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Implemented physics linear and angular lock

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This commit is contained in:
AndreaCatania 2017-12-10 17:21:14 +01:00
parent a5b3c9cae0
commit 5dee44bbc1
12 changed files with 124 additions and 135 deletions
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8
modules/bullet/bullet_physics_server.cpp
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@ -723,16 +723,16 @@ void BulletPhysicsServer::body_set_axis_velocity(RID p_body, const Vector3 &p_ax
body->set_linear_velocity(v); body->set_linear_velocity(v);
} }
void BulletPhysicsServer::body_set_axis_lock(RID p_body, int axis, bool p_lock) { void BulletPhysicsServer::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) {
RigidBodyBullet *body = rigid_body_owner.get(p_body); RigidBodyBullet *body = rigid_body_owner.get(p_body);
ERR_FAIL_COND(!body); ERR_FAIL_COND(!body);
body->set_axis_lock(axis, p_lock); body->set_axis_lock(p_axis, p_lock);
} }
bool BulletPhysicsServer::body_get_axis_lock(RID p_body) const { bool BulletPhysicsServer::body_is_axis_locked(RID p_body, BodyAxis p_axis) const {
const RigidBodyBullet *body = rigid_body_owner.get(p_body); const RigidBodyBullet *body = rigid_body_owner.get(p_body);
ERR_FAIL_COND_V(!body, 0); ERR_FAIL_COND_V(!body, 0);
return body->get_axis_lock(); return body->is_axis_locked(p_axis);
} }
void BulletPhysicsServer::body_add_collision_exception(RID p_body, RID p_body_b) { void BulletPhysicsServer::body_add_collision_exception(RID p_body, RID p_body_b) {

4
modules/bullet/bullet_physics_server.h
View File

@ -226,8 +226,8 @@ public:
virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse); virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse);
virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity); virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity);
virtual void body_set_axis_lock(RID p_body, int axis, bool p_lock); virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock);
virtual bool body_get_axis_lock(RID p_body) const; virtual bool body_is_axis_locked(RID p_body, BodyAxis p_axis) const;
virtual void body_add_collision_exception(RID p_body, RID p_body_b); virtual void body_add_collision_exception(RID p_body, RID p_body_b);
virtual void body_remove_collision_exception(RID p_body, RID p_body_b); virtual void body_remove_collision_exception(RID p_body, RID p_body_b);

45
modules/bullet/rigid_body_bullet.cpp
View File

@ -253,6 +253,7 @@ void RigidBodyBullet::KinematicUtilities::just_delete_shapes(int new_size) {
RigidBodyBullet::RigidBodyBullet() : RigidBodyBullet::RigidBodyBullet() :
RigidCollisionObjectBullet(CollisionObjectBullet::TYPE_RIGID_BODY), RigidCollisionObjectBullet(CollisionObjectBullet::TYPE_RIGID_BODY),
kinematic_utilities(NULL), kinematic_utilities(NULL),
locked_axis(0),
gravity_scale(1), gravity_scale(1),
mass(1), mass(1),
linearDamp(0), linearDamp(0),
@ -277,7 +278,7 @@ RigidBodyBullet::RigidBodyBullet() :
setupBulletCollisionObject(btBody); setupBulletCollisionObject(btBody);
set_mode(PhysicsServer::BODY_MODE_RIGID); set_mode(PhysicsServer::BODY_MODE_RIGID);
set_axis_lock(0, locked_axis[0]); reload_axis_lock();
areasWhereIam.resize(maxAreasWhereIam); areasWhereIam.resize(maxAreasWhereIam);
for (int i = areasWhereIam.size() - 1; 0 <= i; --i) { for (int i = areasWhereIam.size() - 1; 0 <= i; --i) {
@ -498,25 +499,25 @@ void RigidBodyBullet::set_mode(PhysicsServer::BodyMode p_mode) {
switch (p_mode) { switch (p_mode) {
case PhysicsServer::BODY_MODE_KINEMATIC: case PhysicsServer::BODY_MODE_KINEMATIC:
mode = PhysicsServer::BODY_MODE_KINEMATIC; mode = PhysicsServer::BODY_MODE_KINEMATIC;
set_axis_lock(0, locked_axis[0]); // Reload axis lock reload_axis_lock();
_internal_set_mass(0); _internal_set_mass(0);
init_kinematic_utilities(); init_kinematic_utilities();
break; break;
case PhysicsServer::BODY_MODE_STATIC: case PhysicsServer::BODY_MODE_STATIC:
mode = PhysicsServer::BODY_MODE_STATIC; mode = PhysicsServer::BODY_MODE_STATIC;
set_axis_lock(0, locked_axis[0]); // Reload axis lock reload_axis_lock();
_internal_set_mass(0); _internal_set_mass(0);
break; break;
case PhysicsServer::BODY_MODE_RIGID: { case PhysicsServer::BODY_MODE_RIGID: {
mode = PhysicsServer::BODY_MODE_RIGID; mode = PhysicsServer::BODY_MODE_RIGID;
set_axis_lock(0, locked_axis[0]); // Reload axis lock reload_axis_lock();
_internal_set_mass(0 == mass ? 1 : mass); _internal_set_mass(0 == mass ? 1 : mass);
scratch_space_override_modificator(); scratch_space_override_modificator();
break; break;
} }
case PhysicsServer::BODY_MODE_CHARACTER: { case PhysicsServer::BODY_MODE_CHARACTER: {
mode = PhysicsServer::BODY_MODE_CHARACTER; mode = PhysicsServer::BODY_MODE_CHARACTER;
set_axis_lock(0, locked_axis[0]); // Reload axis lock reload_axis_lock();
_internal_set_mass(0 == mass ? 1 : mass); _internal_set_mass(0 == mass ? 1 : mass);
scratch_space_override_modificator(); scratch_space_override_modificator();
break; break;
@ -655,23 +656,29 @@ Vector3 RigidBodyBullet::get_applied_torque() const {
return gTotTorq; return gTotTorq;
} }
void RigidBodyBullet::set_axis_lock(int axis, bool p_lock) { void RigidBodyBullet::set_axis_lock(PhysicsServer::BodyAxis p_axis, bool lock) {
locked_axis[axis] = p_lock; if (lock) {
locked_axis |= p_axis;
btBody->setLinearFactor(btVector3(locked_axis[0] ? 0 : 1., locked_axis[1] ? 0 : 1., locked_axis[2] ? 0 : 1.)); } else {
if (locked_axis[0] || locked_axis[1] || locked_axis[2]) locked_axis &= ~p_axis;
btBody->setAngularFactor(btVector3(locked_axis[0] ? 1. : 0, locked_axis[1] ? 1. : 0, locked_axis[2] ? 1. : 0));
else
btBody->setAngularFactor(btVector3(1., 1., 1.));
if (PhysicsServer::BODY_MODE_CHARACTER == mode) {
/// When character lock angular
btBody->setAngularFactor(btVector3(0., 0., 0.));
} }
reload_axis_lock();
} }
bool RigidBodyBullet::get_axis_lock() const { bool RigidBodyBullet::is_axis_locked(PhysicsServer::BodyAxis p_axis) const {
return locked_axis; return locked_axis & p_axis;
}
void RigidBodyBullet::reload_axis_lock() {
btBody->setLinearFactor(btVector3(!is_axis_locked(PhysicsServer::BODY_AXIS_LINEAR_X), !is_axis_locked(PhysicsServer::BODY_AXIS_LINEAR_Y), !is_axis_locked(PhysicsServer::BODY_AXIS_LINEAR_Z)));
if (PhysicsServer::BODY_MODE_CHARACTER == mode) {
/// When character angular is always locked
btBody->setAngularFactor(btVector3(0., 0., 0.));
} else {
btBody->setAngularFactor(btVector3(!is_axis_locked(PhysicsServer::BODY_AXIS_ANGULAR_X), !is_axis_locked(PhysicsServer::BODY_AXIS_ANGULAR_Y), !is_axis_locked(PhysicsServer::BODY_AXIS_ANGULAR_Z)));
}
} }
void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) { void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) {

7
modules/bullet/rigid_body_bullet.h
View File

@ -184,9 +184,9 @@ private:
KinematicUtilities *kinematic_utilities; KinematicUtilities *kinematic_utilities;
PhysicsServer::BodyMode mode; PhysicsServer::BodyMode mode;
bool locked_axis[3] = { false, false, false };
GodotMotionState *godotMotionState; GodotMotionState *godotMotionState;
btRigidBody *btBody; btRigidBody *btBody;
uint16_t locked_axis;
real_t mass; real_t mass;
real_t gravity_scale; real_t gravity_scale;
real_t linearDamp; real_t linearDamp;
@ -269,8 +269,9 @@ public:
void set_applied_torque(const Vector3 &p_torque); void set_applied_torque(const Vector3 &p_torque);
Vector3 get_applied_torque() const; Vector3 get_applied_torque() const;
void set_axis_lock(int axis, bool p_lock); void set_axis_lock(PhysicsServer::BodyAxis p_axis, bool lock);
bool get_axis_lock() const; bool is_axis_locked(PhysicsServer::BodyAxis p_axis) const;
void reload_axis_lock();
/// Doc: /// Doc:
/// http://www.bulletphysics.org/mediawiki-1.5.8/index.php?title=Anti_tunneling_by_Motion_Clamping /// http://www.bulletphysics.org/mediawiki-1.5.8/index.php?title=Anti_tunneling_by_Motion_Clamping

96
scene/3d/physics_body.cpp
View File

@ -734,31 +734,12 @@ bool RigidBody::is_contact_monitor_enabled() const {
return contact_monitor != NULL; return contact_monitor != NULL;
} }
void RigidBody::set_axis_lock_x(bool p_lock) { void RigidBody::set_axis_lock(PhysicsServer::BodyAxis p_axis, bool p_lock) {
RigidBody::locked_axis[0] = p_lock; PhysicsServer::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock);
PhysicsServer::get_singleton()->body_set_axis_lock(get_rid(), 0, locked_axis[0]);
} }
void RigidBody::set_axis_lock_y(bool p_lock) { bool RigidBody::get_axis_lock(PhysicsServer::BodyAxis p_axis) const {
RigidBody::locked_axis[1] = p_lock; return PhysicsServer::get_singleton()->body_is_axis_locked(get_rid(), p_axis);
PhysicsServer::get_singleton()->body_set_axis_lock(get_rid(), 1, locked_axis[1]);
}
void RigidBody::set_axis_lock_z(bool p_lock) {
RigidBody::locked_axis[2] = p_lock;
PhysicsServer::get_singleton()->body_set_axis_lock(get_rid(), 2, locked_axis[2]);
}
bool RigidBody::get_axis_lock_x() const {
return RigidBody::locked_axis[0];
}
bool RigidBody::get_axis_lock_y() const {
return RigidBody::locked_axis[1];
}
bool RigidBody::get_axis_lock_z() const {
return RigidBody::locked_axis[2];
} }
Array RigidBody::get_colliding_bodies() const { Array RigidBody::get_colliding_bodies() const {
@ -853,12 +834,8 @@ void RigidBody::_bind_methods() {
ClassDB::bind_method(D_METHOD("_body_enter_tree"), &RigidBody::_body_enter_tree); ClassDB::bind_method(D_METHOD("_body_enter_tree"), &RigidBody::_body_enter_tree);
ClassDB::bind_method(D_METHOD("_body_exit_tree"), &RigidBody::_body_exit_tree); ClassDB::bind_method(D_METHOD("_body_exit_tree"), &RigidBody::_body_exit_tree);
ClassDB::bind_method(D_METHOD("set_axis_lock_x", "axis_lock_x"), &RigidBody::set_axis_lock_x); ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &RigidBody::set_axis_lock);
ClassDB::bind_method(D_METHOD("set_axis_lock_y", "axis_lock_y"), &RigidBody::set_axis_lock_y); ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &RigidBody::get_axis_lock);
ClassDB::bind_method(D_METHOD("set_axis_lock_z", "axis_lock_z"), &RigidBody::set_axis_lock_z);
ClassDB::bind_method(D_METHOD("get_axis_lock_x"), &RigidBody::get_axis_lock_x);
ClassDB::bind_method(D_METHOD("get_axis_lock_y"), &RigidBody::get_axis_lock_y);
ClassDB::bind_method(D_METHOD("get_axis_lock_z"), &RigidBody::get_axis_lock_z);
ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidBody::get_colliding_bodies); ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidBody::get_colliding_bodies);
@ -877,9 +854,12 @@ void RigidBody::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sleeping"), "set_sleeping", "is_sleeping"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sleeping"), "set_sleeping", "is_sleeping");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "can_sleep"), "set_can_sleep", "is_able_to_sleep"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "can_sleep"), "set_can_sleep", "is_able_to_sleep");
ADD_GROUP("Axis Lock", "axis_lock_"); ADD_GROUP("Axis Lock", "axis_lock_");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "axis_lock_x"), "set_axis_lock_x", "get_axis_lock_x"); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_x"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_LINEAR_X);
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "axis_lock_y"), "set_axis_lock_y", "get_axis_lock_y"); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_y"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_LINEAR_Y);
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "axis_lock_z"), "set_axis_lock_z", "get_axis_lock_z"); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_z"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_LINEAR_Z);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_x"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_ANGULAR_X);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_y"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_ANGULAR_Y);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_z"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_ANGULAR_Z);
ADD_GROUP("Linear", "linear_"); ADD_GROUP("Linear", "linear_");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "linear_damp", PROPERTY_HINT_RANGE, "-1,128,0.01"), "set_linear_damp", "get_linear_damp"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "linear_damp", PROPERTY_HINT_RANGE, "-1,128,0.01"), "set_linear_damp", "get_linear_damp");
@ -969,7 +949,7 @@ bool KinematicBody::move_and_collide(const Vector3 &p_motion, Collision &r_colli
} }
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
if (locked_axis[i]) { if (locked_axis & (1 << i)) {
result.motion[i] = 0; result.motion[i] = 0;
} }
} }
@ -985,7 +965,7 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve
Vector3 lv = p_linear_velocity; Vector3 lv = p_linear_velocity;
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
if (locked_axis[i]) { if (locked_axis & (1 << i)) {
lv[i] = 0; lv[i] = 0;
} }
} }
@ -1038,7 +1018,7 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve
lv = lv.slide(n); lv = lv.slide(n);
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
if (locked_axis[i]) { if (locked_axis & (1 << i)) {
lv[i] = 0; lv[i] = 0;
} }
} }
@ -1082,31 +1062,12 @@ bool KinematicBody::test_move(const Transform &p_from, const Vector3 &p_motion)
return PhysicsServer::get_singleton()->body_test_motion(get_rid(), p_from, p_motion); return PhysicsServer::get_singleton()->body_test_motion(get_rid(), p_from, p_motion);
} }
void KinematicBody::set_axis_lock_x(bool p_lock) { void KinematicBody::set_axis_lock(PhysicsServer::BodyAxis p_axis, bool p_lock) {
KinematicBody::locked_axis[0] = p_lock; PhysicsServer::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock);
PhysicsServer::get_singleton()->body_set_axis_lock(get_rid(), 0, locked_axis[0]);
} }
void KinematicBody::set_axis_lock_y(bool p_lock) { bool KinematicBody::get_axis_lock(PhysicsServer::BodyAxis p_axis) const {
KinematicBody::locked_axis[1] = p_lock; return PhysicsServer::get_singleton()->body_is_axis_locked(get_rid(), p_axis);
PhysicsServer::get_singleton()->body_set_axis_lock(get_rid(), 1, locked_axis[1]);
}
void KinematicBody::set_axis_lock_z(bool p_lock) {
KinematicBody::locked_axis[2] = p_lock;
PhysicsServer::get_singleton()->body_set_axis_lock(get_rid(), 2, locked_axis[2]);
}
bool KinematicBody::get_axis_lock_x() const {
return KinematicBody::locked_axis[0];
}
bool KinematicBody::get_axis_lock_y() const {
return KinematicBody::locked_axis[1];
}
bool KinematicBody::get_axis_lock_z() const {
return KinematicBody::locked_axis[2];
} }
void KinematicBody::set_safe_margin(float p_margin) { void KinematicBody::set_safe_margin(float p_margin) {
@ -1157,12 +1118,8 @@ void KinematicBody::_bind_methods() {
ClassDB::bind_method(D_METHOD("is_on_wall"), &KinematicBody::is_on_wall); ClassDB::bind_method(D_METHOD("is_on_wall"), &KinematicBody::is_on_wall);
ClassDB::bind_method(D_METHOD("get_floor_velocity"), &KinematicBody::get_floor_velocity); ClassDB::bind_method(D_METHOD("get_floor_velocity"), &KinematicBody::get_floor_velocity);
ClassDB::bind_method(D_METHOD("set_axis_lock_x", "axis_lock_x"), &KinematicBody::set_axis_lock_x); ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &RigidBody::set_axis_lock);
ClassDB::bind_method(D_METHOD("set_axis_lock_y", "axis_lock_y"), &KinematicBody::set_axis_lock_y); ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &RigidBody::get_axis_lock);
ClassDB::bind_method(D_METHOD("set_axis_lock_z", "axis_lock_z"), &KinematicBody::set_axis_lock_z);
ClassDB::bind_method(D_METHOD("get_axis_lock_x"), &KinematicBody::get_axis_lock_x);
ClassDB::bind_method(D_METHOD("get_axis_lock_y"), &KinematicBody::get_axis_lock_y);
ClassDB::bind_method(D_METHOD("get_axis_lock_z"), &KinematicBody::get_axis_lock_z);
ClassDB::bind_method(D_METHOD("set_safe_margin", "pixels"), &KinematicBody::set_safe_margin); ClassDB::bind_method(D_METHOD("set_safe_margin", "pixels"), &KinematicBody::set_safe_margin);
ClassDB::bind_method(D_METHOD("get_safe_margin"), &KinematicBody::get_safe_margin); ClassDB::bind_method(D_METHOD("get_safe_margin"), &KinematicBody::get_safe_margin);
@ -1171,9 +1128,12 @@ void KinematicBody::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_slide_collision", "slide_idx"), &KinematicBody::_get_slide_collision); ClassDB::bind_method(D_METHOD("get_slide_collision", "slide_idx"), &KinematicBody::_get_slide_collision);
ADD_GROUP("Axis Lock", "axis_lock_"); ADD_GROUP("Axis Lock", "axis_lock_");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "axis_lock_x"), "set_axis_lock_x", "get_axis_lock_x"); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_x"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_LINEAR_X);
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "axis_lock_y"), "set_axis_lock_y", "get_axis_lock_y"); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_y"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_LINEAR_Y);
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "axis_lock_z"), "set_axis_lock_z", "get_axis_lock_z"); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_z"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_LINEAR_Z);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_x"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_ANGULAR_X);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_y"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_ANGULAR_Y);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_z"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_ANGULAR_Z);
ADD_PROPERTY(PropertyInfo(Variant::REAL, "collision/safe_margin", PROPERTY_HINT_RANGE, "0.001,256,0.001"), "set_safe_margin", "get_safe_margin"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "collision/safe_margin", PROPERTY_HINT_RANGE, "0.001,256,0.001"), "set_safe_margin", "get_safe_margin");
} }
@ -1182,7 +1142,7 @@ KinematicBody::KinematicBody() :
PhysicsBody(PhysicsServer::BODY_MODE_KINEMATIC) { PhysicsBody(PhysicsServer::BODY_MODE_KINEMATIC) {
margin = 0.001; margin = 0.001;
locked_axis = 0;
on_floor = false; on_floor = false;
on_ceiling = false; on_ceiling = false;
on_wall = false; on_wall = false;

20
scene/3d/physics_body.h
View File

@ -132,8 +132,6 @@ private:
bool sleeping; bool sleeping;
bool ccd; bool ccd;
bool locked_axis[3] = { false, false, false };
int max_contacts_reported; int max_contacts_reported;
bool custom_integrator; bool custom_integrator;
@ -238,12 +236,8 @@ public:
void set_use_continuous_collision_detection(bool p_enable); void set_use_continuous_collision_detection(bool p_enable);
bool is_using_continuous_collision_detection() const; bool is_using_continuous_collision_detection() const;
void set_axis_lock_x(bool p_lock); void set_axis_lock(PhysicsServer::BodyAxis p_axis, bool p_lock);
void set_axis_lock_y(bool p_lock); bool get_axis_lock(PhysicsServer::BodyAxis p_axis) const;
void set_axis_lock_z(bool p_lock);
bool get_axis_lock_x() const;
bool get_axis_lock_y() const;
bool get_axis_lock_z() const;
Array get_colliding_bodies() const; Array get_colliding_bodies() const;
@ -277,7 +271,7 @@ public:
}; };
private: private:
bool locked_axis[3] = { false, false, false }; uint16_t locked_axis;
float margin; float margin;
@ -301,12 +295,8 @@ public:
bool move_and_collide(const Vector3 &p_motion, Collision &r_collision); bool move_and_collide(const Vector3 &p_motion, Collision &r_collision);
bool test_move(const Transform &p_from, const Vector3 &p_motion); bool test_move(const Transform &p_from, const Vector3 &p_motion);
void set_axis_lock_x(bool p_lock); void set_axis_lock(PhysicsServer::BodyAxis p_axis, bool p_lock);
void set_axis_lock_y(bool p_lock); bool get_axis_lock(PhysicsServer::BodyAxis p_axis) const;
void set_axis_lock_z(bool p_lock);
bool get_axis_lock_x() const;
bool get_axis_lock_y() const;
bool get_axis_lock_z() const;
void set_safe_margin(float p_margin); void set_safe_margin(float p_margin);
float get_safe_margin() const; float get_safe_margin() const;

27
servers/physics/body_sw.cpp
View File

@ -422,6 +422,18 @@ void BodySW::_compute_area_gravity_and_dampenings(const AreaSW *p_area) {
area_angular_damp += p_area->get_angular_damp(); area_angular_damp += p_area->get_angular_damp();
} }
void BodySW::set_axis_lock(PhysicsServer::BodyAxis p_axis, bool lock) {
if (lock) {
locked_axis |= p_axis;
} else {
locked_axis &= ~p_axis;
}
}
bool BodySW::is_axis_locked(PhysicsServer::BodyAxis p_axis) const {
return locked_axis & p_axis;
}
void BodySW::integrate_forces(real_t p_step) { void BodySW::integrate_forces(real_t p_step) {
if (mode == PhysicsServer::BODY_MODE_STATIC) if (mode == PhysicsServer::BODY_MODE_STATIC)
@ -559,19 +571,21 @@ void BodySW::integrate_velocities(real_t p_step) {
if (fi_callback) if (fi_callback)
get_space()->body_add_to_state_query_list(&direct_state_query_list); get_space()->body_add_to_state_query_list(&direct_state_query_list);
//apply axis lock //apply axis lock linear
if (locked_axis[0] || locked_axis[1] || locked_axis[2]) {
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
if (locked_axis[i]) { if (is_axis_locked((PhysicsServer::BodyAxis)(1 << i))) {
linear_velocity[i] = 0; linear_velocity[i] = 0;
biased_linear_velocity[i] = 0; biased_linear_velocity[i] = 0;
new_transform.origin[i] = get_transform().origin[i]; new_transform.origin[i] = get_transform().origin[i];
} else { }
}
//apply axis lock angular
for (int i = 0; i < 3; i++) {
if (is_axis_locked((PhysicsServer::BodyAxis)(1 << (i + 3)))) {
angular_velocity[i] = 0; angular_velocity[i] = 0;
biased_angular_velocity[i] = 0; biased_angular_velocity[i] = 0;
} }
} }
}
if (mode == PhysicsServer::BODY_MODE_KINEMATIC) { if (mode == PhysicsServer::BODY_MODE_KINEMATIC) {
@ -742,7 +756,8 @@ BodySW::BodySW() :
CollisionObjectSW(TYPE_BODY), CollisionObjectSW(TYPE_BODY),
active_list(this), active_list(this),
inertia_update_list(this), inertia_update_list(this),
direct_state_query_list(this) { direct_state_query_list(this),
locked_axis(0) {
mode = PhysicsServer::BODY_MODE_RIGID; mode = PhysicsServer::BODY_MODE_RIGID;
active = true; active = true;

6
servers/physics/body_sw.h
View File

@ -53,7 +53,7 @@ class BodySW : public CollisionObjectSW {
real_t angular_damp; real_t angular_damp;
real_t gravity_scale; real_t gravity_scale;
bool locked_axis[3] = { false, false, false }; uint16_t locked_axis;
real_t kinematic_safe_margin; real_t kinematic_safe_margin;
real_t _inv_mass; real_t _inv_mass;
@ -288,8 +288,8 @@ public:
_FORCE_INLINE_ Vector3 get_gravity() const { return gravity; } _FORCE_INLINE_ Vector3 get_gravity() const { return gravity; }
_FORCE_INLINE_ real_t get_bounce() const { return bounce; } _FORCE_INLINE_ real_t get_bounce() const { return bounce; }
_FORCE_INLINE_ void set_axis_lock(int axis, bool lock) { locked_axis[axis] = lock; } void set_axis_lock(PhysicsServer::BodyAxis p_axis, bool lock);
_FORCE_INLINE_ bool get_axis_lock() const { return locked_axis; } bool is_axis_locked(PhysicsServer::BodyAxis p_axis) const;
void integrate_forces(real_t p_step); void integrate_forces(real_t p_step);
void integrate_velocities(real_t p_step); void integrate_velocities(real_t p_step);

8
servers/physics/physics_server_sw.cpp
View File

@ -794,20 +794,20 @@ void PhysicsServerSW::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_v
body->wakeup(); body->wakeup();
}; };
void PhysicsServerSW::body_set_axis_lock(RID p_body, int axis, bool lock) { void PhysicsServerSW::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool lock) {
BodySW *body = body_owner.get(p_body); BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body); ERR_FAIL_COND(!body);
body->set_axis_lock(axis, lock); body->set_axis_lock(p_axis, lock);
body->wakeup(); body->wakeup();
} }
bool PhysicsServerSW::body_get_axis_lock(RID p_body) const { bool PhysicsServerSW::body_is_axis_locked(RID p_body, BodyAxis p_axis) const {
const BodySW *body = body_owner.get(p_body); const BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, 0); ERR_FAIL_COND_V(!body, 0);
return body->get_axis_lock(); return body->is_axis_locked(p_axis);
} }
void PhysicsServerSW::body_add_collision_exception(RID p_body, RID p_body_b) { void PhysicsServerSW::body_add_collision_exception(RID p_body, RID p_body_b) {

4
servers/physics/physics_server_sw.h
View File

@ -203,8 +203,8 @@ public:
virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse); virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse);
virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity); virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity);
virtual void body_set_axis_lock(RID p_body, int axis, bool p_lock); virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock);
virtual bool body_get_axis_lock(RID p_body) const; virtual bool body_is_axis_locked(RID p_body, BodyAxis p_axis) const;
virtual void body_add_collision_exception(RID p_body, RID p_body_b); virtual void body_add_collision_exception(RID p_body, RID p_body_b);
virtual void body_remove_collision_exception(RID p_body, RID p_body_b); virtual void body_remove_collision_exception(RID p_body, RID p_body_b);

8
servers/physics_server.cpp
View File

@ -473,7 +473,7 @@ void PhysicsServer::_bind_methods() {
ClassDB::bind_method(D_METHOD("body_set_axis_velocity", "body", "axis_velocity"), &PhysicsServer::body_set_axis_velocity); ClassDB::bind_method(D_METHOD("body_set_axis_velocity", "body", "axis_velocity"), &PhysicsServer::body_set_axis_velocity);
ClassDB::bind_method(D_METHOD("body_set_axis_lock", "body", "axis", "lock"), &PhysicsServer::body_set_axis_lock); ClassDB::bind_method(D_METHOD("body_set_axis_lock", "body", "axis", "lock"), &PhysicsServer::body_set_axis_lock);
ClassDB::bind_method(D_METHOD("body_get_axis_lock", "body"), &PhysicsServer::body_get_axis_lock); ClassDB::bind_method(D_METHOD("body_is_axis_locked", "body", "axis"), &PhysicsServer::body_is_axis_locked);
ClassDB::bind_method(D_METHOD("body_add_collision_exception", "body", "excepted_body"), &PhysicsServer::body_add_collision_exception); ClassDB::bind_method(D_METHOD("body_add_collision_exception", "body", "excepted_body"), &PhysicsServer::body_add_collision_exception);
ClassDB::bind_method(D_METHOD("body_remove_collision_exception", "body", "excepted_body"), &PhysicsServer::body_remove_collision_exception); ClassDB::bind_method(D_METHOD("body_remove_collision_exception", "body", "excepted_body"), &PhysicsServer::body_remove_collision_exception);
@ -702,6 +702,12 @@ void PhysicsServer::_bind_methods() {
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_TIME_TO_SLEEP); BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_TIME_TO_SLEEP);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO); BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO);
BIND_ENUM_CONSTANT(SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS); BIND_ENUM_CONSTANT(SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS);
BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_X);
BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_Y);
BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_Z);
BIND_ENUM_CONSTANT(BODY_AXIS_ANGULAR_X);
BIND_ENUM_CONSTANT(BODY_AXIS_ANGULAR_Y);
BIND_ENUM_CONSTANT(BODY_AXIS_ANGULAR_Z);
} }
PhysicsServer::PhysicsServer() { PhysicsServer::PhysicsServer() {

14
servers/physics_server.h
View File

@ -421,8 +421,17 @@ public:
virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) = 0; virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) = 0;
virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) = 0; virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) = 0;
virtual void body_set_axis_lock(RID p_body, int axis, bool lock) = 0; enum BodyAxis {
virtual bool body_get_axis_lock(RID p_body) const = 0; BODY_AXIS_LINEAR_X = 1 << 0,
BODY_AXIS_LINEAR_Y = 1 << 1,
BODY_AXIS_LINEAR_Z = 1 << 2,
BODY_AXIS_ANGULAR_X = 1 << 3,
BODY_AXIS_ANGULAR_Y = 1 << 4,
BODY_AXIS_ANGULAR_Z = 1 << 5
};
virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) = 0;
virtual bool body_is_axis_locked(RID p_body, BodyAxis p_axis) const = 0;
//fix //fix
virtual void body_add_collision_exception(RID p_body, RID p_body_b) = 0; virtual void body_add_collision_exception(RID p_body, RID p_body_b) = 0;
@ -685,6 +694,7 @@ VARIANT_ENUM_CAST(PhysicsServer::AreaSpaceOverrideMode);
VARIANT_ENUM_CAST(PhysicsServer::BodyMode); VARIANT_ENUM_CAST(PhysicsServer::BodyMode);
VARIANT_ENUM_CAST(PhysicsServer::BodyParameter); VARIANT_ENUM_CAST(PhysicsServer::BodyParameter);
VARIANT_ENUM_CAST(PhysicsServer::BodyState); VARIANT_ENUM_CAST(PhysicsServer::BodyState);
VARIANT_ENUM_CAST(PhysicsServer::BodyAxis);
VARIANT_ENUM_CAST(PhysicsServer::PinJointParam); VARIANT_ENUM_CAST(PhysicsServer::PinJointParam);
VARIANT_ENUM_CAST(PhysicsServer::JointType); VARIANT_ENUM_CAST(PhysicsServer::JointType);
VARIANT_ENUM_CAST(PhysicsServer::HingeJointParam); VARIANT_ENUM_CAST(PhysicsServer::HingeJointParam);