@dimforge/rapier3d
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3-dimensional physics engine in Rust - official JS bindings.
482 lines (425 loc) • 14.5 kB
text/typescript
import {RawDynamicRayCastVehicleController} from "../raw";
import {Vector, VectorOps} from "../math";
import {
BroadPhase,
Collider,
ColliderSet,
InteractionGroups,
NarrowPhase,
} from "../geometry";
import {QueryFilterFlags} from "../pipeline";
import {RigidBody, RigidBodyHandle, RigidBodySet} from "../dynamics";
/**
* A character controller to simulate vehicles using ray-casting for the wheels.
*/
export class DynamicRayCastVehicleController {
private raw: RawDynamicRayCastVehicleController;
private broadPhase: BroadPhase;
private narrowPhase: NarrowPhase;
private bodies: RigidBodySet;
private colliders: ColliderSet;
private _chassis: RigidBody;
constructor(
chassis: RigidBody,
broadPhase: BroadPhase,
narrowPhase: NarrowPhase,
bodies: RigidBodySet,
colliders: ColliderSet,
) {
this.raw = new RawDynamicRayCastVehicleController(chassis.handle);
this.broadPhase = broadPhase;
this.narrowPhase = narrowPhase;
this.bodies = bodies;
this.colliders = colliders;
this._chassis = chassis;
}
/** @internal */
public free() {
if (!!this.raw) {
this.raw.free();
}
this.raw = undefined;
}
/**
* Updates the vehicle’s velocity based on its suspension, engine force, and brake.
*
* This directly updates the velocity of its chassis rigid-body.
*
* @param dt - Time increment used to integrate forces.
* @param filterFlags - Flag to exclude categories of objects from the wheels’ ray-cast.
* @param filterGroups - Only colliders compatible with these groups will be hit by the wheels’ ray-casts.
* @param filterPredicate - Callback to filter out which collider will be hit by the wheels’ ray-casts.
*/
public updateVehicle(
dt: number,
filterFlags?: QueryFilterFlags,
filterGroups?: InteractionGroups,
filterPredicate?: (collider: Collider) => boolean,
) {
this.raw.update_vehicle(
dt,
this.broadPhase.raw,
this.narrowPhase.raw,
this.bodies.raw,
this.colliders.raw,
filterFlags,
filterGroups,
this.colliders.castClosure(filterPredicate),
);
}
/**
* The current forward speed of the vehicle.
*/
public currentVehicleSpeed(): number {
return this.raw.current_vehicle_speed();
}
/**
* The rigid-body used as the chassis.
*/
public chassis(): RigidBody {
return this._chassis;
}
/**
* The chassis’ local _up_ direction (`0 = x, 1 = y, 2 = z`).
*/
get indexUpAxis(): number {
return this.raw.index_up_axis();
}
/**
* Sets the chassis’ local _up_ direction (`0 = x, 1 = y, 2 = z`).
*/
set indexUpAxis(axis: number) {
this.raw.set_index_up_axis(axis);
}
/**
* The chassis’ local _forward_ direction (`0 = x, 1 = y, 2 = z`).
*/
get indexForwardAxis(): number {
return this.raw.index_forward_axis();
}
/**
* Sets the chassis’ local _forward_ direction (`0 = x, 1 = y, 2 = z`).
*/
set setIndexForwardAxis(axis: number) {
this.raw.set_index_forward_axis(axis);
}
/**
* Adds a new wheel attached to this vehicle.
* @param chassisConnectionCs - The position of the wheel relative to the chassis.
* @param directionCs - The direction of the wheel’s suspension, relative to the chassis. The ray-casting will
* happen following this direction to detect the ground.
* @param axleCs - The wheel’s axle axis, relative to the chassis.
* @param suspensionRestLength - The rest length of the wheel’s suspension spring.
* @param radius - The wheel’s radius.
*/
public addWheel(
chassisConnectionCs: Vector,
directionCs: Vector,
axleCs: Vector,
suspensionRestLength: number,
radius: number,
) {
let rawChassisConnectionCs = VectorOps.intoRaw(chassisConnectionCs);
let rawDirectionCs = VectorOps.intoRaw(directionCs);
let rawAxleCs = VectorOps.intoRaw(axleCs);
this.raw.add_wheel(
rawChassisConnectionCs,
rawDirectionCs,
rawAxleCs,
suspensionRestLength,
radius,
);
rawChassisConnectionCs.free();
rawDirectionCs.free();
rawAxleCs.free();
}
/**
* The number of wheels attached to this vehicle.
*/
public numWheels(): number {
return this.raw.num_wheels();
}
/*
*
* Access to wheel properties.
*
*/
/*
* Getters + setters
*/
/**
* The position of the i-th wheel, relative to the chassis.
*/
public wheelChassisConnectionPointCs(i: number): Vector | null {
return VectorOps.fromRaw(this.raw.wheel_chassis_connection_point_cs(i));
}
/**
* Sets the position of the i-th wheel, relative to the chassis.
*/
public setWheelChassisConnectionPointCs(i: number, value: Vector) {
let rawValue = VectorOps.intoRaw(value);
this.raw.set_wheel_chassis_connection_point_cs(i, rawValue);
rawValue.free();
}
/**
* The rest length of the i-th wheel’s suspension spring.
*/
public wheelSuspensionRestLength(i: number): number | null {
return this.raw.wheel_suspension_rest_length(i);
}
/**
* Sets the rest length of the i-th wheel’s suspension spring.
*/
public setWheelSuspensionRestLength(i: number, value: number) {
this.raw.set_wheel_suspension_rest_length(i, value);
}
/**
* The maximum distance the i-th wheel suspension can travel before and after its resting length.
*/
public wheelMaxSuspensionTravel(i: number): number | null {
return this.raw.wheel_max_suspension_travel(i);
}
/**
* Sets the maximum distance the i-th wheel suspension can travel before and after its resting length.
*/
public setWheelMaxSuspensionTravel(i: number, value: number) {
this.raw.set_wheel_max_suspension_travel(i, value);
}
/**
* The i-th wheel’s radius.
*/
public wheelRadius(i: number): number | null {
return this.raw.wheel_radius(i);
}
/**
* Sets the i-th wheel’s radius.
*/
public setWheelRadius(i: number, value: number) {
this.raw.set_wheel_radius(i, value);
}
/**
* The i-th wheel’s suspension stiffness.
*
* Increase this value if the suspension appears to not push the vehicle strong enough.
*/
public wheelSuspensionStiffness(i: number): number | null {
return this.raw.wheel_suspension_stiffness(i);
}
/**
* Sets the i-th wheel’s suspension stiffness.
*
* Increase this value if the suspension appears to not push the vehicle strong enough.
*/
public setWheelSuspensionStiffness(i: number, value: number) {
this.raw.set_wheel_suspension_stiffness(i, value);
}
/**
* The i-th wheel’s suspension’s damping when it is being compressed.
*/
public wheelSuspensionCompression(i: number): number | null {
return this.raw.wheel_suspension_compression(i);
}
/**
* The i-th wheel’s suspension’s damping when it is being compressed.
*/
public setWheelSuspensionCompression(i: number, value: number) {
this.raw.set_wheel_suspension_compression(i, value);
}
/**
* The i-th wheel’s suspension’s damping when it is being released.
*
* Increase this value if the suspension appears to overshoot.
*/
public wheelSuspensionRelaxation(i: number): number | null {
return this.raw.wheel_suspension_relaxation(i);
}
/**
* Sets the i-th wheel’s suspension’s damping when it is being released.
*
* Increase this value if the suspension appears to overshoot.
*/
public setWheelSuspensionRelaxation(i: number, value: number) {
this.raw.set_wheel_suspension_relaxation(i, value);
}
/**
* The maximum force applied by the i-th wheel’s suspension.
*/
public wheelMaxSuspensionForce(i: number): number | null {
return this.raw.wheel_max_suspension_force(i);
}
/**
* Sets the maximum force applied by the i-th wheel’s suspension.
*/
public setWheelMaxSuspensionForce(i: number, value: number) {
this.raw.set_wheel_max_suspension_force(i, value);
}
/**
* The maximum amount of braking impulse applied on the i-th wheel to slow down the vehicle.
*/
public wheelBrake(i: number): number | null {
return this.raw.wheel_brake(i);
}
/**
* Set the maximum amount of braking impulse applied on the i-th wheel to slow down the vehicle.
*/
public setWheelBrake(i: number, value: number) {
this.raw.set_wheel_brake(i, value);
}
/**
* The steering angle (radians) for the i-th wheel.
*/
public wheelSteering(i: number): number | null {
return this.raw.wheel_steering(i);
}
/**
* Sets the steering angle (radians) for the i-th wheel.
*/
public setWheelSteering(i: number, value: number) {
this.raw.set_wheel_steering(i, value);
}
/**
* The forward force applied by the i-th wheel on the chassis.
*/
public wheelEngineForce(i: number): number | null {
return this.raw.wheel_engine_force(i);
}
/**
* Sets the forward force applied by the i-th wheel on the chassis.
*/
public setWheelEngineForce(i: number, value: number) {
this.raw.set_wheel_engine_force(i, value);
}
/**
* The direction of the i-th wheel’s suspension, relative to the chassis.
*
* The ray-casting will happen following this direction to detect the ground.
*/
public wheelDirectionCs(i: number): Vector | null {
return VectorOps.fromRaw(this.raw.wheel_direction_cs(i));
}
/**
* Sets the direction of the i-th wheel’s suspension, relative to the chassis.
*
* The ray-casting will happen following this direction to detect the ground.
*/
public setWheelDirectionCs(i: number, value: Vector) {
let rawValue = VectorOps.intoRaw(value);
this.raw.set_wheel_direction_cs(i, rawValue);
rawValue.free();
}
/**
* The i-th wheel’s axle axis, relative to the chassis.
*
* The axis index defined as 0 = X, 1 = Y, 2 = Z.
*/
public wheelAxleCs(i: number): Vector | null {
return VectorOps.fromRaw(this.raw.wheel_axle_cs(i));
}
/**
* Sets the i-th wheel’s axle axis, relative to the chassis.
*
* The axis index defined as 0 = X, 1 = Y, 2 = Z.
*/
public setWheelAxleCs(i: number, value: Vector) {
let rawValue = VectorOps.intoRaw(value);
this.raw.set_wheel_axle_cs(i, rawValue);
rawValue.free();
}
/**
* Parameter controlling how much traction the tire has.
*
* The larger the value, the more instantaneous braking will happen (with the risk of
* causing the vehicle to flip if it’s too strong).
*/
public wheelFrictionSlip(i: number): number | null {
return this.raw.wheel_friction_slip(i);
}
/**
* Sets the parameter controlling how much traction the tire has.
*
* The larger the value, the more instantaneous braking will happen (with the risk of
* causing the vehicle to flip if it’s too strong).
*/
public setWheelFrictionSlip(i: number, value: number) {
this.raw.set_wheel_friction_slip(i, value);
}
/**
* The multiplier of friction between a tire and the collider it’s on top of.
*
* The larger the value, the stronger side friction will be.
*/
public wheelSideFrictionStiffness(i: number): number | null {
return this.raw.wheel_side_friction_stiffness(i);
}
/**
* The multiplier of friction between a tire and the collider it’s on top of.
*
* The larger the value, the stronger side friction will be.
*/
public setWheelSideFrictionStiffness(i: number, value: number) {
this.raw.set_wheel_side_friction_stiffness(i, value);
}
/*
* Getters only.
*/
/**
* The i-th wheel’s current rotation angle (radians) on its axle.
*/
public wheelRotation(i: number): number | null {
return this.raw.wheel_rotation(i);
}
/**
* The forward impulses applied by the i-th wheel on the chassis.
*/
public wheelForwardImpulse(i: number): number | null {
return this.raw.wheel_forward_impulse(i);
}
/**
* The side impulses applied by the i-th wheel on the chassis.
*/
public wheelSideImpulse(i: number): number | null {
return this.raw.wheel_side_impulse(i);
}
/**
* The force applied by the i-th wheel suspension.
*/
public wheelSuspensionForce(i: number): number | null {
return this.raw.wheel_suspension_force(i);
}
/**
* The (world-space) contact normal between the i-th wheel and the floor.
*/
public wheelContactNormal(i: number): Vector | null {
return VectorOps.fromRaw(this.raw.wheel_contact_normal_ws(i));
}
/**
* The (world-space) point hit by the wheel’s ray-cast for the i-th wheel.
*/
public wheelContactPoint(i: number): Vector | null {
return VectorOps.fromRaw(this.raw.wheel_contact_point_ws(i));
}
/**
* The suspension length for the i-th wheel.
*/
public wheelSuspensionLength(i: number): number | null {
return this.raw.wheel_suspension_length(i);
}
/**
* The (world-space) starting point of the ray-cast for the i-th wheel.
*/
public wheelHardPoint(i: number): Vector | null {
return VectorOps.fromRaw(this.raw.wheel_hard_point_ws(i));
}
/**
* Is the i-th wheel in contact with the ground?
*/
public wheelIsInContact(i: number): boolean {
return this.raw.wheel_is_in_contact(i);
}
/**
* The collider hit by the ray-cast for the i-th wheel.
*/
public wheelGroundObject(i: number): Collider | null {
return this.colliders.get(this.raw.wheel_ground_object(i));
}
}