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Merge pull request #54124 from Uxeron/CenterOfMassRotationFix

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Fix physics body rotating incorrectly around it's center of mass
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Camille Mohr-Daurat 2021-10-22 12:58:18 -07:00 committed by GitHub
commit d47481f190
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 4 additions and 8 deletions
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12
servers/physics_2d/godot_body_2d.cpp
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@ -558,17 +558,13 @@ void GodotBody2D::integrate_velocities(real_t p_step) {
real_t total_angular_velocity = angular_velocity + biased_angular_velocity;
Vector2 total_linear_velocity = linear_velocity + biased_linear_velocity;
real_t angle = get_transform().get_rotation() + total_angular_velocity * p_step;
real_t angle_delta = total_angular_velocity * p_step;
real_t angle = get_transform().get_rotation() + angle_delta;
Vector2 pos = get_transform().get_origin() + total_linear_velocity * p_step;
real_t center_of_mass_distance = center_of_mass.length();
if (center_of_mass_distance > CMP_EPSILON) {
if (center_of_mass.length_squared() > CMP_EPSILON2) {
// Calculate displacement due to center of mass offset.
real_t prev_angle = get_transform().get_rotation();
real_t angle_base = Math::atan2(center_of_mass.y, center_of_mass.x);
Vector2 point1(Math::cos(angle_base + prev_angle), Math::sin(angle_base + prev_angle));
Vector2 point2(Math::cos(angle_base + angle), Math::sin(angle_base + angle));
pos += center_of_mass_distance * (point1 - point2);
pos += center_of_mass - center_of_mass.rotated(angle_delta);
}
_set_transform(Transform2D(angle, pos), continuous_cd_mode == PhysicsServer2D::CCD_MODE_DISABLED);