Rigidbody3D functional prototype

2025-02-02 20:00:55 -05:00
parent 1550f57f5d
commit 54352990fd
9 changed files with 1550 additions and 74 deletions
--- a/core/drone/dro815E.tmp
+++ b/core/drone/dro815E.tmp
--- a/core/drone/drone.gd
+++ b/core/drone/drone.gd
@@ -1,4 +1,4 @@
-extends CharacterBody3D
+extends RigidBody3D

 # Local coords to axis
 # Yaw = Y
@@ -8,61 +8,49 @@ extends CharacterBody3D
@export_category("Parameters")
@export var flight_modes: Array = ["normal", "acro"]
@export var armed: bool = false
+@export var can_flip: bool = false
@export var throttle_speed: float = 0.0
-@export var rotation_speed: float = 1.0
-@export var acceleration: float = 10.0
-@export var max_speed: float = 10.0
-@export var max_rotation_speed: float = 10.0
+@export var rotation_speed: float = 0.05  # Adjust as needed
+@export var acceleration: float = 0.5  # Adjust as needed
+@export var max_speed: float = 1.0  # Adjust as needed
+@export var max_rotation_speed: float = 5.0  # Adjust as needed
@export var camera_tilt_angle: float = 0.0
-@export var gravity: float = 9.8
@export_category("Node References")
@export var camera: Camera3D
@export var anim_player: AnimationPlayer
+@export var flip_over_detection_ray: RayCast3D
+@export var flip_over_timer: Timer
+@export var input_suggestion_label: Label

 var animation_initalized: bool = false
 var using_joy_controller: bool = true


 func _ready():
-	pass
+	flip_over_timer.timeout.connect(_on_flip_over_timeout)


-func handle_throttle(throttle_input: float, delta):
+func _process(_delta):
+	if Input.is_action_just_pressed("arm"):
+		handle_arming()
+
+
+func handle_throttle(throttle_input: float):
 	if using_joy_controller:
 		if throttle_input > 0:
 			throttle_speed = throttle_input * 100
-			var desired_vel = velocity.y + throttle_speed * 0.5
-			velocity.y = lerp(velocity.y, desired_vel, delta)
-		else:
-			pass
-		
+			apply_central_force(global_transform.basis.y * throttle_speed)
+		elif throttle_input <= 0.05:  # Adjust this value if needed
+			apply_central_force(global_transform.basis.y * 1)  # Minimum thrust
+
 		# Speed scale adjusted for animation
 		anim_player.speed_scale = throttle_input * 4
 		anim_player.speed_scale = clampf(anim_player.speed_scale, 1.0, 4.0)
-	
-	velocity.x = clampf(velocity.x, -max_speed, max_speed)
-	velocity.y = clampf(velocity.y, -100.0, max_speed)
-	velocity.z = clampf(velocity.z, -max_speed, max_speed)
-	
-	#print("anim speed: ", anim_player.speed_scale) # DEBUG
-	#print("throttle speed: ", throttle_speed) # DEBUG

+	linear_velocity.x = clampf(linear_velocity.x, -max_speed, max_speed)
+	linear_velocity.y = clampf(linear_velocity.y, -100.0, max_speed)  # Keep vertical clamping
+	linear_velocity.z = clampf(linear_velocity.z, -max_speed, max_speed)

-func handle_yaw(yaw_input: float, delta):
-		#rotate_y(rotation_speed * yaw_input * delta)
-		#global_rotate(Vector3.UP, yaw_input * rotation_speed * delta)
-		transform.basis = transform.basis.rotated(Vector3.UP, yaw_input * delta)
-
-
-func handle_roll(roll_input: float, delta):
-	if !is_on_floor():
-		transform.basis = transform.basis.rotated(Vector3.BACK, roll_input * delta)
-		
-
-
-func handle_pitch(pitch_input: float, delta):
-	if !is_on_floor():
-		transform.basis = transform.basis.rotated(Vector3.RIGHT, pitch_input * delta)


 func handle_arming():
@@ -80,33 +68,60 @@ func handle_arming():
 		print("Drone disarmed")


-func _physics_process(delta):
-	# Gravity
-	if !is_on_floor():
-		velocity.y -= gravity * delta
-	else:
-		global_rotation.x = lerpf(global_rotation.x, 0.0, delta * 20)
-		global_rotation.z = lerpf(global_rotation.z, 0.0, delta * 20)
-	
-	if Input.is_action_just_pressed("arm"):
-		handle_arming()
-	
-	if armed:
-		if Input.is_action_pressed("throttle_down") or Input.is_action_pressed("throttle_up"):
-			var throttle_input = Input.get_axis("throttle_down", "throttle_up")
-			handle_throttle(throttle_input, delta)
-			
-		if Input.is_action_pressed("yaw_left") or Input.is_action_pressed("yaw_right"):
-			var yaw_input = Input.get_axis("yaw_right", "yaw_left")
-			handle_yaw(yaw_input, delta)
-			
-		if Input.is_action_pressed("roll_left") or Input.is_action_pressed("roll_right"):
-			var roll_input = Input.get_axis("roll_left", "roll_right")
-			handle_roll(roll_input, delta)
-		
-		if Input.is_action_pressed("pitch_backward") or Input.is_action_pressed("pitch_forward"):
-			var pitch_input = Input.get_axis("pitch_backward", "pitch_forward")
-			handle_pitch(pitch_input, delta)
-	
-	print("velocity: ", velocity)
-	move_and_slide()
+func _start_flip_over_timer():
+	if flip_over_timer.time_left > 0:
+		pass
+	elif !can_flip:
+		flip_over_timer.start()
+
+
+func _on_flip_over_timeout():
+	if flip_over_detection_ray.is_colliding() and flip_over_detection_ray.get_collider().is_in_group("Ground"):
+		can_flip = true
+		input_suggestion_label.text = "press A to flip drone"
+		input_suggestion_label.show()
+
+
+func _handle_drone_flipping():
+	if flip_over_detection_ray.is_colliding() and flip_over_detection_ray.get_collider().is_in_group("Ground"):
+		global_rotation = Vector3.ZERO
+		input_suggestion_label.hide()
+		can_flip = false
+
+
+func _physics_process(_delta):  # Still needed for other physics
+	if flip_over_detection_ray.is_colliding() and flip_over_detection_ray.get_collider().is_in_group("Ground"):
+		_start_flip_over_timer()
+
+	if Input.is_action_just_pressed("accept") and can_flip:
+		_handle_drone_flipping()
+
+
+func _integrate_forces(state):  # Use _integrate_forces for RigidBody3D control
+	if armed:  # Only apply controls when armed
+		var yaw_input = Input.get_axis("yaw_right", "yaw_left")
+		var roll_input = Input.get_axis("roll_right", "roll_left")
+		var pitch_input = Input.get_axis("pitch_backward", "pitch_forward")
+		var throttle_input = Input.get_axis("throttle_down", "throttle_up")
+
+		handle_throttle(throttle_input)  # Throttle still handled here
+
+		if yaw_input != 0:
+			rotate_object_local(Vector3.UP, yaw_input * rotation_speed)  # Y axis rotation
+		if roll_input != 0:
+			rotate_object_local(Vector3.FORWARD, roll_input * rotation_speed)  # Z axis rotation
+		if pitch_input != 0:
+			rotate_object_local(Vector3.RIGHT, pitch_input * rotation_speed)  # X axis rotation
+
+		# Damping (Important! Still needed):
+		if yaw_input == 0:
+			state.angular_velocity.y = lerp(state.angular_velocity.y, 0.0, 0.05)
+		if roll_input == 0:
+			state.angular_velocity.z = lerp(state.angular_velocity.z, 0.0, 0.05)
+		if pitch_input == 0:
+			state.angular_velocity.x = lerp(state.angular_velocity.x, 0.0, 0.05)
+
+		# Clamp the angular velocity (optional, but good practice):
+		state.angular_velocity.y = clampf(state.angular_velocity.y, -max_rotation_speed, max_rotation_speed)
+		state.angular_velocity.z = clampf(state.angular_velocity.z, -max_rotation_speed, max_rotation_speed)
+		state.angular_velocity.x = clampf(state.angular_velocity.x, -max_rotation_speed, max_rotation_speed)
--- a/core/drone/drone.tscn
+++ b/core/drone/drone.tscn
@@ -1,4 +1,4 @@
-[gd_scene load_steps=101 format=4 uid="uid://dwvmna8qc0vb4"]
+[gd_scene load_steps=103 format=4 uid="uid://dwvmna8qc0vb4"]

 [ext_resource type="Script" path="res://core/drone/drone.gd" id="1_de83i"]
 [ext_resource type="Material" uid="uid://d0gkxc5fuh354" path="res://core/resources/materials/black_carbon_fiber.tres" id="2_phv8m"]
@@ -8,9 +8,13 @@
 [ext_resource type="Material" uid="uid://b2okmc5xyxhkm" path="res://core/resources/materials/prop_green_plastic.tres" id="4_ltc6o"]
 [ext_resource type="Material" uid="uid://is2nkfruok8v" path="res://core/resources/materials/tan_controller_stack.tres" id="5_h3y6c"]
 [ext_resource type="Material" uid="uid://uy2txkh3slat" path="res://core/resources/materials/pink_motor.tres" id="6_3gtkc"]
+[ext_resource type="Script" path="res://core/scripts/camera_3d.gd" id="9_8eblv"]
 [ext_resource type="Shader" path="res://core/resources/shaders/vhs.gdshader" id="9_66bpw"]
 [ext_resource type="Texture2D" uid="uid://bv7klk2tmhya2" path="res://assets/textures/rgba-noise-medium.png" id="10_ylv8e"]

+[sub_resource type="PhysicsMaterial" id="PhysicsMaterial_kpx62"]
+bounce = 0.1
+
 [sub_resource type="Animation" id="Animation_a4tqt"]
 length = 0.001
 tracks/0/type = "value"
@@ -1065,7 +1069,7 @@ shadow_mesh = SubResource("ArrayMesh_oy56j")

 [sub_resource type="ShaderMaterial" id="ShaderMaterial_pkxv0"]
 shader = ExtResource("9_66bpw")
-shader_parameter/curvature = 0.5
+shader_parameter/curvature = 0.0
 shader_parameter/skip = 0.05
 shader_parameter/image_flicker = 0.06
 shader_parameter/vignette_flicker_speed = 0.0
@@ -1079,12 +1083,20 @@ shader_parameter/scanline_thickness = 0.5
 shader_parameter/scanlines_spacing = 1.0
 shader_parameter/noise_texture = ExtResource("10_ylv8e")

-[node name="Drone" type="CharacterBody3D" node_paths=PackedStringArray("camera", "anim_player")]
+[node name="Drone" type="RigidBody3D" node_paths=PackedStringArray("camera", "anim_player", "flip_over_detection_ray", "flip_over_timer", "input_suggestion_label")]
 collision_layer = 2
 collision_mask = 7
+mass = 0.5
+physics_material_override = SubResource("PhysicsMaterial_kpx62")
+can_sleep = false
 script = ExtResource("1_de83i")
+rotation_speed = 0.08
+max_speed = 10.0
 camera = NodePath("VisualComponets/CameraPivot/Camera3D")
 anim_player = NodePath("AnimationPlayer")
+flip_over_detection_ray = NodePath("FlipOverDetectionRay")
+flip_over_timer = NodePath("FlipOverTimer")
+input_suggestion_label = NodePath("VisualComponets/CameraPivot/Camera3D/CanvasLayer/HUD/VBoxContainer/HBoxContainer/MarginContainer/InputSuggestionLabel")

 [node name="AnimationPlayer" type="AnimationPlayer" parent="."]
 libraries = {
@@ -1099,6 +1111,13 @@ shape = SubResource("BoxShape3D_idv81")
 transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.0269745, 0.000103772)
 shape = SubResource("BoxShape3D_8y5u4")

+[node name="FlipOverDetectionRay" type="RayCast3D" parent="."]
+target_position = Vector3(0, 0.35, 0)
+
+[node name="FlipOverTimer" type="Timer" parent="."]
+wait_time = 2.0
+one_shot = true
+
 [node name="VisualComponets" type="Node3D" parent="."]
 transform = Transform3D(0.01, 0, 0, 0, 0.01, 0, 0, 0, 0.01, 0, 0, 0)

@@ -1286,7 +1305,7 @@ skeleton = NodePath("")
 surface_material_override/0 = ExtResource("4_ltc6o")

 [node name="CameraPivot" type="Node3D" parent="VisualComponets"]
-transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 4.87816, 15.4717)
+transform = Transform3D(1, 0, 0, 0, 0.965926, 0.258819, 0, -0.258819, 0.965926, 0, 4.87816, 15.4717)

 [node name="camera" type="MeshInstance3D" parent="VisualComponets/CameraPivot"]
 transform = Transform3D(2.12178, 0, 0, 0, 2.12178, 0, 0, 0, 1.06089, 0, 0, 0)
@@ -1296,8 +1315,8 @@ surface_material_override/0 = ExtResource("2_tgwxr")

 [node name="Camera3D" type="Camera3D" parent="VisualComponets/CameraPivot"]
 transform = Transform3D(-100, 0, 8.74228e-06, 0, 100, 0, -8.74228e-06, 0, -100, 0, 0, 4.40494)
-current = true
 near = 0.025
+script = ExtResource("9_8eblv")

 [node name="CanvasLayer" type="CanvasLayer" parent="VisualComponets/CameraPivot/Camera3D"]

@@ -1317,3 +1336,33 @@ anchor_right = 1.0
 anchor_bottom = 1.0
 grow_horizontal = 2
 grow_vertical = 2
+
+[node name="HUD" type="Control" parent="VisualComponets/CameraPivot/Camera3D/CanvasLayer"]
+layout_mode = 3
+anchors_preset = 15
+anchor_right = 1.0
+anchor_bottom = 1.0
+grow_horizontal = 2
+grow_vertical = 2
+
+[node name="VBoxContainer" type="VBoxContainer" parent="VisualComponets/CameraPivot/Camera3D/CanvasLayer/HUD"]
+layout_mode = 1
+anchors_preset = 15
+anchor_right = 1.0
+anchor_bottom = 1.0
+grow_horizontal = 2
+grow_vertical = 2
+alignment = 2
+
+[node name="HBoxContainer" type="HBoxContainer" parent="VisualComponets/CameraPivot/Camera3D/CanvasLayer/HUD/VBoxContainer"]
+layout_mode = 2
+
+[node name="MarginContainer" type="MarginContainer" parent="VisualComponets/CameraPivot/Camera3D/CanvasLayer/HUD/VBoxContainer/HBoxContainer"]
+layout_mode = 2
+theme_override_constants/margin_left = 50
+theme_override_constants/margin_bottom = 40
+
+[node name="InputSuggestionLabel" type="Label" parent="VisualComponets/CameraPivot/Camera3D/CanvasLayer/HUD/VBoxContainer/HBoxContainer/MarginContainer"]
+visible = false
+layout_mode = 2
+text = "press A to flip drone"