From 7669f6e66075c05de1db48253e5a5e5398a3b736 Mon Sep 17 00:00:00 2001 From: Marcel Admiraal Date: Fri, 9 Dec 2022 19:30:11 +0100 Subject: [PATCH] Store Bullet total gravity, linear damp and angular damp calculations so they can be retrieved from PhysicsDirectBodyState --- modules/bullet/rigid_body_bullet.cpp | 66 +++++++++++++--------------- modules/bullet/rigid_body_bullet.h | 3 ++ 2 files changed, 34 insertions(+), 35 deletions(-) diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index 87c15c32128..f8b5087cea5 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -49,17 +49,15 @@ */ Vector3 BulletPhysicsDirectBodyState::get_total_gravity() const { - Vector3 gVec; - B_TO_G(body->btBody->getGravity(), gVec); - return gVec; + return body->total_gravity; } float BulletPhysicsDirectBodyState::get_total_angular_damp() const { - return body->btBody->getAngularDamping(); + return body->total_angular_damp; } float BulletPhysicsDirectBodyState::get_total_linear_damp() const { - return body->btBody->getLinearDamping(); + return body->total_linear_damp; } Vector3 BulletPhysicsDirectBodyState::get_center_of_mass() const { @@ -917,16 +915,9 @@ void RigidBodyBullet::reload_space_override_modificator() { return; } - if (omit_forces_integration) { - // Custom behaviour. - btBody->setGravity(btVector3(0, 0, 0)); - btBody->setDamping(0, 0); - return; - } - - Vector3 newGravity(0.0, 0.0, 0.0); - real_t newLinearDamp = MAX(0.0, linearDamp); - real_t newAngularDamp = MAX(0.0, angularDamp); + total_gravity = Vector3(0.0, 0.0, 0.0); + total_linear_damp = MAX(0.0, linearDamp); + total_angular_damp = MAX(0.0, angularDamp); AreaBullet *currentArea; // Variable used to calculate new gravity for gravity point areas, it is pointed by currentGravity pointer @@ -977,49 +968,54 @@ void RigidBodyBullet::reload_space_override_modificator() { /// This area adds its gravity/damp values to whatever has been /// calculated so far. This way, many overlapping areas can combine /// their physics to make interesting - newGravity += support_gravity; - newLinearDamp += currentArea->get_spOv_linearDamp(); - newAngularDamp += currentArea->get_spOv_angularDamp(); + total_gravity += support_gravity; + total_linear_damp += currentArea->get_spOv_linearDamp(); + total_angular_damp += currentArea->get_spOv_angularDamp(); break; case PhysicsServer::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: /// This area adds its gravity/damp values to whatever has been calculated /// so far. Then stops taking into account the rest of the areas, even the /// default one. - newGravity += support_gravity; - newLinearDamp += currentArea->get_spOv_linearDamp(); - newAngularDamp += currentArea->get_spOv_angularDamp(); + total_gravity += support_gravity; + total_linear_damp += currentArea->get_spOv_linearDamp(); + total_angular_damp += currentArea->get_spOv_angularDamp(); stopped = true; break; case PhysicsServer::AREA_SPACE_OVERRIDE_REPLACE: /// This area replaces any gravity/damp, even the default one, and /// stops taking into account the rest of the areas. - newGravity = support_gravity; - newLinearDamp = currentArea->get_spOv_linearDamp(); - newAngularDamp = currentArea->get_spOv_angularDamp(); + total_gravity = support_gravity; + total_linear_damp = currentArea->get_spOv_linearDamp(); + total_angular_damp = currentArea->get_spOv_angularDamp(); stopped = true; break; case PhysicsServer::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: /// This area replaces any gravity/damp calculated so far, but keeps /// calculating the rest of the areas, down to the default one. - newGravity = support_gravity; - newLinearDamp = currentArea->get_spOv_linearDamp(); - newAngularDamp = currentArea->get_spOv_angularDamp(); + total_gravity = support_gravity; + total_linear_damp = currentArea->get_spOv_linearDamp(); + total_angular_damp = currentArea->get_spOv_angularDamp(); break; } } // Add default gravity and damping from space. if (!stopped) { - newGravity += space->get_gravity_direction() * space->get_gravity_magnitude(); - newLinearDamp += space->get_linear_damp(); - newAngularDamp += space->get_angular_damp(); + total_gravity += space->get_gravity_direction() * space->get_gravity_magnitude(); + total_linear_damp += space->get_linear_damp(); + total_angular_damp += space->get_angular_damp(); } - btVector3 newBtGravity; - G_TO_B(newGravity * gravity_scale, newBtGravity); - - btBody->setGravity(newBtGravity); - btBody->setDamping(newLinearDamp, newAngularDamp); + if (omit_forces_integration) { + // Don't apply gravity or damping. + btBody->setGravity(btVector3(0, 0, 0)); + btBody->setDamping(0, 0); + } else { + btVector3 newBtGravity; + G_TO_B(total_gravity * gravity_scale, newBtGravity); + btBody->setGravity(newBtGravity); + btBody->setDamping(total_linear_damp, total_angular_damp); + } } void RigidBodyBullet::reload_kinematic_shapes() { diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h index f4096cc8b2d..06e80ee8bd8 100644 --- a/modules/bullet/rigid_body_bullet.h +++ b/modules/bullet/rigid_body_bullet.h @@ -168,6 +168,9 @@ private: real_t gravity_scale; real_t linearDamp; real_t angularDamp; + Vector3 total_gravity; + real_t total_linear_damp; + real_t total_angular_damp; bool can_sleep; bool omit_forces_integration; bool can_integrate_forces;