VehicleSetup componentbased.
This commit is contained in:
ViktorLjung
+87
-120
@@ -3,12 +3,23 @@
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void VehicleSetup::buildVehicle(const hkpWorld* world, hkpVehicleInstance& vehicle)
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void VehicleSetup::buildVehicle(World *world, const hkpWorld* physicsWorld, hkpVehicleInstance& vehicle, EntityID vehicleEntity, std::vector<EntityID> wheelEntities)
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{
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auto vehicleComponent = world->GetComponent<Components::Vehicle>(vehicleEntity, "Vehicle");
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WheelData wheelData;
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for (int i = 0; i < wheelEntities.size(); i++)
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{
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wheelData.WheelComponent = world->GetComponent<Components::Wheel>(wheelEntities[i], "Wheel");
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wheelData.TransformComponent = world->GetComponent<Components::Transform>(wheelEntities[i], "Transform");
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m_Wheels.push_back(wheelData);
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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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@@ -23,25 +34,25 @@ void VehicleSetup::buildVehicle(const hkpWorld* world, hkpVehicleInstance& vehic
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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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setupVehicleData(physicsWorld, *vehicle.m_data);
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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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setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultSteering*>(vehicle.m_steering), *vehicleComponent);
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setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultEngine*>(vehicle.m_engine), *vehicleComponent);
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setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultTransmission*>(vehicle.m_transmission), *vehicleComponent);
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setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultBrake*>(vehicle.m_brake), *vehicleComponent);
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setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultSuspension*>(vehicle.m_suspension), *vehicleComponent);
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setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultAerodynamics*>(vehicle.m_aerodynamics), *vehicleComponent);
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setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultVelocityDamper*>(vehicle.m_velocityDamper), *vehicleComponent);
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setupWheelCollide(world, vehicle, *static_cast<hkpVehicleRayCastWheelCollide*>(vehicle.m_wheelCollide));
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setupWheelCollide(physicsWorld, vehicle, *static_cast<hkpVehicleRayCastWheelCollide*>(vehicle.m_wheelCollide));
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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(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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@@ -73,7 +84,7 @@ void VehicleSetup::buildVehicle(const hkpWorld* world, hkpVehicleInstance& vehic
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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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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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@@ -107,39 +118,33 @@ void VehicleSetup::setupVehicleData(const hkpWorld* world, hkpVehicleData& data)
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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_numWheels = m_Wheels.size();
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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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for (int i = 0; i < m_Wheels.size(); 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 = 0.6f;
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data.m_wheelParams[i].m_width = 0.3f;
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data.m_wheelParams[i].m_mass = 10.0f;
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data.m_wheelParams[i].m_axle = m_Wheels[i].WheelComponent->AxleID;
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data.m_wheelParams[i].m_friction = m_Wheels[i].WheelComponent->Friction;
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data.m_wheelParams[i].m_slipAngle = m_Wheels[i].WheelComponent->SlipAngle;
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// This value is also used to calculate the m_primaryTransmissionRatio.
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data.m_wheelParams[i].m_radius = m_Wheels[i].WheelComponent->Radius;
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data.m_wheelParams[i].m_width = m_Wheels[i].WheelComponent->Width;
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data.m_wheelParams[i].m_mass = m_Wheels[i].WheelComponent->Mass;
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// May be in wheelcomponent later
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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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}
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void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultAnalogDriverInput& driverInput)
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{
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@@ -151,45 +156,46 @@ void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultA
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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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void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultSteering& steering, Components::Vehicle vehicleComponent )
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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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steering.m_maxSteeringAngle = vehicleComponent.MaxSteeringAngle * (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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steering.m_maxSpeedFullSteeringAngle = 70.0f * (1.605f / 3.6f); //MPH???!
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for (int i = 0; i < m_Wheels.size(); i++)
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{
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steering.m_doesWheelSteer[i] = m_Wheels[i].WheelComponent->Steering;
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}
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}
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void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultEngine& engine)
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void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultEngine& engine, Components::Vehicle vehicleComponent)
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{
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engine.m_maxTorque = 500.0f;
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engine.m_maxTorque = vehicleComponent.MaxTorque;
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engine.m_minRPM = 1000.0f;
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engine.m_optRPM = 5500.0f;
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engine.m_minRPM = vehicleComponent.MinRPM;
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engine.m_optRPM = vehicleComponent.OptimalRPM;
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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_maxRPM = vehicleComponent.MaxRPM;
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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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void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultTransmission& transmission, Components::Vehicle vehicleComponent )
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{
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int numGears = 4;
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transmission.m_gearsRatio.setSize(numGears);
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int numberOfGears = 4;
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transmission.m_gearsRatio.setSize(numberOfGears);
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transmission.m_wheelsTorqueRatio.setSize(data.m_numWheels);
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transmission.m_downshiftRPM = 3500.0f;
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@@ -206,91 +212,52 @@ void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultT
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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 = 50.0f;
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const hkReal wheelRadius = 0.6f;
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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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transmission.m_primaryTransmissionRatio = hkpVehicleDefaultTransmission::calculatePrimaryTransmissionRatio(
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vehicleComponent.TopSpeed,
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m_Wheels[0].WheelComponent->Radius, // HACK: All wheels are the same size right?
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vehicleComponent.MaxRPM,
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transmission.m_gearsRatio[numberOfGears - 1]);
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}
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void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultBrake& brake)
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void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultBrake& brake, Components::Vehicle vehicleComponent )
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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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for (int i = 0; i < m_Wheels.size(); i++)
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{
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brake.m_wheelBrakingProperties[i].m_maxBreakingTorque = m_Wheels[i].WheelComponent->MaxBreakingTorque;
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brake.m_wheelBrakingProperties[i].m_isConnectedToHandbrake = m_Wheels[i].WheelComponent->ConnectedToHandbrake;
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brake.m_wheelBrakingProperties[i].m_minPedalInputToBlock = 0.9f;
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}
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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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void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultSuspension& suspension, Components::Vehicle vehicleComponent)
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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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for (int i = 0; i < m_Wheels.size(); i++)
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{
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const hkReal hardPointFrontZ = -1.3f;
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const hkReal hardPointBackZ = 1.1f;
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const hkReal hardPointY = -0.05f;
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const hkReal hardPointX = 1.1f;
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float suspensionLength = glm::length(m_Wheels[i].TransformComponent->Position - m_Wheels[i].WheelComponent->Hardpoint);
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suspension.m_wheelParams[i].m_length = suspensionLength;
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suspension.m_wheelSpringParams[i].m_strength = m_Wheels[i].WheelComponent->SuspensionStrength;
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//suspension.m_wheelParams[0].m_hardpointChassisSpace.set(hardPointFrontX, hardPointY, -hardPointZ);
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suspension.m_wheelParams[0].m_hardpointChassisSpace.set(-hardPointX, hardPointY, hardPointFrontZ);
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//suspension.m_wheelParams[1].m_hardpointChassisSpace.set(hardPointFrontX, hardPointY, hardPointZ);
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suspension.m_wheelParams[1].m_hardpointChassisSpace.set(hardPointX, hardPointY, hardPointFrontZ);
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//suspension.m_wheelParams[2].m_hardpointChassisSpace.set(hardPointBackX, hardPointY, -hardPointZ);
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suspension.m_wheelParams[2].m_hardpointChassisSpace.set(-hardPointX, hardPointY, hardPointBackZ);
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//suspension.m_wheelParams[3].m_hardpointChassisSpace.set(hardPointBackX, hardPointY, hardPointZ);
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suspension.m_wheelParams[3].m_hardpointChassisSpace.set(hardPointX, hardPointY, hardPointBackZ);
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const float wd = 3.0f;
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suspension.m_wheelSpringParams[i].m_dampingCompression = wd;
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suspension.m_wheelSpringParams[i].m_dampingRelaxation = wd;
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suspension.m_wheelParams[i].m_hardpointChassisSpace.set(m_Wheels[i].WheelComponent->Hardpoint.x, m_Wheels[i].WheelComponent->Hardpoint.y, m_Wheels[i].WheelComponent->Hardpoint.z);
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suspension.m_wheelParams[0].m_directionChassisSpace = hkVector4(m_Wheels[i].WheelComponent->DownDirection.x, m_Wheels[i].WheelComponent->DownDirection.y, m_Wheels[i].WheelComponent->DownDirection.z);
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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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void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultAerodynamics& aerodynamics, Components::Vehicle vehicleComponent )
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{
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aerodynamics.m_airDensity = 1.3f;
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// In m^2.
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@@ -303,7 +270,7 @@ void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultA
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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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void VehicleSetup::setupComponent(const hkpVehicleData& data, hkpVehicleDefaultVelocityDamper& velocityDamper, Components::Vehicle vehicleComponent)
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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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