678 lines
19 KiB
C++
678 lines
19 KiB
C++
/*************************************************************************/
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/* body_2d_sw.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 "body_2d_sw.h"
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#include "area_2d_sw.h"
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#include "body_direct_state_2d_sw.h"
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#include "space_2d_sw.h"
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void Body2DSW::_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 Body2DSW::update_mass_properties() {
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//update shapes and motions
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switch (mode) {
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case PhysicsServer2D::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_aabb(i).get_area();
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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 = Vector2();
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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_aabb(i).get_area();
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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 += mass * get_shape_transform(i).get_origin();
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}
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center_of_mass /= mass;
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}
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}
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if (calculate_inertia) {
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inertia = 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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const Shape2DSW *shape = get_shape(i);
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real_t area = get_shape_aabb(i).get_area();
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if (area == 0.0) {
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continue;
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}
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real_t mass = area * this->mass / total_area;
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Transform2D mtx = get_shape_transform(i);
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Vector2 scale = mtx.get_scale();
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Vector2 shape_origin = mtx.get_origin() - center_of_mass;
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inertia += shape->get_moment_of_inertia(mass, scale) + mass * shape_origin.length_squared();
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}
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}
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_inv_inertia = inertia > 0.0 ? (1.0 / inertia) : 0.0;
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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 PhysicsServer2D::BODY_MODE_KINEMATIC:
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case PhysicsServer2D::BODY_MODE_STATIC: {
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_inv_inertia = 0;
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_inv_mass = 0;
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} break;
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case PhysicsServer2D::BODY_MODE_DYNAMIC_LINEAR: {
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_inv_inertia = 0;
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_inv_mass = 1.0 / mass;
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} break;
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}
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}
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void Body2DSW::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 Body2DSW::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 == PhysicsServer2D::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 Body2DSW::set_param(PhysicsServer2D::BodyParameter p_param, const Variant &p_value) {
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switch (p_param) {
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case PhysicsServer2D::BODY_PARAM_BOUNCE: {
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bounce = p_value;
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} break;
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case PhysicsServer2D::BODY_PARAM_FRICTION: {
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friction = p_value;
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} break;
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case PhysicsServer2D::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 >= PhysicsServer2D::BODY_MODE_DYNAMIC) {
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_mass_properties_changed();
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}
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} break;
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case PhysicsServer2D::BODY_PARAM_INERTIA: {
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real_t inertia_value = p_value;
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if (inertia_value <= 0.0) {
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calculate_inertia = true;
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if (mode == PhysicsServer2D::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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inertia = inertia_value;
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if (mode == PhysicsServer2D::BODY_MODE_DYNAMIC) {
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_inv_inertia = 1.0 / inertia;
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}
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}
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} break;
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case PhysicsServer2D::BODY_PARAM_CENTER_OF_MASS: {
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calculate_center_of_mass = false;
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center_of_mass = p_value;
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} break;
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case PhysicsServer2D::BODY_PARAM_GRAVITY_SCALE: {
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gravity_scale = p_value;
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} break;
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case PhysicsServer2D::BODY_PARAM_LINEAR_DAMP: {
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linear_damp = p_value;
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} break;
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case PhysicsServer2D::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 Body2DSW::get_param(PhysicsServer2D::BodyParameter p_param) const {
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switch (p_param) {
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case PhysicsServer2D::BODY_PARAM_BOUNCE: {
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return bounce;
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}
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case PhysicsServer2D::BODY_PARAM_FRICTION: {
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return friction;
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}
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case PhysicsServer2D::BODY_PARAM_MASS: {
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return mass;
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}
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case PhysicsServer2D::BODY_PARAM_INERTIA: {
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return inertia;
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}
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case PhysicsServer2D::BODY_PARAM_CENTER_OF_MASS: {
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return center_of_mass;
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}
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case PhysicsServer2D::BODY_PARAM_GRAVITY_SCALE: {
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return gravity_scale;
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}
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case PhysicsServer2D::BODY_PARAM_LINEAR_DAMP: {
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return linear_damp;
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}
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case PhysicsServer2D::BODY_PARAM_ANGULAR_DAMP: {
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return angular_damp;
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}
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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 Body2DSW::set_mode(PhysicsServer2D::BodyMode p_mode) {
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PhysicsServer2D::BodyMode prev = mode;
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mode = p_mode;
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switch (p_mode) {
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//CLEAR UP EVERYTHING IN CASE IT NOT WORKS!
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case PhysicsServer2D::BODY_MODE_STATIC:
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case PhysicsServer2D::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 = 0;
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_set_static(p_mode == PhysicsServer2D::BODY_MODE_STATIC);
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set_active(p_mode == PhysicsServer2D::BODY_MODE_KINEMATIC && contacts.size());
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linear_velocity = Vector2();
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angular_velocity = 0;
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if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC && prev != mode) {
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first_time_kinematic = true;
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}
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} break;
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case PhysicsServer2D::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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_inv_inertia = 1.0 / inertia;
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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 PhysicsServer2D::BODY_MODE_DYNAMIC_LINEAR: {
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_inv_mass = mass > 0 ? (1.0 / mass) : 0;
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_inv_inertia = 0;
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angular_velocity = 0;
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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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PhysicsServer2D::BodyMode Body2DSW::get_mode() const {
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return mode;
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}
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void Body2DSW::_shapes_changed() {
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_mass_properties_changed();
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wakeup_neighbours();
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}
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void Body2DSW::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_variant) {
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switch (p_state) {
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case PhysicsServer2D::BODY_STATE_TRANSFORM: {
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if (mode == PhysicsServer2D::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 == PhysicsServer2D::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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Transform2D 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 (t == new_transform) {
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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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}
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wakeup();
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} break;
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case PhysicsServer2D::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 PhysicsServer2D::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 PhysicsServer2D::BODY_STATE_SLEEPING: {
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if (mode == PhysicsServer2D::BODY_MODE_STATIC || mode == PhysicsServer2D::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 = Vector2();
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//biased_linear_velocity=Vector3();
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angular_velocity = 0;
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//biased_angular_velocity=Vector3();
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set_active(false);
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} else {
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if (mode != PhysicsServer2D::BODY_MODE_STATIC) {
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set_active(true);
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}
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}
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} break;
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case PhysicsServer2D::BODY_STATE_CAN_SLEEP: {
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can_sleep = p_variant;
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if (mode >= PhysicsServer2D::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 Body2DSW::get_state(PhysicsServer2D::BodyState p_state) const {
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switch (p_state) {
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case PhysicsServer2D::BODY_STATE_TRANSFORM: {
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return get_transform();
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}
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case PhysicsServer2D::BODY_STATE_LINEAR_VELOCITY: {
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return linear_velocity;
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}
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case PhysicsServer2D::BODY_STATE_ANGULAR_VELOCITY: {
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return angular_velocity;
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}
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case PhysicsServer2D::BODY_STATE_SLEEPING: {
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return !is_active();
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}
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case PhysicsServer2D::BODY_STATE_CAN_SLEEP: {
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return can_sleep;
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}
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}
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return Variant();
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}
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void Body2DSW::set_space(Space2DSW *p_space) {
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if (get_space()) {
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wakeup_neighbours();
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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 Body2DSW::_compute_area_gravity_and_damping(const Area2DSW *p_area) {
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Vector2 area_gravity;
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p_area->compute_gravity(get_transform().get_origin(), area_gravity);
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gravity += area_gravity;
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area_linear_damp += p_area->get_linear_damp();
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area_angular_damp += p_area->get_angular_damp();
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}
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void Body2DSW::integrate_forces(real_t p_step) {
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if (mode == PhysicsServer2D::BODY_MODE_STATIC) {
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return;
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}
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Area2DSW *def_area = get_space()->get_default_area();
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// Area2DSW *damp_area = def_area;
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ERR_FAIL_COND(!def_area);
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int ac = areas.size();
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bool stopped = false;
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gravity = Vector2(0, 0);
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area_angular_damp = 0;
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area_linear_damp = 0;
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if (ac) {
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areas.sort();
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const AreaCMP *aa = &areas[0];
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// damp_area = aa[ac-1].area;
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for (int i = ac - 1; i >= 0 && !stopped; i--) {
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PhysicsServer2D::AreaSpaceOverrideMode mode = aa[i].area->get_space_override_mode();
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switch (mode) {
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case PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE:
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case PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: {
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_compute_area_gravity_and_damping(aa[i].area);
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stopped = mode == PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE;
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} break;
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case PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE:
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case PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: {
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gravity = Vector2(0, 0);
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area_angular_damp = 0;
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area_linear_damp = 0;
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_compute_area_gravity_and_damping(aa[i].area);
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stopped = mode == PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE;
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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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}
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if (!stopped) {
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_compute_area_gravity_and_damping(def_area);
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}
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gravity *= gravity_scale;
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// If less than 0, override dampenings with that of the Body2D
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if (angular_damp >= 0) {
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area_angular_damp = angular_damp;
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}
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/*
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else
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area_angular_damp=damp_area->get_angular_damp();
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*/
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if (linear_damp >= 0) {
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area_linear_damp = linear_damp;
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}
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/*
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else
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area_linear_damp=damp_area->get_linear_damp();
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*/
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Vector2 motion;
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bool do_motion = false;
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if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
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//compute motion, angular and etc. velocities from prev transform
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motion = new_transform.get_origin() - get_transform().get_origin();
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linear_velocity = constant_linear_velocity + motion / p_step;
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real_t rot = new_transform.get_rotation() - get_transform().get_rotation();
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angular_velocity = constant_angular_velocity + remainder(rot, 2.0 * Math_PI) / p_step;
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do_motion = true;
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/*
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for(int i=0;i<get_shape_count();i++) {
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set_shape_kinematic_advance(i,Vector2());
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set_shape_kinematic_retreat(i,0);
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}
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*/
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} else {
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if (!omit_force_integration) {
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//overridden by direct state query
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Vector2 force = gravity * mass;
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force += applied_force;
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real_t torque = applied_torque;
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real_t damp = 1.0 - p_step * area_linear_damp;
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if (damp < 0) { // reached zero in the given time
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damp = 0;
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}
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real_t angular_damp = 1.0 - p_step * area_angular_damp;
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if (angular_damp < 0) { // reached zero in the given time
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angular_damp = 0;
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}
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linear_velocity *= damp;
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angular_velocity *= angular_damp;
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linear_velocity += _inv_mass * force * p_step;
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angular_velocity += _inv_inertia * torque * p_step;
|
|
}
|
|
|
|
if (continuous_cd_mode != PhysicsServer2D::CCD_MODE_DISABLED) {
|
|
motion = linear_velocity * p_step;
|
|
do_motion = true;
|
|
}
|
|
}
|
|
|
|
//motion=linear_velocity*p_step;
|
|
|
|
biased_angular_velocity = 0;
|
|
biased_linear_velocity = Vector2();
|
|
|
|
if (do_motion) { //shapes temporarily extend for raycast
|
|
_update_shapes_with_motion(motion);
|
|
}
|
|
|
|
// damp_area=nullptr; // clear the area, so it is set in the next frame
|
|
def_area = nullptr; // clear the area, so it is set in the next frame
|
|
contact_count = 0;
|
|
}
|
|
|
|
void Body2DSW::integrate_velocities(real_t p_step) {
|
|
if (mode == PhysicsServer2D::BODY_MODE_STATIC) {
|
|
return;
|
|
}
|
|
|
|
if (fi_callback_data || body_state_callback) {
|
|
get_space()->body_add_to_state_query_list(&direct_state_query_list);
|
|
}
|
|
|
|
if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
|
|
_set_transform(new_transform, false);
|
|
_set_inv_transform(new_transform.affine_inverse());
|
|
if (contacts.size() == 0 && linear_velocity == Vector2() && angular_velocity == 0) {
|
|
set_active(false); //stopped moving, deactivate
|
|
}
|
|
return;
|
|
}
|
|
|
|
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;
|
|
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) {
|
|
// 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);
|
|
}
|
|
|
|
_set_transform(Transform2D(angle, pos), continuous_cd_mode == PhysicsServer2D::CCD_MODE_DISABLED);
|
|
_set_inv_transform(get_transform().inverse());
|
|
|
|
if (continuous_cd_mode != PhysicsServer2D::CCD_MODE_DISABLED) {
|
|
new_transform = get_transform();
|
|
}
|
|
}
|
|
|
|
void Body2DSW::wakeup_neighbours() {
|
|
for (const Pair<Constraint2DSW *, int> &E : constraint_list) {
|
|
const Constraint2DSW *c = E.first;
|
|
Body2DSW **n = c->get_body_ptr();
|
|
int bc = c->get_body_count();
|
|
|
|
for (int i = 0; i < bc; i++) {
|
|
if (i == E.second) {
|
|
continue;
|
|
}
|
|
Body2DSW *b = n[i];
|
|
if (b->mode < PhysicsServer2D::BODY_MODE_DYNAMIC) {
|
|
continue;
|
|
}
|
|
|
|
if (!b->is_active()) {
|
|
b->set_active(true);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void Body2DSW::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;
|
|
Variant rv;
|
|
if (fi_callback_data->udata.get_type() != Variant::NIL) {
|
|
fi_callback_data->callable.call(vp, 2, rv, ce);
|
|
|
|
} else {
|
|
fi_callback_data->callable.call(vp, 1, rv, ce);
|
|
}
|
|
}
|
|
}
|
|
|
|
if (body_state_callback) {
|
|
(body_state_callback)(body_state_callback_instance, get_direct_state());
|
|
}
|
|
}
|
|
|
|
bool Body2DSW::sleep_test(real_t p_step) {
|
|
if (mode == PhysicsServer2D::BODY_MODE_STATIC || mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
|
|
return true;
|
|
} else if (!can_sleep) {
|
|
return false;
|
|
}
|
|
|
|
if (Math::abs(angular_velocity) < 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 Body2DSW::set_state_sync_callback(void *p_instance, PhysicsServer2D::BodyStateCallback p_callback) {
|
|
body_state_callback_instance = p_instance;
|
|
body_state_callback = p_callback;
|
|
}
|
|
|
|
void Body2DSW::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;
|
|
}
|
|
}
|
|
|
|
PhysicsDirectBodyState2DSW *Body2DSW::get_direct_state() {
|
|
if (!direct_state) {
|
|
direct_state = memnew(PhysicsDirectBodyState2DSW);
|
|
direct_state->body = this;
|
|
}
|
|
return direct_state;
|
|
}
|
|
|
|
Body2DSW::Body2DSW() :
|
|
CollisionObject2DSW(TYPE_BODY),
|
|
active_list(this),
|
|
mass_properties_update_list(this),
|
|
direct_state_query_list(this) {
|
|
_set_static(false);
|
|
}
|
|
|
|
Body2DSW::~Body2DSW() {
|
|
if (fi_callback_data) {
|
|
memdelete(fi_callback_data);
|
|
}
|
|
if (direct_state) {
|
|
memdelete(direct_state);
|
|
}
|
|
}
|