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Add PhysicalBone rotation, damping, axis lock & can sleep

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This commit is contained in:
PouleyKetchoupp 2020-03-26 12:59:21 +01:00
parent 5f11e15571
commit 5c1c03f29a
4 changed files with 171 additions and 24 deletions
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41
doc/classes/PhysicalBone3D.xml
View file

@ -45,21 +45,62 @@
</method>
</methods>
<members>
<member name="angular_damp" type="float" setter="set_angular_damp" getter="get_angular_damp" default="-1.0">
Damps the body's rotation if greater than [code]0[/code].
</member>
<member name="axis_lock_angular_x" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
Lock the body's rotation in the X axis.
</member>
<member name="axis_lock_angular_y" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
Lock the body's rotation in the Y axis.
</member>
<member name="axis_lock_angular_z" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
Lock the body's rotation in the Z axis.
</member>
<member name="axis_lock_linear_x" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
Lock the body's movement in the X axis.
</member>
<member name="axis_lock_linear_y" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
Lock the body's movement in the Y axis.
</member>
<member name="axis_lock_linear_z" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false">
Lock the body's movement in the Z axis.
</member>
<member name="body_offset" type="Transform" setter="set_body_offset" getter="get_body_offset" default="Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0 )">
Sets the body's transform.
</member>
<member name="bounce" type="float" setter="set_bounce" getter="get_bounce" default="0.0">
The body's bounciness. Values range from [code]0[/code] (no bounce) to [code]1[/code] (full bounciness).
</member>
<member name="can_sleep" type="bool" setter="set_can_sleep" getter="is_able_to_sleep" default="true">
If [code]true[/code], the body is deactivated when there is no movement, so it will not take part in the simulation until it is awaken by an external force.
</member>
<member name="friction" type="float" setter="set_friction" getter="get_friction" default="1.0">
The body's friction, from [code]0[/code] (frictionless) to [code]1[/code] (max friction).
</member>
<member name="gravity_scale" type="float" setter="set_gravity_scale" getter="get_gravity_scale" default="1.0">
This is multiplied by the global 3D gravity setting found in [b]Project &gt; Project Settings &gt; Physics &gt; 3d[/b] to produce the body's gravity. For example, a value of 1 will be normal gravity, 2 will apply double gravity, and 0.5 will apply half gravity to this object.
</member>
<member name="joint_offset" type="Transform" setter="set_joint_offset" getter="get_joint_offset" default="Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0 )">
Sets the joint's transform.
</member>
<member name="joint_rotation" type="Vector3" setter="set_joint_rotation" getter="get_joint_rotation" default="Vector3( 0, 0, 0 )">
Sets the joint's rotation in radians.
</member>
<member name="joint_rotation_degrees" type="Vector3" setter="set_joint_rotation_degrees" getter="get_joint_rotation_degrees" default="Vector3( 0, 0, 0 )">
Sets the joint's rotation in degrees.
</member>
<member name="joint_type" type="int" setter="set_joint_type" getter="get_joint_type" enum="PhysicalBone3D.JointType" default="0">
Sets the joint type. See [enum JointType] for possible values.
</member>
<member name="linear_damp" type="float" setter="set_linear_damp" getter="get_linear_damp" default="-1.0">
Damps the body's movement if greater than [code]0[/code].
</member>
<member name="mass" type="float" setter="set_mass" getter="get_mass" default="1.0">
The body's mass.
</member>
<member name="weight" type="float" setter="set_weight" getter="get_weight" default="9.8">
The body's weight based on its mass and the global 3D gravity. Global values are set in [b]Project &gt; Project Settings &gt; Physics &gt; 3d[/b].
</member>
</members>
<constants>

2
doc/classes/RigidBody3D.xml
View file

@ -146,7 +146,7 @@
Lock the body's movement in the Z axis.
</member>
<member name="can_sleep" type="bool" setter="set_can_sleep" getter="is_able_to_sleep" default="true">
If [code]true[/code], the RigidBody3D will not calculate forces and will act as a static body while there is no movement. It will wake up when forces are applied through other collisions or when the [code]apply_impulse[/code] method is used.
If [code]true[/code], the body is deactivated when there is no movement, so it will not take part in the simulation until it is awaken by an external force.
</member>
<member name="contact_monitor" type="bool" setter="set_contact_monitor" getter="is_contact_monitor_enabled" default="false">
If [code]true[/code], the RigidBody3D will emit signals when it collides with another RigidBody3D.

130
scene/3d/physics_body_3d.cpp
View file

@ -2134,6 +2134,10 @@ void PhysicalBone3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_joint_offset", "offset"), &PhysicalBone3D::set_joint_offset);
ClassDB::bind_method(D_METHOD("get_joint_offset"), &PhysicalBone3D::get_joint_offset);
ClassDB::bind_method(D_METHOD("set_joint_rotation", "euler"), &PhysicalBone3D::set_joint_rotation);
ClassDB::bind_method(D_METHOD("get_joint_rotation"), &PhysicalBone3D::get_joint_rotation);
ClassDB::bind_method(D_METHOD("set_joint_rotation_degrees", "euler_degrees"), &PhysicalBone3D::set_joint_rotation_degrees);
ClassDB::bind_method(D_METHOD("get_joint_rotation_degrees"), &PhysicalBone3D::get_joint_rotation_degrees);
ClassDB::bind_method(D_METHOD("set_body_offset", "offset"), &PhysicalBone3D::set_body_offset);
ClassDB::bind_method(D_METHOD("get_body_offset"), &PhysicalBone3D::get_body_offset);
@ -2159,9 +2163,23 @@ void PhysicalBone3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &PhysicalBone3D::set_gravity_scale);
ClassDB::bind_method(D_METHOD("get_gravity_scale"), &PhysicalBone3D::get_gravity_scale);
ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &PhysicalBone3D::set_linear_damp);
ClassDB::bind_method(D_METHOD("get_linear_damp"), &PhysicalBone3D::get_linear_damp);
ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &PhysicalBone3D::set_angular_damp);
ClassDB::bind_method(D_METHOD("get_angular_damp"), &PhysicalBone3D::get_angular_damp);
ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &PhysicalBone3D::set_can_sleep);
ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &PhysicalBone3D::is_able_to_sleep);
ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &PhysicalBone3D::set_axis_lock);
ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &PhysicalBone3D::get_axis_lock);
ADD_GROUP("Joint", "joint_");
ADD_PROPERTY(PropertyInfo(Variant::INT, "joint_type", PROPERTY_HINT_ENUM, "None,PinJoint,ConeJoint,HingeJoint,SliderJoint,6DOFJoint"), "set_joint_type", "get_joint_type");
ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM, "joint_offset"), "set_joint_offset", "get_joint_offset");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "joint_rotation_degrees", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_EDITOR), "set_joint_rotation_degrees", "get_joint_rotation_degrees");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "joint_rotation", PROPERTY_HINT_NONE, "", 0), "set_joint_rotation", "get_joint_rotation");
ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM, "body_offset"), "set_body_offset", "get_body_offset");
@ -2170,6 +2188,17 @@ void PhysicalBone3D::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "friction", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_friction", "get_friction");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_bounce", "get_bounce");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-10,10,0.01"), "set_gravity_scale", "get_gravity_scale");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "linear_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_linear_damp", "get_linear_damp");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_angular_damp", "get_angular_damp");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "can_sleep"), "set_can_sleep", "is_able_to_sleep");
ADD_GROUP("Axis Lock", "axis_lock_");
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_X);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Y);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Z);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_X);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Y);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Z);
BIND_ENUM_CONSTANT(JOINT_TYPE_NONE);
BIND_ENUM_CONSTANT(JOINT_TYPE_PIN);
@ -2187,6 +2216,19 @@ Skeleton3D *PhysicalBone3D::find_skeleton_parent(Node *p_parent) {
return s ? s : find_skeleton_parent(p_parent->get_parent());
}
void PhysicalBone3D::_update_joint_offset() {
_fix_joint_offset();
set_ignore_transform_notification(true);
reset_to_rest_position();
set_ignore_transform_notification(false);
#ifdef TOOLS_ENABLED
if (get_gizmo().is_valid())
get_gizmo()->redraw();
#endif
}
void PhysicalBone3D::_fix_joint_offset() {
// Clamp joint origin to bone origin
if (parent_skeleton) {
@ -2370,16 +2412,31 @@ PhysicalBone3D::JointType PhysicalBone3D::get_joint_type() const {
void PhysicalBone3D::set_joint_offset(const Transform &p_offset) {
joint_offset = p_offset;
_fix_joint_offset();
_update_joint_offset();
_change_notify("joint_rotation_degrees");
}
set_ignore_transform_notification(true);
reset_to_rest_position();
set_ignore_transform_notification(false);
const Transform &PhysicalBone3D::get_joint_offset() const {
return joint_offset;
}
#ifdef TOOLS_ENABLED
if (get_gizmo().is_valid())
get_gizmo()->redraw();
#endif
void PhysicalBone3D::set_joint_rotation(const Vector3 &p_euler_rad) {
joint_offset.basis.set_euler_scale(p_euler_rad, joint_offset.basis.get_scale());
_update_joint_offset();
_change_notify("joint_offset");
}
Vector3 PhysicalBone3D::get_joint_rotation() const {
return joint_offset.basis.get_rotation();
}
void PhysicalBone3D::set_joint_rotation_degrees(const Vector3 &p_euler_deg) {
set_joint_rotation(p_euler_deg * Math_PI / 180.0);
}
Vector3 PhysicalBone3D::get_joint_rotation_degrees() const {
return get_joint_rotation() * 180.0 / Math_PI;
}
const Transform &PhysicalBone3D::get_body_offset() const {
@ -2390,20 +2447,7 @@ void PhysicalBone3D::set_body_offset(const Transform &p_offset) {
body_offset = p_offset;
body_offset_inverse = body_offset.affine_inverse();
_fix_joint_offset();
set_ignore_transform_notification(true);
reset_to_rest_position();
set_ignore_transform_notification(false);
#ifdef TOOLS_ENABLED
if (get_gizmo().is_valid())
get_gizmo()->redraw();
#endif
}
const Transform &PhysicalBone3D::get_joint_offset() const {
return joint_offset;
_update_joint_offset();
}
void PhysicalBone3D::set_simulate_physics(bool p_simulate) {
@ -2496,6 +2540,43 @@ real_t PhysicalBone3D::get_gravity_scale() const {
return gravity_scale;
}
void PhysicalBone3D::set_linear_damp(real_t p_linear_damp) {
ERR_FAIL_COND(p_linear_damp < -1);
linear_damp = p_linear_damp;
PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP, linear_damp);
}
real_t PhysicalBone3D::get_linear_damp() const {
return linear_damp;
}
void PhysicalBone3D::set_angular_damp(real_t p_angular_damp) {
ERR_FAIL_COND(p_angular_damp < -1);
angular_damp = p_angular_damp;
PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP, angular_damp);
}
real_t PhysicalBone3D::get_angular_damp() const {
return angular_damp;
}
void PhysicalBone3D::set_can_sleep(bool p_active) {
can_sleep = p_active;
PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_CAN_SLEEP, p_active);
}
bool PhysicalBone3D::is_able_to_sleep() const {
return can_sleep;
}
void PhysicalBone3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock) {
PhysicsServer3D::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock);
}
bool PhysicalBone3D::get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const {
return PhysicsServer3D::get_singleton()->body_is_axis_locked(get_rid(), p_axis);
}
PhysicalBone3D::PhysicalBone3D() :
PhysicsBody3D(PhysicsServer3D::BODY_MODE_STATIC),
#ifdef TOOLS_ENABLED
@ -2510,7 +2591,10 @@ PhysicalBone3D::PhysicalBone3D() :
bounce(0),
mass(1),
friction(1),
gravity_scale(1) {
gravity_scale(1),
linear_damp(-1),
angular_damp(-1),
can_sleep(true) {
reset_physics_simulation_state();
}

22
scene/3d/physics_body_3d.h
View file

@ -562,6 +562,9 @@ private:
real_t mass;
real_t friction;
real_t gravity_scale;
real_t linear_damp;
real_t angular_damp;
bool can_sleep;
protected:
bool _set(const StringName &p_name, const Variant &p_value);
@ -575,6 +578,7 @@ protected:
private:
static Skeleton3D *find_skeleton_parent(Node *p_parent);
void _update_joint_offset();
void _fix_joint_offset();
void _reload_joint();
@ -599,6 +603,12 @@ public:
void set_joint_offset(const Transform &p_offset);
const Transform &get_joint_offset() const;
void set_joint_rotation(const Vector3 &p_euler_rad);
Vector3 get_joint_rotation() const;
void set_joint_rotation_degrees(const Vector3 &p_euler_deg);
Vector3 get_joint_rotation_degrees() const;
void set_body_offset(const Transform &p_offset);
const Transform &get_body_offset() const;
@ -624,6 +634,18 @@ public:
void set_gravity_scale(real_t p_gravity_scale);
real_t get_gravity_scale() const;
void set_linear_damp(real_t p_linear_damp);
real_t get_linear_damp() const;
void set_angular_damp(real_t p_angular_damp);
real_t get_angular_damp() const;
void set_can_sleep(bool p_active);
bool is_able_to_sleep() const;
void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock);
bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const;
void apply_central_impulse(const Vector3 &p_impulse);
void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);