695 lines
16 KiB
C++
695 lines
16 KiB
C++
/*************************************************************************/
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/* body_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) 2007-2014 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_sw.h"
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#include "space_sw.h"
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#include "area_sw.h"
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void BodySW::_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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void BodySW::_update_inertia_tensor() {
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Matrix3 tb = get_transform().basis;
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tb.scale(_inv_inertia);
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_inv_inertia_tensor = tb * get_transform().basis.transposed();
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}
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void BodySW::update_inertias() {
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//update shapes and motions
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switch(mode) {
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case PhysicsServer::BODY_MODE_RIGID: {
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//update tensor for allshapes, not the best way but should be somehow OK. (inspired from bullet)
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float 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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Vector3 _inertia;
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for (int i=0;i<get_shape_count();i++) {
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const ShapeSW* shape=get_shape(i);
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float area=get_shape_aabb(i).get_area();
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float mass = area * this->mass / total_area;
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_inertia += shape->get_moment_of_inertia(mass) + mass * get_shape_transform(i).get_origin();
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}
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if (_inertia!=Vector3())
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_inv_inertia=_inertia.inverse();
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else
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_inv_inertia=Vector3();
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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 PhysicsServer::BODY_MODE_KINEMATIC:
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case PhysicsServer::BODY_MODE_STATIC: {
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_inv_inertia=Vector3();
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_inv_mass=0;
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} break;
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case PhysicsServer::BODY_MODE_CHARACTER: {
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_inv_inertia=Vector3();
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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 BodySW::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==PhysicsServer::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 BodySW::set_param(PhysicsServer::BodyParameter p_param, float p_value) {
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switch(p_param) {
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case PhysicsServer::BODY_PARAM_BOUNCE: {
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bounce=p_value;
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} break;
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case PhysicsServer::BODY_PARAM_FRICTION: {
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friction=p_value;
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} break;
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case PhysicsServer::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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default:{}
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}
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}
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float BodySW::get_param(PhysicsServer::BodyParameter p_param) const {
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switch(p_param) {
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case PhysicsServer::BODY_PARAM_BOUNCE: {
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return bounce;
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} break;
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case PhysicsServer::BODY_PARAM_FRICTION: {
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return friction;
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} break;
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case PhysicsServer::BODY_PARAM_MASS: {
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return mass;
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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 BodySW::set_mode(PhysicsServer::BodyMode p_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 PhysicsServer::BODY_MODE_STATIC:
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case PhysicsServer::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==PhysicsServer::BODY_MODE_STATIC);
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//set_active(p_mode==PhysicsServer::BODY_MODE_KINEMATIC);
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set_active(p_mode==PhysicsServer::BODY_MODE_KINEMATIC && contacts.size());
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linear_velocity=Vector3();
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angular_velocity=Vector3();
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} break;
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case PhysicsServer::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 PhysicsServer::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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//if (get_space())
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// _update_queries();
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}
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PhysicsServer::BodyMode BodySW::get_mode() const {
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return mode;
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}
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void BodySW::_shapes_changed() {
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_update_inertia();
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}
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void BodySW::set_state(PhysicsServer::BodyState p_state, const Variant& p_variant) {
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switch(p_state) {
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case PhysicsServer::BODY_STATE_TRANSFORM: {
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if (mode==PhysicsServer::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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} else if (mode==PhysicsServer::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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Transform 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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_set_transform(t);
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_set_inv_transform(get_transform().inverse());
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}
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} break;
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case PhysicsServer::BODY_STATE_LINEAR_VELOCITY: {
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//if (mode==PhysicsServer::BODY_MODE_STATIC)
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// break;
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linear_velocity=p_variant;
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} break;
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case PhysicsServer::BODY_STATE_ANGULAR_VELOCITY: {
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//if (mode!=PhysicsServer::BODY_MODE_RIGID)
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// break;
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angular_velocity=p_variant;
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} break;
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case PhysicsServer::BODY_STATE_SLEEPING: {
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//?
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if (mode==PhysicsServer::BODY_MODE_STATIC || mode==PhysicsServer::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=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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if (mode!=PhysicsServer::BODY_MODE_STATIC)
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set_active(true);
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}
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} break;
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case PhysicsServer::BODY_STATE_CAN_SLEEP: {
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can_sleep=p_variant;
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if (mode==PhysicsServer::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 BodySW::get_state(PhysicsServer::BodyState p_state) const {
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switch(p_state) {
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case PhysicsServer::BODY_STATE_TRANSFORM: {
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return get_transform();
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} break;
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case PhysicsServer::BODY_STATE_LINEAR_VELOCITY: {
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return linear_velocity;
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} break;
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case PhysicsServer::BODY_STATE_ANGULAR_VELOCITY: {
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return angular_velocity;
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} break;
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case PhysicsServer::BODY_STATE_SLEEPING: {
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return !is_active();
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} break;
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case PhysicsServer::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 BodySW::set_space(SpaceSW *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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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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// _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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void BodySW::_compute_area_gravity(const AreaSW *p_area) {
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if (p_area->is_gravity_point()) {
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gravity = (p_area->get_gravity_vector() - get_transform().get_origin()).normalized() * p_area->get_gravity();
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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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}
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void BodySW::integrate_forces(real_t p_step) {
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if (mode==PhysicsServer::BODY_MODE_STATIC)
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return;
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AreaSW *current_area = get_space()->get_default_area();
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ERR_FAIL_COND(!current_area);
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int prio = current_area->get_priority();
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int ac = areas.size();
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if (ac) {
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const AreaCMP *aa = &areas[0];
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for(int i=0;i<ac;i++) {
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if (aa[i].area->get_priority() > prio) {
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current_area=aa[i].area;
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prio=current_area->get_priority();
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}
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}
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}
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_compute_area_gravity(current_area);
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density=current_area->get_density();
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Vector3 motion;
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bool do_motion=false;
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if (mode==PhysicsServer::BODY_MODE_KINEMATIC) {
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//compute motion, angular and etc. velocities from prev transform
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linear_velocity = (new_transform.origin - get_transform().origin)/p_step;
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//compute a FAKE angular velocity, not so easy
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Matrix3 rot=new_transform.basis.orthonormalized().transposed() * get_transform().basis.orthonormalized();
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Vector3 axis;
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float angle;
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rot.get_axis_and_angle(axis,angle);
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axis.normalize();
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angular_velocity=axis.normalized() * (angle/p_step);
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motion = new_transform.origin - get_transform().origin;
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do_motion=true;
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} else {
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if (!omit_force_integration) {
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//overriden by direct state query
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Vector3 force=gravity*mass;
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force+=applied_force;
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Vector3 torque=applied_torque;
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real_t damp = 1.0 - p_step * density;
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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 * density * get_space()->get_body_angular_velocity_damp_ratio();
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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_tensor.xform(torque)*p_step;
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}
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if (continuous_cd) {
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motion=linear_velocity*p_step;
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do_motion=true;
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}
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}
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applied_force=Vector3();
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applied_torque=Vector3();
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//motion=linear_velocity*p_step;
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biased_angular_velocity=Vector3();
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biased_linear_velocity=Vector3();
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if (do_motion) {//shapes temporarily extend for raycast
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_update_shapes_with_motion(motion);
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}
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current_area=NULL; // clear the area, so it is set in the next frame
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contact_count=0;
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}
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void BodySW::integrate_velocities(real_t p_step) {
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if (mode==PhysicsServer::BODY_MODE_STATIC)
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return;
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if (fi_callback)
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get_space()->body_add_to_state_query_list(&direct_state_query_list);
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if (mode==PhysicsServer::BODY_MODE_KINEMATIC) {
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_set_transform(new_transform,false);
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_set_inv_transform(new_transform.affine_inverse());
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if (contacts.size()==0 && linear_velocity==Vector3() && angular_velocity==Vector3())
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set_active(false); //stopped moving, deactivate
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return;
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}
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//apply axis lock
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if (axis_lock!=PhysicsServer::BODY_AXIS_LOCK_DISABLED) {
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int axis=axis_lock-1;
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for(int i=0;i<3;i++) {
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if (i==axis) {
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linear_velocity[i]=0;
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biased_linear_velocity[i]=0;
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} else {
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angular_velocity[i]=0;
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biased_angular_velocity[i]=0;
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}
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}
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}
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Vector3 total_angular_velocity = angular_velocity+biased_angular_velocity;
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float ang_vel = total_angular_velocity.length();
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Transform transform = get_transform();
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if (ang_vel!=0.0) {
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Vector3 ang_vel_axis = total_angular_velocity / ang_vel;
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Matrix3 rot( ang_vel_axis, -ang_vel*p_step );
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transform.basis = rot * transform.basis;
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transform.orthonormalize();
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}
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Vector3 total_linear_velocity=linear_velocity+biased_linear_velocity;
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/*for(int i=0;i<3;i++) {
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if (axis_lock&(1<<i)) {
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transform.origin[i]=0.0;
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}
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}*/
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transform.origin+=total_linear_velocity * p_step;
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_set_transform(transform);
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_set_inv_transform(get_transform().inverse());
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_update_inertia_tensor();
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//if (fi_callback) {
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// get_space()->body_add_to_state_query_list(&direct_state_query_list);
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//
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}
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/*
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void BodySW::simulate_motion(const Transform& p_xform,real_t p_step) {
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Transform inv_xform = p_xform.affine_inverse();
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if (!get_space()) {
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_set_transform(p_xform);
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_set_inv_transform(inv_xform);
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return;
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}
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//compute a FAKE linear velocity - this is easy
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linear_velocity=(p_xform.origin - get_transform().origin)/p_step;
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//compute a FAKE angular velocity, not so easy
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Matrix3 rot=get_transform().basis.orthonormalized().transposed() * p_xform.basis.orthonormalized();
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Vector3 axis;
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float angle;
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rot.get_axis_and_angle(axis,angle);
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axis.normalize();
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angular_velocity=axis.normalized() * (angle/p_step);
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linear_velocity = (p_xform.origin - get_transform().origin)/p_step;
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if (!direct_state_query_list.in_list())// - callalways, so lv and av are cleared && (state_query || direct_state_query))
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get_space()->body_add_to_state_query_list(&direct_state_query_list);
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simulated_motion=true;
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_set_transform(p_xform);
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}
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*/
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void BodySW::wakeup_neighbours() {
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for(Map<ConstraintSW*,int>::Element *E=constraint_map.front();E;E=E->next()) {
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|
|
|
const ConstraintSW *c=E->key();
|
|
BodySW **n = c->get_body_ptr();
|
|
int bc=c->get_body_count();
|
|
|
|
for(int i=0;i<bc;i++) {
|
|
|
|
if (i==E->get())
|
|
continue;
|
|
BodySW *b = n[i];
|
|
if (b->mode!=PhysicsServer::BODY_MODE_RIGID)
|
|
continue;
|
|
|
|
if (!b->is_active())
|
|
b->set_active(true);
|
|
}
|
|
}
|
|
}
|
|
|
|
void BodySW::call_queries() {
|
|
|
|
|
|
if (fi_callback) {
|
|
|
|
PhysicsDirectBodyStateSW *dbs = PhysicsDirectBodyStateSW::singleton;
|
|
dbs->body=this;
|
|
|
|
Variant v=dbs;
|
|
|
|
Object *obj = ObjectDB::get_instance(fi_callback->id);
|
|
if (!obj) {
|
|
|
|
set_force_integration_callback(0,StringName());
|
|
} else {
|
|
const Variant *vp[2]={&v,&fi_callback->udata};
|
|
|
|
Variant::CallError ce;
|
|
int argc=(fi_callback->udata.get_type()==Variant::NIL)?1:2;
|
|
obj->call(fi_callback->method,vp,argc,ce);
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
bool BodySW::sleep_test(real_t p_step) {
|
|
|
|
if (mode==PhysicsServer::BODY_MODE_STATIC || mode==PhysicsServer::BODY_MODE_KINEMATIC)
|
|
return true; //
|
|
else if (mode==PhysicsServer::BODY_MODE_CHARACTER)
|
|
return !active; // characters don't sleep unless asked to sleep
|
|
else if (!can_sleep)
|
|
return false;
|
|
|
|
|
|
|
|
|
|
if (Math::abs(angular_velocity.length())<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 BodySW::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->udata=p_udata;
|
|
}
|
|
|
|
}
|
|
|
|
BodySW::BodySW() : CollisionObjectSW(TYPE_BODY), active_list(this), inertia_update_list(this), direct_state_query_list(this) {
|
|
|
|
|
|
mode=PhysicsServer::BODY_MODE_RIGID;
|
|
active=true;
|
|
|
|
mass=1;
|
|
// _inv_inertia=Transform();
|
|
_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);
|
|
density=0;
|
|
contact_count=0;
|
|
|
|
still_time=0;
|
|
continuous_cd=false;
|
|
can_sleep=false;
|
|
fi_callback=NULL;
|
|
axis_lock=PhysicsServer::BODY_AXIS_LOCK_DISABLED;
|
|
|
|
}
|
|
|
|
BodySW::~BodySW() {
|
|
|
|
if (fi_callback)
|
|
memdelete(fi_callback);
|
|
}
|
|
|
|
PhysicsDirectBodyStateSW *PhysicsDirectBodyStateSW::singleton=NULL;
|
|
|
|
PhysicsDirectSpaceState* PhysicsDirectBodyStateSW::get_space_state() {
|
|
|
|
return body->get_space()->get_direct_state();
|
|
}
|