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virtualx-engine/servers/physics_3d/godot_body_direct_state_3d.cpp

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One Copyright Update to rule them all As many open source projects have started doing it, we're removing the current year from the copyright notice, so that we don't need to bump it every year. It seems like only the first year of publication is technically relevant for copyright notices, and even that seems to be something that many companies stopped listing altogether (in a version controlled codebase, the commits are a much better source of date of publication than a hardcoded copyright statement). We also now list Godot Engine contributors first as we're collectively the current maintainers of the project, and we clarify that the "exclusive" copyright of the co-founders covers the timespan before opensourcing (their further contributions are included as part of Godot Engine contributors). Also fixed "cf." Frenchism - it's meant as "refer to / see".
2023-01-05 13:25:55 +01:00
/**************************************************************************/
/* godot_body_direct_state_3d.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
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/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/**************************************************************************/
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
#include "godot_body_direct_state_3d.h"
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
#include "godot_body_3d.h"
#include "godot_space_3d.h"
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
Vector3 GodotPhysicsDirectBodyState3D::get_total_gravity() const {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
return body->gravity;
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
real_t GodotPhysicsDirectBodyState3D::get_total_angular_damp() const {
Improved RigidDynamicBody linear/angular damping override Damping values are now non-negative. Add new properties linear_damp_mode and angular_damp_mode to set the way RigidDynamicBody and PhysicalBone (2D & 3D) use damping values. It can now be Combine (default) to add to the default/areas, or Replace to override the value completely (current behavior).
2020-04-14 19:59:53 +02:00
return body->total_angular_damp;
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
real_t GodotPhysicsDirectBodyState3D::get_total_linear_damp() const {
Improved RigidDynamicBody linear/angular damping override Damping values are now non-negative. Add new properties linear_damp_mode and angular_damp_mode to set the way RigidDynamicBody and PhysicalBone (2D & 3D) use damping values. It can now be Combine (default) to add to the default/areas, or Replace to override the value completely (current behavior).
2020-04-14 19:59:53 +02:00
return body->total_linear_damp;
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
Vector3 GodotPhysicsDirectBodyState3D::get_center_of_mass() const {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
return body->get_center_of_mass();
}
Expose local center of mass in physics servers Center of mass in body's local space is more useful than the transformed one in some cases, like drawing its position for debug. It's especially useful to get the generated local center of mass when in auto mode (by default). Physics Server BODY_PARAM_CENTER_OF_MASS: Now always returns the local center of mass, instead of setting a local center of mass and getting a transformed one. This causes compatibility breaking, but it makes more sense for the parameter to be consistent between getter and setter. Direct Body State: There are now two properties, because both of them can be useful in different situations. center_of_mass: relative position in global coordinates (same as before) center_of_mass_local: position in local coordinates
2021-10-22 20:56:00 +02:00
Vector3 GodotPhysicsDirectBodyState3D::get_center_of_mass_local() const {
return body->get_center_of_mass_local();
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
Basis GodotPhysicsDirectBodyState3D::get_principal_inertia_axes() const {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
return body->get_principal_inertia_axes();
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
real_t GodotPhysicsDirectBodyState3D::get_inverse_mass() const {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
return body->get_inv_mass();
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
Vector3 GodotPhysicsDirectBodyState3D::get_inverse_inertia() const {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
return body->get_inv_inertia();
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
Basis GodotPhysicsDirectBodyState3D::get_inverse_inertia_tensor() const {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
return body->get_inv_inertia_tensor();
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
void GodotPhysicsDirectBodyState3D::set_linear_velocity(const Vector3 &p_velocity) {
Changed from directly waking bodies to using the wakeup() functions in direct body state changes (forces, impulses and veloicities). this 'bug' was introduced in PR #52967 added wakeup to 2d direct body
2021-10-03 20:57:26 +02:00
body->wakeup();
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
body->set_linear_velocity(p_velocity);
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
Vector3 GodotPhysicsDirectBodyState3D::get_linear_velocity() const {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
return body->get_linear_velocity();
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
void GodotPhysicsDirectBodyState3D::set_angular_velocity(const Vector3 &p_velocity) {
Changed from directly waking bodies to using the wakeup() functions in direct body state changes (forces, impulses and veloicities). this 'bug' was introduced in PR #52967 added wakeup to 2d direct body
2021-10-03 20:57:26 +02:00
body->wakeup();
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
body->set_angular_velocity(p_velocity);
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
Vector3 GodotPhysicsDirectBodyState3D::get_angular_velocity() const {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
return body->get_angular_velocity();
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
void GodotPhysicsDirectBodyState3D::set_transform(const Transform3D &p_transform) {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
body->set_state(PhysicsServer3D::BODY_STATE_TRANSFORM, p_transform);
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
Transform3D GodotPhysicsDirectBodyState3D::get_transform() const {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
return body->get_transform();
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
Vector3 GodotPhysicsDirectBodyState3D::get_velocity_at_local_position(const Vector3 &p_position) const {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
return body->get_velocity_in_local_point(p_position);
}
Improve RigidDynamicBody force and torque API 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.
2021-12-08 02:09:54 +01:00
void GodotPhysicsDirectBodyState3D::apply_central_impulse(const Vector3 &p_impulse) {
Changed from directly waking bodies to using the wakeup() functions in direct body state changes (forces, impulses and veloicities). this 'bug' was introduced in PR #52967 added wakeup to 2d direct body
2021-10-03 20:57:26 +02:00
body->wakeup();
Improve RigidDynamicBody force and torque API 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.
2021-12-08 02:09:54 +01:00
body->apply_central_impulse(p_impulse);
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
}
Improve RigidDynamicBody force and torque API 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.
2021-12-08 02:09:54 +01:00
void GodotPhysicsDirectBodyState3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
Changed from directly waking bodies to using the wakeup() functions in direct body state changes (forces, impulses and veloicities). this 'bug' was introduced in PR #52967 added wakeup to 2d direct body
2021-10-03 20:57:26 +02:00
body->wakeup();
Improve RigidDynamicBody force and torque API 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.
2021-12-08 02:09:54 +01:00
body->apply_impulse(p_impulse, p_position);
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
}
Improve RigidDynamicBody force and torque API 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.
2021-12-08 02:09:54 +01:00
void GodotPhysicsDirectBodyState3D::apply_torque_impulse(const Vector3 &p_impulse) {
Changed from directly waking bodies to using the wakeup() functions in direct body state changes (forces, impulses and veloicities). this 'bug' was introduced in PR #52967 added wakeup to 2d direct body
2021-10-03 20:57:26 +02:00
body->wakeup();
Improve RigidDynamicBody force and torque API 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.
2021-12-08 02:09:54 +01:00
body->apply_torque_impulse(p_impulse);
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
}
Improve RigidDynamicBody force and torque API 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.
2021-12-08 02:09:54 +01:00
void GodotPhysicsDirectBodyState3D::apply_central_force(const Vector3 &p_force) {
Changed from directly waking bodies to using the wakeup() functions in direct body state changes (forces, impulses and veloicities). this 'bug' was introduced in PR #52967 added wakeup to 2d direct body
2021-10-03 20:57:26 +02:00
body->wakeup();
Improve RigidDynamicBody force and torque API 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.
2021-12-08 02:09:54 +01:00
body->apply_central_force(p_force);
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
}
Improve RigidDynamicBody force and torque API 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.
2021-12-08 02:09:54 +01:00
void GodotPhysicsDirectBodyState3D::apply_force(const Vector3 &p_force, const Vector3 &p_position) {
Changed from directly waking bodies to using the wakeup() functions in direct body state changes (forces, impulses and veloicities). this 'bug' was introduced in PR #52967 added wakeup to 2d direct body
2021-10-03 20:57:26 +02:00
body->wakeup();
Improve RigidDynamicBody force and torque API 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.
2021-12-08 02:09:54 +01:00
body->apply_force(p_force, p_position);
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
}
Improve RigidDynamicBody force and torque API 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.
2021-12-08 02:09:54 +01:00
void GodotPhysicsDirectBodyState3D::apply_torque(const Vector3 &p_torque) {
Changed from directly waking bodies to using the wakeup() functions in direct body state changes (forces, impulses and veloicities). this 'bug' was introduced in PR #52967 added wakeup to 2d direct body
2021-10-03 20:57:26 +02:00
body->wakeup();
Improve RigidDynamicBody force and torque API 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.
2021-12-08 02:09:54 +01:00
body->apply_torque(p_torque);
}
void GodotPhysicsDirectBodyState3D::add_constant_central_force(const Vector3 &p_force) {
body->wakeup();
body->add_constant_central_force(p_force);
}
void GodotPhysicsDirectBodyState3D::add_constant_force(const Vector3 &p_force, const Vector3 &p_position) {
body->wakeup();
body->add_constant_force(p_force, p_position);
}
void GodotPhysicsDirectBodyState3D::add_constant_torque(const Vector3 &p_torque) {
body->wakeup();
body->add_constant_torque(p_torque);
}
void GodotPhysicsDirectBodyState3D::set_constant_force(const Vector3 &p_force) {
Add `is_zero_approx` methods to `Vector2`, `3`, and `4`
2022-09-02 02:32:33 +02:00
if (!p_force.is_zero_approx()) {
Improve RigidDynamicBody force and torque API 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.
2021-12-08 02:09:54 +01:00
body->wakeup();
}
body->set_constant_force(p_force);
}
Vector3 GodotPhysicsDirectBodyState3D::get_constant_force() const {
return body->get_constant_force();
}
void GodotPhysicsDirectBodyState3D::set_constant_torque(const Vector3 &p_torque) {
Add `is_zero_approx` methods to `Vector2`, `3`, and `4`
2022-09-02 02:32:33 +02:00
if (!p_torque.is_zero_approx()) {
Improve RigidDynamicBody force and torque API 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.
2021-12-08 02:09:54 +01:00
body->wakeup();
}
body->set_constant_torque(p_torque);
}
Vector3 GodotPhysicsDirectBodyState3D::get_constant_torque() const {
return body->get_constant_torque();
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
void GodotPhysicsDirectBodyState3D::set_sleep_state(bool p_sleep) {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
body->set_active(!p_sleep);
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
bool GodotPhysicsDirectBodyState3D::is_sleeping() const {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
return !body->is_active();
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
int GodotPhysicsDirectBodyState3D::get_contact_count() const {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
return body->contact_count;
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
Vector3 GodotPhysicsDirectBodyState3D::get_contact_local_position(int p_contact_idx) const {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
return body->contacts[p_contact_idx].local_pos;
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
Vector3 GodotPhysicsDirectBodyState3D::get_contact_local_normal(int p_contact_idx) const {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
return body->contacts[p_contact_idx].local_normal;
}
Implement collision impulse in Godot Physics 3D
2023-01-08 04:34:28 +01:00
Vector3 GodotPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
return body->contacts[p_contact_idx].impulse;
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
}
Resolved issues with script PhysicsDirectBodyState3d contacts Resolved a problem with PhysicsDirectBodyState3D sometimes returning incorrect contact positions and added a new get_contact_local_velocity_at_position method to compliment the existing one for the collider.
2022-03-07 19:07:46 +01:00
Vector3 GodotPhysicsDirectBodyState3D::get_contact_local_velocity_at_position(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
return body->contacts[p_contact_idx].local_velocity_at_pos;
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
int GodotPhysicsDirectBodyState3D::get_contact_local_shape(int p_contact_idx) const {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, -1);
return body->contacts[p_contact_idx].local_shape;
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
RID GodotPhysicsDirectBodyState3D::get_contact_collider(int p_contact_idx) const {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, RID());
return body->contacts[p_contact_idx].collider;
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
Vector3 GodotPhysicsDirectBodyState3D::get_contact_collider_position(int p_contact_idx) const {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
return body->contacts[p_contact_idx].collider_pos;
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
ObjectID GodotPhysicsDirectBodyState3D::get_contact_collider_id(int p_contact_idx) const {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, ObjectID());
return body->contacts[p_contact_idx].collider_instance_id;
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
int GodotPhysicsDirectBodyState3D::get_contact_collider_shape(int p_contact_idx) const {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, 0);
return body->contacts[p_contact_idx].collider_shape;
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
Vector3 GodotPhysicsDirectBodyState3D::get_contact_collider_velocity_at_position(int p_contact_idx) const {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
return body->contacts[p_contact_idx].collider_velocity_at_pos;
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
PhysicsDirectSpaceState3D *GodotPhysicsDirectBodyState3D::get_space_state() {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
return body->get_space()->get_direct_state();
}
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 21:24:30 +02:00
real_t GodotPhysicsDirectBodyState3D::get_step() const {
Clean physics direct body state usage in 2D and 3D physics Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
2021-06-05 01:09:41 +02:00
return body->get_space()->get_last_step();
}
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