Linear velocity cleanup
CharacterBody has a linear_velocity property to replace the argument in move_and_slide. StaticBody handles reporting linear/angular velocity correctly when kinematic motion is used (in 3D, used in vehicle and navigation).
This commit is contained in:
PouleyKetchoupp
parent
b2bd9f4e51
commit
23abac9325
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@ -82,15 +82,12 @@
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</description>
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</method>
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<method name="move_and_slide">
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<return type="Vector2">
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<return type="void">
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</return>
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<argument index="0" name="linear_velocity" type="Vector2">
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</argument>
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<description>
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Moves the body along a vector. If the body collides with another, it will slide along the other body rather than stop immediately. If the other body is a [CharacterBody2D] or [RigidBody2D], it will also be affected by the motion of the other body. You can use this to make moving and rotating platforms, or to make nodes push other nodes.
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Moves the body based on [member linear_velocity]. If the body collides with another, it will slide along the other body rather than stop immediately. If the other body is a [CharacterBody2D] or [RigidBody2D], it will also be affected by the motion of the other body. You can use this to make moving and rotating platforms, or to make nodes push other nodes.
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This method should be used in [method Node._physics_process] (or in a method called by [method Node._physics_process]), as it uses the physics step's [code]delta[/code] value automatically in calculations. Otherwise, the simulation will run at an incorrect speed.
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[code]linear_velocity[/code] is the velocity vector in pixels per second. Unlike in [method PhysicsBody2D.move_and_collide], you should [i]not[/i] multiply it by [code]delta[/code] — the physics engine handles applying the velocity.
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Returns the [code]linear_velocity[/code] vector, rotated and/or scaled if a slide collision occurred. To get detailed information about collisions that occurred, use [method get_slide_collision].
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Modifies [member linear_velocity] if a slide collision occurred. To get detailed information about collisions that occurred, use [method get_slide_collision].
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</description>
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</method>
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</methods>
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@ -107,6 +104,9 @@
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<member name="infinite_inertia" type="bool" setter="set_infinite_inertia_enabled" getter="is_infinite_inertia_enabled" default="true">
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If [code]true[/code], the body will be able to push [RigidBody2D] nodes when calling [method move_and_slide], but it also won't detect any collisions with them. If [code]false[/code], it will interact with [RigidBody2D] nodes like with [StaticBody2D].
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</member>
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<member name="linear_velocity" type="Vector2" setter="set_linear_velocity" getter="get_linear_velocity" default="Vector2( 0, 0 )">
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Current velocity vector in pixels per second, used and modified during calls to [method move_and_slide].
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</member>
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<member name="max_slides" type="int" setter="set_max_slides" getter="get_max_slides" default="4">
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Maximum number of times the body can change direction before it stops when calling [method move_and_slide].
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</member>
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@ -68,15 +68,12 @@
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</description>
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</method>
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<method name="move_and_slide">
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<return type="Vector3">
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<return type="void">
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</return>
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<argument index="0" name="linear_velocity" type="Vector3">
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</argument>
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<description>
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Moves the body along a vector. If the body collides with another, it will slide along the other body rather than stop immediately. If the other body is a [CharacterBody3D] or [RigidBody3D], it will also be affected by the motion of the other body. You can use this to make moving and rotating platforms, or to make nodes push other nodes.
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Moves the body based on [member linear_velocity]. If the body collides with another, it will slide along the other body rather than stop immediately. If the other body is a [CharacterBody3D] or [RigidBody3D], it will also be affected by the motion of the other body. You can use this to make moving and rotating platforms, or to make nodes push other nodes.
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This method should be used in [method Node._physics_process] (or in a method called by [method Node._physics_process]), as it uses the physics step's [code]delta[/code] value automatically in calculations. Otherwise, the simulation will run at an incorrect speed.
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[code]linear_velocity[/code] is the velocity vector (typically meters per second). Unlike in [method PhysicsBody3D.move_and_collide], you should [i]not[/i] multiply it by [code]delta[/code] — the physics engine handles applying the velocity.
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Returns the [code]linear_velocity[/code] vector, rotated and/or scaled if a slide collision occurred. To get detailed information about collisions that occurred, use [method get_slide_collision].
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Modifies [member linear_velocity] if a slide collision occurred. To get detailed information about collisions that occurred, use [method get_slide_collision].
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</description>
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</method>
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</methods>
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@ -93,6 +90,9 @@
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<member name="infinite_inertia" type="bool" setter="set_infinite_inertia_enabled" getter="is_infinite_inertia_enabled" default="true">
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If [code]true[/code], the body will be able to push [RigidBody3D] nodes when calling [method move_and_slide], but it also won't detect any collisions with them. If [code]false[/code], it will interact with [RigidBody3D] nodes like with [StaticBody3D].
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</member>
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<member name="linear_velocity" type="Vector3" setter="set_linear_velocity" getter="get_linear_velocity" default="Vector3( 0, 0, 0 )">
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Current velocity vector (typically meters per second), used and modified during calls to [method move_and_slide].
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</member>
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<member name="max_slides" type="int" setter="set_max_slides" getter="get_max_slides" default="4">
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Maximum number of times the body can change direction before it stops when calling [method move_and_slide].
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</member>
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@ -917,9 +917,8 @@ void RigidBody2D::_reload_physics_characteristics() {
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//so, if you pass 45 as limit, avoid numerical precision errors when angle is 45.
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#define FLOOR_ANGLE_THRESHOLD 0.01
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Vector2 CharacterBody2D::move_and_slide(const Vector2 &p_linear_velocity) {
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Vector2 body_velocity = p_linear_velocity;
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Vector2 body_velocity_normal = body_velocity.normalized();
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void CharacterBody2D::move_and_slide() {
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Vector2 body_velocity_normal = linear_velocity.normalized();
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bool was_on_floor = on_floor;
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@ -933,7 +932,7 @@ Vector2 CharacterBody2D::move_and_slide(const Vector2 &p_linear_velocity) {
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}
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// Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky
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Vector2 motion = (current_floor_velocity + body_velocity) * (Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time());
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Vector2 motion = (current_floor_velocity + linear_velocity) * (Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time());
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on_floor = false;
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on_floor_body = RID();
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@ -985,7 +984,8 @@ Vector2 CharacterBody2D::move_and_slide(const Vector2 &p_linear_velocity) {
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Transform2D gt = get_global_transform();
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gt.elements[2] -= result.motion.slide(up_direction);
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set_global_transform(gt);
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return Vector2();
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linear_velocity = Vector2();
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return;
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}
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}
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} else if (Math::acos(result.collision_normal.dot(-up_direction)) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //ceiling
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@ -996,7 +996,7 @@ Vector2 CharacterBody2D::move_and_slide(const Vector2 &p_linear_velocity) {
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}
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motion = motion.slide(result.collision_normal);
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body_velocity = body_velocity.slide(result.collision_normal);
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linear_velocity = linear_velocity.slide(result.collision_normal);
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}
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}
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@ -1008,7 +1008,7 @@ Vector2 CharacterBody2D::move_and_slide(const Vector2 &p_linear_velocity) {
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}
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if (!was_on_floor || snap == Vector2()) {
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return body_velocity;
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return;
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}
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// Apply snap.
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@ -1038,8 +1038,6 @@ Vector2 CharacterBody2D::move_and_slide(const Vector2 &p_linear_velocity) {
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set_global_transform(gt);
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}
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}
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return body_velocity;
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}
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bool CharacterBody2D::separate_raycast_shapes(PhysicsServer2D::MotionResult &r_result) {
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@ -1078,6 +1076,14 @@ bool CharacterBody2D::separate_raycast_shapes(PhysicsServer2D::MotionResult &r_r
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}
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}
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const Vector2 &CharacterBody2D::get_linear_velocity() const {
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return linear_velocity;
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}
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void CharacterBody2D::set_linear_velocity(const Vector2 &p_velocity) {
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linear_velocity = p_velocity;
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}
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bool CharacterBody2D::is_on_floor() const {
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return on_floor;
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}
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@ -1242,7 +1248,10 @@ void CharacterBody2D::_notification(int p_what) {
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}
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void CharacterBody2D::_bind_methods() {
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ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity"), &CharacterBody2D::move_and_slide);
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ClassDB::bind_method(D_METHOD("move_and_slide"), &CharacterBody2D::move_and_slide);
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ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &CharacterBody2D::set_linear_velocity);
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ClassDB::bind_method(D_METHOD("get_linear_velocity"), &CharacterBody2D::get_linear_velocity);
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ClassDB::bind_method(D_METHOD("set_safe_margin", "pixels"), &CharacterBody2D::set_safe_margin);
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ClassDB::bind_method(D_METHOD("get_safe_margin"), &CharacterBody2D::get_safe_margin);
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@ -1270,6 +1279,7 @@ void CharacterBody2D::_bind_methods() {
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ClassDB::bind_method(D_METHOD("set_sync_to_physics", "enable"), &CharacterBody2D::set_sync_to_physics);
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ClassDB::bind_method(D_METHOD("is_sync_to_physics_enabled"), &CharacterBody2D::is_sync_to_physics_enabled);
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ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "linear_velocity"), "set_linear_velocity", "get_linear_velocity");
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "stop_on_slope"), "set_stop_on_slope_enabled", "is_stop_on_slope_enabled");
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "infinite_inertia"), "set_infinite_inertia_enabled", "is_infinite_inertia_enabled");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "max_slides"), "set_max_slides", "get_max_slides");
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@ -268,6 +268,8 @@ private:
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Vector2 snap;
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Vector2 up_direction = Vector2(0.0, -1.0);
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Vector2 linear_velocity;
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Vector2 floor_normal;
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Vector2 floor_velocity;
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RID on_floor_body;
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@ -312,7 +314,10 @@ protected:
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static void _bind_methods();
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public:
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Vector2 move_and_slide(const Vector2 &p_linear_velocity);
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void move_and_slide();
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const Vector2 &get_linear_velocity() const;
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void set_linear_velocity(const Vector2 &p_velocity);
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bool is_on_floor() const;
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bool is_on_wall() const;
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@ -240,6 +240,14 @@ Vector3 StaticBody3D::get_constant_angular_velocity() const {
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return constant_angular_velocity;
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}
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Vector3 StaticBody3D::get_linear_velocity() const {
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return linear_velocity;
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}
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Vector3 StaticBody3D::get_angular_velocity() const {
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return angular_velocity;
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}
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void StaticBody3D::_notification(int p_what) {
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if (p_what == NOTIFICATION_INTERNAL_PHYSICS_PROCESS) {
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#ifdef TOOLS_ENABLED
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@ -291,6 +299,18 @@ void StaticBody3D::_bind_methods() {
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "kinematic_motion"), "set_kinematic_motion_enabled", "is_kinematic_motion_enabled");
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}
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void StaticBody3D::_direct_state_changed(Object *p_state) {
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#ifdef DEBUG_ENABLED
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PhysicsDirectBodyState3D *state = Object::cast_to<PhysicsDirectBodyState3D>(p_state);
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ERR_FAIL_NULL_MSG(state, "Method '_direct_state_changed' must receive a valid PhysicsDirectBodyState3D object as argument");
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#else
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PhysicsDirectBodyState3D *state = (PhysicsDirectBodyState3D *)p_state; //trust it
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#endif
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linear_velocity = state->get_linear_velocity();
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angular_velocity = state->get_angular_velocity();
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}
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StaticBody3D::StaticBody3D() :
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PhysicsBody3D(PhysicsServer3D::BODY_MODE_STATIC) {
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}
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@ -313,10 +333,14 @@ void StaticBody3D::_update_kinematic_motion() {
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#endif
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if (kinematic_motion) {
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PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), callable_mp(this, &StaticBody3D::_direct_state_changed));
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if (!constant_angular_velocity.is_equal_approx(Vector3()) || !constant_linear_velocity.is_equal_approx(Vector3())) {
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set_physics_process_internal(true);
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return;
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}
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} else {
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PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), Callable());
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}
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set_physics_process_internal(false);
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@ -929,31 +953,22 @@ void RigidBody3D::_reload_physics_characteristics() {
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///////////////////////////////////////
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Vector3 CharacterBody3D::get_linear_velocity() const {
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return linear_velocity;
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}
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Vector3 CharacterBody3D::get_angular_velocity() const {
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return angular_velocity;
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}
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//so, if you pass 45 as limit, avoid numerical precision errors when angle is 45.
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#define FLOOR_ANGLE_THRESHOLD 0.01
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Vector3 CharacterBody3D::move_and_slide(const Vector3 &p_linear_velocity) {
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Vector3 body_velocity = p_linear_velocity;
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Vector3 body_velocity_normal = body_velocity.normalized();
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void CharacterBody3D::move_and_slide() {
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Vector3 body_velocity_normal = linear_velocity.normalized();
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bool was_on_floor = on_floor;
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for (int i = 0; i < 3; i++) {
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if (locked_axis & (1 << i)) {
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body_velocity[i] = 0;
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linear_velocity[i] = 0.0;
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}
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}
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// Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky
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Vector3 motion = (floor_velocity + body_velocity) * (Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time());
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Vector3 motion = (floor_velocity + linear_velocity) * (Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time());
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on_floor = false;
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on_floor_body = RID();
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@ -1005,7 +1020,8 @@ Vector3 CharacterBody3D::move_and_slide(const Vector3 &p_linear_velocity) {
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Transform3D gt = get_global_transform();
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gt.origin -= result.motion.slide(up_direction);
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set_global_transform(gt);
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return Vector3();
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linear_velocity = Vector3();
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return;
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}
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}
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} else if (Math::acos(result.collision_normal.dot(-up_direction)) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //ceiling
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@ -1016,11 +1032,11 @@ Vector3 CharacterBody3D::move_and_slide(const Vector3 &p_linear_velocity) {
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}
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motion = motion.slide(result.collision_normal);
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body_velocity = body_velocity.slide(result.collision_normal);
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linear_velocity = linear_velocity.slide(result.collision_normal);
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for (int j = 0; j < 3; j++) {
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if (locked_axis & (1 << j)) {
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body_velocity[j] = 0;
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linear_velocity[j] = 0.0;
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}
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}
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}
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@ -1034,7 +1050,7 @@ Vector3 CharacterBody3D::move_and_slide(const Vector3 &p_linear_velocity) {
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}
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if (!was_on_floor || snap == Vector3()) {
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return body_velocity;
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return;
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}
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// Apply snap.
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@ -1062,8 +1078,6 @@ Vector3 CharacterBody3D::move_and_slide(const Vector3 &p_linear_velocity) {
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set_global_transform(gt);
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}
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}
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return body_velocity;
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}
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bool CharacterBody3D::separate_raycast_shapes(PhysicsServer3D::MotionResult &r_result) {
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@ -1110,6 +1124,14 @@ real_t CharacterBody3D::get_safe_margin() const {
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return margin;
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}
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Vector3 CharacterBody3D::get_linear_velocity() const {
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return linear_velocity;
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}
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void CharacterBody3D::set_linear_velocity(const Vector3 &p_velocity) {
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linear_velocity = p_velocity;
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}
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bool CharacterBody3D::is_on_floor() const {
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return on_floor;
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}
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@ -1215,7 +1237,10 @@ void CharacterBody3D::_notification(int p_what) {
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}
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void CharacterBody3D::_bind_methods() {
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ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity"), &CharacterBody3D::move_and_slide);
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ClassDB::bind_method(D_METHOD("move_and_slide"), &CharacterBody3D::move_and_slide);
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ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &CharacterBody3D::set_linear_velocity);
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ClassDB::bind_method(D_METHOD("get_linear_velocity"), &CharacterBody3D::get_linear_velocity);
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ClassDB::bind_method(D_METHOD("set_safe_margin", "pixels"), &CharacterBody3D::set_safe_margin);
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ClassDB::bind_method(D_METHOD("get_safe_margin"), &CharacterBody3D::get_safe_margin);
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@ -1241,6 +1266,7 @@ void CharacterBody3D::_bind_methods() {
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ClassDB::bind_method(D_METHOD("get_slide_count"), &CharacterBody3D::get_slide_count);
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ClassDB::bind_method(D_METHOD("get_slide_collision", "slide_idx"), &CharacterBody3D::_get_slide_collision);
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ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity");
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "stop_on_slope"), "set_stop_on_slope_enabled", "is_stop_on_slope_enabled");
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "infinite_inertia"), "set_infinite_inertia_enabled", "is_infinite_inertia_enabled");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "max_slides"), "set_max_slides", "get_max_slides");
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@ -1250,21 +1276,8 @@ void CharacterBody3D::_bind_methods() {
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision/safe_margin", PROPERTY_HINT_RANGE, "0.001,256,0.001"), "set_safe_margin", "get_safe_margin");
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}
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void CharacterBody3D::_direct_state_changed(Object *p_state) {
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#ifdef DEBUG_ENABLED
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PhysicsDirectBodyState3D *state = Object::cast_to<PhysicsDirectBodyState3D>(p_state);
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ERR_FAIL_NULL_MSG(state, "Method '_direct_state_changed' must receive a valid PhysicsDirectBodyState3D object as argument");
|
||||
#else
|
||||
PhysicsDirectBodyState3D *state = (PhysicsDirectBodyState3D *)p_state; //trust it
|
||||
#endif
|
||||
|
||||
linear_velocity = state->get_linear_velocity();
|
||||
angular_velocity = state->get_angular_velocity();
|
||||
}
|
||||
|
||||
CharacterBody3D::CharacterBody3D() :
|
||||
PhysicsBody3D(PhysicsServer3D::BODY_MODE_KINEMATIC) {
|
||||
PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), callable_mp(this, &CharacterBody3D::_direct_state_changed));
|
||||
}
|
||||
|
||||
CharacterBody3D::~CharacterBody3D() {
|
||||
|
|
|
|||
|
|
@ -76,6 +76,9 @@ class StaticBody3D : public PhysicsBody3D {
|
|||
Vector3 constant_linear_velocity;
|
||||
Vector3 constant_angular_velocity;
|
||||
|
||||
Vector3 linear_velocity;
|
||||
Vector3 angular_velocity;
|
||||
|
||||
Ref<PhysicsMaterial> physics_material_override;
|
||||
|
||||
bool kinematic_motion = false;
|
||||
|
|
@ -84,6 +87,8 @@ protected:
|
|||
void _notification(int p_what);
|
||||
static void _bind_methods();
|
||||
|
||||
void _direct_state_changed(Object *p_state);
|
||||
|
||||
public:
|
||||
void set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override);
|
||||
Ref<PhysicsMaterial> get_physics_material_override() const;
|
||||
|
|
@ -94,6 +99,9 @@ public:
|
|||
Vector3 get_constant_linear_velocity() const;
|
||||
Vector3 get_constant_angular_velocity() const;
|
||||
|
||||
virtual Vector3 get_linear_velocity() const override;
|
||||
virtual Vector3 get_angular_velocity() const override;
|
||||
|
||||
StaticBody3D();
|
||||
|
||||
private:
|
||||
|
|
@ -270,7 +278,6 @@ private:
|
|||
Vector3 up_direction = Vector3(0.0, 1.0, 0.0);
|
||||
|
||||
Vector3 linear_velocity;
|
||||
Vector3 angular_velocity;
|
||||
|
||||
Vector3 floor_normal;
|
||||
Vector3 floor_velocity;
|
||||
|
|
@ -310,13 +317,11 @@ protected:
|
|||
void _notification(int p_what);
|
||||
static void _bind_methods();
|
||||
|
||||
virtual void _direct_state_changed(Object *p_state);
|
||||
|
||||
public:
|
||||
virtual Vector3 get_linear_velocity() const override;
|
||||
virtual Vector3 get_angular_velocity() const override;
|
||||
void move_and_slide();
|
||||
|
||||
Vector3 move_and_slide(const Vector3 &p_linear_velocity);
|
||||
virtual Vector3 get_linear_velocity() const override;
|
||||
void set_linear_velocity(const Vector3 &p_velocity);
|
||||
|
||||
bool is_on_floor() const;
|
||||
bool is_on_wall() const;
|
||||
|
|
|
|||
Loading…
Reference in New Issue