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Add option for WheeledVehicle drive type

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This commit is contained in:
Wojtek Figat
2021-03-29 13:41:25 +02:00
parent e21c9d24de
commit 3162d4e770
3 changed files with 188 additions and 44 deletions
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169
Source/Engine/Physics/Actors/WheeledVehicle.cpp
View File

@@ -11,7 +11,9 @@
#endif
#if WITH_VEHICLE
#include <ThirdParty/PhysX/vehicle/PxVehicleSDK.h>
#include <ThirdParty/PhysX/vehicle/PxVehicleNoDrive.h>
#include <ThirdParty/PhysX/vehicle/PxVehicleDrive4W.h>
#include <ThirdParty/PhysX/vehicle/PxVehicleDriveNW.h>
#include <ThirdParty/PhysX/vehicle/PxVehicleUtilSetup.h>
#include <ThirdParty/PhysX/PxFiltering.h>
#endif
@@ -21,12 +23,47 @@ extern void InitVehicleSDK();
extern Array<WheeledVehicle*> WheelVehicles;
#endif
namespace
{
void FreeDrive(WheeledVehicle::DriveTypes driveType, PxVehicleWheels* drive)
{
switch (driveType)
{
case WheeledVehicle::DriveTypes::Drive4W:
((PxVehicleDrive4W*)drive)->free();
break;
case WheeledVehicle::DriveTypes::DriveNW:
((PxVehicleDriveNW*)drive)->free();
break;
case WheeledVehicle::DriveTypes::NoDrive:
((PxVehicleNoDrive*)drive)->free();
break;
}
}
}
WheeledVehicle::WheeledVehicle(const SpawnParams& params)
: RigidBody(params)
{
_useCCD = 1;
}
WheeledVehicle::DriveTypes WheeledVehicle::GetDriveType() const
{
return _driveType;
}
void WheeledVehicle::SetDriveType(DriveTypes value)
{
if (_driveType == value)
return;
_driveType = value;
if (IsDuringPlay())
{
Setup();
}
}
const Array<WheeledVehicle::Wheel>& WheeledVehicle::GetWheels() const
{
return _wheels;
@@ -49,7 +86,7 @@ WheeledVehicle::GearboxSettings WheeledVehicle::GetGearbox() const
void WheeledVehicle::SetGearbox(const GearboxSettings& value)
{
#if WITH_VEHICLE
auto& drive = (PxVehicleDrive4W*&)_drive;
auto& drive = (PxVehicleDrive*&)_drive;
if (drive)
{
drive->mDriveDynData.setUseAutoGears(value.AutoGear);
@@ -90,7 +127,7 @@ void WheeledVehicle::ClearInput()
float WheeledVehicle::GetForwardSpeed() const
{
#if WITH_VEHICLE
auto& drive = (const PxVehicleDrive4W*&)_drive;
auto& drive = (const PxVehicleWheels*&)_drive;
return drive ? drive->computeForwardSpeed() : 0.0f;
#else
return 0.0f;
@@ -100,7 +137,7 @@ float WheeledVehicle::GetForwardSpeed() const
float WheeledVehicle::GetSidewaysSpeed() const
{
#if WITH_VEHICLE
auto& drive = (const PxVehicleDrive4W*&)_drive;
auto& drive = (const PxVehicleWheels*&)_drive;
return drive ? drive->computeSidewaysSpeed() : 0.0f;
#else
return 0.0f;
@@ -110,8 +147,8 @@ float WheeledVehicle::GetSidewaysSpeed() const
float WheeledVehicle::GetEngineRotationSpeed() const
{
#if WITH_VEHICLE
auto& drive = (const PxVehicleDrive4W*&)_drive;
return drive ? RadPerSToRpm(drive->mDriveDynData.getEngineRotationSpeed()) : 0.0f;
auto& drive = (const PxVehicleDrive*&)_drive;
return drive && _driveType != DriveTypes::NoDrive ? RadPerSToRpm(drive->mDriveDynData.getEngineRotationSpeed()) : 0.0f;
#else
return 0.0f;
#endif
@@ -120,8 +157,8 @@ float WheeledVehicle::GetEngineRotationSpeed() const
int32 WheeledVehicle::GetCurrentGear() const
{
#if WITH_VEHICLE
auto& drive = (const PxVehicleDrive4W*&)_drive;
return drive ? (int32)drive->mDriveDynData.getCurrentGear() - 1 : 0;
auto& drive = (const PxVehicleDrive*&)_drive;
return drive && _driveType != DriveTypes::NoDrive ? (int32)drive->mDriveDynData.getCurrentGear() - 1 : 0;
#else
return 0;
#endif
@@ -130,8 +167,8 @@ int32 WheeledVehicle::GetCurrentGear() const
void WheeledVehicle::SetCurrentGear(int32 value)
{
#if WITH_VEHICLE
auto& drive = (PxVehicleDrive4W*&)_drive;
if (drive)
auto& drive = (PxVehicleDrive*&)_drive;
if (drive && _driveType != DriveTypes::NoDrive)
{
drive->mDriveDynData.forceGearChange((PxU32)(value + 1));
}
@@ -141,8 +178,8 @@ void WheeledVehicle::SetCurrentGear(int32 value)
int32 WheeledVehicle::GetTargetGear() const
{
#if WITH_VEHICLE
auto& drive = (const PxVehicleDrive4W*&)_drive;
return drive ? (int32)drive->mDriveDynData.getTargetGear() - 1 : 0;
auto& drive = (const PxVehicleDrive*&)_drive;
return drive && _driveType != DriveTypes::NoDrive ? (int32)drive->mDriveDynData.getTargetGear() - 1 : 0;
#else
return 0;
#endif
@@ -151,8 +188,8 @@ int32 WheeledVehicle::GetTargetGear() const
void WheeledVehicle::SetTargetGear(int32 value)
{
#if WITH_VEHICLE
auto& drive = (PxVehicleDrive4W*&)_drive;
if (drive)
auto& drive = (PxVehicleDrive*&)_drive;
if (drive && _driveType != DriveTypes::NoDrive)
{
drive->mDriveDynData.startGearChange((PxU32)(value + 1));
}
@@ -180,13 +217,13 @@ void WheeledVehicle::Setup()
#if WITH_VEHICLE
if (!_actor)
return;
auto& drive = (PxVehicleDrive4W*&)_drive;
auto& drive = (PxVehicleWheels*&)_drive;
// Release previous
if (drive)
{
WheelVehicles.Remove(this);
drive->free();
FreeDrive(_driveTypeCurrent, drive);
drive = nullptr;
}
@@ -270,15 +307,15 @@ void WheeledVehicle::Setup()
wheelData.mDampingRate = M2ToCm2(0.25f);
switch (wheel.Type)
{
case WheelType::FrontLeft:
case WheelType::FrontRight:
case WheelTypes::FrontLeft:
case WheelTypes::FrontRight:
// Enable steering for the front wheels only
// TODO: expose as settings
wheelData.mMaxSteer = PI * 0.3333f;
wheelData.mMaxSteer = PI * 0.3333f;
break;
case WheelType::RearLeft:
case WheelType::ReadRight:
case WheelTypes::RearLeft:
case WheelTypes::ReadRight:
// Enable the handbrake for the rear wheels only
// TODO: expose as settings
wheelData.mMaxHandBrakeTorque = M2ToCm2(4000.0f);
@@ -342,9 +379,14 @@ void WheeledVehicle::Setup()
}
}
// Initialize vehicle drive simulation data
PxVehicleDriveSimData4W driveSimData;
// Initialize vehicle drive
_driveTypeCurrent = _driveType;
switch (_driveType)
{
case DriveTypes::Drive4W:
{
PxVehicleDriveSimData4W driveSimData;
// Differential
PxVehicleDifferential4WData diff;
// TODO: expose Differential options
@@ -383,20 +425,79 @@ void WheeledVehicle::Setup()
ackermann.mFrontWidth = Math::Abs(wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eFRONT_RIGHT).z - wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eFRONT_LEFT).z);
ackermann.mRearWidth = Math::Abs(wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eREAR_RIGHT).z - wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eREAR_LEFT).z);
driveSimData.setAckermannGeometryData(ackermann);
// Create vehicle drive
auto drive4W = PxVehicleDrive4W::allocate(wheels.Count());
drive4W->setup(CPhysX, _actor, *wheelsSimData, driveSimData, Math::Max(wheels.Count() - 4, 0));
drive4W->setToRestState();
drive4W->mDriveDynData.forceGearChange(PxVehicleGearsData::eFIRST);
drive4W->mDriveDynData.setUseAutoGears(_gearbox.AutoGear);
drive = drive4W;
break;
}
case DriveTypes::DriveNW:
{
PxVehicleDriveSimDataNW driveSimData;
// Differential
PxVehicleDifferentialNWData diff;
// TODO: expose Differential options
for (int32 i = 0; i < wheels.Count(); i++)
diff.setDrivenWheel(i, true);
driveSimData.setDiffData(diff);
// Engine
PxVehicleEngineData engine;
// TODO: expose Engine options
engine.mMOI = M2ToCm2(1.0f);
engine.mPeakTorque = M2ToCm2(500.0f);
engine.mMaxOmega = RpmToRadPerS(6000.0f);
engine.mDampingRateFullThrottle = M2ToCm2(0.15f);
engine.mDampingRateZeroThrottleClutchEngaged = M2ToCm2(2.0f);
engine.mDampingRateZeroThrottleClutchDisengaged = M2ToCm2(0.35f);
driveSimData.setEngineData(engine);
// Gears
PxVehicleGearsData gears;
gears.mSwitchTime = Math::Max(_gearbox.SwitchTime, 0.0f);
driveSimData.setGearsData(gears);
// Auto Box
PxVehicleAutoBoxData autoBox;
driveSimData.setAutoBoxData(autoBox);
// Clutch
PxVehicleClutchData clutch;
// TODO: expose Clutch options
clutch.mStrength = M2ToCm2(10.0f);
driveSimData.setClutchData(clutch);
// Create vehicle drive
auto driveNW = PxVehicleDriveNW::allocate(wheels.Count());
driveNW->setup(CPhysX, _actor, *wheelsSimData, driveSimData, wheels.Count());
driveNW->setToRestState();
driveNW->mDriveDynData.forceGearChange(PxVehicleGearsData::eFIRST);
driveNW->mDriveDynData.setUseAutoGears(_gearbox.AutoGear);
drive = driveNW;
break;
}
case DriveTypes::NoDrive:
{
// Create vehicle drive
auto driveNo = PxVehicleNoDrive::allocate(wheels.Count());
driveNo->setup(CPhysX, _actor, *wheelsSimData);
driveNo->setToRestState();
drive = driveNo;
break;
}
default:
CRASH;
}
// Create vehicle drive
drive = PxVehicleDrive4W::allocate(wheels.Count());
_actor->setSolverIterationCounts(12, 4);
drive->setup(CPhysX, _actor, *wheelsSimData, driveSimData, Math::Max(wheels.Count() - 4, 0));
WheelVehicles.Add(this);
// Initialize
drive->setToRestState();
drive->mDriveDynData.forceGearChange(PxVehicleGearsData::eFIRST);
drive->mDriveDynData.setUseAutoGears(_gearbox.AutoGear);
wheelsSimData->free();
_actor->setSolverIterationCounts(12, 4);
#else
LOG(Fatal, "PhysX Vehicle SDK is not supported.");
#endif
@@ -441,6 +542,7 @@ void WheeledVehicle::Serialize(SerializeStream& stream, const void* otherObj)
SERIALIZE_GET_OTHER_OBJ(WheeledVehicle);
SERIALIZE_MEMBER(DriveType, _driveType);
SERIALIZE_MEMBER(Wheels, _wheels);
SERIALIZE(UseReverseAsBrake);
SERIALIZE_MEMBER(Gearbox, _gearbox);
@@ -450,6 +552,7 @@ void WheeledVehicle::Deserialize(DeserializeStream& stream, ISerializeModifier*
{
RigidBody::Deserialize(stream, modifier);
DESERIALIZE_MEMBER(DriveType, _driveType);
DESERIALIZE_MEMBER(Wheels, _wheels);
DESERIALIZE(UseReverseAsBrake);
DESERIALIZE_MEMBER(Gearbox, _gearbox);
@@ -483,12 +586,12 @@ void WheeledVehicle::EndPlay()
#endif
#if WITH_VEHICLE
auto& drive = (PxVehicleDrive4W*&)_drive;
auto& drive = (PxVehicleWheels*&)_drive;
if (drive)
{
// Parkway Drive
WheelVehicles.Remove(this);
drive->free();
FreeDrive(_driveTypeCurrent, drive);
drive = nullptr;
}
#endif

30
Source/Engine/Physics/Actors/WheeledVehicle.h
View File

@@ -18,6 +18,19 @@ API_CLASS() class FLAXENGINE_API WheeledVehicle : public RigidBody
DECLARE_SCENE_OBJECT(WheeledVehicle);
public:
/// <summary>
/// Vehicle driving mode types.
/// </summary>
API_ENUM() enum class DriveTypes
{
// Four-wheel drive. Any additional wheels are non-drivable. Optimized for 4-wheel cars.
Drive4W,
// N-wheel drive. Up to 20 drivable wheels. Suits generic wheels configurations.
DriveNW,
// Non-drivable vehicle.
NoDrive,
};
/// <summary>
/// Vehicle gearbox settings.
/// </summary>
@@ -40,7 +53,7 @@ public:
/// <summary>
/// Vehicle wheel types.
/// </summary>
API_ENUM() enum class WheelType
API_ENUM() enum class WheelTypes
{
// Left wheel of the front axle.
FrontLeft,
@@ -65,7 +78,7 @@ public:
/// <summary>
/// Wheel placement type.
/// </summary>
API_FIELD() WheelType Type = WheelType::FrontLeft;
API_FIELD() WheelTypes Type = WheelTypes::FrontLeft;
/// <summary>
/// Combined mass of the wheel and the tire in kg. Typically, a wheel has mass between 20Kg and 80Kg but can be lower and higher depending on the vehicle.
@@ -131,6 +144,7 @@ private:
};
void* _drive = nullptr;
DriveTypes _driveType = DriveTypes::Drive4W, _driveTypeCurrent;
Array<WheelData, FixedAllocation<20>> _wheelsData;
float _throttle = 0.0f, _steering = 0.0f, _brake = 0.0f, _handBrake = 0.0f;
GearboxSettings _gearbox;
@@ -144,10 +158,20 @@ public:
API_FIELD(Attributes="EditorOrder(0), EditorDisplay(\"Vehicle\")")
bool UseReverseAsBrake = true;
/// <summary>
/// Gets the vehicle driving model type.
/// </summary>
API_PROPERTY(Attributes="EditorOrder(1), EditorDisplay(\"Vehicle\")") DriveTypes GetDriveType() const;
/// <summary>
/// Sets the vehicle driving model type.
/// </summary>
API_PROPERTY() void SetDriveType(DriveTypes value);
/// <summary>
/// Gets the vehicle wheels settings.
/// </summary>
API_PROPERTY(Attributes="EditorOrder(1), EditorDisplay(\"Vehicle\")") const Array<Wheel>& GetWheels() const;
API_PROPERTY(Attributes="EditorOrder(2), EditorDisplay(\"Vehicle\")") const Array<Wheel>& GetWheels() const;
/// <summary>
/// Sets the vehicle wheels settings.