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Merge pull request #39817 from yrk06/ExposeInertiaTensor 

Added Rigid Body Method "get_inverse_inertia_tensor"
This commit is contained in:
Rémi Verschelde 2020-07-21 16:50:56 +02:00 committed by GitHub
parent b3520ecd1c d09b16512b
commit 7b4b83e9dc
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 17 additions and 0 deletions
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7
doc/classes/RigidBody.xml
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@ -120,6 +120,13 @@
Sets an axis velocity. The velocity in the given vector axis will be set as the given vector length. This is useful for jumping behavior.
</description>
</method>
<method name="get_inverse_inertia_tensor">
<return type="Basis">
</return>
<description>
Returns the inverse inertia tensor basis. This is used to calculate the angular acceleration resulting from a torque applied to the RigidBody.
</description>
</method>
</methods>
<members>
<member name="angular_damp" type="float" setter="set_angular_damp" getter="get_angular_damp" default="-1.0">

7
scene/3d/physics_body.cpp
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@ -453,6 +453,7 @@ void RigidBody::_direct_state_changed(Object *p_state) {
set_global_transform(state->get_transform());
linear_velocity = state->get_linear_velocity();
angular_velocity = state->get_angular_velocity();
inverse_inertia_tensor = state->get_inverse_inertia_tensor();
if (sleeping != state->is_sleeping()) {
sleeping = state->is_sleeping();
emit_signal(SceneStringNames::get_singleton()->sleeping_state_changed);
@ -765,6 +766,10 @@ Vector3 RigidBody::get_angular_velocity() const {
return angular_velocity;
}
Basis RigidBody::get_inverse_inertia_tensor() {
return inverse_inertia_tensor;
}
void RigidBody::set_use_custom_integrator(bool p_enable) {
if (custom_integrator == p_enable)
@ -956,6 +961,8 @@ void RigidBody::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &RigidBody::set_angular_velocity);
ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidBody::get_angular_velocity);
ClassDB::bind_method(D_METHOD("get_inverse_inertia_tensor"), &RigidBody::get_inverse_inertia_tensor);
ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &RigidBody::set_gravity_scale);
ClassDB::bind_method(D_METHOD("get_gravity_scale"), &RigidBody::get_gravity_scale);

3
scene/3d/physics_body.h
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@ -135,6 +135,7 @@ protected:
Vector3 linear_velocity;
Vector3 angular_velocity;
Basis inverse_inertia_tensor;
real_t gravity_scale;
real_t linear_damp;
real_t angular_damp;
@ -224,6 +225,8 @@ public:
void set_angular_velocity(const Vector3 &p_velocity);
Vector3 get_angular_velocity() const;
Basis get_inverse_inertia_tensor();
void set_gravity_scale(real_t p_gravity_scale);
real_t get_gravity_scale() const;