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Fix WheeledVehicle driving and suspension raycasts

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This commit is contained in:
Wojtek Figat
2021-08-20 15:30:01 +02:00
parent 09e2b737f0
commit aa224f6296
3 changed files with 66 additions and 43 deletions
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33
Source/Engine/Physics/Actors/WheeledVehicle.cpp
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@@ -291,7 +291,8 @@ void WheeledVehicle::Setup()
offsets[i] = C2P(wheel.Collider->GetLocalPosition());
}
PxF32 sprungMasses[PX_MAX_NB_WHEELS];
PxVehicleComputeSprungMasses(wheels.Count(), offsets, centerOfMassOffset.p, _actor->getMass(), 1, sprungMasses);
const float mass = _actor->getMass();
PxVehicleComputeSprungMasses(wheels.Count(), offsets, centerOfMassOffset.p, mass, 1, sprungMasses);
PxVehicleWheelsSimData* wheelsSimData = PxVehicleWheelsSimData::allocate(wheels.Count());
for (int32 i = 0; i < wheels.Count(); i++)
{
@@ -300,7 +301,6 @@ void WheeledVehicle::Setup()
auto& data = _wheelsData[i];
data.Collider = wheel.Collider;
data.LocalOrientation = wheel.Collider->GetLocalOrientation();
data.ChildrenPoses.Resize(0);
PxVehicleSuspensionData suspensionData;
const float suspensionFrequency = 7.0f;
@@ -324,7 +324,7 @@ void WheeledVehicle::Setup()
wheelData.mMaxHandBrakeTorque = M2ToCm2(wheel.MaxHandBrakeTorque);
PxVec3 centreOffset = centerOfMassOffset.transformInv(offsets[i]);
PxVec3 forceAppPointOffset(centreOffset.z, centreOffset.y + wheel.SuspensionForceOffset, centreOffset.z);
PxVec3 forceAppPointOffset(centreOffset.z, wheel.SuspensionForceOffset, centreOffset.z);
wheelsSimData->setTireData(i, tire);
wheelsSimData->setWheelData(i, wheelData);
@@ -333,6 +333,8 @@ void WheeledVehicle::Setup()
wheelsSimData->setWheelCentreOffset(i, centreOffset);
wheelsSimData->setSuspForceAppPointOffset(i, forceAppPointOffset);
wheelsSimData->setTireForceAppPointOffset(i, forceAppPointOffset);
wheelsSimData->setSubStepCount(4.0f * 100.0f, 3, 1);
wheelsSimData->setMinLongSlipDenominator(4.0f * 100.0f);
PxShape* wheelShape = wheel.Collider->GetPxShape();
if (wheel.Collider->IsActiveInHierarchy())
@@ -345,6 +347,9 @@ void WheeledVehicle::Setup()
wheelShape->setQueryFilterData(filter);
wheelShape->setSimulationFilterData(filter);
wheelsSimData->setSceneQueryFilterData(i, filter);
// Remove wheels from the simulation (suspension force hold the vehicle)
wheelShape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
}
else
{
@@ -520,12 +525,16 @@ void WheeledVehicle::DrawPhysicsDebug(RenderView& view)
auto& wheel = _wheels[wheelIndex];
if (wheel.Collider && wheel.Collider->GetParent() == this && !wheel.Collider->GetIsTrigger())
{
const Vector3 basePos = wheel.Collider->GetPosition();
const Vector3 currentPos = basePos + Vector3(0, data.State.SuspensionOffset, 0);
const Vector3 currentPos = wheel.Collider->GetPosition();
const Vector3 basePos = currentPos - Vector3(0, data.State.SuspensionOffset, 0);
DEBUG_DRAW_WIRE_SPHERE(BoundingSphere(basePos, wheel.Radius * 0.07f), Color::Blue * 0.3f, 0, true);
DEBUG_DRAW_WIRE_SPHERE(BoundingSphere(currentPos, wheel.Radius * 0.08f), Color::Blue * 0.8f, 0, true);
DEBUG_DRAW_LINE(basePos, currentPos, Color::Blue, 0, true);
DEBUG_DRAW_WIRE_CYLINDER(currentPos, wheel.Collider->GetOrientation(), wheel.Radius, wheel.Width, Color::Red * 0.8f, 0, true);
if (!data.State.IsInAir)
{
DEBUG_DRAW_WIRE_SPHERE(BoundingSphere(data.State.TireContactPoint, 5.0f), Color::Green, 0, true);
}
}
}
}
@@ -546,12 +555,22 @@ void WheeledVehicle::OnDebugDrawSelected()
auto& wheel = _wheels[wheelIndex];
if (wheel.Collider && wheel.Collider->GetParent() == this && !wheel.Collider->GetIsTrigger())
{
const Vector3 basePos = wheel.Collider->GetPosition();
const Vector3 currentPos = basePos + Vector3(0, data.State.SuspensionOffset, 0);
const Vector3 currentPos = wheel.Collider->GetPosition();
const Vector3 basePos = currentPos - Vector3(0, data.State.SuspensionOffset, 0);
DEBUG_DRAW_WIRE_SPHERE(BoundingSphere(basePos, wheel.Radius * 0.07f), Color::Blue * 0.3f, 0, false);
DEBUG_DRAW_WIRE_SPHERE(BoundingSphere(currentPos, wheel.Radius * 0.08f), Color::Blue * 0.8f, 0, false);
DEBUG_DRAW_WIRE_SPHERE(BoundingSphere(P2C(_actor->getGlobalPose().transform(wheel.Collider->GetPxShape()->getLocalPose()).p), wheel.Radius * 0.11f), Color::OrangeRed * 0.8f, 0, false);
DEBUG_DRAW_LINE(basePos, currentPos, Color::Blue, 0, false);
DEBUG_DRAW_WIRE_CYLINDER(currentPos, wheel.Collider->GetOrientation(), wheel.Radius, wheel.Width, Color::Red * 0.4f, 0, false);
if (!data.State.SuspensionTraceStart.IsZero())
{
DEBUG_DRAW_WIRE_SPHERE(BoundingSphere(data.State.SuspensionTraceStart, 5.0f), Color::AliceBlue, 0, false);
DEBUG_DRAW_LINE(data.State.SuspensionTraceStart, data.State.SuspensionTraceEnd, data.State.IsInAir ? Color::Red : Color::Green, 0, false);
}
if (!data.State.IsInAir)
{
DEBUG_DRAW_WIRE_SPHERE(BoundingSphere(data.State.TireContactPoint, 5.0f), Color::Green, 0, false);
}
}
}