136 lines
3.8 KiB
GDScript
136 lines
3.8 KiB
GDScript
extends Interactable
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class_name Door
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@export var body: RigidBody3D
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@export var springStrength: float = 200.0
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@export var springDamping: float= 50.0
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@export var maxGrabDistance: float = 6.0
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@export var mouseForce: float = 0.02
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@export var hinge: HingeJoint3D
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@export var hingeAngularUpperLimit: float = 120
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@export var hingeAngularLowerLimit: float = -120
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@export var snapAngleThreshold: float = 1
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@export var snapVelocityThreshold: float = 5.0
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@export var mouseHorizontalFactor: float = 1.0
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@export var mouseVerticalFactor: float = 1.0
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var dragging: bool = false
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var grabLocal: Vector3 = Vector3.ZERO
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var handOffset: Vector3 = Vector3.ZERO
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func _ready() -> void:
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hinge.set_param(HingeJoint3D.PARAM_LIMIT_LOWER, deg_to_rad(hingeAngularLowerLimit))
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hinge.set_param(HingeJoint3D.PARAM_LIMIT_UPPER, deg_to_rad(hingeAngularUpperLimit))
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func _physics_process(_delta):
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if dragging:
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return
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var angle = get_hinge_angle()
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var ang_vel = get_hinge_ang_vel()
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if abs(rad_to_deg(angle)) > snapAngleThreshold:
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return
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if abs(ang_vel) > snapVelocityThreshold:
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return
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# Strong damping near closed position
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var damping = springDamping * 4.0
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# PD controller torque toward angle 0
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var torque = -angle * springStrength - ang_vel * damping
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var axis = hinge.global_transform.basis.y
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body.apply_torque(axis * torque)
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func beginInteract(player, hitPosition: Vector3):
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dragging = true
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handOffset = Vector3.ZERO
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grabLocal = body.to_local(hitPosition)
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player.setMouseFactors(mouseHorizontalFactor, mouseVerticalFactor)
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func updateInteract(player):
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if !dragging:
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return
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var worldGrab = body.to_global(grabLocal)
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handOffset += player.camera.global_basis.x * player.interactionMouseDelta.x * mouseForce
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handOffset += -player.camera.global_basis.y * player.interactionMouseDelta.y * mouseForce
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handOffset = handOffset.limit_length(0.3)
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var targetHand = player.hand.global_position + handOffset
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var error = targetHand - worldGrab
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var handDistance = player.hand.global_position.distance_to(worldGrab)
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if handDistance > maxGrabDistance:
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player.stopInteraction()
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return
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var offset = worldGrab - body.global_position
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var pointVelocity = body.linear_velocity + body.angular_velocity.cross(offset)
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var hingeAxis = body.global_basis.y
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var tangent = hingeAxis.cross(offset)
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if tangent.length_squared() < 0.0001:
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return
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tangent = tangent.normalized()
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var tangentError = tangent * error.dot(tangent)
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var tangentVelocity = tangent * pointVelocity.dot(tangent)
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var force = tangentError * springStrength - tangentVelocity * springDamping
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body.apply_force(force, offset)
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func endInteract(player):
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dragging = false
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handOffset = Vector3.ZERO
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player.setMouseFactors(1.0, 1.0)
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#func get_hinge_angle() -> float:
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#var body_basis = body.global_transform.basis
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#var hinge_basis = hinge.global_transform.basis
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#
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## Body forward vector in world space
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#var forward = body_basis.z
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#
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## Convert forward vector into hinge local space
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#var local_forward = hinge_basis.inverse() * forward
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#
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## Angle around hinge axis (Y)
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#return atan2(local_forward.x, local_forward.z)
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func get_hinge_angle() -> float:
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var hinge_axis = hinge.global_transform.basis.y.normalized()
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# Door forward direction
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var fwd = body.global_transform.basis.z.normalized()
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# Reference forward direction (door closed direction)
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var ref = hinge.global_transform.basis.z.normalized()
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# Remove hinge axis component (project onto hinge plane)
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var fwd_proj = (fwd - hinge_axis * fwd.dot(hinge_axis)).normalized()
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var ref_proj = (ref - hinge_axis * ref.dot(hinge_axis)).normalized()
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# Signed angle
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var angle = atan2(
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hinge_axis.dot(ref_proj.cross(fwd_proj)),
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ref_proj.dot(fwd_proj)
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)
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return angle
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func get_hinge_ang_vel() -> float:
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var axis = hinge.global_transform.basis.y.normalized()
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return body.angular_velocity.dot(axis)
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