82ea2a7045
Changes: -Added support for custom inertia and center of mass in 3D -Added support for custom center of mass in 2D -Calculated center of mass from shapes in 2D (same as in 3D) -Fixed mass properties calculation with disabled shapes in 2D/3D -Removed first_integration which is not used in 2D and doesn't seem to make a lot of sense (prevents omit_force_integration to work during the first frame) -Support for custom inertia on different axes for RigidBody3D
368 lines
13 KiB
C++
368 lines
13 KiB
C++
/*************************************************************************/
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/* body_3d_sw.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef BODY_3D_SW_H
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#define BODY_3D_SW_H
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#include "area_3d_sw.h"
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#include "collision_object_3d_sw.h"
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#include "core/templates/vset.h"
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class Constraint3DSW;
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class PhysicsDirectBodyState3DSW;
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class Body3DSW : public CollisionObject3DSW {
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PhysicsServer3D::BodyMode mode = PhysicsServer3D::BODY_MODE_DYNAMIC;
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Vector3 linear_velocity;
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Vector3 angular_velocity;
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Vector3 constant_linear_velocity;
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Vector3 constant_angular_velocity;
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Vector3 biased_linear_velocity;
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Vector3 biased_angular_velocity;
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real_t mass = 1.0;
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real_t bounce = 0.0;
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real_t friction = 1.0;
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Vector3 inertia;
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real_t linear_damp = -1.0;
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real_t angular_damp = -1.0;
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real_t gravity_scale = 1.0;
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uint16_t locked_axis = 0;
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real_t _inv_mass = 1.0;
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Vector3 _inv_inertia; // Relative to the principal axes of inertia
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// Relative to the local frame of reference
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Basis principal_inertia_axes_local;
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Vector3 center_of_mass_local;
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// In world orientation with local origin
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Basis _inv_inertia_tensor;
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Basis principal_inertia_axes;
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Vector3 center_of_mass;
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bool calculate_inertia = true;
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bool calculate_center_of_mass = true;
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Vector3 gravity;
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real_t still_time = 0.0;
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Vector3 applied_force;
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Vector3 applied_torque;
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real_t area_angular_damp = 0.0;
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real_t area_linear_damp = 0.0;
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SelfList<Body3DSW> active_list;
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SelfList<Body3DSW> mass_properties_update_list;
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SelfList<Body3DSW> direct_state_query_list;
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VSet<RID> exceptions;
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bool omit_force_integration = false;
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bool active = true;
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bool continuous_cd = false;
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bool can_sleep = true;
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bool first_time_kinematic = false;
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void _mass_properties_changed();
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virtual void _shapes_changed();
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Transform3D new_transform;
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Map<Constraint3DSW *, int> constraint_map;
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Vector<AreaCMP> areas;
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struct Contact {
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Vector3 local_pos;
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Vector3 local_normal;
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real_t depth;
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int local_shape;
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Vector3 collider_pos;
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int collider_shape;
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ObjectID collider_instance_id;
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RID collider;
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Vector3 collider_velocity_at_pos;
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};
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Vector<Contact> contacts; //no contacts by default
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int contact_count = 0;
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void *body_state_callback_instance = nullptr;
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PhysicsServer3D::BodyStateCallback body_state_callback = nullptr;
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struct ForceIntegrationCallbackData {
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Callable callable;
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Variant udata;
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};
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ForceIntegrationCallbackData *fi_callback_data = nullptr;
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PhysicsDirectBodyState3DSW *direct_state = nullptr;
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uint64_t island_step = 0;
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_FORCE_INLINE_ void _compute_area_gravity_and_damping(const Area3DSW *p_area);
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_FORCE_INLINE_ void _update_transform_dependant();
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friend class PhysicsDirectBodyState3DSW; // i give up, too many functions to expose
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public:
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void set_state_sync_callback(void *p_instance, PhysicsServer3D::BodyStateCallback p_callback);
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void set_force_integration_callback(const Callable &p_callable, const Variant &p_udata = Variant());
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PhysicsDirectBodyState3DSW *get_direct_state();
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_FORCE_INLINE_ void add_area(Area3DSW *p_area) {
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int index = areas.find(AreaCMP(p_area));
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if (index > -1) {
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areas.write[index].refCount += 1;
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} else {
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areas.ordered_insert(AreaCMP(p_area));
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}
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}
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_FORCE_INLINE_ void remove_area(Area3DSW *p_area) {
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int index = areas.find(AreaCMP(p_area));
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if (index > -1) {
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areas.write[index].refCount -= 1;
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if (areas[index].refCount < 1) {
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areas.remove(index);
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}
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}
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}
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_FORCE_INLINE_ void set_max_contacts_reported(int p_size) {
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contacts.resize(p_size);
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contact_count = 0;
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if (mode == PhysicsServer3D::BODY_MODE_KINEMATIC && p_size) {
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set_active(true);
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}
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}
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_FORCE_INLINE_ int get_max_contacts_reported() const { return contacts.size(); }
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_FORCE_INLINE_ bool can_report_contacts() const { return !contacts.is_empty(); }
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_FORCE_INLINE_ void add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos);
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_FORCE_INLINE_ void add_exception(const RID &p_exception) { exceptions.insert(p_exception); }
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_FORCE_INLINE_ void remove_exception(const RID &p_exception) { exceptions.erase(p_exception); }
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_FORCE_INLINE_ bool has_exception(const RID &p_exception) const { return exceptions.has(p_exception); }
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_FORCE_INLINE_ const VSet<RID> &get_exceptions() const { return exceptions; }
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_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
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_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }
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_FORCE_INLINE_ void add_constraint(Constraint3DSW *p_constraint, int p_pos) { constraint_map[p_constraint] = p_pos; }
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_FORCE_INLINE_ void remove_constraint(Constraint3DSW *p_constraint) { constraint_map.erase(p_constraint); }
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const Map<Constraint3DSW *, int> &get_constraint_map() const { return constraint_map; }
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_FORCE_INLINE_ void clear_constraint_map() { constraint_map.clear(); }
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_FORCE_INLINE_ void set_omit_force_integration(bool p_omit_force_integration) { omit_force_integration = p_omit_force_integration; }
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_FORCE_INLINE_ bool get_omit_force_integration() const { return omit_force_integration; }
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_FORCE_INLINE_ Basis get_principal_inertia_axes() const { return principal_inertia_axes; }
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_FORCE_INLINE_ Vector3 get_center_of_mass() const { return center_of_mass; }
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_FORCE_INLINE_ Vector3 xform_local_to_principal(const Vector3 &p_pos) const { return principal_inertia_axes_local.xform(p_pos - center_of_mass_local); }
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_FORCE_INLINE_ void set_linear_velocity(const Vector3 &p_velocity) { linear_velocity = p_velocity; }
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_FORCE_INLINE_ Vector3 get_linear_velocity() const { return linear_velocity; }
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_FORCE_INLINE_ void set_angular_velocity(const Vector3 &p_velocity) { angular_velocity = p_velocity; }
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_FORCE_INLINE_ Vector3 get_angular_velocity() const { return angular_velocity; }
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_FORCE_INLINE_ const Vector3 &get_biased_linear_velocity() const { return biased_linear_velocity; }
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_FORCE_INLINE_ const Vector3 &get_biased_angular_velocity() const { return biased_angular_velocity; }
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_FORCE_INLINE_ void apply_central_impulse(const Vector3 &p_impulse) {
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linear_velocity += p_impulse * _inv_mass;
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}
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_FORCE_INLINE_ void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) {
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linear_velocity += p_impulse * _inv_mass;
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angular_velocity += _inv_inertia_tensor.xform((p_position - center_of_mass).cross(p_impulse));
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}
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_FORCE_INLINE_ void apply_torque_impulse(const Vector3 &p_impulse) {
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angular_velocity += _inv_inertia_tensor.xform(p_impulse);
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}
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_FORCE_INLINE_ void apply_bias_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3(), real_t p_max_delta_av = -1.0) {
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biased_linear_velocity += p_impulse * _inv_mass;
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if (p_max_delta_av != 0.0) {
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Vector3 delta_av = _inv_inertia_tensor.xform((p_position - center_of_mass).cross(p_impulse));
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if (p_max_delta_av > 0 && delta_av.length() > p_max_delta_av) {
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delta_av = delta_av.normalized() * p_max_delta_av;
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}
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biased_angular_velocity += delta_av;
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}
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}
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_FORCE_INLINE_ void apply_bias_torque_impulse(const Vector3 &p_impulse) {
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biased_angular_velocity += _inv_inertia_tensor.xform(p_impulse);
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}
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_FORCE_INLINE_ void add_central_force(const Vector3 &p_force) {
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applied_force += p_force;
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}
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_FORCE_INLINE_ void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) {
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applied_force += p_force;
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applied_torque += (p_position - center_of_mass).cross(p_force);
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}
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_FORCE_INLINE_ void add_torque(const Vector3 &p_torque) {
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applied_torque += p_torque;
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}
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void set_active(bool p_active);
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_FORCE_INLINE_ bool is_active() const { return active; }
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_FORCE_INLINE_ void wakeup() {
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if ((!get_space()) || mode == PhysicsServer3D::BODY_MODE_STATIC || mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
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return;
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}
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set_active(true);
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}
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void set_param(PhysicsServer3D::BodyParameter p_param, const Variant &p_value);
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Variant get_param(PhysicsServer3D::BodyParameter p_param) const;
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void set_mode(PhysicsServer3D::BodyMode p_mode);
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PhysicsServer3D::BodyMode get_mode() const;
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void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant);
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Variant get_state(PhysicsServer3D::BodyState p_state) const;
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void set_applied_force(const Vector3 &p_force) { applied_force = p_force; }
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Vector3 get_applied_force() const { return applied_force; }
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void set_applied_torque(const Vector3 &p_torque) { applied_torque = p_torque; }
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Vector3 get_applied_torque() const { return applied_torque; }
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_FORCE_INLINE_ void set_continuous_collision_detection(bool p_enable) { continuous_cd = p_enable; }
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_FORCE_INLINE_ bool is_continuous_collision_detection_enabled() const { return continuous_cd; }
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void set_space(Space3DSW *p_space);
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void update_mass_properties();
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void reset_mass_properties();
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_FORCE_INLINE_ real_t get_inv_mass() const { return _inv_mass; }
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_FORCE_INLINE_ const Vector3 &get_inv_inertia() const { return _inv_inertia; }
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_FORCE_INLINE_ const Basis &get_inv_inertia_tensor() const { return _inv_inertia_tensor; }
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_FORCE_INLINE_ real_t get_friction() const { return friction; }
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_FORCE_INLINE_ const Vector3 &get_gravity() const { return gravity; }
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_FORCE_INLINE_ real_t get_bounce() const { return bounce; }
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void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool lock);
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bool is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const;
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void integrate_forces(real_t p_step);
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void integrate_velocities(real_t p_step);
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_FORCE_INLINE_ Vector3 get_velocity_in_local_point(const Vector3 &rel_pos) const {
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return linear_velocity + angular_velocity.cross(rel_pos - center_of_mass);
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}
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_FORCE_INLINE_ real_t compute_impulse_denominator(const Vector3 &p_pos, const Vector3 &p_normal) const {
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Vector3 r0 = p_pos - get_transform().origin - center_of_mass;
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Vector3 c0 = (r0).cross(p_normal);
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Vector3 vec = (_inv_inertia_tensor.xform_inv(c0)).cross(r0);
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return _inv_mass + p_normal.dot(vec);
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}
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_FORCE_INLINE_ real_t compute_angular_impulse_denominator(const Vector3 &p_axis) const {
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return p_axis.dot(_inv_inertia_tensor.xform_inv(p_axis));
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}
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//void simulate_motion(const Transform3D& p_xform,real_t p_step);
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void call_queries();
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void wakeup_neighbours();
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bool sleep_test(real_t p_step);
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Body3DSW();
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~Body3DSW();
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};
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//add contact inline
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void Body3DSW::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos) {
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int c_max = contacts.size();
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if (c_max == 0) {
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return;
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}
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Contact *c = contacts.ptrw();
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int idx = -1;
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if (contact_count < c_max) {
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idx = contact_count++;
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} else {
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real_t least_depth = 1e20;
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int least_deep = -1;
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for (int i = 0; i < c_max; i++) {
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if (i == 0 || c[i].depth < least_depth) {
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least_deep = i;
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least_depth = c[i].depth;
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}
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}
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if (least_deep >= 0 && least_depth < p_depth) {
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idx = least_deep;
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}
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if (idx == -1) {
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return; //none least deepe than this
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}
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}
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c[idx].local_pos = p_local_pos;
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c[idx].local_normal = p_local_normal;
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c[idx].depth = p_depth;
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c[idx].local_shape = p_local_shape;
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c[idx].collider_pos = p_collider_pos;
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c[idx].collider_shape = p_collider_shape;
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c[idx].collider_instance_id = p_collider_instance_id;
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c[idx].collider = p_collider;
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c[idx].collider_velocity_at_pos = p_collider_velocity_at_pos;
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}
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#endif // BODY_3D_SW_H
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