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Simplifies WheelJoint creation (#3639)

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This commit is contained in:
Garry Newman
2025-12-18 14:44:35 +00:00
committed by GitHub
parent b0d724d917
commit f241f16212
1 changed files with 75 additions and 6 deletions
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81
engine/Sandbox.Engine/Scene/Components/Joint/WheelJoint.cs
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@@ -1,6 +1,11 @@
namespace Sandbox;
/// <inheritdoc cref="Physics.WheelJoint"/>
/// <summary>
/// The wheel joint can be used to simulate wheels on vehicles.
/// The wheel joint restricts body B to move along a local axis in body A. Body B is free to rotate.
/// Supports a linear spring, linear limits, and a rotational motor.
/// The assumption is that you will create this joint on the wheel body.This will enable suspension to be in the correct direction.
/// </summary>
[Expose]
[Title( "Wheel Joint" )]
[Category( "Physics" )]
@@ -40,7 +45,10 @@ public sealed class WheelJoint : Joint
if ( _joint.IsValid() )
{
_joint.SuspensionLimits = EnableSuspension ? field : 0.0f;
var v = EnableSuspension ? field : 0.0f;
v = new Vector2( Math.Min( v.x, v.y ), Math.Max( v.x, v.y ) );
_joint.SuspensionLimits = v;
_joint.WakeBodies();
}
}
@@ -131,7 +139,11 @@ public sealed class WheelJoint : Joint
{
// Suspension on, use user limits.
_joint.EnableSuspensionLimit = EnableSuspensionLimit;
_joint.SuspensionLimits = SuspensionLimits;
var v = SuspensionLimits;
v = new Vector2( Math.Min( v.x, v.y ), Math.Max( v.x, v.y ) );
_joint.SuspensionLimits = v;
}
else
{
@@ -333,8 +345,13 @@ public sealed class WheelJoint : Joint
if ( Attachment == AttachmentMode.Auto )
{
localFrame1 = point1.LocalTransform;
localFrame2 = point2.LocalTransform;
localFrame1 = global::Transform.Zero;
localFrame1.Position = point1.LocalPosition;
localFrame1.Rotation = point1.LocalRotation * new Angles( 90, 0, 0 );
localFrame2 = global::Transform.Zero;
localFrame2.Position = point2.Body.Transform.PointToLocal( point1.Transform.Position );
localFrame2.Rotation = point2.Body.Transform.RotationToLocal( point1.Transform.Rotation * new Angles( 90, 0, 0 ) );
}
if ( !Scene.IsEditor )
@@ -348,7 +365,7 @@ public sealed class WheelJoint : Joint
point1.LocalTransform = localFrame1;
point2.LocalTransform = localFrame2;
_joint = PhysicsJoint.CreateWheel( point1, point2 );
_joint = PhysicsJoint.CreateWheel( point2, point1 );
UpdateProperties();
@@ -376,4 +393,56 @@ public sealed class WheelJoint : Joint
_joint.WakeBodies();
}
protected override void DrawGizmos()
{
if ( !Gizmo.IsSelected )
return;
Gizmo.Draw.IgnoreDepth = true;
using var _ = Gizmo.Scope();
Gizmo.Transform = Gizmo.Transform.WithScale( 1 );
// axis
{
using var __ = Gizmo.Scope();
Gizmo.Transform = Gizmo.Transform with { Rotation = Gizmo.Transform.Rotation * new Angles( 0, 0, RealTime.Now * 45 ) };
Gizmo.Draw.Color = Gizmo.Colors.Green;
Gizmo.Draw.LineThickness = 2;
Gizmo.Draw.LineCapsule( new Capsule( Vector3.Forward * -5.0f, Vector3.Forward * 5.0f, 1 ) );
}
if ( EnableSuspension && SuspensionLimits != default )
{
var v = SuspensionLimits;
v = new Vector2( Math.Min( v.x, v.y ), Math.Max( v.x, v.y ) );
using var __ = Gizmo.Scope();
if ( Body != null )
{
if ( !Scene.IsEditor && _joint.IsValid() )
{
Gizmo.Transform = _joint.Point1.Transform;
}
else
{
Gizmo.Transform = Gizmo.Transform with { Rotation = Body.WorldRotation * new Angles( 90, 0, 0 ) };
}
}
var top = Vector3.Forward * v.y;
var bottom = Vector3.Forward * v.x;
var h = Vector3.Left * 1;
Gizmo.Draw.LineThickness = 2;
Gizmo.Draw.Color = Gizmo.Colors.Forward.WithAlpha( 0.3f );
Gizmo.Draw.LineCapsule( new Capsule( top, bottom, 1 ) );
}
}
}