eae94ba1c8
This is a continuation of an on-going work for 64-bit floating point builds, started in PR #7528. Covers physics, physics/joints and physics_2d code. Also removed matrixToEulerXYZ function in favor of Basis::get_euler.
758 lines
19 KiB
C++
758 lines
19 KiB
C++
/*************************************************************************/
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/* body_2d_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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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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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_2d_sw.h"
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#include "space_2d_sw.h"
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#include "area_2d_sw.h"
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#include "physics_2d_server_sw.h"
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void Body2DSW::_update_inertia() {
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if (!user_inertia && 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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void Body2DSW::update_inertias() {
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//update shapes and motions
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switch(mode) {
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case Physics2DServer::BODY_MODE_RIGID: {
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if(user_inertia) break;
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//update tensor for allshapes, 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_aabb(i).get_area();
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}
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real_t _inertia=0;
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for (int i=0;i<get_shape_count();i++) {
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const Shape2DSW* shape=get_shape(i);
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real_t area=get_shape_aabb(i).get_area();
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real_t mass = area * this->mass / total_area;
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Transform2D mtx = get_shape_transform(i);
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Vector2 scale = mtx.get_scale();
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_inertia += shape->get_moment_of_inertia(mass,scale) + mass * mtx.get_origin().length_squared();
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//Rect2 ab = get_shape_aabb(i);
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//_inertia+=mass*ab.size.dot(ab.size)/12.0f;
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}
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if (_inertia!=0)
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_inv_inertia=1.0/_inertia;
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else
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_inv_inertia=0.0; //wathever
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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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} break;
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case Physics2DServer::BODY_MODE_KINEMATIC:
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case Physics2DServer::BODY_MODE_STATIC: {
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_inv_inertia=0;
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_inv_mass=0;
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} break;
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case Physics2DServer::BODY_MODE_CHARACTER: {
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_inv_inertia=0;
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_inv_mass=1.0/mass;
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} break;
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}
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//_update_inertia_tensor();
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//_update_shapes();
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}
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void Body2DSW::set_active(bool p_active) {
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if (active==p_active)
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return;
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active=p_active;
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if (!p_active) {
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if (get_space())
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get_space()->body_remove_from_active_list(&active_list);
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} else {
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if (mode==Physics2DServer::BODY_MODE_STATIC)
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return; //static bodies can't become active
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if (get_space())
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get_space()->body_add_to_active_list(&active_list);
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//still_time=0;
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}
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/*
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if (!space)
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return;
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for(int i=0;i<get_shape_count();i++) {
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Shape &s=shapes[i];
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if (s.bpid>0) {
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get_space()->get_broadphase()->set_active(s.bpid,active);
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}
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}
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*/
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}
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void Body2DSW::set_param(Physics2DServer::BodyParameter p_param, real_t p_value) {
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switch(p_param) {
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case Physics2DServer::BODY_PARAM_BOUNCE: {
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bounce=p_value;
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} break;
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case Physics2DServer::BODY_PARAM_FRICTION: {
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friction=p_value;
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} break;
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case Physics2DServer::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 Physics2DServer::BODY_PARAM_INERTIA: {
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if(p_value<=0) {
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user_inertia = false;
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_update_inertia();
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} else {
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user_inertia = true;
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_inv_inertia = 1.0 / p_value;
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}
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} break;
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case Physics2DServer::BODY_PARAM_GRAVITY_SCALE: {
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gravity_scale=p_value;
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} break;
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case Physics2DServer::BODY_PARAM_LINEAR_DAMP: {
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linear_damp=p_value;
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} break;
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case Physics2DServer::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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real_t Body2DSW::get_param(Physics2DServer::BodyParameter p_param) const {
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switch(p_param) {
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case Physics2DServer::BODY_PARAM_BOUNCE: {
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return bounce;
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} break;
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case Physics2DServer::BODY_PARAM_FRICTION: {
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return friction;
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} break;
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case Physics2DServer::BODY_PARAM_MASS: {
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return mass;
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} break;
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case Physics2DServer::BODY_PARAM_INERTIA: {
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return _inv_inertia==0 ? 0 : 1.0 / _inv_inertia;
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} break;
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case Physics2DServer::BODY_PARAM_GRAVITY_SCALE: {
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return gravity_scale;
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} break;
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case Physics2DServer::BODY_PARAM_LINEAR_DAMP: {
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return linear_damp;
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} break;
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case Physics2DServer::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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return 0;
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}
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void Body2DSW::set_mode(Physics2DServer::BodyMode p_mode) {
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Physics2DServer::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 Physics2DServer::BODY_MODE_STATIC:
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case Physics2DServer::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==Physics2DServer::BODY_MODE_STATIC);
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set_active(p_mode==Physics2DServer::BODY_MODE_KINEMATIC && contacts.size());
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linear_velocity=Vector2();
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angular_velocity=0;
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if (mode==Physics2DServer::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 Physics2DServer::BODY_MODE_RIGID: {
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_inv_mass=mass>0?(1.0/mass):0;
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_set_static(false);
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} break;
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case Physics2DServer::BODY_MODE_CHARACTER: {
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_inv_mass=mass>0?(1.0/mass):0;
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_set_static(false);
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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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Physics2DServer::BodyMode Body2DSW::get_mode() const {
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return mode;
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}
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void Body2DSW::_shapes_changed() {
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_update_inertia();
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wakeup_neighbours();
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}
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void Body2DSW::set_state(Physics2DServer::BodyState p_state, const Variant& p_variant) {
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switch(p_state) {
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case Physics2DServer::BODY_STATE_TRANSFORM: {
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if (mode==Physics2DServer::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==Physics2DServer::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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Transform2D 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 (t==new_transform)
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break;
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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 Physics2DServer::BODY_STATE_LINEAR_VELOCITY: {
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/*
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if (mode==Physics2DServer::BODY_MODE_STATIC)
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break;
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*/
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linear_velocity=p_variant;
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wakeup();
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} break;
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case Physics2DServer::BODY_STATE_ANGULAR_VELOCITY: {
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/*
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if (mode!=Physics2DServer::BODY_MODE_RIGID)
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break;
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*/
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angular_velocity=p_variant;
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wakeup();
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} break;
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case Physics2DServer::BODY_STATE_SLEEPING: {
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//?
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if (mode==Physics2DServer::BODY_MODE_STATIC || mode==Physics2DServer::BODY_MODE_KINEMATIC)
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break;
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bool do_sleep=p_variant;
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if (do_sleep) {
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linear_velocity=Vector2();
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//biased_linear_velocity=Vector3();
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angular_velocity=0;
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//biased_angular_velocity=Vector3();
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set_active(false);
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} else {
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if (mode!=Physics2DServer::BODY_MODE_STATIC)
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set_active(true);
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}
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} break;
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case Physics2DServer::BODY_STATE_CAN_SLEEP: {
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can_sleep=p_variant;
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if (mode==Physics2DServer::BODY_MODE_RIGID && !active && !can_sleep)
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set_active(true);
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} break;
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}
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}
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Variant Body2DSW::get_state(Physics2DServer::BodyState p_state) const {
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switch(p_state) {
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case Physics2DServer::BODY_STATE_TRANSFORM: {
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return get_transform();
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} break;
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case Physics2DServer::BODY_STATE_LINEAR_VELOCITY: {
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return linear_velocity;
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} break;
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case Physics2DServer::BODY_STATE_ANGULAR_VELOCITY: {
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return angular_velocity;
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} break;
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case Physics2DServer::BODY_STATE_SLEEPING: {
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return !is_active();
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} break;
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case Physics2DServer::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 Body2DSW::set_space(Space2DSW *p_space){
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if (get_space()) {
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wakeup_neighbours();
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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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if (active_list.in_list())
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get_space()->body_remove_from_active_list(&active_list);
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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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_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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_update_queries();
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if (is_active()) {
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active=false;
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set_active(true);
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}
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*/
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}
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first_integration=false;
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}
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void Body2DSW::_compute_area_gravity_and_dampenings(const Area2DSW *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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Vector2 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 Body2DSW::integrate_forces(real_t p_step) {
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if (mode==Physics2DServer::BODY_MODE_STATIC)
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return;
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Area2DSW *def_area = get_space()->get_default_area();
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// Area2DSW *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 = Vector2(0,0);
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area_angular_damp = 0;
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area_linear_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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Physics2DServer::AreaSpaceOverrideMode mode=aa[i].area->get_space_override_mode();
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switch (mode) {
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case Physics2DServer::AREA_SPACE_OVERRIDE_COMBINE:
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case Physics2DServer::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: {
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_compute_area_gravity_and_dampenings(aa[i].area);
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stopped = mode==Physics2DServer::AREA_SPACE_OVERRIDE_COMBINE_REPLACE;
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} break;
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case Physics2DServer::AREA_SPACE_OVERRIDE_REPLACE:
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case Physics2DServer::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: {
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gravity = Vector2(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==Physics2DServer::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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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 Body2D
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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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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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else
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area_linear_damp=damp_area->get_linear_damp();
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*/
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Vector2 motion;
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bool do_motion=false;
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if (mode==Physics2DServer::BODY_MODE_KINEMATIC) {
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//compute motion, angular and etc. velocities from prev transform
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motion = new_transform.get_origin() - get_transform().get_origin();
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linear_velocity = motion/p_step;
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real_t rot = new_transform.get_rotation() - get_transform().get_rotation();
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angular_velocity = rot / p_step;
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do_motion=true;
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/*
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for(int i=0;i<get_shape_count();i++) {
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set_shape_kinematic_advance(i,Vector2());
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set_shape_kinematic_retreat(i,0);
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}
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*/
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} else {
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if (!omit_force_integration && !first_integration) {
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//overriden by direct state query
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Vector2 force=gravity*mass;
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force+=applied_force;
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real_t torque=applied_torque;
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real_t damp = 1.0 - p_step * area_linear_damp;
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if (damp<0) // reached zero in the given time
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damp=0;
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real_t angular_damp = 1.0 - p_step * area_angular_damp;
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if (angular_damp<0) // reached zero in the given time
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angular_damp=0;
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linear_velocity*=damp;
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angular_velocity*=angular_damp;
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linear_velocity+=_inv_mass * force * p_step;
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angular_velocity+=_inv_inertia * torque * p_step;
|
|
}
|
|
|
|
if (continuous_cd_mode!=Physics2DServer::CCD_MODE_DISABLED) {
|
|
|
|
motion = new_transform.get_origin() - get_transform().get_origin();
|
|
//linear_velocity*p_step;
|
|
do_motion=true;
|
|
}
|
|
}
|
|
|
|
|
|
//motion=linear_velocity*p_step;
|
|
|
|
first_integration=false;
|
|
biased_angular_velocity=0;
|
|
biased_linear_velocity=Vector2();
|
|
|
|
if (do_motion) {//shapes temporarily extend for raycast
|
|
_update_shapes_with_motion(motion);
|
|
}
|
|
|
|
// damp_area=NULL; // clear the area, so it is set in the next frame
|
|
def_area=NULL; // clear the area, so it is set in the next frame
|
|
contact_count=0;
|
|
|
|
}
|
|
|
|
void Body2DSW::integrate_velocities(real_t p_step) {
|
|
|
|
if (mode==Physics2DServer::BODY_MODE_STATIC)
|
|
return;
|
|
|
|
if (fi_callback)
|
|
get_space()->body_add_to_state_query_list(&direct_state_query_list);
|
|
|
|
if (mode==Physics2DServer::BODY_MODE_KINEMATIC) {
|
|
|
|
_set_transform(new_transform,false);
|
|
_set_inv_transform(new_transform.affine_inverse());
|
|
if (contacts.size()==0 && linear_velocity==Vector2() && angular_velocity==0)
|
|
set_active(false); //stopped moving, deactivate
|
|
return;
|
|
}
|
|
|
|
real_t total_angular_velocity = angular_velocity+biased_angular_velocity;
|
|
Vector2 total_linear_velocity=linear_velocity+biased_linear_velocity;
|
|
|
|
real_t angle = get_transform().get_rotation() + total_angular_velocity * p_step;
|
|
Vector2 pos = get_transform().get_origin() + total_linear_velocity * p_step;
|
|
|
|
_set_transform(Transform2D(angle,pos),continuous_cd_mode==Physics2DServer::CCD_MODE_DISABLED);
|
|
_set_inv_transform(get_transform().inverse());
|
|
|
|
if (continuous_cd_mode!=Physics2DServer::CCD_MODE_DISABLED)
|
|
new_transform=get_transform();
|
|
|
|
//_update_inertia_tensor();
|
|
}
|
|
|
|
|
|
|
|
void Body2DSW::wakeup_neighbours() {
|
|
|
|
|
|
|
|
for(Map<Constraint2DSW*,int>::Element *E=constraint_map.front();E;E=E->next()) {
|
|
|
|
const Constraint2DSW *c=E->key();
|
|
Body2DSW **n = c->get_body_ptr();
|
|
int bc=c->get_body_count();
|
|
|
|
for(int i=0;i<bc;i++) {
|
|
|
|
if (i==E->get())
|
|
continue;
|
|
Body2DSW *b = n[i];
|
|
if (b->mode!=Physics2DServer::BODY_MODE_RIGID)
|
|
continue;
|
|
|
|
if (!b->is_active())
|
|
b->set_active(true);
|
|
}
|
|
}
|
|
}
|
|
|
|
void Body2DSW::call_queries() {
|
|
|
|
|
|
if (fi_callback) {
|
|
|
|
Physics2DDirectBodyStateSW *dbs = Physics2DDirectBodyStateSW::singleton;
|
|
dbs->body=this;
|
|
|
|
Variant v=dbs;
|
|
const Variant *vp[2]={&v,&fi_callback->callback_udata};
|
|
|
|
|
|
Object *obj = ObjectDB::get_instance(fi_callback->id);
|
|
if (!obj) {
|
|
|
|
set_force_integration_callback(0,StringName());
|
|
} else {
|
|
Variant::CallError ce;
|
|
if (fi_callback->callback_udata.get_type()) {
|
|
|
|
obj->call(fi_callback->method,vp,2,ce);
|
|
|
|
} else {
|
|
obj->call(fi_callback->method,vp,1,ce);
|
|
}
|
|
}
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
bool Body2DSW::sleep_test(real_t p_step) {
|
|
|
|
if (mode==Physics2DServer::BODY_MODE_STATIC || mode==Physics2DServer::BODY_MODE_KINEMATIC)
|
|
return true; //
|
|
else if (mode==Physics2DServer::BODY_MODE_CHARACTER)
|
|
return !active; // characters and kinematic bodies don't sleep unless asked to sleep
|
|
else if (!can_sleep)
|
|
return false;
|
|
|
|
|
|
|
|
|
|
if (Math::abs(angular_velocity)<get_space()->get_body_angular_velocity_sleep_treshold() && Math::abs(linear_velocity.length_squared()) < get_space()->get_body_linear_velocity_sleep_treshold()*get_space()->get_body_linear_velocity_sleep_treshold()) {
|
|
|
|
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 Body2DSW::set_force_integration_callback(ObjectID p_id,const StringName& p_method,const Variant& p_udata) {
|
|
|
|
if (fi_callback) {
|
|
|
|
memdelete(fi_callback);
|
|
fi_callback=NULL;
|
|
}
|
|
|
|
|
|
if (p_id!=0) {
|
|
|
|
fi_callback=memnew(ForceIntegrationCallback);
|
|
fi_callback->id=p_id;
|
|
fi_callback->method=p_method;
|
|
fi_callback->callback_udata=p_udata;
|
|
}
|
|
|
|
}
|
|
|
|
Body2DSW::Body2DSW() : CollisionObject2DSW(TYPE_BODY), active_list(this), inertia_update_list(this), direct_state_query_list(this) {
|
|
|
|
|
|
mode=Physics2DServer::BODY_MODE_RIGID;
|
|
active=true;
|
|
angular_velocity=0;
|
|
biased_angular_velocity=0;
|
|
mass=1;
|
|
user_inertia=false;
|
|
_inv_inertia=0;
|
|
_inv_mass=1;
|
|
bounce=0;
|
|
friction=1;
|
|
omit_force_integration=false;
|
|
applied_torque=0;
|
|
island_step=0;
|
|
island_next=NULL;
|
|
island_list_next=NULL;
|
|
_set_static(false);
|
|
first_time_kinematic=false;
|
|
linear_damp=-1;
|
|
angular_damp=-1;
|
|
area_angular_damp=0;
|
|
area_linear_damp=0;
|
|
contact_count=0;
|
|
gravity_scale=1.0;
|
|
using_one_way_cache=false;
|
|
one_way_collision_max_depth=0.1;
|
|
first_integration=false;
|
|
|
|
still_time=0;
|
|
continuous_cd_mode=Physics2DServer::CCD_MODE_DISABLED;
|
|
can_sleep=false;
|
|
fi_callback=NULL;
|
|
|
|
}
|
|
|
|
Body2DSW::~Body2DSW() {
|
|
|
|
if (fi_callback)
|
|
memdelete(fi_callback);
|
|
}
|
|
|
|
Physics2DDirectBodyStateSW *Physics2DDirectBodyStateSW::singleton=NULL;
|
|
|
|
Physics2DDirectSpaceState* Physics2DDirectBodyStateSW::get_space_state() {
|
|
|
|
return body->get_space()->get_direct_state();
|
|
}
|
|
|
|
|
|
Variant Physics2DDirectBodyStateSW::get_contact_collider_shape_metadata(int p_contact_idx) const {
|
|
|
|
ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,Variant());
|
|
|
|
if (!Physics2DServerSW::singletonsw->body_owner.owns(body->contacts[p_contact_idx].collider)) {
|
|
|
|
return Variant();
|
|
}
|
|
Body2DSW *other = Physics2DServerSW::singletonsw->body_owner.get(body->contacts[p_contact_idx].collider);
|
|
|
|
int sidx = body->contacts[p_contact_idx].collider_shape;
|
|
if (sidx<0 || sidx>=other->get_shape_count()) {
|
|
|
|
return Variant();
|
|
}
|
|
|
|
|
|
return other->get_shape_metadata(sidx);
|
|
}
|