940f3fde5c
Makes the API for forces and impulses more flexible, easier to understand and harmonized between 2D and 3D. Rigid bodies now have 3 sets of methods for forces and impulses: -apply_impulse() for impulses (one-shot and time independent) -apply_force() for forces (time dependent) applied for the current step -add_constant_force() for forces that keeps being applied each step Also updated the documentation to clarify the different methods and parameters in rigid body nodes, body direct state and physics servers.
837 lines
25 KiB
C++
837 lines
25 KiB
C++
/*************************************************************************/
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/* godot_body_3d.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "godot_body_3d.h"
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#include "godot_area_3d.h"
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#include "godot_body_direct_state_3d.h"
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#include "godot_space_3d.h"
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void GodotBody3D::_mass_properties_changed() {
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if (get_space() && !mass_properties_update_list.in_list() && (calculate_inertia || calculate_center_of_mass)) {
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get_space()->body_add_to_mass_properties_update_list(&mass_properties_update_list);
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}
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}
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void GodotBody3D::_update_transform_dependent() {
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center_of_mass = get_transform().basis.xform(center_of_mass_local);
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principal_inertia_axes = get_transform().basis * principal_inertia_axes_local;
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// Update inertia tensor.
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Basis tb = principal_inertia_axes;
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Basis tbt = tb.transposed();
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Basis diag;
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diag.scale(_inv_inertia);
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_inv_inertia_tensor = tb * diag * tbt;
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}
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void GodotBody3D::update_mass_properties() {
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// Update shapes and motions.
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switch (mode) {
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case PhysicsServer3D::BODY_MODE_DYNAMIC: {
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real_t total_area = 0;
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for (int i = 0; i < get_shape_count(); i++) {
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if (is_shape_disabled(i)) {
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continue;
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}
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total_area += get_shape_area(i);
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}
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if (calculate_center_of_mass) {
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// We have to recompute the center of mass.
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center_of_mass_local.zero();
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if (total_area != 0.0) {
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for (int i = 0; i < get_shape_count(); i++) {
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if (is_shape_disabled(i)) {
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continue;
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}
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real_t area = get_shape_area(i);
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real_t mass = area * this->mass / total_area;
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// NOTE: we assume that the shape origin is also its center of mass.
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center_of_mass_local += mass * get_shape_transform(i).origin;
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}
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center_of_mass_local /= mass;
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}
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}
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if (calculate_inertia) {
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// Recompute the inertia tensor.
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Basis inertia_tensor;
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inertia_tensor.set_zero();
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bool inertia_set = false;
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for (int i = 0; i < get_shape_count(); i++) {
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if (is_shape_disabled(i)) {
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continue;
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}
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real_t area = get_shape_area(i);
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if (area == 0.0) {
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continue;
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}
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inertia_set = true;
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const GodotShape3D *shape = get_shape(i);
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real_t mass = area * this->mass / total_area;
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Basis shape_inertia_tensor = Basis::from_scale(shape->get_moment_of_inertia(mass));
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Transform3D shape_transform = get_shape_transform(i);
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Basis shape_basis = shape_transform.basis.orthonormalized();
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// NOTE: we don't take the scale of collision shapes into account when computing the inertia tensor!
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shape_inertia_tensor = shape_basis * shape_inertia_tensor * shape_basis.transposed();
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Vector3 shape_origin = shape_transform.origin - center_of_mass_local;
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inertia_tensor += shape_inertia_tensor + (Basis() * shape_origin.dot(shape_origin) - shape_origin.outer(shape_origin)) * mass;
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}
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// Set the inertia to a valid value when there are no valid shapes.
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if (!inertia_set) {
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inertia_tensor = Basis();
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}
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// Handle partial custom inertia.
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if (inertia.x > 0.0) {
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inertia_tensor[0][0] = inertia.x;
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}
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if (inertia.y > 0.0) {
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inertia_tensor[1][1] = inertia.y;
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}
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if (inertia.z > 0.0) {
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inertia_tensor[2][2] = inertia.z;
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}
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// Compute the principal axes of inertia.
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principal_inertia_axes_local = inertia_tensor.diagonalize().transposed();
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_inv_inertia = inertia_tensor.get_main_diagonal().inverse();
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}
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if (mass) {
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_inv_mass = 1.0 / mass;
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} else {
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_inv_mass = 0;
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}
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} break;
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case PhysicsServer3D::BODY_MODE_KINEMATIC:
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case PhysicsServer3D::BODY_MODE_STATIC: {
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_inv_inertia = Vector3();
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_inv_mass = 0;
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} break;
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case PhysicsServer3D::BODY_MODE_DYNAMIC_LINEAR: {
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_inv_inertia_tensor.set_zero();
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_inv_mass = 1.0 / mass;
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} break;
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}
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_update_transform_dependent();
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}
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void GodotBody3D::reset_mass_properties() {
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calculate_inertia = true;
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calculate_center_of_mass = true;
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_mass_properties_changed();
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}
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void GodotBody3D::set_active(bool p_active) {
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if (active == p_active) {
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return;
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}
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active = p_active;
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if (active) {
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if (mode == PhysicsServer3D::BODY_MODE_STATIC) {
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// Static bodies can't be active.
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active = false;
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} else if (get_space()) {
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get_space()->body_add_to_active_list(&active_list);
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}
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} else if (get_space()) {
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get_space()->body_remove_from_active_list(&active_list);
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}
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}
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void GodotBody3D::set_param(PhysicsServer3D::BodyParameter p_param, const Variant &p_value) {
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switch (p_param) {
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case PhysicsServer3D::BODY_PARAM_BOUNCE: {
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bounce = p_value;
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} break;
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case PhysicsServer3D::BODY_PARAM_FRICTION: {
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friction = p_value;
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} break;
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case PhysicsServer3D::BODY_PARAM_MASS: {
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real_t mass_value = p_value;
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ERR_FAIL_COND(mass_value <= 0);
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mass = mass_value;
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if (mode >= PhysicsServer3D::BODY_MODE_DYNAMIC) {
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_mass_properties_changed();
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}
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} break;
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case PhysicsServer3D::BODY_PARAM_INERTIA: {
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inertia = p_value;
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if ((inertia.x <= 0.0) || (inertia.y <= 0.0) || (inertia.z <= 0.0)) {
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calculate_inertia = true;
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if (mode == PhysicsServer3D::BODY_MODE_DYNAMIC) {
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_mass_properties_changed();
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}
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} else {
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calculate_inertia = false;
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if (mode == PhysicsServer3D::BODY_MODE_DYNAMIC) {
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principal_inertia_axes_local = Basis();
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_inv_inertia = inertia.inverse();
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_update_transform_dependent();
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}
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}
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} break;
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case PhysicsServer3D::BODY_PARAM_CENTER_OF_MASS: {
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calculate_center_of_mass = false;
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center_of_mass_local = p_value;
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_update_transform_dependent();
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} break;
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case PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE: {
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if (Math::is_zero_approx(gravity_scale)) {
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wakeup();
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}
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gravity_scale = p_value;
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} break;
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case PhysicsServer3D::BODY_PARAM_LINEAR_DAMP_MODE: {
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int mode_value = p_value;
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linear_damp_mode = (PhysicsServer3D::BodyDampMode)mode_value;
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} break;
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case PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP_MODE: {
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int mode_value = p_value;
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angular_damp_mode = (PhysicsServer3D::BodyDampMode)mode_value;
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} break;
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case PhysicsServer3D::BODY_PARAM_LINEAR_DAMP: {
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linear_damp = p_value;
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} break;
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case PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP: {
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angular_damp = p_value;
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} break;
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default: {
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}
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}
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}
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Variant GodotBody3D::get_param(PhysicsServer3D::BodyParameter p_param) const {
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switch (p_param) {
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case PhysicsServer3D::BODY_PARAM_BOUNCE: {
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return bounce;
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} break;
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case PhysicsServer3D::BODY_PARAM_FRICTION: {
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return friction;
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} break;
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case PhysicsServer3D::BODY_PARAM_MASS: {
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return mass;
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} break;
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case PhysicsServer3D::BODY_PARAM_INERTIA: {
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if (mode == PhysicsServer3D::BODY_MODE_DYNAMIC) {
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return _inv_inertia.inverse();
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} else {
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return Vector3();
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}
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} break;
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case PhysicsServer3D::BODY_PARAM_CENTER_OF_MASS: {
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return center_of_mass_local;
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} break;
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case PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE: {
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return gravity_scale;
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} break;
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case PhysicsServer3D::BODY_PARAM_LINEAR_DAMP_MODE: {
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return linear_damp_mode;
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}
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case PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP_MODE: {
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return angular_damp_mode;
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}
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case PhysicsServer3D::BODY_PARAM_LINEAR_DAMP: {
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return linear_damp;
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} break;
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case PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP: {
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return angular_damp;
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} break;
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default: {
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}
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}
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return 0;
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}
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void GodotBody3D::set_mode(PhysicsServer3D::BodyMode p_mode) {
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PhysicsServer3D::BodyMode prev = mode;
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mode = p_mode;
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switch (p_mode) {
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case PhysicsServer3D::BODY_MODE_STATIC:
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case PhysicsServer3D::BODY_MODE_KINEMATIC: {
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_set_inv_transform(get_transform().affine_inverse());
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_inv_mass = 0;
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_inv_inertia = Vector3();
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_set_static(p_mode == PhysicsServer3D::BODY_MODE_STATIC);
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set_active(p_mode == PhysicsServer3D::BODY_MODE_KINEMATIC && contacts.size());
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linear_velocity = Vector3();
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angular_velocity = Vector3();
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if (mode == PhysicsServer3D::BODY_MODE_KINEMATIC && prev != mode) {
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first_time_kinematic = true;
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}
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_update_transform_dependent();
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} break;
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case PhysicsServer3D::BODY_MODE_DYNAMIC: {
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_inv_mass = mass > 0 ? (1.0 / mass) : 0;
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if (!calculate_inertia) {
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principal_inertia_axes_local = Basis();
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_inv_inertia = inertia.inverse();
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_update_transform_dependent();
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}
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_mass_properties_changed();
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_set_static(false);
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set_active(true);
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} break;
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case PhysicsServer3D::BODY_MODE_DYNAMIC_LINEAR: {
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_inv_mass = mass > 0 ? (1.0 / mass) : 0;
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_inv_inertia = Vector3();
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angular_velocity = Vector3();
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_update_transform_dependent();
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_set_static(false);
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set_active(true);
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}
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}
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}
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PhysicsServer3D::BodyMode GodotBody3D::get_mode() const {
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return mode;
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}
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void GodotBody3D::_shapes_changed() {
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_mass_properties_changed();
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wakeup();
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wakeup_neighbours();
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}
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void GodotBody3D::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant) {
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switch (p_state) {
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case PhysicsServer3D::BODY_STATE_TRANSFORM: {
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if (mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
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new_transform = p_variant;
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//wakeup_neighbours();
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set_active(true);
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if (first_time_kinematic) {
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_set_transform(p_variant);
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_set_inv_transform(get_transform().affine_inverse());
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first_time_kinematic = false;
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}
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} else if (mode == PhysicsServer3D::BODY_MODE_STATIC) {
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_set_transform(p_variant);
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_set_inv_transform(get_transform().affine_inverse());
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wakeup_neighbours();
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} else {
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Transform3D t = p_variant;
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t.orthonormalize();
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new_transform = get_transform(); //used as old to compute motion
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if (new_transform == t) {
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break;
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}
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_set_transform(t);
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_set_inv_transform(get_transform().inverse());
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_update_transform_dependent();
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}
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wakeup();
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} break;
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case PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY: {
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linear_velocity = p_variant;
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constant_linear_velocity = linear_velocity;
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wakeup();
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} break;
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case PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY: {
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angular_velocity = p_variant;
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constant_angular_velocity = angular_velocity;
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wakeup();
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} break;
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case PhysicsServer3D::BODY_STATE_SLEEPING: {
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if (mode == PhysicsServer3D::BODY_MODE_STATIC || mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
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break;
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}
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bool do_sleep = p_variant;
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if (do_sleep) {
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linear_velocity = Vector3();
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//biased_linear_velocity=Vector3();
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angular_velocity = Vector3();
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//biased_angular_velocity=Vector3();
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set_active(false);
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} else {
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set_active(true);
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}
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} break;
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case PhysicsServer3D::BODY_STATE_CAN_SLEEP: {
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can_sleep = p_variant;
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if (mode >= PhysicsServer3D::BODY_MODE_DYNAMIC && !active && !can_sleep) {
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set_active(true);
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}
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} break;
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}
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}
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Variant GodotBody3D::get_state(PhysicsServer3D::BodyState p_state) const {
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switch (p_state) {
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case PhysicsServer3D::BODY_STATE_TRANSFORM: {
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return get_transform();
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} break;
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case PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY: {
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return linear_velocity;
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} break;
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case PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY: {
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return angular_velocity;
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} break;
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case PhysicsServer3D::BODY_STATE_SLEEPING: {
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return !is_active();
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} break;
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case PhysicsServer3D::BODY_STATE_CAN_SLEEP: {
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return can_sleep;
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} break;
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}
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return Variant();
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}
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void GodotBody3D::set_space(GodotSpace3D *p_space) {
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if (get_space()) {
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if (mass_properties_update_list.in_list()) {
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get_space()->body_remove_from_mass_properties_update_list(&mass_properties_update_list);
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}
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if (active_list.in_list()) {
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get_space()->body_remove_from_active_list(&active_list);
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}
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if (direct_state_query_list.in_list()) {
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get_space()->body_remove_from_state_query_list(&direct_state_query_list);
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}
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}
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_set_space(p_space);
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if (get_space()) {
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_mass_properties_changed();
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if (active) {
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get_space()->body_add_to_active_list(&active_list);
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}
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}
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}
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void GodotBody3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool lock) {
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if (lock) {
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locked_axis |= p_axis;
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} else {
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locked_axis &= ~p_axis;
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}
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}
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bool GodotBody3D::is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const {
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return locked_axis & p_axis;
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}
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void GodotBody3D::integrate_forces(real_t p_step) {
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if (mode == PhysicsServer3D::BODY_MODE_STATIC) {
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return;
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}
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ERR_FAIL_COND(!get_space());
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int ac = areas.size();
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bool gravity_done = false;
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bool linear_damp_done = false;
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bool angular_damp_done = false;
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bool stopped = false;
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gravity = Vector3(0, 0, 0);
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total_linear_damp = 0.0;
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total_angular_damp = 0.0;
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// Combine gravity and damping from overlapping areas in priority order.
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if (ac) {
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areas.sort();
|
|
const AreaCMP *aa = &areas[0];
|
|
for (int i = ac - 1; i >= 0 && !stopped; i--) {
|
|
if (!gravity_done) {
|
|
PhysicsServer3D::AreaSpaceOverrideMode area_gravity_mode = (PhysicsServer3D::AreaSpaceOverrideMode)(int)aa[i].area->get_param(PhysicsServer3D::AREA_PARAM_GRAVITY_OVERRIDE_MODE);
|
|
if (area_gravity_mode != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED) {
|
|
Vector3 area_gravity;
|
|
aa[i].area->compute_gravity(get_transform().get_origin(), area_gravity);
|
|
switch (area_gravity_mode) {
|
|
case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE:
|
|
case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: {
|
|
gravity += area_gravity;
|
|
gravity_done = area_gravity_mode == PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE;
|
|
} break;
|
|
case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE:
|
|
case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: {
|
|
gravity = area_gravity;
|
|
gravity_done = area_gravity_mode == PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE;
|
|
} break;
|
|
default: {
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (!linear_damp_done) {
|
|
PhysicsServer3D::AreaSpaceOverrideMode area_linear_damp_mode = (PhysicsServer3D::AreaSpaceOverrideMode)(int)aa[i].area->get_param(PhysicsServer3D::AREA_PARAM_LINEAR_DAMP_OVERRIDE_MODE);
|
|
if (area_linear_damp_mode != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED) {
|
|
real_t area_linear_damp = aa[i].area->get_linear_damp();
|
|
switch (area_linear_damp_mode) {
|
|
case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE:
|
|
case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: {
|
|
total_linear_damp += area_linear_damp;
|
|
linear_damp_done = area_linear_damp_mode == PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE;
|
|
} break;
|
|
case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE:
|
|
case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: {
|
|
total_linear_damp = area_linear_damp;
|
|
linear_damp_done = area_linear_damp_mode == PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE;
|
|
} break;
|
|
default: {
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (!angular_damp_done) {
|
|
PhysicsServer3D::AreaSpaceOverrideMode area_angular_damp_mode = (PhysicsServer3D::AreaSpaceOverrideMode)(int)aa[i].area->get_param(PhysicsServer3D::AREA_PARAM_ANGULAR_DAMP_OVERRIDE_MODE);
|
|
if (area_angular_damp_mode != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED) {
|
|
real_t area_angular_damp = aa[i].area->get_angular_damp();
|
|
switch (area_angular_damp_mode) {
|
|
case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE:
|
|
case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: {
|
|
total_angular_damp += area_angular_damp;
|
|
angular_damp_done = area_angular_damp_mode == PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE;
|
|
} break;
|
|
case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE:
|
|
case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: {
|
|
total_angular_damp = area_angular_damp;
|
|
angular_damp_done = area_angular_damp_mode == PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE;
|
|
} break;
|
|
default: {
|
|
}
|
|
}
|
|
}
|
|
}
|
|
stopped = gravity_done && linear_damp_done && angular_damp_done;
|
|
}
|
|
}
|
|
|
|
// Add default gravity and damping from space area.
|
|
if (!stopped) {
|
|
GodotArea3D *default_area = get_space()->get_default_area();
|
|
ERR_FAIL_COND(!default_area);
|
|
|
|
if (!gravity_done) {
|
|
Vector3 default_gravity;
|
|
default_area->compute_gravity(get_transform().get_origin(), default_gravity);
|
|
gravity += default_gravity;
|
|
}
|
|
|
|
if (!linear_damp_done) {
|
|
total_linear_damp += default_area->get_linear_damp();
|
|
}
|
|
|
|
if (!angular_damp_done) {
|
|
total_angular_damp += default_area->get_angular_damp();
|
|
}
|
|
}
|
|
|
|
// Override linear damping with body's value.
|
|
switch (linear_damp_mode) {
|
|
case PhysicsServer3D::BODY_DAMP_MODE_COMBINE: {
|
|
total_linear_damp += linear_damp;
|
|
} break;
|
|
case PhysicsServer3D::BODY_DAMP_MODE_REPLACE: {
|
|
total_linear_damp = linear_damp;
|
|
} break;
|
|
}
|
|
|
|
// Override angular damping with body's value.
|
|
switch (angular_damp_mode) {
|
|
case PhysicsServer3D::BODY_DAMP_MODE_COMBINE: {
|
|
total_angular_damp += angular_damp;
|
|
} break;
|
|
case PhysicsServer3D::BODY_DAMP_MODE_REPLACE: {
|
|
total_angular_damp = angular_damp;
|
|
} break;
|
|
}
|
|
|
|
gravity *= gravity_scale;
|
|
|
|
prev_linear_velocity = linear_velocity;
|
|
prev_angular_velocity = angular_velocity;
|
|
|
|
Vector3 motion;
|
|
bool do_motion = false;
|
|
|
|
if (mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
|
|
//compute motion, angular and etc. velocities from prev transform
|
|
motion = new_transform.origin - get_transform().origin;
|
|
do_motion = true;
|
|
linear_velocity = constant_linear_velocity + motion / p_step;
|
|
|
|
//compute a FAKE angular velocity, not so easy
|
|
Basis rot = new_transform.basis.orthonormalized() * get_transform().basis.orthonormalized().transposed();
|
|
Vector3 axis;
|
|
real_t angle;
|
|
|
|
rot.get_axis_angle(axis, angle);
|
|
axis.normalize();
|
|
angular_velocity = constant_angular_velocity + axis * (angle / p_step);
|
|
} else {
|
|
if (!omit_force_integration) {
|
|
//overridden by direct state query
|
|
|
|
Vector3 force = gravity * mass + applied_force + constant_force;
|
|
Vector3 torque = applied_torque + constant_torque;
|
|
|
|
real_t damp = 1.0 - p_step * total_linear_damp;
|
|
|
|
if (damp < 0) { // reached zero in the given time
|
|
damp = 0;
|
|
}
|
|
|
|
real_t angular_damp = 1.0 - p_step * total_angular_damp;
|
|
|
|
if (angular_damp < 0) { // reached zero in the given time
|
|
angular_damp = 0;
|
|
}
|
|
|
|
linear_velocity *= damp;
|
|
angular_velocity *= angular_damp;
|
|
|
|
linear_velocity += _inv_mass * force * p_step;
|
|
angular_velocity += _inv_inertia_tensor.xform(torque) * p_step;
|
|
}
|
|
|
|
if (continuous_cd) {
|
|
motion = linear_velocity * p_step;
|
|
do_motion = true;
|
|
}
|
|
}
|
|
|
|
applied_force = Vector3();
|
|
applied_torque = Vector3();
|
|
|
|
biased_angular_velocity = Vector3();
|
|
biased_linear_velocity = Vector3();
|
|
|
|
if (do_motion) { //shapes temporarily extend for raycast
|
|
_update_shapes_with_motion(motion);
|
|
}
|
|
|
|
contact_count = 0;
|
|
}
|
|
|
|
void GodotBody3D::integrate_velocities(real_t p_step) {
|
|
if (mode == PhysicsServer3D::BODY_MODE_STATIC) {
|
|
return;
|
|
}
|
|
|
|
if (fi_callback_data || body_state_callback) {
|
|
get_space()->body_add_to_state_query_list(&direct_state_query_list);
|
|
}
|
|
|
|
//apply axis lock linear
|
|
for (int i = 0; i < 3; i++) {
|
|
if (is_axis_locked((PhysicsServer3D::BodyAxis)(1 << i))) {
|
|
linear_velocity[i] = 0;
|
|
biased_linear_velocity[i] = 0;
|
|
new_transform.origin[i] = get_transform().origin[i];
|
|
}
|
|
}
|
|
//apply axis lock angular
|
|
for (int i = 0; i < 3; i++) {
|
|
if (is_axis_locked((PhysicsServer3D::BodyAxis)(1 << (i + 3)))) {
|
|
angular_velocity[i] = 0;
|
|
biased_angular_velocity[i] = 0;
|
|
}
|
|
}
|
|
|
|
if (mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
|
|
_set_transform(new_transform, false);
|
|
_set_inv_transform(new_transform.affine_inverse());
|
|
if (contacts.size() == 0 && linear_velocity == Vector3() && angular_velocity == Vector3()) {
|
|
set_active(false); //stopped moving, deactivate
|
|
}
|
|
|
|
return;
|
|
}
|
|
|
|
Vector3 total_angular_velocity = angular_velocity + biased_angular_velocity;
|
|
|
|
real_t ang_vel = total_angular_velocity.length();
|
|
Transform3D transform = get_transform();
|
|
|
|
if (!Math::is_zero_approx(ang_vel)) {
|
|
Vector3 ang_vel_axis = total_angular_velocity / ang_vel;
|
|
Basis rot(ang_vel_axis, ang_vel * p_step);
|
|
Basis identity3(1, 0, 0, 0, 1, 0, 0, 0, 1);
|
|
transform.origin += ((identity3 - rot) * transform.basis).xform(center_of_mass_local);
|
|
transform.basis = rot * transform.basis;
|
|
transform.orthonormalize();
|
|
}
|
|
|
|
Vector3 total_linear_velocity = linear_velocity + biased_linear_velocity;
|
|
/*for(int i=0;i<3;i++) {
|
|
if (axis_lock&(1<<i)) {
|
|
transform.origin[i]=0.0;
|
|
}
|
|
}*/
|
|
|
|
transform.origin += total_linear_velocity * p_step;
|
|
|
|
_set_transform(transform);
|
|
_set_inv_transform(get_transform().inverse());
|
|
|
|
_update_transform_dependent();
|
|
}
|
|
|
|
void GodotBody3D::wakeup_neighbours() {
|
|
for (const KeyValue<GodotConstraint3D *, int> &E : constraint_map) {
|
|
const GodotConstraint3D *c = E.key;
|
|
GodotBody3D **n = c->get_body_ptr();
|
|
int bc = c->get_body_count();
|
|
|
|
for (int i = 0; i < bc; i++) {
|
|
if (i == E.value) {
|
|
continue;
|
|
}
|
|
GodotBody3D *b = n[i];
|
|
if (b->mode < PhysicsServer3D::BODY_MODE_DYNAMIC) {
|
|
continue;
|
|
}
|
|
|
|
if (!b->is_active()) {
|
|
b->set_active(true);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void GodotBody3D::call_queries() {
|
|
if (fi_callback_data) {
|
|
if (!fi_callback_data->callable.get_object()) {
|
|
set_force_integration_callback(Callable());
|
|
} else {
|
|
Variant direct_state_variant = get_direct_state();
|
|
const Variant *vp[2] = { &direct_state_variant, &fi_callback_data->udata };
|
|
|
|
Callable::CallError ce;
|
|
int argc = (fi_callback_data->udata.get_type() == Variant::NIL) ? 1 : 2;
|
|
Variant rv;
|
|
fi_callback_data->callable.call(vp, argc, rv, ce);
|
|
}
|
|
}
|
|
|
|
if (body_state_callback_instance) {
|
|
(body_state_callback)(body_state_callback_instance, get_direct_state());
|
|
}
|
|
}
|
|
|
|
bool GodotBody3D::sleep_test(real_t p_step) {
|
|
if (mode == PhysicsServer3D::BODY_MODE_STATIC || mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
|
|
return true;
|
|
} else if (!can_sleep) {
|
|
return false;
|
|
}
|
|
|
|
if (Math::abs(angular_velocity.length()) < get_space()->get_body_angular_velocity_sleep_threshold() && Math::abs(linear_velocity.length_squared()) < get_space()->get_body_linear_velocity_sleep_threshold() * get_space()->get_body_linear_velocity_sleep_threshold()) {
|
|
still_time += p_step;
|
|
|
|
return still_time > get_space()->get_body_time_to_sleep();
|
|
} else {
|
|
still_time = 0; //maybe this should be set to 0 on set_active?
|
|
return false;
|
|
}
|
|
}
|
|
|
|
void GodotBody3D::set_state_sync_callback(void *p_instance, PhysicsServer3D::BodyStateCallback p_callback) {
|
|
body_state_callback_instance = p_instance;
|
|
body_state_callback = p_callback;
|
|
}
|
|
|
|
void GodotBody3D::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) {
|
|
if (p_callable.get_object()) {
|
|
if (!fi_callback_data) {
|
|
fi_callback_data = memnew(ForceIntegrationCallbackData);
|
|
}
|
|
fi_callback_data->callable = p_callable;
|
|
fi_callback_data->udata = p_udata;
|
|
} else if (fi_callback_data) {
|
|
memdelete(fi_callback_data);
|
|
fi_callback_data = nullptr;
|
|
}
|
|
}
|
|
|
|
GodotPhysicsDirectBodyState3D *GodotBody3D::get_direct_state() {
|
|
if (!direct_state) {
|
|
direct_state = memnew(GodotPhysicsDirectBodyState3D);
|
|
direct_state->body = this;
|
|
}
|
|
return direct_state;
|
|
}
|
|
|
|
GodotBody3D::GodotBody3D() :
|
|
GodotCollisionObject3D(TYPE_BODY),
|
|
active_list(this),
|
|
mass_properties_update_list(this),
|
|
direct_state_query_list(this) {
|
|
_set_static(false);
|
|
}
|
|
|
|
GodotBody3D::~GodotBody3D() {
|
|
if (fi_callback_data) {
|
|
memdelete(fi_callback_data);
|
|
}
|
|
if (direct_state) {
|
|
memdelete(direct_state);
|
|
}
|
|
}
|