940f3fde5c
Makes the API for forces and impulses more flexible, easier to understand and harmonized between 2D and 3D. Rigid bodies now have 3 sets of methods for forces and impulses: -apply_impulse() for impulses (one-shot and time independent) -apply_force() for forces (time dependent) applied for the current step -add_constant_force() for forces that keeps being applied each step Also updated the documentation to clarify the different methods and parameters in rigid body nodes, body direct state and physics servers.
757 lines
22 KiB
C++
757 lines
22 KiB
C++
/*************************************************************************/
|
|
/* godot_body_2d.cpp */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
|
|
/* */
|
|
/* Permission is hereby granted, free of charge, to any person obtaining */
|
|
/* a copy of this software and associated documentation files (the */
|
|
/* "Software"), to deal in the Software without restriction, including */
|
|
/* without limitation the rights to use, copy, modify, merge, publish, */
|
|
/* distribute, sublicense, and/or sell copies of the Software, and to */
|
|
/* permit persons to whom the Software is furnished to do so, subject to */
|
|
/* the following conditions: */
|
|
/* */
|
|
/* The above copyright notice and this permission notice shall be */
|
|
/* included in all copies or substantial portions of the Software. */
|
|
/* */
|
|
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
|
|
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
|
|
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
|
|
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
|
|
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
|
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
|
|
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
|
|
/*************************************************************************/
|
|
|
|
#include "godot_body_2d.h"
|
|
|
|
#include "godot_area_2d.h"
|
|
#include "godot_body_direct_state_2d.h"
|
|
#include "godot_space_2d.h"
|
|
|
|
void GodotBody2D::_mass_properties_changed() {
|
|
if (get_space() && !mass_properties_update_list.in_list() && (calculate_inertia || calculate_center_of_mass)) {
|
|
get_space()->body_add_to_mass_properties_update_list(&mass_properties_update_list);
|
|
}
|
|
}
|
|
|
|
void GodotBody2D::update_mass_properties() {
|
|
//update shapes and motions
|
|
|
|
switch (mode) {
|
|
case PhysicsServer2D::BODY_MODE_DYNAMIC: {
|
|
real_t total_area = 0;
|
|
for (int i = 0; i < get_shape_count(); i++) {
|
|
if (is_shape_disabled(i)) {
|
|
continue;
|
|
}
|
|
total_area += get_shape_aabb(i).get_area();
|
|
}
|
|
|
|
if (calculate_center_of_mass) {
|
|
// We have to recompute the center of mass.
|
|
center_of_mass_local = Vector2();
|
|
|
|
if (total_area != 0.0) {
|
|
for (int i = 0; i < get_shape_count(); i++) {
|
|
if (is_shape_disabled(i)) {
|
|
continue;
|
|
}
|
|
|
|
real_t area = get_shape_aabb(i).get_area();
|
|
|
|
real_t mass = area * this->mass / total_area;
|
|
|
|
// NOTE: we assume that the shape origin is also its center of mass.
|
|
center_of_mass_local += mass * get_shape_transform(i).get_origin();
|
|
}
|
|
|
|
center_of_mass_local /= mass;
|
|
}
|
|
}
|
|
|
|
if (calculate_inertia) {
|
|
inertia = 0;
|
|
|
|
for (int i = 0; i < get_shape_count(); i++) {
|
|
if (is_shape_disabled(i)) {
|
|
continue;
|
|
}
|
|
|
|
const GodotShape2D *shape = get_shape(i);
|
|
|
|
real_t area = get_shape_aabb(i).get_area();
|
|
if (area == 0.0) {
|
|
continue;
|
|
}
|
|
|
|
real_t mass = area * this->mass / total_area;
|
|
|
|
Transform2D mtx = get_shape_transform(i);
|
|
Vector2 scale = mtx.get_scale();
|
|
Vector2 shape_origin = mtx.get_origin() - center_of_mass_local;
|
|
inertia += shape->get_moment_of_inertia(mass, scale) + mass * shape_origin.length_squared();
|
|
}
|
|
}
|
|
|
|
_inv_inertia = inertia > 0.0 ? (1.0 / inertia) : 0.0;
|
|
|
|
if (mass) {
|
|
_inv_mass = 1.0 / mass;
|
|
} else {
|
|
_inv_mass = 0;
|
|
}
|
|
|
|
} break;
|
|
case PhysicsServer2D::BODY_MODE_KINEMATIC:
|
|
case PhysicsServer2D::BODY_MODE_STATIC: {
|
|
_inv_inertia = 0;
|
|
_inv_mass = 0;
|
|
} break;
|
|
case PhysicsServer2D::BODY_MODE_DYNAMIC_LINEAR: {
|
|
_inv_inertia = 0;
|
|
_inv_mass = 1.0 / mass;
|
|
|
|
} break;
|
|
}
|
|
|
|
_update_transform_dependent();
|
|
}
|
|
|
|
void GodotBody2D::reset_mass_properties() {
|
|
calculate_inertia = true;
|
|
calculate_center_of_mass = true;
|
|
_mass_properties_changed();
|
|
}
|
|
|
|
void GodotBody2D::set_active(bool p_active) {
|
|
if (active == p_active) {
|
|
return;
|
|
}
|
|
|
|
active = p_active;
|
|
|
|
if (active) {
|
|
if (mode == PhysicsServer2D::BODY_MODE_STATIC) {
|
|
// Static bodies can't be active.
|
|
active = false;
|
|
} else if (get_space()) {
|
|
get_space()->body_add_to_active_list(&active_list);
|
|
}
|
|
} else if (get_space()) {
|
|
get_space()->body_remove_from_active_list(&active_list);
|
|
}
|
|
}
|
|
|
|
void GodotBody2D::set_param(PhysicsServer2D::BodyParameter p_param, const Variant &p_value) {
|
|
switch (p_param) {
|
|
case PhysicsServer2D::BODY_PARAM_BOUNCE: {
|
|
bounce = p_value;
|
|
} break;
|
|
case PhysicsServer2D::BODY_PARAM_FRICTION: {
|
|
friction = p_value;
|
|
} break;
|
|
case PhysicsServer2D::BODY_PARAM_MASS: {
|
|
real_t mass_value = p_value;
|
|
ERR_FAIL_COND(mass_value <= 0);
|
|
mass = mass_value;
|
|
if (mode >= PhysicsServer2D::BODY_MODE_DYNAMIC) {
|
|
_mass_properties_changed();
|
|
}
|
|
} break;
|
|
case PhysicsServer2D::BODY_PARAM_INERTIA: {
|
|
real_t inertia_value = p_value;
|
|
if (inertia_value <= 0.0) {
|
|
calculate_inertia = true;
|
|
if (mode == PhysicsServer2D::BODY_MODE_DYNAMIC) {
|
|
_mass_properties_changed();
|
|
}
|
|
} else {
|
|
calculate_inertia = false;
|
|
inertia = inertia_value;
|
|
if (mode == PhysicsServer2D::BODY_MODE_DYNAMIC) {
|
|
_inv_inertia = 1.0 / inertia;
|
|
}
|
|
}
|
|
} break;
|
|
case PhysicsServer2D::BODY_PARAM_CENTER_OF_MASS: {
|
|
calculate_center_of_mass = false;
|
|
center_of_mass_local = p_value;
|
|
_update_transform_dependent();
|
|
} break;
|
|
case PhysicsServer2D::BODY_PARAM_GRAVITY_SCALE: {
|
|
if (Math::is_zero_approx(gravity_scale)) {
|
|
wakeup();
|
|
}
|
|
gravity_scale = p_value;
|
|
} break;
|
|
case PhysicsServer2D::BODY_PARAM_LINEAR_DAMP_MODE: {
|
|
int mode_value = p_value;
|
|
linear_damp_mode = (PhysicsServer2D::BodyDampMode)mode_value;
|
|
} break;
|
|
case PhysicsServer2D::BODY_PARAM_ANGULAR_DAMP_MODE: {
|
|
int mode_value = p_value;
|
|
angular_damp_mode = (PhysicsServer2D::BodyDampMode)mode_value;
|
|
} break;
|
|
case PhysicsServer2D::BODY_PARAM_LINEAR_DAMP: {
|
|
linear_damp = p_value;
|
|
} break;
|
|
case PhysicsServer2D::BODY_PARAM_ANGULAR_DAMP: {
|
|
angular_damp = p_value;
|
|
} break;
|
|
default: {
|
|
}
|
|
}
|
|
}
|
|
|
|
Variant GodotBody2D::get_param(PhysicsServer2D::BodyParameter p_param) const {
|
|
switch (p_param) {
|
|
case PhysicsServer2D::BODY_PARAM_BOUNCE: {
|
|
return bounce;
|
|
}
|
|
case PhysicsServer2D::BODY_PARAM_FRICTION: {
|
|
return friction;
|
|
}
|
|
case PhysicsServer2D::BODY_PARAM_MASS: {
|
|
return mass;
|
|
}
|
|
case PhysicsServer2D::BODY_PARAM_INERTIA: {
|
|
return inertia;
|
|
}
|
|
case PhysicsServer2D::BODY_PARAM_CENTER_OF_MASS: {
|
|
return center_of_mass_local;
|
|
}
|
|
case PhysicsServer2D::BODY_PARAM_GRAVITY_SCALE: {
|
|
return gravity_scale;
|
|
}
|
|
case PhysicsServer2D::BODY_PARAM_LINEAR_DAMP_MODE: {
|
|
return linear_damp_mode;
|
|
}
|
|
case PhysicsServer2D::BODY_PARAM_ANGULAR_DAMP_MODE: {
|
|
return angular_damp_mode;
|
|
}
|
|
case PhysicsServer2D::BODY_PARAM_LINEAR_DAMP: {
|
|
return linear_damp;
|
|
}
|
|
case PhysicsServer2D::BODY_PARAM_ANGULAR_DAMP: {
|
|
return angular_damp;
|
|
}
|
|
default: {
|
|
}
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
void GodotBody2D::set_mode(PhysicsServer2D::BodyMode p_mode) {
|
|
PhysicsServer2D::BodyMode prev = mode;
|
|
mode = p_mode;
|
|
|
|
switch (p_mode) {
|
|
//CLEAR UP EVERYTHING IN CASE IT NOT WORKS!
|
|
case PhysicsServer2D::BODY_MODE_STATIC:
|
|
case PhysicsServer2D::BODY_MODE_KINEMATIC: {
|
|
_set_inv_transform(get_transform().affine_inverse());
|
|
_inv_mass = 0;
|
|
_inv_inertia = 0;
|
|
_set_static(p_mode == PhysicsServer2D::BODY_MODE_STATIC);
|
|
set_active(p_mode == PhysicsServer2D::BODY_MODE_KINEMATIC && contacts.size());
|
|
linear_velocity = Vector2();
|
|
angular_velocity = 0;
|
|
if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC && prev != mode) {
|
|
first_time_kinematic = true;
|
|
}
|
|
} break;
|
|
case PhysicsServer2D::BODY_MODE_DYNAMIC: {
|
|
_inv_mass = mass > 0 ? (1.0 / mass) : 0;
|
|
if (!calculate_inertia) {
|
|
_inv_inertia = 1.0 / inertia;
|
|
}
|
|
_mass_properties_changed();
|
|
_set_static(false);
|
|
set_active(true);
|
|
|
|
} break;
|
|
case PhysicsServer2D::BODY_MODE_DYNAMIC_LINEAR: {
|
|
_inv_mass = mass > 0 ? (1.0 / mass) : 0;
|
|
_inv_inertia = 0;
|
|
angular_velocity = 0;
|
|
_set_static(false);
|
|
set_active(true);
|
|
}
|
|
}
|
|
}
|
|
|
|
PhysicsServer2D::BodyMode GodotBody2D::get_mode() const {
|
|
return mode;
|
|
}
|
|
|
|
void GodotBody2D::_shapes_changed() {
|
|
_mass_properties_changed();
|
|
wakeup();
|
|
wakeup_neighbours();
|
|
}
|
|
|
|
void GodotBody2D::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_variant) {
|
|
switch (p_state) {
|
|
case PhysicsServer2D::BODY_STATE_TRANSFORM: {
|
|
if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
|
|
new_transform = p_variant;
|
|
//wakeup_neighbours();
|
|
set_active(true);
|
|
if (first_time_kinematic) {
|
|
_set_transform(p_variant);
|
|
_set_inv_transform(get_transform().affine_inverse());
|
|
first_time_kinematic = false;
|
|
}
|
|
} else if (mode == PhysicsServer2D::BODY_MODE_STATIC) {
|
|
_set_transform(p_variant);
|
|
_set_inv_transform(get_transform().affine_inverse());
|
|
wakeup_neighbours();
|
|
} else {
|
|
Transform2D t = p_variant;
|
|
t.orthonormalize();
|
|
new_transform = get_transform(); //used as old to compute motion
|
|
if (t == new_transform) {
|
|
break;
|
|
}
|
|
_set_transform(t);
|
|
_set_inv_transform(get_transform().inverse());
|
|
_update_transform_dependent();
|
|
}
|
|
wakeup();
|
|
|
|
} break;
|
|
case PhysicsServer2D::BODY_STATE_LINEAR_VELOCITY: {
|
|
linear_velocity = p_variant;
|
|
constant_linear_velocity = linear_velocity;
|
|
wakeup();
|
|
|
|
} break;
|
|
case PhysicsServer2D::BODY_STATE_ANGULAR_VELOCITY: {
|
|
angular_velocity = p_variant;
|
|
constant_angular_velocity = angular_velocity;
|
|
wakeup();
|
|
|
|
} break;
|
|
case PhysicsServer2D::BODY_STATE_SLEEPING: {
|
|
if (mode == PhysicsServer2D::BODY_MODE_STATIC || mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
|
|
break;
|
|
}
|
|
bool do_sleep = p_variant;
|
|
if (do_sleep) {
|
|
linear_velocity = Vector2();
|
|
//biased_linear_velocity=Vector3();
|
|
angular_velocity = 0;
|
|
//biased_angular_velocity=Vector3();
|
|
set_active(false);
|
|
} else {
|
|
if (mode != PhysicsServer2D::BODY_MODE_STATIC) {
|
|
set_active(true);
|
|
}
|
|
}
|
|
} break;
|
|
case PhysicsServer2D::BODY_STATE_CAN_SLEEP: {
|
|
can_sleep = p_variant;
|
|
if (mode >= PhysicsServer2D::BODY_MODE_DYNAMIC && !active && !can_sleep) {
|
|
set_active(true);
|
|
}
|
|
|
|
} break;
|
|
}
|
|
}
|
|
|
|
Variant GodotBody2D::get_state(PhysicsServer2D::BodyState p_state) const {
|
|
switch (p_state) {
|
|
case PhysicsServer2D::BODY_STATE_TRANSFORM: {
|
|
return get_transform();
|
|
}
|
|
case PhysicsServer2D::BODY_STATE_LINEAR_VELOCITY: {
|
|
return linear_velocity;
|
|
}
|
|
case PhysicsServer2D::BODY_STATE_ANGULAR_VELOCITY: {
|
|
return angular_velocity;
|
|
}
|
|
case PhysicsServer2D::BODY_STATE_SLEEPING: {
|
|
return !is_active();
|
|
}
|
|
case PhysicsServer2D::BODY_STATE_CAN_SLEEP: {
|
|
return can_sleep;
|
|
}
|
|
}
|
|
|
|
return Variant();
|
|
}
|
|
|
|
void GodotBody2D::set_space(GodotSpace2D *p_space) {
|
|
if (get_space()) {
|
|
wakeup_neighbours();
|
|
|
|
if (mass_properties_update_list.in_list()) {
|
|
get_space()->body_remove_from_mass_properties_update_list(&mass_properties_update_list);
|
|
}
|
|
if (active_list.in_list()) {
|
|
get_space()->body_remove_from_active_list(&active_list);
|
|
}
|
|
if (direct_state_query_list.in_list()) {
|
|
get_space()->body_remove_from_state_query_list(&direct_state_query_list);
|
|
}
|
|
}
|
|
|
|
_set_space(p_space);
|
|
|
|
if (get_space()) {
|
|
_mass_properties_changed();
|
|
if (active) {
|
|
get_space()->body_add_to_active_list(&active_list);
|
|
}
|
|
}
|
|
}
|
|
|
|
void GodotBody2D::_update_transform_dependent() {
|
|
center_of_mass = get_transform().basis_xform(center_of_mass_local);
|
|
}
|
|
|
|
void GodotBody2D::integrate_forces(real_t p_step) {
|
|
if (mode == PhysicsServer2D::BODY_MODE_STATIC) {
|
|
return;
|
|
}
|
|
|
|
ERR_FAIL_COND(!get_space());
|
|
|
|
int ac = areas.size();
|
|
|
|
bool gravity_done = false;
|
|
bool linear_damp_done = false;
|
|
bool angular_damp_done = false;
|
|
|
|
bool stopped = false;
|
|
|
|
gravity = Vector2(0, 0);
|
|
|
|
total_linear_damp = 0.0;
|
|
total_angular_damp = 0.0;
|
|
|
|
// Combine gravity and damping from overlapping areas in priority order.
|
|
if (ac) {
|
|
areas.sort();
|
|
const AreaCMP *aa = &areas[0];
|
|
for (int i = ac - 1; i >= 0 && !stopped; i--) {
|
|
if (!gravity_done) {
|
|
PhysicsServer2D::AreaSpaceOverrideMode area_gravity_mode = (PhysicsServer2D::AreaSpaceOverrideMode)(int)aa[i].area->get_param(PhysicsServer2D::AREA_PARAM_GRAVITY_OVERRIDE_MODE);
|
|
if (area_gravity_mode != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED) {
|
|
Vector2 area_gravity;
|
|
aa[i].area->compute_gravity(get_transform().get_origin(), area_gravity);
|
|
switch (area_gravity_mode) {
|
|
case PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE:
|
|
case PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: {
|
|
gravity += area_gravity;
|
|
gravity_done = area_gravity_mode == PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE;
|
|
} break;
|
|
case PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE:
|
|
case PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: {
|
|
gravity = area_gravity;
|
|
gravity_done = area_gravity_mode == PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE;
|
|
} break;
|
|
default: {
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (!linear_damp_done) {
|
|
PhysicsServer2D::AreaSpaceOverrideMode area_linear_damp_mode = (PhysicsServer2D::AreaSpaceOverrideMode)(int)aa[i].area->get_param(PhysicsServer2D::AREA_PARAM_LINEAR_DAMP_OVERRIDE_MODE);
|
|
if (area_linear_damp_mode != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED) {
|
|
real_t area_linear_damp = aa[i].area->get_linear_damp();
|
|
switch (area_linear_damp_mode) {
|
|
case PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE:
|
|
case PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: {
|
|
total_linear_damp += area_linear_damp;
|
|
linear_damp_done = area_linear_damp_mode == PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE;
|
|
} break;
|
|
case PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE:
|
|
case PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: {
|
|
total_linear_damp = area_linear_damp;
|
|
linear_damp_done = area_linear_damp_mode == PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE;
|
|
} break;
|
|
default: {
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (!angular_damp_done) {
|
|
PhysicsServer2D::AreaSpaceOverrideMode area_angular_damp_mode = (PhysicsServer2D::AreaSpaceOverrideMode)(int)aa[i].area->get_param(PhysicsServer2D::AREA_PARAM_ANGULAR_DAMP_OVERRIDE_MODE);
|
|
if (area_angular_damp_mode != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED) {
|
|
real_t area_angular_damp = aa[i].area->get_angular_damp();
|
|
switch (area_angular_damp_mode) {
|
|
case PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE:
|
|
case PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: {
|
|
total_angular_damp += area_angular_damp;
|
|
angular_damp_done = area_angular_damp_mode == PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE;
|
|
} break;
|
|
case PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE:
|
|
case PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: {
|
|
total_angular_damp = area_angular_damp;
|
|
angular_damp_done = area_angular_damp_mode == PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE;
|
|
} break;
|
|
default: {
|
|
}
|
|
}
|
|
}
|
|
}
|
|
stopped = gravity_done && linear_damp_done && angular_damp_done;
|
|
}
|
|
}
|
|
|
|
// Add default gravity and damping from space area.
|
|
if (!stopped) {
|
|
GodotArea2D *default_area = get_space()->get_default_area();
|
|
ERR_FAIL_COND(!default_area);
|
|
|
|
if (!gravity_done) {
|
|
Vector2 default_gravity;
|
|
default_area->compute_gravity(get_transform().get_origin(), default_gravity);
|
|
gravity += default_gravity;
|
|
}
|
|
|
|
if (!linear_damp_done) {
|
|
total_linear_damp += default_area->get_linear_damp();
|
|
}
|
|
|
|
if (!angular_damp_done) {
|
|
total_angular_damp += default_area->get_angular_damp();
|
|
}
|
|
}
|
|
|
|
// Override linear damping with body's value.
|
|
switch (linear_damp_mode) {
|
|
case PhysicsServer2D::BODY_DAMP_MODE_COMBINE: {
|
|
total_linear_damp += linear_damp;
|
|
} break;
|
|
case PhysicsServer2D::BODY_DAMP_MODE_REPLACE: {
|
|
total_linear_damp = linear_damp;
|
|
} break;
|
|
}
|
|
|
|
// Override angular damping with body's value.
|
|
switch (angular_damp_mode) {
|
|
case PhysicsServer2D::BODY_DAMP_MODE_COMBINE: {
|
|
total_angular_damp += angular_damp;
|
|
} break;
|
|
case PhysicsServer2D::BODY_DAMP_MODE_REPLACE: {
|
|
total_angular_damp = angular_damp;
|
|
} break;
|
|
}
|
|
|
|
gravity *= gravity_scale;
|
|
|
|
prev_linear_velocity = linear_velocity;
|
|
prev_angular_velocity = angular_velocity;
|
|
|
|
Vector2 motion;
|
|
bool do_motion = false;
|
|
|
|
if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
|
|
//compute motion, angular and etc. velocities from prev transform
|
|
motion = new_transform.get_origin() - get_transform().get_origin();
|
|
linear_velocity = constant_linear_velocity + motion / p_step;
|
|
|
|
real_t rot = new_transform.get_rotation() - get_transform().get_rotation();
|
|
angular_velocity = constant_angular_velocity + remainder(rot, 2.0 * Math_PI) / p_step;
|
|
|
|
do_motion = true;
|
|
|
|
} else {
|
|
if (!omit_force_integration) {
|
|
//overridden by direct state query
|
|
|
|
Vector2 force = gravity * mass + applied_force + constant_force;
|
|
real_t torque = applied_torque + constant_torque;
|
|
|
|
real_t damp = 1.0 - p_step * total_linear_damp;
|
|
|
|
if (damp < 0) { // reached zero in the given time
|
|
damp = 0;
|
|
}
|
|
|
|
real_t angular_damp = 1.0 - p_step * total_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 * torque * p_step;
|
|
}
|
|
|
|
if (continuous_cd_mode != PhysicsServer2D::CCD_MODE_DISABLED) {
|
|
motion = linear_velocity * p_step;
|
|
do_motion = true;
|
|
}
|
|
}
|
|
|
|
applied_force = Vector2();
|
|
applied_torque = 0.0;
|
|
|
|
biased_angular_velocity = 0.0;
|
|
biased_linear_velocity = Vector2();
|
|
|
|
if (do_motion) { //shapes temporarily extend for raycast
|
|
_update_shapes_with_motion(motion);
|
|
}
|
|
|
|
contact_count = 0;
|
|
}
|
|
|
|
void GodotBody2D::integrate_velocities(real_t p_step) {
|
|
if (mode == PhysicsServer2D::BODY_MODE_STATIC) {
|
|
return;
|
|
}
|
|
|
|
if (fi_callback_data || body_state_callback) {
|
|
get_space()->body_add_to_state_query_list(&direct_state_query_list);
|
|
}
|
|
|
|
if (mode == PhysicsServer2D::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_delta = total_angular_velocity * p_step;
|
|
real_t angle = get_transform().get_rotation() + angle_delta;
|
|
Vector2 pos = get_transform().get_origin() + total_linear_velocity * p_step;
|
|
|
|
if (center_of_mass.length_squared() > CMP_EPSILON2) {
|
|
// Calculate displacement due to center of mass offset.
|
|
pos += center_of_mass - center_of_mass.rotated(angle_delta);
|
|
}
|
|
|
|
_set_transform(Transform2D(angle, pos), continuous_cd_mode == PhysicsServer2D::CCD_MODE_DISABLED);
|
|
_set_inv_transform(get_transform().inverse());
|
|
|
|
if (continuous_cd_mode != PhysicsServer2D::CCD_MODE_DISABLED) {
|
|
new_transform = get_transform();
|
|
}
|
|
|
|
_update_transform_dependent();
|
|
}
|
|
|
|
void GodotBody2D::wakeup_neighbours() {
|
|
for (const Pair<GodotConstraint2D *, int> &E : constraint_list) {
|
|
const GodotConstraint2D *c = E.first;
|
|
GodotBody2D **n = c->get_body_ptr();
|
|
int bc = c->get_body_count();
|
|
|
|
for (int i = 0; i < bc; i++) {
|
|
if (i == E.second) {
|
|
continue;
|
|
}
|
|
GodotBody2D *b = n[i];
|
|
if (b->mode < PhysicsServer2D::BODY_MODE_DYNAMIC) {
|
|
continue;
|
|
}
|
|
|
|
if (!b->is_active()) {
|
|
b->set_active(true);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void GodotBody2D::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;
|
|
Variant rv;
|
|
if (fi_callback_data->udata.get_type() != Variant::NIL) {
|
|
fi_callback_data->callable.call(vp, 2, rv, ce);
|
|
|
|
} else {
|
|
fi_callback_data->callable.call(vp, 1, rv, ce);
|
|
}
|
|
}
|
|
}
|
|
|
|
if (body_state_callback) {
|
|
(body_state_callback)(body_state_callback_instance, get_direct_state());
|
|
}
|
|
}
|
|
|
|
bool GodotBody2D::sleep_test(real_t p_step) {
|
|
if (mode == PhysicsServer2D::BODY_MODE_STATIC || mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
|
|
return true;
|
|
} else if (!can_sleep) {
|
|
return false;
|
|
}
|
|
|
|
if (Math::abs(angular_velocity) < 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 GodotBody2D::set_state_sync_callback(void *p_instance, PhysicsServer2D::BodyStateCallback p_callback) {
|
|
body_state_callback_instance = p_instance;
|
|
body_state_callback = p_callback;
|
|
}
|
|
|
|
void GodotBody2D::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;
|
|
}
|
|
}
|
|
|
|
GodotPhysicsDirectBodyState2D *GodotBody2D::get_direct_state() {
|
|
if (!direct_state) {
|
|
direct_state = memnew(GodotPhysicsDirectBodyState2D);
|
|
direct_state->body = this;
|
|
}
|
|
return direct_state;
|
|
}
|
|
|
|
GodotBody2D::GodotBody2D() :
|
|
GodotCollisionObject2D(TYPE_BODY),
|
|
active_list(this),
|
|
mass_properties_update_list(this),
|
|
direct_state_query_list(this) {
|
|
_set_static(false);
|
|
}
|
|
|
|
GodotBody2D::~GodotBody2D() {
|
|
if (fi_callback_data) {
|
|
memdelete(fi_callback_data);
|
|
}
|
|
if (direct_state) {
|
|
memdelete(direct_state);
|
|
}
|
|
}
|