@dimforge/rapier3d
Version:
3-dimensional physics engine in Rust - official JS bindings.
379 lines • 12.4 kB
JavaScript
import { RawDynamicRayCastVehicleController } from "../raw";
import { VectorOps } from "../math";
/**
* A character controller to simulate vehicles using ray-casting for the wheels.
*/
export class DynamicRayCastVehicleController {
constructor(chassis, broadPhase, narrowPhase, bodies, colliders) {
this.raw = new RawDynamicRayCastVehicleController(chassis.handle);
this.broadPhase = broadPhase;
this.narrowPhase = narrowPhase;
this.bodies = bodies;
this.colliders = colliders;
this._chassis = chassis;
}
/** @internal */
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.
*/
updateVehicle(dt, filterFlags, filterGroups, filterPredicate) {
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.
*/
currentVehicleSpeed() {
return this.raw.current_vehicle_speed();
}
/**
* The rigid-body used as the chassis.
*/
chassis() {
return this._chassis;
}
/**
* The chassis’ local _up_ direction (`0 = x, 1 = y, 2 = z`).
*/
get indexUpAxis() {
return this.raw.index_up_axis();
}
/**
* Sets the chassis’ local _up_ direction (`0 = x, 1 = y, 2 = z`).
*/
set indexUpAxis(axis) {
this.raw.set_index_up_axis(axis);
}
/**
* The chassis’ local _forward_ direction (`0 = x, 1 = y, 2 = z`).
*/
get indexForwardAxis() {
return this.raw.index_forward_axis();
}
/**
* Sets the chassis’ local _forward_ direction (`0 = x, 1 = y, 2 = z`).
*/
set setIndexForwardAxis(axis) {
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.
*/
addWheel(chassisConnectionCs, directionCs, axleCs, suspensionRestLength, radius) {
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.
*/
numWheels() {
return this.raw.num_wheels();
}
/*
*
* Access to wheel properties.
*
*/
/*
* Getters + setters
*/
/**
* The position of the i-th wheel, relative to the chassis.
*/
wheelChassisConnectionPointCs(i) {
return VectorOps.fromRaw(this.raw.wheel_chassis_connection_point_cs(i));
}
/**
* Sets the position of the i-th wheel, relative to the chassis.
*/
setWheelChassisConnectionPointCs(i, value) {
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.
*/
wheelSuspensionRestLength(i) {
return this.raw.wheel_suspension_rest_length(i);
}
/**
* Sets the rest length of the i-th wheel’s suspension spring.
*/
setWheelSuspensionRestLength(i, value) {
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.
*/
wheelMaxSuspensionTravel(i) {
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.
*/
setWheelMaxSuspensionTravel(i, value) {
this.raw.set_wheel_max_suspension_travel(i, value);
}
/**
* The i-th wheel’s radius.
*/
wheelRadius(i) {
return this.raw.wheel_radius(i);
}
/**
* Sets the i-th wheel’s radius.
*/
setWheelRadius(i, value) {
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.
*/
wheelSuspensionStiffness(i) {
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.
*/
setWheelSuspensionStiffness(i, value) {
this.raw.set_wheel_suspension_stiffness(i, value);
}
/**
* The i-th wheel’s suspension’s damping when it is being compressed.
*/
wheelSuspensionCompression(i) {
return this.raw.wheel_suspension_compression(i);
}
/**
* The i-th wheel’s suspension’s damping when it is being compressed.
*/
setWheelSuspensionCompression(i, value) {
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.
*/
wheelSuspensionRelaxation(i) {
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.
*/
setWheelSuspensionRelaxation(i, value) {
this.raw.set_wheel_suspension_relaxation(i, value);
}
/**
* The maximum force applied by the i-th wheel’s suspension.
*/
wheelMaxSuspensionForce(i) {
return this.raw.wheel_max_suspension_force(i);
}
/**
* Sets the maximum force applied by the i-th wheel’s suspension.
*/
setWheelMaxSuspensionForce(i, value) {
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.
*/
wheelBrake(i) {
return this.raw.wheel_brake(i);
}
/**
* Set the maximum amount of braking impulse applied on the i-th wheel to slow down the vehicle.
*/
setWheelBrake(i, value) {
this.raw.set_wheel_brake(i, value);
}
/**
* The steering angle (radians) for the i-th wheel.
*/
wheelSteering(i) {
return this.raw.wheel_steering(i);
}
/**
* Sets the steering angle (radians) for the i-th wheel.
*/
setWheelSteering(i, value) {
this.raw.set_wheel_steering(i, value);
}
/**
* The forward force applied by the i-th wheel on the chassis.
*/
wheelEngineForce(i) {
return this.raw.wheel_engine_force(i);
}
/**
* Sets the forward force applied by the i-th wheel on the chassis.
*/
setWheelEngineForce(i, value) {
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.
*/
wheelDirectionCs(i) {
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.
*/
setWheelDirectionCs(i, value) {
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.
*/
wheelAxleCs(i) {
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.
*/
setWheelAxleCs(i, value) {
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).
*/
wheelFrictionSlip(i) {
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).
*/
setWheelFrictionSlip(i, value) {
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.
*/
wheelSideFrictionStiffness(i) {
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.
*/
setWheelSideFrictionStiffness(i, value) {
this.raw.set_wheel_side_friction_stiffness(i, value);
}
/*
* Getters only.
*/
/**
* The i-th wheel’s current rotation angle (radians) on its axle.
*/
wheelRotation(i) {
return this.raw.wheel_rotation(i);
}
/**
* The forward impulses applied by the i-th wheel on the chassis.
*/
wheelForwardImpulse(i) {
return this.raw.wheel_forward_impulse(i);
}
/**
* The side impulses applied by the i-th wheel on the chassis.
*/
wheelSideImpulse(i) {
return this.raw.wheel_side_impulse(i);
}
/**
* The force applied by the i-th wheel suspension.
*/
wheelSuspensionForce(i) {
return this.raw.wheel_suspension_force(i);
}
/**
* The (world-space) contact normal between the i-th wheel and the floor.
*/
wheelContactNormal(i) {
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.
*/
wheelContactPoint(i) {
return VectorOps.fromRaw(this.raw.wheel_contact_point_ws(i));
}
/**
* The suspension length for the i-th wheel.
*/
wheelSuspensionLength(i) {
return this.raw.wheel_suspension_length(i);
}
/**
* The (world-space) starting point of the ray-cast for the i-th wheel.
*/
wheelHardPoint(i) {
return VectorOps.fromRaw(this.raw.wheel_hard_point_ws(i));
}
/**
* Is the i-th wheel in contact with the ground?
*/
wheelIsInContact(i) {
return this.raw.wheel_is_in_contact(i);
}
/**
* The collider hit by the ray-cast for the i-th wheel.
*/
wheelGroundObject(i) {
return this.colliders.get(this.raw.wheel_ground_object(i));
}
}
//# sourceMappingURL=ray_cast_vehicle_controller.js.map