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-rw-r--r--core/math/matrix3.cpp74
-rw-r--r--core/math/matrix3.h67
-rw-r--r--core/math/quat.h4
-rw-r--r--core/math/vector3.h20
-rw-r--r--core/variant_call.cpp5
-rw-r--r--doc/base/classes.xml36
-rw-r--r--scene/3d/vehicle_body.cpp2
-rw-r--r--servers/physics/body_pair_sw.cpp24
-rw-r--r--servers/physics/body_pair_sw.h2
-rw-r--r--servers/physics/body_sw.cpp66
-rw-r--r--servers/physics/body_sw.h37
-rw-r--r--servers/physics/collision_object_sw.cpp2
-rw-r--r--servers/physics/collision_object_sw.h2
-rw-r--r--servers/physics/joints/cone_twist_joint_sw.cpp8
-rw-r--r--servers/physics/joints/generic_6dof_joint_sw.cpp14
-rw-r--r--servers/physics/joints/hinge_joint_sw.cpp20
-rw-r--r--servers/physics/joints/pin_joint_sw.cpp8
-rw-r--r--servers/physics/joints/slider_joint_sw.cpp12
-rw-r--r--servers/physics/physics_server_sw.cpp9
-rw-r--r--servers/physics/physics_server_sw.h1
-rw-r--r--servers/physics/shape_sw.h9
-rw-r--r--servers/physics_server.cpp5
-rw-r--r--servers/physics_server.h4
23 files changed, 357 insertions, 74 deletions
diff --git a/core/math/matrix3.cpp b/core/math/matrix3.cpp
index a928b4d0e5..44abf8cd36 100644
--- a/core/math/matrix3.cpp
+++ b/core/math/matrix3.cpp
@@ -112,6 +112,80 @@ bool Matrix3::is_rotation() const {
}
+bool Matrix3::is_symmetric() const {
+
+ if (Math::abs(elements[0][1] - elements[1][0]) > CMP_EPSILON)
+ return false;
+ if (Math::abs(elements[0][2] - elements[2][0]) > CMP_EPSILON)
+ return false;
+ if (Math::abs(elements[1][2] - elements[2][1]) > CMP_EPSILON)
+ return false;
+
+ return true;
+}
+
+
+Matrix3 Matrix3::diagonalize() {
+
+ //NOTE: only implemented for symmetric matrices
+ //with the Jacobi iterative method method
+
+ ERR_FAIL_COND_V(!is_symmetric(), Matrix3());
+
+ const int ite_max = 1024;
+
+ real_t off_matrix_norm_2 = elements[0][1] * elements[0][1] + elements[0][2] * elements[0][2] + elements[1][2] * elements[1][2];
+
+ int ite = 0;
+ Matrix3 acc_rot;
+ while (off_matrix_norm_2 > CMP_EPSILON2 && ite++ < ite_max ) {
+ real_t el01_2 = elements[0][1] * elements[0][1];
+ real_t el02_2 = elements[0][2] * elements[0][2];
+ real_t el12_2 = elements[1][2] * elements[1][2];
+ // Find the pivot element
+ int i, j;
+ if (el01_2 > el02_2) {
+ if (el12_2 > el01_2) {
+ i = 1;
+ j = 2;
+ } else {
+ i = 0;
+ j = 1;
+ }
+ } else {
+ if (el12_2 > el02_2) {
+ i = 1;
+ j = 2;
+ } else {
+ i = 0;
+ j = 2;
+ }
+ }
+
+ // Compute the rotation angle
+ real_t angle;
+ if (Math::abs(elements[j][j] - elements[i][i]) < CMP_EPSILON) {
+ angle = Math_PI / 4;
+ } else {
+ angle = 0.5 * Math::atan(2 * elements[i][j] / (elements[j][j] - elements[i][i]));
+ }
+
+ // Compute the rotation matrix
+ Matrix3 rot;
+ rot.elements[i][i] = rot.elements[j][j] = Math::cos(angle);
+ rot.elements[i][j] = - (rot.elements[j][i] = Math::sin(angle));
+
+ // Update the off matrix norm
+ off_matrix_norm_2 -= elements[i][j] * elements[i][j];
+
+ // Apply the rotation
+ *this = rot * *this * rot.transposed();
+ acc_rot = rot * acc_rot;
+ }
+
+ return acc_rot;
+}
+
Matrix3 Matrix3::inverse() const {
Matrix3 inv=*this;
diff --git a/core/math/matrix3.h b/core/math/matrix3.h
index 33a5ce8687..0b61e3a56c 100644
--- a/core/math/matrix3.h
+++ b/core/math/matrix3.h
@@ -26,10 +26,12 @@
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
+
+#include "vector3.h"
+
#ifndef MATRIX3_H
#define MATRIX3_H
-#include "vector3.h"
#include "quat.h"
/**
@@ -104,6 +106,12 @@ public:
_FORCE_INLINE_ Vector3 xform_inv(const Vector3& p_vector) const;
_FORCE_INLINE_ void operator*=(const Matrix3& p_matrix);
_FORCE_INLINE_ Matrix3 operator*(const Matrix3& p_matrix) const;
+ _FORCE_INLINE_ void operator+=(const Matrix3& p_matrix);
+ _FORCE_INLINE_ Matrix3 operator+(const Matrix3& p_matrix) const;
+ _FORCE_INLINE_ void operator-=(const Matrix3& p_matrix);
+ _FORCE_INLINE_ Matrix3 operator-(const Matrix3& p_matrix) const;
+ _FORCE_INLINE_ void operator*=(real_t p_val);
+ _FORCE_INLINE_ Matrix3 operator*(real_t p_val) const;
int get_orthogonal_index() const;
void set_orthogonal_index(int p_index);
@@ -139,6 +147,10 @@ public:
return Vector3(elements[i][0],elements[i][1],elements[i][2]);
}
+ _FORCE_INLINE_ Vector3 get_main_diagonal() const {
+ return Vector3(elements[0][0],elements[1][1],elements[2][2]);
+ }
+
_FORCE_INLINE_ void set_row(int i, const Vector3& p_row) {
elements[i][0]=p_row.x;
elements[i][1]=p_row.y;
@@ -172,12 +184,22 @@ public:
void orthonormalize();
Matrix3 orthonormalized() const;
+ bool is_symmetric() const;
+ Matrix3 diagonalize();
+
operator Quat() const;
Matrix3(const Quat& p_quat); // euler
Matrix3(const Vector3& p_euler); // euler
Matrix3(const Vector3& p_axis, real_t p_phi);
+ _FORCE_INLINE_ Matrix3(const Vector3& row0, const Vector3& row1, const Vector3& row2)
+ {
+ elements[0]=row0;
+ elements[1]=row1;
+ elements[2]=row2;
+ }
+
_FORCE_INLINE_ Matrix3() {
elements[0][0]=1;
@@ -212,6 +234,49 @@ _FORCE_INLINE_ Matrix3 Matrix3::operator*(const Matrix3& p_matrix) const {
}
+
+_FORCE_INLINE_ void Matrix3::operator+=(const Matrix3& p_matrix) {
+
+ elements[0] += p_matrix.elements[0];
+ elements[1] += p_matrix.elements[1];
+ elements[2] += p_matrix.elements[2];
+}
+
+_FORCE_INLINE_ Matrix3 Matrix3::operator+(const Matrix3& p_matrix) const {
+
+ Matrix3 ret(*this);
+ ret += p_matrix;
+ return ret;
+}
+
+_FORCE_INLINE_ void Matrix3::operator-=(const Matrix3& p_matrix) {
+
+ elements[0] -= p_matrix.elements[0];
+ elements[1] -= p_matrix.elements[1];
+ elements[2] -= p_matrix.elements[2];
+}
+
+_FORCE_INLINE_ Matrix3 Matrix3::operator-(const Matrix3& p_matrix) const {
+
+ Matrix3 ret(*this);
+ ret -= p_matrix;
+ return ret;
+}
+
+_FORCE_INLINE_ void Matrix3::operator*=(real_t p_val) {
+
+ elements[0]*=p_val;
+ elements[1]*=p_val;
+ elements[2]*=p_val;
+}
+
+_FORCE_INLINE_ Matrix3 Matrix3::operator*(real_t p_val) const {
+
+ Matrix3 ret(*this);
+ ret *= p_val;
+ return ret;
+}
+
Vector3 Matrix3::xform(const Vector3& p_vector) const {
return Vector3(
diff --git a/core/math/quat.h b/core/math/quat.h
index 40c048006f..43c2cab9e6 100644
--- a/core/math/quat.h
+++ b/core/math/quat.h
@@ -26,13 +26,15 @@
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
+
+#include "vector3.h"
+
#ifndef QUAT_H
#define QUAT_H
#include "math_defs.h"
#include "math_funcs.h"
#include "ustring.h"
-#include "vector3.h"
/**
@author Juan Linietsky <reduzio@gmail.com>
diff --git a/core/math/vector3.h b/core/math/vector3.h
index 14cf1bc6ca..f1f34ce318 100644
--- a/core/math/vector3.h
+++ b/core/math/vector3.h
@@ -34,6 +34,7 @@
#include "math_funcs.h"
#include "ustring.h"
+class Matrix3;
struct Vector3 {
@@ -92,6 +93,8 @@ struct Vector3 {
_FORCE_INLINE_ Vector3 cross(const Vector3& p_b) const;
_FORCE_INLINE_ real_t dot(const Vector3& p_b) const;
+ _FORCE_INLINE_ Matrix3 outer(const Vector3& p_b) const;
+ _FORCE_INLINE_ Matrix3 to_diagonal_matrix() const;
_FORCE_INLINE_ Vector3 abs() const;
_FORCE_INLINE_ Vector3 floor() const;
@@ -144,6 +147,8 @@ struct Vector3 {
#else
+#include "matrix3.h"
+
Vector3 Vector3::cross(const Vector3& p_b) const {
Vector3 ret (
@@ -160,6 +165,21 @@ real_t Vector3::dot(const Vector3& p_b) const {
return x*p_b.x + y*p_b.y + z*p_b.z;
}
+Matrix3 Vector3::outer(const Vector3& p_b) const {
+
+ Vector3 row0(x*p_b.x, x*p_b.y, x*p_b.z);
+ Vector3 row1(y*p_b.x, y*p_b.y, y*p_b.z);
+ Vector3 row2(z*p_b.x, z*p_b.y, z*p_b.z);
+
+ return Matrix3(row0, row1, row2);
+}
+
+Matrix3 Vector3::to_diagonal_matrix() const {
+ return Matrix3(x, 0, 0,
+ 0, y, 0,
+ 0, 0, z);
+}
+
Vector3 Vector3::abs() const {
return Vector3( Math::abs(x), Math::abs(y), Math::abs(z) );
diff --git a/core/variant_call.cpp b/core/variant_call.cpp
index 6aa37601a0..d6fb78ee56 100644
--- a/core/variant_call.cpp
+++ b/core/variant_call.cpp
@@ -380,6 +380,8 @@ static void _call_##m_type##_##m_method(Variant& r_ret,Variant& p_self,const Var
VCALL_LOCALMEM4R(Vector3, cubic_interpolate);
VCALL_LOCALMEM1R(Vector3, dot);
VCALL_LOCALMEM1R(Vector3, cross);
+ VCALL_LOCALMEM1R(Vector3, outer);
+ VCALL_LOCALMEM0R(Vector3, to_diagonal_matrix);
VCALL_LOCALMEM0R(Vector3, abs);
VCALL_LOCALMEM0R(Vector3, floor);
VCALL_LOCALMEM0R(Vector3, ceil);
@@ -1485,6 +1487,9 @@ _VariantCall::addfunc(Variant::m_vtype,Variant::m_ret,_SCS(#m_method),VCALL(m_cl
ADDFUNC4(VECTOR3,VECTOR3,Vector3,cubic_interpolate,VECTOR3,"b",VECTOR3,"pre_a",VECTOR3,"post_b",REAL,"t",varray());
ADDFUNC1(VECTOR3,REAL,Vector3,dot,VECTOR3,"b",varray());
ADDFUNC1(VECTOR3,VECTOR3,Vector3,cross,VECTOR3,"b",varray());
+ ADDFUNC1(VECTOR3,MATRIX3,Vector3,outer,VECTOR3,"b",varray());
+ ADDFUNC0(VECTOR3,MATRIX3,Vector3,to_diagonal_matrix,varray());
+ ADDFUNC0(VECTOR3,VECTOR3,Vector3,abs,varray());
ADDFUNC0(VECTOR3,VECTOR3,Vector3,abs,varray());
ADDFUNC0(VECTOR3,VECTOR3,Vector3,floor,varray());
ADDFUNC0(VECTOR3,VECTOR3,Vector3,ceil,varray());
diff --git a/doc/base/classes.xml b/doc/base/classes.xml
index ef253e1f16..04bf8f677e 100644
--- a/doc/base/classes.xml
+++ b/doc/base/classes.xml
@@ -28730,12 +28730,24 @@
<description>
</description>
</method>
+ <method name="apply_torque_impulse">
+ <argument index="0" name="j" type="Vector3">
+ </argument>
+ <description>
+ </description>
+ </method>
<method name="get_angular_velocity" qualifiers="const">
<return type="Vector3">
</return>
<description>
</description>
</method>
+ <method name="get_center_of_mass" qualifiers="const">
+ <return type="Vector3"/>
+ </return>
+ <description>
+ </description>
+ </method>
<method name="get_contact_collider" qualifiers="const">
<return type="RID">
</return>
@@ -28814,7 +28826,7 @@
<description>
</description>
</method>
- <method name="get_inverse_inertia" qualifiers="const">
+ <method name="get_inverse_inertia_tensor" qualifiers="const">
<return type="Vector3">
</return>
<description>
@@ -28832,6 +28844,12 @@
<description>
</description>
</method>
+ <method name="get_principal_inertia_axes">
+ <return type="Matrix3">
+ </return>
+ <description>
+ </description>
+ </method>
<method name="get_space_state">
<return type="PhysicsDirectSpaceState">
</return>
@@ -45320,6 +45338,15 @@ do_property].
Return a copy of the normalized vector to unit length. This is the same as v / v.length().
</description>
</method>
+ <method name="outer">
+ <return type="Matrix3">
+ </return>
+ <argument index="0" name="b" type="Vector3">
+ </argument>
+ <description>
+ Return the outer product with b.
+ </description>
+ </method>
<method name="reflect">
<return type="Vector3">
</return>
@@ -45358,6 +45385,13 @@ do_property].
Return a copy of the vector, snapped to the lowest neared multiple.
</description>
</method>
+ <method name="to_diagonal_matrix">
+ <return type="Matrix3">
+ </return>
+ <description>
+ Return a diagonal matrix with the vector as main diagonal.
+ </description>
+ </method>
</methods>
<members>
<member name="x" type="float">
diff --git a/scene/3d/vehicle_body.cpp b/scene/3d/vehicle_body.cpp
index 59a4c19da6..0d603902e1 100644
--- a/scene/3d/vehicle_body.cpp
+++ b/scene/3d/vehicle_body.cpp
@@ -594,7 +594,7 @@ void VehicleBody::_resolve_single_bilateral(PhysicsDirectBodyState *s, const Vec
rel_pos1,
rel_pos2,
normal,
- s->get_inverse_inertia(),
+ s->get_inverse_inertia_tensor().get_main_diagonal(),
1.0/mass,
b2invinertia,
b2invmass);
diff --git a/servers/physics/body_pair_sw.cpp b/servers/physics/body_pair_sw.cpp
index 630d8e3d50..7defa87bb1 100644
--- a/servers/physics/body_pair_sw.cpp
+++ b/servers/physics/body_pair_sw.cpp
@@ -307,8 +307,8 @@ bool BodyPairSW::setup(float p_step) {
}
#endif
- c.rA = global_A;
- c.rB = global_B-offset_B;
+ c.rA = global_A-A->get_center_of_mass();
+ c.rB = global_B-B->get_center_of_mass()-offset_B;
// contact query reporting...
#if 0
@@ -364,12 +364,12 @@ bool BodyPairSW::setup(float p_step) {
c.depth=depth;
Vector3 j_vec = c.normal * c.acc_normal_impulse + c.acc_tangent_impulse;
- A->apply_impulse( c.rA, -j_vec );
- B->apply_impulse( c.rB, j_vec );
+ A->apply_impulse( c.rA+A->get_center_of_mass(), -j_vec );
+ B->apply_impulse( c.rB+B->get_center_of_mass(), j_vec );
c.acc_bias_impulse=0;
Vector3 jb_vec = c.normal * c.acc_bias_impulse;
- A->apply_bias_impulse( c.rA, -jb_vec );
- B->apply_bias_impulse( c.rB, jb_vec );
+ A->apply_bias_impulse( c.rA+A->get_center_of_mass(), -jb_vec );
+ B->apply_bias_impulse( c.rB+B->get_center_of_mass(), jb_vec );
c.bounce = MAX(A->get_bounce(),B->get_bounce());
if (c.bounce) {
@@ -418,8 +418,8 @@ void BodyPairSW::solve(float p_step) {
Vector3 jb = c.normal * (c.acc_bias_impulse - jbnOld);
- A->apply_bias_impulse(c.rA,-jb);
- B->apply_bias_impulse(c.rB, jb);
+ A->apply_bias_impulse(c.rA+A->get_center_of_mass(),-jb);
+ B->apply_bias_impulse(c.rB+B->get_center_of_mass(), jb);
c.active=true;
}
@@ -442,8 +442,8 @@ void BodyPairSW::solve(float p_step) {
Vector3 j =c.normal * (c.acc_normal_impulse - jnOld);
- A->apply_impulse(c.rA,-j);
- B->apply_impulse(c.rB, j);
+ A->apply_impulse(c.rA+A->get_center_of_mass(),-j);
+ B->apply_impulse(c.rB+B->get_center_of_mass(), j);
c.active=true;
}
@@ -489,8 +489,8 @@ void BodyPairSW::solve(float p_step) {
jt = c.acc_tangent_impulse - jtOld;
- A->apply_impulse( c.rA, -jt );
- B->apply_impulse( c.rB, jt );
+ A->apply_impulse( c.rA+A->get_center_of_mass(), -jt );
+ B->apply_impulse( c.rB+B->get_center_of_mass(), jt );
c.active=true;
diff --git a/servers/physics/body_pair_sw.h b/servers/physics/body_pair_sw.h
index 4962c78dac..a37f75d13c 100644
--- a/servers/physics/body_pair_sw.h
+++ b/servers/physics/body_pair_sw.h
@@ -65,7 +65,7 @@ class BodyPairSW : public ConstraintSW {
real_t depth;
bool active;
- Vector3 rA,rB;
+ Vector3 rA,rB; // Offset in world orientation with respect to center of mass
};
Vector3 offset_B; //use local A coordinates to avoid numerical issues on collision detection
diff --git a/servers/physics/body_sw.cpp b/servers/physics/body_sw.cpp
index 74bba4f977..2f859a4ed4 100644
--- a/servers/physics/body_sw.cpp
+++ b/servers/physics/body_sw.cpp
@@ -37,12 +37,16 @@ void BodySW::_update_inertia() {
}
-
-void BodySW::_update_inertia_tensor() {
-
- Matrix3 tb = get_transform().basis;
+void BodySW::_update_transform_dependant() {
+
+ center_of_mass = get_transform().basis.xform(center_of_mass_local);
+ principal_inertia_axes = get_transform().basis * principal_inertia_axes_local;
+
+ // update inertia tensor
+ Matrix3 tb = principal_inertia_axes;
+ Matrix3 tbt = tb.transposed();
tb.scale(_inv_inertia);
- _inv_inertia_tensor = tb * get_transform().basis.transposed();
+ _inv_inertia_tensor = tb * tbt;
}
@@ -54,33 +58,56 @@ void BodySW::update_inertias() {
case PhysicsServer::BODY_MODE_RIGID: {
- //update tensor for allshapes, not the best way but should be somehow OK. (inspired from bullet)
+ //update tensor for all shapes, not the best way but should be somehow OK. (inspired from bullet)
float total_area=0;
for (int i=0;i<get_shape_count();i++) {
- total_area+=get_shape_aabb(i).get_area();
+ total_area+=get_shape_area(i);
}
- Vector3 _inertia;
+ // We have to recompute the center of mass
+ center_of_mass_local.zero();
+
+ for (int i=0; i<get_shape_count(); i++) {
+ float area=get_shape_area(i);
+
+ float 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).origin;
+ }
+ center_of_mass_local /= mass;
+
+ // Recompute the inertia tensor
+ Matrix3 inertia_tensor;
+ inertia_tensor.set_zero();
for (int i=0;i<get_shape_count();i++) {
const ShapeSW* shape=get_shape(i);
- float area=get_shape_aabb(i).get_area();
+ float area=get_shape_area(i);
float mass = area * this->mass / total_area;
- _inertia += shape->get_moment_of_inertia(mass) + mass * get_shape_transform(i).get_origin();
+ Matrix3 shape_inertia_tensor=shape->get_moment_of_inertia(mass).to_diagonal_matrix();
+ Transform shape_transform=get_shape_transform(i);
+ Matrix3 shape_basis = shape_transform.basis.orthonormalized();
+
+ // NOTE: we don't take the scale of collision shapes into account when computing the inertia tensor!
+ shape_inertia_tensor = shape_basis * shape_inertia_tensor * shape_basis.transposed();
+
+ Vector3 shape_origin = shape_transform.origin - center_of_mass_local;
+ inertia_tensor += shape_inertia_tensor + (Matrix3()*shape_origin.dot(shape_origin)-shape_origin.outer(shape_origin))*mass;
+
}
- if (_inertia!=Vector3())
- _inv_inertia=_inertia.inverse();
- else
- _inv_inertia=Vector3();
+ // Compute the principal axes of inertia
+ principal_inertia_axes_local = inertia_tensor.diagonalize().transposed();
+ _inv_inertia = inertia_tensor.get_main_diagonal().inverse();
if (mass)
_inv_mass=1.0/mass;
@@ -92,20 +119,21 @@ void BodySW::update_inertias() {
case PhysicsServer::BODY_MODE_KINEMATIC:
case PhysicsServer::BODY_MODE_STATIC: {
- _inv_inertia=Vector3();
+ _inv_inertia_tensor.set_zero();
_inv_mass=0;
} break;
case PhysicsServer::BODY_MODE_CHARACTER: {
- _inv_inertia=Vector3();
+ _inv_inertia_tensor.set_zero();
_inv_mass=1.0/mass;
} break;
}
- _update_inertia_tensor();
+
//_update_shapes();
+ _update_transform_dependant();
}
@@ -582,6 +610,8 @@ void BodySW::integrate_velocities(real_t p_step) {
if (ang_vel!=0.0) {
Vector3 ang_vel_axis = total_angular_velocity / ang_vel;
Matrix3 rot( ang_vel_axis, -ang_vel*p_step );
+ Matrix3 identity3(1, 0, 0, 0, 1, 0, 0, 0, 1);
+ transform.origin += ((identity3 - rot) * transform.basis).xform(center_of_mass_local);
transform.basis = rot * transform.basis;
transform.orthonormalize();
}
@@ -598,7 +628,7 @@ void BodySW::integrate_velocities(real_t p_step) {
_set_transform(transform);
_set_inv_transform(get_transform().inverse());
- _update_inertia_tensor();
+ _update_transform_dependant();
//if (fi_callback) {
diff --git a/servers/physics/body_sw.h b/servers/physics/body_sw.h
index 9b28468b34..acdd84d259 100644
--- a/servers/physics/body_sw.h
+++ b/servers/physics/body_sw.h
@@ -57,8 +57,16 @@ class BodySW : public CollisionObjectSW {
PhysicsServer::BodyAxisLock axis_lock;
real_t _inv_mass;
- Vector3 _inv_inertia;
+ Vector3 _inv_inertia; // Relative to the principal axes of inertia
+
+ // Relative to the local frame of reference
+ Matrix3 principal_inertia_axes_local;
+ Vector3 center_of_mass_local;
+
+ // In world orientation with local origin
Matrix3 _inv_inertia_tensor;
+ Matrix3 principal_inertia_axes;
+ Vector3 center_of_mass;
Vector3 gravity;
@@ -135,7 +143,7 @@ class BodySW : public CollisionObjectSW {
_FORCE_INLINE_ void _compute_area_gravity_and_dampenings(const AreaSW *p_area);
- _FORCE_INLINE_ void _update_inertia_tensor();
+ _FORCE_INLINE_ void _update_transform_dependant();
friend class PhysicsDirectBodyStateSW; // i give up, too many functions to expose
@@ -190,6 +198,10 @@ public:
_FORCE_INLINE_ void set_omit_force_integration(bool p_omit_force_integration) { omit_force_integration=p_omit_force_integration; }
_FORCE_INLINE_ bool get_omit_force_integration() const { return omit_force_integration; }
+ _FORCE_INLINE_ Matrix3 get_principal_inertia_axes() const { return principal_inertia_axes; }
+ _FORCE_INLINE_ Vector3 get_center_of_mass() const { return center_of_mass; }
+ _FORCE_INLINE_ Vector3 xform_local_to_principal(const Vector3& p_pos) const { return principal_inertia_axes_local.xform(p_pos - center_of_mass_local); }
+
_FORCE_INLINE_ void set_linear_velocity(const Vector3& p_velocity) {linear_velocity=p_velocity; }
_FORCE_INLINE_ Vector3 get_linear_velocity() const { return linear_velocity; }
@@ -202,18 +214,23 @@ public:
_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.cross(p_j) );
+ angular_velocity += _inv_inertia_tensor.xform( (p_pos-center_of_mass).cross(p_j) );
+ }
+
+ _FORCE_INLINE_ void apply_torque_impulse(const Vector3& p_j) {
+
+ angular_velocity += _inv_inertia_tensor.xform(p_j);
}
_FORCE_INLINE_ void apply_bias_impulse(const Vector3& p_pos, const Vector3& p_j) {
biased_linear_velocity += p_j * _inv_mass;
- biased_angular_velocity += _inv_inertia_tensor.xform( p_pos.cross(p_j) );
+ biased_angular_velocity += _inv_inertia_tensor.xform( (p_pos-center_of_mass).cross(p_j) );
}
- _FORCE_INLINE_ void apply_torque_impulse(const Vector3& p_j) {
+ _FORCE_INLINE_ void apply_bias_torque_impulse(const Vector3& p_j) {
- angular_velocity += _inv_inertia_tensor.xform(p_j);
+ biased_angular_velocity += _inv_inertia_tensor.xform(p_j);
}
_FORCE_INLINE_ void add_force(const Vector3& p_force, const Vector3& p_pos) {
@@ -268,12 +285,12 @@ public:
_FORCE_INLINE_ Vector3 get_velocity_in_local_point(const Vector3& rel_pos) const {
- return linear_velocity + angular_velocity.cross(rel_pos);
+ return linear_velocity + angular_velocity.cross(rel_pos-center_of_mass);
}
_FORCE_INLINE_ real_t compute_impulse_denominator(const Vector3& p_pos, const Vector3& p_normal) const {
- Vector3 r0 = p_pos - get_transform().origin;
+ Vector3 r0 = p_pos - get_transform().origin - center_of_mass;
Vector3 c0 = (r0).cross(p_normal);
@@ -363,6 +380,9 @@ public:
virtual float get_total_angular_damp() const { return body->area_angular_damp; } // get density of this body space/area
virtual float get_total_linear_damp() const { return body->area_linear_damp; } // get density of this body space/area
+ virtual Vector3 get_center_of_mass() const { return body->get_center_of_mass(); }
+ virtual Matrix3 get_principal_inertia_axes() const { return body->get_principal_inertia_axes(); }
+
virtual float get_inverse_mass() const { return body->get_inv_mass(); } // get the mass
virtual Vector3 get_inverse_inertia() const { return body->get_inv_inertia(); } // get density of this body space
virtual Matrix3 get_inverse_inertia_tensor() const { return body->get_inv_inertia_tensor(); } // get density of this body space
@@ -378,6 +398,7 @@ public:
virtual void add_force(const Vector3& p_force, const Vector3& p_pos) { body->add_force(p_force,p_pos); }
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 set_sleep_state(bool p_enable) { body->set_active(!p_enable); }
virtual bool is_sleeping() const { return !body->is_active(); }
diff --git a/servers/physics/collision_object_sw.cpp b/servers/physics/collision_object_sw.cpp
index c45b76da22..2b2b73738a 100644
--- a/servers/physics/collision_object_sw.cpp
+++ b/servers/physics/collision_object_sw.cpp
@@ -144,6 +144,8 @@ void CollisionObjectSW::_update_shapes() {
s.aabb_cache=shape_aabb;
s.aabb_cache=s.aabb_cache.grow( (s.aabb_cache.size.x + s.aabb_cache.size.y)*0.5*0.05 );
+ Vector3 scale = xform.get_basis().get_scale();
+ s.area_cache=s.shape->get_area()*scale.x*scale.y*scale.z;
space->get_broadphase()->move(s.bpid,s.aabb_cache);
}
diff --git a/servers/physics/collision_object_sw.h b/servers/physics/collision_object_sw.h
index 5738a629dc..f3e43c98db 100644
--- a/servers/physics/collision_object_sw.h
+++ b/servers/physics/collision_object_sw.h
@@ -61,6 +61,7 @@ private:
Transform xform_inv;
BroadPhaseSW::ID bpid;
AABB aabb_cache; //for rayqueries
+ real_t area_cache;
ShapeSW *shape;
bool trigger;
@@ -123,6 +124,7 @@ public:
_FORCE_INLINE_ const Transform& get_shape_transform(int p_index) const { return shapes[p_index].xform; }
_FORCE_INLINE_ const Transform& get_shape_inv_transform(int p_index) const { return shapes[p_index].xform_inv; }
_FORCE_INLINE_ const AABB& get_shape_aabb(int p_index) const { return shapes[p_index].aabb_cache; }
+ _FORCE_INLINE_ const real_t get_shape_area(int p_index) const { return shapes[p_index].area_cache; }
_FORCE_INLINE_ Transform get_transform() const { return transform; }
_FORCE_INLINE_ Transform get_inv_transform() const { return inv_transform; }
diff --git a/servers/physics/joints/cone_twist_joint_sw.cpp b/servers/physics/joints/cone_twist_joint_sw.cpp
index c94cc8bd8c..5036a1d8a3 100644
--- a/servers/physics/joints/cone_twist_joint_sw.cpp
+++ b/servers/physics/joints/cone_twist_joint_sw.cpp
@@ -128,10 +128,10 @@ bool ConeTwistJointSW::setup(float p_step) {
for (int i=0;i<3;i++)
{
memnew_placement(&m_jac[i], JacobianEntrySW(
- A->get_transform().basis.transposed(),
- B->get_transform().basis.transposed(),
- pivotAInW - A->get_transform().origin,
- pivotBInW - B->get_transform().origin,
+ A->get_principal_inertia_axes().transposed(),
+ B->get_principal_inertia_axes().transposed(),
+ pivotAInW - A->get_transform().origin - A->get_center_of_mass(),
+ pivotBInW - B->get_transform().origin - B->get_center_of_mass(),
normal[i],
A->get_inv_inertia(),
A->get_inv_mass(),
diff --git a/servers/physics/joints/generic_6dof_joint_sw.cpp b/servers/physics/joints/generic_6dof_joint_sw.cpp
index 4e25bebe55..3c0119971a 100644
--- a/servers/physics/joints/generic_6dof_joint_sw.cpp
+++ b/servers/physics/joints/generic_6dof_joint_sw.cpp
@@ -352,10 +352,10 @@ void Generic6DOFJointSW::buildLinearJacobian(
const Vector3 & pivotAInW,const Vector3 & pivotBInW)
{
memnew_placement(&jacLinear, JacobianEntrySW(
- A->get_transform().basis.transposed(),
- B->get_transform().basis.transposed(),
- pivotAInW - A->get_transform().origin,
- pivotBInW - B->get_transform().origin,
+ A->get_principal_inertia_axes().transposed(),
+ B->get_principal_inertia_axes().transposed(),
+ pivotAInW - A->get_transform().origin - A->get_center_of_mass(),
+ pivotBInW - B->get_transform().origin - B->get_center_of_mass(),
normalWorld,
A->get_inv_inertia(),
A->get_inv_mass(),
@@ -368,8 +368,8 @@ void Generic6DOFJointSW::buildAngularJacobian(
JacobianEntrySW & jacAngular,const Vector3 & jointAxisW)
{
memnew_placement(&jacAngular, JacobianEntrySW(jointAxisW,
- A->get_transform().basis.transposed(),
- B->get_transform().basis.transposed(),
+ A->get_principal_inertia_axes().transposed(),
+ B->get_principal_inertia_axes().transposed(),
A->get_inv_inertia(),
B->get_inv_inertia()));
@@ -440,7 +440,7 @@ bool Generic6DOFJointSW::setup(float p_step) {
}
-void Generic6DOFJointSW::solve(real_t timeStep)
+void Generic6DOFJointSW::solve(real_t timeStep)
{
m_timeStep = timeStep;
diff --git a/servers/physics/joints/hinge_joint_sw.cpp b/servers/physics/joints/hinge_joint_sw.cpp
index f7e1df92b8..23e00a9e7f 100644
--- a/servers/physics/joints/hinge_joint_sw.cpp
+++ b/servers/physics/joints/hinge_joint_sw.cpp
@@ -173,10 +173,10 @@ bool HingeJointSW::setup(float p_step) {
for (int i=0;i<3;i++)
{
memnew_placement(&m_jac[i], JacobianEntrySW(
- A->get_transform().basis.transposed(),
- B->get_transform().basis.transposed(),
- pivotAInW - A->get_transform().origin,
- pivotBInW - B->get_transform().origin,
+ A->get_principal_inertia_axes().transposed(),
+ B->get_principal_inertia_axes().transposed(),
+ pivotAInW - A->get_transform().origin - A->get_center_of_mass(),
+ pivotBInW - B->get_transform().origin - B->get_center_of_mass(),
normal[i],
A->get_inv_inertia(),
A->get_inv_mass(),
@@ -200,20 +200,20 @@ bool HingeJointSW::setup(float p_step) {
Vector3 hingeAxisWorld = A->get_transform().basis.xform( m_rbAFrame.basis.get_axis(2) );
memnew_placement(&m_jacAng[0], JacobianEntrySW(jointAxis0,
- A->get_transform().basis.transposed(),
- B->get_transform().basis.transposed(),
+ A->get_principal_inertia_axes().transposed(),
+ B->get_principal_inertia_axes().transposed(),
A->get_inv_inertia(),
B->get_inv_inertia()));
memnew_placement(&m_jacAng[1], JacobianEntrySW(jointAxis1,
- A->get_transform().basis.transposed(),
- B->get_transform().basis.transposed(),
+ A->get_principal_inertia_axes().transposed(),
+ B->get_principal_inertia_axes().transposed(),
A->get_inv_inertia(),
B->get_inv_inertia()));
memnew_placement(&m_jacAng[2], JacobianEntrySW(hingeAxisWorld,
- A->get_transform().basis.transposed(),
- B->get_transform().basis.transposed(),
+ A->get_principal_inertia_axes().transposed(),
+ B->get_principal_inertia_axes().transposed(),
A->get_inv_inertia(),
B->get_inv_inertia()));
diff --git a/servers/physics/joints/pin_joint_sw.cpp b/servers/physics/joints/pin_joint_sw.cpp
index 74d62e35fa..292d30443c 100644
--- a/servers/physics/joints/pin_joint_sw.cpp
+++ b/servers/physics/joints/pin_joint_sw.cpp
@@ -44,10 +44,10 @@ bool PinJointSW::setup(float p_step) {
{
normal[i] = 1;
memnew_placement(&m_jac[i],JacobianEntrySW(
- A->get_transform().basis.transposed(),
- B->get_transform().basis.transposed(),
- A->get_transform().xform(m_pivotInA) - A->get_transform().origin,
- B->get_transform().xform(m_pivotInB) - B->get_transform().origin,
+ A->get_principal_inertia_axes().transposed(),
+ B->get_principal_inertia_axes().transposed(),
+ A->get_transform().xform(m_pivotInA) - A->get_transform().origin - A->get_center_of_mass(),
+ B->get_transform().xform(m_pivotInB) - B->get_transform().origin - B->get_center_of_mass(),
normal,
A->get_inv_inertia(),
A->get_inv_mass(),
diff --git a/servers/physics/joints/slider_joint_sw.cpp b/servers/physics/joints/slider_joint_sw.cpp
index 7d1933e0df..bdcae08ca4 100644
--- a/servers/physics/joints/slider_joint_sw.cpp
+++ b/servers/physics/joints/slider_joint_sw.cpp
@@ -132,10 +132,10 @@ bool SliderJointSW::setup(float p_step)
{
normalWorld = m_calculatedTransformA.basis.get_axis(i);
memnew_placement(&m_jacLin[i], JacobianEntrySW(
- A->get_transform().basis.transposed(),
- B->get_transform().basis.transposed(),
- m_relPosA,
- m_relPosB,
+ A->get_principal_inertia_axes().transposed(),
+ B->get_principal_inertia_axes().transposed(),
+ m_relPosA - A->get_center_of_mass(),
+ m_relPosB - B->get_center_of_mass(),
normalWorld,
A->get_inv_inertia(),
A->get_inv_mass(),
@@ -152,8 +152,8 @@ bool SliderJointSW::setup(float p_step)
normalWorld = m_calculatedTransformA.basis.get_axis(i);
memnew_placement(&m_jacAng[i], JacobianEntrySW(
normalWorld,
- A->get_transform().basis.transposed(),
- B->get_transform().basis.transposed(),
+ A->get_principal_inertia_axes().transposed(),
+ B->get_principal_inertia_axes().transposed(),
A->get_inv_inertia(),
B->get_inv_inertia()
));
diff --git a/servers/physics/physics_server_sw.cpp b/servers/physics/physics_server_sw.cpp
index ab54497eac..4069ccdccb 100644
--- a/servers/physics/physics_server_sw.cpp
+++ b/servers/physics/physics_server_sw.cpp
@@ -805,6 +805,15 @@ void PhysicsServerSW::body_apply_impulse(RID p_body, const Vector3& p_pos, const
body->wakeup();
};
+void PhysicsServerSW::body_apply_torque_impulse(RID p_body, const Vector3& p_impulse) {
+
+ BodySW *body = body_owner.get(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->apply_torque_impulse(p_impulse);
+ body->wakeup();
+};
+
void PhysicsServerSW::body_set_axis_velocity(RID p_body, const Vector3& p_axis_velocity) {
BodySW *body = body_owner.get(p_body);
diff --git a/servers/physics/physics_server_sw.h b/servers/physics/physics_server_sw.h
index bd9b5e4e30..a3f98392fc 100644
--- a/servers/physics/physics_server_sw.h
+++ b/servers/physics/physics_server_sw.h
@@ -193,6 +193,7 @@ public:
virtual Vector3 body_get_applied_torque(RID p_body) const;
virtual void body_apply_impulse(RID p_body, const Vector3& p_pos, const Vector3& p_impulse);
+ 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);
virtual void body_set_axis_lock(RID p_body,BodyAxisLock p_lock);
diff --git a/servers/physics/shape_sw.h b/servers/physics/shape_sw.h
index 5916fd9881..2298be7530 100644
--- a/servers/physics/shape_sw.h
+++ b/servers/physics/shape_sw.h
@@ -73,6 +73,8 @@ public:
MAX_SUPPORTS=8
};
+ virtual real_t get_area() const { return aabb.get_area();}
+
_FORCE_INLINE_ void set_self(const RID& p_self) { self=p_self; }
_FORCE_INLINE_ RID get_self() const {return self; }
@@ -128,6 +130,7 @@ public:
Plane get_plane() const;
+ virtual real_t get_area() const { return INFINITY; }
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_PLANE; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
virtual Vector3 get_support(const Vector3& p_normal) const;
@@ -152,6 +155,7 @@ public:
float get_length() const;
+ virtual real_t get_area() const { return 0.0; }
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_RAY; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
virtual Vector3 get_support(const Vector3& p_normal) const;
@@ -176,6 +180,8 @@ public:
real_t get_radius() const;
+ virtual real_t get_area() const { return 4.0/3.0 * Math_PI * radius * radius * radius; }
+
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_SPHERE; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
@@ -198,6 +204,7 @@ class BoxShapeSW : public ShapeSW {
public:
_FORCE_INLINE_ Vector3 get_half_extents() const { return half_extents; }
+ virtual real_t get_area() const { return 8 * half_extents.x * half_extents.y * half_extents.z; }
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_BOX; }
@@ -226,6 +233,8 @@ public:
_FORCE_INLINE_ real_t get_height() const { return height; }
_FORCE_INLINE_ real_t get_radius() const { return radius; }
+ virtual real_t get_area() { return 4.0/3.0 * Math_PI * radius * radius * radius + height * Math_PI * radius * radius; }
+
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CAPSULE; }
virtual void project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const;
diff --git a/servers/physics_server.cpp b/servers/physics_server.cpp
index 32c8da66ff..bbbbfdf3ab 100644
--- a/servers/physics_server.cpp
+++ b/servers/physics_server.cpp
@@ -78,6 +78,9 @@ void PhysicsDirectBodyState::_bind_methods() {
ClassDB::bind_method(_MD("get_total_linear_damp"),&PhysicsDirectBodyState::get_total_linear_damp);
ClassDB::bind_method(_MD("get_total_angular_damp"),&PhysicsDirectBodyState::get_total_angular_damp);
+ ClassDB::bind_method(_MD("get_center_of_mass"),&PhysicsDirectBodyState::get_center_of_mass);
+ ClassDB::bind_method(_MD("get_principal_inetria_axes"),&PhysicsDirectBodyState::get_principal_inertia_axes);
+
ClassDB::bind_method(_MD("get_inverse_mass"),&PhysicsDirectBodyState::get_inverse_mass);
ClassDB::bind_method(_MD("get_inverse_inertia"),&PhysicsDirectBodyState::get_inverse_inertia);
@@ -92,6 +95,7 @@ void PhysicsDirectBodyState::_bind_methods() {
ClassDB::bind_method(_MD("add_force","force","pos"),&PhysicsDirectBodyState::add_force);
ClassDB::bind_method(_MD("apply_impulse","pos","j"),&PhysicsDirectBodyState::apply_impulse);
+ ClassDB::bind_method(_MD("apply_torqe_impulse","j"),&PhysicsDirectBodyState::apply_torque_impulse);
ClassDB::bind_method(_MD("set_sleep_state","enabled"),&PhysicsDirectBodyState::set_sleep_state);
ClassDB::bind_method(_MD("is_sleeping"),&PhysicsDirectBodyState::is_sleeping);
@@ -517,6 +521,7 @@ void PhysicsServer::_bind_methods() {
ClassDB::bind_method(_MD("body_get_state","body","state"),&PhysicsServer::body_get_state);
ClassDB::bind_method(_MD("body_apply_impulse","body","pos","impulse"),&PhysicsServer::body_apply_impulse);
+ ClassDB::bind_method(_MD("body_apply_torque_impulse","body","impulse"),&PhysicsServer::body_apply_torque_impulse);
ClassDB::bind_method(_MD("body_set_axis_velocity","body","axis_velocity"),&PhysicsServer::body_set_axis_velocity);
ClassDB::bind_method(_MD("body_set_axis_lock","body","axis"),&PhysicsServer::body_set_axis_lock);
diff --git a/servers/physics_server.h b/servers/physics_server.h
index 26b28a2076..3070f919b0 100644
--- a/servers/physics_server.h
+++ b/servers/physics_server.h
@@ -45,6 +45,8 @@ public:
virtual float get_total_angular_damp() const=0;
virtual float get_total_linear_damp() const=0;
+ virtual Vector3 get_center_of_mass() const=0;
+ virtual Matrix3 get_principal_inertia_axes() const=0;
virtual float get_inverse_mass() const=0; // get the mass
virtual Vector3 get_inverse_inertia() const=0; // get density of this body space
virtual Matrix3 get_inverse_inertia_tensor() const=0; // get density of this body space
@@ -60,6 +62,7 @@ public:
virtual void add_force(const Vector3& p_force, const Vector3& p_pos)=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 set_sleep_state(bool p_enable)=0;
virtual bool is_sleeping() const=0;
@@ -441,6 +444,7 @@ public:
virtual Vector3 body_get_applied_torque(RID p_body) const=0;
virtual void body_apply_impulse(RID p_body, const Vector3& p_pos, const Vector3& p_impulse)=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;
enum BodyAxisLock {
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-01 19:41:26 +0000