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[World] Added physics controlled wheels (they render and physics don'…
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…t sync correctly yet), and changed the song of the default car world to something from NFS
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@PanosK92
PanosK92 committed Oct 8, 2023
1 parent 4c5f331 commit 565d4c1
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Showing 10 changed files with 125 additions and 49 deletions.
Binary file added assets/models/wheel/albedo.jpeg
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Binary file added assets/models/wheel/metalness.png
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99 changes: 61 additions & 38 deletions runtime/World/Components/PhysicsBody.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@ namespace Spartan
constexpr float k_default_restitution = 0.0f;
constexpr float k_default_friction = 0.5f;
constexpr float k_default_friction_rolling = 0.5f;
constexpr float k_default_vehicle_torque = 149.0f;
constexpr float k_default_vehicle_torque = 1000.0f;
}

class MotionState : public btMotionState
Expand Down Expand Up @@ -117,6 +117,7 @@ namespace Spartan
m_center_of_mass = Vector3::Zero;
m_size = Vector3::One;
m_shape = nullptr;
m_wheel_transforms.fill(nullptr);

SP_REGISTER_ATTRIBUTE_VALUE_VALUE(m_mass, float);
SP_REGISTER_ATTRIBUTE_VALUE_VALUE(m_friction, float);
Expand Down Expand Up @@ -188,44 +189,61 @@ namespace Spartan
}
}

// vehicle control
if (vehicle)
{
// compute torque
if (Input::GetKey(KeyCode::Arrow_Up))
// control
{
m_torque_newtons = m_torque_max_newtons;
}
else if(Input::GetKey(KeyCode::Arrow_Down))
{
m_torque_newtons = -m_torque_max_newtons;
}
else
{
m_torque_newtons = 0.0f;
}
// compute torque
if (Input::GetKey(KeyCode::Arrow_Up))
{
m_torque_newtons = m_torque_max_newtons;
}
else if (Input::GetKey(KeyCode::Arrow_Down))
{
m_torque_newtons = -m_torque_max_newtons;
}
else
{
m_torque_newtons = 0.0f;
}

// compute steering angle
if (Input::GetKey(KeyCode::Arrow_Left))
{
m_steering_angle_radians = -0.3f;
}
else if (Input::GetKey(KeyCode::Arrow_Right))
{
m_steering_angle_radians = 0.3f;
}
else
{
m_steering_angle_radians = 0.0f;
// compute steering angle
if (Input::GetKey(KeyCode::Arrow_Left))
{
m_steering_angle_radians = -0.3f;
}
else if (Input::GetKey(KeyCode::Arrow_Right))
{
m_steering_angle_radians = 0.3f;
}
else
{
m_steering_angle_radians = 0.0f;
}

// apply torque
vehicle->applyEngineForce(m_torque_newtons, 0); // wheel front-left
vehicle->applyEngineForce(m_torque_newtons, 1); // wheel front-right

// apply steering angle
vehicle->setSteeringValue(m_steering_angle_radians, 0); // wheel front-left
vehicle->setSteeringValue(m_steering_angle_radians, 1); // wheel front-left
}

// apply torque
vehicle->applyEngineForce(m_torque_newtons, 0); // wheel front-left
vehicle->applyEngineForce(m_torque_newtons, 1); // wheel front-right
// update wheel transforms
for (int i = 0; i < vehicle->getNumWheels(); ++i)
{
if (Transform* wheel_transform = m_wheel_transforms[i])
{
// get the bt transform of wheel i
vehicle->updateWheelTransform(i, true);
btTransform& wheel_transform_bt = vehicle->getWheelInfo(i).m_worldTransform;

// apply steering angle
vehicle->setSteeringValue(m_steering_angle_radians, 0); // wheel front-left
vehicle->setSteeringValue(m_steering_angle_radians, 1); // wheel front-left
// set the bt transform to the wheel transform
wheel_transform->SetPosition(ToVector3(wheel_transform_bt.getOrigin()));
wheel_transform->SetRotation(ToQuaternion(wheel_transform_bt.getRotation()));
}
}
}
}

Expand Down Expand Up @@ -628,13 +646,13 @@ namespace Spartan

// add wheels
{
btVector3 wheel_direction = btVector3(0, -1, 0);
btVector3 wheel_axle = btVector3(-1, 0, 0);
btScalar suspension_rest_length = 0.6f;
btScalar wheel_radius = 0.5;
btVector3 wheel_direction = btVector3(0, -1, 0);
btVector3 wheel_axle = btVector3(-1, 0, 0);
float suspension_rest_length = 0.6f;
float wheel_radius = 0.6;

const float extent_forward = 2.5f;
const float extent_sideways = 1.2f;
const float extent_forward = 2.5f;
const float extent_sideways = 1.2f;
btVector3 wheel_positions[4] =
{
btVector3(-extent_sideways, 0, extent_forward), // front-left
Expand Down Expand Up @@ -798,6 +816,11 @@ namespace Spartan
AddBodyToWorld();
}

void PhysicsBody::SetWheelTransform(Transform* transform, uint32_t wheel_index)
{
m_wheel_transforms[wheel_index] = transform;
}

bool PhysicsBody::IsGrounded() const
{
// get the lowest point of the AABB
Expand Down
4 changes: 4 additions & 0 deletions runtime/World/Components/PhysicsBody.h
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Original file line number Diff line number Diff line change
Expand Up @@ -150,6 +150,9 @@ namespace Spartan
float GetTorqueMaxNewtons() const { return m_torque_max_newtons; }
void SetTorqueMaxNewtons(float torque_newtons) { m_torque_max_newtons = torque_newtons; }

// Wheels
void SetWheelTransform(Transform* transform, uint32_t wheel_index);

// Misc
bool IsGrounded() const;
void ClearForces() const;
Expand Down Expand Up @@ -185,6 +188,7 @@ namespace Spartan
float m_torque_newtons = 0.0f;
float m_torque_max_newtons = 0.0f;
float m_steering_angle_radians = 0.0f;
std::array<Transform*, 4> m_wheel_transforms;
std::vector<Constraint*> m_constraints;
};
}
71 changes: 60 additions & 11 deletions runtime/World/World.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,7 @@ namespace Spartan
static shared_ptr<Mesh> m_default_model_sponza = nullptr;
static shared_ptr<Mesh> m_default_model_sponza_curtains = nullptr;
static shared_ptr<Mesh> m_default_model_car = nullptr;
static shared_ptr<Mesh> m_default_model_wheel = nullptr;
static shared_ptr<Mesh> m_default_model_helmet_flight = nullptr;
static shared_ptr<Mesh> m_default_model_helmet_damaged = nullptr;

Expand Down Expand Up @@ -211,6 +212,7 @@ namespace Spartan
m_default_model_sponza = nullptr;
m_default_model_sponza_curtains = nullptr;
m_default_model_car = nullptr;
m_default_model_wheel = nullptr;
m_default_model_helmet_flight = nullptr;
m_default_model_helmet_damaged = nullptr;
m_default_cube = nullptr;
Expand Down Expand Up @@ -569,7 +571,7 @@ namespace Spartan
{
Vector3 camera_position = Vector3(0.0f, 1.0f, -10.0f);
Vector3 camera_rotation = Vector3(0.0f, 0.0f, 0.0f);
create_default_world_common(camera_position, camera_rotation, LightIntensity::sky_twilight, "project\\music\\isola_any_day.mp3");
create_default_world_common(camera_position, camera_rotation, LightIntensity::sky_twilight, "project\\music\\riders_on_the_storm_fredwreck_remix.mp3");

// point light - side of car
{
Expand Down Expand Up @@ -614,7 +616,7 @@ namespace Spartan
Entity* entity_car = m_default_model_car->GetRootEntity();
entity_car->SetObjectName("geometry");

entity_car->GetTransform()->SetPosition(Vector3(0.0f, -0.75f, 0.0f));
entity_car->GetTransform()->SetPosition(Vector3(0.0f, 0.0f, 0.0f));
entity_car->GetTransform()->SetRotation(Quaternion::FromEulerAngles(90.0f, 0.0f, -180.0f));
entity_car->GetTransform()->SetScale(Vector3(0.02f, 0.02f, 0.02f));

Expand Down Expand Up @@ -698,6 +700,16 @@ namespace Spartan

// add physics body
{
entity_root->GetTransform()->SetPosition(Vector3(0.0f, 2.0f, 0.0f));
PhysicsBody* physics_body = entity_root->AddComponent<PhysicsBody>().get();
physics_body->SetBodyType(PhysicsBodyType::Vehicle);
physics_body->SetCenterOfMass(Vector3(0.0f, 0.7f, 0.0f));
physics_body->SetBoundingBox(Vector3(3.0f, 1.5f, 8.4f));
physics_body->SetFriction(1.0f);
physics_body->SetFrictionRolling(1.0f);
physics_body->SetMass(1000.0f); // 900 – 1,045 kg -> https://en.wikipedia.org/wiki/Toyota_AE86
physics_body->SetTorqueMaxNewtons(5000.0f); // 149 Nm -> https://en.wikipedia.org/wiki/Toyota_AE86, however it's too weak for bullet for some reason

// remove all the wheels since they have weird rotations, we will add our own
{
RemoveEntity(entity_car->GetTransform()->GetDescendantPtrWeakByName("FL_Wheel_RimMaterial_0").lock());
Expand All @@ -721,15 +733,52 @@ namespace Spartan
RemoveEntity(entity_car->GetTransform()->GetDescendantPtrWeakByName("RR_Caliper_BrakeCaliper_0").lock());
}

entity_root->GetTransform()->SetPosition(Vector3(0.0f, 2.0f, 0.0f));
PhysicsBody* physics_body = entity_root->AddComponent<PhysicsBody>().get();
physics_body->SetBodyType(PhysicsBodyType::Vehicle);
physics_body->SetCenterOfMass(Vector3(0.0f, 0.7f, 0.0f));
physics_body->SetBoundingBox(Vector3(3.0f, 1.5f, 8.4f));
physics_body->SetFriction(1.0f);
physics_body->SetFrictionRolling(1.0f);
physics_body->SetMass(1000.0f); // 900 – 1,045 kg -> https://en.wikipedia.org/wiki/Toyota_AE86
physics_body->SetTorqueMaxNewtons(5000.0f); // 149 Nm -> https://en.wikipedia.org/wiki/Toyota_AE86, however it's too weak for bullet for some reason
// load our own wheel
if (m_default_model_wheel = ResourceCache::Load<Mesh>("project\\models\\wheel\\model.blend"))
{
Entity* entity_wheel_root = m_default_model_wheel->GetRootEntity();
entity_wheel_root->GetTransform()->SetScale(Vector3(0.35f));

if (Entity* entity_wheel = entity_wheel_root->GetTransform()->GetDescendantPtrByName("wheel Low"))
{
// create material
shared_ptr<Material> material = make_shared<Material>();
material->SetTexture(MaterialTexture::Color, "project\\models\\wheel\\albedo.jpeg");
material->SetTexture(MaterialTexture::Normal, "project\\models\\wheel\\normal.png");
material->SetTexture(MaterialTexture::Roughness, "project\\models\\wheel\\roughness.png");
material->SetTexture(MaterialTexture::Metalness, "project\\models\\wheel\\metalness.png");

// create a file path for this material (required for the material to be able to be cached by the resource cache)
const string file_path = "project\\models\\wheel" + string(EXTENSION_MATERIAL);
material->SetResourceFilePath(file_path);

// set material
entity_wheel->GetComponent<Renderable>()->SetMaterial(material);
}

// add the wheels to the body
{
Entity* wheel = entity_wheel_root;
wheel->SetObjectName("wheel_fl");
wheel->GetTransform()->SetParent(entity_root->GetTransform());
physics_body->SetWheelTransform(wheel->GetTransform().get(), 0);

wheel = entity_wheel_root->Clone();
wheel->SetObjectName("wheel_fr");
wheel->GetTransform()->SetParent(entity_root->GetTransform());
physics_body->SetWheelTransform(wheel->GetTransform().get(), 1);

wheel = entity_wheel_root->Clone();
wheel->SetObjectName("wheel_rl");
wheel->GetTransform()->SetParent(entity_root->GetTransform());
physics_body->SetWheelTransform(wheel->GetTransform().get(), 2);

wheel = entity_wheel_root->Clone();
wheel->SetObjectName("wheel_rr");
wheel->GetTransform()->SetParent(entity_root->GetTransform());
physics_body->SetWheelTransform(wheel->GetTransform().get(), 3);
}
}
}
}

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