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This commit is contained in:
Arthur Erlich
2026-03-19 21:26:44 +01:00
parent b672d0d26c
commit 50e6f8b509
52 changed files with 204 additions and 177 deletions
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size_flags_horizontal = 3
text = "Integral (I)"
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text = "Target"
label_settings = SubResource("LabelSettings_sxbsa")
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extends Node3D
var p: float = 0.4
var i: float = 0.0
var d: float = 1
var force: float = 200.0
var error: float = 0.0
var last_error = 0.0
var error_derivative: float = 0.0
var integral: float = 0.0
var target: float = 0.0 #0.0 -> 359.99
var p_input: SpinBox
var i_input: SpinBox
var d_input: SpinBox
var force_input: SpinBox
var target_input: SpinBox
var spinner_node: Node3D
var target_node: Node3D
var error_lable: Label
var speed_lable: Label
var acceleration_label: Label
var error_derivative_lable: Label
var integral_lable: Label
var spinner_speed: float = 0.0
var max_speed: float = 120 # deg/m -> 1/360/60s = 1rpm
var acceleration: float
func _ready() -> void:
spinner_node = get_node("Spinner")
target_node = get_node("Target")
p_input = get_node("PID Menue/PanelContainer/VBoxContainer/Proportinal Term (P)/Input")
p_input.value_changed.connect(_update_p_value)
i_input = get_node("PID Menue/PanelContainer/VBoxContainer/Integral (I)/Input")
i_input.value_changed.connect(_update_i_value)
d_input = get_node("PID Menue/PanelContainer/VBoxContainer/Derivative (D)/Input")
d_input.value_changed.connect(_update_d_value)
force_input = get_node("PID Menue/PanelContainer/VBoxContainer/Force/Input")
force_input.value_changed.connect(_update_force_value)
target_input = get_node("PID Menue/PanelContainer/VBoxContainer/Target Rotation/Input")
target_input.value_changed.connect(_update_target_rot)
error_lable = get_node("PID Menue/PanelContainer/VBoxContainer/Error/Output")
speed_lable = get_node("PID Menue/PanelContainer/VBoxContainer/Speed/Output")
error_derivative_lable = get_node("PID Menue/PanelContainer/VBoxContainer/Error Derivative/Output")
acceleration_label = get_node("PID Menue/PanelContainer/VBoxContainer/Acceleration/Output")
integral_lable = get_node("PID Menue/PanelContainer/VBoxContainer/Integral/Output")
# Set default values
p_input.value = p
i_input.value = i
d_input.value = d
force_input.value = force
func _update_target_rot(value: float) -> void:
target_node.rotation.x = deg_to_rad(value)
func _update_p_value(value: float) -> void:
p = value
func _update_i_value(value: float) -> void:
i = value
func _update_d_value(value: float) -> void:
d = value
func _update_force_value(value: float) -> void:
force = value
func _process(delta: float) -> void:
# PID Stuff
target = rad_to_deg(target_node.rotation.x)
error = target - rad_to_deg(spinner_node.rotation.x)
error_derivative = (error - last_error) / delta
integral += error * delta
# Clamp acceleration between min and max force
var pid_output := (p * error) + (i * integral) + (d * error_derivative)
acceleration = clampf(pid_output, -force, force)
# Set speed
var next_speed = spinner_speed + acceleration * delta
# Block acceleration that would exceed max speed
if abs(spinner_speed) >= max_speed and sign(acceleration) == sign(spinner_speed):
acceleration = 0.0
next_speed = spinner_speed
spinner_speed = clamp(next_speed, -max_speed, max_speed)
spinner_node.rotation_degrees.x += spinner_speed * delta
last_error = error
func _physics_process(delta: float) -> void:
#UI Updats
error_lable.text = str(error).pad_decimals(2).pad_zeros(3) + " deg"
error_derivative_lable.text = str(error_derivative).pad_decimals(2).pad_zeros(3)
integral_lable.text = str(integral).pad_decimals(2).pad_zeros(3)
speed_lable.text = str(spinner_speed).pad_decimals(2).pad_zeros(3) + " deg/m"
acceleration_label.text = str(acceleration / force * 100).pad_decimals(2).pad_zeros(3) + " %"

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52
Experiments/Recuration/Scripts/RecurionCamera.gd Normal file
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extends Camera2D
class_name RecurionCamera
@export var movement_speed: float = 1
var mouse_pos_a: Vector2 = Vector2.ZERO
var mouse_pos_b: Vector2 = Vector2.ZERO
func _process(delta: float) -> void:
process_keyboard_input(delta)
process_mouse_input()
func process_keyboard_input(delta: float):
var direction: Vector2 = Vector2.ZERO
if (Input.is_action_pressed("w")):
direction += Vector2.UP
if (Input.is_action_pressed("s")):
direction += Vector2.DOWN
if (Input.is_action_pressed("a")):
direction += Vector2.LEFT
if (Input.is_action_pressed("d")):
direction += Vector2.RIGHT
direction = direction.normalized() * movement_speed
position += direction * delta * 100
func process_mouse_input():
if (Input.is_action_just_pressed("mouse_down")):
mouse_pos_a = get_global_mouse_position()
mouse_pos_b = mouse_pos_a
elif (Input.is_action_pressed("mouse_down")):
mouse_pos_b = get_global_mouse_position()
position = mouse_pos_a - mouse_pos_b + position
elif (Input.is_action_just_released("mouse_down")):
mouse_pos_a = Vector2.ZERO
mouse_pos_b = Vector2.ZERO
mouse_pos_b = mouse_pos_a
func _input(event: InputEvent) -> void:
if (event is InputEventMouseButton):
var zoom_value = Input.get_axis("scroll_down", "scroll_up")
if (zoom.y + zoom_value > 0.0):
zoom += Vector2.ONE * zoom_value

1
Experiments/Recuration/Scripts/RecurionCamera.gd.uid Normal file
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uid://bqslv86lm78ci

1
Experiments/Recuration/Scripts/ResourceComponent.gd Normal file
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extends Node

1
Experiments/Recuration/Scripts/ResourceComponent.gd.uid Normal file
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uid://bqlwhd5slcp0h

12
Experiments/Recuration/UI/UI.tscn Normal file
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[gd_scene format=3 uid="uid://cbqapc1frbhtv"]
[ext_resource type="Script" path="res://Experiments/Recuration/UI/ui.gd" id="1_0oc4u"]
[node name="Ui" type="Control" unique_id=1649292342]
layout_mode = 3
anchors_preset = 15
anchor_right = 1.0
anchor_bottom = 1.0
grow_horizontal = 2
grow_vertical = 2
script = ExtResource("1_0oc4u")

1
Experiments/Recuration/UI/ui.gd Normal file
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extends Control

1
Experiments/Recuration/UI/ui.gd.uid Normal file
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uid://dslwh6krdrhb

49
Experiments/SpaceMove/Assets/player_ship.tscn Normal file
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[gd_scene format=3 uid="uid://c8tm1q2cp567o"]
[ext_resource type="Script" path="res://Experiments/SpaceMove/Scripts/player_ship.gd" id="1_3yydb"]
[ext_resource type="Script" path="res://Experiments/SpaceMove/Scripts/shipAiComponent.gd" id="2_vr0dq"]
[sub_resource type="CapsuleShape3D" id="CapsuleShape3D_tjnu1"]
radius = 1.48237
height = 3.89605
[sub_resource type="PrismMesh" id="PrismMesh_tjnu1"]
[sub_resource type="CylinderMesh" id="CylinderMesh_3yydb"]
[node name="PlayerShip" type="RigidBody3D"]
script = ExtResource("1_3yydb")
_start_direction = Vector3(0, 0, -50)
_start_speed = 1.0
[node name="CollisionShape3D" type="CollisionShape3D" parent="."]
transform = Transform3D(1, 0, 0, 0, -4.37114e-08, 1, 0, -1, -4.37114e-08, 0, 0, -0.358494)
shape = SubResource("CapsuleShape3D_tjnu1")
[node name="MeshInstance3D" type="MeshInstance3D" parent="CollisionShape3D"]
transform = Transform3D(2.20781, 0, 0, 0, -9.18077e-08, -1.7005, 0, 2.10032, -7.43314e-08, 0, 0.524807, 0.378866)
mesh = SubResource("PrismMesh_tjnu1")
skeleton = NodePath("../..")
[node name="MeshInstance3D2" type="MeshInstance3D" parent="CollisionShape3D"]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.475193, -2.07714e-08)
mesh = SubResource("CylinderMesh_3yydb")
skeleton = NodePath("../..")
[node name="ShipAiComponent" type="Node" parent="."]
script = ExtResource("2_vr0dq")
metadata/_custom_type_script = "uid://ci33hs6nbuhqr"
[node name="Label3D" type="Label3D" parent="."]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 2.32815, 0)
billboard = 2
no_depth_test = true
render_priority = 1
text = "Text"
font_size = 128
[node name="RayCast3D" type="RayCast3D" parent="."]
target_position = Vector3(0, 0, 0)
hit_from_inside = true
collide_with_areas = true
debug_shape_custom_color = Color(0.712962, 0.712962, 0.712962, 1)

71
Experiments/SpaceMove/Scenes/space_test.tscn Normal file
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[gd_scene format=3 uid="uid://dgst4apmowe53"]
[ext_resource type="PackedScene" uid="uid://cc7e4loxpb1x6" path="res://Experiments/ThrusterCube/Scenes/obstacle.tscn" id="1_ig7tw"]
[ext_resource type="PackedScene" uid="uid://c8tm1q2cp567o" path="res://Experiments/SpaceMove/Assets/player_ship.tscn" id="2_0xm2m"]
[ext_resource type="PackedScene" uid="uid://1al1ysn5q5yk" path="res://Experiments/ThrusterCube/Scenes/thruster_cube.tscn" id="3_h2yge"]
[ext_resource type="Script" path="res://Experiments/SpaceMove/Scripts/player_ship.gd" id="4_10w3i"]
[sub_resource type="ProceduralSkyMaterial" id="ProceduralSkyMaterial_hsoxx"]
[sub_resource type="Sky" id="Sky_gojnm"]
sky_material = SubResource("ProceduralSkyMaterial_hsoxx")
process_mode = 1
[sub_resource type="Environment" id="Environment_hsoxx"]
background_mode = 2
sky = SubResource("Sky_gojnm")
ambient_light_source = 3
ambient_light_color = Color(1, 1, 1, 1)
[sub_resource type="CameraAttributesPractical" id="CameraAttributesPractical_1c2mv"]
[sub_resource type="SphereMesh" id="SphereMesh_0xm2m"]
[sub_resource type="PlaneMesh" id="PlaneMesh_h2yge"]
[node name="TestLevel" type="Node3D" unique_id=652844344]
[node name="Camera3D" type="Camera3D" parent="." unique_id=150721961]
transform = Transform3D(0.998445, -0.0179374, 0.0527875, -9.30799e-10, 0.946829, 0.321737, -0.0557519, -0.321236, 0.945357, 0.181835, 5.6324, 24.1051)
fov = 50.4
[node name="WorldEnvironment" type="WorldEnvironment" parent="." unique_id=972963566]
environment = SubResource("Environment_hsoxx")
camera_attributes = SubResource("CameraAttributesPractical_1c2mv")
[node name="DirectionalLight3D" type="DirectionalLight3D" parent="." unique_id=419392911]
transform = Transform3D(0.933305, -0.340159, 0.115038, 0, 0.320365, 0.947294, -0.359085, -0.884114, 0.298998, 0, 1.65681, 0)
[node name="Node" type="Node3D" parent="." unique_id=1060338205]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0.112919, -16.6481, 0.0137749)
[node name="Obstacle" parent="Node" unique_id=1151336365 instance=ExtResource("1_ig7tw")]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0.528058, 1.09307, -4.11262)
[node name="PlayerShip" parent="Node" unique_id=1169721436 instance=ExtResource("2_0xm2m")]
transform = Transform3D(-0.0337657, 0, -0.99943, 0, 1, 0, 0.99943, 0, -0.0337657, -20.7388, 9.76772, -1.42542)
_start_direction = Vector3(1, 0.5, 0)
_start_speed = 100.0
[node name="Marker3D" type="Marker3D" parent="Node" unique_id=1294508738]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.147182, -10.5201)
gizmo_extents = 5.03
[node name="MeshInstance3D" type="MeshInstance3D" parent="Node/Marker3D" unique_id=545308513]
transform = Transform3D(0.189904, 0, 0, 0, 0.189904, 0, 0, 0, 0.189904, 0, 0, 0)
mesh = SubResource("SphereMesh_0xm2m")
[node name="Obstacle2" parent="Node" unique_id=579337740 instance=ExtResource("1_ig7tw")]
transform = Transform3D(0.635485, -0.772113, 0, 0.772113, 0.635485, 0, 0, 0, 1, -6.93043, 24.3938, -1.34355)
[node name="MeshInstance3D" type="MeshInstance3D" parent="Node" unique_id=257615271]
transform = Transform3D(11.7541, 0, 0, 0, 1, 0, 0, 0, 11.7541, 0, -7, 0)
mesh = SubResource("PlaneMesh_h2yge")
skeleton = NodePath("../..")
[node name="Thruster Cube" parent="." unique_id=580986924 instance=ExtResource("3_h2yge")]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -11.2033)
mass = 200.0
script = ExtResource("4_10w3i")
_start_direction = Vector3(0, 0, 0)
_start_speed = 0.0

8
Experiments/SpaceMove/Scripts/player_ship.gd Normal file
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extends RigidBody3D
@export var _start_direction: Vector3
@export var _start_speed: float
func _ready():
# apply_force(_, global_position)
apply_central_force(_start_direction.normalized() * _start_speed)

1
Experiments/SpaceMove/Scripts/player_ship.gd.uid Normal file
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uid://ccnbhjxglgw12

40
Experiments/SpaceMove/Scripts/shipAiComponent.gd Normal file
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extends Node
class_name ShipAiComponent
var text: Label3D
var colShape: CollisionShape3D
var distText = "Distance to collision: "
var secText = "Seconds to collision: "
var dist = 0.0
var collision = 0.0
func _ready():
text = $"../Label3D"
colShape = $"../CollisionShape3D"
func _physics_process(delta):
calcColDist(delta)
text.text = distText + String("%0.2f" % dist) + " Meters\n" + secText + String("%0.2f" % collision) + " Seconds"
func calcColDist(_delta) -> void:
var rigidBody: RigidBody3D = $".."
var rayCast: RayCast3D = $"../RayCast3D"
var pos = rigidBody.global_position
var linearVelocity = rigidBody.linear_velocity.normalized() * 100
rayCast.target_position = rigidBody.to_local(linearVelocity)
# rayCast.rotation = rigidBody.rotation
# rayCast.position = pos
if rayCast.is_colliding():
dist = (rayCast.get_collision_point() - pos).length() - 2.5 # Ship size-> eg. bounding box
collision = dist / rigidBody.linear_velocity.length()
if (collision <= 0.0):
collision = 0.0
else:
dist = 0.0
collision = 0.0

1
Experiments/SpaceMove/Scripts/shipAiComponent.gd.uid Normal file
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uid://ci33hs6nbuhqr

BIN
Experiments/ThrusterCube/Assets/Thruster Cube Collision.glb Normal file
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42
Experiments/ThrusterCube/Assets/Thruster Cube Collision.glb.import Normal file
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[remap]
importer="scene"
importer_version=1
type="PackedScene"
uid="uid://crfjfbhjuderh"
path="res://.godot/imported/Thruster Cube Collision.glb-e4567795df54acdcaed8b44a3b1cdf8a.scn"
[deps]
source_file="res://Experiments/ThrusterCube/Assets/Thruster Cube Collision.glb"
dest_files=["res://.godot/imported/Thruster Cube Collision.glb-e4567795df54acdcaed8b44a3b1cdf8a.scn"]
[params]
nodes/root_type="CollisionShape3D"
nodes/root_name=""
nodes/root_script=null
nodes/apply_root_scale=true
nodes/root_scale=1.0
nodes/import_as_skeleton_bones=false
nodes/use_name_suffixes=true
nodes/use_node_type_suffixes=true
meshes/ensure_tangents=true
meshes/generate_lods=true
meshes/create_shadow_meshes=true
meshes/light_baking=1
meshes/lightmap_texel_size=0.2
meshes/force_disable_compression=false
skins/use_named_skins=true
animation/import=true
animation/fps=30
animation/trimming=false
animation/remove_immutable_tracks=true
animation/import_rest_as_RESET=false
import_script/path=""
materials/extract=0
materials/extract_format=0
materials/extract_path=""
_subresources={}
gltf/naming_version=1
gltf/embedded_image_handling=0

12
Experiments/ThrusterCube/Assets/Thruster Cube Collision.mtl Normal file
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# Blender 4.5.1 LTS MTL File: 'Thruster Cube Collision.blend'
# www.blender.org
newmtl Standard.001
Ns 250.000000
Ka 1.000000 1.000000 1.000000
Kd 0.244501 0.244501 0.244501
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2

1097
Experiments/ThrusterCube/Assets/Thruster Cube Collision.obj Normal file
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25
Experiments/ThrusterCube/Assets/Thruster Cube Collision.obj.import Normal file
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[remap]
importer="wavefront_obj"
importer_version=1
type="Mesh"
uid="uid://c7f1y6fhexbhm"
path="res://.godot/imported/Thruster Cube Collision.obj-c54c1e160e870d82560d1c443ddeae58.mesh"
[deps]
files=["res://.godot/imported/Thruster Cube Collision.obj-c54c1e160e870d82560d1c443ddeae58.mesh"]
source_file="res://Experiments/ThrusterCube/Assets/Thruster Cube Collision.obj"
dest_files=["res://.godot/imported/Thruster Cube Collision.obj-c54c1e160e870d82560d1c443ddeae58.mesh", "res://.godot/imported/Thruster Cube Collision.obj-c54c1e160e870d82560d1c443ddeae58.mesh"]
[params]
generate_tangents=true
generate_lods=true
generate_shadow_mesh=true
generate_lightmap_uv2=false
generate_lightmap_uv2_texel_size=0.2
scale_mesh=Vector3(1, 1, 1)
offset_mesh=Vector3(0, 0, 0)
force_disable_mesh_compression=false

BIN
Experiments/ThrusterCube/Assets/Thruster Cube.glb Normal file
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42
Experiments/ThrusterCube/Assets/Thruster Cube.glb.import Normal file
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[remap]
importer="scene"
importer_version=1
type="PackedScene"
uid="uid://cmiwlha25agl4"
path="res://.godot/imported/Thruster Cube.glb-591643872d53aaa419a7d06c5a20d845.scn"
[deps]
source_file="res://Experiments/ThrusterCube/Assets/Thruster Cube.glb"
dest_files=["res://.godot/imported/Thruster Cube.glb-591643872d53aaa419a7d06c5a20d845.scn"]
[params]
nodes/root_type="RigidBody3D"
nodes/root_name=""
nodes/root_script=null
nodes/apply_root_scale=true
nodes/root_scale=1.0
nodes/import_as_skeleton_bones=false
nodes/use_name_suffixes=true
nodes/use_node_type_suffixes=true
meshes/ensure_tangents=true
meshes/generate_lods=true
meshes/create_shadow_meshes=true
meshes/light_baking=1
meshes/lightmap_texel_size=0.2
meshes/force_disable_compression=false
skins/use_named_skins=true
animation/import=true
animation/fps=30
animation/trimming=false
animation/remove_immutable_tracks=true
animation/import_rest_as_RESET=false
import_script/path=""
materials/extract=0
materials/extract_format=0
materials/extract_path=""
_subresources={}
gltf/naming_version=1
gltf/embedded_image_handling=1

15
Experiments/ThrusterCube/Scenes/obstacle.tscn Normal file
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@@ -0,0 +1,15 @@
[gd_scene format=3 uid="uid://cc7e4loxpb1x6"]
[sub_resource type="ConvexPolygonShape3D" id="ConvexPolygonShape3D_lapuk"]
points = PackedVector3Array(-0.5, -1, 0, -0.497651, -1, -0.0490407, -0.497651, -1, 0.0489429, -0.5, 1, 0, -0.490407, -1, -0.097592, -0.497651, 1, -0.0490407, -0.490407, -1, 0.0974941, -0.497651, 1, 0.0489429, -0.478563, -1, -0.145164, -0.490407, 1, -0.097592, -0.478563, -1, 0.145067, -0.490407, 1, 0.0974941, -0.46202, -1, -0.191366, -0.478563, 1, -0.145164, -0.46202, -1, 0.191269, -0.478563, 1, 0.145067, -0.440975, -1, -0.235709, -0.46202, 1, -0.191366, -0.440975, -1, 0.235611, -0.46202, 1, 0.191269, -0.415818, -1, -0.2778, -0.440975, 1, -0.235709, -0.415818, -1, 0.277702, -0.440975, 1, 0.235611, -0.386551, -1, -0.317247, -0.415818, 1, -0.2778, -0.386551, -1, 0.31715, -0.415818, 1, 0.277702, -0.353563, -1, -0.353563, -0.386551, 1, -0.317247, -0.353563, -1, 0.353465, -0.386551, 1, 0.31715, -0.317247, -1, -0.386551, -0.353563, 1, -0.353563, -0.317247, -1, 0.386453, -0.353563, 1, 0.353465, -0.2778, -1, -0.415818, -0.317247, 1, -0.386551, -0.2778, -1, 0.41572, -0.317247, 1, 0.386453, -0.235709, -1, -0.440975, -0.2778, 1, -0.415818, -0.235709, -1, 0.440877, -0.2778, 1, 0.41572, -0.191366, -1, -0.46202, -0.235709, 1, -0.440975, -0.191366, -1, 0.461922, -0.235709, 1, 0.440877, -0.145164, -1, -0.478563, -0.191366, 1, -0.46202, -0.145164, -1, 0.478465, -0.191366, 1, 0.461922, -0.097592, -1, -0.490407, -0.145164, 1, -0.478563, -0.097592, -1, 0.490309, -0.145164, 1, 0.478465, -0.0490407, -1, -0.497651, -0.097592, 1, -0.490407, -0.0490407, -1, 0.497553, -0.097592, 1, 0.490309, 0, -1, -0.5, -0.0490407, 1, -0.497651, 0, -1, 0.5, -0.0490407, 1, 0.497553, 0.0489429, -1, -0.497651, 0, 1, -0.5, 0.0489429, -1, 0.497553, 0, 1, 0.5, 0.0974941, -1, -0.490407, 0.0489429, 1, -0.497651, 0.0974941, -1, 0.490309, 0.0489429, 1, 0.497553, 0.145067, -1, -0.478563, 0.0974941, 1, -0.490407, 0.145067, -1, 0.478465, 0.0974941, 1, 0.490309, 0.191269, -1, -0.46202, 0.145067, 1, -0.478563, 0.191269, -1, 0.461922, 0.145067, 1, 0.478465, 0.235611, -1, -0.440975, 0.191269, 1, -0.46202, 0.235611, -1, 0.440877, 0.191269, 1, 0.461922, 0.277702, -1, -0.415818, 0.235611, 1, -0.440975, 0.277702, -1, 0.41572, 0.235611, 1, 0.440877, 0.31715, -1, -0.386551, 0.277702, 1, -0.415818, 0.31715, -1, 0.386453, 0.277702, 1, 0.41572, 0.353465, -1, -0.353563, 0.31715, 1, -0.386551, 0.353465, -1, 0.353465, 0.31715, 1, 0.386453, 0.386453, -1, -0.317247, 0.353465, 1, -0.353563, 0.386453, -1, 0.31715, 0.353465, 1, 0.353465, 0.41572, -1, -0.2778, 0.386453, 1, -0.317247, 0.41572, -1, 0.277702, 0.386453, 1, 0.31715, 0.440877, -1, -0.235709, 0.41572, 1, -0.2778, 0.440877, -1, 0.235611, 0.41572, 1, 0.277702, 0.461922, -1, -0.191366, 0.440877, 1, -0.235709, 0.461922, -1, 0.191269, 0.440877, 1, 0.235611, 0.478465, -1, -0.145164, 0.461922, 1, -0.191366, 0.478465, -1, 0.145067, 0.461922, 1, 0.191269, 0.490309, -1, -0.097592, 0.478465, 1, -0.145164, 0.490309, -1, 0.0974941, 0.478465, 1, 0.145067, 0.497553, -1, -0.0490407, 0.490309, 1, -0.097592, 0.497553, -1, 0.0489429, 0.490309, 1, 0.0974941, 0.5, -1, 0, 0.497553, 1, -0.0490407, 0.497553, 1, 0.0489429, 0.5, 1, 0)
[sub_resource type="CylinderMesh" id="CylinderMesh_cy40f"]
[node name="Obstacle" type="StaticBody3D"]
[node name="CollisionShape3D" type="CollisionShape3D" parent="."]
shape = SubResource("ConvexPolygonShape3D_lapuk")
[node name="MeshInstance3D" type="MeshInstance3D" parent="CollisionShape3D"]
mesh = SubResource("CylinderMesh_cy40f")
skeleton = NodePath("../..")

37
Experiments/ThrusterCube/Scenes/thruster_cube.tscn Normal file
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@@ -0,0 +1,37 @@
[gd_scene format=3 uid="uid://1al1ysn5q5yk"]
[ext_resource type="PackedScene" uid="uid://cmiwlha25agl4" path="res://Experiments/ThrusterCube/Assets/Thruster Cube.glb" id="1_48yjx"]
[ext_resource type="Script" path="res://Experiments/PidTest/Scripts/pid_test.gd" id="2_j3sme"]
[sub_resource type="ConvexPolygonShape3D" id="ConvexPolygonShape3D_48yjx"]
points = PackedVector3Array(5.05799, 3.09144, 8.02469, 5.05799, -3.09243, 8.02469, 5.05799, 3.72121, 7.41253, 4.99561, 3.99253, 9.40488, 5.05799, -3.7222, 7.41253, 4.99561, -3.99352, 9.40488, 5.05799, 3.72121, -8.54888, 4.99561, 4.98769, 8.4087, 4.99165, 4.00936, 9.40714, 4.98769, 3.99253, 9.41165, 4.99165, 4.99165, 8.42677, 4.99561, -4.98868, 8.4087, 5.05799, -3.7222, -8.54888, 4.98769, -3.99352, 9.41165, 4.99165, -4.01035, 9.40714, 4.99165, -4.99264, 8.42677, 5.05799, 3.09144, -9.15878, 4.99561, 3.99253, -10.539, 4.99561, 4.98769, -9.54505, 1.20608, 0.951591, 11.8535, 4.00936, 4.99165, 9.40714, 4.98769, 4.99561, 8.4087, 3.99253, 4.99561, 9.40488, 4.99561, -4.98868, -9.54505, 4.99561, -3.99352, -10.539, 5.05799, -3.09243, -9.15878, 1.20608, -0.952582, 11.8535, 4.00936, -4.99264, 9.40714, 4.98769, -4.9966, 8.4087, 3.99253, -4.9966, 9.40488, 4.99165, 4.00936, -10.5435, 4.99165, 4.99165, -9.56086, 0.951591, 1.20608, 11.8535, 3.99253, 4.98769, 9.41165, 3.72121, 5.05799, 7.41253, 4.98769, 4.99561, -9.54505, -3.99352, 4.99561, 9.40488, 3.09144, 5.05799, 8.02469, 4.99165, -4.99264, -9.56086, 4.99165, -4.01035, -10.5435, 0.951591, -1.20707, 11.8535, 3.99253, -4.98868, 9.41165, 3.72121, -5.05799, 7.41253, 4.98769, -4.9966, -9.54505, -3.99352, -4.9966, 9.40488, 3.09144, -5.05799, 8.02469, 4.98769, 3.99253, -10.548, 3.08153, 3.08153, -11.2234, 4.00936, 4.99165, -10.5435, -0.952582, 1.20608, 11.8535, -3.99352, 4.98769, 9.41165, 3.72121, 5.05799, -8.54888, 3.99253, 4.99561, -10.539, -4.01035, 4.99165, 9.40714, -3.09243, 5.05799, 8.02469, -3.7222, 5.05799, 7.41253, -4.98868, 4.99561, 8.4087, -4.99264, 4.99165, 8.42677, 4.00936, -4.99264, -10.5435, 3.08153, -3.08252, -11.2234, 4.98769, -3.99352, -10.548, -0.952582, -1.20707, 11.8535, -3.99352, -4.98868, 9.41165, 3.72121, -5.05799, -8.54888, 3.99253, -4.9966, -10.539, -4.01035, -4.99264, 9.40714, -4.99264, -4.99264, 8.42677, -4.98868, -4.9966, 8.4087, -3.7222, -5.05799, 7.41253, -3.09243, -5.05799, 8.02469, 3.1152, 2.99935, -11.2234, 2.99935, 3.1152, -11.2234, 3.99253, 4.98769, -10.548, -1.20707, 0.951591, 11.8535, 3.09144, 5.05799, -9.15878, -3.99352, 4.99561, -10.539, -4.99264, 4.00936, 9.40714, -3.7222, 5.05799, -8.54888, -4.98868, 4.99561, -9.54505, -4.9966, 4.98769, 8.4087, -4.9966, 3.99253, 9.40488, 3.99253, -4.98868, -10.548, 2.99935, -3.11619, -11.2234, 3.1152, -3.00034, -11.2234, -1.20707, -0.952582, 11.8535, 3.09144, -5.05799, -9.15878, -3.99352, -4.9966, -10.539, -4.99264, -4.01035, 9.40714, -4.9966, -3.99352, 9.40488, -4.9966, -4.98868, 8.4087, -4.98868, -4.9966, -9.54505, -3.7222, -5.05799, -8.54888, -3.00034, 3.1152, -11.2234, -3.99352, 4.98769, -10.548, -4.98868, 3.99253, 9.41165, -3.09243, 5.05799, -9.15878, -4.01035, 4.99165, -10.5435, -4.99264, 4.99165, -9.56086, -5.05799, 3.72121, 7.41253, -4.9966, 4.98769, -9.54505, -5.05799, 3.09144, 8.02469, -3.99352, -4.98868, -10.548, -3.00034, -3.11619, -11.2234, -4.98868, -3.99352, 9.41165, -3.09243, -5.05799, -9.15878, -4.01035, -4.99264, -10.5435, -5.05799, -3.09243, 8.02469, -5.05799, -3.7222, 7.41253, -4.9966, -4.98868, -9.54505, -4.99264, -4.99264, -9.56086, -3.08252, 3.08153, -11.2234, -4.99264, 4.00936, -10.5435, -5.05799, 3.72121, -8.54888, -4.9966, 3.99253, -10.539, -3.08252, -3.08252, -11.2234, -4.99264, -4.01035, -10.5435, -5.05799, -3.7222, -8.54888, -4.9966, -3.99352, -10.539, -3.11619, 2.99935, -11.2234, -4.98868, 3.99253, -10.548, -5.05799, 3.09144, -9.15878, -3.11619, -3.00034, -11.2234, -4.98868, -3.99352, -10.548, -5.05799, -3.09243, -9.15878)
[node name="Thruster Cube" instance=ExtResource("1_48yjx")]
script = ExtResource("2_j3sme")
[node name="TheThrusterCube" parent="." index="0"]
transform = Transform3D(-1, 0, -8.74228e-08, 0, 1, 0, 8.74228e-08, 0, -1, 0, 0, 0)
[node name="CollisionShape3D" type="CollisionShape3D" parent="." index="1"]
transform = Transform3D(-1, 0, -8.74228e-08, 0, 1, 0, 8.74228e-08, 0, -1, 0, 0, 0)
shape = SubResource("ConvexPolygonShape3D_48yjx")
[node name="OmniLight3D" type="OmniLight3D" parent="." index="2"]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -4.84073, 4.87805, 10.3575)
light_color = Color(1, 0.231373, 0.360784, 1)
light_energy = 50.0
[node name="OmniLight3D2" type="OmniLight3D" parent="." index="3"]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -4.841, 4.878, -8.84974)
light_color = Color(1, 0.231373, 0.360784, 1)
light_energy = 50.0
[node name="OmniLight3D3" type="OmniLight3D" parent="." index="4"]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -4.84073, -4.37604, 10.3575)
light_color = Color(1, 0.231373, 0.360784, 1)
light_energy = 50.0
[node name="OmniLight3D4" type="OmniLight3D" parent="." index="5"]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -4.841, -4.3761, -8.84974)
light_color = Color(1, 0.231373, 0.360784, 1)
light_energy = 50.0

5
Experiments/ThrusterCube/Scenes/thruster_cube_collision.tscn Normal file
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@@ -0,0 +1,5 @@
[gd_scene format=3 uid="uid://bp7um84bpvhmx"]
[ext_resource type="PackedScene" uid="uid://crfjfbhjuderh" path="res://Assets/Thruster Cube Collision.glb" id="1_v5i77"]
[node name="Thruster Cube Collision" instance=ExtResource("1_v5i77")]

31
Experiments/ThrusterCube/Scripts/thruster_cube.gd Normal file
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@@ -0,0 +1,31 @@
extends RigidBody3D
var torque_force: float = 10000.0
func _physics_process(delta):
var local_torque := Vector3.ZERO
# Pitch
if Input.is_action_pressed("w"):
local_torque.x -= 1
if Input.is_action_pressed("s"):
local_torque.x += 1
# Yaw
if Input.is_action_pressed("a"):
local_torque.y -= 1
if Input.is_action_pressed("d"):
local_torque.y += 1
# Roll
if Input.is_action_pressed("q"):
local_torque.z += 1
if Input.is_action_pressed("e"):
local_torque.z -= 1
# Apply local torque converted to world space
if local_torque != Vector3.ZERO:
var world_torque = global_transform.basis * local_torque.normalized() * torque_force * delta
apply_torque(world_torque)
print(angular_velocity)

1
Experiments/ThrusterCube/Scripts/thruster_cube.gd.uid Normal file
View File

@@ -0,0 +1 @@
uid://dd3ns5mckarbj