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Add tank vehicle physics

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This commit is contained in:
Mr. Capybara
2023-12-31 15:00:31 -04:00
parent b275ffc146
commit d016305690
3 changed files with 518 additions and 230 deletions
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91
Source/Engine/Physics/Actors/WheeledVehicle.cpp
View File

@@ -14,7 +14,7 @@
#include "Engine/Core/Log.h"
#endif
WheeledVehicle::WheeledVehicle(const SpawnParams& params)
WheeledVehicle::WheeledVehicle(const SpawnParams &params)
: RigidBody(params)
{
_useCCD = 1;
@@ -33,12 +33,22 @@ void WheeledVehicle::SetDriveType(DriveTypes value)
Setup();
}
const Array<WheeledVehicle::Wheel>& WheeledVehicle::GetWheels() const
void WheeledVehicle::SetDriveMode(DriveModes value)
{
_driveMode = value;
}
WheeledVehicle::DriveModes WheeledVehicle::GetDriveMode() const
{
return _driveMode;
}
const Array<WheeledVehicle::Wheel> &WheeledVehicle::GetWheels() const
{
return _wheels;
}
void WheeledVehicle::SetWheels(const Array<Wheel>& value)
void WheeledVehicle::SetWheels(const Array<Wheel> &value)
{
#if WITH_VEHICLE
// Don't recreate whole vehicle when some wheel properties are only changed (eg. suspension)
@@ -47,8 +57,8 @@ void WheeledVehicle::SetWheels(const Array<Wheel>& value)
bool softUpdate = true;
for (int32 wheelIndex = 0; wheelIndex < value.Count(); wheelIndex++)
{
auto& oldWheel = _wheels.Get()[wheelIndex];
auto& newWheel = value.Get()[wheelIndex];
auto &oldWheel = _wheels.Get()[wheelIndex];
auto &newWheel = value.Get()[wheelIndex];
if (oldWheel.Type != newWheel.Type ||
Math::NotNearEqual(oldWheel.SuspensionForceOffset, newWheel.SuspensionForceOffset) ||
oldWheel.Collider != newWheel.Collider)
@@ -74,7 +84,7 @@ WheeledVehicle::EngineSettings WheeledVehicle::GetEngine() const
return _engine;
}
void WheeledVehicle::SetEngine(const EngineSettings& value)
void WheeledVehicle::SetEngine(const EngineSettings &value)
{
#if WITH_VEHICLE
if (_vehicle)
@@ -88,7 +98,7 @@ WheeledVehicle::DifferentialSettings WheeledVehicle::GetDifferential() const
return _differential;
}
void WheeledVehicle::SetDifferential(const DifferentialSettings& value)
void WheeledVehicle::SetDifferential(const DifferentialSettings &value)
{
#if WITH_VEHICLE
if (_vehicle)
@@ -102,7 +112,7 @@ WheeledVehicle::GearboxSettings WheeledVehicle::GetGearbox() const
return _gearbox;
}
void WheeledVehicle::SetGearbox(const GearboxSettings& value)
void WheeledVehicle::SetGearbox(const GearboxSettings &value)
{
#if WITH_VEHICLE
if (_vehicle)
@@ -131,11 +141,35 @@ void WheeledVehicle::SetHandbrake(float value)
_handBrake = Math::Saturate(value);
}
void WheeledVehicle::SetTankLeftThrottle(float value)
{
_tankLeftThrottle = Math::Clamp(value, -1.0f, 1.0f);
}
void WheeledVehicle::SetTankRightThrottle(float value)
{
_tankRightThrottle = Math::Clamp(value, -1.0f, 1.0f);
}
void WheeledVehicle::SetTankLeftBrake(float value)
{
_tankLeftBrake = Math::Saturate(value);
}
void WheeledVehicle::SetTankRightBrake(float value)
{
_tankRightBrake = Math::Saturate(value);
}
void WheeledVehicle::ClearInput()
{
_throttle = 0;
_steering = 0;
_brake = 0;
_tankLeftThrottle = 0;
_tankRightThrottle = 0;
_tankLeftBrake = 0;
_tankRightBrake = 0;
_handBrake = 0;
}
@@ -200,12 +234,12 @@ void WheeledVehicle::SetTargetGear(int32 value)
#endif
}
void WheeledVehicle::GetWheelState(int32 index, WheelState& result)
void WheeledVehicle::GetWheelState(int32 index, WheelState &result)
{
if (index >= 0 && index < _wheels.Count())
{
const auto collider = _wheels[index].Collider.Get();
for (auto& wheelData : _wheelsData)
for (auto &wheelData : _wheelsData)
{
if (wheelData.Collider == collider)
{
@@ -223,7 +257,7 @@ void WheeledVehicle::Setup()
return;
// Release previous
void* scene = GetPhysicsScene()->GetPhysicsScene();
void *scene = GetPhysicsScene()->GetPhysicsScene();
if (_vehicle)
{
PhysicsBackend::RemoveVehicle(scene, this);
@@ -246,10 +280,10 @@ void WheeledVehicle::Setup()
#if USE_EDITOR
void WheeledVehicle::DrawPhysicsDebug(RenderView& view)
void WheeledVehicle::DrawPhysicsDebug(RenderView &view)
{
// Wheels shapes
for (const auto& data : _wheelsData)
for (const auto &data : _wheelsData)
{
int32 wheelIndex = 0;
for (; wheelIndex < _wheels.Count(); wheelIndex++)
@@ -259,7 +293,7 @@ void WheeledVehicle::DrawPhysicsDebug(RenderView& view)
}
if (wheelIndex == _wheels.Count())
break;
const auto& wheel = _wheels[wheelIndex];
const auto &wheel = _wheels[wheelIndex];
if (wheel.Collider && wheel.Collider->GetParent() == this && !wheel.Collider->GetIsTrigger())
{
const Vector3 currentPos = wheel.Collider->GetPosition();
@@ -280,7 +314,7 @@ void WheeledVehicle::DrawPhysicsDebug(RenderView& view)
void WheeledVehicle::OnDebugDrawSelected()
{
// Wheels shapes
for (const auto& data : _wheelsData)
for (const auto &data : _wheelsData)
{
int32 wheelIndex = 0;
for (; wheelIndex < _wheels.Count(); wheelIndex++)
@@ -290,7 +324,7 @@ void WheeledVehicle::OnDebugDrawSelected()
}
if (wheelIndex == _wheels.Count())
break;
const auto& wheel = _wheels[wheelIndex];
const auto &wheel = _wheels[wheelIndex];
if (wheel.Collider && wheel.Collider->GetParent() == this && !wheel.Collider->GetIsTrigger())
{
const Vector3 currentPos = wheel.Collider->GetPosition();
@@ -314,6 +348,14 @@ void WheeledVehicle::OnDebugDrawSelected()
DEBUG_DRAW_WIRE_SPHERE(BoundingSphere(data.State.TireContactPoint, 5.0f), Color::Green, 0, false);
}
}
// Draw wheels axes
if (wheelIndex % 2 == 0 && wheelIndex + 1 < _wheels.Count())
{
const Vector3 wheelPos = _wheels[wheelIndex].Collider->GetPosition();
const Vector3 nextWheelPos = _wheels[wheelIndex + 1].Collider->GetPosition();
DEBUG_DRAW_LINE(wheelPos, nextWheelPos, Color::Yellow, 0, false);
}
}
// Center of mass
@@ -324,13 +366,14 @@ void WheeledVehicle::OnDebugDrawSelected()
#endif
void WheeledVehicle::Serialize(SerializeStream& stream, const void* otherObj)
void WheeledVehicle::Serialize(SerializeStream &stream, const void *otherObj)
{
RigidBody::Serialize(stream, otherObj);
SERIALIZE_GET_OTHER_OBJ(WheeledVehicle);
SERIALIZE_MEMBER(DriveType, _driveType);
SERIALIZE_MEMBER(DriveModes, _driveMode);
SERIALIZE_MEMBER(Wheels, _wheels);
SERIALIZE(UseReverseAsBrake);
SERIALIZE(UseAnalogSteering);
@@ -339,11 +382,12 @@ void WheeledVehicle::Serialize(SerializeStream& stream, const void* otherObj)
SERIALIZE_MEMBER(Gearbox, _gearbox);
}
void WheeledVehicle::Deserialize(DeserializeStream& stream, ISerializeModifier* modifier)
void WheeledVehicle::Deserialize(DeserializeStream &stream, ISerializeModifier *modifier)
{
RigidBody::Deserialize(stream, modifier);
DESERIALIZE_MEMBER(DriveType, _driveType);
DESERIALIZE_MEMBER(DriveModes, _driveMode);
DESERIALIZE_MEMBER(Wheels, _wheels);
DESERIALIZE(UseReverseAsBrake);
DESERIALIZE(UseAnalogSteering);
@@ -355,7 +399,7 @@ void WheeledVehicle::Deserialize(DeserializeStream& stream, ISerializeModifier*
_fixInvalidForwardDir |= modifier->EngineBuild < 6341;
}
void WheeledVehicle::OnColliderChanged(Collider* c)
void WheeledVehicle::OnColliderChanged(Collider *c)
{
RigidBody::OnColliderChanged(c);
@@ -378,7 +422,7 @@ void WheeledVehicle::OnActiveInTreeChanged()
Setup();
}
void WheeledVehicle::OnPhysicsSceneChanged(PhysicsScene* previous)
void WheeledVehicle::OnPhysicsSceneChanged(PhysicsScene *previous)
{
RigidBody::OnPhysicsSceneChanged(previous);
@@ -401,9 +445,10 @@ void WheeledVehicle::OnTransformChanged()
// Transform all vehicle children around the vehicle origin to fix the vehicle facing direction
const Quaternion rotationDelta(0.0f, -0.7071068f, 0.0f, 0.7071068f);
const Vector3 origin = GetPosition();
for (Actor* child : Children)
for (Actor *child : Children)
{
Transform trans = child->GetTransform();;
Transform trans = child->GetTransform();
;
const Vector3 pivotOffset = trans.Translation - origin;
if (pivotOffset.IsZero())
{
@@ -423,7 +468,7 @@ void WheeledVehicle::OnTransformChanged()
}
}
void WheeledVehicle::BeginPlay(SceneBeginData* data)
void WheeledVehicle::BeginPlay(SceneBeginData *data)
{
RigidBody::BeginPlay(data);

66
Source/Engine/Physics/Actors/WheeledVehicle.h
View File

@@ -26,6 +26,18 @@ API_CLASS(Attributes="ActorContextMenu(\"New/Physics/Wheeled Vehicle\"), ActorTo
DriveNW,
// Non-drivable vehicle.
NoDrive,
Tank,
};
/// <summary>
/// Vehicle driving types.
/// Used only on tanks to specify the drive mode.
/// </summary>
API_ENUM() enum class DriveModes
{
// Drive turning the vehicle using only one track
Standard,
// Drive turning the vehicle using all tracks inverse direction.
Special
};
/// <summary>
@@ -128,6 +140,11 @@ API_CLASS(Attributes="ActorContextMenu(\"New/Physics/Wheeled Vehicle\"), ActorTo
/// </summary>
API_FIELD() bool AutoGear = true;
/// <summary>
/// Number of gears to move to forward
/// </summary>
API_FIELD(Attributes = "Limit(1, 30)") int ForwardGearsRatios = 5;
/// <summary>
/// Time it takes to switch gear. Specified in seconds (s).
/// </summary>
@@ -322,8 +339,9 @@ private:
void* _vehicle = nullptr;
DriveTypes _driveType = DriveTypes::Drive4W, _driveTypeCurrent;
DriveModes _driveMode = DriveModes::Standard;
Array<WheelData, FixedAllocation<20>> _wheelsData;
float _throttle = 0.0f, _steering = 0.0f, _brake = 0.0f, _handBrake = 0.0f;
float _throttle = 0.0f, _steering = 0.0f, _brake = 0.0f, _handBrake = 0.0f, _tankLeftThrottle, _tankRightThrottle, _tankLeftBrake, _tankRightBrake;
Array<Wheel> _wheels;
EngineSettings _engine;
DifferentialSettings _differential;
@@ -347,17 +365,27 @@ public:
/// <summary>
/// Gets the vehicle driving model type.
/// </summary>
API_PROPERTY(Attributes="EditorOrder(1), EditorDisplay(\"Vehicle\")") DriveTypes GetDriveType() const;
API_PROPERTY(Attributes="EditorOrder(2), EditorDisplay(\"Vehicle\")") DriveTypes GetDriveType() const;
/// <summary>
/// Sets the vehicle driving model type.
/// </summary>
API_PROPERTY() void SetDriveType(DriveTypes value);
/// <summary>
/// Used only for tanks, set the drive mode.
/// </summary>
API_PROPERTY() void SetDriveMode(DriveModes value);
/// <summary>
/// Gets the vehicle driving mode. Used only on tanks
/// </summary>
API_PROPERTY(Attributes="EditorOrder(3), EditorDisplay(\"Vehicle\")") DriveModes GetDriveMode() const;
/// <summary>
/// Gets the vehicle wheels settings.
/// </summary>
API_PROPERTY(Attributes="EditorOrder(2), EditorDisplay(\"Vehicle\")") const Array<Wheel>& GetWheels() const;
API_PROPERTY(Attributes="EditorOrder(4), EditorDisplay(\"Vehicle\")") const Array<Wheel>& GetWheels() const;
/// <summary>
/// Sets the vehicle wheels settings.
@@ -367,7 +395,7 @@ public:
/// <summary>
/// Gets the vehicle engine settings.
/// </summary>
API_PROPERTY(Attributes="EditorOrder(3), EditorDisplay(\"Vehicle\")") EngineSettings GetEngine() const;
API_PROPERTY(Attributes="EditorOrder(5), EditorDisplay(\"Vehicle\")") EngineSettings GetEngine() const;
/// <summary>
/// Sets the vehicle engine settings.
@@ -377,7 +405,7 @@ public:
/// <summary>
/// Gets the vehicle differential settings.
/// </summary>
API_PROPERTY(Attributes="EditorOrder(4), EditorDisplay(\"Vehicle\")") DifferentialSettings GetDifferential() const;
API_PROPERTY(Attributes="EditorOrder(6), EditorDisplay(\"Vehicle\")") DifferentialSettings GetDifferential() const;
/// <summary>
/// Sets the vehicle differential settings.
@@ -387,7 +415,7 @@ public:
/// <summary>
/// Gets the vehicle gearbox settings.
/// </summary>
API_PROPERTY(Attributes="EditorOrder(5), EditorDisplay(\"Vehicle\")") GearboxSettings GetGearbox() const;
API_PROPERTY(Attributes="EditorOrder(7), EditorDisplay(\"Vehicle\")") GearboxSettings GetGearbox() const;
/// <summary>
/// Sets the vehicle gearbox settings.
@@ -419,6 +447,32 @@ public:
/// <param name="value">The value (0,1 range).</param>
API_FUNCTION() void SetHandbrake(float value);
/// <summary>
/// Sets the input for tank left track throttle. It is the analog accelerator pedal value in range (-1,1) where 1 represents the pedal fully pressed to move to forward, 0 to represents the
/// pedal in its rest state and -1 represents the pedal fully pressed to move to backward. The track direction will be inverted if the vehicle current gear is rear.
/// </summary>
/// <param name="value">The value (-1,1 range).</param>
API_FUNCTION() void SetTankLeftThrottle(float value);
/// <summary>
/// Sets the input for tank right track throttle. It is the analog accelerator pedal value in range (-1,1) where 1 represents the pedal fully pressed to move to forward, 0 to represents the
/// pedal in its rest state and -1 represents the pedal fully pressed to move to backward. The track direction will be inverted if the vehicle current gear is rear.
/// </summary>
/// <param name="value">The value (-1,1 range).</param>
API_FUNCTION() void SetTankRightThrottle(float value);
/// <summary>
/// Sets the input for tank brakes the left track. Brake is the analog brake pedal value in range (0,1) where 1 represents the pedal fully pressed and 0 represents the pedal in its rest state.
/// </summary>
/// <param name="value">The value (0,1 range).</param>
API_FUNCTION() void SetTankLeftBrake(float value);
/// <summary>
/// Sets the input for tank brakes the right track. Brake is the analog brake pedal value in range (0,1) where 1 represents the pedal fully pressed and 0 represents the pedal in its rest state.
/// </summary>
/// <param name="value">The value (0,1 range).</param>
API_FUNCTION() void SetTankRightBrake(float value);
/// <summary>
/// Clears all the vehicle control inputs to the default values (throttle, steering, breaks).
/// </summary>