Add production bathymetric sonar slice
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@@ -1,8 +1,20 @@
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class_name VehicleTestEnvironment
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extends Node3D
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const TERRAIN_COLUMNS := 61
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const TERRAIN_ROWS := 69
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const TERRAIN_WIDTH_M := 180.0
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const TERRAIN_LENGTH_M := 200.0
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const TERRAIN_NEAR_Z := 28.0
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func _ready() -> void:
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_add_bathymetric_terrain()
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_place_calibration_target()
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_add_suspended_particles()
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func _add_suspended_particles() -> void:
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var particles := GPUParticles3D.new()
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particles.name = "SuspendedParticles"
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particles.position = Vector3(0.0, -34.0, -42.0)
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@@ -31,3 +43,111 @@ func _ready() -> void:
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particle_mesh.height = 0.07
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particles.draw_pass_1 = particle_mesh
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add_child(particles)
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func _add_bathymetric_terrain() -> void:
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var surface := SurfaceTool.new()
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surface.begin(Mesh.PRIMITIVE_TRIANGLES)
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for row in range(TERRAIN_ROWS - 1):
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for column in range(TERRAIN_COLUMNS - 1):
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var top_left := _terrain_vertex(row, column)
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var top_right := _terrain_vertex(row, column + 1)
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var bottom_left := _terrain_vertex(row + 1, column)
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var bottom_right := _terrain_vertex(row + 1, column + 1)
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_add_terrain_triangle(surface, top_left, top_right, bottom_left)
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_add_terrain_triangle(surface, top_right, bottom_right, bottom_left)
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surface.generate_normals()
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var mesh := surface.commit()
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var body := StaticBody3D.new()
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body.name = "BathymetricTerrain"
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body.set_meta("sonar_material", 1)
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body.set_meta("sonar_reflectivity", 0.72)
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var mesh_instance := MeshInstance3D.new()
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mesh_instance.name = "Mesh"
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mesh_instance.mesh = mesh
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var material := StandardMaterial3D.new()
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material.albedo_color = Color(0.075, 0.19, 0.19)
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material.roughness = 0.92
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mesh_instance.material_override = material
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body.add_child(mesh_instance)
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var collision := CollisionShape3D.new()
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collision.name = "Collision"
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var height_map := HeightMapShape3D.new()
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height_map.map_width = TERRAIN_COLUMNS
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height_map.map_depth = TERRAIN_ROWS
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var height_data := PackedFloat32Array()
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height_data.resize(TERRAIN_COLUMNS * TERRAIN_ROWS)
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for row in TERRAIN_ROWS:
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for column in TERRAIN_COLUMNS:
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var vertex := _terrain_vertex(row, column)
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height_data[row * TERRAIN_COLUMNS + column] = vertex.y
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height_map.map_data = height_data
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collision.shape = height_map
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collision.position = Vector3(
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0.0,
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0.0,
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TERRAIN_NEAR_Z - TERRAIN_LENGTH_M * 0.5
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)
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collision.scale = Vector3(
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TERRAIN_WIDTH_M / float(TERRAIN_COLUMNS - 1),
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1.0,
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TERRAIN_LENGTH_M / float(TERRAIN_ROWS - 1)
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)
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body.add_child(collision)
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add_child(body)
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func _terrain_vertex(row: int, column: int) -> Vector3:
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var x := lerpf(
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-TERRAIN_WIDTH_M * 0.5,
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TERRAIN_WIDTH_M * 0.5,
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float(column) / float(TERRAIN_COLUMNS - 1)
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)
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var z := TERRAIN_NEAR_Z - (
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TERRAIN_LENGTH_M * float(row) / float(TERRAIN_ROWS - 1)
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)
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return Vector3(x, _terrain_height(x, z), z)
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func _terrain_height(x: float, z: float) -> float:
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var distance_ratio := clampf(
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(TERRAIN_NEAR_Z - z) / TERRAIN_LENGTH_M,
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0.0,
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1.0
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)
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var base := lerpf(-40.0, -78.0, distance_ratio)
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var left_ridge := 13.0 * exp(
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-(pow(x + 24.0, 2.0) / 210.0 + pow(z + 48.0, 2.0) / 980.0)
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)
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var right_ridge := 15.0 * exp(
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-(pow(x - 25.0, 2.0) / 250.0 + pow(z + 58.0, 2.0) / 1150.0)
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)
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var channel := -8.5 * exp(
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-(pow(x, 2.0) / 120.0 + pow(z + 66.0, 2.0) / 2500.0)
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)
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var rear_rise := 8.0 * exp(
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-(pow(x + 5.0, 2.0) / 900.0 + pow(z + 125.0, 2.0) / 620.0)
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)
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var undulation := 1.8 * sin(x * 0.075) * cos(z * 0.048)
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return base + left_ridge + right_ridge + channel + rear_rise + undulation
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func _add_terrain_triangle(
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surface: SurfaceTool,
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a: Vector3,
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b: Vector3,
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c: Vector3
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) -> void:
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surface.set_uv(Vector2(a.x, a.z) * 0.02)
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surface.add_vertex(a)
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surface.set_uv(Vector2(b.x, b.z) * 0.02)
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surface.add_vertex(b)
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surface.set_uv(Vector2(c.x, c.z) * 0.02)
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surface.add_vertex(c)
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func _place_calibration_target() -> void:
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var target := get_node_or_null("SonarCalibrationTarget") as Node3D
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if target != null:
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target.position.y = _terrain_height(target.position.x, target.position.z) + 2.5
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@@ -1,4 +1,4 @@
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[gd_scene load_steps=12 format=3]
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[gd_scene load_steps=8 format=3]
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[ext_resource type="Script" path="res://game/world/sites/vehicle_test_environment.gd" id="1_environment"]
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@@ -18,36 +18,21 @@ volumetric_fog_enabled = true
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volumetric_fog_density = 0.025
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volumetric_fog_length = 72.0
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[sub_resource type="StandardMaterial3D" id="RockMaterial"]
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albedo_color = Color(0.075, 0.19, 0.19, 1)
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roughness = 0.92
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[sub_resource type="StandardMaterial3D" id="RockMaterialLight"]
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albedo_color = Color(0.105, 0.25, 0.24, 1)
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roughness = 0.88
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[sub_resource type="BoxMesh" id="SeafloorMesh"]
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size = Vector3(220, 8, 250)
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[sub_resource type="BoxShape3D" id="SeafloorShape"]
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size = Vector3(220, 8, 250)
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[sub_resource type="BoxMesh" id="RockMeshA"]
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size = Vector3(12, 30, 14)
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[sub_resource type="BoxShape3D" id="RockShapeA"]
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size = Vector3(12, 30, 14)
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[sub_resource type="BoxMesh" id="RockMeshB"]
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size = Vector3(18, 42, 16)
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[sub_resource type="BoxShape3D" id="RockShapeB"]
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size = Vector3(18, 42, 16)
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[sub_resource type="SphereMesh" id="BeaconMesh"]
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radius = 0.55
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height = 1.1
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[sub_resource type="StandardMaterial3D" id="MetalTargetMaterial"]
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albedo_color = Color(0.24, 0.18, 0.08, 1)
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metallic = 0.88
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roughness = 0.27
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[sub_resource type="BoxMesh" id="MetalTargetMesh"]
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size = Vector3(8, 5, 7)
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[sub_resource type="BoxShape3D" id="MetalTargetShape"]
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size = Vector3(8, 5, 7)
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[sub_resource type="StandardMaterial3D" id="BeaconMaterial"]
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shading_mode = 0
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albedo_color = Color(0.2, 0.78, 0.9, 1)
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@@ -67,60 +52,6 @@ light_color = Color(0.39, 0.65, 0.7, 1)
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light_energy = 0.38
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shadow_enabled = true
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[node name="Seafloor" type="StaticBody3D" parent="."]
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position = Vector3(0, -84, -58)
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[node name="Mesh" type="MeshInstance3D" parent="Seafloor"]
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mesh = SubResource("SeafloorMesh")
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material_override = SubResource("RockMaterial")
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[node name="Collision" type="CollisionShape3D" parent="Seafloor"]
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shape = SubResource("SeafloorShape")
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[node name="RockNearLeft" type="StaticBody3D" parent="."]
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position = Vector3(-10, -18, -18)
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rotation_degrees = Vector3(0, -14, 8)
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[node name="Mesh" type="MeshInstance3D" parent="RockNearLeft"]
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mesh = SubResource("RockMeshA")
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material_override = SubResource("RockMaterialLight")
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[node name="Collision" type="CollisionShape3D" parent="RockNearLeft"]
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shape = SubResource("RockShapeA")
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[node name="RockNearRight" type="StaticBody3D" parent="."]
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position = Vector3(12, -22, -32)
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rotation_degrees = Vector3(0, 18, -5)
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[node name="Mesh" type="MeshInstance3D" parent="RockNearRight"]
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mesh = SubResource("RockMeshB")
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material_override = SubResource("RockMaterial")
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[node name="Collision" type="CollisionShape3D" parent="RockNearRight"]
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shape = SubResource("RockShapeB")
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[node name="RockFarLeft" type="StaticBody3D" parent="."]
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position = Vector3(-18, -48, -68)
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rotation_degrees = Vector3(0, 9, 4)
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[node name="Mesh" type="MeshInstance3D" parent="RockFarLeft"]
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mesh = SubResource("RockMeshA")
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material_override = SubResource("RockMaterialLight")
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[node name="Collision" type="CollisionShape3D" parent="RockFarLeft"]
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shape = SubResource("RockShapeA")
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[node name="RockFarRight" type="StaticBody3D" parent="."]
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position = Vector3(20, -58, -94)
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rotation_degrees = Vector3(0, -11, -7)
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[node name="Mesh" type="MeshInstance3D" parent="RockFarRight"]
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mesh = SubResource("RockMeshB")
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material_override = SubResource("RockMaterial")
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[node name="Collision" type="CollisionShape3D" parent="RockFarRight"]
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shape = SubResource("RockShapeB")
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[node name="NavigationBeacon" type="MeshInstance3D" parent="."]
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position = Vector3(0, -15, -22)
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mesh = SubResource("BeaconMesh")
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@@ -130,3 +61,15 @@ material_override = SubResource("BeaconMaterial")
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omni_range = 12.0
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light_color = Color(0.2, 0.78, 0.9, 1)
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light_energy = 4.0
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[node name="SonarCalibrationTarget" type="StaticBody3D" parent="."]
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position = Vector3(0, -60, -58)
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metadata/sonar_material = 2
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metadata/sonar_reflectivity = 1.0
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[node name="Mesh" type="MeshInstance3D" parent="SonarCalibrationTarget"]
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mesh = SubResource("MetalTargetMesh")
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material_override = SubResource("MetalTargetMaterial")
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[node name="Collision" type="CollisionShape3D" parent="SonarCalibrationTarget"]
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shape = SubResource("MetalTargetShape")
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