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Refactor vehicles to use Z axis as forward instead of X

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#1050
This commit is contained in:
Wojtek Figat
2023-06-13 14:56:03 +02:00
parent bdb65857bc
commit f1c98320fc
5 changed files with 53 additions and 11 deletions
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13
Source/Engine/Physics/PhysX/PhysicsBackendPhysX.cpp
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@@ -477,7 +477,7 @@ void InitVehicleSDK()
{
VehicleSDKInitialized = true;
PxInitVehicleSDK(*PhysX);
PxVehicleSetBasisVectors(PxVec3(0, 1, 0), PxVec3(1, 0, 0));
PxVehicleSetBasisVectors(PxVec3(0, 1, 0), PxVec3(0, 0, 1));
PxVehicleSetUpdateMode(PxVehicleUpdateMode::eVELOCITY_CHANGE);
}
}
@@ -1018,7 +1018,7 @@ void PhysicsBackend::EndSimulateScene(void* scene)
5.0f, // fall rate eANALOG_INPUT_STEER_RIGHT
}
};
PxVehicleKeySmoothingData keySmoothing =
static constexpr PxVehicleKeySmoothingData keySmoothing =
{
{
3.0f, // rise rate eANALOG_INPUT_ACCEL
@@ -1216,7 +1216,7 @@ void PhysicsBackend::EndSimulateScene(void* scene)
// Update wheel collider transformation
auto localPose = shape->getLocalPose();
Transform t = wheelData.Collider->GetLocalTransform();
t.Orientation = Quaternion::Euler(0, state.SteerAngle, state.RotationAngle) * wheelData.LocalOrientation;
t.Orientation = Quaternion::Euler(-state.RotationAngle, state.SteerAngle, 0) * wheelData.LocalOrientation;
t.Translation = P2C(localPose.p) / wheelVehicle->GetScale() - t.Orientation * wheelData.Collider->GetCenter();
wheelData.Collider->SetLocalTransform(t);
}
@@ -2592,6 +2592,7 @@ void* PhysicsBackend::CreateVehicle(WheeledVehicle* actor)
}
PxF32 sprungMasses[PX_MAX_NB_WHEELS];
const float mass = actorPhysX->getMass();
// TODO: get gravityDirection from scenePhysX->Scene->getGravity()
PxVehicleComputeSprungMasses(wheels.Count(), offsets, centerOfMassOffset.p, mass, 1, sprungMasses);
PxVehicleWheelsSimData* wheelsSimData = PxVehicleWheelsSimData::allocate(wheels.Count());
for (int32 i = 0; i < wheels.Count(); i++)
@@ -2742,9 +2743,9 @@ void* PhysicsBackend::CreateVehicle(WheeledVehicle* actor)
// Ackermann steer accuracy
PxVehicleAckermannGeometryData ackermann;
ackermann.mAxleSeparation = Math::Abs(wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eFRONT_LEFT).x - wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eREAR_LEFT).x);
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);
ackermann.mAxleSeparation = Math::Abs(wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eFRONT_LEFT).z - wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eREAR_LEFT).z);
ackermann.mFrontWidth = Math::Abs(wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eFRONT_RIGHT).x - wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eFRONT_LEFT).x);
ackermann.mRearWidth = Math::Abs(wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eREAR_RIGHT).x - wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eREAR_LEFT).x);
driveSimData.setAckermannGeometryData(ackermann);
// Create vehicle drive