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Fix get_rpm() on wheel which has steering

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This fixes #101646.
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drakeerv 2025-01-16 22:57:37 -05:00 • committed by Rémi Verschelde
parent fc827bbe25
commit 6f25aee04f
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1 changed files with 9 additions and 1 deletions
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10
scene/3d/physics/vehicle_body_3d.cpp
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@ -852,18 +852,26 @@ void VehicleBody3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) {
for (int i = 0; i < wheels.size(); i++) { for (int i = 0; i < wheels.size(); i++) {
VehicleWheel3D &wheel = *wheels[i]; VehicleWheel3D &wheel = *wheels[i];
Vector3 relpos = wheel.m_raycastInfo.m_hardPointWS - p_state->get_transform().origin; Vector3 relpos = wheel.m_raycastInfo.m_hardPointWS - p_state->get_transform().origin;
Vector3 vel = p_state->get_linear_velocity() + (p_state->get_angular_velocity()).cross(relpos); // * mPos); Vector3 vel = p_state->get_linear_velocity() + (p_state->get_angular_velocity()).cross(relpos);
if (wheel.m_raycastInfo.m_isInContact) { if (wheel.m_raycastInfo.m_isInContact) {
const Transform3D &chassisWorldTransform = p_state->get_transform(); const Transform3D &chassisWorldTransform = p_state->get_transform();
// Get forward vector.
Vector3 fwd( Vector3 fwd(
chassisWorldTransform.basis[0][Vector3::AXIS_Z], chassisWorldTransform.basis[0][Vector3::AXIS_Z],
chassisWorldTransform.basis[1][Vector3::AXIS_Z], chassisWorldTransform.basis[1][Vector3::AXIS_Z],
chassisWorldTransform.basis[2][Vector3::AXIS_Z]); chassisWorldTransform.basis[2][Vector3::AXIS_Z]);
// Apply steering rotation to forward vector for steerable wheels.
if (wheel.steers) {
Basis steering_mat(Vector3(0, 1, 0), wheel.m_steering);
fwd = steering_mat.xform(fwd);
}
real_t proj = fwd.dot(wheel.m_raycastInfo.m_contactNormalWS); real_t proj = fwd.dot(wheel.m_raycastInfo.m_contactNormalWS);
fwd -= wheel.m_raycastInfo.m_contactNormalWS * proj; fwd -= wheel.m_raycastInfo.m_contactNormalWS * proj;
fwd.normalize();
real_t proj2 = fwd.dot(vel); real_t proj2 = fwd.dot(vel);