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Merge pull request #52070 from nekomatata/area-point-gravity-fix

Browse source 
Fix point gravity calculation
This commit is contained in:
Fabio Alessandrelli 2021-08-28 05:10:15 +02:00 committed by GitHub
commit dcf2d09231
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GPG key ID: 4AEE18F83AFDEB23
9 changed files with 63 additions and 53 deletions
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20
servers/physics_2d/area_2d_sw.cpp
View file

@ -274,6 +274,26 @@ void Area2DSW::call_queries() {
}
}
void Area2DSW::compute_gravity(const Vector2 &p_position, Vector2 &r_gravity) const {
if (is_gravity_point()) {
const real_t gravity_distance_scale = get_gravity_distance_scale();
Vector2 v = get_transform().xform(get_gravity_vector()) - p_position;
if (gravity_distance_scale > 0) {
const real_t v_length = v.length();
if (v_length > 0) {
const real_t v_scaled = v_length * gravity_distance_scale;
r_gravity = (v.normalized() * (get_gravity() / (v_scaled * v_scaled)));
} else {
r_gravity = Vector2();
}
} else {
r_gravity = v.normalized() * get_gravity();
}
} else {
r_gravity = get_gravity_vector() * get_gravity();
}
}
Area2DSW::Area2DSW() :
CollisionObject2DSW(TYPE_AREA),
monitor_query_list(this),

8
servers/physics_2d/area_2d_sw.h
View file

@ -34,7 +34,6 @@
#include "collision_object_2d_sw.h"
#include "core/templates/self_list.h"
#include "servers/physics_server_2d.h"
//#include "servers/physics_3d/query_sw.h"
class Space2DSW;
class Body2DSW;
@ -94,17 +93,12 @@ class Area2DSW : public CollisionObject2DSW {
Map<BodyKey, BodyState> monitored_bodies;
Map<BodyKey, BodyState> monitored_areas;
//virtual void shape_changed_notify(Shape2DSW *p_shape);
//virtual void shape_deleted_notify(Shape2DSW *p_shape);
Set<Constraint2DSW *> constraints;
virtual void _shapes_changed();
void _queue_monitor_update();
public:
//_FORCE_INLINE_ const Matrix32& get_inverse_transform() const { return inverse_transform; }
//_FORCE_INLINE_ SpaceSW* get_owner() { return owner; }
void set_monitor_callback(ObjectID p_id, const StringName &p_method);
_FORCE_INLINE_ bool has_monitor_callback() const { return monitor_callback_id.is_valid(); }
@ -161,6 +155,8 @@ public:
void call_queries();
void compute_gravity(const Vector2 &p_position, Vector2 &r_gravity) const;
Area2DSW();
~Area2DSW();
};

21
servers/physics_2d/body_2d_sw.cpp
View file

@ -352,17 +352,10 @@ void Body2DSW::set_space(Space2DSW *p_space) {
first_integration = false;
}
void Body2DSW::_compute_area_gravity_and_dampenings(const Area2DSW *p_area) {
if (p_area->is_gravity_point()) {
if (p_area->get_gravity_distance_scale() > 0) {
Vector2 v = p_area->get_transform().xform(p_area->get_gravity_vector()) - get_transform().get_origin();
gravity += v.normalized() * (p_area->get_gravity() / Math::pow(v.length() * p_area->get_gravity_distance_scale() + 1, 2));
} else {
gravity += (p_area->get_transform().xform(p_area->get_gravity_vector()) - get_transform().get_origin()).normalized() * p_area->get_gravity();
}
} else {
gravity += p_area->get_gravity_vector() * p_area->get_gravity();
}
void Body2DSW::_compute_area_gravity_and_damping(const Area2DSW *p_area) {
Vector2 area_gravity;
p_area->compute_gravity(get_transform().get_origin(), area_gravity);
gravity += area_gravity;
area_linear_damp += p_area->get_linear_damp();
area_angular_damp += p_area->get_angular_damp();
@ -391,7 +384,7 @@ void Body2DSW::integrate_forces(real_t p_step) {
switch (mode) {
case PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE:
case PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: {
_compute_area_gravity_and_dampenings(aa[i].area);
_compute_area_gravity_and_damping(aa[i].area);
stopped = mode == PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE;
} break;
case PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE:
@ -399,7 +392,7 @@ void Body2DSW::integrate_forces(real_t p_step) {
gravity = Vector2(0, 0);
area_angular_damp = 0;
area_linear_damp = 0;
_compute_area_gravity_and_dampenings(aa[i].area);
_compute_area_gravity_and_damping(aa[i].area);
stopped = mode == PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE;
} break;
default: {
@ -408,7 +401,7 @@ void Body2DSW::integrate_forces(real_t p_step) {
}
}
if (!stopped) {
_compute_area_gravity_and_dampenings(def_area);
_compute_area_gravity_and_damping(def_area);
}
gravity *= gravity_scale;

2
servers/physics_2d/body_2d_sw.h
View file

@ -125,7 +125,7 @@ class Body2DSW : public CollisionObject2DSW {
uint64_t island_step;
_FORCE_INLINE_ void _compute_area_gravity_and_dampenings(const Area2DSW *p_area);
_FORCE_INLINE_ void _compute_area_gravity_and_damping(const Area2DSW *p_area);
friend class PhysicsDirectBodyState2DSW; // i give up, too many functions to expose

20
servers/physics_3d/area_3d_sw.cpp
View file

@ -304,6 +304,26 @@ void Area3DSW::call_queries() {
}
}
void Area3DSW::compute_gravity(const Vector3 &p_position, Vector3 &r_gravity) const {
if (is_gravity_point()) {
const real_t gravity_distance_scale = get_gravity_distance_scale();
Vector3 v = get_transform().xform(get_gravity_vector()) - p_position;
if (gravity_distance_scale > 0) {
const real_t v_length = v.length();
if (v_length > 0) {
const real_t v_scaled = v_length * gravity_distance_scale;
r_gravity = (v.normalized() * (get_gravity() / (v_scaled * v_scaled)));
} else {
r_gravity = Vector3();
}
} else {
r_gravity = v.normalized() * get_gravity();
}
} else {
r_gravity = get_gravity_vector() * get_gravity();
}
}
Area3DSW::Area3DSW() :
CollisionObject3DSW(TYPE_AREA),
monitor_query_list(this),

9
servers/physics_3d/area_3d_sw.h
View file

@ -34,7 +34,6 @@
#include "collision_object_3d_sw.h"
#include "core/templates/self_list.h"
#include "servers/physics_server_3d.h"
//#include "servers/physics_3d/query_sw.h"
class Space3DSW;
class Body3DSW;
@ -101,18 +100,12 @@ class Area3DSW : public CollisionObject3DSW {
Map<BodyKey, BodyState> monitored_bodies;
Map<BodyKey, BodyState> monitored_areas;
//virtual void shape_changed_notify(ShapeSW *p_shape);
//virtual void shape_deleted_notify(ShapeSW *p_shape);
Set<Constraint3DSW *> constraints;
virtual void _shapes_changed();
void _queue_monitor_update();
public:
//_FORCE_INLINE_ const Transform& get_inverse_transform() const { return inverse_transform; }
//_FORCE_INLINE_ SpaceSW* get_owner() { return owner; }
void set_monitor_callback(ObjectID p_id, const StringName &p_method);
_FORCE_INLINE_ bool has_monitor_callback() const { return monitor_callback_id.is_valid(); }
@ -184,6 +177,8 @@ public:
void call_queries();
void compute_gravity(const Vector3 &p_position, Vector3 &r_gravity) const;
Area3DSW();
~Area3DSW();
};

21
servers/physics_3d/body_3d_sw.cpp
View file

@ -379,17 +379,10 @@ void Body3DSW::set_space(Space3DSW *p_space) {
first_integration = true;
}
void Body3DSW::_compute_area_gravity_and_dampenings(const Area3DSW *p_area) {
if (p_area->is_gravity_point()) {
if (p_area->get_gravity_distance_scale() > 0) {
Vector3 v = p_area->get_transform().xform(p_area->get_gravity_vector()) - get_transform().get_origin();
gravity += v.normalized() * (p_area->get_gravity() / Math::pow(v.length() * p_area->get_gravity_distance_scale() + 1, 2));
} else {
gravity += (p_area->get_transform().xform(p_area->get_gravity_vector()) - get_transform().get_origin()).normalized() * p_area->get_gravity();
}
} else {
gravity += p_area->get_gravity_vector() * p_area->get_gravity();
}
void Body3DSW::_compute_area_gravity_and_damping(const Area3DSW *p_area) {
Vector3 area_gravity;
p_area->compute_gravity(get_transform().get_origin(), area_gravity);
gravity += area_gravity;
area_linear_damp += p_area->get_linear_damp();
area_angular_damp += p_area->get_angular_damp();
@ -431,7 +424,7 @@ void Body3DSW::integrate_forces(real_t p_step) {
switch (mode) {
case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE:
case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: {
_compute_area_gravity_and_dampenings(aa[i].area);
_compute_area_gravity_and_damping(aa[i].area);
stopped = mode == PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE;
} break;
case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE:
@ -439,7 +432,7 @@ void Body3DSW::integrate_forces(real_t p_step) {
gravity = Vector3(0, 0, 0);
area_angular_damp = 0;
area_linear_damp = 0;
_compute_area_gravity_and_dampenings(aa[i].area);
_compute_area_gravity_and_damping(aa[i].area);
stopped = mode == PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE;
} break;
default: {
@ -449,7 +442,7 @@ void Body3DSW::integrate_forces(real_t p_step) {
}
if (!stopped) {
_compute_area_gravity_and_dampenings(def_area);
_compute_area_gravity_and_damping(def_area);
}
gravity *= gravity_scale;

2
servers/physics_3d/body_3d_sw.h
View file

@ -122,7 +122,7 @@ class Body3DSW : public CollisionObject3DSW {
uint64_t island_step;
_FORCE_INLINE_ void _compute_area_gravity_and_dampenings(const Area3DSW *p_area);
_FORCE_INLINE_ void _compute_area_gravity_and_damping(const Area3DSW *p_area);
_FORCE_INLINE_ void _update_transform_dependant();

13
servers/physics_3d/soft_body_3d_sw.cpp
View file

@ -964,16 +964,9 @@ void SoftBody3DSW::apply_forces(bool p_has_wind_forces) {
}
void SoftBody3DSW::_compute_area_gravity(const Area3DSW *p_area) {
if (p_area->is_gravity_point()) {
if (p_area->get_gravity_distance_scale() > 0) {
Vector3 v = p_area->get_transform().xform(p_area->get_gravity_vector()) - get_transform().get_origin();
gravity += v.normalized() * (p_area->get_gravity() / Math::pow(v.length() * p_area->get_gravity_distance_scale() + 1, 2));
} else {
gravity += (p_area->get_transform().xform(p_area->get_gravity_vector()) - get_transform().get_origin()).normalized() * p_area->get_gravity();
}
} else {
gravity += p_area->get_gravity_vector() * p_area->get_gravity();
}
Vector3 area_gravity;
p_area->compute_gravity(get_transform().get_origin(), area_gravity);
gravity += area_gravity;
}
Vector3 SoftBody3DSW::_compute_area_windforce(const Area3DSW *p_area, const Face *p_face) {