154 lines
4.5 KiB
GDScript
154 lines
4.5 KiB
GDScript
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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particles.amount = 360
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particles.lifetime = 14.0
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particles.preprocess = 14.0
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particles.visibility_aabb = AABB(
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Vector3(-50.0, -35.0, -78.0),
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Vector3(100.0, 70.0, 156.0)
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)
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var motion := ParticleProcessMaterial.new()
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motion.emission_shape = ParticleProcessMaterial.EMISSION_SHAPE_BOX
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motion.emission_box_extents = Vector3(45.0, 28.0, 70.0)
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motion.direction = Vector3(0.1, 0.04, 0.0)
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motion.spread = 180.0
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motion.initial_velocity_min = 0.02
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motion.initial_velocity_max = 0.09
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motion.gravity = Vector3.ZERO
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motion.scale_min = 0.025
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motion.scale_max = 0.08
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particles.process_material = motion
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var particle_mesh := SphereMesh.new()
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particle_mesh.radius = 0.035
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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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