Vehicle constraints

.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "liveServer.settings.port": 5501
+}

src/index.mjs

@@ -19,30 +19,31 @@ export { CharComponentSystem } from './physics/jolt/front/char/system.mjs';
 export { SoftBodyComponent } from './physics/jolt/front/softbody/component.mjs';
 export { SoftBodyComponentSystem } from './physics/jolt/front/softbody/system.mjs';
 
-
 export { ConstraintComponent } from './physics/jolt/front/constraint/component.mjs';
 export { ConstraintComponentSystem } from './physics/jolt/front/constraint/system.mjs';
 
 export { Constraint } from './physics/jolt/front/constraint/types/constraint.mjs';
-export {
-    SpringSettings, MotorSettings, ConstraintSettings, ConeConstraintSettings,
-    DistanceConstraintSettings, FixedConstraintSettings, HingeConstraintSettings,
-    PulleyConstraintSettings, SixDOFConstraintSettings, SwingTwistConstraintSettings,
-    SliderConstraintSettings
-} from './physics/jolt/front/constraint/types/settings.mjs';
-export { ConeConstraint } from './physics/jolt/front/constraint/types/cone.mjs';
-export { DistanceConstraint } from './physics/jolt/front/constraint/types/distance.mjs';
-export { FixedConstraint } from './physics/jolt/front/constraint/types/fixed.mjs';
-export { HingeConstraint } from './physics/jolt/front/constraint/types/hinge.mjs';
-export { PointConstraint } from './physics/jolt/front/constraint/types/point.mjs';
-export { PulleyConstraint } from './physics/jolt/front/constraint/types/pulley.mjs';
-export { SixDOFConstraint } from './physics/jolt/front/constraint/types/six-dof.mjs';
-export { SliderConstraint } from './physics/jolt/front/constraint/types/slider.mjs';
-export { SwingTwistConstraint } from './physics/jolt/front/constraint/types/swing-twist.mjs';
+export { ConeConstraint } from './physics/jolt/front/constraint/types/joint/cone.mjs';
+export { DistanceConstraint } from './physics/jolt/front/constraint/types/joint/distance.mjs';
+export { FixedConstraint } from './physics/jolt/front/constraint/types/joint/fixed.mjs';
+export { HingeConstraint } from './physics/jolt/front/constraint/types/joint/hinge.mjs';
+export { PointConstraint } from './physics/jolt/front/constraint/types/joint/point.mjs';
+export { PulleyConstraint } from './physics/jolt/front/constraint/types/joint/pulley.mjs';
+export { SixDOFConstraint } from './physics/jolt/front/constraint/types/joint/six-dof.mjs';
+export { SliderConstraint } from './physics/jolt/front/constraint/types/joint/slider.mjs';
+export { SwingTwistConstraint } from './physics/jolt/front/constraint/types/joint/swing-twist.mjs';
+export { WheeledVehicleConstraint } from './physics/jolt/front/constraint/types/vehicle/wheeled-vehicle.mjs';
+export { TrackedVehicleConstraint } from './physics/jolt/front/constraint/types/vehicle/tracked-vehicle.mjs';
+export { MotoVehicleConstraint } from './physics/jolt/front/constraint/types/vehicle/moto-vehicle.mjs';
+export { JointConstraint } from './physics/jolt/front/constraint/types/joint/joint-constraint.mjs';
+export { VehicleConstraint } from './physics/jolt/front/constraint/types/vehicle/vehicle-constraint.mjs';
+export { WheelWV } from './physics/jolt/front/constraint/types/vehicle/wheel-wv.mjs';
+export { WheelTV } from './physics/jolt/front/constraint/types/vehicle/wheel-tv.mjs';
 
 export { CommandsBuffer } from './physics/jolt/back/commands-buffer.mjs';
 export { IndexedCache } from './physics/indexed-cache.mjs';
 
+export * from './physics/jolt/front/constraint/types/settings.mjs';
 export * from './physics/jolt/constants.mjs';
 
 export { init };

src/physics/jolt/back/backend.mjs

@@ -809,7 +809,7 @@ class JoltBackend {
 
                 // If it is a vehicle, write wheels isometry as well
                 if (body.isVehicle) {
-                    const data = tracker.constraintMap.get(index);
+                    const data = tracker.constraintMap.get(body.vehicleConstraintIndex);
                     const constraint = data.constraint;
                     const wheelsCount = constraint.wheelsCount;
                     const modifier = this._modifier;
@@ -821,14 +821,18 @@ class JoltBackend {
                     jv2.Set(1, 0, 0);
 
                     for (let i = 0; i < wheelsCount; i++) {
+                        const isWheeled = constraint.isWheeled;
                         const transform = constraint.GetWheelLocalTransform(i, jv1, jv2);
-                        const wheel = Jolt.castObject(constraint.GetWheel(i), Jolt.WheelWV);
-
-                        cb.write(wheel.mLongitudinalSlip, BUFFER_WRITE_FLOAT32, false);
-                        cb.write(wheel.mLateralSlip, BUFFER_WRITE_FLOAT32, false);
-                        cb.write(wheel.mCombinedLongitudinalFriction, BUFFER_WRITE_FLOAT32, false);
-                        cb.write(wheel.mCombinedLateralFriction, BUFFER_WRITE_FLOAT32, false);
-                        cb.write(wheel.mBrakeImpulse, BUFFER_WRITE_FLOAT32, false);
+                        const JoltWheel = isWheeled ? Jolt.WheelWV : Jolt.WheelTV;
+                        const wheel = Jolt.castObject(constraint.GetWheel(i), JoltWheel);
+
+                        if (isWheeled) {
+                            cb.write(wheel.mLongitudinalSlip, BUFFER_WRITE_FLOAT32, false);
+                            cb.write(wheel.mLateralSlip, BUFFER_WRITE_FLOAT32, false);
+                            cb.write(wheel.mCombinedLongitudinalFriction, BUFFER_WRITE_FLOAT32, false);
+                            cb.write(wheel.mCombinedLateralFriction, BUFFER_WRITE_FLOAT32, false);
+                            cb.write(wheel.mBrakeImpulse, BUFFER_WRITE_FLOAT32, false);
+                        }
                         cb.write(transform.GetTranslation(), BUFFER_WRITE_JOLTVEC32, false);
                         cb.write(transform.GetRotation().GetQuaternion(), BUFFER_WRITE_JOLTVEC32, false);
                     }

src/physics/jolt/back/operators/cleaner.mjs

@@ -143,10 +143,13 @@ class Cleaner {
         };
 
         clearIndex(body1.constraints);
-        clearIndex(body2.constraints);
-
         activate(body1);
-        activate(body2);
+
+        // Vehicle constraint has no body2
+        if (body2) {
+            clearIndex(body2.constraints);
+            activate(body2);
+        }
 
         if (Jolt.getPointer(constraint) !== 0) {
             backend.physicsSystem.RemoveConstraint(constraint);