485 lines
14 KiB
TypeScript
485 lines
14 KiB
TypeScript
import {RawDynamicRayCastVehicleController} from "../raw";
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import {Vector, VectorOps} from "../math";
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import {
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BroadPhase,
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Collider,
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ColliderSet,
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InteractionGroups,
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NarrowPhase,
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} from "../geometry";
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import {QueryFilterFlags} from "../pipeline";
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import {RigidBody, RigidBodyHandle, RigidBodySet} from "../dynamics";
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/**
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* A character controller to simulate vehicles using ray-casting for the wheels.
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*/
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export class DynamicRayCastVehicleController {
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private raw: RawDynamicRayCastVehicleController;
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private broadPhase: BroadPhase;
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private narrowPhase: NarrowPhase;
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private bodies: RigidBodySet;
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private colliders: ColliderSet;
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private _chassis: RigidBody;
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constructor(
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chassis: RigidBody,
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broadPhase: BroadPhase,
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narrowPhase: NarrowPhase,
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bodies: RigidBodySet,
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colliders: ColliderSet,
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) {
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if (typeof RawDynamicRayCastVehicleController === 'undefined') {
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throw new Error('DynamicRayCastVehicleController is not available in 2D mode');
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}
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this.raw = new RawDynamicRayCastVehicleController(chassis.handle);
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this.broadPhase = broadPhase;
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this.narrowPhase = narrowPhase;
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this.bodies = bodies;
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this.colliders = colliders;
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this._chassis = chassis;
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}
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/** @internal */
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public free() {
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if (!!this.raw) {
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this.raw.free();
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}
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this.raw = undefined;
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}
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/**
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* Updates the vehicle’s velocity based on its suspension, engine force, and brake.
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*
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* This directly updates the velocity of its chassis rigid-body.
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*
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* @param dt - Time increment used to integrate forces.
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* @param filterFlags - Flag to exclude categories of objects from the wheels’ ray-cast.
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* @param filterGroups - Only colliders compatible with these groups will be hit by the wheels’ ray-casts.
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* @param filterPredicate - Callback to filter out which collider will be hit by the wheels’ ray-casts.
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*/
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public updateVehicle(
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dt: number,
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filterFlags?: QueryFilterFlags,
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filterGroups?: InteractionGroups,
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filterPredicate?: (collider: Collider) => boolean,
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) {
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this.raw.update_vehicle(
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dt,
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this.broadPhase.raw,
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this.narrowPhase.raw,
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this.bodies.raw,
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this.colliders.raw,
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filterFlags,
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filterGroups,
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this.colliders.castClosure(filterPredicate),
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);
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}
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/**
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* The current forward speed of the vehicle.
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*/
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public currentVehicleSpeed(): number {
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return this.raw.current_vehicle_speed();
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}
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/**
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* The rigid-body used as the chassis.
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*/
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public chassis(): RigidBody {
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return this._chassis;
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}
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/**
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* The chassis’ local _up_ direction (`0 = x, 1 = y, 2 = z`).
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*/
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get indexUpAxis(): number {
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return this.raw.index_up_axis();
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}
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/**
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* Sets the chassis’ local _up_ direction (`0 = x, 1 = y, 2 = z`).
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*/
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set indexUpAxis(axis: number) {
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this.raw.set_index_up_axis(axis);
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}
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/**
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* The chassis’ local _forward_ direction (`0 = x, 1 = y, 2 = z`).
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*/
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get indexForwardAxis(): number {
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return this.raw.index_forward_axis();
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}
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/**
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* Sets the chassis’ local _forward_ direction (`0 = x, 1 = y, 2 = z`).
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*/
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set setIndexForwardAxis(axis: number) {
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this.raw.set_index_forward_axis(axis);
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}
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/**
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* Adds a new wheel attached to this vehicle.
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* @param chassisConnectionCs - The position of the wheel relative to the chassis.
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* @param directionCs - The direction of the wheel’s suspension, relative to the chassis. The ray-casting will
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* happen following this direction to detect the ground.
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* @param axleCs - The wheel’s axle axis, relative to the chassis.
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* @param suspensionRestLength - The rest length of the wheel’s suspension spring.
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* @param radius - The wheel’s radius.
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*/
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public addWheel(
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chassisConnectionCs: Vector,
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directionCs: Vector,
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axleCs: Vector,
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suspensionRestLength: number,
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radius: number,
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) {
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let rawChassisConnectionCs = VectorOps.intoRaw(chassisConnectionCs);
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let rawDirectionCs = VectorOps.intoRaw(directionCs);
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let rawAxleCs = VectorOps.intoRaw(axleCs);
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this.raw.add_wheel(
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rawChassisConnectionCs,
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rawDirectionCs,
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rawAxleCs,
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suspensionRestLength,
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radius,
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);
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rawChassisConnectionCs.free();
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rawDirectionCs.free();
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rawAxleCs.free();
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}
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/**
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* The number of wheels attached to this vehicle.
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*/
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public numWheels(): number {
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return this.raw.num_wheels();
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}
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/*
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*
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* Access to wheel properties.
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*
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*/
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/*
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* Getters + setters
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*/
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/**
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* The position of the i-th wheel, relative to the chassis.
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*/
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public wheelChassisConnectionPointCs(i: number): Vector | null {
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return VectorOps.fromRaw(this.raw.wheel_chassis_connection_point_cs(i));
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}
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/**
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* Sets the position of the i-th wheel, relative to the chassis.
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*/
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public setWheelChassisConnectionPointCs(i: number, value: Vector) {
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let rawValue = VectorOps.intoRaw(value);
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this.raw.set_wheel_chassis_connection_point_cs(i, rawValue);
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rawValue.free();
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}
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/**
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* The rest length of the i-th wheel’s suspension spring.
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*/
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public wheelSuspensionRestLength(i: number): number | null {
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return this.raw.wheel_suspension_rest_length(i);
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}
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/**
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* Sets the rest length of the i-th wheel’s suspension spring.
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*/
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public setWheelSuspensionRestLength(i: number, value: number) {
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this.raw.set_wheel_suspension_rest_length(i, value);
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}
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/**
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* The maximum distance the i-th wheel suspension can travel before and after its resting length.
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*/
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public wheelMaxSuspensionTravel(i: number): number | null {
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return this.raw.wheel_max_suspension_travel(i);
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}
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/**
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* Sets the maximum distance the i-th wheel suspension can travel before and after its resting length.
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*/
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public setWheelMaxSuspensionTravel(i: number, value: number) {
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this.raw.set_wheel_max_suspension_travel(i, value);
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}
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/**
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* The i-th wheel’s radius.
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*/
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public wheelRadius(i: number): number | null {
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return this.raw.wheel_radius(i);
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}
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/**
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* Sets the i-th wheel’s radius.
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*/
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public setWheelRadius(i: number, value: number) {
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this.raw.set_wheel_radius(i, value);
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}
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/**
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* The i-th wheel’s suspension stiffness.
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*
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* Increase this value if the suspension appears to not push the vehicle strong enough.
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*/
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public wheelSuspensionStiffness(i: number): number | null {
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return this.raw.wheel_suspension_stiffness(i);
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}
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/**
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* Sets the i-th wheel’s suspension stiffness.
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*
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* Increase this value if the suspension appears to not push the vehicle strong enough.
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*/
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public setWheelSuspensionStiffness(i: number, value: number) {
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this.raw.set_wheel_suspension_stiffness(i, value);
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}
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/**
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* The i-th wheel’s suspension’s damping when it is being compressed.
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*/
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public wheelSuspensionCompression(i: number): number | null {
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return this.raw.wheel_suspension_compression(i);
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}
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/**
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* The i-th wheel’s suspension’s damping when it is being compressed.
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*/
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public setWheelSuspensionCompression(i: number, value: number) {
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this.raw.set_wheel_suspension_compression(i, value);
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}
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/**
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* The i-th wheel’s suspension’s damping when it is being released.
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*
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* Increase this value if the suspension appears to overshoot.
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*/
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public wheelSuspensionRelaxation(i: number): number | null {
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return this.raw.wheel_suspension_relaxation(i);
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}
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/**
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* Sets the i-th wheel’s suspension’s damping when it is being released.
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*
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* Increase this value if the suspension appears to overshoot.
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*/
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public setWheelSuspensionRelaxation(i: number, value: number) {
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this.raw.set_wheel_suspension_relaxation(i, value);
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}
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/**
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* The maximum force applied by the i-th wheel’s suspension.
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*/
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public wheelMaxSuspensionForce(i: number): number | null {
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return this.raw.wheel_max_suspension_force(i);
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}
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/**
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* Sets the maximum force applied by the i-th wheel’s suspension.
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*/
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public setWheelMaxSuspensionForce(i: number, value: number) {
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this.raw.set_wheel_max_suspension_force(i, value);
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}
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/**
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* The maximum amount of braking impulse applied on the i-th wheel to slow down the vehicle.
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*/
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public wheelBrake(i: number): number | null {
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return this.raw.wheel_brake(i);
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}
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/**
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* Set the maximum amount of braking impulse applied on the i-th wheel to slow down the vehicle.
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*/
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public setWheelBrake(i: number, value: number) {
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this.raw.set_wheel_brake(i, value);
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}
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/**
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* The steering angle (radians) for the i-th wheel.
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*/
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public wheelSteering(i: number): number | null {
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return this.raw.wheel_steering(i);
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}
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/**
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* Sets the steering angle (radians) for the i-th wheel.
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*/
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public setWheelSteering(i: number, value: number) {
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this.raw.set_wheel_steering(i, value);
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}
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/**
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* The forward force applied by the i-th wheel on the chassis.
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*/
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public wheelEngineForce(i: number): number | null {
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return this.raw.wheel_engine_force(i);
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}
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/**
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* Sets the forward force applied by the i-th wheel on the chassis.
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*/
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public setWheelEngineForce(i: number, value: number) {
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this.raw.set_wheel_engine_force(i, value);
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}
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/**
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* The direction of the i-th wheel’s suspension, relative to the chassis.
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*
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* The ray-casting will happen following this direction to detect the ground.
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*/
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public wheelDirectionCs(i: number): Vector | null {
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return VectorOps.fromRaw(this.raw.wheel_direction_cs(i));
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}
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/**
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* Sets the direction of the i-th wheel’s suspension, relative to the chassis.
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*
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* The ray-casting will happen following this direction to detect the ground.
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*/
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public setWheelDirectionCs(i: number, value: Vector) {
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let rawValue = VectorOps.intoRaw(value);
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this.raw.set_wheel_direction_cs(i, rawValue);
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rawValue.free();
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}
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/**
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* The i-th wheel’s axle axis, relative to the chassis.
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*
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* The axis index defined as 0 = X, 1 = Y, 2 = Z.
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*/
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public wheelAxleCs(i: number): Vector | null {
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return VectorOps.fromRaw(this.raw.wheel_axle_cs(i));
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}
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/**
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* Sets the i-th wheel’s axle axis, relative to the chassis.
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*
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* The axis index defined as 0 = X, 1 = Y, 2 = Z.
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*/
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public setWheelAxleCs(i: number, value: Vector) {
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let rawValue = VectorOps.intoRaw(value);
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this.raw.set_wheel_axle_cs(i, rawValue);
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rawValue.free();
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}
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/**
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* Parameter controlling how much traction the tire has.
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*
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* The larger the value, the more instantaneous braking will happen (with the risk of
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* causing the vehicle to flip if it’s too strong).
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*/
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public wheelFrictionSlip(i: number): number | null {
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return this.raw.wheel_friction_slip(i);
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}
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/**
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* Sets the parameter controlling how much traction the tire has.
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*
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* The larger the value, the more instantaneous braking will happen (with the risk of
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* causing the vehicle to flip if it’s too strong).
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*/
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public setWheelFrictionSlip(i: number, value: number) {
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this.raw.set_wheel_friction_slip(i, value);
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}
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/**
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* The multiplier of friction between a tire and the collider it’s on top of.
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*
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* The larger the value, the stronger side friction will be.
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*/
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public wheelSideFrictionStiffness(i: number): number | null {
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return this.raw.wheel_side_friction_stiffness(i);
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}
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/**
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* The multiplier of friction between a tire and the collider it’s on top of.
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*
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* The larger the value, the stronger side friction will be.
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*/
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public setWheelSideFrictionStiffness(i: number, value: number) {
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this.raw.set_wheel_side_friction_stiffness(i, value);
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}
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/*
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* Getters only.
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*/
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/**
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* The i-th wheel’s current rotation angle (radians) on its axle.
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*/
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public wheelRotation(i: number): number | null {
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return this.raw.wheel_rotation(i);
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}
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/**
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* The forward impulses applied by the i-th wheel on the chassis.
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*/
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public wheelForwardImpulse(i: number): number | null {
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return this.raw.wheel_forward_impulse(i);
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}
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/**
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* The side impulses applied by the i-th wheel on the chassis.
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*/
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public wheelSideImpulse(i: number): number | null {
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return this.raw.wheel_side_impulse(i);
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}
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/**
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* The force applied by the i-th wheel suspension.
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*/
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public wheelSuspensionForce(i: number): number | null {
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return this.raw.wheel_suspension_force(i);
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}
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/**
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* The (world-space) contact normal between the i-th wheel and the floor.
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*/
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public wheelContactNormal(i: number): Vector | null {
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return VectorOps.fromRaw(this.raw.wheel_contact_normal_ws(i));
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}
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/**
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* The (world-space) point hit by the wheel’s ray-cast for the i-th wheel.
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*/
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public wheelContactPoint(i: number): Vector | null {
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return VectorOps.fromRaw(this.raw.wheel_contact_point_ws(i));
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}
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/**
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* The suspension length for the i-th wheel.
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*/
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public wheelSuspensionLength(i: number): number | null {
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return this.raw.wheel_suspension_length(i);
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}
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/**
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* The (world-space) starting point of the ray-cast for the i-th wheel.
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*/
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public wheelHardPoint(i: number): Vector | null {
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return VectorOps.fromRaw(this.raw.wheel_hard_point_ws(i));
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}
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/**
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* Is the i-th wheel in contact with the ground?
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*/
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public wheelIsInContact(i: number): boolean {
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return this.raw.wheel_is_in_contact(i);
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}
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/**
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* The collider hit by the ray-cast for the i-th wheel.
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*/
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public wheelGroundObject(i: number): Collider | null {
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return this.colliders.get(this.raw.wheel_ground_object(i));
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}
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}
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