diff options
35 files changed, 180 insertions, 176 deletions
diff --git a/doc/classes/PhysicalBone3D.xml b/doc/classes/PhysicalBone3D.xml index 58930aae37..0808e4a724 100644 --- a/doc/classes/PhysicalBone3D.xml +++ b/doc/classes/PhysicalBone3D.xml @@ -18,9 +18,9 @@ <method name="apply_impulse"> <return type="void"> </return> - <argument index="0" name="position" type="Vector3"> + <argument index="0" name="impulse" type="Vector3"> </argument> - <argument index="1" name="impulse" type="Vector3"> + <argument index="1" name="position" type="Vector3" default="Vector3( 0, 0, 0 )"> </argument> <description> </description> diff --git a/doc/classes/PhysicsDirectBodyState2D.xml b/doc/classes/PhysicsDirectBodyState2D.xml index 46205fecd1..30519e11be 100644 --- a/doc/classes/PhysicsDirectBodyState2D.xml +++ b/doc/classes/PhysicsDirectBodyState2D.xml @@ -22,9 +22,9 @@ <method name="add_force"> <return type="void"> </return> - <argument index="0" name="offset" type="Vector2"> + <argument index="0" name="force" type="Vector2"> </argument> - <argument index="1" name="force" type="Vector2"> + <argument index="1" name="position" type="Vector2" default="Vector2( 0, 0 )"> </argument> <description> Adds a positioned force to the body. Both the force and the offset from the body origin are in global coordinates. @@ -51,9 +51,9 @@ <method name="apply_impulse"> <return type="void"> </return> - <argument index="0" name="offset" type="Vector2"> + <argument index="0" name="impulse" type="Vector2"> </argument> - <argument index="1" name="impulse" type="Vector2"> + <argument index="1" name="position" type="Vector2" default="Vector2( 0, 0 )"> </argument> <description> Applies a positioned impulse to the body. An impulse is time-independent! Applying an impulse every frame would result in a framerate-dependent force. For this reason, it should only be used when simulating one-time impacts (use the "_force" functions otherwise). The offset uses the rotation of the global coordinate system, but is centered at the object's origin. diff --git a/doc/classes/PhysicsDirectBodyState3D.xml b/doc/classes/PhysicsDirectBodyState3D.xml index 1ee520fe5f..eea681e696 100644 --- a/doc/classes/PhysicsDirectBodyState3D.xml +++ b/doc/classes/PhysicsDirectBodyState3D.xml @@ -12,7 +12,7 @@ <method name="add_central_force"> <return type="void"> </return> - <argument index="0" name="force" type="Vector3"> + <argument index="0" name="force" type="Vector3" default="Vector3( 0, 0, 0 )"> </argument> <description> Adds a constant directional force without affecting rotation. @@ -24,7 +24,7 @@ </return> <argument index="0" name="force" type="Vector3"> </argument> - <argument index="1" name="position" type="Vector3"> + <argument index="1" name="position" type="Vector3" default="Vector3( 0, 0, 0 )"> </argument> <description> Adds a positioned force to the body. Both the force and the offset from the body origin are in global coordinates. @@ -42,7 +42,7 @@ <method name="apply_central_impulse"> <return type="void"> </return> - <argument index="0" name="j" type="Vector3"> + <argument index="0" name="impulse" type="Vector3" default="Vector3( 0, 0, 0 )"> </argument> <description> Applies a single directional impulse without affecting rotation. @@ -52,9 +52,9 @@ <method name="apply_impulse"> <return type="void"> </return> - <argument index="0" name="position" type="Vector3"> + <argument index="0" name="impulse" type="Vector3"> </argument> - <argument index="1" name="j" type="Vector3"> + <argument index="1" name="position" type="Vector3" default="Vector3( 0, 0, 0 )"> </argument> <description> Applies a positioned impulse to the body. An impulse is time-independent! Applying an impulse every frame would result in a framerate-dependent force. For this reason it should only be used when simulating one-time impacts. The position uses the rotation of the global coordinate system, but is centered at the object's origin. @@ -63,7 +63,7 @@ <method name="apply_torque_impulse"> <return type="void"> </return> - <argument index="0" name="j" type="Vector3"> + <argument index="0" name="impulse" type="Vector3"> </argument> <description> Apply a torque impulse (which will be affected by the body mass and shape). This will rotate the body around the vector [code]j[/code] passed as parameter. diff --git a/doc/classes/PhysicsServer2D.xml b/doc/classes/PhysicsServer2D.xml index d7821b1045..b2904c6538 100644 --- a/doc/classes/PhysicsServer2D.xml +++ b/doc/classes/PhysicsServer2D.xml @@ -331,9 +331,9 @@ </return> <argument index="0" name="body" type="RID"> </argument> - <argument index="1" name="offset" type="Vector2"> + <argument index="1" name="force" type="Vector2"> </argument> - <argument index="2" name="force" type="Vector2"> + <argument index="2" name="position" type="Vector2" default="Vector2( 0, 0 )"> </argument> <description> Adds a positioned force to the applied force and torque. As with [method body_apply_impulse], both the force and the offset from the body origin are in global coordinates. A force differs from an impulse in that, while the two are forces, the impulse clears itself after being applied. @@ -379,9 +379,9 @@ </return> <argument index="0" name="body" type="RID"> </argument> - <argument index="1" name="position" type="Vector2"> + <argument index="1" name="impulse" type="Vector2"> </argument> - <argument index="2" name="impulse" type="Vector2"> + <argument index="2" name="position" type="Vector2" default="Vector2( 0, 0 )"> </argument> <description> Adds a positioned impulse to the applied force and torque. Both the force and the offset from the body origin are in global coordinates. diff --git a/doc/classes/PhysicsServer3D.xml b/doc/classes/PhysicsServer3D.xml index e9e1552c92..5fd3ef5db2 100644 --- a/doc/classes/PhysicsServer3D.xml +++ b/doc/classes/PhysicsServer3D.xml @@ -334,7 +334,7 @@ </argument> <argument index="1" name="force" type="Vector3"> </argument> - <argument index="2" name="position" type="Vector3"> + <argument index="2" name="position" type="Vector3" default="Vector3( 0, 0, 0 )"> </argument> <description> </description> @@ -379,9 +379,9 @@ </return> <argument index="0" name="body" type="RID"> </argument> - <argument index="1" name="position" type="Vector3"> + <argument index="1" name="impulse" type="Vector3"> </argument> - <argument index="2" name="impulse" type="Vector3"> + <argument index="2" name="position" type="Vector3" default="Vector3( 0, 0, 0 )"> </argument> <description> Gives the body a push at a [code]position[/code] in the direction of the [code]impulse[/code]. diff --git a/doc/classes/RigidBody2D.xml b/doc/classes/RigidBody2D.xml index a3fd2e81fd..d56dc1e17c 100644 --- a/doc/classes/RigidBody2D.xml +++ b/doc/classes/RigidBody2D.xml @@ -34,9 +34,9 @@ <method name="add_force"> <return type="void"> </return> - <argument index="0" name="offset" type="Vector2"> + <argument index="0" name="force" type="Vector2"> </argument> - <argument index="1" name="force" type="Vector2"> + <argument index="1" name="position" type="Vector2" default="Vector2( 0, 0 )"> </argument> <description> Adds a positioned force to the body. Both the force and the offset from the body origin are in global coordinates. @@ -54,7 +54,7 @@ <method name="apply_central_impulse"> <return type="void"> </return> - <argument index="0" name="impulse" type="Vector2"> + <argument index="0" name="impulse" type="Vector2" default="Vector2( 0, 0 )"> </argument> <description> Applies a directional impulse without affecting rotation. @@ -63,9 +63,9 @@ <method name="apply_impulse"> <return type="void"> </return> - <argument index="0" name="offset" type="Vector2"> + <argument index="0" name="impulse" type="Vector2"> </argument> - <argument index="1" name="impulse" type="Vector2"> + <argument index="1" name="position" type="Vector2" default="Vector2( 0, 0 )"> </argument> <description> Applies a positioned impulse to the body. An impulse is time-independent! Applying an impulse every frame would result in a framerate-dependent force. For this reason it should only be used when simulating one-time impacts (use the "_force" functions otherwise). The position uses the rotation of the global coordinate system, but is centered at the object's origin. diff --git a/doc/classes/RigidBody3D.xml b/doc/classes/RigidBody3D.xml index 063cc3ca59..efd55f5566 100644 --- a/doc/classes/RigidBody3D.xml +++ b/doc/classes/RigidBody3D.xml @@ -37,7 +37,7 @@ </return> <argument index="0" name="force" type="Vector3"> </argument> - <argument index="1" name="position" type="Vector3"> + <argument index="1" name="position" type="Vector3" default="Vector3( 0, 0, 0 )"> </argument> <description> Adds a constant directional force (i.e. acceleration). @@ -66,9 +66,9 @@ <method name="apply_impulse"> <return type="void"> </return> - <argument index="0" name="position" type="Vector3"> + <argument index="0" name="impulse" type="Vector3"> </argument> - <argument index="1" name="impulse" type="Vector3"> + <argument index="1" name="position" type="Vector3" default="Vector3( 0, 0, 0 )"> </argument> <description> Applies a positioned impulse to the body. An impulse is time independent! Applying an impulse every frame would result in a framerate-dependent force. For this reason it should only be used when simulating one-time impacts. The position uses the rotation of the global coordinate system, but is centered at the object's origin. diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp index 55686543f3..f397c53344 100644 --- a/modules/bullet/bullet_physics_server.cpp +++ b/modules/bullet/bullet_physics_server.cpp @@ -707,11 +707,11 @@ void BulletPhysicsServer3D::body_add_central_force(RID p_body, const Vector3 &p_ body->apply_central_force(p_force); } -void BulletPhysicsServer3D::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos) { +void BulletPhysicsServer3D::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); - body->apply_force(p_force, p_pos); + body->apply_force(p_force, p_position); } void BulletPhysicsServer3D::body_add_torque(RID p_body, const Vector3 &p_torque) { @@ -728,11 +728,11 @@ void BulletPhysicsServer3D::body_apply_central_impulse(RID p_body, const Vector3 body->apply_central_impulse(p_impulse); } -void BulletPhysicsServer3D::body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) { +void BulletPhysicsServer3D::body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); - body->apply_impulse(p_pos, p_impulse); + body->apply_impulse(p_impulse, p_position); } void BulletPhysicsServer3D::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) { diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h index 558d1ce5f7..8e8b33a4b8 100644 --- a/modules/bullet/bullet_physics_server.h +++ b/modules/bullet/bullet_physics_server.h @@ -223,11 +223,11 @@ public: virtual Vector3 body_get_applied_torque(RID p_body) const; virtual void body_add_central_force(RID p_body, const Vector3 &p_force); - virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos); + virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()); virtual void body_add_torque(RID p_body, const Vector3 &p_torque); virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse); - virtual void body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse); + virtual void body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position = Vector3()); virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse); virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity); diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index 9aac7ba9e4..6cfbe18a64 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -118,8 +118,8 @@ void BulletPhysicsDirectBodyState3D::add_central_force(const Vector3 &p_force) { body->apply_central_force(p_force); } -void BulletPhysicsDirectBodyState3D::add_force(const Vector3 &p_force, const Vector3 &p_pos) { - body->apply_force(p_force, p_pos); +void BulletPhysicsDirectBodyState3D::add_force(const Vector3 &p_force, const Vector3 &p_position) { + body->apply_force(p_force, p_position); } void BulletPhysicsDirectBodyState3D::add_torque(const Vector3 &p_torque) { @@ -130,8 +130,8 @@ void BulletPhysicsDirectBodyState3D::apply_central_impulse(const Vector3 &p_impu body->apply_central_impulse(p_impulse); } -void BulletPhysicsDirectBodyState3D::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) { - body->apply_impulse(p_pos, p_impulse); +void BulletPhysicsDirectBodyState3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) { + body->apply_impulse(p_impulse, p_position); } void BulletPhysicsDirectBodyState3D::apply_torque_impulse(const Vector3 &p_impulse) { @@ -604,23 +604,23 @@ Variant RigidBodyBullet::get_state(PhysicsServer3D::BodyState p_state) const { } void RigidBodyBullet::apply_central_impulse(const Vector3 &p_impulse) { - btVector3 btImpu; - G_TO_B(p_impulse, btImpu); + btVector3 btImpulse; + G_TO_B(p_impulse, btImpulse); if (Vector3() != p_impulse) { btBody->activate(); } - btBody->applyCentralImpulse(btImpu); + btBody->applyCentralImpulse(btImpulse); } -void RigidBodyBullet::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) { - btVector3 btImpu; - btVector3 btPos; - G_TO_B(p_impulse, btImpu); - G_TO_B(p_pos, btPos); +void RigidBodyBullet::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) { + btVector3 btImpulse; + btVector3 btPosition; + G_TO_B(p_impulse, btImpulse); + G_TO_B(p_position, btPosition); if (Vector3() != p_impulse) { btBody->activate(); } - btBody->applyImpulse(btImpu, btPos); + btBody->applyImpulse(btImpulse, btPosition); } void RigidBodyBullet::apply_torque_impulse(const Vector3 &p_impulse) { @@ -632,15 +632,15 @@ void RigidBodyBullet::apply_torque_impulse(const Vector3 &p_impulse) { btBody->applyTorqueImpulse(btImp); } -void RigidBodyBullet::apply_force(const Vector3 &p_force, const Vector3 &p_pos) { +void RigidBodyBullet::apply_force(const Vector3 &p_force, const Vector3 &p_position) { btVector3 btForce; - btVector3 btPos; + btVector3 btPosition; G_TO_B(p_force, btForce); - G_TO_B(p_pos, btPos); + G_TO_B(p_position, btPosition); if (Vector3() != p_force) { btBody->activate(); } - btBody->applyForce(btForce, btPos); + btBody->applyForce(btForce, btPosition); } void RigidBodyBullet::apply_central_force(const Vector3 &p_force) { diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h index 6d159504b8..ddc9d2916a 100644 --- a/modules/bullet/rigid_body_bullet.h +++ b/modules/bullet/rigid_body_bullet.h @@ -111,10 +111,10 @@ public: virtual Transform get_transform() const; virtual void add_central_force(const Vector3 &p_force); - virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos); + virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()); virtual void add_torque(const Vector3 &p_torque); virtual void apply_central_impulse(const Vector3 &p_impulse); - virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse); + virtual void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()); virtual void apply_torque_impulse(const Vector3 &p_impulse); virtual void set_sleep_state(bool p_sleep); @@ -284,12 +284,12 @@ public: void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant); Variant get_state(PhysicsServer3D::BodyState p_state) const; - void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse); void apply_central_impulse(const Vector3 &p_impulse); + void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()); void apply_torque_impulse(const Vector3 &p_impulse); - void apply_force(const Vector3 &p_force, const Vector3 &p_pos); void apply_central_force(const Vector3 &p_force); + void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()); void apply_torque(const Vector3 &p_torque); void set_applied_force(const Vector3 &p_force); diff --git a/scene/2d/physics_body_2d.cpp b/scene/2d/physics_body_2d.cpp index 84560b843b..0a9de20664 100644 --- a/scene/2d/physics_body_2d.cpp +++ b/scene/2d/physics_body_2d.cpp @@ -631,8 +631,8 @@ void RigidBody2D::apply_central_impulse(const Vector2 &p_impulse) { PhysicsServer2D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse); } -void RigidBody2D::apply_impulse(const Vector2 &p_offset, const Vector2 &p_impulse) { - PhysicsServer2D::get_singleton()->body_apply_impulse(get_rid(), p_offset, p_impulse); +void RigidBody2D::apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position) { + PhysicsServer2D::get_singleton()->body_apply_impulse(get_rid(), p_impulse, p_position); } void RigidBody2D::apply_torque_impulse(float p_torque) { @@ -659,8 +659,8 @@ void RigidBody2D::add_central_force(const Vector2 &p_force) { PhysicsServer2D::get_singleton()->body_add_central_force(get_rid(), p_force); } -void RigidBody2D::add_force(const Vector2 &p_offset, const Vector2 &p_force) { - PhysicsServer2D::get_singleton()->body_add_force(get_rid(), p_offset, p_force); +void RigidBody2D::add_force(const Vector2 &p_force, const Vector2 &p_position) { + PhysicsServer2D::get_singleton()->body_add_force(get_rid(), p_force, p_position); } void RigidBody2D::add_torque(const float p_torque) { @@ -801,8 +801,8 @@ void RigidBody2D::_bind_methods() { ClassDB::bind_method(D_METHOD("get_continuous_collision_detection_mode"), &RigidBody2D::get_continuous_collision_detection_mode); ClassDB::bind_method(D_METHOD("set_axis_velocity", "axis_velocity"), &RigidBody2D::set_axis_velocity); - ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &RigidBody2D::apply_central_impulse); - ClassDB::bind_method(D_METHOD("apply_impulse", "offset", "impulse"), &RigidBody2D::apply_impulse); + ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &RigidBody2D::apply_central_impulse, Vector2()); + ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &RigidBody2D::apply_impulse, Vector2()); ClassDB::bind_method(D_METHOD("apply_torque_impulse", "torque"), &RigidBody2D::apply_torque_impulse); ClassDB::bind_method(D_METHOD("set_applied_force", "force"), &RigidBody2D::set_applied_force); @@ -812,7 +812,7 @@ void RigidBody2D::_bind_methods() { ClassDB::bind_method(D_METHOD("get_applied_torque"), &RigidBody2D::get_applied_torque); ClassDB::bind_method(D_METHOD("add_central_force", "force"), &RigidBody2D::add_central_force); - ClassDB::bind_method(D_METHOD("add_force", "offset", "force"), &RigidBody2D::add_force); + ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &RigidBody2D::add_force, Vector2()); ClassDB::bind_method(D_METHOD("add_torque", "torque"), &RigidBody2D::add_torque); ClassDB::bind_method(D_METHOD("set_sleeping", "sleeping"), &RigidBody2D::set_sleeping); diff --git a/scene/2d/physics_body_2d.h b/scene/2d/physics_body_2d.h index cde4398ad3..936cc9b7ac 100644 --- a/scene/2d/physics_body_2d.h +++ b/scene/2d/physics_body_2d.h @@ -237,7 +237,7 @@ public: CCDMode get_continuous_collision_detection_mode() const; void apply_central_impulse(const Vector2 &p_impulse); - void apply_impulse(const Vector2 &p_offset, const Vector2 &p_impulse); + void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()); void apply_torque_impulse(float p_torque); void set_applied_force(const Vector2 &p_force); @@ -247,7 +247,7 @@ public: float get_applied_torque() const; void add_central_force(const Vector2 &p_force); - void add_force(const Vector2 &p_offset, const Vector2 &p_force); + void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()); void add_torque(float p_torque); TypedArray<Node2D> get_colliding_bodies() const; //function for script 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); diff --git a/scene/resources/sky.cpp b/scene/resources/sky.cpp index 54b6cde8bd..38d1346541 100644 --- a/scene/resources/sky.cpp +++ b/scene/resources/sky.cpp @@ -107,4 +107,4 @@ Sky::Sky() { Sky::~Sky() { RS::get_singleton()->free(sky); -}
\ No newline at end of file +} 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); diff --git a/servers/physics_3d/body_3d_sw.h b/servers/physics_3d/body_3d_sw.h index 483ea58620..2878c97c9d 100644 --- a/servers/physics_3d/body_3d_sw.h +++ b/servers/physics_3d/body_3d_sw.h @@ -216,23 +216,23 @@ public: _FORCE_INLINE_ const Vector3 &get_biased_linear_velocity() const { return biased_linear_velocity; } _FORCE_INLINE_ const Vector3 &get_biased_angular_velocity() const { return biased_angular_velocity; } - _FORCE_INLINE_ void apply_central_impulse(const Vector3 &p_j) { - linear_velocity += p_j * _inv_mass; + _FORCE_INLINE_ void apply_central_impulse(const Vector3 &p_impulse) { + linear_velocity += p_impulse * _inv_mass; } - _FORCE_INLINE_ void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) { - linear_velocity += p_j * _inv_mass; - angular_velocity += _inv_inertia_tensor.xform((p_pos - center_of_mass).cross(p_j)); + _FORCE_INLINE_ void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) { + linear_velocity += p_impulse * _inv_mass; + angular_velocity += _inv_inertia_tensor.xform((p_position - center_of_mass).cross(p_impulse)); } - _FORCE_INLINE_ void apply_torque_impulse(const Vector3 &p_j) { - angular_velocity += _inv_inertia_tensor.xform(p_j); + _FORCE_INLINE_ void apply_torque_impulse(const Vector3 &p_impulse) { + angular_velocity += _inv_inertia_tensor.xform(p_impulse); } - _FORCE_INLINE_ void apply_bias_impulse(const Vector3 &p_pos, const Vector3 &p_j, real_t p_max_delta_av = -1.0) { - biased_linear_velocity += p_j * _inv_mass; + _FORCE_INLINE_ void apply_bias_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3(), real_t p_max_delta_av = -1.0) { + biased_linear_velocity += p_impulse * _inv_mass; if (p_max_delta_av != 0.0) { - Vector3 delta_av = _inv_inertia_tensor.xform((p_pos - center_of_mass).cross(p_j)); + Vector3 delta_av = _inv_inertia_tensor.xform((p_position - center_of_mass).cross(p_impulse)); if (p_max_delta_av > 0 && delta_av.length() > p_max_delta_av) { delta_av = delta_av.normalized() * p_max_delta_av; } @@ -240,17 +240,17 @@ public: } } - _FORCE_INLINE_ void apply_bias_torque_impulse(const Vector3 &p_j) { - biased_angular_velocity += _inv_inertia_tensor.xform(p_j); + _FORCE_INLINE_ void apply_bias_torque_impulse(const Vector3 &p_impulse) { + biased_angular_velocity += _inv_inertia_tensor.xform(p_impulse); } _FORCE_INLINE_ void add_central_force(const Vector3 &p_force) { applied_force += p_force; } - _FORCE_INLINE_ void add_force(const Vector3 &p_force, const Vector3 &p_pos) { + _FORCE_INLINE_ void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) { applied_force += p_force; - applied_torque += (p_pos - center_of_mass).cross(p_force); + applied_torque += (p_position - center_of_mass).cross(p_force); } _FORCE_INLINE_ void add_torque(const Vector3 &p_torque) { @@ -403,11 +403,15 @@ public: virtual Transform get_transform() const { return body->get_transform(); } virtual void add_central_force(const Vector3 &p_force) { body->add_central_force(p_force); } - virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos) { body->add_force(p_force, p_pos); } + virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) { + body->add_force(p_force, p_position); + } virtual void add_torque(const Vector3 &p_torque) { body->add_torque(p_torque); } - virtual void apply_central_impulse(const Vector3 &p_j) { body->apply_central_impulse(p_j); } - virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) { body->apply_impulse(p_pos, p_j); } - virtual void apply_torque_impulse(const Vector3 &p_j) { body->apply_torque_impulse(p_j); } + virtual void apply_central_impulse(const Vector3 &p_impulse) { body->apply_central_impulse(p_impulse); } + virtual void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) { + body->apply_impulse(p_impulse, p_position); + } + virtual void apply_torque_impulse(const Vector3 &p_impulse) { body->apply_torque_impulse(p_impulse); } virtual void set_sleep_state(bool p_sleep) { body->set_active(!p_sleep); } virtual bool is_sleeping() const { return !body->is_active(); } diff --git a/servers/physics_3d/body_pair_3d_sw.cpp b/servers/physics_3d/body_pair_3d_sw.cpp index a4f86badbe..848138940e 100644 --- a/servers/physics_3d/body_pair_3d_sw.cpp +++ b/servers/physics_3d/body_pair_3d_sw.cpp @@ -321,8 +321,8 @@ bool BodyPair3DSW::setup(real_t p_step) { c.depth = depth; Vector3 j_vec = c.normal * c.acc_normal_impulse + c.acc_tangent_impulse; - A->apply_impulse(c.rA + A->get_center_of_mass(), -j_vec); - B->apply_impulse(c.rB + B->get_center_of_mass(), j_vec); + A->apply_impulse(-j_vec, c.rA + A->get_center_of_mass()); + B->apply_impulse(j_vec, c.rB + B->get_center_of_mass()); c.acc_bias_impulse = 0; c.acc_bias_impulse_center_of_mass = 0; @@ -404,8 +404,8 @@ void BodyPair3DSW::solve(real_t p_step) { Vector3 j = c.normal * (c.acc_normal_impulse - jnOld); - A->apply_impulse(c.rA + A->get_center_of_mass(), -j); - B->apply_impulse(c.rB + B->get_center_of_mass(), j); + A->apply_impulse(-j, c.rA + A->get_center_of_mass()); + B->apply_impulse(j, c.rB + B->get_center_of_mass()); c.active = true; } @@ -447,8 +447,8 @@ void BodyPair3DSW::solve(real_t p_step) { jt = c.acc_tangent_impulse - jtOld; - A->apply_impulse(c.rA + A->get_center_of_mass(), -jt); - B->apply_impulse(c.rB + B->get_center_of_mass(), jt); + A->apply_impulse(-jt, c.rA + A->get_center_of_mass()); + B->apply_impulse(jt, c.rB + B->get_center_of_mass()); c.active = true; } diff --git a/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp b/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp index 9d10ede608..789d6687a4 100644 --- a/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp @@ -261,8 +261,8 @@ void ConeTwistJoint3DSW::solve(real_t p_timestep) { real_t impulse = depth * tau / p_timestep * jacDiagABInv - rel_vel * jacDiagABInv; m_appliedImpulse += impulse; Vector3 impulse_vector = normal * impulse; - A->apply_impulse(pivotAInW - A->get_transform().origin, impulse_vector); - B->apply_impulse(pivotBInW - B->get_transform().origin, -impulse_vector); + A->apply_impulse(impulse_vector, pivotAInW - A->get_transform().origin); + B->apply_impulse(-impulse_vector, pivotBInW - B->get_transform().origin); } } diff --git a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp index 423bbc0dfd..fede40ca65 100644 --- a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp @@ -205,8 +205,8 @@ real_t G6DOFTranslationalLimitMotor3DSW::solveLinearAxis( normalImpulse = m_accumulatedImpulse[limit_index] - oldNormalImpulse; Vector3 impulse_vector = axis_normal_on_a * normalImpulse; - body1->apply_impulse(rel_pos1, impulse_vector); - body2->apply_impulse(rel_pos2, -impulse_vector); + body1->apply_impulse(impulse_vector, rel_pos1); + body2->apply_impulse(-impulse_vector, rel_pos2); return normalImpulse; } diff --git a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp b/servers/physics_3d/joints/hinge_joint_3d_sw.cpp index a879b4ca7f..52c7389e1f 100644 --- a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/hinge_joint_3d_sw.cpp @@ -275,8 +275,8 @@ void HingeJoint3DSW::solve(real_t p_step) { real_t impulse = depth * tau / p_step * jacDiagABInv - rel_vel * jacDiagABInv; m_appliedImpulse += impulse; Vector3 impulse_vector = normal * impulse; - A->apply_impulse(pivotAInW - A->get_transform().origin, impulse_vector); - B->apply_impulse(pivotBInW - B->get_transform().origin, -impulse_vector); + A->apply_impulse(impulse_vector, pivotAInW - A->get_transform().origin); + B->apply_impulse(-impulse_vector, pivotBInW - B->get_transform().origin); } } diff --git a/servers/physics_3d/joints/pin_joint_3d_sw.cpp b/servers/physics_3d/joints/pin_joint_3d_sw.cpp index 230904408b..f028ad88f9 100644 --- a/servers/physics_3d/joints/pin_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/pin_joint_3d_sw.cpp @@ -119,8 +119,8 @@ void PinJoint3DSW::solve(real_t p_step) { m_appliedImpulse += impulse; Vector3 impulse_vector = normal * impulse; - A->apply_impulse(pivotAInW - A->get_transform().origin, impulse_vector); - B->apply_impulse(pivotBInW - B->get_transform().origin, -impulse_vector); + A->apply_impulse(impulse_vector, pivotAInW - A->get_transform().origin); + B->apply_impulse(-impulse_vector, pivotBInW - B->get_transform().origin); normal[i] = 0; } diff --git a/servers/physics_3d/joints/slider_joint_3d_sw.cpp b/servers/physics_3d/joints/slider_joint_3d_sw.cpp index 5b4609f24e..43bd49b4b5 100644 --- a/servers/physics_3d/joints/slider_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/slider_joint_3d_sw.cpp @@ -197,8 +197,8 @@ void SliderJoint3DSW::solve(real_t p_step) { // calcutate and apply impulse real_t normalImpulse = softness * (restitution * depth / p_step - damping * rel_vel) * m_jacLinDiagABInv[i]; Vector3 impulse_vector = normal * normalImpulse; - A->apply_impulse(m_relPosA, impulse_vector); - B->apply_impulse(m_relPosB, -impulse_vector); + A->apply_impulse(impulse_vector, m_relPosA); + B->apply_impulse(-impulse_vector, m_relPosB); if (m_poweredLinMotor && (!i)) { // apply linear motor if (m_accumulatedLinMotorImpulse < m_maxLinMotorForce) { real_t desiredMotorVel = m_targetLinMotorVelocity; @@ -218,8 +218,8 @@ void SliderJoint3DSW::solve(real_t p_step) { m_accumulatedLinMotorImpulse = new_acc; // apply clamped impulse impulse_vector = normal * normalImpulse; - A->apply_impulse(m_relPosA, impulse_vector); - B->apply_impulse(m_relPosB, -impulse_vector); + A->apply_impulse(impulse_vector, m_relPosA); + B->apply_impulse(-impulse_vector, m_relPosB); } } } diff --git a/servers/physics_3d/physics_server_3d_sw.cpp b/servers/physics_3d/physics_server_3d_sw.cpp index 1c2329f2dc..143cc9ebbd 100644 --- a/servers/physics_3d/physics_server_3d_sw.cpp +++ b/servers/physics_3d/physics_server_3d_sw.cpp @@ -710,11 +710,11 @@ void PhysicsServer3DSW::body_add_central_force(RID p_body, const Vector3 &p_forc body->wakeup(); } -void PhysicsServer3DSW::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos) { +void PhysicsServer3DSW::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) { Body3DSW *body = body_owner.getornull(p_body); ERR_FAIL_COND(!body); - body->add_force(p_force, p_pos); + body->add_force(p_force, p_position); body->wakeup(); }; @@ -736,13 +736,13 @@ void PhysicsServer3DSW::body_apply_central_impulse(RID p_body, const Vector3 &p_ body->wakeup(); } -void PhysicsServer3DSW::body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) { +void PhysicsServer3DSW::body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position) { Body3DSW *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(); }; diff --git a/servers/physics_3d/physics_server_3d_sw.h b/servers/physics_3d/physics_server_3d_sw.h index 26230ef674..dccacb063f 100644 --- a/servers/physics_3d/physics_server_3d_sw.h +++ b/servers/physics_3d/physics_server_3d_sw.h @@ -206,11 +206,11 @@ public: virtual Vector3 body_get_applied_torque(RID p_body) const; virtual void body_add_central_force(RID p_body, const Vector3 &p_force); - virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos); + virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()); virtual void body_add_torque(RID p_body, const Vector3 &p_torque); virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse); - virtual void body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse); + virtual void body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position = Vector3()); virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse); virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity); diff --git a/servers/physics_server_2d.cpp b/servers/physics_server_2d.cpp index 19b575a259..0dac08015f 100644 --- a/servers/physics_server_2d.cpp +++ b/servers/physics_server_2d.cpp @@ -91,11 +91,11 @@ void PhysicsDirectBodyState2D::_bind_methods() { ClassDB::bind_method(D_METHOD("get_transform"), &PhysicsDirectBodyState2D::get_transform); ClassDB::bind_method(D_METHOD("add_central_force", "force"), &PhysicsDirectBodyState2D::add_central_force); - ClassDB::bind_method(D_METHOD("add_force", "offset", "force"), &PhysicsDirectBodyState2D::add_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); ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &PhysicsDirectBodyState2D::apply_central_impulse); ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &PhysicsDirectBodyState2D::apply_torque_impulse); - ClassDB::bind_method(D_METHOD("apply_impulse", "offset", "impulse"), &PhysicsDirectBodyState2D::apply_impulse); + ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &PhysicsDirectBodyState2D::apply_impulse, Vector2()); ClassDB::bind_method(D_METHOD("set_sleep_state", "enabled"), &PhysicsDirectBodyState2D::set_sleep_state); ClassDB::bind_method(D_METHOD("is_sleeping"), &PhysicsDirectBodyState2D::is_sleeping); @@ -633,9 +633,9 @@ void PhysicsServer2D::_bind_methods() { ClassDB::bind_method(D_METHOD("body_apply_central_impulse", "body", "impulse"), &PhysicsServer2D::body_apply_central_impulse); ClassDB::bind_method(D_METHOD("body_apply_torque_impulse", "body", "impulse"), &PhysicsServer2D::body_apply_torque_impulse); - ClassDB::bind_method(D_METHOD("body_apply_impulse", "body", "position", "impulse"), &PhysicsServer2D::body_apply_impulse); + ClassDB::bind_method(D_METHOD("body_apply_impulse", "body", "impulse", "position"), &PhysicsServer2D::body_apply_impulse, Vector2()); ClassDB::bind_method(D_METHOD("body_add_central_force", "body", "force"), &PhysicsServer2D::body_add_central_force); - ClassDB::bind_method(D_METHOD("body_add_force", "body", "offset", "force"), &PhysicsServer2D::body_add_force); + ClassDB::bind_method(D_METHOD("body_add_force", "body", "force", "position"), &PhysicsServer2D::body_add_force, Vector2()); ClassDB::bind_method(D_METHOD("body_add_torque", "body", "torque"), &PhysicsServer2D::body_add_torque); ClassDB::bind_method(D_METHOD("body_set_axis_velocity", "body", "axis_velocity"), &PhysicsServer2D::body_set_axis_velocity); diff --git a/servers/physics_server_2d.h b/servers/physics_server_2d.h index b2f2e786ee..e631046524 100644 --- a/servers/physics_server_2d.h +++ b/servers/physics_server_2d.h @@ -61,11 +61,11 @@ public: virtual Transform2D get_transform() const = 0; virtual void add_central_force(const Vector2 &p_force) = 0; - virtual void add_force(const Vector2 &p_offset, 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; virtual void apply_central_impulse(const Vector2 &p_impulse) = 0; virtual void apply_torque_impulse(real_t p_torque) = 0; - virtual void apply_impulse(const Vector2 &p_offset, const Vector2 &p_impulse) = 0; + virtual void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) = 0; virtual void set_sleep_state(bool p_enable) = 0; virtual bool is_sleeping() const = 0; @@ -455,12 +455,12 @@ public: virtual float body_get_applied_torque(RID p_body) const = 0; virtual void body_add_central_force(RID p_body, const Vector2 &p_force) = 0; - virtual void body_add_force(RID p_body, const Vector2 &p_offset, const Vector2 &p_force) = 0; + virtual void body_add_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position = Vector2()) = 0; virtual void body_add_torque(RID p_body, float p_torque) = 0; virtual void body_apply_central_impulse(RID p_body, const Vector2 &p_impulse) = 0; virtual void body_apply_torque_impulse(RID p_body, float p_torque) = 0; - virtual void body_apply_impulse(RID p_body, const Vector2 &p_offset, const Vector2 &p_impulse) = 0; + virtual void body_apply_impulse(RID p_body, const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) = 0; virtual void body_set_axis_velocity(RID p_body, const Vector2 &p_axis_velocity) = 0; //fix diff --git a/servers/physics_server_3d.cpp b/servers/physics_server_3d.cpp index 3b361fee55..33a2b91902 100644 --- a/servers/physics_server_3d.cpp +++ b/servers/physics_server_3d.cpp @@ -92,12 +92,12 @@ 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("add_central_force", "force"), &PhysicsDirectBodyState3D::add_central_force); - ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &PhysicsDirectBodyState3D::add_force); + 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); - ClassDB::bind_method(D_METHOD("apply_central_impulse", "j"), &PhysicsDirectBodyState3D::apply_central_impulse); - ClassDB::bind_method(D_METHOD("apply_impulse", "position", "j"), &PhysicsDirectBodyState3D::apply_impulse); - ClassDB::bind_method(D_METHOD("apply_torque_impulse", "j"), &PhysicsDirectBodyState3D::apply_torque_impulse); + ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &PhysicsDirectBodyState3D::apply_central_impulse, Vector3()); + ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &PhysicsDirectBodyState3D::apply_impulse, Vector3()); + ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &PhysicsDirectBodyState3D::apply_torque_impulse); ClassDB::bind_method(D_METHOD("set_sleep_state", "enabled"), &PhysicsDirectBodyState3D::set_sleep_state); ClassDB::bind_method(D_METHOD("is_sleeping"), &PhysicsDirectBodyState3D::is_sleeping); @@ -495,11 +495,11 @@ void PhysicsServer3D::_bind_methods() { ClassDB::bind_method(D_METHOD("body_get_state", "body", "state"), &PhysicsServer3D::body_get_state); ClassDB::bind_method(D_METHOD("body_add_central_force", "body", "force"), &PhysicsServer3D::body_add_central_force); - ClassDB::bind_method(D_METHOD("body_add_force", "body", "force", "position"), &PhysicsServer3D::body_add_force); + ClassDB::bind_method(D_METHOD("body_add_force", "body", "force", "position"), &PhysicsServer3D::body_add_force, Vector3()); ClassDB::bind_method(D_METHOD("body_add_torque", "body", "torque"), &PhysicsServer3D::body_add_torque); ClassDB::bind_method(D_METHOD("body_apply_central_impulse", "body", "impulse"), &PhysicsServer3D::body_apply_central_impulse); - ClassDB::bind_method(D_METHOD("body_apply_impulse", "body", "position", "impulse"), &PhysicsServer3D::body_apply_impulse); + ClassDB::bind_method(D_METHOD("body_apply_impulse", "body", "impulse", "position"), &PhysicsServer3D::body_apply_impulse, Vector3()); ClassDB::bind_method(D_METHOD("body_apply_torque_impulse", "body", "impulse"), &PhysicsServer3D::body_apply_torque_impulse); ClassDB::bind_method(D_METHOD("body_set_axis_velocity", "body", "axis_velocity"), &PhysicsServer3D::body_set_axis_velocity); diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h index 1cfa4d8565..dcb183aea4 100644 --- a/servers/physics_server_3d.h +++ b/servers/physics_server_3d.h @@ -63,11 +63,11 @@ public: virtual Transform get_transform() const = 0; virtual void add_central_force(const Vector3 &p_force) = 0; - virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos) = 0; + virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) = 0; virtual void add_torque(const Vector3 &p_torque) = 0; - virtual void apply_central_impulse(const Vector3 &p_j) = 0; - virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) = 0; - virtual void apply_torque_impulse(const Vector3 &p_j) = 0; + virtual void apply_central_impulse(const Vector3 &p_impulse) = 0; + virtual void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) = 0; + virtual void apply_torque_impulse(const Vector3 &p_impulse) = 0; virtual void set_sleep_state(bool p_sleep) = 0; virtual bool is_sleeping() const = 0; @@ -431,11 +431,11 @@ public: virtual Vector3 body_get_applied_torque(RID p_body) const = 0; virtual void body_add_central_force(RID p_body, const Vector3 &p_force) = 0; - virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos) = 0; + virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()) = 0; virtual void body_add_torque(RID p_body, const Vector3 &p_torque) = 0; virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) = 0; - virtual void body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) = 0; + virtual void body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) = 0; virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) = 0; virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) = 0; |