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Merge pull request #76051 from rburing/contact_local_velocity_2d

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PhysicsDirectBodyState2D: add `get_contact_local_velocity_at_position`
This commit is contained in:
Rémi Verschelde 2023-04-17 20:14:00 +02:00
commit 96580689b0
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GPG key ID: C3336907360768E1
10 changed files with 37 additions and 11 deletions
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9
doc/classes/PhysicsDirectBodyState2D.xml
View file

@ -141,7 +141,7 @@
<return type="Vector2" />
<param index="0" name="contact_idx" type="int" />
<description>
Returns the linear velocity vector at the collider's contact point.
Returns the velocity vector at the collider's contact point.
</description>
</method>
<method name="get_contact_count" qualifiers="const">
@ -179,6 +179,13 @@
Returns the local shape index of the collision.
</description>
</method>
<method name="get_contact_local_velocity_at_position" qualifiers="const">
<return type="Vector2" />
<param index="0" name="contact_idx" type="int" />
<description>
Returns the velocity vector at the body's contact point.
</description>
</method>
<method name="get_space_state">
<return type="PhysicsDirectSpaceState2D" />
<description>

6
doc/classes/PhysicsDirectBodyState2DExtension.xml
View file

@ -154,6 +154,12 @@
<description>
</description>
</method>
<method name="_get_contact_local_velocity_at_position" qualifiers="virtual const">
<return type="Vector2" />
<param index="0" name="contact_idx" type="int" />
<description>
</description>
</method>
<method name="_get_inverse_inertia" qualifiers="virtual const">
<return type="float" />
<description>

1
servers/extensions/physics_server_2d_extension.cpp
View file

@ -97,6 +97,7 @@ void PhysicsDirectBodyState2DExtension::_bind_methods() {
GDVIRTUAL_BIND(_get_contact_local_position, "contact_idx");
GDVIRTUAL_BIND(_get_contact_local_normal, "contact_idx");
GDVIRTUAL_BIND(_get_contact_local_shape, "contact_idx");
GDVIRTUAL_BIND(_get_contact_local_velocity_at_position, "contact_idx");
GDVIRTUAL_BIND(_get_contact_collider, "contact_idx");
GDVIRTUAL_BIND(_get_contact_collider_position, "contact_idx");
GDVIRTUAL_BIND(_get_contact_collider_id, "contact_idx");

1
servers/extensions/physics_server_2d_extension.h
View file

@ -93,6 +93,7 @@ public:
EXBIND1RC(Vector2, get_contact_local_position, int)
EXBIND1RC(Vector2, get_contact_local_normal, int)
EXBIND1RC(Vector2, get_contact_local_velocity_at_position, int)
EXBIND1RC(int, get_contact_local_shape, int)
EXBIND1RC(RID, get_contact_collider, int)
EXBIND1RC(Vector2, get_contact_collider_position, int)

6
servers/physics_2d/godot_body_2d.h
View file

@ -125,6 +125,7 @@ class GodotBody2D : public GodotCollisionObject2D {
struct Contact {
Vector2 local_pos;
Vector2 local_normal;
Vector2 local_velocity_at_pos;
real_t depth = 0.0;
int local_shape = 0;
Vector2 collider_pos;
@ -191,7 +192,7 @@ public:
_FORCE_INLINE_ int get_max_contacts_reported() const { return contacts.size(); }
_FORCE_INLINE_ bool can_report_contacts() const { return !contacts.is_empty(); }
_FORCE_INLINE_ void add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos, const Vector2 &p_impulse);
_FORCE_INLINE_ void add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_local_velocity_at_pos, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos, const Vector2 &p_impulse);
_FORCE_INLINE_ void add_exception(const RID &p_exception) { exceptions.insert(p_exception); }
_FORCE_INLINE_ void remove_exception(const RID &p_exception) { exceptions.erase(p_exception); }
@ -341,7 +342,7 @@ public:
//add contact inline
void GodotBody2D::add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos, const Vector2 &p_impulse) {
void GodotBody2D::add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_local_velocity_at_pos, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos, const Vector2 &p_impulse) {
int c_max = contacts.size();
if (c_max == 0) {
@ -374,6 +375,7 @@ void GodotBody2D::add_contact(const Vector2 &p_local_pos, const Vector2 &p_local
c[idx].local_pos = p_local_pos;
c[idx].local_normal = p_local_normal;
c[idx].local_velocity_at_pos = p_local_velocity_at_pos;
c[idx].depth = p_depth;
c[idx].local_shape = p_local_shape;
c[idx].collider_pos = p_collider_pos;

5
servers/physics_2d/godot_body_direct_state_2d.cpp
View file

@ -186,6 +186,11 @@ int GodotPhysicsDirectBodyState2D::get_contact_local_shape(int p_contact_idx) co
return body->contacts[p_contact_idx].local_shape;
}
Vector2 GodotPhysicsDirectBodyState2D::get_contact_local_velocity_at_position(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2());
return body->contacts[p_contact_idx].local_velocity_at_pos;
}
RID GodotPhysicsDirectBodyState2D::get_contact_collider(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, RID());
return body->contacts[p_contact_idx].collider;

1
servers/physics_2d/godot_body_direct_state_2d.h
View file

@ -87,6 +87,7 @@ public:
virtual Vector2 get_contact_local_position(int p_contact_idx) const override;
virtual Vector2 get_contact_local_normal(int p_contact_idx) const override;
virtual int get_contact_local_shape(int p_contact_idx) const override;
virtual Vector2 get_contact_local_velocity_at_position(int p_contact_idx) const override;
virtual RID get_contact_collider(int p_contact_idx) const override;
virtual Vector2 get_contact_collider_position(int p_contact_idx) const override;

17
servers/physics_2d/godot_body_pair_2d.cpp
View file

@ -455,14 +455,15 @@ bool GodotBodyPair2D::pre_solve(real_t p_step) {
c.acc_impulse -= P;
if (A->can_report_contacts()) {
Vector2 crB(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x);
A->add_contact(global_A + offset_A, -c.normal, depth, shape_A, global_B + offset_A, shape_B, B->get_instance_id(), B->get_self(), crB + B->get_linear_velocity(), c.acc_impulse);
}
if (B->can_report_contacts()) {
Vector2 crA(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x);
B->add_contact(global_B + offset_A, c.normal, depth, shape_B, global_A + offset_A, shape_A, A->get_instance_id(), A->get_self(), crA + A->get_linear_velocity(), c.acc_impulse);
if (A->can_report_contacts() || B->can_report_contacts()) {
Vector2 crB = Vector2(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x) + B->get_linear_velocity();
Vector2 crA = Vector2(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x) + A->get_linear_velocity();
if (A->can_report_contacts()) {
A->add_contact(global_A + offset_A, -c.normal, depth, shape_A, crA, global_B + offset_A, shape_B, B->get_instance_id(), B->get_self(), crB, c.acc_impulse);
}
if (B->can_report_contacts()) {
B->add_contact(global_B + offset_A, c.normal, depth, shape_B, crB, global_A + offset_A, shape_A, A->get_instance_id(), A->get_self(), crA, c.acc_impulse);
}
}
if (report_contacts_only) {

1
servers/physics_server_2d.cpp
View file

@ -120,6 +120,7 @@ void PhysicsDirectBodyState2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_contact_local_position", "contact_idx"), &PhysicsDirectBodyState2D::get_contact_local_position);
ClassDB::bind_method(D_METHOD("get_contact_local_normal", "contact_idx"), &PhysicsDirectBodyState2D::get_contact_local_normal);
ClassDB::bind_method(D_METHOD("get_contact_local_shape", "contact_idx"), &PhysicsDirectBodyState2D::get_contact_local_shape);
ClassDB::bind_method(D_METHOD("get_contact_local_velocity_at_position", "contact_idx"), &PhysicsDirectBodyState2D::get_contact_local_velocity_at_position);
ClassDB::bind_method(D_METHOD("get_contact_collider", "contact_idx"), &PhysicsDirectBodyState2D::get_contact_collider);
ClassDB::bind_method(D_METHOD("get_contact_collider_position", "contact_idx"), &PhysicsDirectBodyState2D::get_contact_collider_position);
ClassDB::bind_method(D_METHOD("get_contact_collider_id", "contact_idx"), &PhysicsDirectBodyState2D::get_contact_collider_id);

1
servers/physics_server_2d.h
View file

@ -92,6 +92,7 @@ public:
virtual Vector2 get_contact_local_position(int p_contact_idx) const = 0;
virtual Vector2 get_contact_local_normal(int p_contact_idx) const = 0;
virtual int get_contact_local_shape(int p_contact_idx) const = 0;
virtual Vector2 get_contact_local_velocity_at_position(int p_contact_idx) const = 0;
virtual RID get_contact_collider(int p_contact_idx) const = 0;
virtual Vector2 get_contact_collider_position(int p_contact_idx) const = 0;