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Fix get_rpm() on wheel which has steering #101664

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Fix get_rpm() on wheel which has steering #101664

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10 changes: 9 additions & 1 deletion scene/3d/physics/vehicle_body_3d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -852,18 +852,26 @@ void VehicleBody3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) {
for (int i = 0; i < wheels.size(); i++) {
VehicleWheel3D &wheel = *wheels[i];
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) {
const Transform3D &chassisWorldTransform = p_state->get_transform();

// Get forward vector
Vector3 fwd(
chassisWorldTransform.basis[0][Vector3::AXIS_Z],
chassisWorldTransform.basis[1][Vector3::AXIS_Z],
chassisWorldTransform.basis[2][Vector3::AXIS_Z]);

// Apply steering rotation to forward vector for steerable wheels
if (wheel.steers) {
Basis steeringMat(Vector3(0, 1, 0), wheel.m_steering);
fwd = steeringMat.xform(fwd);
}

real_t proj = fwd.dot(wheel.m_raycastInfo.m_contactNormalWS);
fwd -= wheel.m_raycastInfo.m_contactNormalWS * proj;
fwd.normalize();

real_t proj2 = fwd.dot(vel);

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