6a9ed72185
Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
762 lines
21 KiB
C++
762 lines
21 KiB
C++
/*************************************************************************/
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/* body_3d_sw.cpp */
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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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#include "body_3d_sw.h"
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#include "area_3d_sw.h"
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#include "body_direct_state_3d_sw.h"
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#include "space_3d_sw.h"
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void Body3DSW::_update_inertia() {
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if (get_space() && !inertia_update_list.in_list()) {
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get_space()->body_add_to_inertia_update_list(&inertia_update_list);
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}
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}
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void Body3DSW::_update_transform_dependant() {
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center_of_mass = get_transform().basis.xform(center_of_mass_local);
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principal_inertia_axes = get_transform().basis * principal_inertia_axes_local;
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// update inertia tensor
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Basis tb = principal_inertia_axes;
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Basis tbt = tb.transposed();
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Basis diag;
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diag.scale(_inv_inertia);
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_inv_inertia_tensor = tb * diag * tbt;
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}
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void Body3DSW::update_inertias() {
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// Update shapes and motions.
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switch (mode) {
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case PhysicsServer3D::BODY_MODE_DYNAMIC: {
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// Update tensor for all shapes, not the best way but should be somehow OK. (inspired from bullet)
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real_t total_area = 0;
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for (int i = 0; i < get_shape_count(); i++) {
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total_area += get_shape_area(i);
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}
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// We have to recompute the center of mass.
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center_of_mass_local.zero();
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if (total_area != 0.0) {
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for (int i = 0; i < get_shape_count(); i++) {
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real_t area = get_shape_area(i);
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real_t mass = area * this->mass / total_area;
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// NOTE: we assume that the shape origin is also its center of mass.
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center_of_mass_local += mass * get_shape_transform(i).origin;
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}
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center_of_mass_local /= mass;
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}
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// Recompute the inertia tensor.
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Basis inertia_tensor;
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inertia_tensor.set_zero();
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bool inertia_set = false;
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for (int i = 0; i < get_shape_count(); i++) {
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if (is_shape_disabled(i)) {
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continue;
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}
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real_t area = get_shape_area(i);
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if (area == 0.0) {
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continue;
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}
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inertia_set = true;
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const Shape3DSW *shape = get_shape(i);
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real_t mass = area * this->mass / total_area;
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Basis shape_inertia_tensor = shape->get_moment_of_inertia(mass).to_diagonal_matrix();
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Transform3D shape_transform = get_shape_transform(i);
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Basis shape_basis = shape_transform.basis.orthonormalized();
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// NOTE: we don't take the scale of collision shapes into account when computing the inertia tensor!
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shape_inertia_tensor = shape_basis * shape_inertia_tensor * shape_basis.transposed();
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Vector3 shape_origin = shape_transform.origin - center_of_mass_local;
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inertia_tensor += shape_inertia_tensor + (Basis() * shape_origin.dot(shape_origin) - shape_origin.outer(shape_origin)) * mass;
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}
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// Set the inertia to a valid value when there are no valid shapes.
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if (!inertia_set) {
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inertia_tensor.set_diagonal(Vector3(1.0, 1.0, 1.0));
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}
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// Compute the principal axes of inertia.
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principal_inertia_axes_local = inertia_tensor.diagonalize().transposed();
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_inv_inertia = inertia_tensor.get_main_diagonal().inverse();
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if (mass) {
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_inv_mass = 1.0 / mass;
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} else {
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_inv_mass = 0;
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}
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} break;
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case PhysicsServer3D::BODY_MODE_KINEMATIC:
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case PhysicsServer3D::BODY_MODE_STATIC: {
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_inv_inertia_tensor.set_zero();
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_inv_mass = 0;
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} break;
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case PhysicsServer3D::BODY_MODE_DYNAMIC_LOCKED: {
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_inv_inertia_tensor.set_zero();
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_inv_mass = 1.0 / mass;
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} break;
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}
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//_update_shapes();
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_update_transform_dependant();
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}
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void Body3DSW::set_active(bool p_active) {
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if (active == p_active) {
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return;
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}
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active = p_active;
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if (active) {
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if (mode == PhysicsServer3D::BODY_MODE_STATIC) {
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// Static bodies can't be active.
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active = false;
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} else if (get_space()) {
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get_space()->body_add_to_active_list(&active_list);
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}
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} else if (get_space()) {
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get_space()->body_remove_from_active_list(&active_list);
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}
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}
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void Body3DSW::set_param(PhysicsServer3D::BodyParameter p_param, real_t p_value) {
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switch (p_param) {
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case PhysicsServer3D::BODY_PARAM_BOUNCE: {
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bounce = p_value;
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} break;
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case PhysicsServer3D::BODY_PARAM_FRICTION: {
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friction = p_value;
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} break;
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case PhysicsServer3D::BODY_PARAM_MASS: {
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ERR_FAIL_COND(p_value <= 0);
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mass = p_value;
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_update_inertia();
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} break;
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case PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE: {
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gravity_scale = p_value;
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} break;
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case PhysicsServer3D::BODY_PARAM_LINEAR_DAMP: {
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linear_damp = p_value;
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} break;
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case PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP: {
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angular_damp = p_value;
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} break;
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default: {
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}
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}
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}
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real_t Body3DSW::get_param(PhysicsServer3D::BodyParameter p_param) const {
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switch (p_param) {
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case PhysicsServer3D::BODY_PARAM_BOUNCE: {
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return bounce;
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} break;
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case PhysicsServer3D::BODY_PARAM_FRICTION: {
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return friction;
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} break;
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case PhysicsServer3D::BODY_PARAM_MASS: {
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return mass;
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} break;
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case PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE: {
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return gravity_scale;
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} break;
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case PhysicsServer3D::BODY_PARAM_LINEAR_DAMP: {
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return linear_damp;
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} break;
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case PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP: {
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return angular_damp;
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} break;
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default: {
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}
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}
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return 0;
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}
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void Body3DSW::set_mode(PhysicsServer3D::BodyMode p_mode) {
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PhysicsServer3D::BodyMode prev = mode;
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mode = p_mode;
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switch (p_mode) {
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//CLEAR UP EVERYTHING IN CASE IT NOT WORKS!
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case PhysicsServer3D::BODY_MODE_STATIC:
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case PhysicsServer3D::BODY_MODE_KINEMATIC: {
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_set_inv_transform(get_transform().affine_inverse());
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_inv_mass = 0;
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_set_static(p_mode == PhysicsServer3D::BODY_MODE_STATIC);
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//set_active(p_mode==PhysicsServer3D::BODY_MODE_KINEMATIC);
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set_active(p_mode == PhysicsServer3D::BODY_MODE_KINEMATIC && contacts.size());
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linear_velocity = Vector3();
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angular_velocity = Vector3();
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if (mode == PhysicsServer3D::BODY_MODE_KINEMATIC && prev != mode) {
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first_time_kinematic = true;
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}
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} break;
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case PhysicsServer3D::BODY_MODE_DYNAMIC: {
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_inv_mass = mass > 0 ? (1.0 / mass) : 0;
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_set_static(false);
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set_active(true);
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} break;
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case PhysicsServer3D::BODY_MODE_DYNAMIC_LOCKED: {
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_inv_mass = mass > 0 ? (1.0 / mass) : 0;
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_set_static(false);
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set_active(true);
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angular_velocity = Vector3();
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} break;
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}
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_update_inertia();
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/*
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if (get_space())
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_update_queries();
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*/
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}
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PhysicsServer3D::BodyMode Body3DSW::get_mode() const {
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return mode;
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}
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void Body3DSW::_shapes_changed() {
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_update_inertia();
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}
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void Body3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant) {
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switch (p_state) {
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case PhysicsServer3D::BODY_STATE_TRANSFORM: {
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if (mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
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new_transform = p_variant;
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//wakeup_neighbours();
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set_active(true);
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if (first_time_kinematic) {
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_set_transform(p_variant);
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_set_inv_transform(get_transform().affine_inverse());
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first_time_kinematic = false;
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}
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} else if (mode == PhysicsServer3D::BODY_MODE_STATIC) {
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_set_transform(p_variant);
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_set_inv_transform(get_transform().affine_inverse());
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wakeup_neighbours();
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} else {
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Transform3D t = p_variant;
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t.orthonormalize();
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new_transform = get_transform(); //used as old to compute motion
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if (new_transform == t) {
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break;
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}
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_set_transform(t);
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_set_inv_transform(get_transform().inverse());
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}
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wakeup();
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} break;
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case PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY: {
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linear_velocity = p_variant;
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wakeup();
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} break;
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case PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY: {
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angular_velocity = p_variant;
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wakeup();
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} break;
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case PhysicsServer3D::BODY_STATE_SLEEPING: {
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if (mode == PhysicsServer3D::BODY_MODE_STATIC || mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
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break;
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}
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bool do_sleep = p_variant;
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if (do_sleep) {
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linear_velocity = Vector3();
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//biased_linear_velocity=Vector3();
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angular_velocity = Vector3();
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//biased_angular_velocity=Vector3();
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set_active(false);
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} else {
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set_active(true);
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}
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} break;
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case PhysicsServer3D::BODY_STATE_CAN_SLEEP: {
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can_sleep = p_variant;
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if (mode == PhysicsServer3D::BODY_MODE_DYNAMIC && !active && !can_sleep) {
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set_active(true);
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}
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} break;
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}
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}
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Variant Body3DSW::get_state(PhysicsServer3D::BodyState p_state) const {
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switch (p_state) {
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case PhysicsServer3D::BODY_STATE_TRANSFORM: {
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return get_transform();
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} break;
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case PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY: {
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return linear_velocity;
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} break;
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case PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY: {
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return angular_velocity;
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} break;
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case PhysicsServer3D::BODY_STATE_SLEEPING: {
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return !is_active();
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} break;
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case PhysicsServer3D::BODY_STATE_CAN_SLEEP: {
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return can_sleep;
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} break;
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}
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return Variant();
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}
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void Body3DSW::set_space(Space3DSW *p_space) {
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if (get_space()) {
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if (inertia_update_list.in_list()) {
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get_space()->body_remove_from_inertia_update_list(&inertia_update_list);
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}
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if (active_list.in_list()) {
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get_space()->body_remove_from_active_list(&active_list);
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}
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if (direct_state_query_list.in_list()) {
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get_space()->body_remove_from_state_query_list(&direct_state_query_list);
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}
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}
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_set_space(p_space);
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if (get_space()) {
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_update_inertia();
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if (active) {
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get_space()->body_add_to_active_list(&active_list);
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}
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}
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first_integration = true;
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}
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void Body3DSW::_compute_area_gravity_and_dampenings(const Area3DSW *p_area) {
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if (p_area->is_gravity_point()) {
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if (p_area->get_gravity_distance_scale() > 0) {
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Vector3 v = p_area->get_transform().xform(p_area->get_gravity_vector()) - get_transform().get_origin();
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gravity += v.normalized() * (p_area->get_gravity() / Math::pow(v.length() * p_area->get_gravity_distance_scale() + 1, 2));
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} else {
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gravity += (p_area->get_transform().xform(p_area->get_gravity_vector()) - get_transform().get_origin()).normalized() * p_area->get_gravity();
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}
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} else {
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gravity += p_area->get_gravity_vector() * p_area->get_gravity();
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}
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area_linear_damp += p_area->get_linear_damp();
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area_angular_damp += p_area->get_angular_damp();
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}
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void Body3DSW::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool lock) {
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if (lock) {
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locked_axis |= p_axis;
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} else {
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locked_axis &= ~p_axis;
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}
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}
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bool Body3DSW::is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const {
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return locked_axis & p_axis;
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}
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void Body3DSW::integrate_forces(real_t p_step) {
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if (mode == PhysicsServer3D::BODY_MODE_STATIC) {
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return;
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}
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Area3DSW *def_area = get_space()->get_default_area();
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// AreaSW *damp_area = def_area;
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ERR_FAIL_COND(!def_area);
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int ac = areas.size();
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bool stopped = false;
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gravity = Vector3(0, 0, 0);
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area_linear_damp = 0;
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area_angular_damp = 0;
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if (ac) {
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areas.sort();
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const AreaCMP *aa = &areas[0];
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// damp_area = aa[ac-1].area;
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for (int i = ac - 1; i >= 0 && !stopped; i--) {
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PhysicsServer3D::AreaSpaceOverrideMode mode = aa[i].area->get_space_override_mode();
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switch (mode) {
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case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE:
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case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: {
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_compute_area_gravity_and_dampenings(aa[i].area);
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stopped = mode == PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE;
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} break;
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case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE:
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case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: {
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gravity = Vector3(0, 0, 0);
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area_angular_damp = 0;
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area_linear_damp = 0;
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_compute_area_gravity_and_dampenings(aa[i].area);
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stopped = mode == PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE;
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} break;
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default: {
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}
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}
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}
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}
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if (!stopped) {
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_compute_area_gravity_and_dampenings(def_area);
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}
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gravity *= gravity_scale;
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// If less than 0, override dampenings with that of the Body
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if (angular_damp >= 0) {
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area_angular_damp = angular_damp;
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}
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/*
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else
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area_angular_damp=damp_area->get_angular_damp();
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*/
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if (linear_damp >= 0) {
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area_linear_damp = linear_damp;
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}
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/*
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else
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area_linear_damp=damp_area->get_linear_damp();
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*/
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Vector3 motion;
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bool do_motion = false;
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if (mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
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//compute motion, angular and etc. velocities from prev transform
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motion = new_transform.origin - get_transform().origin;
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do_motion = true;
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linear_velocity = motion / p_step;
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//compute a FAKE angular velocity, not so easy
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Basis rot = new_transform.basis.orthonormalized() * get_transform().basis.orthonormalized().transposed();
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Vector3 axis;
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real_t angle;
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rot.get_axis_angle(axis, angle);
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axis.normalize();
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angular_velocity = axis * (angle / p_step);
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} else {
|
|
if (!omit_force_integration && !first_integration) {
|
|
//overridden by direct state query
|
|
|
|
Vector3 force = gravity * mass;
|
|
force += applied_force;
|
|
Vector3 torque = applied_torque;
|
|
|
|
real_t damp = 1.0 - p_step * area_linear_damp;
|
|
|
|
if (damp < 0) { // reached zero in the given time
|
|
damp = 0;
|
|
}
|
|
|
|
real_t angular_damp = 1.0 - p_step * area_angular_damp;
|
|
|
|
if (angular_damp < 0) { // reached zero in the given time
|
|
angular_damp = 0;
|
|
}
|
|
|
|
linear_velocity *= damp;
|
|
angular_velocity *= angular_damp;
|
|
|
|
linear_velocity += _inv_mass * force * p_step;
|
|
angular_velocity += _inv_inertia_tensor.xform(torque) * p_step;
|
|
}
|
|
|
|
if (continuous_cd) {
|
|
motion = linear_velocity * p_step;
|
|
do_motion = true;
|
|
}
|
|
}
|
|
|
|
applied_force = Vector3();
|
|
applied_torque = Vector3();
|
|
first_integration = false;
|
|
|
|
//motion=linear_velocity*p_step;
|
|
|
|
biased_angular_velocity = Vector3();
|
|
biased_linear_velocity = Vector3();
|
|
|
|
if (do_motion) { //shapes temporarily extend for raycast
|
|
_update_shapes_with_motion(motion);
|
|
}
|
|
|
|
def_area = nullptr; // clear the area, so it is set in the next frame
|
|
contact_count = 0;
|
|
}
|
|
|
|
void Body3DSW::integrate_velocities(real_t p_step) {
|
|
if (mode == PhysicsServer3D::BODY_MODE_STATIC) {
|
|
return;
|
|
}
|
|
|
|
if (fi_callback_data || body_state_callback) {
|
|
get_space()->body_add_to_state_query_list(&direct_state_query_list);
|
|
}
|
|
|
|
//apply axis lock linear
|
|
for (int i = 0; i < 3; i++) {
|
|
if (is_axis_locked((PhysicsServer3D::BodyAxis)(1 << i))) {
|
|
linear_velocity[i] = 0;
|
|
biased_linear_velocity[i] = 0;
|
|
new_transform.origin[i] = get_transform().origin[i];
|
|
}
|
|
}
|
|
//apply axis lock angular
|
|
for (int i = 0; i < 3; i++) {
|
|
if (is_axis_locked((PhysicsServer3D::BodyAxis)(1 << (i + 3)))) {
|
|
angular_velocity[i] = 0;
|
|
biased_angular_velocity[i] = 0;
|
|
}
|
|
}
|
|
|
|
if (mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
|
|
_set_transform(new_transform, false);
|
|
_set_inv_transform(new_transform.affine_inverse());
|
|
if (contacts.size() == 0 && linear_velocity == Vector3() && angular_velocity == Vector3()) {
|
|
set_active(false); //stopped moving, deactivate
|
|
}
|
|
|
|
return;
|
|
}
|
|
|
|
Vector3 total_angular_velocity = angular_velocity + biased_angular_velocity;
|
|
|
|
real_t ang_vel = total_angular_velocity.length();
|
|
Transform3D transform = get_transform();
|
|
|
|
if (!Math::is_zero_approx(ang_vel)) {
|
|
Vector3 ang_vel_axis = total_angular_velocity / ang_vel;
|
|
Basis rot(ang_vel_axis, ang_vel * p_step);
|
|
Basis identity3(1, 0, 0, 0, 1, 0, 0, 0, 1);
|
|
transform.origin += ((identity3 - rot) * transform.basis).xform(center_of_mass_local);
|
|
transform.basis = rot * transform.basis;
|
|
transform.orthonormalize();
|
|
}
|
|
|
|
Vector3 total_linear_velocity = linear_velocity + biased_linear_velocity;
|
|
/*for(int i=0;i<3;i++) {
|
|
if (axis_lock&(1<<i)) {
|
|
transform.origin[i]=0.0;
|
|
}
|
|
}*/
|
|
|
|
transform.origin += total_linear_velocity * p_step;
|
|
|
|
_set_transform(transform);
|
|
_set_inv_transform(get_transform().inverse());
|
|
|
|
_update_transform_dependant();
|
|
}
|
|
|
|
/*
|
|
void BodySW::simulate_motion(const Transform3D& p_xform,real_t p_step) {
|
|
Transform3D inv_xform = p_xform.affine_inverse();
|
|
if (!get_space()) {
|
|
_set_transform(p_xform);
|
|
_set_inv_transform(inv_xform);
|
|
|
|
return;
|
|
}
|
|
|
|
//compute a FAKE linear velocity - this is easy
|
|
|
|
linear_velocity=(p_xform.origin - get_transform().origin)/p_step;
|
|
|
|
//compute a FAKE angular velocity, not so easy
|
|
Basis rot=get_transform().basis.orthonormalized().transposed() * p_xform.basis.orthonormalized();
|
|
Vector3 axis;
|
|
real_t angle;
|
|
|
|
rot.get_axis_angle(axis,angle);
|
|
axis.normalize();
|
|
angular_velocity=axis.normalized() * (angle/p_step);
|
|
linear_velocity = (p_xform.origin - get_transform().origin)/p_step;
|
|
|
|
if (!direct_state_query_list.in_list())// - callalways, so lv and av are cleared && (state_query || direct_state_query))
|
|
get_space()->body_add_to_state_query_list(&direct_state_query_list);
|
|
simulated_motion=true;
|
|
_set_transform(p_xform);
|
|
}
|
|
|
|
*/
|
|
|
|
void Body3DSW::wakeup_neighbours() {
|
|
for (Map<Constraint3DSW *, int>::Element *E = constraint_map.front(); E; E = E->next()) {
|
|
const Constraint3DSW *c = E->key();
|
|
Body3DSW **n = c->get_body_ptr();
|
|
int bc = c->get_body_count();
|
|
|
|
for (int i = 0; i < bc; i++) {
|
|
if (i == E->get()) {
|
|
continue;
|
|
}
|
|
Body3DSW *b = n[i];
|
|
if (b->mode != PhysicsServer3D::BODY_MODE_DYNAMIC) {
|
|
continue;
|
|
}
|
|
|
|
if (!b->is_active()) {
|
|
b->set_active(true);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void Body3DSW::call_queries() {
|
|
if (fi_callback_data) {
|
|
if (!fi_callback_data->callable.get_object()) {
|
|
set_force_integration_callback(Callable());
|
|
} else {
|
|
Variant direct_state_variant = get_direct_state();
|
|
const Variant *vp[2] = { &direct_state_variant, &fi_callback_data->udata };
|
|
|
|
Callable::CallError ce;
|
|
int argc = (fi_callback_data->udata.get_type() == Variant::NIL) ? 1 : 2;
|
|
Variant rv;
|
|
fi_callback_data->callable.call(vp, argc, rv, ce);
|
|
}
|
|
}
|
|
|
|
if (body_state_callback_instance) {
|
|
(body_state_callback)(body_state_callback_instance, get_direct_state());
|
|
}
|
|
}
|
|
|
|
bool Body3DSW::sleep_test(real_t p_step) {
|
|
if (mode == PhysicsServer3D::BODY_MODE_STATIC || mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
|
|
return true;
|
|
} else if (!can_sleep) {
|
|
return false;
|
|
}
|
|
|
|
if (Math::abs(angular_velocity.length()) < get_space()->get_body_angular_velocity_sleep_threshold() && Math::abs(linear_velocity.length_squared()) < get_space()->get_body_linear_velocity_sleep_threshold() * get_space()->get_body_linear_velocity_sleep_threshold()) {
|
|
still_time += p_step;
|
|
|
|
return still_time > get_space()->get_body_time_to_sleep();
|
|
} else {
|
|
still_time = 0; //maybe this should be set to 0 on set_active?
|
|
return false;
|
|
}
|
|
}
|
|
|
|
void Body3DSW::set_state_sync_callback(void *p_instance, PhysicsServer3D::BodyStateCallback p_callback) {
|
|
body_state_callback_instance = p_instance;
|
|
body_state_callback = p_callback;
|
|
}
|
|
|
|
void Body3DSW::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) {
|
|
if (p_callable.get_object()) {
|
|
if (!fi_callback_data) {
|
|
fi_callback_data = memnew(ForceIntegrationCallbackData);
|
|
}
|
|
fi_callback_data->callable = p_callable;
|
|
fi_callback_data->udata = p_udata;
|
|
} else if (fi_callback_data) {
|
|
memdelete(fi_callback_data);
|
|
fi_callback_data = nullptr;
|
|
}
|
|
}
|
|
|
|
PhysicsDirectBodyState3DSW *Body3DSW::get_direct_state() {
|
|
if (!direct_state) {
|
|
direct_state = memnew(PhysicsDirectBodyState3DSW);
|
|
direct_state->body = this;
|
|
}
|
|
return direct_state;
|
|
}
|
|
|
|
Body3DSW::Body3DSW() :
|
|
CollisionObject3DSW(TYPE_BODY),
|
|
active_list(this),
|
|
inertia_update_list(this),
|
|
direct_state_query_list(this) {
|
|
mode = PhysicsServer3D::BODY_MODE_DYNAMIC;
|
|
active = true;
|
|
|
|
mass = 1;
|
|
_inv_mass = 1;
|
|
bounce = 0;
|
|
friction = 1;
|
|
omit_force_integration = false;
|
|
//applied_torque=0;
|
|
island_step = 0;
|
|
first_time_kinematic = false;
|
|
first_integration = false;
|
|
_set_static(false);
|
|
|
|
contact_count = 0;
|
|
gravity_scale = 1.0;
|
|
linear_damp = -1;
|
|
angular_damp = -1;
|
|
area_angular_damp = 0;
|
|
area_linear_damp = 0;
|
|
|
|
still_time = 0;
|
|
continuous_cd = false;
|
|
can_sleep = true;
|
|
}
|
|
|
|
Body3DSW::~Body3DSW() {
|
|
if (fi_callback_data) {
|
|
memdelete(fi_callback_data);
|
|
}
|
|
if (direct_state) {
|
|
memdelete(direct_state);
|
|
}
|
|
}
|