summaryrefslogtreecommitdiff
diff options
context:
space:
mode:
Diffstat
-rw-r--r--doc/classes/PhysicsDirectBodyState2D.xml7
-rw-r--r--doc/classes/PhysicsDirectBodyState3D.xml7
-rw-r--r--modules/bullet/rigid_body_bullet.cpp10
-rw-r--r--modules/bullet/rigid_body_bullet.h2
-rw-r--r--scene/2d/physics_body_2d.cpp4
-rw-r--r--scene/3d/physics_body_3d.cpp4
-rw-r--r--servers/physics_2d/body_2d_sw.h6
-rw-r--r--servers/physics_3d/body_3d_sw.h2
-rw-r--r--servers/physics_server_2d.cpp2
-rw-r--r--servers/physics_server_2d.h2
-rw-r--r--servers/physics_server_3d.cpp2
-rw-r--r--servers/physics_server_3d.h2
12 files changed, 48 insertions, 2 deletions
diff --git a/doc/classes/PhysicsDirectBodyState2D.xml b/doc/classes/PhysicsDirectBodyState2D.xml
index ab3a04698f..4c6adfca32 100644
--- a/doc/classes/PhysicsDirectBodyState2D.xml
+++ b/doc/classes/PhysicsDirectBodyState2D.xml
@@ -137,6 +137,13 @@
Returns the current state of the space, useful for queries.
</description>
</method>
+ <method name="get_velocity_at_local_position" qualifiers="const">
+ <return type="Vector2" />
+ <argument index="0" name="local_position" type="Vector2" />
+ <description>
+ Returns the body's velocity at the given relative position, including both translation and rotation.
+ </description>
+ </method>
<method name="integrate_forces">
<return type="void" />
<description>
diff --git a/doc/classes/PhysicsDirectBodyState3D.xml b/doc/classes/PhysicsDirectBodyState3D.xml
index 6af62c2bcc..271668e339 100644
--- a/doc/classes/PhysicsDirectBodyState3D.xml
+++ b/doc/classes/PhysicsDirectBodyState3D.xml
@@ -138,6 +138,13 @@
Returns the current state of the space, useful for queries.
</description>
</method>
+ <method name="get_velocity_at_local_position" qualifiers="const">
+ <return type="Vector3" />
+ <argument index="0" name="local_position" type="Vector3" />
+ <description>
+ Returns the body's velocity at the given relative position, including both translation and rotation.
+ </description>
+ </method>
<method name="integrate_forces">
<return type="void" />
<description>
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index ce39d4f0df..0d2cd1f5a0 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -114,6 +114,16 @@ Transform3D BulletPhysicsDirectBodyState3D::get_transform() const {
return body->get_transform();
}
+Vector3 BulletPhysicsDirectBodyState3D::get_velocity_at_local_position(const Vector3 &p_position) const {
+ btVector3 local_position;
+ G_TO_B(p_position, local_position);
+
+ Vector3 velocity;
+ B_TO_G(body->btBody->getVelocityInLocalPoint(local_position), velocity);
+
+ return velocity;
+}
+
void BulletPhysicsDirectBodyState3D::add_central_force(const Vector3 &p_force) {
body->apply_central_force(p_force);
}
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h
index 606df7134b..5e102d8b05 100644
--- a/modules/bullet/rigid_body_bullet.h
+++ b/modules/bullet/rigid_body_bullet.h
@@ -110,6 +110,8 @@ public:
virtual void set_transform(const Transform3D &p_transform) override;
virtual Transform3D get_transform() const override;
+ virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const override;
+
virtual void add_central_force(const Vector3 &p_force) override;
virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) override;
virtual void add_torque(const Vector3 &p_torque) override;
diff --git a/scene/2d/physics_body_2d.cpp b/scene/2d/physics_body_2d.cpp
index a382fb2f1e..00eeb60192 100644
--- a/scene/2d/physics_body_2d.cpp
+++ b/scene/2d/physics_body_2d.cpp
@@ -1062,7 +1062,9 @@ void CharacterBody2D::move_and_slide() {
//this approach makes sure there is less delay between the actual body velocity and the one we saved
PhysicsDirectBodyState2D *bs = PhysicsServer2D::get_singleton()->body_get_direct_state(on_floor_body);
if (bs) {
- current_floor_velocity = bs->get_linear_velocity();
+ Transform2D gt = get_global_transform();
+ Vector2 local_position = gt.elements[2] - bs->get_transform().elements[2];
+ current_floor_velocity = bs->get_velocity_at_local_position(local_position);
}
}
diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp
index 100e3563a3..38104a8365 100644
--- a/scene/3d/physics_body_3d.cpp
+++ b/scene/3d/physics_body_3d.cpp
@@ -1101,7 +1101,9 @@ void CharacterBody3D::move_and_slide() {
//this approach makes sure there is less delay between the actual body velocity and the one we saved
PhysicsDirectBodyState3D *bs = PhysicsServer3D::get_singleton()->body_get_direct_state(on_floor_body);
if (bs) {
- current_floor_velocity = bs->get_linear_velocity();
+ Transform3D gt = get_global_transform();
+ Vector3 local_position = gt.origin - bs->get_transform().origin;
+ current_floor_velocity = bs->get_velocity_at_local_position(local_position);
}
}
diff --git a/servers/physics_2d/body_2d_sw.h b/servers/physics_2d/body_2d_sw.h
index b4a95651cb..74bef433dc 100644
--- a/servers/physics_2d/body_2d_sw.h
+++ b/servers/physics_2d/body_2d_sw.h
@@ -266,6 +266,10 @@ public:
void integrate_forces(real_t p_step);
void integrate_velocities(real_t p_step);
+ _FORCE_INLINE_ Vector2 get_velocity_in_local_point(const Vector2 &rel_pos) const {
+ return linear_velocity + Vector2(-angular_velocity * rel_pos.y, angular_velocity * rel_pos.x);
+ }
+
_FORCE_INLINE_ Vector2 get_motion() const {
if (mode > PhysicsServer2D::BODY_MODE_KINEMATIC) {
return new_transform.get_origin() - get_transform().get_origin();
@@ -352,6 +356,8 @@ public:
virtual void set_transform(const Transform2D &p_transform) override { body->set_state(PhysicsServer2D::BODY_STATE_TRANSFORM, p_transform); }
virtual Transform2D get_transform() const override { return body->get_transform(); }
+ virtual Vector2 get_velocity_at_local_position(const Vector2 &p_position) const override { return body->get_velocity_in_local_point(p_position); }
+
virtual void add_central_force(const Vector2 &p_force) override { body->add_central_force(p_force); }
virtual void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) override { body->add_force(p_force, p_position); }
virtual void add_torque(real_t p_torque) override { body->add_torque(p_torque); }
diff --git a/servers/physics_3d/body_3d_sw.h b/servers/physics_3d/body_3d_sw.h
index 0fa31c5037..bdc615ab6c 100644
--- a/servers/physics_3d/body_3d_sw.h
+++ b/servers/physics_3d/body_3d_sw.h
@@ -389,6 +389,8 @@ public:
virtual void set_transform(const Transform3D &p_transform) override { body->set_state(PhysicsServer3D::BODY_STATE_TRANSFORM, p_transform); }
virtual Transform3D get_transform() const override { return body->get_transform(); }
+ virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const override { return body->get_velocity_in_local_point(p_position); }
+
virtual void add_central_force(const Vector3 &p_force) override { body->add_central_force(p_force); }
virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) override {
body->add_force(p_force, p_position);
diff --git a/servers/physics_server_2d.cpp b/servers/physics_server_2d.cpp
index e8272f377e..2e44a1a10b 100644
--- a/servers/physics_server_2d.cpp
+++ b/servers/physics_server_2d.cpp
@@ -89,6 +89,8 @@ void PhysicsDirectBodyState2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_transform", "transform"), &PhysicsDirectBodyState2D::set_transform);
ClassDB::bind_method(D_METHOD("get_transform"), &PhysicsDirectBodyState2D::get_transform);
+ ClassDB::bind_method(D_METHOD("get_velocity_at_local_position", "local_position"), &PhysicsDirectBodyState2D::get_velocity_at_local_position);
+
ClassDB::bind_method(D_METHOD("add_central_force", "force"), &PhysicsDirectBodyState2D::add_central_force);
ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &PhysicsDirectBodyState2D::add_force, Vector2());
ClassDB::bind_method(D_METHOD("add_torque", "torque"), &PhysicsDirectBodyState2D::add_torque);
diff --git a/servers/physics_server_2d.h b/servers/physics_server_2d.h
index 8542b54838..fafde62599 100644
--- a/servers/physics_server_2d.h
+++ b/servers/physics_server_2d.h
@@ -60,6 +60,8 @@ public:
virtual void set_transform(const Transform2D &p_transform) = 0;
virtual Transform2D get_transform() const = 0;
+ virtual Vector2 get_velocity_at_local_position(const Vector2 &p_position) const = 0;
+
virtual void add_central_force(const Vector2 &p_force) = 0;
virtual void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) = 0;
virtual void add_torque(real_t p_torque) = 0;
diff --git a/servers/physics_server_3d.cpp b/servers/physics_server_3d.cpp
index 3ed8841119..63a51dd9d6 100644
--- a/servers/physics_server_3d.cpp
+++ b/servers/physics_server_3d.cpp
@@ -91,6 +91,8 @@ void PhysicsDirectBodyState3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_transform", "transform"), &PhysicsDirectBodyState3D::set_transform);
ClassDB::bind_method(D_METHOD("get_transform"), &PhysicsDirectBodyState3D::get_transform);
+ ClassDB::bind_method(D_METHOD("get_velocity_at_local_position", "local_position"), &PhysicsDirectBodyState3D::get_velocity_at_local_position);
+
ClassDB::bind_method(D_METHOD("add_central_force", "force"), &PhysicsDirectBodyState3D::add_central_force, Vector3());
ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &PhysicsDirectBodyState3D::add_force, Vector3());
ClassDB::bind_method(D_METHOD("add_torque", "torque"), &PhysicsDirectBodyState3D::add_torque);
diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h
index 17bae9a057..3fb01b301b 100644
--- a/servers/physics_server_3d.h
+++ b/servers/physics_server_3d.h
@@ -62,6 +62,8 @@ public:
virtual void set_transform(const Transform3D &p_transform) = 0;
virtual Transform3D get_transform() const = 0;
+ virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const = 0;
+
virtual void add_central_force(const Vector3 &p_force) = 0;
virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) = 0;
virtual void add_torque(const Vector3 &p_torque) = 0;
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-22 17:12:57 +0000