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-rw-r--r--core/global_constants.cpp2
-rw-r--r--core/os/input_event.h4
-rw-r--r--core/translation.cpp4
-rw-r--r--doc/classes/OS.xml2
-rw-r--r--editor/SCsub2
-rw-r--r--editor/editor_about.cpp4
-rw-r--r--editor/plugins/theme_editor_plugin.cpp16
-rw-r--r--editor/plugins/theme_editor_plugin.h3
-rw-r--r--editor/scene_tree_dock.cpp10
-rw-r--r--modules/bullet/collision_object_bullet.cpp4
-rw-r--r--modules/bullet/space_bullet.h1
-rw-r--r--modules/gdnative/gdnative/array.cpp5
-rw-r--r--modules/gdnative/gdnative/dictionary.cpp6
-rw-r--r--modules/gdnative/gdnative_api.json23
-rw-r--r--modules/gdnative/include/gdnative/array.h2
-rw-r--r--modules/gdnative/include/gdnative/dictionary.h2
-rw-r--r--modules/mobile_vr/mobile_interface.cpp10
-rw-r--r--platform/android/detect.py2
-rw-r--r--scene/3d/particles.cpp4
-rw-r--r--servers/physics/body_pair_sw.cpp38
-rw-r--r--servers/physics/body_pair_sw.h1
-rw-r--r--servers/physics/body_sw.h10
22 files changed, 119 insertions, 36 deletions
diff --git a/core/global_constants.cpp b/core/global_constants.cpp
index 8bddeae69a..7854f342b0 100644
--- a/core/global_constants.cpp
+++ b/core/global_constants.cpp
@@ -435,6 +435,8 @@ void register_global_constants() {
BIND_GLOBAL_ENUM_CONSTANT(JOY_AXIS_5);
BIND_GLOBAL_ENUM_CONSTANT(JOY_AXIS_6);
BIND_GLOBAL_ENUM_CONSTANT(JOY_AXIS_7);
+ BIND_GLOBAL_ENUM_CONSTANT(JOY_AXIS_8);
+ BIND_GLOBAL_ENUM_CONSTANT(JOY_AXIS_9);
BIND_GLOBAL_ENUM_CONSTANT(JOY_AXIS_MAX);
BIND_GLOBAL_ENUM_CONSTANT(JOY_ANALOG_LX);
diff --git a/core/os/input_event.h b/core/os/input_event.h
index f2c8cc802d..de3c0232ff 100644
--- a/core/os/input_event.h
+++ b/core/os/input_event.h
@@ -122,7 +122,9 @@ enum JoystickList {
JOY_AXIS_5 = 5,
JOY_AXIS_6 = 6,
JOY_AXIS_7 = 7,
- JOY_AXIS_MAX = 8,
+ JOY_AXIS_8 = 8,
+ JOY_AXIS_9 = 9,
+ JOY_AXIS_MAX = 10,
JOY_ANALOG_LX = JOY_AXIS_0,
JOY_ANALOG_LY = JOY_AXIS_1,
diff --git a/core/translation.cpp b/core/translation.cpp
index 058db956e5..7e4d4feb89 100644
--- a/core/translation.cpp
+++ b/core/translation.cpp
@@ -966,7 +966,7 @@ Vector<String> TranslationServer::get_all_locale_names() {
const char **ptr = locale_names;
while (*ptr) {
- locales.push_back(*ptr);
+ locales.push_back(String::utf8(*ptr));
ptr++;
}
@@ -1168,6 +1168,6 @@ TranslationServer::TranslationServer()
for (int i = 0; locale_list[i]; ++i) {
- locale_name_map.insert(locale_list[i], locale_names[i]);
+ locale_name_map.insert(locale_list[i], String::utf8(locale_names[i]));
}
}
diff --git a/doc/classes/OS.xml b/doc/classes/OS.xml
index 2629e6740d..9fd4328402 100644
--- a/doc/classes/OS.xml
+++ b/doc/classes/OS.xml
@@ -376,7 +376,7 @@
<return type="String">
</return>
<description>
- Returns a unique string.
+ Returns a string that is unique to the device. Currently only works on Android and iOS. Returns empty string on other platforms.
</description>
</method>
<method name="get_unix_time" qualifiers="const">
diff --git a/editor/SCsub b/editor/SCsub
index 2b6494608b..c531d2c7a6 100644
--- a/editor/SCsub
+++ b/editor/SCsub
@@ -39,6 +39,8 @@ def make_doc_header(target, source, env):
docend = ""
for s in source:
src = s.srcnode().abspath
+ if not src.endswith(".xml"):
+ continue
f = open_utf8(src, "r")
content = f.read()
buf+=content
diff --git a/editor/editor_about.cpp b/editor/editor_about.cpp
index a48e6c9057..290cb1be42 100644
--- a/editor/editor_about.cpp
+++ b/editor/editor_about.cpp
@@ -117,7 +117,7 @@ EditorAbout::EditorAbout() {
Label *about_text = memnew(Label);
about_text->set_v_size_flags(Control::SIZE_SHRINK_CENTER);
- about_text->set_text(VERSION_FULL_NAME + hash + String::utf8("\n\u00A9 2007-2017 Juan Linietsky, Ariel Manzur.\n\u00A9 2014-2017 ") +
+ about_text->set_text(VERSION_FULL_NAME + hash + String::utf8("\n\xc2\xa9 2007-2017 Juan Linietsky, Ariel Manzur.\n\xc2\xa9 2014-2017 ") +
TTR("Godot Engine contributors") + "\n");
hbc->add_child(about_text);
@@ -201,7 +201,7 @@ EditorAbout::EditorAbout() {
for (int j = 0; j < about_tp_copyright_count[i]; j++) {
text += "\n Files:\n " + String(about_tp_file[read_idx]).replace("\n", "\n ") + "\n";
- String copyright = String::utf8(" \u00A9 ") + String::utf8(about_tp_copyright[read_idx]).replace("\n", String::utf8("\n \u00A9 "));
+ String copyright = String::utf8(" \xc2\xa9 ") + String::utf8(about_tp_copyright[read_idx]).replace("\n", String::utf8("\n \xc2\xa9 "));
text += copyright;
long_text += copyright;
String license = "\n License: " + String(about_tp_license[read_idx]) + "\n";
diff --git a/editor/plugins/theme_editor_plugin.cpp b/editor/plugins/theme_editor_plugin.cpp
index 02ead3aee8..7f956b01ff 100644
--- a/editor/plugins/theme_editor_plugin.cpp
+++ b/editor/plugins/theme_editor_plugin.cpp
@@ -427,7 +427,9 @@ void ThemeEditor::_dialog_cbk() {
void ThemeEditor::_theme_menu_cbk(int p_option) {
- if (p_option == POPUP_CREATE_EMPTY || p_option == POPUP_CREATE_EDITOR_EMPTY) {
+ if (p_option == POPUP_CREATE_EMPTY || p_option == POPUP_CREATE_EDITOR_EMPTY || p_option == POPUP_IMPORT_EDITOR_THEME) {
+
+ bool import = (p_option == POPUP_IMPORT_EDITOR_THEME);
Ref<Theme> base_theme;
@@ -449,21 +451,21 @@ void ThemeEditor::_theme_menu_cbk(int p_option) {
base_theme->get_icon_list(type, &icons);
for (List<StringName>::Element *E = icons.front(); E; E = E->next()) {
- theme->set_icon(E->get(), type, Ref<Texture>());
+ theme->set_icon(E->get(), type, import ? base_theme->get_icon(E->get(), type) : Ref<Texture>());
}
List<StringName> shaders;
base_theme->get_shader_list(type, &shaders);
for (List<StringName>::Element *E = shaders.front(); E; E = E->next()) {
- theme->set_shader(E->get(), type, Ref<Shader>());
+ theme->set_shader(E->get(), type, import ? base_theme->get_shader(E->get(), type) : Ref<Shader>());
}
List<StringName> styleboxs;
base_theme->get_stylebox_list(type, &styleboxs);
for (List<StringName>::Element *E = styleboxs.front(); E; E = E->next()) {
- theme->set_stylebox(E->get(), type, Ref<StyleBox>());
+ theme->set_stylebox(E->get(), type, import ? base_theme->get_stylebox(E->get(), type) : Ref<StyleBox>());
}
List<StringName> fonts;
@@ -477,14 +479,14 @@ void ThemeEditor::_theme_menu_cbk(int p_option) {
base_theme->get_color_list(type, &colors);
for (List<StringName>::Element *E = colors.front(); E; E = E->next()) {
- theme->set_color(E->get(), type, Color());
+ theme->set_color(E->get(), type, import ? base_theme->get_color(E->get(), type) : Color());
}
List<StringName> constants;
base_theme->get_constant_list(type, &constants);
for (List<StringName>::Element *E = constants.front(); E; E = E->next()) {
- theme->set_constant(E->get(), type, base_theme->get_constant(type, E->get()));
+ theme->set_constant(E->get(), type, base_theme->get_constant(E->get(), type));
}
}
}
@@ -639,7 +641,7 @@ ThemeEditor::ThemeEditor() {
theme_menu->get_popup()->add_separator();
theme_menu->get_popup()->add_item(TTR("Create Empty Template"), POPUP_CREATE_EMPTY);
theme_menu->get_popup()->add_item(TTR("Create Empty Editor Template"), POPUP_CREATE_EDITOR_EMPTY);
-
+ theme_menu->get_popup()->add_item(TTR("Create From Current Editor Theme"), POPUP_IMPORT_EDITOR_THEME);
add_child(theme_menu);
theme_menu->set_position(Vector2(3, 3) * EDSCALE);
theme_menu->get_popup()->connect("id_pressed", this, "_theme_menu_cbk");
diff --git a/editor/plugins/theme_editor_plugin.h b/editor/plugins/theme_editor_plugin.h
index 16b2da94d1..4d46282ba1 100644
--- a/editor/plugins/theme_editor_plugin.h
+++ b/editor/plugins/theme_editor_plugin.h
@@ -69,7 +69,8 @@ class ThemeEditor : public Control {
POPUP_REMOVE,
POPUP_CLASS_REMOVE,
POPUP_CREATE_EMPTY,
- POPUP_CREATE_EDITOR_EMPTY
+ POPUP_CREATE_EDITOR_EMPTY,
+ POPUP_IMPORT_EDITOR_THEME
};
int popup_mode;
diff --git a/editor/scene_tree_dock.cpp b/editor/scene_tree_dock.cpp
index 7438c7671e..58f70ce11e 100644
--- a/editor/scene_tree_dock.cpp
+++ b/editor/scene_tree_dock.cpp
@@ -533,10 +533,6 @@ void SceneTreeDock::_tool_selected(int p_tool, bool p_confirm_override) {
if (p_confirm_override) {
_delete_confirm();
- // hack, force 2d editor viewport to refresh after deletion
- if (CanvasItemEditor *editor = CanvasItemEditor::get_singleton())
- editor->get_viewport_control()->update();
-
} else {
delete_dialog->set_text(TTR("Delete Node(s)?"));
delete_dialog->popup_centered_minsize();
@@ -1345,6 +1341,12 @@ void SceneTreeDock::_delete_confirm() {
}
}
editor_data->get_undo_redo().commit_action();
+
+ // hack, force 2d editor viewport to refresh after deletion
+ if (CanvasItemEditor *editor = CanvasItemEditor::get_singleton())
+ editor->get_viewport_control()->update();
+
+ editor->push_item(NULL);
}
void SceneTreeDock::_selection_changed() {
diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp
index 5739568d91..769e2c943e 100644
--- a/modules/bullet/collision_object_bullet.cpp
+++ b/modules/bullet/collision_object_bullet.cpp
@@ -93,11 +93,15 @@ void CollisionObjectBullet::setupBulletCollisionObject(btCollisionObject *p_coll
void CollisionObjectBullet::add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) {
exceptions.insert(p_ignoreCollisionObject->get_self());
bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, true);
+ if (space)
+ space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher());
}
void CollisionObjectBullet::remove_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) {
exceptions.erase(p_ignoreCollisionObject->get_self());
bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, false);
+ if (space)
+ space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher());
}
bool CollisionObjectBullet::has_collision_exception(const CollisionObjectBullet *p_otherCollisionObject) const {
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index cbbfdac1d7..b36896650b 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -109,6 +109,7 @@ public:
void flush_queries();
void step(real_t p_delta_time);
+ _FORCE_INLINE_ btBroadphaseInterface *get_broadphase() { return broadphase; }
_FORCE_INLINE_ btCollisionDispatcher *get_dispatcher() { return dispatcher; }
_FORCE_INLINE_ btSoftBodyWorldInfo *get_soft_body_world_info() { return soft_body_world_info; }
_FORCE_INLINE_ bool is_using_soft_world() { return soft_body_world_info; }
diff --git a/modules/gdnative/gdnative/array.cpp b/modules/gdnative/gdnative/array.cpp
index 51c023981f..90bc4dc031 100644
--- a/modules/gdnative/gdnative/array.cpp
+++ b/modules/gdnative/gdnative/array.cpp
@@ -158,6 +158,11 @@ godot_variant GDAPI *godot_array_operator_index(godot_array *p_self, const godot
return (godot_variant *)&self->operator[](p_idx);
}
+const godot_variant GDAPI *godot_array_operator_index_const(const godot_array *p_self, const godot_int p_idx) {
+ const Array *self = (const Array *)p_self;
+ return (const godot_variant *)&self->operator[](p_idx);
+}
+
void GDAPI godot_array_append(godot_array *p_self, const godot_variant *p_value) {
Array *self = (Array *)p_self;
Variant *val = (Variant *)p_value;
diff --git a/modules/gdnative/gdnative/dictionary.cpp b/modules/gdnative/gdnative/dictionary.cpp
index ed98cdbb00..7f8320622d 100644
--- a/modules/gdnative/gdnative/dictionary.cpp
+++ b/modules/gdnative/gdnative/dictionary.cpp
@@ -130,6 +130,12 @@ godot_variant GDAPI *godot_dictionary_operator_index(godot_dictionary *p_self, c
return (godot_variant *)&self->operator[](*key);
}
+const godot_variant GDAPI *godot_dictionary_operator_index_const(const godot_dictionary *p_self, const godot_variant *p_key) {
+ const Dictionary *self = (const Dictionary *)p_self;
+ const Variant *key = (const Variant *)p_key;
+ return (const godot_variant *)&self->operator[](*key);
+}
+
godot_variant GDAPI *godot_dictionary_next(const godot_dictionary *p_self, const godot_variant *p_key) {
Dictionary *self = (Dictionary *)p_self;
const Variant *key = (const Variant *)p_key;
diff --git a/modules/gdnative/gdnative_api.json b/modules/gdnative/gdnative_api.json
index ac0293172d..0bd9dbceb4 100644
--- a/modules/gdnative/gdnative_api.json
+++ b/modules/gdnative/gdnative_api.json
@@ -2489,6 +2489,14 @@
]
},
{
+ "name": "godot_array_operator_index_const",
+ "return_type": "const godot_variant *",
+ "arguments": [
+ ["const godot_array *", "p_self"],
+ ["const godot_int", "p_idx"]
+ ]
+ },
+ {
"name": "godot_array_append",
"return_type": "void",
"arguments": [
@@ -2787,6 +2795,14 @@
]
},
{
+ "name": "godot_dictionary_operator_index_const",
+ "return_type": "const godot_variant *",
+ "arguments": [
+ ["const godot_dictionary *", "p_self"],
+ ["const godot_variant *", "p_key"]
+ ]
+ },
+ {
"name": "godot_dictionary_next",
"return_type": "godot_variant *",
"arguments": [
@@ -5645,6 +5661,13 @@
]
},
{
+ "name": "godot_pluginscript_register_language",
+ "return_type": "void",
+ "arguments": [
+ ["const godot_pluginscript_language_desc *", "language_desc"]
+ ]
+ },
+ {
"name": "godot_arvr_register_interface",
"return_type": "void",
"arguments": [
diff --git a/modules/gdnative/include/gdnative/array.h b/modules/gdnative/include/gdnative/array.h
index d0639589b7..01ae61e280 100644
--- a/modules/gdnative/include/gdnative/array.h
+++ b/modules/gdnative/include/gdnative/array.h
@@ -76,6 +76,8 @@ godot_variant GDAPI godot_array_get(const godot_array *p_self, const godot_int p
godot_variant GDAPI *godot_array_operator_index(godot_array *p_self, const godot_int p_idx);
+const godot_variant GDAPI *godot_array_operator_index_const(const godot_array *p_self, const godot_int p_idx);
+
void GDAPI godot_array_append(godot_array *p_self, const godot_variant *p_value);
void GDAPI godot_array_clear(godot_array *p_self);
diff --git a/modules/gdnative/include/gdnative/dictionary.h b/modules/gdnative/include/gdnative/dictionary.h
index e68d0fdc29..6d1f436921 100644
--- a/modules/gdnative/include/gdnative/dictionary.h
+++ b/modules/gdnative/include/gdnative/dictionary.h
@@ -85,6 +85,8 @@ void GDAPI godot_dictionary_set(godot_dictionary *p_self, const godot_variant *p
godot_variant GDAPI *godot_dictionary_operator_index(godot_dictionary *p_self, const godot_variant *p_key);
+const godot_variant GDAPI *godot_dictionary_operator_index_const(const godot_dictionary *p_self, const godot_variant *p_key);
+
godot_variant GDAPI *godot_dictionary_next(const godot_dictionary *p_self, const godot_variant *p_key);
godot_bool GDAPI godot_dictionary_operator_equal(const godot_dictionary *p_self, const godot_dictionary *p_b);
diff --git a/modules/mobile_vr/mobile_interface.cpp b/modules/mobile_vr/mobile_interface.cpp
index eb87bb2cf0..93d5c22ef8 100644
--- a/modules/mobile_vr/mobile_interface.cpp
+++ b/modules/mobile_vr/mobile_interface.cpp
@@ -122,6 +122,7 @@ void MobileVRInterface::set_position_from_sensors() {
Vector3 north(0.0, 0.0, 1.0); // North is Z positive
// make copies of our inputs
+ bool has_grav = false;
Vector3 acc = input->get_accelerometer();
Vector3 gyro = input->get_gyroscope();
Vector3 grav = input->get_gravity();
@@ -143,14 +144,17 @@ void MobileVRInterface::set_position_from_sensors() {
// what a stable gravity vector is
grav = acc;
if (grav.length() > 0.1) {
- has_gyro = true;
+ has_grav = true;
};
} else {
- has_gyro = true;
+ has_grav = true;
};
bool has_magneto = magneto.length() > 0.1;
- bool has_grav = grav.length() > 0.1;
+ if (gyro.length() > 0.1) {
+ /* this can return to 0.0 if the user doesn't move the phone, so once on, it's on */
+ has_gyro = true;
+ };
#ifdef ANDROID_ENABLED
///@TODO needs testing, i don't have a gyro, potentially can be removed depending on what comes out of issue #8101
diff --git a/platform/android/detect.py b/platform/android/detect.py
index 4d5e586faf..2666034ef7 100644
--- a/platform/android/detect.py
+++ b/platform/android/detect.py
@@ -25,7 +25,7 @@ def get_opts():
('ndk_platform', 'Target platform (android-<api>, e.g. "android-18")', "android-18"),
EnumVariable('android_arch', 'Target architecture', "armv7", ('armv7', 'armv6', 'arm64v8', 'x86')),
BoolVariable('android_neon', 'Enable NEON support (armv7 only)', True),
- BoolVariable('android_stl', 'Enable Android STL support (for modules)', False),
+ BoolVariable('android_stl', 'Enable Android STL support (for modules)', True),
BoolVariable('ndk_unified_headers', 'Enable NDK unified headers', True)
]
diff --git a/scene/3d/particles.cpp b/scene/3d/particles.cpp
index 4e19214c59..040266843d 100644
--- a/scene/3d/particles.cpp
+++ b/scene/3d/particles.cpp
@@ -642,7 +642,7 @@ void ParticlesMaterial::_update_shader() {
code += " float angle1 = (rand_from_seed(alt_seed)*2.0-1.0)*spread/180.0*3.1416;\n";
code += " vec3 rot = vec3( cos(angle1), sin(angle1),0.0 );\n";
- code += " VELOCITY = (rot*initial_linear_velocity+rot*initial_linear_velocity_random*rand_from_seed(alt_seed));\n";
+ code += " VELOCITY = rot*initial_linear_velocity*mix(1.0, rand_from_seed(alt_seed), initial_linear_velocity_random);\n";
} else {
//initiate velocity spread in 3D
@@ -650,7 +650,7 @@ void ParticlesMaterial::_update_shader() {
code += " float angle2 = rand_from_seed(alt_seed)*20.0*3.1416; // make it more random like\n";
code += " vec3 rot_xz = vec3( sin(angle1), 0.0, cos(angle1) );\n";
code += " vec3 rot = vec3( cos(angle2)*rot_xz.x,sin(angle2)*rot_xz.x, rot_xz.z);\n";
- code += " VELOCITY = (rot*initial_linear_velocity+rot*initial_linear_velocity_random*rand_from_seed(alt_seed));\n";
+ code += " VELOCITY = rot*initial_linear_velocity*mix(1.0, rand_from_seed(alt_seed), initial_linear_velocity_random);\n";
}
code += " float base_angle = (initial_angle+tex_angle)*mix(1.0,angle_rand,initial_angle_random);\n";
diff --git a/servers/physics/body_pair_sw.cpp b/servers/physics/body_pair_sw.cpp
index a289b4b0ca..ef54eb58cf 100644
--- a/servers/physics/body_pair_sw.cpp
+++ b/servers/physics/body_pair_sw.cpp
@@ -46,6 +46,7 @@
//#define ALLOWED_PENETRATION 0.01
#define RELAXATION_TIMESTEPS 3
#define MIN_VELOCITY 0.0001
+#define MAX_BIAS_ROTATION (Math_PI / 8)
void BodyPairSW::_contact_added_callback(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata) {
@@ -71,6 +72,7 @@ void BodyPairSW::contact_added_callback(const Vector3 &p_point_A, const Vector3
contact.acc_normal_impulse = 0;
contact.acc_bias_impulse = 0;
+ contact.acc_bias_impulse_center_of_mass = 0;
contact.acc_tangent_impulse = Vector3();
contact.local_A = local_A;
contact.local_B = local_B;
@@ -82,12 +84,12 @@ void BodyPairSW::contact_added_callback(const Vector3 &p_point_A, const Vector3
for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i];
- if (
- c.local_A.distance_squared_to(local_A) < (contact_recycle_radius * contact_recycle_radius) &&
+ if (c.local_A.distance_squared_to(local_A) < (contact_recycle_radius * contact_recycle_radius) &&
c.local_B.distance_squared_to(local_B) < (contact_recycle_radius * contact_recycle_radius)) {
contact.acc_normal_impulse = c.acc_normal_impulse;
contact.acc_bias_impulse = c.acc_bias_impulse;
+ contact.acc_bias_impulse_center_of_mass = c.acc_bias_impulse_center_of_mass;
contact.acc_tangent_impulse = c.acc_tangent_impulse;
new_index = i;
break;
@@ -325,9 +327,7 @@ bool BodyPairSW::setup(real_t p_step) {
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 + A->get_center_of_mass(), -jb_vec);
- B->apply_bias_impulse(c.rB + B->get_center_of_mass(), jb_vec);
+ c.acc_bias_impulse_center_of_mass = 0;
c.bounce = MAX(A->get_bounce(), B->get_bounce());
if (c.bounce) {
@@ -356,7 +356,7 @@ void BodyPairSW::solve(real_t p_step) {
c.active = false; //try to deactivate, will activate itself if still needed
- //bias impule
+ //bias impulse
Vector3 crbA = A->get_biased_angular_velocity().cross(c.rA);
Vector3 crbB = B->get_biased_angular_velocity().cross(c.rB);
@@ -372,8 +372,26 @@ void BodyPairSW::solve(real_t p_step) {
Vector3 jb = c.normal * (c.acc_bias_impulse - jbnOld);
- A->apply_bias_impulse(c.rA + A->get_center_of_mass(), -jb);
- B->apply_bias_impulse(c.rB + B->get_center_of_mass(), jb);
+ A->apply_bias_impulse(c.rA + A->get_center_of_mass(), -jb, MAX_BIAS_ROTATION / p_step);
+ B->apply_bias_impulse(c.rB + B->get_center_of_mass(), jb, MAX_BIAS_ROTATION / p_step);
+
+ crbA = A->get_biased_angular_velocity().cross(c.rA);
+ crbB = B->get_biased_angular_velocity().cross(c.rB);
+ dbv = B->get_biased_linear_velocity() + crbB - A->get_biased_linear_velocity() - crbA;
+
+ vbn = dbv.dot(c.normal);
+
+ if (Math::abs(-vbn + c.bias) > MIN_VELOCITY) {
+
+ real_t jbn_com = (-vbn + c.bias) / (A->get_inv_mass() + B->get_inv_mass());
+ real_t jbnOld_com = c.acc_bias_impulse_center_of_mass;
+ c.acc_bias_impulse_center_of_mass = MAX(jbnOld_com + jbn_com, 0.0f);
+
+ Vector3 jb_com = c.normal * (c.acc_bias_impulse_center_of_mass - jbnOld_com);
+
+ A->apply_bias_impulse(A->get_center_of_mass(), -jb_com, 0.0f);
+ B->apply_bias_impulse(B->get_center_of_mass(), jb_com, 0.0f);
+ }
c.active = true;
}
@@ -382,7 +400,7 @@ void BodyPairSW::solve(real_t p_step) {
Vector3 crB = B->get_angular_velocity().cross(c.rB);
Vector3 dv = B->get_linear_velocity() + crB - A->get_linear_velocity() - crA;
- //normal impule
+ //normal impulse
real_t vn = dv.dot(c.normal);
if (Math::abs(vn) > MIN_VELOCITY) {
@@ -399,7 +417,7 @@ void BodyPairSW::solve(real_t p_step) {
c.active = true;
}
- //friction impule
+ //friction impulse
real_t friction = A->get_friction() * B->get_friction();
diff --git a/servers/physics/body_pair_sw.h b/servers/physics/body_pair_sw.h
index f09c977950..74fda60998 100644
--- a/servers/physics/body_pair_sw.h
+++ b/servers/physics/body_pair_sw.h
@@ -59,6 +59,7 @@ class BodyPairSW : public ConstraintSW {
real_t acc_normal_impulse; // accumulated normal impulse (Pn)
Vector3 acc_tangent_impulse; // accumulated tangent impulse (Pt)
real_t acc_bias_impulse; // accumulated normal impulse for position bias (Pnb)
+ real_t acc_bias_impulse_center_of_mass; // accumulated normal impulse for position bias applied to com
real_t mass_normal;
real_t bias;
real_t bounce;
diff --git a/servers/physics/body_sw.h b/servers/physics/body_sw.h
index 782bf14a4b..98095fd3c6 100644
--- a/servers/physics/body_sw.h
+++ b/servers/physics/body_sw.h
@@ -223,10 +223,16 @@ public:
angular_velocity += _inv_inertia_tensor.xform(p_j);
}
- _FORCE_INLINE_ void apply_bias_impulse(const Vector3 &p_pos, const Vector3 &p_j) {
+ _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;
- biased_angular_velocity += _inv_inertia_tensor.xform((p_pos - center_of_mass).cross(p_j));
+ if (p_max_delta_av != 0.0) {
+ Vector3 delta_av = _inv_inertia_tensor.xform((p_pos - center_of_mass).cross(p_j));
+ if (p_max_delta_av > 0 && delta_av.length() > p_max_delta_av) {
+ delta_av = delta_av.normalized() * p_max_delta_av;
+ }
+ biased_angular_velocity += delta_av;
+ }
}
_FORCE_INLINE_ void apply_bias_torque_impulse(const Vector3 &p_j) {
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-24 15:58:43 +0000