diff options
| -rw-r--r-- | core/math/basis.cpp | 4 | ||||
| -rw-r--r-- | doc/classes/PhysicalBone3D.xml | 41 | ||||
| -rw-r--r-- | doc/classes/RigidBody3D.xml | 2 | ||||
| -rw-r--r-- | drivers/vulkan/vulkan_context.cpp | 2 | ||||
| -rw-r--r-- | scene/3d/physics_body_3d.cpp | 130 | ||||
| -rw-r--r-- | scene/3d/physics_body_3d.h | 22 |
6 files changed, 173 insertions, 28 deletions
diff --git a/core/math/basis.cpp b/core/math/basis.cpp index 14079f811d..0f519a20d8 100644 --- a/core/math/basis.cpp +++ b/core/math/basis.cpp @@ -77,10 +77,6 @@ void Basis::invert() { void Basis::orthonormalize() { -#ifdef MATH_CHECKS - ERR_FAIL_COND(determinant() == 0); -#endif - // Gram-Schmidt Process Vector3 x = get_axis(0); diff --git a/doc/classes/PhysicalBone3D.xml b/doc/classes/PhysicalBone3D.xml index d45c72ee87..75f1f3eab4 100644 --- a/doc/classes/PhysicalBone3D.xml +++ b/doc/classes/PhysicalBone3D.xml @@ -45,21 +45,62 @@ </method> </methods> <members> + <member name="angular_damp" type="float" setter="set_angular_damp" getter="get_angular_damp" default="-1.0"> + Damps the body's rotation if greater than [code]0[/code]. + </member> + <member name="axis_lock_angular_x" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false"> + Lock the body's rotation in the X axis. + </member> + <member name="axis_lock_angular_y" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false"> + Lock the body's rotation in the Y axis. + </member> + <member name="axis_lock_angular_z" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false"> + Lock the body's rotation in the Z axis. + </member> + <member name="axis_lock_linear_x" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false"> + Lock the body's movement in the X axis. + </member> + <member name="axis_lock_linear_y" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false"> + Lock the body's movement in the Y axis. + </member> + <member name="axis_lock_linear_z" type="bool" setter="set_axis_lock" getter="get_axis_lock" default="false"> + Lock the body's movement in the Z axis. + </member> <member name="body_offset" type="Transform" setter="set_body_offset" getter="get_body_offset" default="Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0 )"> + Sets the body's transform. </member> <member name="bounce" type="float" setter="set_bounce" getter="get_bounce" default="0.0"> + The body's bounciness. Values range from [code]0[/code] (no bounce) to [code]1[/code] (full bounciness). + </member> + <member name="can_sleep" type="bool" setter="set_can_sleep" getter="is_able_to_sleep" default="true"> + If [code]true[/code], the body is deactivated when there is no movement, so it will not take part in the simulation until it is awaken by an external force. </member> <member name="friction" type="float" setter="set_friction" getter="get_friction" default="1.0"> + The body's friction, from [code]0[/code] (frictionless) to [code]1[/code] (max friction). </member> <member name="gravity_scale" type="float" setter="set_gravity_scale" getter="get_gravity_scale" default="1.0"> + This is multiplied by the global 3D gravity setting found in [b]Project > Project Settings > Physics > 3d[/b] to produce the body's gravity. For example, a value of 1 will be normal gravity, 2 will apply double gravity, and 0.5 will apply half gravity to this object. </member> <member name="joint_offset" type="Transform" setter="set_joint_offset" getter="get_joint_offset" default="Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0 )"> + Sets the joint's transform. + </member> + <member name="joint_rotation" type="Vector3" setter="set_joint_rotation" getter="get_joint_rotation" default="Vector3( 0, 0, 0 )"> + Sets the joint's rotation in radians. + </member> + <member name="joint_rotation_degrees" type="Vector3" setter="set_joint_rotation_degrees" getter="get_joint_rotation_degrees" default="Vector3( 0, 0, 0 )"> + Sets the joint's rotation in degrees. </member> <member name="joint_type" type="int" setter="set_joint_type" getter="get_joint_type" enum="PhysicalBone3D.JointType" default="0"> + Sets the joint type. See [enum JointType] for possible values. + </member> + <member name="linear_damp" type="float" setter="set_linear_damp" getter="get_linear_damp" default="-1.0"> + Damps the body's movement if greater than [code]0[/code]. </member> <member name="mass" type="float" setter="set_mass" getter="get_mass" default="1.0"> + The body's mass. </member> <member name="weight" type="float" setter="set_weight" getter="get_weight" default="9.8"> + The body's weight based on its mass and the global 3D gravity. Global values are set in [b]Project > Project Settings > Physics > 3d[/b]. </member> </members> <constants> diff --git a/doc/classes/RigidBody3D.xml b/doc/classes/RigidBody3D.xml index 829589f650..cfb9ca513e 100644 --- a/doc/classes/RigidBody3D.xml +++ b/doc/classes/RigidBody3D.xml @@ -146,7 +146,7 @@ Lock the body's movement in the Z axis. </member> <member name="can_sleep" type="bool" setter="set_can_sleep" getter="is_able_to_sleep" default="true"> - If [code]true[/code], the RigidBody3D will not calculate forces and will act as a static body while there is no movement. It will wake up when forces are applied through other collisions or when the [code]apply_impulse[/code] method is used. + If [code]true[/code], the body is deactivated when there is no movement, so it will not take part in the simulation until it is awaken by an external force. </member> <member name="contact_monitor" type="bool" setter="set_contact_monitor" getter="is_contact_monitor_enabled" default="false"> If [code]true[/code], the RigidBody3D will emit signals when it collides with another RigidBody3D. diff --git a/drivers/vulkan/vulkan_context.cpp b/drivers/vulkan/vulkan_context.cpp index 68b4cdf4a4..16227367ab 100644 --- a/drivers/vulkan/vulkan_context.cpp +++ b/drivers/vulkan/vulkan_context.cpp @@ -1503,4 +1503,6 @@ VulkanContext::~VulkanContext() { if (queue_props) { free(queue_props); } + vkDestroyDevice(device, nullptr); + vkDestroyInstance(inst, nullptr); } diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp index 2b6eb8ac8a..72d1762ab5 100644 --- a/scene/3d/physics_body_3d.cpp +++ b/scene/3d/physics_body_3d.cpp @@ -2134,6 +2134,10 @@ void PhysicalBone3D::_bind_methods() { ClassDB::bind_method(D_METHOD("set_joint_offset", "offset"), &PhysicalBone3D::set_joint_offset); ClassDB::bind_method(D_METHOD("get_joint_offset"), &PhysicalBone3D::get_joint_offset); + ClassDB::bind_method(D_METHOD("set_joint_rotation", "euler"), &PhysicalBone3D::set_joint_rotation); + ClassDB::bind_method(D_METHOD("get_joint_rotation"), &PhysicalBone3D::get_joint_rotation); + ClassDB::bind_method(D_METHOD("set_joint_rotation_degrees", "euler_degrees"), &PhysicalBone3D::set_joint_rotation_degrees); + ClassDB::bind_method(D_METHOD("get_joint_rotation_degrees"), &PhysicalBone3D::get_joint_rotation_degrees); ClassDB::bind_method(D_METHOD("set_body_offset", "offset"), &PhysicalBone3D::set_body_offset); ClassDB::bind_method(D_METHOD("get_body_offset"), &PhysicalBone3D::get_body_offset); @@ -2159,9 +2163,23 @@ void PhysicalBone3D::_bind_methods() { ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &PhysicalBone3D::set_gravity_scale); ClassDB::bind_method(D_METHOD("get_gravity_scale"), &PhysicalBone3D::get_gravity_scale); + ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &PhysicalBone3D::set_linear_damp); + ClassDB::bind_method(D_METHOD("get_linear_damp"), &PhysicalBone3D::get_linear_damp); + + ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &PhysicalBone3D::set_angular_damp); + ClassDB::bind_method(D_METHOD("get_angular_damp"), &PhysicalBone3D::get_angular_damp); + + ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &PhysicalBone3D::set_can_sleep); + ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &PhysicalBone3D::is_able_to_sleep); + + ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &PhysicalBone3D::set_axis_lock); + ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &PhysicalBone3D::get_axis_lock); + ADD_GROUP("Joint", "joint_"); ADD_PROPERTY(PropertyInfo(Variant::INT, "joint_type", PROPERTY_HINT_ENUM, "None,PinJoint,ConeJoint,HingeJoint,SliderJoint,6DOFJoint"), "set_joint_type", "get_joint_type"); ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM, "joint_offset"), "set_joint_offset", "get_joint_offset"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "joint_rotation_degrees", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_EDITOR), "set_joint_rotation_degrees", "get_joint_rotation_degrees"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "joint_rotation", PROPERTY_HINT_NONE, "", 0), "set_joint_rotation", "get_joint_rotation"); ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM, "body_offset"), "set_body_offset", "get_body_offset"); @@ -2170,6 +2188,17 @@ void PhysicalBone3D::_bind_methods() { ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "friction", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_friction", "get_friction"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_bounce", "get_bounce"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-10,10,0.01"), "set_gravity_scale", "get_gravity_scale"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "linear_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_linear_damp", "get_linear_damp"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_angular_damp", "get_angular_damp"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "can_sleep"), "set_can_sleep", "is_able_to_sleep"); + + ADD_GROUP("Axis Lock", "axis_lock_"); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_X); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Y); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Z); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_X); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Y); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Z); BIND_ENUM_CONSTANT(JOINT_TYPE_NONE); BIND_ENUM_CONSTANT(JOINT_TYPE_PIN); @@ -2187,6 +2216,19 @@ Skeleton3D *PhysicalBone3D::find_skeleton_parent(Node *p_parent) { return s ? s : find_skeleton_parent(p_parent->get_parent()); } +void PhysicalBone3D::_update_joint_offset() { + _fix_joint_offset(); + + set_ignore_transform_notification(true); + reset_to_rest_position(); + set_ignore_transform_notification(false); + +#ifdef TOOLS_ENABLED + if (get_gizmo().is_valid()) + get_gizmo()->redraw(); +#endif +} + void PhysicalBone3D::_fix_joint_offset() { // Clamp joint origin to bone origin if (parent_skeleton) { @@ -2370,16 +2412,31 @@ PhysicalBone3D::JointType PhysicalBone3D::get_joint_type() const { void PhysicalBone3D::set_joint_offset(const Transform &p_offset) { joint_offset = p_offset; - _fix_joint_offset(); + _update_joint_offset(); + _change_notify("joint_rotation_degrees"); +} - set_ignore_transform_notification(true); - reset_to_rest_position(); - set_ignore_transform_notification(false); +const Transform &PhysicalBone3D::get_joint_offset() const { + return joint_offset; +} -#ifdef TOOLS_ENABLED - if (get_gizmo().is_valid()) - get_gizmo()->redraw(); -#endif +void PhysicalBone3D::set_joint_rotation(const Vector3 &p_euler_rad) { + joint_offset.basis.set_euler_scale(p_euler_rad, joint_offset.basis.get_scale()); + + _update_joint_offset(); + _change_notify("joint_offset"); +} + +Vector3 PhysicalBone3D::get_joint_rotation() const { + return joint_offset.basis.get_rotation(); +} + +void PhysicalBone3D::set_joint_rotation_degrees(const Vector3 &p_euler_deg) { + set_joint_rotation(p_euler_deg * Math_PI / 180.0); +} + +Vector3 PhysicalBone3D::get_joint_rotation_degrees() const { + return get_joint_rotation() * 180.0 / Math_PI; } const Transform &PhysicalBone3D::get_body_offset() const { @@ -2390,20 +2447,7 @@ void PhysicalBone3D::set_body_offset(const Transform &p_offset) { body_offset = p_offset; body_offset_inverse = body_offset.affine_inverse(); - _fix_joint_offset(); - - set_ignore_transform_notification(true); - reset_to_rest_position(); - set_ignore_transform_notification(false); - -#ifdef TOOLS_ENABLED - if (get_gizmo().is_valid()) - get_gizmo()->redraw(); -#endif -} - -const Transform &PhysicalBone3D::get_joint_offset() const { - return joint_offset; + _update_joint_offset(); } void PhysicalBone3D::set_simulate_physics(bool p_simulate) { @@ -2496,6 +2540,43 @@ real_t PhysicalBone3D::get_gravity_scale() const { return gravity_scale; } +void PhysicalBone3D::set_linear_damp(real_t p_linear_damp) { + ERR_FAIL_COND(p_linear_damp < -1); + linear_damp = p_linear_damp; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP, linear_damp); +} + +real_t PhysicalBone3D::get_linear_damp() const { + return linear_damp; +} + +void PhysicalBone3D::set_angular_damp(real_t p_angular_damp) { + ERR_FAIL_COND(p_angular_damp < -1); + angular_damp = p_angular_damp; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP, angular_damp); +} + +real_t PhysicalBone3D::get_angular_damp() const { + return angular_damp; +} + +void PhysicalBone3D::set_can_sleep(bool p_active) { + can_sleep = p_active; + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_CAN_SLEEP, p_active); +} + +bool PhysicalBone3D::is_able_to_sleep() const { + return can_sleep; +} + +void PhysicalBone3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock) { + PhysicsServer3D::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock); +} + +bool PhysicalBone3D::get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const { + return PhysicsServer3D::get_singleton()->body_is_axis_locked(get_rid(), p_axis); +} + PhysicalBone3D::PhysicalBone3D() : PhysicsBody3D(PhysicsServer3D::BODY_MODE_STATIC), #ifdef TOOLS_ENABLED @@ -2510,7 +2591,10 @@ PhysicalBone3D::PhysicalBone3D() : bounce(0), mass(1), friction(1), - gravity_scale(1) { + gravity_scale(1), + linear_damp(-1), + angular_damp(-1), + can_sleep(true) { reset_physics_simulation_state(); } diff --git a/scene/3d/physics_body_3d.h b/scene/3d/physics_body_3d.h index bf7854b68d..2e71020233 100644 --- a/scene/3d/physics_body_3d.h +++ b/scene/3d/physics_body_3d.h @@ -562,6 +562,9 @@ private: real_t mass; real_t friction; real_t gravity_scale; + real_t linear_damp; + real_t angular_damp; + bool can_sleep; protected: bool _set(const StringName &p_name, const Variant &p_value); @@ -575,6 +578,7 @@ protected: private: static Skeleton3D *find_skeleton_parent(Node *p_parent); + void _update_joint_offset(); void _fix_joint_offset(); void _reload_joint(); @@ -599,6 +603,12 @@ public: void set_joint_offset(const Transform &p_offset); const Transform &get_joint_offset() const; + void set_joint_rotation(const Vector3 &p_euler_rad); + Vector3 get_joint_rotation() const; + + void set_joint_rotation_degrees(const Vector3 &p_euler_deg); + Vector3 get_joint_rotation_degrees() const; + void set_body_offset(const Transform &p_offset); const Transform &get_body_offset() const; @@ -624,6 +634,18 @@ public: void set_gravity_scale(real_t p_gravity_scale); real_t get_gravity_scale() const; + void set_linear_damp(real_t p_linear_damp); + real_t get_linear_damp() const; + + void set_angular_damp(real_t p_angular_damp); + real_t get_angular_damp() const; + + void set_can_sleep(bool p_active); + bool is_able_to_sleep() const; + + void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock); + 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); |