diff options
| -rw-r--r-- | doc/classes/RigidBody3D.xml | 7 | ||||
| -rw-r--r-- | scene/3d/physics_body_3d.cpp | 7 | ||||
| -rw-r--r-- | scene/3d/physics_body_3d.h | 3 |
3 files changed, 17 insertions, 0 deletions
diff --git a/doc/classes/RigidBody3D.xml b/doc/classes/RigidBody3D.xml index efd55f5566..370e6bd19c 100644 --- a/doc/classes/RigidBody3D.xml +++ b/doc/classes/RigidBody3D.xml @@ -100,6 +100,13 @@ [b]Note:[/b] The result of this test is not immediate after moving objects. For performance, list of collisions is updated once per frame and before the physics step. Consider using signals instead. </description> </method> + <method name="get_inverse_inertia_tensor"> + <return type="Basis"> + </return> + <description> + Returns the inverse inertia tensor basis. This is used to calculate the angular acceleration resulting from a torque applied to the [RigidBody3D]. + </description> + </method> <method name="set_axis_lock"> <return type="void"> </return> diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp index 72ae75b236..fc021e5532 100644 --- a/scene/3d/physics_body_3d.cpp +++ b/scene/3d/physics_body_3d.cpp @@ -358,6 +358,7 @@ void RigidBody3D::_direct_state_changed(Object *p_state) { set_global_transform(state->get_transform()); linear_velocity = state->get_linear_velocity(); angular_velocity = state->get_angular_velocity(); + inverse_inertia_tensor = state->get_inverse_inertia_tensor(); if (sleeping != state->is_sleeping()) { sleeping = state->is_sleeping(); emit_signal(SceneStringNames::get_singleton()->sleeping_state_changed); @@ -594,6 +595,10 @@ Vector3 RigidBody3D::get_angular_velocity() const { return angular_velocity; } +Basis RigidBody3D::get_inverse_inertia_tensor() { + return inverse_inertia_tensor; +} + void RigidBody3D::set_use_custom_integrator(bool p_enable) { if (custom_integrator == p_enable) { return; @@ -760,6 +765,8 @@ void RigidBody3D::_bind_methods() { ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &RigidBody3D::set_angular_velocity); ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidBody3D::get_angular_velocity); + ClassDB::bind_method(D_METHOD("get_inverse_inertia_tensor"), &RigidBody3D::get_inverse_inertia_tensor); + ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &RigidBody3D::set_gravity_scale); ClassDB::bind_method(D_METHOD("get_gravity_scale"), &RigidBody3D::get_gravity_scale); diff --git a/scene/3d/physics_body_3d.h b/scene/3d/physics_body_3d.h index 413b587fc4..9830a55183 100644 --- a/scene/3d/physics_body_3d.h +++ b/scene/3d/physics_body_3d.h @@ -123,6 +123,7 @@ protected: Vector3 linear_velocity; Vector3 angular_velocity; + Basis inverse_inertia_tensor; real_t gravity_scale; real_t linear_damp; real_t angular_damp; @@ -201,6 +202,8 @@ public: void set_angular_velocity(const Vector3 &p_velocity); Vector3 get_angular_velocity() const override; + Basis get_inverse_inertia_tensor(); + void set_gravity_scale(real_t p_gravity_scale); real_t get_gravity_scale() const; |