godotengine
/
godot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge pull request #51446 from nekomatata/fix-moving-platform-rotation 

Fix applied rotation from moving platforms in move_and_slide
This commit is contained in:
Rémi Verschelde 2021-08-09 23:20:44 +02:00 committed by GitHub
parent 7bcfc66fb4 5650c83e4b
commit 2de5d2361a
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
12 changed files with 48 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
doc/classes/PhysicsDirectBodyState2D.xml
View File

@ -137,6 +137,13 @@
Returns the current state of the space, useful for queries.
</description>
</method>
<method name="get_velocity_at_local_position" qualifiers="const">
<return type="Vector2" />
<argument index="0" name="local_position" type="Vector2" />
<description>
Returns the body's velocity at the given relative position, including both translation and rotation.
</description>
</method>
<method name="integrate_forces">
<return type="void" />
<description>

7
doc/classes/PhysicsDirectBodyState3D.xml
View File

@ -138,6 +138,13 @@
Returns the current state of the space, useful for queries.
</description>
</method>
<method name="get_velocity_at_local_position" qualifiers="const">
<return type="Vector3" />
<argument index="0" name="local_position" type="Vector3" />
<description>
Returns the body's velocity at the given relative position, including both translation and rotation.
</description>
</method>
<method name="integrate_forces">
<return type="void" />
<description>

10
modules/bullet/rigid_body_bullet.cpp
View File

@ -114,6 +114,16 @@ Transform3D BulletPhysicsDirectBodyState3D::get_transform() const {
return body->get_transform();
}
Vector3 BulletPhysicsDirectBodyState3D::get_velocity_at_local_position(const Vector3 &p_position) const {
btVector3 local_position;
G_TO_B(p_position, local_position);
Vector3 velocity;
B_TO_G(body->btBody->getVelocityInLocalPoint(local_position), velocity);
return velocity;
}
void BulletPhysicsDirectBodyState3D::add_central_force(const Vector3 &p_force) {
body->apply_central_force(p_force);
}

2
modules/bullet/rigid_body_bullet.h
View File

@ -110,6 +110,8 @@ public:
virtual void set_transform(const Transform3D &p_transform) override;
virtual Transform3D get_transform() const override;
virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const override;
virtual void add_central_force(const Vector3 &p_force) override;
virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) override;
virtual void add_torque(const Vector3 &p_torque) override;

4
scene/2d/physics_body_2d.cpp
View File

@ -1062,7 +1062,9 @@ void CharacterBody2D::move_and_slide() {
//this approach makes sure there is less delay between the actual body velocity and the one we saved
PhysicsDirectBodyState2D *bs = PhysicsServer2D::get_singleton()->body_get_direct_state(on_floor_body);
if (bs) {
current_floor_velocity = bs->get_linear_velocity();
Transform2D gt = get_global_transform();
Vector2 local_position = gt.elements[2] - bs->get_transform().elements[2];
current_floor_velocity = bs->get_velocity_at_local_position(local_position);
}
}

4
scene/3d/physics_body_3d.cpp
View File

@ -1101,7 +1101,9 @@ void CharacterBody3D::move_and_slide() {
//this approach makes sure there is less delay between the actual body velocity and the one we saved
PhysicsDirectBodyState3D *bs = PhysicsServer3D::get_singleton()->body_get_direct_state(on_floor_body);
if (bs) {
current_floor_velocity = bs->get_linear_velocity();
Transform3D gt = get_global_transform();
Vector3 local_position = gt.origin - bs->get_transform().origin;
current_floor_velocity = bs->get_velocity_at_local_position(local_position);
}
}

6
servers/physics_2d/body_2d_sw.h
View File

@ -266,6 +266,10 @@ public:
void integrate_forces(real_t p_step);
void integrate_velocities(real_t p_step);
_FORCE_INLINE_ Vector2 get_velocity_in_local_point(const Vector2 &rel_pos) const {
return linear_velocity + Vector2(-angular_velocity * rel_pos.y, angular_velocity * rel_pos.x);
}
_FORCE_INLINE_ Vector2 get_motion() const {
if (mode > PhysicsServer2D::BODY_MODE_KINEMATIC) {
return new_transform.get_origin() - get_transform().get_origin();
@ -352,6 +356,8 @@ public:
virtual void set_transform(const Transform2D &p_transform) override { body->set_state(PhysicsServer2D::BODY_STATE_TRANSFORM, p_transform); }
virtual Transform2D get_transform() const override { return body->get_transform(); }
virtual Vector2 get_velocity_at_local_position(const Vector2 &p_position) const override { return body->get_velocity_in_local_point(p_position); }
virtual void add_central_force(const Vector2 &p_force) override { body->add_central_force(p_force); }
virtual void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) override { body->add_force(p_force, p_position); }
virtual void add_torque(real_t p_torque) override { body->add_torque(p_torque); }

2
servers/physics_3d/body_3d_sw.h
View File

@ -389,6 +389,8 @@ public:
virtual void set_transform(const Transform3D &p_transform) override { body->set_state(PhysicsServer3D::BODY_STATE_TRANSFORM, p_transform); }
virtual Transform3D get_transform() const override { return body->get_transform(); }
virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const override { return body->get_velocity_in_local_point(p_position); }
virtual void add_central_force(const Vector3 &p_force) override { body->add_central_force(p_force); }
virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) override {
body->add_force(p_force, p_position);

2
servers/physics_server_2d.cpp
View File

@ -89,6 +89,8 @@ void PhysicsDirectBodyState2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_transform", "transform"), &PhysicsDirectBodyState2D::set_transform);
ClassDB::bind_method(D_METHOD("get_transform"), &PhysicsDirectBodyState2D::get_transform);
ClassDB::bind_method(D_METHOD("get_velocity_at_local_position", "local_position"), &PhysicsDirectBodyState2D::get_velocity_at_local_position);
ClassDB::bind_method(D_METHOD("add_central_force", "force"), &PhysicsDirectBodyState2D::add_central_force);
ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &PhysicsDirectBodyState2D::add_force, Vector2());
ClassDB::bind_method(D_METHOD("add_torque", "torque"), &PhysicsDirectBodyState2D::add_torque);

2
servers/physics_server_2d.h
View File

@ -60,6 +60,8 @@ public:
virtual void set_transform(const Transform2D &p_transform) = 0;
virtual Transform2D get_transform() const = 0;
virtual Vector2 get_velocity_at_local_position(const Vector2 &p_position) const = 0;
virtual void add_central_force(const Vector2 &p_force) = 0;
virtual void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) = 0;
virtual void add_torque(real_t p_torque) = 0;

2
servers/physics_server_3d.cpp
View File

@ -91,6 +91,8 @@ void PhysicsDirectBodyState3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_transform", "transform"), &PhysicsDirectBodyState3D::set_transform);
ClassDB::bind_method(D_METHOD("get_transform"), &PhysicsDirectBodyState3D::get_transform);
ClassDB::bind_method(D_METHOD("get_velocity_at_local_position", "local_position"), &PhysicsDirectBodyState3D::get_velocity_at_local_position);
ClassDB::bind_method(D_METHOD("add_central_force", "force"), &PhysicsDirectBodyState3D::add_central_force, Vector3());
ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &PhysicsDirectBodyState3D::add_force, Vector3());
ClassDB::bind_method(D_METHOD("add_torque", "torque"), &PhysicsDirectBodyState3D::add_torque);

2
servers/physics_server_3d.h
View File

@ -62,6 +62,8 @@ public:
virtual void set_transform(const Transform3D &p_transform) = 0;
virtual Transform3D get_transform() const = 0;
virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const = 0;
virtual void add_central_force(const Vector3 &p_force) = 0;
virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) = 0;
virtual void add_torque(const Vector3 &p_torque) = 0;