->SetVehicleCollisionTester(mTesters[sCollisionMode]); // Draw our wheels (this needs to be done in the pre update since we draw the bodies too in the state before the step) for (uint w = 0; w < 4; ++w) { const WheelSettings *settings = mVehicleConstraint->GetWheels()[w]->GetSettings(); Mat44 wheel_transform = mVehicleConstraint->GetWheelWorldTransform(w, Vec3::sAxisY(), Vec3::sAxisX()); // The cyclinder we draw is aligned with Y so we specify that as rotational axis mDebugRenderer->DrawCylinder(wheel_transform, 0.5f * settings->mWidth, settings->mRadius, Color::sGreen); } } void VehicleConstraintTest::GetInitialCamera(CameraState &ioState) const { // Position camera behind car Vec3 cam_tgt = Vec3(0, 0, 5); ioState.mPos = Vec3(0, 2.5f, -5); ioState.mForward = (cam_tgt - ioState.mPos).Normalized(); } Mat44 VehicleConstraintTest::GetCameraPivot(float inCameraHeading, float inCameraPitch) const { // Pivot is center of car and rotates with car around Y axis only Vec3 fwd = mCarBody->GetRotation().RotateAxisZ(); fwd.SetY(0.0f); float len = fwd.Length(); if (len != 0.0f) fwd /= len; else fwd = Vec3::sAxisZ(); Vec3 up = Vec3::sAxisY(); Vec3 right = up.Cross(fwd); return Mat44(Vec4(right, 0), Vec4(up, 0), Vec4(fwd, 0), Vec4(mCarBody->GetPosition(), 1.0f)); } void VehicleConstraintTest::CreateSettingsMenu(DebugUI *inUI, UIElement *inSubMenu) { VehicleTest::CreateSettingsMenu(inUI, inSubMenu); inUI->CreateComboBox(inSubMenu, "Collision Mode", { "Ray", "Cast Sphere" }, sCollisionMode, [](int inItem) { sCollisionMode = inItem; }); inUI->CreateCheckBox(inSubMenu, "4 Wheel Drive", sFourWheelDrive, [this](UICheckBox::EState inState) { sFourWheelDrive = inState == UICheckBox::STATE_CHECKED; RestartTest(); }); inUI->CreateCheckBox(inSubMenu, "Anti Rollbars", sAntiRollbar, [this](UICheckBox::EState inState) { sAntiRollbar = inState == UICheckBox::STATE_CHECKED; RestartTest(); }); inUI->CreateCheckBox(inSubMenu, "Limited Slip Differentials", sLimitedSlipDifferentials, [](UICheckBox::EState inState) { sLimitedSlipDifferentials = inState == UICheckBox::STATE_CHECKED; }); inUI->CreateSlider(inSubMenu, "Max Engine Torque", float(sMaxEngineTorque), 100.0f, 2000.0f, 10.0f, [](float inValue) { sMaxEngineTorque = inValue; }); inUI->CreateSlider(inSubMenu, "Clutch Strength", float(sClutchStrength), 1.0f, 40.0f, 1.0f, [](float inValue) { sClutchStrength = inValue; }); }