Add OMI_vehicle_* implementation and test files

.gitignore

@@ -1,4 +1,5 @@
 # Godot 4+ specific ignores
 .godot/
+*.uid
 
 .DS_Store

README.md

@@ -6,11 +6,15 @@ This repository is used by the [Open Metaverse Interoperability Group](https://o
 
 Extensions implemented in this repository:
 
-| Extension name          | Import | Export | Godot version | Link                                                                                                                           |
-| ----------------------- | ------ | ------ | ------------- | ------------------------------------------------------------------------------------------------------------------------------ |
-| **OMI_physics_joint**   | Yes    | Yes    | 4.1+          | [OMI_physics_joint extension spec](https://github.com/omigroup/gltf-extensions/tree/main/extensions/2.0/OMI_physics_joint)     |
-| **OMI_seat**            | Yes    | Yes    | 4.0+          | [OMI_seat extension spec](https://github.com/omigroup/gltf-extensions/tree/main/extensions/2.0/OMI_seat)                       |
-| **OMI_spawn_point**     | Yes    | No     | 4.0+          | [OMI_spawn_point extension spec](https://github.com/omigroup/gltf-extensions/tree/main/extensions/2.0/OMI_spawn_point)         |
+| Extension name                 | Import | Export | Godot version | Link                                                                                                                                         |
+| ------------------------------ | ------ | ------ | ------------- | -------------------------------------------------------------------------------------------------------------------------------------------- |
+| **OMI_physics_joint**          | Yes    | Yes    | 4.1+          | [OMI_physics_joint extension spec](https://github.com/omigroup/gltf-extensions/tree/main/extensions/2.0/OMI_physics_joint)                   |
+| **OMI_seat**                   | Yes    | Yes    | 4.0+          | [OMI_seat extension spec](https://github.com/omigroup/gltf-extensions/tree/main/extensions/2.0/OMI_seat)                                     |
+| **OMI_spawn_point**            | Yes    | No     | 4.0+          | [OMI_spawn_point extension spec](https://github.com/omigroup/gltf-extensions/tree/main/extensions/2.0/OMI_spawn_point)                       |
+| **OMI_vehicle_body**           | Yes    | Yes    | 4.3+          | [OMI_vehicle_body extension spec](https://github.com/omigroup/gltf-extensions/tree/main/extensions/2.0/OMI_vehicle_body)                     |
+| **OMI_vehicle_hover_thruster** | Yes    | Yes    | 4.3+          | [OMI_vehicle_hover_thruster extension spec](https://github.com/omigroup/gltf-extensions/tree/main/extensions/2.0/OMI_vehicle_hover_thruster) |
+| **OMI_vehicle_thruster**       | Yes    | Yes    | 4.3+          | [OMI_vehicle_thruster extension spec](https://github.com/omigroup/gltf-extensions/tree/main/extensions/2.0/OMI_vehicle_thruster)             |
+| **OMI_vehicle_wheel**          | Yes    | Yes    | 4.3+          | [OMI_vehicle_wheel extension spec](https://github.com/omigroup/gltf-extensions/tree/main/extensions/2.0/OMI_vehicle_wheel)                   |
 
 Extensions implemented upstream in Godot Engine:
 

addons/omi_extensions/omi_extensions_plugin.gd

@@ -15,6 +15,8 @@ func _enter_tree() -> void:
 	GLTFDocument.register_gltf_document_extension(ext)
 	ext = GLTFDocumentExtensionOMIPhysicsJoint.new()
 	GLTFDocument.register_gltf_document_extension(ext)
+	ext = GLTFDocumentExtensionOMIVehicle.new()
+	GLTFDocument.register_gltf_document_extension(ext, true)
 	add_node_3d_gizmo_plugin(seat_gizmo_plugin)
 
 

addons/omi_extensions/physics_gravity/global_gravity_setter.gd

@@ -0,0 +1,13 @@
+class_name GlobalGravitySetter
+extends Node
+
+
+@export var gravity: float = 9.80665
+@export var direction: Vector3 = Vector3.DOWN
+
+
+func _ready() -> void:
+	var world_space_rid: RID = get_viewport().find_world_3d().space
+	PhysicsServer3D.area_set_param(world_space_rid, PhysicsServer3D.AREA_PARAM_GRAVITY, gravity)
+	PhysicsServer3D.area_set_param(world_space_rid, PhysicsServer3D.AREA_PARAM_GRAVITY_VECTOR, direction)
+	queue_free()

addons/omi_extensions/seat/omi_seat_doc_ext.gd

@@ -33,7 +33,7 @@ func _generate_scene_node(state: GLTFState, gltf_node: GLTFNode, scene_parent: N
 		return null
 	# If this node is both a seat and a glTF trigger, generate the Area3D-derived Seat3D node.
 	# Else, if this is not any kind of trigger, don't generate a Seat3D/Area3D, just set node metadata later.
-	var trigger = gltf_node.get_additional_data(&"GLTFPhysicsTrigger")
+	var trigger = gltf_node.get_additional_data(&"GLTFPhysicsTriggerShape")
 	if trigger == null:
 		trigger = gltf_node.get_additional_data(&"GLTFPhysicsCompoundTriggerNodes")
 		if trigger == null:
@@ -42,7 +42,12 @@ func _generate_scene_node(state: GLTFState, gltf_node: GLTFNode, scene_parent: N
 				return null
 			if trigger.body_type != "trigger":
 				return null
-	return Seat3D.from_points(seat_dict["back"], seat_dict["foot"], seat_dict["knee"], seat_dict.get("angle", TAU * 0.25))
+	var seat = Seat3D.from_points(seat_dict["back"], seat_dict["foot"], seat_dict["knee"], seat_dict.get("angle", TAU * 0.25))
+	if trigger is GLTFPhysicsShape:
+		var shape: CollisionShape3D = trigger.to_node(true)
+		shape.name = gltf_node.resource_name + "Shape"
+		seat.add_child(shape)
+	return seat
 
 
 func _import_node(_state: GLTFState, gltf_node: GLTFNode, json: Dictionary, node: Node) -> Error:

addons/omi_extensions/vehicle/gltf_vehicle_body.gd

@@ -0,0 +1,127 @@
+@tool
+class_name GLTFVehicleBody
+extends Resource
+
+
+## The input value controlling the ratio of the vehicle's angular forces.
+@export var angular_activation := Vector3.ZERO
+## The input value controlling the ratio of the vehicle's linear forces.
+@export var linear_activation := Vector3.ZERO
+## The gyroscope torque intrinsic to the vehicle, excluding torque from parts, measured in Newton-meters per radian (kg⋅m²/s²/rad).
+@export_custom(PROPERTY_HINT_NONE, "suffix:kg\u22C5m\u00B2/s\u00B2/rad (N\u22C5m/rad)")
+var gyroscope_torque := Vector3.ZERO
+## If non-negative, the speed in meters per second at which the vehicle should stop driving acceleration further.
+@export var max_speed: float = -1.0
+## The index of the `OMI_seat` glTF node to use as the pilot / driver seat.
+@export var pilot_seat_index: int = -1
+## The Godot node to use as the pilot seat / driver seat.
+var pilot_seat_node: Node3D = null
+## If true, the vehicle should slow its rotation down when not given angular activation input for a specific rotation.
+@export var angular_dampeners: bool = true
+## If true, the vehicle should slow itself down when not given linear activation input for a specific direction.
+@export var linear_dampeners: bool = false
+## If true, the vehicle should use a throttle for linear movement. If max_speed is non-negative, the throttle should be a ratio of that speed, otherwise it should be a ratio of thrust power.
+@export var use_throttle: bool = false
+
+
+static func from_node(vehicle_node: VehicleBody3D) -> GLTFVehicleBody:
+	var ret := GLTFVehicleBody.new()
+	if vehicle_node is PilotedVehicleBody3D:
+		ret.angular_activation = vehicle_node.angular_activation
+		ret.linear_activation = vehicle_node.linear_activation
+		ret.gyroscope_torque = vehicle_node.gyroscope_torque
+		ret.max_speed = vehicle_node.max_speed
+		ret.pilot_seat_node = vehicle_node.pilot_seat_node
+		ret.angular_dampeners = vehicle_node.angular_dampeners
+		ret.linear_dampeners = vehicle_node.linear_dampeners
+		ret.use_throttle = vehicle_node.use_throttle
+	return ret
+
+
+func to_node(gltf_state: GLTFState, gltf_node: GLTFNode) -> PilotedVehicleBody3D:
+	# Set up the body node.
+	var vehicle_node := PilotedVehicleBody3D.new()
+	var gltf_physics_body: GLTFPhysicsBody = gltf_node.get_additional_data(&"GLTFPhysicsBody")
+	if gltf_physics_body == null:
+		printerr("GLTF vehicle body: Expected the vehicle body to also be a physics body. Continuing anyway.")
+	else:
+		vehicle_node.mass = gltf_physics_body.mass
+		vehicle_node.linear_velocity = gltf_physics_body.linear_velocity
+		vehicle_node.angular_velocity = gltf_physics_body.angular_velocity
+		vehicle_node.inertia = gltf_physics_body.inertia_diagonal
+		vehicle_node.center_of_mass = gltf_physics_body.center_of_mass
+	vehicle_node.center_of_mass_mode = RigidBody3D.CENTER_OF_MASS_MODE_CUSTOM
+	# If there is a collider shape, set it up.
+	var gltf_collider_shape: GLTFPhysicsShape = gltf_node.get_additional_data(&"GLTFPhysicsColliderShape")
+	if gltf_collider_shape != null:
+		_setup_shape_mesh_resource_from_index_if_needed(gltf_state, gltf_collider_shape)
+		var col_shape: CollisionShape3D = gltf_collider_shape.to_node(true)
+		col_shape.name = gltf_node.resource_name + "Collider"
+		vehicle_node.add_child(col_shape)
+	# Set up the vehicle properties.
+	vehicle_node.angular_activation = angular_activation
+	vehicle_node.linear_activation = linear_activation
+	vehicle_node.gyroscope_torque = gyroscope_torque
+	vehicle_node.max_speed = max_speed
+	vehicle_node.angular_dampeners = angular_dampeners
+	vehicle_node.linear_dampeners = linear_dampeners
+	vehicle_node.use_throttle = use_throttle
+	return vehicle_node
+
+
+static func from_dictionary(dict: Dictionary) -> GLTFVehicleBody:
+	var ret := GLTFVehicleBody.new()
+	if dict.has("angularActivation"):
+		var ang_arr: Array = dict["angularActivation"]
+		ret.angular_activation = Vector3(ang_arr[0], ang_arr[1], ang_arr[2])
+	if dict.has("linearActivation"):
+		var lin_arr: Array = dict["linearActivation"]
+		ret.linear_activation = Vector3(lin_arr[0], lin_arr[1], lin_arr[2])
+	if dict.has("gyroTorque"):
+		var gyro_arr: Array = dict["gyroTorque"]
+		ret.gyroscope_torque = Vector3(gyro_arr[0], gyro_arr[1], gyro_arr[2])
+	if dict.has("maxSpeed"):
+		ret.max_speed = dict["maxSpeed"]
+	if dict.has("pilotSeat"):
+		ret.pilot_seat_index = dict["pilotSeat"]
+	if dict.has("angularDampeners"):
+		ret.angular_dampeners = dict["angularDampeners"]
+	if dict.has("linearDampeners"):
+		ret.linear_dampeners = dict["linearDampeners"]
+	if dict.has("useThrottle"):
+		ret.use_throttle = dict["useThrottle"]
+	return ret
+
+
+func to_dictionary() -> Dictionary:
+	var ret: Dictionary = {}
+	if angular_activation != Vector3.ZERO:
+		ret["angularActivation"] = [angular_activation.x, angular_activation.y, angular_activation.z]
+	if linear_activation != Vector3.ZERO:
+		ret["linearActivation"] = [linear_activation.x, linear_activation.y, linear_activation.z]
+	if gyroscope_torque != Vector3.ZERO:
+		ret["gyroTorque"] = [gyroscope_torque.x, gyroscope_torque.y, gyroscope_torque.z]
+	if max_speed != -1.0:
+		ret["maxSpeed"] = max_speed
+	if pilot_seat_index != -1:
+		ret["pilotSeat"] = pilot_seat_index
+	if not angular_dampeners: # Default is true.
+		ret["angularDampeners"] = angular_dampeners
+	if linear_dampeners:
+		ret["linearDampeners"] = linear_dampeners
+	if use_throttle:
+		ret["useThrottle"] = use_throttle
+	return ret
+
+
+func _setup_shape_mesh_resource_from_index_if_needed(gltf_state: GLTFState, gltf_shape: GLTFPhysicsShape) -> void:
+	var shape_mesh_index: int = gltf_shape.mesh_index
+	if shape_mesh_index == -1:
+		return # No mesh for this shape.
+	var importer_mesh: ImporterMesh = gltf_shape.importer_mesh
+	if importer_mesh != null:
+		return # The mesh resource is already set up.
+	var state_meshes: Array[GLTFMesh] = gltf_state.meshes
+	var gltf_mesh: GLTFMesh = state_meshes[shape_mesh_index]
+	importer_mesh = gltf_mesh.mesh
+	gltf_shape.importer_mesh = importer_mesh

addons/omi_extensions/vehicle/gltf_vehicle_hover_thruster.gd

@@ -0,0 +1,59 @@
+@tool
+class_name GLTFVehicleHoverThruster
+extends Resource
+
+
+## The ratio of the maximum hover energy the hover thruster is currently using for propulsion.
+@export_range(0.0, 1.0, 0.01)
+var current_hover_ratio: float = 0.0
+## The ratio of the maximum gimbal angles the hover thruster is rotated to. The vector length may not be longer than 1.0.
+@export var current_gimbal_ratio := Vector2(0.0, 0.0)
+## The maximum hover energy in Newton-meters (N⋅m or kg⋅m²/s²) that the hover thruster can provide.
+@export_custom(PROPERTY_HINT_NONE, "suffix:kg\u22C5m\u00B2/s\u00B2 (N\u22C5m)")
+var max_hover_energy: float = 0.0
+## The maximum angle the hover thruster can gimbal or rotate in radians.
+@export_custom(PROPERTY_HINT_NONE, "suffix:rad")
+var max_gimbal: float = 0.0
+
+
+static func from_node(thruster_node: VehicleHoverThruster3D) -> GLTFVehicleHoverThruster:
+	var ret := GLTFVehicleHoverThruster.new()
+	ret.current_hover_ratio = thruster_node.current_hover_ratio
+	ret.current_gimbal_ratio = thruster_node.current_gimbal_ratio
+	ret.max_hover_energy = thruster_node.max_hover_energy
+	ret.max_gimbal = thruster_node.max_gimbal
+	return ret
+
+
+func to_node() -> VehicleHoverThruster3D:
+	var thruster_node := VehicleHoverThruster3D.new()
+	thruster_node.current_hover_ratio = current_hover_ratio
+	thruster_node.current_gimbal_ratio = current_gimbal_ratio
+	thruster_node.max_hover_energy = max_hover_energy
+	thruster_node.max_gimbal = max_gimbal
+	return thruster_node
+
+
+static func from_dictionary(dict: Dictionary) -> GLTFVehicleHoverThruster:
+	var ret := GLTFVehicleHoverThruster.new()
+	if dict.has("currentHoverRatio"):
+		ret.current_force_ratio = dict["currentHoverRatio"]
+	if dict.has("currentGimbalRatio"):
+		ret.current_gimbal_ratio = dict["currentGimbalRatio"]
+	if dict.has("maxHoverEnergy"):
+		ret.max_hover_energy = dict["maxHoverEnergy"]
+	if dict.has("maxGimbal"):
+		ret.max_gimbal = dict["maxGimbal"]
+	return ret
+
+
+func to_dictionary() -> Dictionary:
+	var ret: Dictionary = {}
+	ret["maxHoverEnergy"] = max_hover_energy
+	if current_hover_ratio != 0.0:
+		ret["currentHoverRatio"] = current_hover_ratio
+	if current_gimbal_ratio != Vector2.ZERO:
+		ret["currentGimbalRatio"] = current_gimbal_ratio
+	if max_gimbal != 0.0:
+		ret["maxGimbal"] = max_gimbal
+	return ret

addons/omi_extensions/vehicle/gltf_vehicle_thruster.gd

@@ -0,0 +1,59 @@
+@tool
+class_name GLTFVehicleThruster
+extends Resource
+
+
+## The ratio of the maximum thrust force the thruster is currently using for propulsion.
+@export_range(0.0, 1.0, 0.01)
+var current_force_ratio: float = 0.0
+## The ratio of the maximum gimbal angles the thruster is rotated to. The vector length may not be longer than 1.0.
+@export var current_gimbal_ratio := Vector2(0.0, 0.0)
+## The maximum thrust force in Newtons (kg⋅m/s²) that the thruster can provide.
+@export_custom(PROPERTY_HINT_NONE, "suffix:kg\u22C5m/s\u00B2 (N)")
+var max_force: float = 0.0
+## The maximum angle the thruster can gimbal or rotate in radians.
+@export_custom(PROPERTY_HINT_NONE, "suffix:rad")
+var max_gimbal: float = 0.0
+
+
+static func from_node(thruster_node: VehicleThruster3D) -> GLTFVehicleThruster:
+	var ret := GLTFVehicleThruster.new()
+	ret.current_force_ratio = thruster_node.current_force_ratio
+	ret.current_gimbal_ratio = thruster_node.current_gimbal_ratio
+	ret.max_force = thruster_node.max_force
+	ret.max_gimbal = thruster_node.max_gimbal
+	return ret
+
+
+func to_node() -> VehicleThruster3D:
+	var thruster_node := VehicleThruster3D.new()
+	thruster_node.current_force_ratio = current_force_ratio
+	thruster_node.current_gimbal_ratio = current_gimbal_ratio
+	thruster_node.max_force = max_force
+	thruster_node.max_gimbal = max_gimbal
+	return thruster_node
+
+
+static func from_dictionary(dict: Dictionary) -> GLTFVehicleThruster:
+	var ret := GLTFVehicleThruster.new()
+	if dict.has("currentForceRatio"):
+		ret.current_force_ratio = dict["currentForceRatio"]
+	if dict.has("currentGimbalRatio"):
+		ret.current_gimbal_ratio = dict["currentGimbalRatio"]
+	if dict.has("maxForce"):
+		ret.max_force = dict["maxForce"]
+	if dict.has("maxGimbal"):
+		ret.max_gimbal = dict["maxGimbal"]
+	return ret
+
+
+func to_dictionary() -> Dictionary:
+	var ret: Dictionary = {}
+	ret["maxForce"] = max_force
+	if current_force_ratio != 0.0:
+		ret["currentForceRatio"] = current_force_ratio
+	if current_gimbal_ratio != Vector2.ZERO:
+		ret["currentGimbalRatio"] = current_gimbal_ratio
+	if max_gimbal != 0.0:
+		ret["maxGimbal"] = max_gimbal
+	return ret

addons/omi_extensions/vehicle/gltf_vehicle_wheel.gd

@@ -0,0 +1,133 @@
+@tool
+class_name GLTFVehicleWheel
+extends Resource
+
+
+## The ratio of the maximum force the wheel is using for propulsion.
+@export_range(0.0, 1.0, 0.01)
+var current_force_ratio: float = 0.0
+## The ratio of the maximum steering angle the wheel is rotated to.
+@export_range(0.0, 1.0, 0.01)
+var current_steering_ratio: float = 0.0
+## The maximum force in Newtons (kg⋅m/s²) that the wheel can provide.
+@export_custom(PROPERTY_HINT_NONE, "suffix:kg\u22C5m/s\u00B2 (N)")
+var max_force: float = 0.0
+## The maximum angle in radians that the wheel can steer.
+@export_range(0, 90, 0.1, "radians")
+var max_steering_angle: float = 0.0
+## The index of the physics material in the top level physicsMaterials array.
+## TODO: This is currently unimplemented, pending glTF physics material support.
+@export var physics_material_index: int = -1
+## Godot only uses friction for wheel physics materials, not restitution.
+## Godot allows wheel friction to go above 1.0, but this is unrealistic.
+@export var physics_material_friction: float = 1.0
+## TODO: This is currently unimplemented, pending glTF physics material support.
+@export var physics_material: PhysicsMaterial = null
+## The radius of the wheel in meters. This is the radius of a circle in the local YZ plane.
+@export_custom(PROPERTY_HINT_NONE, "suffix:m")
+var radius: float = 0.25
+## The damping of the suspension during compression, the resistance to the velocity of the suspension. It is measured in Newton-seconds per meter (N⋅s/m), or kilograms per second (kg/s) in SI base units.
+@export_custom(PROPERTY_HINT_NONE, "suffix:kg/s (N\u22C5s/m)")
+var suspension_damping_compression: float = 2000.0
+## The damping of the suspension during rebound/relaxation, the resistance to the velocity of the suspension. It is measured in Newton-seconds per meter (N⋅s/m), or kilograms per second (kg/s) in SI base units.
+@export_custom(PROPERTY_HINT_NONE, "suffix:kg/s (N\u22C5s/m)")
+var suspension_damping_rebound: float = 2000.0
+## The stiffness of the suspension, the resistance to traveling away from the start point. It is measured in Newtons per meter, or kg/s² in SI base units.
+@export_custom(PROPERTY_HINT_NONE, "suffix:kg/s\u00B2 (N/m)")
+var suspension_stiffness: float = 20000.0
+## The maximum distance the suspension can move up or down in meters.
+@export_custom(PROPERTY_HINT_NONE, "suffix:m")
+var suspension_travel: float = 0.25
+## The width of the wheel in meters. This is the width of the wheel in the local X axis.
+## Note: Width is not used by Godot VehicleWheel3D but we will still import/export it to/from glTF.
+@export_custom(PROPERTY_HINT_NONE, "suffix:m")
+var width: float = 0.125
+
+
+static func from_node(wheel_node: VehicleWheel3D) -> GLTFVehicleWheel:
+	var ret := GLTFVehicleWheel.new()
+	ret.current_force_ratio = wheel_node.current_force_ratio
+	ret.current_steering_ratio = wheel_node.current_steering_ratio
+	ret.max_force = wheel_node.max_force
+	ret.max_steering_angle = wheel_node.max_steering_angle
+	ret.physics_material_friction = wheel_node.wheel_friction_slip
+	ret.radius = wheel_node.wheel_radius
+	# Note: Godot uses damping values in Mg/s while glTF uses kg/s.
+	ret.suspension_damping_compression = wheel_node.damping_compression * 1000.0
+	ret.suspension_damping_rebound = wheel_node.damping_relaxation * 1000.0
+	# Note: Godot uses stiffness values in Mg/s² (N/mm) while glTF uses kg/s² (N/m).
+	ret.suspension_stiffness = wheel_node.suspension_stiffness * 1000.0
+	ret.suspension_travel = wheel_node.suspension_travel
+	return ret
+
+
+func to_node() -> VehicleWheel3D:
+	var wheel_node := PilotedVehicleWheel3D.new()
+	wheel_node.current_force_ratio = current_force_ratio
+	wheel_node.current_steering_ratio = current_steering_ratio
+	wheel_node.max_force = max_force
+	wheel_node.max_steering_angle = max_steering_angle
+	wheel_node.wheel_friction_slip = physics_material_friction
+	wheel_node.wheel_radius = radius
+	# Note: Godot uses damping values in Mg/s while glTF uses kg/s.
+	wheel_node.damping_compression = suspension_damping_compression / 1000.0
+	wheel_node.damping_relaxation = suspension_damping_rebound / 1000.0
+	# Note: Godot uses stiffness values in Mg/s² (N/mm) while glTF uses kg/s² (N/m).
+	wheel_node.suspension_stiffness = suspension_stiffness / 1000.0
+	wheel_node.suspension_travel = suspension_travel
+	wheel_node.wheel_rest_length = suspension_travel
+	return wheel_node
+
+
+static func from_dictionary(dict: Dictionary) -> GLTFVehicleWheel:
+	var ret := GLTFVehicleWheel.new()
+	if dict.has("currentForceRatio"):
+		ret.current_force_ratio = dict["currentForceRatio"]
+	if dict.has("currentSteeringRatio"):
+		ret.current_steering_ratio = dict["currentSteeringRatio"]
+	if dict.has("maxForce"):
+		ret.max_force = dict["maxForce"]
+	if dict.has("maxSteeringAngle"):
+		ret.max_steering_angle = dict["maxSteeringAngle"]
+	if dict.has("physicsMaterial"):
+		ret.physics_material_index = dict["physicsMaterial"]
+	if dict.has("radius"):
+		ret.radius = dict["radius"]
+	if dict.has("suspensionDampingCompression"):
+		ret.suspension_damping_compression = dict["suspensionDampingCompression"]
+	if dict.has("suspensionDampingRebound"):
+		ret.suspension_damping_rebound = dict["suspensionDampingRebound"]
+	if dict.has("suspensionStiffness"):
+		ret.suspension_stiffness = dict["suspensionStiffness"]
+	if dict.has("suspensionTravel"):
+		ret.suspension_travel = dict["suspensionTravel"]
+	if dict.has("width"):
+		ret.width = dict["width"]
+	return ret
+
+
+func to_dictionary() -> Dictionary:
+	var ret: Dictionary = {}
+	if current_force_ratio != 0.0:
+		ret["currentForceRatio"] = current_force_ratio
+	if current_steering_ratio != 0.0:
+		ret["currentSteeringRatio"] = current_steering_ratio
+	if max_force != 0.0:
+		ret["maxForce"] = max_force
+	if max_steering_angle != 0.0:
+		ret["maxSteeringAngle"] = max_steering_angle
+	if physics_material_index != -1:
+		ret["physicsMaterial"] = physics_material_index
+	if radius != 0.25:
+		ret["radius"] = radius
+	if suspension_damping_compression != 500.0:
+		ret["suspensionDampingCompression"] = suspension_damping_compression
+	if suspension_damping_rebound != 500.0:
+		ret["suspensionDampingRebound"] = suspension_damping_rebound
+	if suspension_stiffness != 20000.0:
+		ret["suspensionStiffness"] = suspension_stiffness
+	if suspension_travel != 0.25:
+		ret["suspensionTravel"] = suspension_travel
+	if width != 0.125:
+		ret["width"] = width
+	return ret

addons/omi_extensions/vehicle/nodes/icons/PilotSeat3D.svg.import

@@ -0,0 +1,37 @@
+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://dr11x5imv6k72"
+path="res://.godot/imported/PilotSeat3D.svg-41ee0744bff179e41b8139d83cedc12f.ctex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://addons/omi_extensions/vehicle/nodes/icons/PilotSeat3D.svg"
+dest_files=["res://.godot/imported/PilotSeat3D.svg-41ee0744bff179e41b8139d83cedc12f.ctex"]
+
+[params]
+
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+process/size_limit=0
+detect_3d/compress_to=1
+svg/scale=4.0
+editor/scale_with_editor_scale=false
+editor/convert_colors_with_editor_theme=false

addons/omi_extensions/vehicle/nodes/icons/PilotedVehicleBody3D.svg.import

@@ -0,0 +1,37 @@
+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://duyicn5d75dej"
+path="res://.godot/imported/PilotedVehicleBody3D.svg-4dd97fb3a03a3a5cc0e0f562b8673ceb.ctex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://addons/omi_extensions/vehicle/nodes/icons/PilotedVehicleBody3D.svg"
+dest_files=["res://.godot/imported/PilotedVehicleBody3D.svg-4dd97fb3a03a3a5cc0e0f562b8673ceb.ctex"]
+
+[params]
+
+compress/mode=0
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+compress/lossy_quality=0.7
+compress/hdr_compression=1
+compress/normal_map=0
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+mipmaps/limit=-1
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+roughness/src_normal=""
+process/fix_alpha_border=true
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+process/normal_map_invert_y=false
+process/hdr_as_srgb=false
+process/hdr_clamp_exposure=false
+process/size_limit=0
+detect_3d/compress_to=1
+svg/scale=4.0
+editor/scale_with_editor_scale=false
+editor/convert_colors_with_editor_theme=false

addons/omi_extensions/vehicle/nodes/icons/PilotedVehicleWheel3D.svg.import

@@ -0,0 +1,37 @@
+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://bfco3nxeqjpxw"
+path="res://.godot/imported/PilotedVehicleWheel3D.svg-26c55183cf30b95687eaf62b3c4f8b76.ctex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://addons/omi_extensions/vehicle/nodes/icons/PilotedVehicleWheel3D.svg"
+dest_files=["res://.godot/imported/PilotedVehicleWheel3D.svg-26c55183cf30b95687eaf62b3c4f8b76.ctex"]
+
+[params]
+
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+compress/lossy_quality=0.7
+compress/hdr_compression=1
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+compress/channel_pack=0
+mipmaps/generate=false
+mipmaps/limit=-1
+roughness/mode=0
+roughness/src_normal=""
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/normal_map_invert_y=false
+process/hdr_as_srgb=false
+process/hdr_clamp_exposure=false
+process/size_limit=0
+detect_3d/compress_to=1
+svg/scale=4.0
+editor/scale_with_editor_scale=false
+editor/convert_colors_with_editor_theme=false

addons/omi_extensions/vehicle/nodes/icons/VehicleHoverThruster3D.svg.import

@@ -0,0 +1,37 @@
+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://dp2ay6syfi5jj"
+path="res://.godot/imported/VehicleHoverThruster3D.svg-a141cdc2cf3bcab4cd13e698ff39b60c.ctex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://addons/omi_extensions/vehicle/nodes/icons/VehicleHoverThruster3D.svg"
+dest_files=["res://.godot/imported/VehicleHoverThruster3D.svg-a141cdc2cf3bcab4cd13e698ff39b60c.ctex"]
+
+[params]
+
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+compress/lossy_quality=0.7
+compress/hdr_compression=1
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+mipmaps/generate=false
+mipmaps/limit=-1
+roughness/mode=0
+roughness/src_normal=""
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/normal_map_invert_y=false
+process/hdr_as_srgb=false
+process/hdr_clamp_exposure=false
+process/size_limit=0
+detect_3d/compress_to=1
+svg/scale=4.0
+editor/scale_with_editor_scale=false
+editor/convert_colors_with_editor_theme=false

addons/omi_extensions/vehicle/nodes/icons/VehicleThruster3D.svg.import

@@ -0,0 +1,37 @@
+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://ctqm641v56pgp"
+path="res://.godot/imported/VehicleThruster3D.svg-6ce976670e46f52b419323e88a5f961f.ctex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://addons/omi_extensions/vehicle/nodes/icons/VehicleThruster3D.svg"
+dest_files=["res://.godot/imported/VehicleThruster3D.svg-6ce976670e46f52b419323e88a5f961f.ctex"]
+
+[params]
+
+compress/mode=0
+compress/high_quality=false
+compress/lossy_quality=0.7
+compress/hdr_compression=1
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+compress/channel_pack=0
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+roughness/src_normal=""
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+process/normal_map_invert_y=false
+process/hdr_as_srgb=false
+process/hdr_clamp_exposure=false
+process/size_limit=0
+detect_3d/compress_to=1
+svg/scale=4.0
+editor/scale_with_editor_scale=false
+editor/convert_colors_with_editor_theme=false

addons/omi_extensions/vehicle/nodes/pilot_seat_3d.gd

@@ -0,0 +1,178 @@
+## A Seat3D designed for its occupant to pilot a PilotedVehicleBody3D node.
+@tool
+@icon("icons/PilotSeat3D.svg")
+class_name PilotSeat3D
+extends Seat3D
+
+
+enum ControlScheme {
+	## Automatically determine the control scheme based on the vehicle's components.
+	AUTO,
+	## Uses WS for forward/back movement and AD for steering, like most driving games.
+	CAR,
+	## Uses WASDRF for linear movement, QE roll, mouse pitch/yaw, or IJKLUO rotation.
+	SIX_DOF,
+	## Uses WASDQE for rotation, with W as up and S as down, Shift throttle up, Ctrl throttle down.
+	NAVBALL,
+	## Uses WASDQE for rotation, with W as down and S as up, like Kerbal Space Program.
+	NAVBALL_INVERTED,
+	## Like SIX_DOF but flattens the horizontal WASD input, good for hovercrafts.
+	HORIZONTAL_SIX_DOF,
+}
+
+const MOUSE_SENSITIVITY: float = 0.1
+const THROTTLE_RATE: float = 0.5
+
+## The control scheme to use. More can be added by editing pilot_seat_3d.gd.
+@export var control_scheme := ControlScheme.AUTO
+
+## Will be automatically when player_node is assigned to.
+## Can also be overridden for custom use cases.
+@export var use_local_controls: bool = false
+
+@export var piloted_vehicle_node: PilotedVehicleBody3D = null:
+	set(value):
+		piloted_vehicle_node = value
+		if piloted_vehicle_node.pilot_seat_node != self:
+			piloted_vehicle_node.pilot_seat_node = self
+
+## Should be set at runtime when a player enters the pilot seat.
+@export var _player_node: Node3D = null
+
+var _mouse_input := Vector2.ZERO
+
+
+func _ready() -> void:
+	if piloted_vehicle_node == null:
+		var parent: Node = get_parent()
+		if parent is PilotedVehicleBody3D:
+			piloted_vehicle_node = parent
+	if piloted_vehicle_node != null:
+		piloted_vehicle_node.pilot_seat_node = self
+	if Engine.is_editor_hint():
+		return
+
+
+func _physics_process(delta: float) -> void:
+	if Engine.is_editor_hint() or not use_local_controls or piloted_vehicle_node == null:
+		return
+	var actual_control_scheme: ControlScheme = _get_actual_control_scheme()
+	var angular_input: Vector3 = _get_angular_input(actual_control_scheme)
+	var linear_input: Vector3 = _get_linear_input(actual_control_scheme)
+	_mouse_input = Vector2.ZERO
+	if Input.is_action_just_pressed(&"toggle_linear_dampeners"):
+		piloted_vehicle_node.linear_dampeners = not piloted_vehicle_node.linear_dampeners
+	piloted_vehicle_node.angular_activation = angular_input
+	if Input.is_action_pressed(&"throttle_zero"):
+		piloted_vehicle_node.linear_activation = Vector3.ZERO
+	elif piloted_vehicle_node.use_throttle:
+		var change: Vector3 = (delta * THROTTLE_RATE) * linear_input
+		piloted_vehicle_node.linear_activation = (piloted_vehicle_node.linear_activation + change).clampf(-1.0, 1.0)
+	else:
+		piloted_vehicle_node.linear_activation = linear_input
+
+
+func _unhandled_input(input_event: InputEvent) -> void:
+	if Engine.is_editor_hint():
+		return
+	if input_event is InputEventMouseMotion:
+		if Input.mouse_mode == Input.MOUSE_MODE_CAPTURED:
+			_mouse_input += input_event.relative
+
+
+func enter_pilot_seat(player: Node3D) -> void:
+	assert(player != null)
+	_player_node = player
+	use_local_controls = player.is_multiplayer_authority()
+
+
+func exit_pilot_seat() -> void:
+	_player_node = null
+	use_local_controls = false
+	if piloted_vehicle_node:
+		piloted_vehicle_node.angular_activation = Vector3.ZERO
+		piloted_vehicle_node.linear_activation = Vector3.ZERO
+
+
+func _get_actual_control_scheme() -> ControlScheme:
+	if control_scheme != ControlScheme.AUTO:
+		return control_scheme
+	if piloted_vehicle_node.use_throttle:
+		return ControlScheme.NAVBALL
+	if piloted_vehicle_node.has_wheels():
+		return ControlScheme.CAR
+	if piloted_vehicle_node.has_hover_thrusters():
+		return ControlScheme.HORIZONTAL_SIX_DOF
+	return ControlScheme.SIX_DOF
+
+
+func _get_angular_input(actual_control_scheme: ControlScheme) -> Vector3:
+	match actual_control_scheme:
+		ControlScheme.CAR:
+			return Vector3(
+				Input.get_axis(&"rotate_pitch_up", &"rotate_pitch_down"),
+				Input.get_axis(&"move_right", &"move_left"),
+				Input.get_axis(&"rotate_yaw_left", &"rotate_yaw_right")
+			)
+		ControlScheme.NAVBALL:
+			return Vector3(
+				Input.get_axis(&"move_forward", &"move_back"),
+				Input.get_axis(&"move_right", &"move_left"),
+				Input.get_axis(&"rotate_roll_ccw", &"rotate_roll_clockwise"),
+			)
+		ControlScheme.NAVBALL_INVERTED:
+			return Vector3(
+				Input.get_axis(&"move_back", &"move_forward"),
+				Input.get_axis(&"move_right", &"move_left"),
+				Input.get_axis(&"rotate_roll_ccw", &"rotate_roll_clockwise"),
+			)
+	var angular_input := Vector3(
+		Input.get_axis(&"rotate_pitch_up", &"rotate_pitch_down"),
+		Input.get_axis(&"rotate_yaw_right", &"rotate_yaw_left"),
+		Input.get_axis(&"rotate_roll_ccw", &"rotate_roll_clockwise")
+	)
+	Input.mouse_mode = Input.MOUSE_MODE_CAPTURED
+	angular_input.x += _mouse_input.y * MOUSE_SENSITIVITY
+	angular_input.y -= _mouse_input.x * MOUSE_SENSITIVITY
+	return angular_input
+
+
+func _get_linear_input(actual_control_scheme: ControlScheme) -> Vector3:
+	match actual_control_scheme:
+		ControlScheme.CAR:
+			return Vector3(
+				Input.get_axis(&"rotate_roll_clockwise", &"rotate_roll_ccw"),
+				Input.get_axis(&"move_down", &"move_up"),
+				Input.get_axis(&"move_back", &"move_forward")
+			)
+		ControlScheme.NAVBALL:
+			return Vector3(
+				Input.get_axis(&"rotate_yaw_right", &"rotate_yaw_left"),
+				Input.get_axis(&"rotate_pitch_down", &"rotate_pitch_up"),
+				Input.get_axis(&"throttle_decrease", &"throttle_increase")
+			)
+		ControlScheme.NAVBALL_INVERTED:
+			return Vector3(
+				Input.get_axis(&"rotate_yaw_right", &"rotate_yaw_left"),
+				Input.get_axis(&"rotate_pitch_down", &"rotate_pitch_up"),
+				Input.get_axis(&"throttle_decrease", &"throttle_increase")
+			)
+		ControlScheme.HORIZONTAL_SIX_DOF:
+			var vehicle_euler: Vector3 = piloted_vehicle_node.basis.get_euler()
+			var flatten := Basis.from_euler(Vector3(-vehicle_euler.x, 0.0, -vehicle_euler.z))
+			return flatten * Vector3(
+				Input.get_axis(&"move_right", &"move_left"),
+				Input.get_axis(&"move_down", &"move_up"),
+				Input.get_axis(&"move_back", &"move_forward")
+			)
+	return Vector3(
+		Input.get_axis(&"move_right", &"move_left"),
+		Input.get_axis(&"move_down", &"move_up"),
+		Input.get_axis(&"move_back", &"move_forward")
+	)
+
+
+static func from_points(p_back: Vector3, p_foot: Vector3, p_knee: Vector3, p_angle: float = TAU * 0.25) -> PilotSeat3D:
+	var seat = PilotSeat3D.new()
+	seat.set_points(p_back, p_foot, p_knee, p_angle)
+	return seat

addons/omi_extensions/vehicle/nodes/piloted_vehicle_body_3d.gd

@@ -0,0 +1,136 @@
+## General-purpose piloted VehicleBody3D. Can be used for cars, spacecraft, airplanes, boats, and more.
+@icon("icons/PilotedVehicleBody3D.svg")
+class_name PilotedVehicleBody3D
+extends VehicleBody3D
+
+
+const INERTIA_DAMPENER_RATE_ANGULAR: float = 4.0
+const INERTIA_DAMPENER_RATE_LINEAR: float = 1.0
+
+
+## The input value controlling the ratio of the vehicle's angular forces.
+@export var angular_activation := Vector3.ZERO
+## The input value controlling the ratio of the vehicle's linear forces.
+@export var linear_activation := Vector3.ZERO
+## The gyroscope torque intrinsic to the vehicle, excluding torque from parts, measured in Newton-meters per radian (kg⋅m²/s²/rad).
+@export_custom(PROPERTY_HINT_NONE, "suffix:kg\u22C5m\u00B2/s\u00B2/rad (N\u22C5m/rad)")
+var gyroscope_torque := Vector3.ZERO
+## If non-negative, the speed in meters per second at which the vehicle should stop driving acceleration further.
+@export var max_speed: float = -1.0
+## The node to use as the pilot seat / driver seat.
+@export var pilot_seat_node: PilotSeat3D = null:
+	set(value):
+		pilot_seat_node = value
+		if pilot_seat_node.piloted_vehicle_node != self:
+			pilot_seat_node.piloted_vehicle_node = self
+## If true, the vehicle should slow its rotation down when not given angular activation input for a specific rotation.
+@export var angular_dampeners: bool = true
+## If true, the vehicle should slow itself down when not given linear activation input for a specific direction.
+@export var linear_dampeners: bool = false
+## If true, the vehicle should use a throttle for linear movement. If max_speed is non-negative, the throttle should be a ratio of that speed, otherwise it should be a ratio of thrust power.
+@export var use_throttle: bool = false
+
+var _hover_thrusters: Array[VehicleHoverThruster3D] = []
+var _thrusters: Array[VehicleThruster3D] = []
+var _wheels: Array[PilotedVehicleWheel3D] = []
+var _keep_upright: bool = false
+
+
+func _ready() -> void:
+	if pilot_seat_node:
+		pilot_seat_node.piloted_vehicle_node = self
+
+
+func _physics_process(delta: float) -> void:
+	if Engine.is_editor_hint():
+		return
+	var actual_angular: Vector3 = angular_activation
+	var actual_linear: Vector3 = linear_activation
+	var global_to_local_rot: Quaternion = quaternion.inverse()
+	var local_angular_vel: Vector3 = global_to_local_rot * get_angular_velocity()
+	var local_linear_vel: Vector3 = global_to_local_rot * get_linear_velocity()
+	# Determine the actual linear values to use based on activation, throttle, and dampeners.
+	if use_throttle and max_speed >= 0.0:
+		# In this case, the throttle should be a ratio of the maximum speed,
+		# with the thrust adjusting so that the vehicle meets the target speed.
+		var target_velocity: Vector3 = max_speed * linear_activation
+		actual_linear.x = (target_velocity.x - local_linear_vel.x) / max_speed
+		actual_linear.y = (target_velocity.y - local_linear_vel.y) / max_speed
+		actual_linear.z = (target_velocity.z - local_linear_vel.z) / max_speed
+	elif linear_dampeners:
+		if is_zero_approx(actual_linear.x):
+			actual_linear.x = local_linear_vel.x * -INERTIA_DAMPENER_RATE_LINEAR
+		if is_zero_approx(actual_linear.y):
+			actual_linear.y = local_linear_vel.y * -INERTIA_DAMPENER_RATE_LINEAR
+		if is_zero_approx(actual_linear.z):
+			actual_linear.z = local_linear_vel.z * -INERTIA_DAMPENER_RATE_LINEAR
+		if not _hover_thrusters.is_empty():
+			var up: Vector3 = -_get_local_gravity_direction()
+			actual_linear += up if linear_activation != Vector3.ZERO else up * 0.75
+	# Vehicle wheels should never rotate due to dampeners, because for wheels,
+	# pointing straight is a vehicle's best attempt to stop rotating.
+	for wheel in _wheels:
+		wheel.set_steering_from_vehicle_angular_input(actual_angular)
+		wheel.set_thrust_from_vehicle_linear_input(actual_linear)
+	# Determine the actual angular values to use based on activation and dampeners.
+	if angular_dampeners:
+		if is_zero_approx(angular_activation.x):
+			actual_angular.x = local_angular_vel.x * -INERTIA_DAMPENER_RATE_ANGULAR
+		if is_zero_approx(angular_activation.y):
+			actual_angular.y = local_angular_vel.y * -INERTIA_DAMPENER_RATE_ANGULAR
+		if is_zero_approx(angular_activation.z):
+			actual_angular.z = local_angular_vel.z * -INERTIA_DAMPENER_RATE_ANGULAR
+		# Hovercraft, cars, etc should attempt to keep themselves upright.
+		if _keep_upright:
+			var to_up: Quaternion = _get_rotation_to_upright()
+			var v = Vector3(to_up.x, 0.0, to_up.z).limit_length()
+			if is_zero_approx(angular_activation.x):
+				actual_angular.x += v.x
+			if is_zero_approx(angular_activation.z):
+				actual_angular.z += v.z
+	actual_angular = actual_angular.clampf(-1.0, 1.0)
+	actual_linear = actual_linear.clampf(-1.0, 1.0)
+	# Now that we've calculated the actual angular/linear inputs including
+	# throttle and dampeners, apply them to everything (except wheels).
+	apply_torque(basis * (gyroscope_torque * actual_angular))
+	for hover_thruster in _hover_thrusters:
+		hover_thruster.set_from_vehicle_input(actual_angular, actual_linear)
+	for thruster in _thrusters:
+		thruster.set_gimbal_from_vehicle_angular_input(actual_angular)
+		thruster.set_thrust_from_vehicle_linear_input(actual_linear)
+
+
+func has_hover_thrusters() -> bool:
+	return not _hover_thrusters.is_empty()
+
+
+func has_wheels() -> bool:
+	return not _wheels.is_empty()
+
+
+func register_part(part: Node3D) -> void:
+	if part is VehicleHoverThruster3D:
+		_hover_thrusters.append(part)
+		_keep_upright = true
+	elif part is VehicleThruster3D:
+		_thrusters.append(part)
+	elif part is PilotedVehicleWheel3D:
+		_wheels.append(part)
+		_keep_upright = true
+	else:
+		printerr("PilotedVehicleBody3D: Unknown part type: ", part)
+
+
+func _get_rotation_to_upright() -> Quaternion:
+	var y = -_get_local_gravity_direction()
+	if y == Vector3.ZERO:
+		return Quaternion.IDENTITY
+	var x = y.cross(Vector3.BACK)
+	var z = x.cross(y).normalized()
+	x = y.cross(z)
+	var b = Basis(x, y, z)
+	return b.get_rotation_quaternion()
+
+
+func _get_local_gravity_direction() -> Vector3:
+	return (quaternion.inverse() * get_gravity()).normalized()

addons/omi_extensions/vehicle/nodes/piloted_vehicle_wheel_3d.gd

@@ -0,0 +1,59 @@
+@icon("icons/PilotedVehicleWheel3D.svg")
+class_name PilotedVehicleWheel3D
+extends VehicleWheel3D
+
+
+## The ratio of the maximum force the wheel is using for propulsion.
+@export_range(0.0, 1.0, 0.01)
+var current_force_ratio: float = 0.0
+## The ratio of the maximum steering angle the wheel is rotated to.
+@export_range(0.0, 1.0, 0.01)
+var current_steering_ratio: float = 0.0
+## The maximum force in Newtons (kg⋅m/s²) that the wheel can provide.
+@export_custom(PROPERTY_HINT_NONE, "suffix:kg\u22C5m/s\u00B2 (N)")
+var max_force: float = 0.0
+## The maximum angle in radians that the wheel can steer.
+@export_range(0, 90, 0.1, "radians")
+var max_steering_angle: float = 0.0
+
+var _negate_steering: bool = false
+var _parent_body: RigidBody3D = null
+
+
+func _enter_tree() -> void:
+	_parent_body = _get_parent_body()
+	if position.z < 0.0:
+		_negate_steering = true
+
+
+func _physics_process(delta: float) -> void:
+	steering = move_toward(steering, current_steering_ratio * max_steering_angle, delta)
+
+
+func set_steering_from_vehicle_angular_input(angular_input: Vector3) -> void:
+	# Note: This code only supports wheels where 0 steering means forward.
+	# Ideally we should allow for wheels in other rotations but that would be more complicated.
+	# Other implementations of OMI_vehicle_wheel can use more complex algorithms if they wish.
+	var steer_ratio: float = angular_input.y * angular_input.y
+	if (angular_input.y < 0) != _negate_steering:
+		steer_ratio = -steer_ratio
+	current_steering_ratio = clampf(steer_ratio, -1.0, 1.0)
+
+
+func set_thrust_from_vehicle_linear_input(linear_input: Vector3) -> void:
+	# Note: This code only supports wheels where 0 steering means forward.
+	# Ideally we should allow for wheels in other rotations but that would be more complicated.
+	# Other implementations of OMI_vehicle_wheel can use more complex algorithms if they wish.
+	current_force_ratio = linear_input.z * cos(steering)
+	engine_force = current_force_ratio * max_force
+
+
+func _get_parent_body() -> RigidBody3D:
+	var parent = get_parent()
+	while parent != null:
+		if parent is RigidBody3D:
+			if parent is PilotedVehicleBody3D:
+				parent.register_part(self)
+			return parent
+		parent = parent.get_parent()
+	return null

addons/omi_extensions/vehicle/nodes/vehicle_hover_thruster_3d.gd

@@ -0,0 +1,139 @@
+## Hover thruster for vehicles, used for hovercraft thrust. This is not realistic, it is sci-fi.
+## For the "enabled" property supplied by RayCast3D: If false, the hover thruster will not gimbal or apply forces.
+@icon("icons/VehicleHoverThruster3D.svg")
+class_name VehicleHoverThruster3D
+extends RayCast3D
+
+
+# Controls how much the vehicle's angular input should affect the hover ratio.
+# 0 = none, 1 or more = too much stabilization (overcorrection/bounciness).
+const TORQUE_STABILIZATION = 0.5
+
+## The ratio of the maximum hover energy the hover thruster is using for propulsion.
+@export_range(0.0, 1.0, 0.01)
+var current_hover_ratio: float = 0.0
+## The ratio of the maximum gimbal angles the hover thruster is rotated to. The vector length may not be longer than 1.0. Note: Gimbal must be set before adding the node to the tree.
+@export var current_gimbal_ratio := Vector2(0.0, 0.0)
+## The maximum gimbal energy in Newton-meters (N⋅m or kg⋅m²/s²) that the hover thruster can provide.
+@export_custom(PROPERTY_HINT_NONE, "suffix:kg\u22C5m\u00B2/s\u00B2 (N\u22C5m)")
+var max_hover_energy: float = 0.0
+## The maximum angle the hover thruster can gimbal or rotate in radians. Note: Gimbal must be set before adding the node to the tree.
+@export_custom(PROPERTY_HINT_NONE, "suffix:rad")
+var max_gimbal: float = 0.0
+
+var _parent_body: RigidBody3D = null
+var _particles_node: GPUParticles3D = null
+
+var _parent_transform_to_body := Transform3D.IDENTITY
+var _parent_quaternion_to_body := Quaternion.IDENTITY
+var _rest_quaternion := Quaternion.IDENTITY
+var _rest_quaternion_to_body := Quaternion.IDENTITY
+var _maximum_linear_gimbal_adjust: float = 0.0
+var _negate_gimbal: bool = true
+
+
+func _init() -> void:
+	target_position = Vector3(0.0, 0.0, -1000.0)
+
+
+func _enter_tree() -> void:
+	_parent_body = _get_parent_body()
+	recalculate_transforms()
+
+
+func _ready() -> void:
+	for child in get_children():
+		if child is GPUParticles3D:
+			_particles_node = child
+			break
+
+
+func _physics_process(delta: float) -> void:
+	if Engine.is_editor_hint():
+		# This isn't a tool script so I have no clue why it's running in the editor but it does?
+		return
+	if _parent_body == null or not enabled:
+		if _particles_node:
+			_particles_node.amount_ratio = 0.0
+		return
+	# First, find the actual hover ratio we need. Hover thrusters should naturally provide
+	var actual_hover: float = clampf(current_hover_ratio, 0.0, 1.0)
+	quaternion = _rest_quaternion * _get_gimbal_rotation_quaternion()
+	if _particles_node:
+		_particles_node.amount_ratio = current_hover_ratio
+	if _parent_body == null:
+		return
+	var hit_distance: float = maxf(get_collision_point().distance_to(global_position), 0.1)
+	var max_hover_force: float = max_hover_energy / hit_distance # Nm / m == N
+	var force_amount: float = actual_hover * max_hover_force
+	var force_dir: Vector3 = _parent_body.basis * _parent_transform_to_body.basis * basis.z
+	var force_pos: Vector3 = Transform3D(_parent_body.basis) * _parent_transform_to_body * position
+	_parent_body.apply_force(force_dir * force_amount, force_pos)
+
+
+func recalculate_transforms() -> void:
+	if _parent_body == null:
+		printerr("Error: VehicleThruster3D must be a descendant of a RigidBody3D node (preferably PilotedVehicleBody3D).")
+		return
+	_parent_transform_to_body = Transform3D.IDENTITY
+	var parent: Node = get_parent()
+	while parent != _parent_body:
+		_parent_transform_to_body = parent.transform * _parent_transform_to_body
+		parent = parent.get_parent()
+	_rest_quaternion = quaternion * _get_gimbal_rotation_quaternion().inverse()
+	_parent_quaternion_to_body = _parent_transform_to_body.basis.get_rotation_quaternion()
+	_rest_quaternion_to_body = _parent_quaternion_to_body * _rest_quaternion
+	var rest_transform_to_body: Transform3D = _parent_transform_to_body * Transform3D(Basis(_rest_quaternion), position)
+	var offset: Vector3 = rest_transform_to_body.origin - _parent_body.center_of_mass
+	_maximum_linear_gimbal_adjust = maxf(asin(rest_transform_to_body.basis.z.y) - TAU / 12.0, 0.0)
+	_negate_gimbal = offset.dot(rest_transform_to_body.basis.z) < 0.0
+
+
+func set_from_vehicle_input(angular_input: Vector3, linear_input: Vector3) -> void:
+	# Set the gimbal based on angular input.
+	if max_gimbal != 0.0:
+		var rotated: Vector3 = _rest_quaternion_to_body.inverse() * angular_input
+		var gimbal_amount: float = -max_gimbal if _negate_gimbal else max_gimbal
+		current_gimbal_ratio = (Vector2(rotated.x, rotated.y) / gimbal_amount).limit_length()
+	# Adjust the gimbal based on linear input (optional but significantly improves handling).
+	var rot: Quaternion = _rest_quaternion_to_body * _get_gimbal_rotation_quaternion()
+	var local_input: Vector3 = rot.inverse() * linear_input
+	var max_linear_gimbal_adjust: float = _maximum_linear_gimbal_adjust / max_gimbal
+	var linear_gimbal_adjust: Vector2 = Vector2(-local_input.y, local_input.x).limit_length() * max_linear_gimbal_adjust
+	current_gimbal_ratio = (current_gimbal_ratio + linear_gimbal_adjust).limit_length()
+	# Set the hover ratio based on linear input and angular torque.
+	rot = _rest_quaternion_to_body * _get_gimbal_rotation_quaternion()
+	var thrust_direction: Vector3 = rot * Vector3(0, 0, 1)
+	var thrust_hover: float = maxf(linear_input.dot(thrust_direction), 0.0)
+	var torque: Vector3 = position.cross(thrust_direction)
+	var torque_hover: float = maxf(angular_input.dot(torque) * TORQUE_STABILIZATION, 0.0)
+	current_hover_ratio = clampf(thrust_hover + torque_hover, 0.0, 1.0)
+
+
+func _get_gimbal_rotation_quaternion() -> Quaternion:
+	if current_gimbal_ratio.is_zero_approx() or is_zero_approx(max_gimbal):
+		return Quaternion.IDENTITY
+	var rot_angles: Vector2 = current_gimbal_ratio.limit_length() * max_gimbal
+	var angle_mag: float = rot_angles.length()
+	var sin_norm_angle: float = sin(angle_mag / 2.0) / angle_mag
+	var cos_half_angle: float = cos(angle_mag / 2.0)
+	return Quaternion(rot_angles.x * sin_norm_angle, rot_angles.y * sin_norm_angle, 0.0, cos_half_angle)
+
+
+func _get_parent_body() -> RigidBody3D:
+	var parent = get_parent()
+	while parent != null:
+		if parent is RigidBody3D:
+			if parent is PilotedVehicleBody3D:
+				parent.register_part(self)
+			return parent
+		parent = parent.get_parent()
+	return null
+
+
+func _make_debug_mesh() -> void:
+	var mi := MeshInstance3D.new()
+	var box := BoxMesh.new()
+	box.size = Vector3(0.1, 0.1, 4.0)
+	mi.mesh = box
+	add_child(mi)

addons/omi_extensions/vehicle/nodes/vehicle_thruster_3d.gd

@@ -0,0 +1,106 @@
+## General-purpose thruster for vehicles. Has a gimbal and emits a force.
+## VehicleThruster3D can be used to create rocket engines, jet engines, control thrusters, or any other kind of thruster.
+@icon("icons/VehicleThruster3D.svg")
+class_name VehicleThruster3D
+extends Node3D
+
+
+## If false, the thruster will not gimbal or apply forces.
+@export var enabled: bool = true
+## The ratio of the maximum thrust force the thruster is currently using for propulsion.
+@export_range(0.0, 1.0, 0.01)
+var current_force_ratio: float = 0.0
+## The ratio of the maximum gimbal angles the thruster is rotated to. The vector length may not be longer than 1.0. Note: Gimbal must be set before adding the node to the tree.
+@export var current_gimbal_ratio := Vector2(0.0, 0.0)
+## The maximum thrust force in Newtons (kg⋅m/s²) that the thruster can provide.
+@export_custom(PROPERTY_HINT_NONE, "suffix:kg\u22C5m/s\u00B2 (N)")
+var max_force: float = 0.0
+## The maximum angle the thruster can gimbal or rotate in radians. Note: Gimbal must be set before adding the node to the tree.
+@export_custom(PROPERTY_HINT_NONE, "suffix:rad")
+var max_gimbal: float = 0.0
+
+var _parent_body: RigidBody3D = null
+var _particles_node: GPUParticles3D = null
+
+var _parent_transform_to_body := Transform3D.IDENTITY
+var _parent_quaternion_to_body := Quaternion.IDENTITY
+var _rest_quaternion := Quaternion.IDENTITY
+var _body_to_rest_quaternion := Quaternion.IDENTITY
+var _negate_gimbal: bool = true
+
+
+func _enter_tree() -> void:
+	_parent_body = _get_parent_body()
+	recalculate_transforms()
+
+
+func _ready() -> void:
+	for child in get_children():
+		if child is GPUParticles3D:
+			_particles_node = child
+			break
+
+
+func _physics_process(delta: float) -> void:
+	if _parent_body == null or not enabled:
+		if _particles_node:
+			_particles_node.amount_ratio = 0.0
+		return
+	quaternion = _rest_quaternion * _get_gimbal_rotation_quaternion()
+	if _particles_node:
+		_particles_node.amount_ratio = current_force_ratio
+	if _parent_body == null:
+		return
+	var force_amount: float = current_force_ratio * max_force
+	var force_dir: Vector3 = _parent_body.basis * _parent_transform_to_body.basis * basis.z
+	var force_pos: Vector3 = Transform3D(_parent_body.basis) * _parent_transform_to_body * position
+	_parent_body.apply_force(force_dir * force_amount, force_pos)
+
+
+func recalculate_transforms() -> void:
+	if _parent_body == null:
+		printerr("Error: VehicleThruster3D must be a descendant of a RigidBody3D node (preferably PilotedVehicleBody3D).")
+		return
+	_parent_transform_to_body = Transform3D.IDENTITY
+	var parent: Node = get_parent()
+	while parent != _parent_body:
+		_parent_transform_to_body = parent.transform * _parent_transform_to_body
+		parent = parent.get_parent()
+	_rest_quaternion = quaternion * _get_gimbal_rotation_quaternion().inverse()
+	_parent_quaternion_to_body = _parent_transform_to_body.basis.get_rotation_quaternion()
+	_body_to_rest_quaternion = (_parent_quaternion_to_body * _rest_quaternion).inverse()
+	var rest_transform_to_body: Transform3D = _parent_transform_to_body * Transform3D(Basis(_rest_quaternion), position)
+	var offset: Vector3 = rest_transform_to_body.origin - _parent_body.center_of_mass
+	_negate_gimbal = offset.dot(rest_transform_to_body.basis.z) < 0.0
+
+
+func set_gimbal_from_vehicle_angular_input(angular_input: Vector3) -> void:
+	var rotated: Vector3 = _body_to_rest_quaternion * angular_input
+	var gimbal_amount: float = -max_gimbal if _negate_gimbal else max_gimbal
+	current_gimbal_ratio = Vector2(rotated.x, rotated.y) / gimbal_amount
+
+
+func set_thrust_from_vehicle_linear_input(linear_input: Vector3) -> void:
+	var thrust_direction: Vector3 = (_parent_quaternion_to_body * quaternion) * Vector3(0.0, 0.0, 1.0)
+	current_force_ratio = clampf(linear_input.dot(thrust_direction), 0.0, 1.0)
+
+
+func _get_gimbal_rotation_quaternion() -> Quaternion:
+	if current_gimbal_ratio.is_zero_approx() or is_zero_approx(max_gimbal):
+		return Quaternion.IDENTITY
+	var rot_angles: Vector2 = current_gimbal_ratio.limit_length() * max_gimbal
+	var angle_mag: float = rot_angles.length()
+	var sin_norm_angle: float = sin(angle_mag * 0.5) / angle_mag
+	var cos_half_angle: float = cos(angle_mag * 0.5)
+	return Quaternion(rot_angles.x * sin_norm_angle, rot_angles.y * sin_norm_angle, 0.0, cos_half_angle)
+
+
+func _get_parent_body() -> RigidBody3D:
+	var parent = get_parent()
+	while parent != null:
+		if parent is RigidBody3D:
+			if parent is PilotedVehicleBody3D:
+				parent.register_part(self)
+			return parent
+		parent = parent.get_parent()
+	return null

addons/omi_extensions/vehicle/omi_vehicle_doc_ext.gd

@@ -0,0 +1,215 @@
+@tool
+class_name GLTFDocumentExtensionOMIVehicle
+extends GLTFDocumentExtension
+
+
+# Import process.
+func _import_preflight(state: GLTFState, extensions: PackedStringArray) -> Error:
+	if not extensions.has("OMI_vehicle_body") and not extensions.has("OMI_vehicle_hover_thruster") and not extensions.has("OMI_vehicle_thruster") and not extensions.has("OMI_vehicle_wheel"):
+		return ERR_SKIP
+	var state_json: Dictionary = state.get_json()
+	if state_json.has("extensions"):
+		var state_extensions: Dictionary = state_json["extensions"]
+		if state_extensions.has("OMI_vehicle_hover_thruster"):
+			var omi_vehicle_hover_thruster_ext: Dictionary = state_extensions["OMI_vehicle_hover_thruster"]
+			if omi_vehicle_hover_thruster_ext.has("hoverThrusters"):
+				var state_hover_thruster_dicts: Array = omi_vehicle_hover_thruster_ext["hoverThrusters"]
+				if state_hover_thruster_dicts.size() > 0:
+					var state_hover_thrusters: Array[GLTFVehicleHoverThruster] = []
+					for i in range(state_hover_thruster_dicts.size()):
+						state_hover_thrusters.append(GLTFVehicleHoverThruster.from_dictionary(state_hover_thruster_dicts[i]))
+					state.set_additional_data(&"GLTFVehicleHoverThrusters", state_hover_thrusters)
+		if state_extensions.has("OMI_vehicle_thruster"):
+			var omi_vehicle_thruster_ext: Dictionary = state_extensions["OMI_vehicle_thruster"]
+			if omi_vehicle_thruster_ext.has("thrusters"):
+				var state_thruster_dicts: Array = omi_vehicle_thruster_ext["thrusters"]
+				if state_thruster_dicts.size() > 0:
+					var state_thrusters: Array[GLTFVehicleThruster] = []
+					for i in range(state_thruster_dicts.size()):
+						state_thrusters.append(GLTFVehicleThruster.from_dictionary(state_thruster_dicts[i]))
+					state.set_additional_data(&"GLTFVehicleThrusters", state_thrusters)
+		if state_extensions.has("OMI_vehicle_wheel"):
+			var omi_vehicle_wheel_ext: Dictionary = state_extensions["OMI_vehicle_wheel"]
+			if omi_vehicle_wheel_ext.has("wheels"):
+				var state_wheel_dicts: Array = omi_vehicle_wheel_ext["wheels"]
+				if state_wheel_dicts.size() > 0:
+					var state_wheels: Array[GLTFVehicleWheel] = []
+					for i in range(state_wheel_dicts.size()):
+						state_wheels.append(GLTFVehicleWheel.from_dictionary(state_wheel_dicts[i]))
+					state.set_additional_data(&"GLTFVehicleWheels", state_wheels)
+	return OK
+
+
+func _get_supported_extensions() -> PackedStringArray:
+	return PackedStringArray(["OMI_vehicle_body", "OMI_vehicle_hover_thruster", "OMI_vehicle_thruster", "OMI_vehicle_wheel"])
+
+
+func _parse_node_extensions(state: GLTFState, gltf_node: GLTFNode, extensions: Dictionary) -> Error:
+	if extensions.has("OMI_vehicle_body"):
+		gltf_node.set_additional_data(&"GLTFVehicleBody", GLTFVehicleBody.from_dictionary(extensions["OMI_vehicle_body"]))
+	if extensions.has("OMI_vehicle_hover_thruster"):
+		var node_hover_thruster_ext: Dictionary = extensions["OMI_vehicle_hover_thruster"]
+		if node_hover_thruster_ext.has("hoverThruster"):
+			# "hoverThruster" is the index of the hover thruster parameters in the state hover thrusters array.
+			var node_hover_thruster_index: int = node_hover_thruster_ext["hoverThruster"]
+			var state_hover_thrusters: Array[GLTFVehicleHoverThruster] = state.get_additional_data(&"GLTFVehicleHoverThrusters")
+			if node_hover_thruster_index < 0 or node_hover_thruster_index >= state_hover_thrusters.size():
+				printerr("GLTF Physics: On node " + gltf_node.get_name() + ", the hover thruster index " + str(node_hover_thruster_index) + " is not in the state hover thrusters (size: " + str(state_hover_thrusters.size()) + ").")
+				return ERR_FILE_CORRUPT
+			gltf_node.set_additional_data(&"GLTFVehicleHoverThruster", state_hover_thrusters[node_hover_thruster_index])
+		else:
+			gltf_node.set_additional_data(&"GLTFVehicleHoverThruster", GLTFVehicleHoverThruster.from_dictionary(extensions["OMI_vehicle_hover_thruster"]))
+	if extensions.has("OMI_vehicle_thruster"):
+		var node_thruster_ext: Dictionary = extensions["OMI_vehicle_thruster"]
+		if node_thruster_ext.has("thruster"):
+			# "thruster" is the index of the thruster parameters in the state thrusters array.
+			var node_thruster_index: int = node_thruster_ext["thruster"]
+			var state_thrusters: Array[GLTFVehicleThruster] = state.get_additional_data(&"GLTFVehicleThrusters")
+			if node_thruster_index < 0 or node_thruster_index >= state_thrusters.size():
+				printerr("GLTF Physics: On node " + gltf_node.get_name() + ", the thruster index " + str(node_thruster_index) + " is not in the state thrusters (size: " + str(state_thrusters.size()) + ").")
+				return ERR_FILE_CORRUPT
+			gltf_node.set_additional_data(&"GLTFVehicleThruster", state_thrusters[node_thruster_index])
+		else:
+			gltf_node.set_additional_data(&"GLTFVehicleThruster", GLTFVehicleThruster.from_dictionary(extensions["OMI_vehicle_thruster"]))
+	if extensions.has("OMI_vehicle_wheel"):
+		var node_wheel_ext: Dictionary = extensions["OMI_vehicle_wheel"]
+		if node_wheel_ext.has("wheel"):
+			# "wheel" is the index of the wheel parameters in the state wheels array.
+			var node_wheel_index: int = node_wheel_ext["wheel"]
+			var state_wheels: Array[GLTFVehicleWheel] = state.get_additional_data(&"GLTFVehicleWheels")
+			if node_wheel_index < 0 or node_wheel_index >= state_wheels.size():
+				printerr("GLTF Physics: On node " + gltf_node.get_name() + ", the wheel index " + str(node_wheel_index) + " is not in the state wheels (size: " + str(state_wheels.size()) + ").")
+				return ERR_FILE_CORRUPT
+			gltf_node.set_additional_data(&"GLTFVehicleWheel", state_wheels[node_wheel_index])
+		else:
+			gltf_node.set_additional_data(&"GLTFVehicleWheel", GLTFVehicleWheel.from_dictionary(extensions["OMI_vehicle_wheel"]))
+	return OK
+
+
+func _import_post_parse(state: GLTFState) -> Error:
+	# If a vehicle is using a seat as a pilot seat, inform that seat that it's a pilot seat.
+	# This must be done after parsing node extensions and before generating nodes.
+	var gltf_nodes: Array[GLTFNode] = state.get_nodes()
+	for gltf_node in gltf_nodes:
+		var gltf_vehicle_body = gltf_node.get_additional_data(&"GLTFVehicleBody")
+		if gltf_vehicle_body is GLTFVehicleBody:
+			if gltf_vehicle_body.pilot_seat_index != -1:
+				var seat_node: GLTFNode = gltf_nodes[gltf_vehicle_body.pilot_seat_index]
+				if seat_node is GLTFNode:
+					seat_node.set_additional_data(&"GLTFPilotedVehicleBody", gltf_nodes.find(gltf_node))
+	return OK
+
+
+func _generate_scene_node(gltf_state: GLTFState, gltf_node: GLTFNode, scene_parent: Node) -> Node3D:
+	var gltf_vehicle_body = gltf_node.get_additional_data(&"GLTFVehicleBody")
+	if gltf_vehicle_body is GLTFVehicleBody:
+		return gltf_vehicle_body.to_node(gltf_state, gltf_node)
+	var gltf_vehicle_hover_thruster = gltf_node.get_additional_data(&"GLTFVehicleHoverThruster")
+	if gltf_vehicle_hover_thruster is GLTFVehicleHoverThruster:
+		return gltf_vehicle_hover_thruster.to_node()
+	var gltf_vehicle_thruster = gltf_node.get_additional_data(&"GLTFVehicleThruster")
+	if gltf_vehicle_thruster is GLTFVehicleThruster:
+		return gltf_vehicle_thruster.to_node()
+	var gltf_vehicle_wheel = gltf_node.get_additional_data(&"GLTFVehicleWheel")
+	if gltf_vehicle_wheel is GLTFVehicleWheel:
+		return gltf_vehicle_wheel.to_node()
+	var gltf_seat_dict = gltf_node.get_additional_data(&"OMI_seat")
+	if gltf_seat_dict != null:
+		var gltf_piloted_body = gltf_node.get_additional_data(&"GLTFPilotedVehicleBody")
+		if gltf_piloted_body is int and gltf_piloted_body != -1:
+			var seat = PilotSeat3D.from_points(gltf_seat_dict["back"], gltf_seat_dict["foot"], gltf_seat_dict["knee"], gltf_seat_dict.get("angle", TAU * 0.25))
+			# If this pilot seat node has a glTF trigger shape, generate that shape too.
+			var trigger = gltf_node.get_additional_data(&"GLTFPhysicsTriggerShape")
+			if trigger is GLTFPhysicsShape:
+				var shape: CollisionShape3D = trigger.to_node(true)
+				shape.name = gltf_node.resource_name + "Shape"
+				seat.add_child(shape)
+			return seat
+	return null
+
+
+func _import_node(gltf_state: GLTFState, gltf_node: GLTFNode, json: Dictionary, node: Node) -> Error:
+	if node is PilotedVehicleBody3D:
+		var vehicle_node: PilotedVehicleBody3D = node
+		var gltf_vehicle_body: GLTFVehicleBody = gltf_node.get_additional_data(&"GLTFVehicleBody")
+		if gltf_vehicle_body.pilot_seat_index != -1:
+			vehicle_node.pilot_seat_node = gltf_state.get_scene_node(gltf_vehicle_body.pilot_seat_index)
+		if vehicle_node.pilot_seat_node != null:
+			vehicle_node.pilot_seat_node.piloted_vehicle_node = vehicle_node
+	elif node is PilotSeat3D:
+		var gltf_piloted_body = gltf_node.get_additional_data(&"GLTFPilotedVehicleBody")
+		if gltf_piloted_body is int and gltf_piloted_body != -1:
+			node.piloted_vehicle_node = gltf_state.get_scene_node(gltf_piloted_body)
+	return OK
+
+
+# Export process.
+func _convert_scene_node(state: GLTFState, gltf_node: GLTFNode, scene_node: Node) -> void:
+	if scene_node is VehicleBody3D:
+		var gltf_vehicle_body := GLTFVehicleBody.from_node(scene_node)
+		gltf_node.set_additional_data(&"GLTFVehicleBody", gltf_vehicle_body)
+	elif scene_node is VehicleHoverThruster3D:
+		var gltf_vehicle_hover_thruster := GLTFVehicleHoverThruster.from_node(scene_node)
+		gltf_node.set_additional_data(&"GLTFVehicleHoverThruster", gltf_vehicle_hover_thruster)
+	elif scene_node is VehicleThruster3D:
+		var gltf_vehicle_thruster := GLTFVehicleThruster.from_node(scene_node)
+		gltf_node.set_additional_data(&"GLTFVehicleThruster", gltf_vehicle_thruster)
+	elif scene_node is VehicleWheel3D:
+		var gltf_vehicle_wheel := GLTFVehicleWheel.from_node(scene_node)
+		gltf_node.set_additional_data(&"GLTFVehicleWheel", gltf_vehicle_wheel)
+
+
+func _get_or_create_array_in_state(gltf_state: GLTFState, ext_name: String, ext_key: String) -> Array:
+	var state_json: Dictionary = gltf_state.get_json()
+	var state_extensions: Dictionary = state_json.get_or_add("extensions", {})
+	var ext: Dictionary = state_extensions.get_or_add(ext_name, {})
+	gltf_state.add_used_extension(ext_name, false)
+	var state_ext: Array = ext.get_or_add(ext_key, [])
+	return state_ext
+
+
+func _node_index_from_scene_node(state: GLTFState, scene_node: Node) -> int:
+	var index: int = 0
+	var node: Node = state.get_scene_node(index)
+	while node != null:
+		if node == scene_node:
+			return index
+		index = index + 1
+		node = state.get_scene_node(index)
+	return -1
+
+
+func _export_node_item(gltf_state: GLTFState, data_name: StringName, ext_name: String, ext_item_key: String, gltf_node: GLTFNode, node_json: Dictionary) -> void:
+	var data_resource: Resource = gltf_node.get_additional_data(data_name)
+	if data_resource == null:
+		return
+	var node_extensions: Dictionary = node_json.get_or_add("extensions", {})
+	var state_array: Array = _get_or_create_array_in_state(gltf_state, ext_name, ext_item_key + "s")
+	var size: int = state_array.size()
+	var node_ext: Dictionary = {}
+	node_extensions[ext_name] = node_ext
+	var serialized_dict: Dictionary = data_resource.to_dictionary()
+	for i in range(size):
+		var other: Dictionary = state_array[i]
+		if other == serialized_dict:
+			# De-duplication: If we already have an identical item,
+			# set the item index to the existing one and return.
+			node_ext[ext_item_key] = i
+			return
+	# If we don't have an identical item, add it to the array.
+	state_array.append(serialized_dict)
+	node_ext[ext_item_key] = size
+
+
+func _export_node(state: GLTFState, gltf_node: GLTFNode, json: Dictionary, _node: Node) -> Error:
+	var gltf_vehicle_body: GLTFVehicleBody = gltf_node.get_additional_data(&"GLTFVehicleBody")
+	if gltf_vehicle_body != null:
+		gltf_vehicle_body.pilot_seat_index = _node_index_from_scene_node(state, gltf_vehicle_body.pilot_seat_node)
+		var node_extensions = json.get_or_add("extensions", {})
+		state.add_used_extension("OMI_vehicle_body", false)
+		node_extensions["OMI_vehicle_body"] = gltf_vehicle_body.to_dictionary()
+	# Use GDScript's dynamic typing to avoid repeating the same code for each type.
+	_export_node_item(state, &"GLTFVehicleHoverThruster", "OMI_vehicle_hover_thruster", "hoverThruster", gltf_node, json)
+	_export_node_item(state, &"GLTFVehicleThruster", "OMI_vehicle_thruster", "thruster", gltf_node, json)
+	_export_node_item(state, &"GLTFVehicleWheel", "OMI_vehicle_wheel", "wheel", gltf_node, json)
+	return OK

examples/omi_physics_joint/gltf/hanging_rope.gltf.import

@@ -32,8 +32,5 @@ animation/remove_immutable_tracks=true
 animation/import_rest_as_RESET=false
 import_script/path=""
 _subresources={}
-fbx/importer=0
-fbx/allow_geometry_helper_nodes=false
-fbx/embedded_image_handling=1
 gltf/naming_version=1
 gltf/embedded_image_handling=1

examples/omi_physics_joint/gltf/pendulum_balls.gltf.import

@@ -32,8 +32,5 @@ animation/remove_immutable_tracks=true
 animation/import_rest_as_RESET=false
 import_script/path=""
 _subresources={}
-fbx/importer=0
-fbx/allow_geometry_helper_nodes=false
-fbx/embedded_image_handling=1
 gltf/naming_version=1
 gltf/embedded_image_handling=1

examples/omi_physics_joint/gltf/rope_railing.gltf.import

@@ -32,8 +32,5 @@ animation/remove_immutable_tracks=true
 animation/import_rest_as_RESET=false
 import_script/path=""
 _subresources={}
-fbx/importer=0
-fbx/allow_geometry_helper_nodes=false
-fbx/embedded_image_handling=1
 gltf/naming_version=1
 gltf/embedded_image_handling=1

examples/omi_physics_joint/gltf/simple_joint.gltf.import

@@ -32,8 +32,5 @@ animation/remove_immutable_tracks=true
 animation/import_rest_as_RESET=false
 import_script/path=""
 _subresources={}
-fbx/importer=0
-fbx/allow_geometry_helper_nodes=false
-fbx/embedded_image_handling=1
 gltf/naming_version=1
 gltf/embedded_image_handling=1

examples/omi_physics_joint/gltf/slider_ball.gltf.import

@@ -32,8 +32,5 @@ animation/remove_immutable_tracks=true
 animation/import_rest_as_RESET=false
 import_script/path=""
 _subresources={}
-fbx/importer=0
-fbx/allow_geometry_helper_nodes=false
-fbx/embedded_image_handling=1
 gltf/naming_version=1
 gltf/embedded_image_handling=1

examples/omi_physics_joint/gltf/swing_and_slide.gltf.import

@@ -32,8 +32,5 @@ animation/remove_immutable_tracks=true
 animation/import_rest_as_RESET=false
 import_script/path=""
 _subresources={}
-fbx/importer=0
-fbx/allow_geometry_helper_nodes=false
-fbx/embedded_image_handling=1
 gltf/naming_version=1
 gltf/embedded_image_handling=1

examples/omi_physics_joint/gltf/weld_joint.gltf.import

@@ -32,8 +32,5 @@ animation/remove_immutable_tracks=true
 animation/import_rest_as_RESET=false
 import_script/path=""
 _subresources={}
-fbx/importer=0
-fbx/allow_geometry_helper_nodes=false
-fbx/embedded_image_handling=1
 gltf/naming_version=1
 gltf/embedded_image_handling=1

examples/omi_vehicle/gltf/hovercraft/hovercraft.gltf

@@ -0,0 +1,267 @@
+{
+    "accessors": [
+        {
+            "bufferView": 0,
+            "byteOffset": 0,
+            "componentType": 5126,
+            "count": 378,
+            "max": [1.98310995101929, 1.67935001850128, 2.88399004936218],
+            "min": [-1.98310995101929, -0.93333500623703, -2.9108099937439],
+            "normalized": false,
+            "type": "VEC3"
+        },
+        {
+            "bufferView": 1,
+            "byteOffset": 0,
+            "componentType": 5123,
+            "count": 378,
+            "max": [377],
+            "min": [0],
+            "normalized": false,
+            "type": "SCALAR"
+        },
+        {
+            "bufferView": 2,
+            "byteOffset": 0,
+            "componentType": 5126,
+            "count": 3793,
+            "max": [1.98310720920563, 1.6796053647995, 2.88399434089661],
+            "min": [-1.98310720920563, -0.93333530426025, -2.91081380844116],
+            "normalized": false,
+            "type": "VEC3"
+        },
+        {
+            "bufferView": 3,
+            "byteOffset": 0,
+            "componentType": 5126,
+            "count": 3793,
+            "max": [1, 0.999988317489624, 0.996253252029419, 1],
+            "min": [-1, -0.99999952316284, -0.9926170706749, -1],
+            "normalized": false,
+            "type": "VEC4"
+        },
+        {
+            "bufferView": 4,
+            "byteOffset": 0,
+            "componentType": 5126,
+            "count": 3793,
+            "max": [1, 0.999989926815033, 0.999467015266418],
+            "min": [-1, -1, -0.99987590312958],
+            "normalized": false,
+            "type": "VEC3"
+        },
+        {
+            "bufferView": 5,
+            "byteOffset": 0,
+            "componentType": 5126,
+            "count": 3793,
+            "max": [0.87500011920929, 1],
+            "min": [0.125, -0.00000011920929],
+            "normalized": false,
+            "type": "VEC2"
+        },
+        {
+            "bufferView": 6,
+            "byteOffset": 0,
+            "componentType": 5123,
+            "count": 6792,
+            "max": [1594],
+            "min": [0],
+            "normalized": false,
+            "type": "SCALAR"
+        }
+    ],
+    "asset": {
+        "extensions": { "KHR_xmp_json_ld": { "packet": 0 } },
+        "generator": "Godot Engine v4.3.stable.official@77dcf97d82cbfe4e4615475fa52ca03da645dbd8",
+        "version": "2.0"
+    },
+    "bufferViews": [
+        { "buffer": 0, "byteLength": 4536, "byteOffset": 0, "byteStride": 12, "target": 34962 },
+        { "buffer": 0, "byteLength": 756, "byteOffset": 4536, "target": 34963 },
+        { "buffer": 0, "byteLength": 45516, "byteOffset": 5292, "byteStride": 12, "target": 34962 },
+        { "buffer": 0, "byteLength": 60688, "byteOffset": 50808, "byteStride": 16, "target": 34962 },
+        { "buffer": 0, "byteLength": 45516, "byteOffset": 111496, "byteStride": 12, "target": 34962 },
+        { "buffer": 0, "byteLength": 30344, "byteOffset": 157012, "byteStride": 8, "target": 34962 },
+        { "buffer": 0, "byteLength": 13584, "byteOffset": 187356, "target": 34963 }
+    ],
+    "buffers": [{ "byteLength": 200940, "uri": "hovercraft.bin" }],
+    "extensions": {
+        "KHR_xmp_json_ld": {
+            "packets": [
+                {
+                    "@context": { "dc": "http://purl.org/dc/elements/1.1/" },
+                    "@id": "",
+                    "dc:creator": { "@list": ["Tameno", "aaronfranke"] },
+                    "dc:description": "Hovercraft test file for the OMI_vehicle_body and OMI_vehicle_hover_thruster extensions.",
+                    "dc:format": "model/gltf+json",
+                    "dc:rights": "Public domain",
+                    "dc:subject": { "@set": ["Hovercraft"] },
+                    "dc:title": "Hovercraft",
+                    "dc:type": { "@set": ["Vehicle", "Demo", "Test"] }
+                }
+            ]
+        },
+        "OMI_physics_shape": {
+            "shapes": [
+                { "convex": { "mesh": 0 }, "type": "convex" },
+                { "box": { "size": [2, 2, 2] }, "type": "box" }
+            ]
+        },
+        "OMI_vehicle_hover_thruster": {
+			"hoverThrusters": [
+				{
+					"maxGimbal": 0.25,
+					"maxHoverEnergy": 30000
+				}
+			]
+		}
+    },
+    "extensionsUsed": [
+        "GODOT_single_root",
+        "KHR_xmp_json_ld",
+        "OMI_physics_body",
+        "OMI_physics_shape",
+        "OMI_seat",
+        "OMI_vehicle_body",
+        "OMI_vehicle_hover_thruster"
+    ],
+    "materials": [
+        {
+            "extensions": {},
+            "name": "HovercraftMaterial",
+            "pbrMetallicRoughness": {
+                "baseColorFactor": [1, 1, 1, 1],
+                "metallicFactor": 1,
+                "roughnessFactor": 0.2
+            }
+        }
+    ],
+    "meshes": [
+        {
+            "extras": { "targetNames": [] },
+            "primitives": [{ "attributes": { "POSITION": 0 }, "indices": 1, "mode": 4 }]
+        },
+        {
+            "extras": { "targetNames": [] },
+            "primitives": [
+                {
+                    "attributes": { "NORMAL": 4, "POSITION": 2, "TANGENT": 3, "TEXCOORD_0": 5 },
+                    "indices": 6,
+                    "material": 0,
+                    "mode": 4
+                }
+            ]
+        }
+    ],
+    "nodes": [
+        {
+            "children": [1, 2, 3, 4, 5, 6, 7, 9, 11, 13],
+            "extensions": {
+                "OMI_physics_body": { "motion": { "mass": 2000, "type": "dynamic" } },
+                "OMI_vehicle_body": { "linearDampeners": true, "pilotSeat": 13 }
+            },
+            "name": "HovercraftBody"
+        },
+        {
+			"extensions": {
+				"OMI_physics_body": { "collider": { "shape": 0 } }
+			},
+			"name": "HovercraftCollider"
+		},
+        {
+			"mesh": 1,
+			"name": "HovercraftMesh"
+		},
+        {
+            "extensions": {
+				"OMI_vehicle_hover_thruster": { "hoverThruster": 0 }
+			},
+            "name": "HoverThrusterBL",
+            "rotation": [-0.42660024762154, -0.33944433927536, -0.17670360207558, 0.81949108839035],
+            "translation": [1.2, -0.25, -2.1]
+        },
+        {
+            "extensions": {
+				"OMI_vehicle_hover_thruster": { "hoverThruster": 0 }
+			},
+            "name": "HoverThrusterBR",
+            "rotation": [-0.42660024762154, 0.33944433927536, 0.176703602075577, 0.81949108839035],
+            "translation": [-1.2, -0.25, -2.1]
+        },
+        {
+            "extensions": {
+				"OMI_vehicle_hover_thruster": { "hoverThruster": 0 }
+			},
+            "name": "HoverThrusterFL",
+            "rotation": [0.176703602075577, 0.81949108839035, 0.426600247621536, -0.33944433927536],
+            "translation": [1.2, -0.25, 2.1]
+        },
+        {
+            "extensions": {
+				"OMI_vehicle_hover_thruster": { "hoverThruster": 0 }
+			},
+            "name": "HoverThrusterFR",
+            "rotation": [-0.17670360207558, 0.81949108839035, 0.426600247621536, 0.33944433927536],
+            "translation": [-1.2, -0.25, 2.1]
+        },
+        {
+            "children": [8],
+            "extensions": {
+                "OMI_physics_body": { "trigger": { "nodes": [8] } },
+                "OMI_seat": { "back": [0, 0, -0.25], "foot": [0, -0.5, 0.25], "knee": [0, 0, 0.25] }
+            },
+            "name": "PassengerSeatFront",
+            "translation": [-0.5, 0.5, 0]
+        },
+        {
+            "extensions": { "OMI_physics_body": { "trigger": { "shape": 1 } } },
+            "name": "PassengerSeatFrontShape",
+            "translation": [-0.75, 0, 0.75]
+        },
+        {
+            "children": [10],
+            "extensions": {
+                "OMI_physics_body": { "trigger": { "nodes": [10] } },
+                "OMI_seat": { "back": [0, 0, -0.25], "foot": [0, -0.5, 0.25], "knee": [0, 0, 0.25] }
+            },
+            "name": "PassengerSeatRearLeft",
+            "translation": [0.5, 0.5, -1.125]
+        },
+        {
+            "extensions": { "OMI_physics_body": { "trigger": { "shape": 1 } } },
+            "name": "PassengerSeatRearLeftShape",
+            "translation": [0.75, 0, -0.75]
+        },
+        {
+            "children": [12],
+            "extensions": {
+                "OMI_physics_body": { "trigger": { "nodes": [12] } },
+                "OMI_seat": { "back": [0, 0, -0.25], "foot": [0, -0.5, 0.25], "knee": [0, 0, 0.25] }
+            },
+            "name": "PassengerSeatRearRight",
+            "translation": [-0.5, 0.5, -1.125]
+        },
+        {
+            "extensions": { "OMI_physics_body": { "trigger": { "shape": 1 } } },
+            "name": "PassengerSeatRearRightShape",
+            "translation": [-0.75, 0, -0.75]
+        },
+        {
+            "children": [14],
+            "extensions": {
+                "OMI_physics_body": { "trigger": { "nodes": [14] } },
+                "OMI_seat": { "back": [0, 0, -0.25], "foot": [0, -0.5, 0.25], "knee": [0, 0, 0.25] }
+            },
+            "name": "PilotSeat",
+            "translation": [0.5, 0.5, 0]
+        },
+        {
+            "extensions": { "OMI_physics_body": { "trigger": { "shape": 1 } } },
+            "name": "PilotSeatShape",
+            "translation": [0.75, 0, 0.75]
+        }
+    ],
+    "scene": 0,
+    "scenes": [{ "nodes": [0] }]
+}

examples/omi_vehicle/gltf/hovercraft/hovercraft.gltf.import

@@ -0,0 +1,36 @@
+[remap]
+
+importer="scene"
+importer_version=1
+type="PackedScene"
+uid="uid://cghtq66o4561u"
+path="res://.godot/imported/hovercraft.gltf-1b610d389f3f60a42b4292e3da7099cc.scn"
+
+[deps]
+
+source_file="res://examples/omi_vehicle/gltf/hovercraft/hovercraft.gltf"
+dest_files=["res://.godot/imported/hovercraft.gltf-1b610d389f3f60a42b4292e3da7099cc.scn"]
+
+[params]
+
+nodes/root_type=""
+nodes/root_name=""
+nodes/apply_root_scale=true
+nodes/root_scale=1.0
+nodes/import_as_skeleton_bones=false
+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=""
+_subresources={}
+gltf/naming_version=1
+gltf/embedded_image_handling=1

examples/omi_vehicle/gltf/low_poly_space_station/low_poly_space_station.gltf

@@ -0,0 +1,180 @@
+{
+    "asset": {
+        "generator": "Khronos glTF Blender I/O v4.1.62",
+        "version": "2.0"
+    },
+    "extensionsUsed": [
+        "GODOT_single_root",
+        "KHR_xmp_json_ld",
+        "OMI_physics_body",
+        "OMI_physics_shape"
+    ],
+    "extensions": {
+        "KHR_xmp_json_ld": {
+            "packets": [
+                {
+                    "@context": { "dc": "http://purl.org/dc/elements/1.1/" },
+                    "@id": "",
+                    "dc:creator": { "@list": ["Šimon Ustal", "aaronfranke"] },
+                    "dc:description": "Low-Poly Space Station - 3December by Šimon Ustal with OMI_physics added by aaronfranke.",
+                    "dc:format": "model/gltf+json",
+                    "dc:rights": "CC-BY 4.0 Attribution",
+                    "dc:source": "https://sketchfab.com/3d-models/low-poly-space-station-3december-df0259b2555d41fabed95c2fdcf23daa",
+                    "dc:subject": { "@set": ["Space", "Space Station"] },
+                    "dc:title": "Low-Poly Space Station - 3December",
+                    "dc:type": { "@set": ["Spacecraft"] }
+                }
+            ]
+        },
+        "OMI_physics_shape": {
+            "shapes": [
+                {
+                    "type": "trimesh",
+                    "trimesh": { "mesh": 0 }
+                }
+            ]
+        }
+    },
+    "scene": 0,
+    "scenes": [
+        {
+            "name": "Scene",
+            "nodes": [0]
+        }
+    ],
+    "nodes": [
+        {
+            "children": [1, 2],
+            "name": "SpaceStationBody",
+			"extensions": {
+				"OMI_physics_body": {
+					"motion": {
+						"type": "static"
+					}
+				}
+			}
+        },
+        {
+            "mesh": 0,
+            "name": "SpaceStationMesh"
+        },
+        {
+            "name": "SpaceStationTrimeshShape",
+			"extensions": {
+				"OMI_physics_body": {
+					"collider": {
+						"shape": 0
+					}
+				}
+			}
+        }
+    ],
+    "materials": [
+        {
+            "doubleSided": true,
+            "name": "SpaceStationMaterial",
+            "pbrMetallicRoughness": {
+                "baseColorTexture": {
+                    "index": 0
+                },
+                "metallicFactor": 0,
+                "roughnessFactor": 0.5
+            }
+        }
+    ],
+    "meshes": [
+        {
+            "name": "SpaceStationMeshData",
+            "primitives": [
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