fix(vehicle): one chassis body, so the car sits on the road

The vehicle floated 3.7 m above the street because the physics asset had a body per bone
and the four wheel bodies intersected the chassis body, pushing the whole thing up. It is
now a single chassis body on the root bone (452 x 205 x 40 cm) - the same shape Unreal's
vehicle template uses, because Chaos simulates the wheels itself and they must not be
separate rigid bodies.

Settle check, same spawn point:
  before: settled at Z 494 cm
  after:  settled at Z 119 cm

Added -drivetest, which holds full throttle for 3 s and reports speed and distance. It
fails, and the failure names its own cause: BeginPlay logs '0 wheel objects after register'
while the component reports 4 wheel setups, so no wheels exist to receive torque. Recorded
in TODO.md with the next step - check the skeleton bone names against the setups, then give
the front and rear pairs their own wheel subclasses instead of the base class.

Game/GigLine/Source/GigLine/GigLineVehicle.cpp

@@ -91,7 +91,25 @@ void AGigLineVehicle::ConfigureWheels()
 void AGigLineVehicle::BeginPlay()
 {
 	Super::BeginPlay();
-	ConfigureWheels();
+
+	// Wheel objects do not exist until the component is registered, so the per-wheel
+	// flags set in the constructor went nowhere - which is why the drive test measured
+	// zero speed with throttle held. Apply them again now that they exist, and give the
+	// engine a torque curve to actually make force.
+	if (UChaosWheeledVehicleMovementComponent* Movement =
+			Cast<UChaosWheeledVehicleMovementComponent>(GetVehicleMovementComponent()))
+	{
+		ConfigureWheels();
+		Movement->EngineSetup.MaxTorque = 500.0f;
+		Movement->EngineSetup.MaxRPM = 6000.0f;
+		Movement->EngineSetup.EngineIdleRPM = 900.0f;
+		Movement->TransmissionSetup.bUseAutomaticGears = true;
+		Movement->TransmissionSetup.FinalRatio = 3.5f;
+		Movement->SetThrottleInput(0.0f);
+		UE_LOG(LogTemp, Warning,
+			TEXT("GigLine vehicle: %d wheel objects after register, torque %.0f"),
+			Movement->Wheels.Num(), Movement->EngineSetup.MaxTorque);
+	}
 	UE_LOG(LogTemp, Warning, TEXT("GigLine vehicle: spawned at (%.0f, %.0f, %.0f), %d wheel setups"),
 		GetActorLocation().X, GetActorLocation().Y, GetActorLocation().Z,
 		GetVehicleMovementComponent()
@@ -107,6 +125,35 @@ void AGigLineVehicle::Tick(float DeltaSeconds)
 	// One settled-state report: proves the physics body exists, is simulating, and has
 	// come to rest on the road rather than falling through it. Everything else about the
 	// driving behaviour is measured later; this is the "is it real" check.
+	// `-drivetest`: hold full throttle from 1 s to 4 s and report the result. A vehicle
+	// that spawns is not a vehicle that drives.
+	if (FParse::Param(FCommandLine::Get(), TEXT("drivetest")))
+	{
+		DriveElapsed += DeltaSeconds;
+		if (UChaosVehicleMovementComponent* Movement = GetVehicleMovementComponent())
+		{
+			if (DriveElapsed > 1.0f && DriveElapsed < 4.0f)
+			{
+				Movement->SetThrottleInput(1.0f);
+			}
+			else if (DriveElapsed >= 4.0f && !bDriveReported)
+			{
+				Movement->SetThrottleInput(0.0f);
+				bDriveReported = true;
+				const float SpeedCm = Movement->GetForwardSpeed();
+				const float TravelledM = FVector::Dist2D(GetActorLocation(), DriveStart) / 100.f;
+				UE_LOG(LogTemp, Warning,
+					TEXT("GigLine vehicle DRIVETEST speed=%.0f cm/s (%.1f km/h), travelled %.1f m -> %s"),
+					SpeedCm, SpeedCm * 0.036f, TravelledM,
+					(SpeedCm > 200.f && TravelledM > 1.0f) ? TEXT("PASS") : TEXT("FAIL"));
+			}
+		}
+	}
+	if (DriveStart.IsZero() && DriveElapsed > 1.0f)
+	{
+		DriveStart = GetActorLocation();
+	}
+
 	SettleElapsed += DeltaSeconds;
 	if (!bSettleReported && SettleElapsed > 3.0f)
 	{

Game/GigLine/Source/GigLine/GigLineVehicle.h

@@ -36,6 +36,10 @@ private:
 	/** Configure the Chaos wheels from the modelled dimensions. */
 	void ConfigureWheels();
 
+	float DriveElapsed = 0.f;
+	bool bDriveReported = false;
+	FVector DriveStart = FVector::ZeroVector;
+
 	float SettleElapsed = 0.f;
 	bool bSettleReported = false;
 };

Game/GigLine/Source/GigLine/GigLineVehicleBuilder.cpp

@@ -5,6 +5,10 @@
 #include "Engine/SkeletalMesh.h"
 #include "PhysicsAssetUtils.h"
 #include "PhysicsEngine/PhysicsAsset.h"
+#include "PhysicsEngine/BodySetup.h"
+#include "PhysicsEngine/SkeletalBodySetup.h"
+#include "Engine/SkeletalMesh.h"
+
 #include "UObject/Package.h"
 #endif
 
@@ -28,34 +32,32 @@ UPhysicsAsset* UGigLineVehicleBuilder::BuildPhysicsAsset(USkeletalMesh* Mesh,
 	}
 	UPhysicsAsset* PhysicsAsset = NewObject<UPhysicsAsset>(Package, *AssetName,
 		RF_Public | RF_Standalone | RF_Transactional);
-	if (!PhysicsAsset)
-	{
-		UE_LOG(LogTemp, Warning, TEXT("GigLine vehicle: could not create %s"), *FullName);
-		return nullptr;
-	}
 
-	// Boxes on the five bones: a root box and four wheel capsules is what a car needs;
-	// per-bone hulls from a 500-triangle mesh would add cost for nothing.
-	FPhysAssetCreateParams Params;
-	Params.MinBoneSize = 1.0f;
-	Params.GeomType = EFG_Box;
-	Params.bCreateConstraints = true;
-	// Every bone gets a body: the vehicle has exactly five bones (root plus four
-	// wheels) and each one needs collision, so filtering by bone size only produced a
-	// single root body.
-	Params.bBodyForAll = true;
-	Params.bWalkPastSmall = false;
-	Params.bDisableCollisionsByDefault = true;
+	// ONE body on the chassis bone, which is what Unreal's own vehicle template uses.
+	// The first attempt let FPhysicsAssetUtils build a body per bone and the car settled
+	// 3.7 m above the road: the four wheel bodies were intersecting the chassis body and
+	// pushing the whole vehicle up. Chaos drives the wheels itself, so they must not be
+	// separate rigid bodies here.
+	const FBoxSphereBounds Bounds = Mesh->GetBounds();
+	const FVector Extent = Bounds.BoxExtent;
+	const FName ChassisBone(TEXT("root"));
 
-	FText Error;
-	const bool bOk = FPhysicsAssetUtils::CreateFromSkeletalMesh(
-		PhysicsAsset, Mesh, Params, Error, /*bSetToMesh=*/true, /*bShowProgress=*/false);
-	if (!bOk)
-	{
-		UE_LOG(LogTemp, Warning, TEXT("GigLine vehicle: physics asset build failed: %s"),
-			*Error.ToString());
-		return nullptr;
-	}
+	USkeletalBodySetup* Body = NewObject<USkeletalBodySetup>(PhysicsAsset, ChassisBone,
+		RF_Public | RF_Transactional);
+	Body->BoneName = ChassisBone;
+	// A box slightly under the mesh bounds: a body that is exactly the bounds sits on the
+	// ground plane and reads as floating because the mesh has wheels below the sills.
+	FKBoxElem Box;
+	Box.X = Extent.X * 1.9f;
+	Box.Y = Extent.Y * 1.8f;
+	Box.Z = Extent.Z * 0.55f;
+	Box.Center = FVector(0.f, 0.f, -Extent.Z * 0.25f);
+	Body->AggGeom.BoxElems.Add(Box);
+	PhysicsAsset->SkeletalBodySetups.Add(Body);
+
+	UE_LOG(LogTemp, Warning,
+		TEXT("GigLine vehicle: chassis body %.0f x %.0f x %.0f cm on bone '%s'"),
+		Box.X, Box.Y, Box.Z, *ChassisBone.ToString());
 
 	PhysicsAsset->MarkPackageDirty();
 	UE_LOG(LogTemp, Warning, TEXT("GigLine vehicle: physics asset %s with %d bodies"),

TODO.md

@@ -16,11 +16,10 @@ Actionable task list for this project. This file is the single, central place fo
 - [A] Model one vehicle in Blender with collision meshes; export to Unreal. **Model done** (`Tools/vehicle_build.py` → `Art/blender/vehicle/gigline-sedan.blend`, preview in `Art/blender/vehicle/preview.png`): 4.72 x 1.80 x 1.44 m, 2.78 m wheelbase, 1.62 m track, 0.33 m wheels, 252 triangles, four `UCX_` convex hulls. Dimensions come from real sedan figures and are logged to the report, so the vehicle config can read them rather than restating them. - **Imported into Unreal** (`Tools/ue_vehicle_import.py` → `/Game/Hollywood/Vehicle`), split per the vehicle-artist object split: `SM_Vehicle_Body` (3 slots, 4.76 x 1.76 x 1.28 m), `SM_Vehicle_Glass`, `SM_Vehicle_Light_Front`, `SM_Vehicle_Light_Rear`, `SM_Vehicle_Mirrors`, and one `SM_Vehicle_Wheel` (0.22 x 0.66 x 0.66 m) reused four times. The body FBX carries the `UCX_` hulls as simple collision.
   - **LODs cut for real:** decimating the duplicate gives LOD1 at 38 triangles and LOD2 at 14, against 132 for LOD0. The first attempt duplicated the shell unchanged and produced 84-triangle LODs that saved nothing - worth remembering as the failure mode of a "LOD" step nobody measures.
   - **LOD group wiring is open:** `StaticMeshEditorSubsystem.import_lod` is unavailable in a headless commandlet (`get_editor_subsystem` returns None), so the LOD meshes import as their own assets and the group still needs an editor session.
-- [~] Set up Chaos Vehicle with wheel and physics configuration. **The vehicle spawns, simulates and has its four wheel setups; it does not yet sit on the road.**
-  - **Physics asset generated from script.** `unreal.PhysicsAssetFactory` exposes no mesh property, so `UGigLineVehicleBuilder::BuildPhysicsAsset` (C++, editor-only) calls `FPhysicsAssetUtils::CreateFromSkeletalMesh`. Result: `PA_Vehicle_Sedan` with **6 bodies**, assigned to `SK_Vehicle_Sedan`.
-  - **Vehicle class in place.** `AGigLineVehicle` (Chaos wheeled pawn) configures four wheel setups from the modelled dimensions — radius 33 cm, wheelbase 278 cm, track 156 cm — and is staged in DemoMap as `Demo_Vehicle_Sedan`. A run logs `spawned at (-12950, -900, 120), 4 wheel setups`.
-  - **Defect:** it settles at **Z 494 cm** instead of road level (spawned at 120). The physics bodies do not match the mesh, or the car is resting on its own collision boxes — 3.7 m of lift is exactly the kind of thing `bBodyForAll` with generated boxes produces when the boxes are built from the wrong bone extents.
-  - **Next:** inspect `PA_Vehicle_Sedan`'s bodies against the mesh (root box should be ~4.7 x 1.8 x 0.5 m, wheels ~0.66 m), then fix the creation params or replace the auto bodies with two explicit boxes plus four wheel spheres.
+- [~] Set up Chaos Vehicle with wheel and physics configuration. **It sits on the road now; it does not drive yet.**
+  - **Fixed the floating:** the physics asset had a body per bone, and the four wheel bodies intersected the chassis body and pushed the car 3.7 m up. It is now a **single chassis body** on the `root` bone (452 x 205 x 40 cm), which is what Unreal's own vehicle template uses - Chaos simulates the wheels itself, they must not be separate rigid bodies. Settle check: **Z 119 cm** at a spawn of 120 (was 494).
+  - **Drive test fails, with a specific cause:** `-drivetest` holds full throttle for 3 s and reports speed and distance. Result: `speed=0 cm/s, travelled 2.2 m -> FAIL`, and BeginPlay logs **`0 wheel objects after register`** while the component reports 4 wheel setups. The setups exist but no wheels are created from them, so there is nothing to apply torque to.
+  - **Next:** confirm the skeleton's bone names match the setups (`Wheel_FL`, `Wheel_FR`, `Wheel_RL`, `Wheel_RR`) - a name mismatch silently produces zero wheels - and give the front and rear pairs their own `UChaosVehicleWheel` subclasses rather than the base class, which is what the setups point at today.
   - **Also open:** LOD group wiring, enter/exit, driving route, handling.
 - [ ] Implement enter/exit interaction.
 - [ ] Build a closed driving route with boundaries.