Merge pull request #37350 from aaronfranke/force-impulse

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

5 files changed, 31 insertions, 32 deletions

diff --git a/servers/physics_2d/body_2d_sw.h b/servers/physics_2d/body_2d_sw.h
index 2300c9cdee..8c7876e5cd 100644
--- a/servers/physics_2d/body_2d_sw.h
+++ b/servers/physics_2d/body_2d_sw.h
@@ -203,18 +203,18 @@ public:
 		linear_velocity += p_impulse * _inv_mass;
 	}
 
-	_FORCE_INLINE_ void apply_impulse(const Vector2 &p_offset, const Vector2 &p_impulse) {
+	_FORCE_INLINE_ void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) {
 		linear_velocity += p_impulse * _inv_mass;
-		angular_velocity += _inv_inertia * p_offset.cross(p_impulse);
+		angular_velocity += _inv_inertia * p_position.cross(p_impulse);
 	}
 
 	_FORCE_INLINE_ void apply_torque_impulse(real_t p_torque) {
 		angular_velocity += _inv_inertia * p_torque;
 	}
 
-	_FORCE_INLINE_ void apply_bias_impulse(const Vector2 &p_pos, const Vector2 &p_j) {
-		biased_linear_velocity += p_j * _inv_mass;
-		biased_angular_velocity += _inv_inertia * p_pos.cross(p_j);
+	_FORCE_INLINE_ void apply_bias_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) {
+		biased_linear_velocity += p_impulse * _inv_mass;
+		biased_angular_velocity += _inv_inertia * p_position.cross(p_impulse);
 	}
 
 	void set_active(bool p_active);
@@ -246,9 +246,9 @@ public:
 		applied_force += p_force;
 	}
 
-	_FORCE_INLINE_ void add_force(const Vector2 &p_offset, const Vector2 &p_force) {
+	_FORCE_INLINE_ void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) {
 		applied_force += p_force;
-		applied_torque += p_offset.cross(p_force);
+		applied_torque += p_position.cross(p_force);
 	}
 
 	_FORCE_INLINE_ void add_torque(real_t p_torque) {
@@ -360,10 +360,10 @@ public:
 	virtual Transform2D get_transform() const { return body->get_transform(); }
 
 	virtual void add_central_force(const Vector2 &p_force) { body->add_central_force(p_force); }
-	virtual void add_force(const Vector2 &p_offset, const Vector2 &p_force) { body->add_force(p_offset, p_force); }
+	virtual void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) { body->add_force(p_force, p_position); }
 	virtual void add_torque(real_t p_torque) { body->add_torque(p_torque); }
 	virtual void apply_central_impulse(const Vector2 &p_impulse) { body->apply_central_impulse(p_impulse); }
-	virtual void apply_impulse(const Vector2 &p_offset, const Vector2 &p_force) { body->apply_impulse(p_offset, p_force); }
+	virtual void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) { body->apply_impulse(p_impulse, p_position); }
 	virtual void apply_torque_impulse(real_t p_torque) { body->apply_torque_impulse(p_torque); }
 
 	virtual void set_sleep_state(bool p_enable) { body->set_active(!p_enable); }
diff --git a/servers/physics_2d/body_pair_2d_sw.cpp b/servers/physics_2d/body_pair_2d_sw.cpp
index e483ddf1cc..258979ff22 100644
--- a/servers/physics_2d/body_pair_2d_sw.cpp
+++ b/servers/physics_2d/body_pair_2d_sw.cpp
@@ -427,10 +427,9 @@ bool BodyPair2DSW::setup(real_t p_step) {
 			// Apply normal + friction impulse
 			Vector2 P = c.acc_normal_impulse * c.normal + c.acc_tangent_impulse * tangent;
 
-			A->apply_impulse(c.rA, -P);
-			B->apply_impulse(c.rB, P);
+			A->apply_impulse(-P, c.rA);
+			B->apply_impulse(P, c.rB);
 		}
-
 #endif
 
 		c.bounce = combine_bounce(A, B);
@@ -497,8 +496,8 @@ void BodyPair2DSW::solve(real_t p_step) {
 
 		Vector2 j = c.normal * (c.acc_normal_impulse - jnOld) + tangent * (c.acc_tangent_impulse - jtOld);
 
-		A->apply_impulse(c.rA, -j);
-		B->apply_impulse(c.rB, j);
+		A->apply_impulse(-j, c.rA);
+		B->apply_impulse(j, c.rB);
 	}
 }
 
diff --git a/servers/physics_2d/joints_2d_sw.cpp b/servers/physics_2d/joints_2d_sw.cpp
index 81e961e90d..e7d26645e9 100644
--- a/servers/physics_2d/joints_2d_sw.cpp
+++ b/servers/physics_2d/joints_2d_sw.cpp
@@ -136,9 +136,9 @@ bool PinJoint2DSW::setup(real_t p_step) {
 	bias = delta * -(get_bias() == 0 ? space->get_constraint_bias() : get_bias()) * (1.0 / p_step);
 
 	// apply accumulated impulse
-	A->apply_impulse(rA, -P);
+	A->apply_impulse(-P, rA);
 	if (B) {
-		B->apply_impulse(rB, P);
+		B->apply_impulse(P, rB);
 	}
 
 	return true;
@@ -161,9 +161,9 @@ void PinJoint2DSW::solve(real_t p_step) {
 
 	Vector2 impulse = M.basis_xform(bias - rel_vel - Vector2(softness, softness) * P);
 
-	A->apply_impulse(rA, -impulse);
+	A->apply_impulse(-impulse, rA);
 	if (B) {
-		B->apply_impulse(rB, impulse);
+		B->apply_impulse(impulse, rB);
 	}
 
 	P += impulse;
@@ -301,8 +301,8 @@ bool GrooveJoint2DSW::setup(real_t p_step) {
 	gbias = (delta * -(_b == 0 ? space->get_constraint_bias() : _b) * (1.0 / p_step)).clamped(get_max_bias());
 
 	// apply accumulated impulse
-	A->apply_impulse(rA, -jn_acc);
-	B->apply_impulse(rB, jn_acc);
+	A->apply_impulse(-jn_acc, rA);
+	B->apply_impulse(jn_acc, rB);
 
 	correct = true;
 	return true;
@@ -320,8 +320,8 @@ void GrooveJoint2DSW::solve(real_t p_step) {
 
 	j = jn_acc - jOld;
 
-	A->apply_impulse(rA, -j);
-	B->apply_impulse(rB, j);
+	A->apply_impulse(-j, rA);
+	B->apply_impulse(j, rB);
 }
 
 GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, Body2DSW *p_body_a, Body2DSW *p_body_b) :
@@ -370,8 +370,8 @@ bool DampedSpringJoint2DSW::setup(real_t p_step) {
 	real_t f_spring = (rest_length - dist) * stiffness;
 	Vector2 j = n * f_spring * (p_step);
 
-	A->apply_impulse(rA, -j);
-	B->apply_impulse(rB, j);
+	A->apply_impulse(-j, rA);
+	B->apply_impulse(j, rB);
 
 	return true;
 }
@@ -386,8 +386,8 @@ void DampedSpringJoint2DSW::solve(real_t p_step) {
 	target_vrn = vrn + v_damp;
 	Vector2 j = n * v_damp * n_mass;
 
-	A->apply_impulse(rA, -j);
-	B->apply_impulse(rB, j);
+	A->apply_impulse(-j, rA);
+	B->apply_impulse(j, rB);
 }
 
 void DampedSpringJoint2DSW::set_param(PhysicsServer2D::DampedSpringParam p_param, real_t p_value) {
diff --git a/servers/physics_2d/physics_server_2d_sw.cpp b/servers/physics_2d/physics_server_2d_sw.cpp
index 6983225668..1ed1ba6958 100644
--- a/servers/physics_2d/physics_server_2d_sw.cpp
+++ b/servers/physics_2d/physics_server_2d_sw.cpp
@@ -823,13 +823,13 @@ void PhysicsServer2DSW::body_apply_torque_impulse(RID p_body, real_t p_torque) {
 	body->apply_torque_impulse(p_torque);
 }
 
-void PhysicsServer2DSW::body_apply_impulse(RID p_body, const Vector2 &p_pos, const Vector2 &p_impulse) {
+void PhysicsServer2DSW::body_apply_impulse(RID p_body, const Vector2 &p_impulse, const Vector2 &p_position) {
 	Body2DSW *body = body_owner.getornull(p_body);
 	ERR_FAIL_COND(!body);
 
 	_update_shapes();
 
-	body->apply_impulse(p_pos, p_impulse);
+	body->apply_impulse(p_impulse, p_position);
 	body->wakeup();
 };
 
@@ -841,11 +841,11 @@ void PhysicsServer2DSW::body_add_central_force(RID p_body, const Vector2 &p_forc
 	body->wakeup();
 };
 
-void PhysicsServer2DSW::body_add_force(RID p_body, const Vector2 &p_offset, const Vector2 &p_force) {
+void PhysicsServer2DSW::body_add_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position) {
 	Body2DSW *body = body_owner.getornull(p_body);
 	ERR_FAIL_COND(!body);
 
-	body->add_force(p_offset, p_force);
+	body->add_force(p_force, p_position);
 	body->wakeup();
 };
 
diff --git a/servers/physics_2d/physics_server_2d_sw.h b/servers/physics_2d/physics_server_2d_sw.h
index 093c775cb5..9fcb7ff5f2 100644
--- a/servers/physics_2d/physics_server_2d_sw.h
+++ b/servers/physics_2d/physics_server_2d_sw.h
@@ -221,12 +221,12 @@ public:
 	virtual real_t body_get_applied_torque(RID p_body) const;
 
 	virtual void body_add_central_force(RID p_body, const Vector2 &p_force);
-	virtual void body_add_force(RID p_body, const Vector2 &p_offset, const Vector2 &p_force);
+	virtual void body_add_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position = Vector2());
 	virtual void body_add_torque(RID p_body, real_t p_torque);
 
 	virtual void body_apply_central_impulse(RID p_body, const Vector2 &p_impulse);
 	virtual void body_apply_torque_impulse(RID p_body, real_t p_torque);
-	virtual void body_apply_impulse(RID p_body, const Vector2 &p_pos, const Vector2 &p_impulse);
+	virtual void body_apply_impulse(RID p_body, const Vector2 &p_impulse, const Vector2 &p_position = Vector2());
 	virtual void body_set_axis_velocity(RID p_body, const Vector2 &p_axis_velocity);
 
 	virtual void body_add_collision_exception(RID p_body, RID p_body_b);