Merge pull request #37350 from aaronfranke/force-impulse

Refactor physics force and impulse code to use (force, position) order

3 files changed, 18 insertions, 17 deletions

diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp
index 6320af21eb..fda072e233 100644
--- a/scene/3d/physics_body_3d.cpp
+++ b/scene/3d/physics_body_3d.cpp
@@ -638,8 +638,9 @@ void RigidBody3D::add_central_force(const Vector3 &p_force) {
 	PhysicsServer3D::get_singleton()->body_add_central_force(get_rid(), p_force);
 }
 
-void RigidBody3D::add_force(const Vector3 &p_force, const Vector3 &p_pos) {
-	PhysicsServer3D::get_singleton()->body_add_force(get_rid(), p_force, p_pos);
+void RigidBody3D::add_force(const Vector3 &p_force, const Vector3 &p_position) {
+	PhysicsServer3D *singleton = PhysicsServer3D::get_singleton();
+	singleton->body_add_force(get_rid(), p_force, p_position);
 }
 
 void RigidBody3D::add_torque(const Vector3 &p_torque) {
@@ -650,8 +651,9 @@ void RigidBody3D::apply_central_impulse(const Vector3 &p_impulse) {
 	PhysicsServer3D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse);
 }
 
-void RigidBody3D::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) {
-	PhysicsServer3D::get_singleton()->body_apply_impulse(get_rid(), p_pos, p_impulse);
+void RigidBody3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
+	PhysicsServer3D *singleton = PhysicsServer3D::get_singleton();
+	singleton->body_apply_impulse(get_rid(), p_impulse, p_position);
 }
 
 void RigidBody3D::apply_torque_impulse(const Vector3 &p_impulse) {
@@ -782,11 +784,11 @@ void RigidBody3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_axis_velocity", "axis_velocity"), &RigidBody3D::set_axis_velocity);
 
 	ClassDB::bind_method(D_METHOD("add_central_force", "force"), &RigidBody3D::add_central_force);
-	ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &RigidBody3D::add_force);
+	ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &RigidBody3D::add_force, Vector3());
 	ClassDB::bind_method(D_METHOD("add_torque", "torque"), &RigidBody3D::add_torque);
 
 	ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &RigidBody3D::apply_central_impulse);
-	ClassDB::bind_method(D_METHOD("apply_impulse", "position", "impulse"), &RigidBody3D::apply_impulse);
+	ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &RigidBody3D::apply_impulse, Vector3());
 	ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &RigidBody3D::apply_torque_impulse);
 
 	ClassDB::bind_method(D_METHOD("set_sleeping", "sleeping"), &RigidBody3D::set_sleeping);
@@ -1372,8 +1374,8 @@ void PhysicalBone3D::apply_central_impulse(const Vector3 &p_impulse) {
 	PhysicsServer3D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse);
 }
 
-void PhysicalBone3D::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) {
-	PhysicsServer3D::get_singleton()->body_apply_impulse(get_rid(), p_pos, p_impulse);
+void PhysicalBone3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
+	PhysicsServer3D::get_singleton()->body_apply_impulse(get_rid(), p_impulse, p_position);
 }
 
 void PhysicalBone3D::reset_physics_simulation_state() {
@@ -2099,7 +2101,7 @@ void PhysicalBone3D::_direct_state_changed(Object *p_state) {
 
 void PhysicalBone3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &PhysicalBone3D::apply_central_impulse);
-	ClassDB::bind_method(D_METHOD("apply_impulse", "position", "impulse"), &PhysicalBone3D::apply_impulse);
+	ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &PhysicalBone3D::apply_impulse, Vector3());
 
 	ClassDB::bind_method(D_METHOD("_direct_state_changed"), &PhysicalBone3D::_direct_state_changed);
 
diff --git a/scene/3d/physics_body_3d.h b/scene/3d/physics_body_3d.h
index 4c58c73942..e846b7a7f8 100644
--- a/scene/3d/physics_body_3d.h
+++ b/scene/3d/physics_body_3d.h
@@ -234,11 +234,11 @@ public:
 	Array get_colliding_bodies() const;
 
 	void add_central_force(const Vector3 &p_force);
-	void add_force(const Vector3 &p_force, const Vector3 &p_pos);
+	void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
 	void add_torque(const Vector3 &p_torque);
 
 	void apply_central_impulse(const Vector3 &p_impulse);
-	void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
+	void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
 	void apply_torque_impulse(const Vector3 &p_impulse);
 
 	virtual String get_configuration_warning() const;
@@ -597,7 +597,7 @@ public:
 	bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const;
 
 	void apply_central_impulse(const Vector3 &p_impulse);
-	void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
+	void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
 
 	void reset_physics_simulation_state();
 	void reset_to_rest_position();
diff --git a/scene/3d/vehicle_body_3d.cpp b/scene/3d/vehicle_body_3d.cpp
index 9c6b940b00..4c71ab470b 100644
--- a/scene/3d/vehicle_body_3d.cpp
+++ b/scene/3d/vehicle_body_3d.cpp
@@ -794,7 +794,7 @@ void VehicleBody3D::_update_friction(PhysicsDirectBodyState3D *s) {
 							  s->get_transform().origin;
 
 			if (m_forwardImpulse[wheel] != real_t(0.)) {
-				s->apply_impulse(rel_pos, m_forwardWS[wheel] * (m_forwardImpulse[wheel]));
+				s->apply_impulse(m_forwardWS[wheel] * (m_forwardImpulse[wheel]), rel_pos);
 			}
 			if (m_sideImpulse[wheel] != real_t(0.)) {
 				PhysicsBody3D *groundObject = wheelInfo.m_raycastInfo.m_groundObject;
@@ -812,7 +812,7 @@ void VehicleBody3D::_update_friction(PhysicsDirectBodyState3D *s) {
 #else
 				rel_pos[1] *= wheelInfo.m_rollInfluence; //?
 #endif
-				s->apply_impulse(rel_pos, sideImp);
+				s->apply_impulse(sideImp, rel_pos);
 
 				//apply friction impulse on the ground
 				//todo
@@ -850,10 +850,9 @@ void VehicleBody3D::_direct_state_changed(Object *p_state) {
 			suspensionForce = wheel.m_maxSuspensionForce;
 		}
 		Vector3 impulse = wheel.m_raycastInfo.m_contactNormalWS * suspensionForce * step;
-		Vector3 relpos = wheel.m_raycastInfo.m_contactPointWS - state->get_transform().origin;
+		Vector3 relative_position = wheel.m_raycastInfo.m_contactPointWS - state->get_transform().origin;
 
-		state->apply_impulse(relpos, impulse);
-		//getRigidBody()->applyImpulse(impulse, relpos);
+		state->apply_impulse(impulse, relative_position);
 	}
 
 	_update_friction(state);