updates

Editor/Editor.cpp

@@ -1513,6 +1513,8 @@ void EditorComponent::Update(float dt)
 				{
 					drive_orbit_horizontal -= XM_PI * dt;
 				}
+				drive_cam_dist_next -= wi::input::GetPointer().z;
+				drive_cam_dist = lerp(drive_cam_dist, drive_cam_dist_next, dt * 2);
 
 				drive_steering_smoothed = clamp(drive_steering_smoothed, -1.0f, 1.0f);
 
@@ -2920,11 +2922,11 @@ void EditorComponent::PostUpdate()
 				XMMATRIX W = XMMatrixIdentity();
 				if (rigidbody->vehicle.type == RigidBodyPhysicsComponent::Vehicle::Type::Car)
 				{
-					W = XMMatrixTranslation(0, 0.5f, -6) * XMMatrixRotationX(XM_PI * 0.08f) * XMMatrixRotationY(drive_orbit_horizontal) * XMMatrixRotationQuaternion(Q) * XMMatrixTranslationFromVector(P);
+					W = XMMatrixTranslation(0, 0.5f, -drive_cam_dist) * XMMatrixRotationX(XM_PI * 0.08f) * XMMatrixRotationY(drive_orbit_horizontal) * XMMatrixRotationQuaternion(Q) * XMMatrixTranslationFromVector(P);
 				}
 				else if (rigidbody->vehicle.type == RigidBodyPhysicsComponent::Vehicle::Type::Motorcycle)
 				{
-					W = XMMatrixTranslation(0, 1.5f, -7) * XMMatrixRotationX(XM_PI * 0.1f) * XMMatrixRotationY(drive_orbit_horizontal) * XMMatrixRotationQuaternion(Q) * XMMatrixTranslationFromVector(P);
+					W = XMMatrixTranslation(0, 1.5f, -drive_cam_dist) * XMMatrixRotationX(XM_PI * 0.1f) * XMMatrixRotationY(drive_orbit_horizontal) * XMMatrixRotationQuaternion(Q) * XMMatrixTranslationFromVector(P);
 				}
 				camera.TransformCamera(W);
 				camera.UpdateCamera();

Editor/Editor.h

@@ -33,6 +33,8 @@ class EditorComponent : public wi::RenderPath2D
 	XMFLOAT3 dummy_pos = XMFLOAT3(0, 0, 0);
 
 	bool drive_mode = false;
+	float drive_cam_dist_next = 7;
+	float drive_cam_dist = drive_cam_dist_next;
 	float drive_orbit_horizontal = 0;
 	float drive_steering_smoothed = 0;
 

Editor/RigidBodyWindow.cpp

@@ -359,6 +359,18 @@ void RigidBodyWindow::Create(EditorComponent* _editor)
 	AddWidget(&physicsDebugCheckBox);
 
 
+	vehicleLabel.Create("VehicleLabel");
+	std::string tips;
+	tips += "Vehicle physics tips:\n";
+	tips += "- The vehicle's base shape can be configured in the standard shape settings above\n";
+	tips += "- A vehicle is always facing forward in +Z direction by default\n";
+	tips += "- Check that mass is set higher than the default 1kg, somewhere around ~1000 kg\n";
+	tips += "- Enable physics visualizer while editing vehicle parameters\n";
+	tips += "- You can reset vehicles by Ctrl + left click on the physics toggle button\n";
+	vehicleLabel.SetText(tips);
+	vehicleLabel.SetSize(XMFLOAT2(100, 240));
+	AddWidget(&vehicleLabel);
+
 	vehicleCombo.Create("Vehicle physics: ");
 	vehicleCombo.AddItem("None", (uint64_t)RigidBodyPhysicsComponent::Vehicle::Type::None);
 	vehicleCombo.AddItem("Car", (uint64_t)RigidBodyPhysicsComponent::Vehicle::Type::Car);
@@ -1050,6 +1062,7 @@ void RigidBodyWindow::ResizeLayout()
 	add(vehicleCombo);
 	if (vehicleCombo.GetSelected() > 0)
 	{
+		vehicleLabel.SetVisible(true);
 		vehicleCollisionCombo.SetVisible(true);
 		wheelRadiusSlider.SetVisible(true);
 		wheelWidthSlider.SetVisible(true);
@@ -1073,6 +1086,8 @@ void RigidBodyWindow::ResizeLayout()
 		rSuspensionFrequencySlider.SetVisible(true);
 		rSuspensionDampingSlider.SetVisible(true);
 
+		add_fullwidth(vehicleLabel);
+
 		add_right(driveCheckbox);
 
 		add(vehicleCollisionCombo);
@@ -1142,6 +1157,7 @@ void RigidBodyWindow::ResizeLayout()
 	}
 	else
 	{
+		vehicleLabel.SetVisible(false);
 		vehicleCollisionCombo.SetVisible(false);
 		wheelRadiusSlider.SetVisible(false);
 		wheelWidthSlider.SetVisible(false);

Editor/RigidBodyWindow.h

@@ -32,6 +32,7 @@ class RigidBodyWindow : public wi::gui::Window
 	wi::gui::Slider offsetZSlider;
 	wi::gui::CheckBox physicsDebugCheckBox;
 
+	wi::gui::Label vehicleLabel;
 	wi::gui::ComboBox vehicleCombo;
 	wi::gui::ComboBox vehicleCollisionCombo;
 	wi::gui::Slider wheelRadiusSlider;

WickedEngine/wiPhysics_Jolt.cpp

@@ -22,6 +22,7 @@
 #include <Jolt/Physics/Collision/Shape/MeshShape.h>
 #include <Jolt/Physics/Collision/Shape/HeightFieldShape.h>
 #include <Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h>
+#include <Jolt/Physics/Collision/Shape/OffsetCenterOfMassShape.h>
 #include <Jolt/Physics/Collision/RayCast.h>
 #include <Jolt/Physics/Collision/CastResult.h>
 #include <Jolt/Physics/Collision/CollisionCollectorImpl.h>
@@ -289,11 +290,14 @@ namespace wi::physics
 				BodyInterface& body_interface = jolt_physics_scene->physics_system.GetBodyInterface(); // locking version because destructor can be called from any thread
 				body_interface.RemoveBody(bodyID);
 				body_interface.DestroyBody(bodyID);
+				bodyID = {};
 				if (vehicle_constraint != nullptr)
 				{
 					jolt_physics_scene->physics_system.RemoveStepListener(vehicle_constraint);
 					jolt_physics_scene->physics_system.RemoveConstraint(vehicle_constraint);
+					vehicle_constraint = nullptr;
 				}
+				shape = nullptr;
 			}
 
 			~RigidBody()
@@ -472,13 +476,15 @@ namespace wi::physics
 				static constexpr float	sRearCamber = 0.0f;
 				static constexpr float	sRearToe = 0.0f;
 
+				const float wheel_offset_to_zero = 0.5f; // not sure why but without this, wheels are offset to -0.5 vertically
+
 				if (physicscomponent.IsCar())
 				{
 					const float wheel_radius = physicscomponent.vehicle.wheel_radius;
 					const float wheel_width = physicscomponent.vehicle.wheel_width;
 					const float half_vehicle_length = physicscomponent.vehicle.chassis_half_length;
 					const float half_vehicle_width = physicscomponent.vehicle.chassis_half_width;
-					const float half_vehicle_height = physicscomponent.vehicle.chassis_half_height;
+					const float half_vehicle_height = physicscomponent.vehicle.chassis_half_height + wheel_offset_to_zero;
 					const float front_wheel_offset = physicscomponent.vehicle.front_wheel_offset;
 					const float rear_wheel_offset = physicscomponent.vehicle.rear_wheel_offset;
 					const bool four_wheel_drive = physicscomponent.vehicle.car.four_wheel_drive;
@@ -664,7 +670,7 @@ namespace wi::physics
 					const float front_suspension_max_length = physicscomponent.vehicle.front_suspension.max_length;
 					const float front_suspension_freq = physicscomponent.vehicle.front_suspension.frequency;
 					const float front_brake_torque = physicscomponent.vehicle.motorcycle.front_brake_torque;
-					const float half_vehicle_height = physicscomponent.vehicle.chassis_half_height;
+					const float half_vehicle_height = physicscomponent.vehicle.chassis_half_height + wheel_offset_to_zero;
 
 					const float max_steering_angle = physicscomponent.vehicle.max_steering_angle;
 
@@ -1532,6 +1538,12 @@ namespace wi::physics
 
 		RigidBody& physicsobject = GetRigidBody(physicscomponent);
 		physicsobject.shape = shape_result.Get();
+
+		if (physicscomponent.IsVehicle())
+		{
+			// Vehicle center of mass will be offset to chassis height to improve handling:
+			physicsobject.shape = OffsetCenterOfMassShapeSettings(Vec3(0, physicscomponent.vehicle.chassis_half_height, 0), physicsobject.shape).Create().Get();
+		}
 	}
 
 	bool IsEnabled() { return ENABLED; }
@@ -2204,6 +2216,7 @@ namespace wi::physics
 			static JoltDebugRenderer debug_renderer;
 			BodyManager::DrawSettings settings;
 			settings.mDrawCenterOfMassTransform = false;
+			settings.mDrawMassAndInertia = false;
 			settings.mDrawShape = true;
 			settings.mDrawSoftBodyVertices = true;
 			settings.mDrawSoftBodyEdgeConstraints = true;