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Fix car wheel location by applying compression of the suspension spring

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This commit is contained in:
Wojtek Figat
2021-08-09 15:22:10 +02:00
parent 09c11250b4
commit 623f981bc1
3 changed files with 54 additions and 5 deletions
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16
Source/Engine/Physics/Physics.cpp
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@@ -847,10 +847,24 @@ void Physics::CollectResults()
state.TireFriction = perWheel.tireFriction;
state.SteerAngle = RadiansToDegrees * perWheel.steerAngle;
state.RotationAngle = -RadiansToDegrees * drive->mWheelsDynData.getWheelRotationAngle(j);
const float suspensionOffsetDelta = perWheel.suspJounce - state.SuspensionOffset;
state.SuspensionOffset = perWheel.suspJounce;
// Rotate wheel
wheelData.Collider->SetLocalOrientation(Quaternion::Euler(0, state.SteerAngle, state.RotationAngle) * wheelData.LocalOrientation);
// Apply suspension offset (cannot move collider because it breaks driving so move it's children but preserve the initial pose)
for (auto child : wheelData.Collider->Children)
{
int32 poseIndex = 0;
for (; poseIndex < wheelData.ChildrenPoses.Count(); poseIndex++)
{
if (wheelData.ChildrenPoses[poseIndex].Child == child)
break;
}
if (poseIndex == wheelData.ChildrenPoses.Count())
wheelData.ChildrenPoses.Add({ child, child->GetLocalPosition() });
child->SetPosition(wheelData.Collider->GetTransform().LocalToWorld(wheelData.ChildrenPoses[poseIndex].Pose) + Vector3(0, perWheel.suspJounce, 0));
}
}
}
}