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Added Ackerman Steering

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Wheelbarrow
2025-07-21 21:26:14 -04:00
parent 75ae5521fd
commit 896996dac6
5 changed files with 67 additions and 9 deletions
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41
car.gd
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@@ -1,12 +1,49 @@
class_name Car
extends RigidBody3D
@export var wheels: Array[Wheel]
@export_group("Steering")
## Maximum angle of imaginary wheel at center front of the car
@export var max_steer_angle: float = 30
@export var steer_speed: float = 120
func _physics_process(_delta: float) -> void:
@export_group("Wheels")
@export var front_right: Wheel
@export var front_left: Wheel
@export var back_right: Wheel
@export var back_left: Wheel
@onready var wheels: Array[Wheel] = [front_right, front_left, back_right, back_left]
#kinda cheeks but ignorable
@onready var wheelbase: float = front_right.position.distance_to(back_right.position)
@onready var track: float = front_right.position.distance_to(front_left.position)
var current_steer_angle: float = 0
func _physics_process(delta: float) -> void:
steer(delta)
for wheel: Wheel in wheels:
wheel.apply_forces(self)
func steer(delta: float) -> void:
var steer_input = Input.get_axis("Steer Right", "Steer Left")
if steer_input != 0:
current_steer_angle += steer_input * steer_speed * delta
current_steer_angle = clampf(current_steer_angle, -max_steer_angle, max_steer_angle)
else:
current_steer_angle = move_toward(current_steer_angle, 0, steer_speed * delta)
var current_steer_angle_rads: float = abs(deg_to_rad(current_steer_angle))
var numerator: float = 2 * wheelbase * sin(current_steer_angle_rads)
var steer_radius: float = 2 * wheelbase * cos(current_steer_angle_rads)
var inner_angle: float = atan(numerator / (steer_radius - track * sin(current_steer_angle_rads)))
var outer_angle: float = atan(numerator / (steer_radius + track * sin(current_steer_angle_rads)))
if 0 < current_steer_angle:
front_right.rotation.y = inner_angle
front_left.rotation.y = outer_angle
else:
front_right.rotation.y = -inner_angle
front_left.rotation.y = -outer_angle
##Point argument is in local space
func get_velocity_at_point(point: Vector3) -> Vector3:
return linear_velocity + angular_velocity.cross(point - center_of_mass)