Skip to content

Main #3

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
mijiaoqvq wants to merge 4 commits into
base: master
Choose a base branch
from
Open

Main #3

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
1e9eefd
fix bug
limdzh Mar 21, 2025
0a206e8
fix bug
limdzh Mar 21, 2025
0a126cb
fix bug
limdzh Mar 21, 2025
3d39a08
Update vehicle_body_3d.h
mijiaoqvq Mar 21, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
30 changes: 7 additions & 23 deletions scene/3d/physics/vehicle_body_3d.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -231,18 +231,15 @@ Node3D *VehicleWheel3D::get_contact_body() const {
return m_raycastInfo.m_groundObject;
}



void VehicleWheel3D::set_mecanum_left_oblique(bool input){
void VehicleWheel3D::set_mecanum_left_oblique(bool input) {
mecanum_left_oblique = input;
set_steering(m_steering);
}

bool VehicleWheel3D::get_mecanum_left_oblique(){
bool VehicleWheel3D::get_mecanum_left_oblique() {
return mecanum_left_oblique;
}


void VehicleWheel3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_radius", "length"), &VehicleWheel3D::set_radius);
ClassDB::bind_method(D_METHOD("get_radius"), &VehicleWheel3D::get_radius);
Expand Down Expand Up @@ -295,11 +292,10 @@ void VehicleWheel3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_steering", "steering"), &VehicleWheel3D::set_steering);
ClassDB::bind_method(D_METHOD("get_steering"), &VehicleWheel3D::get_steering);


ClassDB::bind_method(D_METHOD("set_mecanum_left_oblique", "mecanum_left_oblique"), &VehicleWheel3D::set_mecanum_left_oblique);
ClassDB::bind_method(D_METHOD("get_mecanum_left_oblique"), &VehicleWheel3D::get_mecanum_left_oblique);

ADD_GROUP("Tyre_set","");
ADD_GROUP("Tyre_set", "");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "left_oblique"), "set_mecanum_left_oblique", "get_mecanum_left_oblique");
ADD_GROUP("Per-Wheel Motion", "");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "engine_force", PROPERTY_HINT_RANGE, U"-1024,1024,0.01,or_less,or_greater,suffix:kg\u22C5m/s\u00B2 (N)"), "set_engine_force", "get_engine_force");
Expand Down Expand Up @@ -867,7 +863,6 @@ void VehicleBody3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) {
Vector3 relpos = wheel.m_raycastInfo.m_hardPointWS - p_state->get_transform().origin;
Vector3 vel = p_state->get_linear_velocity() + (p_state->get_angular_velocity()).cross(relpos); // * mPos);

real_t rpm_sig = 1;
real_t proj_angle = 0;

if (wheel.m_raycastInfo.m_isInContact) {
Expand All @@ -882,40 +877,29 @@ void VehicleBody3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) {

real_t proj2 = fwd.dot(vel);


Vector3 hor(
chassisWorldTransform.basis[0][Vector3::AXIS_X],
chassisWorldTransform.basis[1][Vector3::AXIS_X],
chassisWorldTransform.basis[2][Vector3::AXIS_X]);
real_t proj_x = hor.dot(wheel.m_raycastInfo.m_contactNormalWS);
hor -= wheel.m_raycastInfo.m_contactNormalWS * proj_x;
real_t proj2_x = hor.dot(vel);
real_t proj2_x = hor.dot(vel);

proj_angle = Math::rad_to_deg(Math::atan2(proj2,-proj_x));
proj_angle = Math::rad_to_deg(Math::atan2(proj2, -proj_x));

real_t new_proj2 = sqrt(pow(proj2,2)+pow(proj2_x,2));
real_t new_proj2 = sqrt(pow(proj2, 2) + pow(proj2_x, 2));

wheel.m_deltaRotation = (new_proj2 * step) / (wheel.m_wheelRadius);
// wheel.m_deltaRotation = (proj2 * step) / (wheel.m_wheelRadius);

}



float ste_sig = 1;
// if(Math::cos(wheel.get_steering()) < 0){
// ste_sig = -1;
// }
// print_line(proj_angle, Math::rad_to_deg(wheel.get_steering()));
if(Math::cos(proj_angle - (Math::rad_to_deg(wheel.get_steering()) + 90)) < 0){
if (Math::cos(proj_angle - (Math::rad_to_deg(wheel.get_steering()) + 90)) < 0) {
ste_sig = -1;
}
// print_line(ste_sig," ",rpm_sig);
wheel.m_rotation += wheel.m_deltaRotation * ste_sig;
wheel.m_rpm = ((wheel.m_deltaRotation / step) * 60) / Math_TAU;



wheel.m_deltaRotation *= real_t(0.99); //damping of rotation when not in contact
}
}
Expand Down
6 changes: 1 addition & 5 deletions scene/3d/physics/vehicle_body_3d.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -28,8 +28,7 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/**************************************************************************/

#ifndef VEHICLE_BODY_3D_H
#define VEHICLE_BODY_3D_H
#pragma once

#include "scene/3d/physics/physics_body_3d.h"
#include "scene/3d/physics/rigid_body_3d.h"
Expand Down Expand Up @@ -221,6 +220,3 @@ class VehicleBody3D : public RigidBody3D {

VehicleBody3D();
};


#endif // VEHICLE_BODY_3D_H
Loading