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Add Method get_inverse_inertia_tensor

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This commit is contained in:
Yerik 2020-07-19 13:45:36 -03:00
parent 173ebe4872
commit a91103ac89
3 changed files with 17 additions and 0 deletions
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7
doc/classes/RigidBody3D.xml
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@ -100,6 +100,13 @@
[b]Note:[/b] The result of this test is not immediate after moving objects. For performance, list of collisions is updated once per frame and before the physics step. Consider using signals instead. [b]Note:[/b] The result of this test is not immediate after moving objects. For performance, list of collisions is updated once per frame and before the physics step. Consider using signals instead.
</description> </description>
</method> </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 [RigidBody3D].
</description>
</method>
<method name="set_axis_lock"> <method name="set_axis_lock">
<return type="void"> <return type="void">
</return> </return>

7
scene/3d/physics_body_3d.cpp
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@ -358,6 +358,7 @@ void RigidBody3D::_direct_state_changed(Object *p_state) {
set_global_transform(state->get_transform()); set_global_transform(state->get_transform());
linear_velocity = state->get_linear_velocity(); linear_velocity = state->get_linear_velocity();
angular_velocity = state->get_angular_velocity(); angular_velocity = state->get_angular_velocity();
inverse_inertia_tensor = state->get_inverse_inertia_tensor();
if (sleeping != state->is_sleeping()) { if (sleeping != state->is_sleeping()) {
sleeping = state->is_sleeping(); sleeping = state->is_sleeping();
emit_signal(SceneStringNames::get_singleton()->sleeping_state_changed); emit_signal(SceneStringNames::get_singleton()->sleeping_state_changed);
@ -594,6 +595,10 @@ Vector3 RigidBody3D::get_angular_velocity() const {
return angular_velocity; return angular_velocity;
} }
Basis RigidBody3D::get_inverse_inertia_tensor() {
return inverse_inertia_tensor;
}
void RigidBody3D::set_use_custom_integrator(bool p_enable) { void RigidBody3D::set_use_custom_integrator(bool p_enable) {
if (custom_integrator == p_enable) { if (custom_integrator == p_enable) {
return; return;
@ -760,6 +765,8 @@ void RigidBody3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &RigidBody3D::set_angular_velocity); ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &RigidBody3D::set_angular_velocity);
ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidBody3D::get_angular_velocity); ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidBody3D::get_angular_velocity);
ClassDB::bind_method(D_METHOD("get_inverse_inertia_tensor"), &RigidBody3D::get_inverse_inertia_tensor);
ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &RigidBody3D::set_gravity_scale); ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &RigidBody3D::set_gravity_scale);
ClassDB::bind_method(D_METHOD("get_gravity_scale"), &RigidBody3D::get_gravity_scale); ClassDB::bind_method(D_METHOD("get_gravity_scale"), &RigidBody3D::get_gravity_scale);

3
scene/3d/physics_body_3d.h
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@ -123,6 +123,7 @@ protected:
Vector3 linear_velocity; Vector3 linear_velocity;
Vector3 angular_velocity; Vector3 angular_velocity;
Basis inverse_inertia_tensor;
real_t gravity_scale; real_t gravity_scale;
real_t linear_damp; real_t linear_damp;
real_t angular_damp; real_t angular_damp;
@ -201,6 +202,8 @@ public:
void set_angular_velocity(const Vector3 &p_velocity); void set_angular_velocity(const Vector3 &p_velocity);
Vector3 get_angular_velocity() const override; Vector3 get_angular_velocity() const override;
Basis get_inverse_inertia_tensor();
void set_gravity_scale(real_t p_gravity_scale); void set_gravity_scale(real_t p_gravity_scale);
real_t get_gravity_scale() const; real_t get_gravity_scale() const;