diff --git a/doc/classes/Physics2DDirectBodyState.xml b/doc/classes/Physics2DDirectBodyState.xml
index d2a51f39fcc..01b36f4d772 100644
--- a/doc/classes/Physics2DDirectBodyState.xml
+++ b/doc/classes/Physics2DDirectBodyState.xml
@@ -137,6 +137,13 @@
Returns the current state of the space, useful for queries.
+
+
+
+
+ Returns the body's velocity at the given relative position, including both translation and rotation.
+
+
diff --git a/doc/classes/PhysicsDirectBodyState.xml b/doc/classes/PhysicsDirectBodyState.xml
index 1c7ce46605f..4d3f77bb496 100644
--- a/doc/classes/PhysicsDirectBodyState.xml
+++ b/doc/classes/PhysicsDirectBodyState.xml
@@ -138,6 +138,13 @@
Returns the current state of the space, useful for queries.
+
+
+
+
+ Returns the body's velocity at the given relative position, including both translation and rotation.
+
+
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 260407deaab..db1d7bc98b1 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -114,6 +114,16 @@ Transform BulletPhysicsDirectBodyState::get_transform() const {
return body->get_transform();
}
+Vector3 BulletPhysicsDirectBodyState::get_velocity_at_local_position(const Vector3 &p_position) const {
+ btVector3 local_position;
+ G_TO_B(p_position, local_position);
+
+ Vector3 velocity;
+ B_TO_G(body->btBody->getVelocityInLocalPoint(local_position), velocity);
+
+ return velocity;
+}
+
void BulletPhysicsDirectBodyState::add_central_force(const Vector3 &p_force) {
body->apply_central_force(p_force);
}
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index 512c5d0dd5f..cab32cdc680 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -110,6 +110,8 @@ public:
virtual void set_transform(const Transform &p_transform);
virtual Transform get_transform() const;
+ virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const;
+
virtual void add_central_force(const Vector3 &p_force);
virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos);
virtual void add_torque(const Vector3 &p_torque);
diff --git a/scene/2d/physics_body_2d.cpp b/scene/2d/physics_body_2d.cpp
index e49ca76fc4a..42770a2e4dc 100644
--- a/scene/2d/physics_body_2d.cpp
+++ b/scene/2d/physics_body_2d.cpp
@@ -1115,7 +1115,9 @@ Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const
//this approach makes sure there is less delay between the actual body velocity and the one we saved
Physics2DDirectBodyState *bs = Physics2DServer::get_singleton()->body_get_direct_state(on_floor_body);
if (bs) {
- current_floor_velocity = bs->get_linear_velocity();
+ Transform2D gt = get_global_transform();
+ Vector2 local_position = gt.elements[2] - bs->get_transform().elements[2];
+ current_floor_velocity = bs->get_velocity_at_local_position(local_position);
}
}
diff --git a/scene/3d/physics_body.cpp b/scene/3d/physics_body.cpp
index c6edaac2aaf..96ea7cc2e30 100644
--- a/scene/3d/physics_body.cpp
+++ b/scene/3d/physics_body.cpp
@@ -1066,7 +1066,9 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve
// This approach makes sure there is less delay between the actual body velocity and the one we saved.
PhysicsDirectBodyState *bs = PhysicsServer::get_singleton()->body_get_direct_state(on_floor_body);
if (bs) {
- current_floor_velocity = bs->get_linear_velocity();
+ Transform gt = get_global_transform();
+ Vector3 local_position = gt.origin - bs->get_transform().origin;
+ current_floor_velocity = bs->get_velocity_at_local_position(local_position);
}
}
diff --git a/servers/physics/body_sw.h b/servers/physics/body_sw.h
index 4a837130e1d..70f4a8ec4c8 100644
--- a/servers/physics/body_sw.h
+++ b/servers/physics/body_sw.h
@@ -402,6 +402,8 @@ public:
virtual void set_transform(const Transform &p_transform) { body->set_state(PhysicsServer::BODY_STATE_TRANSFORM, p_transform); }
virtual Transform get_transform() const { return body->get_transform(); }
+ virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const { return body->get_velocity_in_local_point(p_position); }
+
virtual void add_central_force(const Vector3 &p_force) { body->add_central_force(p_force); }
virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos) { body->add_force(p_force, p_pos); }
virtual void add_torque(const Vector3 &p_torque) { body->add_torque(p_torque); }
diff --git a/servers/physics_2d/body_2d_sw.h b/servers/physics_2d/body_2d_sw.h
index bd996c7615c..b9e78326888 100644
--- a/servers/physics_2d/body_2d_sw.h
+++ b/servers/physics_2d/body_2d_sw.h
@@ -273,6 +273,10 @@ public:
void integrate_forces(real_t p_step);
void integrate_velocities(real_t p_step);
+ _FORCE_INLINE_ Vector2 get_velocity_in_local_point(const Vector2 &rel_pos) const {
+ return linear_velocity + Vector2(-angular_velocity * rel_pos.y, angular_velocity * rel_pos.x);
+ }
+
_FORCE_INLINE_ Vector2 get_motion() const {
if (mode > Physics2DServer::BODY_MODE_KINEMATIC) {
return new_transform.get_origin() - get_transform().get_origin();
@@ -359,6 +363,8 @@ public:
virtual void set_transform(const Transform2D &p_transform) { body->set_state(Physics2DServer::BODY_STATE_TRANSFORM, p_transform); }
virtual Transform2D get_transform() const { return body->get_transform(); }
+ virtual Vector2 get_velocity_at_local_position(const Vector2 &p_position) const { return body->get_velocity_in_local_point(p_position); }
+
virtual void add_central_force(const Vector2 &p_force) { body->add_central_force(p_force); }
virtual void add_force(const Vector2 &p_offset, const Vector2 &p_force) { body->add_force(p_offset, p_force); }
virtual void add_torque(real_t p_torque) { body->add_torque(p_torque); }
diff --git a/servers/physics_2d_server.cpp b/servers/physics_2d_server.cpp
index 0425923f15e..b8c6d0c9bac 100644
--- a/servers/physics_2d_server.cpp
+++ b/servers/physics_2d_server.cpp
@@ -90,6 +90,8 @@ void Physics2DDirectBodyState::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_transform", "transform"), &Physics2DDirectBodyState::set_transform);
ClassDB::bind_method(D_METHOD("get_transform"), &Physics2DDirectBodyState::get_transform);
+ ClassDB::bind_method(D_METHOD("get_velocity_at_local_position", "local_position"), &Physics2DDirectBodyState::get_velocity_at_local_position);
+
ClassDB::bind_method(D_METHOD("add_central_force", "force"), &Physics2DDirectBodyState::add_central_force);
ClassDB::bind_method(D_METHOD("add_force", "offset", "force"), &Physics2DDirectBodyState::add_force);
ClassDB::bind_method(D_METHOD("add_torque", "torque"), &Physics2DDirectBodyState::add_torque);
diff --git a/servers/physics_2d_server.h b/servers/physics_2d_server.h
index bba68981f4a..9a17521597b 100644
--- a/servers/physics_2d_server.h
+++ b/servers/physics_2d_server.h
@@ -60,6 +60,8 @@ public:
virtual void set_transform(const Transform2D &p_transform) = 0;
virtual Transform2D get_transform() const = 0;
+ virtual Vector2 get_velocity_at_local_position(const Vector2 &p_position) const = 0;
+
virtual void add_central_force(const Vector2 &p_force) = 0;
virtual void add_force(const Vector2 &p_offset, const Vector2 &p_force) = 0;
virtual void add_torque(real_t p_torque) = 0;
diff --git a/servers/physics_server.cpp b/servers/physics_server.cpp
index 717c5b01b7d..591652e7380 100644
--- a/servers/physics_server.cpp
+++ b/servers/physics_server.cpp
@@ -92,6 +92,8 @@ void PhysicsDirectBodyState::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_transform", "transform"), &PhysicsDirectBodyState::set_transform);
ClassDB::bind_method(D_METHOD("get_transform"), &PhysicsDirectBodyState::get_transform);
+ ClassDB::bind_method(D_METHOD("get_velocity_at_local_position", "local_position"), &PhysicsDirectBodyState::get_velocity_at_local_position);
+
ClassDB::bind_method(D_METHOD("add_central_force", "force"), &PhysicsDirectBodyState::add_central_force);
ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &PhysicsDirectBodyState::add_force);
ClassDB::bind_method(D_METHOD("add_torque", "torque"), &PhysicsDirectBodyState::add_torque);
diff --git a/servers/physics_server.h b/servers/physics_server.h
index 264a16fdd66..2580b313a3f 100644
--- a/servers/physics_server.h
+++ b/servers/physics_server.h
@@ -62,6 +62,8 @@ public:
virtual void set_transform(const Transform &p_transform) = 0;
virtual Transform get_transform() const = 0;
+ virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const = 0;
+
virtual void add_central_force(const Vector3 &p_force) = 0;
virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos) = 0;
virtual void add_torque(const Vector3 &p_torque) = 0;