Car physics not working, yet!
This commit is contained in:
ViktorLjung
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#include "PrecompiledHeader.h"
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#include "Physics/VehicleSetup.h"
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void VehicleSetup::buildVehicle(const hkpWorld* world, hkpVehicleInstance& vehicle)
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{
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//
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// All memory allocations are made here.
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//
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vehicle.m_data = new hkpVehicleData;
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vehicle.m_driverInput = new hkpVehicleDefaultAnalogDriverInput;
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vehicle.m_steering = new hkpVehicleDefaultSteering;
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vehicle.m_engine = new hkpVehicleDefaultEngine;
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vehicle.m_transmission = new hkpVehicleDefaultTransmission;
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vehicle.m_brake = new hkpVehicleDefaultBrake;
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vehicle.m_suspension = new hkpVehicleDefaultSuspension;
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vehicle.m_aerodynamics = new hkpVehicleDefaultAerodynamics;
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vehicle.m_velocityDamper = new hkpVehicleDefaultVelocityDamper;
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// For illustrative purposes we use a custom hkpVehicleRayCastWheelCollide
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// which implements varying 'ground' friction in a very simple way.
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//vehicle.m_wheelCollide = new hkpVehicleRayCastWheelCollide;
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setupVehicleData(world, *vehicle.m_data);
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// initialise the tyremarks controller with 128 tyremark points.
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vehicle.m_tyreMarks = new hkpTyremarksInfo(*vehicle.m_data, 128);
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setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultAnalogDriverInput*>(vehicle.m_driverInput));
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setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultSteering*>(vehicle.m_steering));
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setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultEngine*>(vehicle.m_engine));
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setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultTransmission*>(vehicle.m_transmission));
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setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultBrake*>(vehicle.m_brake));
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setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultSuspension*>(vehicle.m_suspension));
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setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultAerodynamics*>(vehicle.m_aerodynamics));
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setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultVelocityDamper*>(vehicle.m_velocityDamper));
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setupWheelCollide(world, vehicle, *static_cast<hkpVehicleRayCastWheelCollide*>(vehicle.m_wheelCollide));
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setupTyremarks(*vehicle.m_data, *static_cast<hkpTyremarksInfo*>(vehicle.m_tyreMarks));
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//
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// Check that all components are present.
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//
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HK_ASSERT(0x0, vehicle.m_data);
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HK_ASSERT(0x7708674a, vehicle.m_driverInput);
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HK_ASSERT(0x5a324a2d, vehicle.m_steering);
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HK_ASSERT(0x7bcb2aff, vehicle.m_engine);
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HK_ASSERT(0x29bddb50, vehicle.m_transmission);
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HK_ASSERT(0x2b0323a2, vehicle.m_brake);
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HK_ASSERT(0x7a7ade23, vehicle.m_suspension);
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HK_ASSERT(0x6ec4d0ed, vehicle.m_aerodynamics);
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HK_ASSERT(0x67161206, vehicle.m_wheelCollide);
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HK_ASSERT(0x295015f1, vehicle.m_tyreMarks);
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//
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// Set up any variables that store cached data.
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//
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// Give driver input default values so that the vehicle (if this input is a default for non
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// player cars) will drive, even if it is in circles!
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// Accelerate.
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vehicle.m_deviceStatus = new hkpVehicleDriverInputAnalogStatus;
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hkpVehicleDriverInputAnalogStatus* deviceStatus = (hkpVehicleDriverInputAnalogStatus*)vehicle.m_deviceStatus;
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deviceStatus->m_positionY = -0.4f;
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// Turn.
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deviceStatus->m_positionX = 0.3f;
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// Defaults
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deviceStatus->m_handbrakeButtonPressed = false;
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deviceStatus->m_reverseButtonPressed = false;
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//
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// Don't forget to call init! (This function is necessary to set up derived data)
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//
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vehicle.init();
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}
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void VehicleSetup::setupVehicleData(const hkpWorld* world, hkpVehicleData& data)
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{
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data.m_gravity = world->getGravity();
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//
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// The vehicleData contains information about the chassis.
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//
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// The coordinates of the chassis system, used for steering the vehicle.
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// up forward right
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data.m_chassisOrientation.setCols(hkVector4(0, 1, 0), hkVector4(1, 0, 0), hkVector4(0, 0, 1));
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data.m_frictionEqualizer = 0.5f;
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// Inertia tensor for each axis is calculated by using :
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// (1 / chassis_mass) * (torque(axis)Factor / chassisUnitInertia)
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data.m_torqueRollFactor = 0.625f;
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data.m_torquePitchFactor = 0.5f;
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data.m_torqueYawFactor = 0.35f;
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data.m_chassisUnitInertiaYaw = 1.0f;
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data.m_chassisUnitInertiaRoll = 1.0f;
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data.m_chassisUnitInertiaPitch = 1.0f;
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// Adds or removes torque around the yaw axis
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// based on the current steering angle. This will
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// affect steering.
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data.m_extraTorqueFactor = -0.5f;
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data.m_maxVelocityForPositionalFriction = 0.0f;
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//
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// Wheel specifications
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//
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data.m_numWheels = 4;
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data.m_wheelParams.setSize(data.m_numWheels);
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data.m_wheelParams[0].m_axle = 0;
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data.m_wheelParams[1].m_axle = 0;
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data.m_wheelParams[2].m_axle = 1;
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data.m_wheelParams[3].m_axle = 1;
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data.m_wheelParams[0].m_friction = 1.5f;
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data.m_wheelParams[1].m_friction = 1.5f;
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data.m_wheelParams[2].m_friction = 1.5f;
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data.m_wheelParams[3].m_friction = 1.5f;
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data.m_wheelParams[0].m_slipAngle = 0.0f;
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data.m_wheelParams[1].m_slipAngle = 0.0f;
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data.m_wheelParams[2].m_slipAngle = 0.0f;
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data.m_wheelParams[3].m_slipAngle = 0.0f;
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for (int i = 0; i < data.m_numWheels; i++)
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{
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// This value is also used to calculate the m_primaryTransmissionRatio.
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data.m_wheelParams[i].m_radius = 0.4f;
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data.m_wheelParams[i].m_width = 0.2f;
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data.m_wheelParams[i].m_mass = 10.0f;
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data.m_wheelParams[i].m_viscosityFriction = 0.25f;
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data.m_wheelParams[i].m_maxFriction = 2.0f * data.m_wheelParams[i].m_friction;
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data.m_wheelParams[i].m_forceFeedbackMultiplier = 0.1f;
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data.m_wheelParams[i].m_maxContactBodyAcceleration = hkReal(data.m_gravity.length3()) * 2;
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}
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}
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void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultAnalogDriverInput& driverInput)
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{
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// We also use an analog "driver input" class to help converting user input to vehicle behavior.
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driverInput.m_slopeChangePointX = 0.8f;
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driverInput.m_initialSlope = 0.7f;
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driverInput.m_deadZone = 0.0f;
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driverInput.m_autoReverse = true;
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}
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void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultSteering& steering)
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{
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steering.m_doesWheelSteer.setSize(data.m_numWheels);
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// degrees
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steering.m_maxSteeringAngle = 35 * (HK_REAL_PI / 180);
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// [mph/h] The steering angle decreases linearly
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// based on your overall max speed of the vehicle.
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steering.m_maxSpeedFullSteeringAngle = 70.0f * (1.605f / 3.6f);
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steering.m_doesWheelSteer[0] = true;
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steering.m_doesWheelSteer[1] = true;
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steering.m_doesWheelSteer[2] = false;
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steering.m_doesWheelSteer[3] = false;
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}
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void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultEngine& engine)
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{
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engine.m_maxTorque = 500.0f;
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engine.m_minRPM = 1000.0f;
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engine.m_optRPM = 5500.0f;
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// This value is also used to calculate the m_primaryTransmissionRatio.
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engine.m_maxRPM = 7500.0f;
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engine.m_torqueFactorAtMinRPM = 0.8f;
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engine.m_torqueFactorAtMaxRPM = 0.8f;
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engine.m_resistanceFactorAtMinRPM = 0.05f;
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engine.m_resistanceFactorAtOptRPM = 0.1f;
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engine.m_resistanceFactorAtMaxRPM = 0.3f;
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}
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void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultTransmission& transmission)
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{
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int numGears = 4;
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transmission.m_gearsRatio.setSize(numGears);
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transmission.m_wheelsTorqueRatio.setSize(data.m_numWheels);
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transmission.m_downshiftRPM = 3500.0f;
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transmission.m_upshiftRPM = 6500.0f;
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transmission.m_clutchDelayTime = 0.0f;
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transmission.m_reverseGearRatio = 1.0f;
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transmission.m_gearsRatio[0] = 2.0f;
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transmission.m_gearsRatio[1] = 1.5f;
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transmission.m_gearsRatio[2] = 1.0f;
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transmission.m_gearsRatio[3] = 0.75f;
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transmission.m_wheelsTorqueRatio[0] = 0.2f;
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transmission.m_wheelsTorqueRatio[1] = 0.2f;
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transmission.m_wheelsTorqueRatio[2] = 0.3f;
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transmission.m_wheelsTorqueRatio[3] = 0.3f;
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const hkReal vehicleTopSpeed = 130.0f;
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const hkReal wheelRadius = 0.4f;
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const hkReal maxEngineRpm = 7500.0f;
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transmission.m_primaryTransmissionRatio = hkpVehicleDefaultTransmission::calculatePrimaryTransmissionRatio(vehicleTopSpeed,
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wheelRadius,
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maxEngineRpm,
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transmission.m_gearsRatio[numGears - 1]);
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}
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void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultBrake& brake)
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{
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brake.m_wheelBrakingProperties.setSize(data.m_numWheels);
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const float bt = 1500.0f;
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brake.m_wheelBrakingProperties[0].m_maxBreakingTorque = bt;
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brake.m_wheelBrakingProperties[1].m_maxBreakingTorque = bt;
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brake.m_wheelBrakingProperties[2].m_maxBreakingTorque = bt;
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brake.m_wheelBrakingProperties[3].m_maxBreakingTorque = bt;
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// Handbrake is attached to rear wheels only.
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brake.m_wheelBrakingProperties[0].m_isConnectedToHandbrake = false;
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brake.m_wheelBrakingProperties[1].m_isConnectedToHandbrake = false;
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brake.m_wheelBrakingProperties[2].m_isConnectedToHandbrake = true;
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brake.m_wheelBrakingProperties[3].m_isConnectedToHandbrake = true;
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brake.m_wheelBrakingProperties[0].m_minPedalInputToBlock = 0.9f;
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brake.m_wheelBrakingProperties[1].m_minPedalInputToBlock = 0.9f;
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brake.m_wheelBrakingProperties[2].m_minPedalInputToBlock = 0.9f;
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brake.m_wheelBrakingProperties[3].m_minPedalInputToBlock = 0.9f;
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brake.m_wheelsMinTimeToBlock = 1000.0f;
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}
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void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultSuspension& suspension)
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{
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suspension.m_wheelParams.setSize(data.m_numWheels);
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suspension.m_wheelSpringParams.setSize(data.m_numWheels);
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suspension.m_wheelParams[0].m_length = 0.35f;
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suspension.m_wheelParams[1].m_length = 0.35f;
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suspension.m_wheelParams[2].m_length = 0.35f;
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suspension.m_wheelParams[3].m_length = 0.35f;
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const float str = 50.0f;
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suspension.m_wheelSpringParams[0].m_strength = str;
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suspension.m_wheelSpringParams[1].m_strength = str;
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suspension.m_wheelSpringParams[2].m_strength = str;
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suspension.m_wheelSpringParams[3].m_strength = str;
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const float wd = 3.0f;
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suspension.m_wheelSpringParams[0].m_dampingCompression = wd;
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suspension.m_wheelSpringParams[1].m_dampingCompression = wd;
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suspension.m_wheelSpringParams[2].m_dampingCompression = wd;
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suspension.m_wheelSpringParams[3].m_dampingCompression = wd;
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suspension.m_wheelSpringParams[0].m_dampingRelaxation = wd;
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suspension.m_wheelSpringParams[1].m_dampingRelaxation = wd;
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suspension.m_wheelSpringParams[2].m_dampingRelaxation = wd;
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suspension.m_wheelSpringParams[3].m_dampingRelaxation = wd;
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//
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// NB: The hardpoints MUST be positioned INSIDE the chassis.
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//
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{
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const hkReal hardPointFrontX = 1.3f;
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const hkReal hardPointBackX = -1.1f;
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const hkReal hardPointY = -0.05f;
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const hkReal hardPointZ = 1.1f;
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suspension.m_wheelParams[0].m_hardpointChassisSpace.set(hardPointFrontX, hardPointY, -hardPointZ);
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suspension.m_wheelParams[1].m_hardpointChassisSpace.set(hardPointFrontX, hardPointY, hardPointZ);
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suspension.m_wheelParams[2].m_hardpointChassisSpace.set(hardPointBackX, hardPointY, -hardPointZ);
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suspension.m_wheelParams[3].m_hardpointChassisSpace.set(hardPointBackX, hardPointY, hardPointZ);
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}
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const hkVector4 downDirection(0.0f, -1.0f, 0.0f);
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suspension.m_wheelParams[0].m_directionChassisSpace = downDirection;
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suspension.m_wheelParams[1].m_directionChassisSpace = downDirection;
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suspension.m_wheelParams[2].m_directionChassisSpace = downDirection;
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suspension.m_wheelParams[3].m_directionChassisSpace = downDirection;
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}
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void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultAerodynamics& aerodynamics)
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{
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aerodynamics.m_airDensity = 1.3f;
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// In m^2.
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aerodynamics.m_frontalArea = 1.0f;
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aerodynamics.m_dragCoefficient = 0.7f;
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aerodynamics.m_liftCoefficient = -0.3f;
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// Extra gavity applies in world space (independent of m_chassisCoordinateSystem).
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aerodynamics.m_extraGravityws.set(0.0f, -5.0f, 0.0f);
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}
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void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultVelocityDamper& velocityDamper)
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{
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// Caution: setting negative damping values will add energy to system.
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// Setting the value to 0 will not affect the angular velocity.
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// Damping the change of the chassis angular velocity when below m_collisionThreshold.
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// This will affect turning radius and steering.
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velocityDamper.m_normalSpinDamping = 0.0f;
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// Positive numbers dampen the rotation of the chassis and
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// reduce the reaction of the chassis in a collision.
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velocityDamper.m_collisionSpinDamping = 4.0f;
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// The threshold in m/s at which the algorithm switches from
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// using the normalSpinDamping to the collisionSpinDamping.
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velocityDamper.m_collisionThreshold = 1.0f;
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}
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void VehicleSetup::setupWheelCollide(const hkpWorld* world, const hkpVehicleInstance& vehicle, hkpVehicleRayCastWheelCollide& wheelCollide)
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{
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// Set the wheels to have the same collision filter info as the chassis.
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wheelCollide.m_wheelCollisionFilterInfo = vehicle.getChassis()->getCollisionFilterInfo();
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}
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void VehicleSetup::setupTyremarks(const hkpVehicleData& data, hkpTyremarksInfo& tyreMarks)
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{
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tyreMarks.m_minTyremarkEnergy = 100.0f;
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tyreMarks.m_maxTyremarkEnergy = 1000.0f;
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}
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