diff options
Diffstat (limited to 'modules/bullet/rigid_body_bullet.cpp')
| -rw-r--r-- | modules/bullet/rigid_body_bullet.cpp | 27 |
1 files changed, 23 insertions, 4 deletions
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index f2115a5d50..2494063c22 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -114,10 +114,18 @@ Transform BulletPhysicsDirectBodyState::get_transform() const { return body->get_transform(); } +void BulletPhysicsDirectBodyState::add_central_force(const Vector3 &p_force) { + body->apply_central_force(p_force); +} + void BulletPhysicsDirectBodyState::add_force(const Vector3 &p_force, const Vector3 &p_pos) { body->apply_force(p_force, p_pos); } +void BulletPhysicsDirectBodyState::add_torque(const Vector3 &p_torque) { + body->apply_torque(p_torque); +} + void BulletPhysicsDirectBodyState::apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) { body->apply_impulse(p_pos, p_j); } @@ -247,6 +255,7 @@ RigidBodyBullet::RigidBodyBullet() : linearDamp(0), angularDamp(0), can_sleep(true), + omit_forces_integration(false), force_integration_callback(NULL), isTransformChanged(false), previousActiveState(true), @@ -326,6 +335,9 @@ void RigidBodyBullet::dispatch_callbacks() { /// The check isTransformChanged is necessary in order to call integrated forces only when the first transform is sent if ((btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && isTransformChanged) { + if (omit_forces_integration) + btBody->clearForces(); + BulletPhysicsDirectBodyState *bodyDirect = BulletPhysicsDirectBodyState::get_singleton(this); Variant variantBodyDirect = bodyDirect; @@ -429,6 +441,10 @@ bool RigidBodyBullet::is_active() const { return btBody->isActive(); } +void RigidBodyBullet::set_omit_forces_integration(bool p_omit) { + omit_forces_integration = p_omit; +} + void RigidBodyBullet::set_param(PhysicsServer::BodyParameter p_param, real_t p_value) { switch (p_param) { case PhysicsServer::BODY_PARAM_BOUNCE: @@ -690,7 +706,7 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) { /// Calculate using the rule writte below the CCD swept sphere radius /// CCD works on an embedded sphere of radius, make sure this radius /// is embedded inside the convex objects, preferably smaller: - /// for an object of dimentions 1 meter, try 0.2 + /// for an object of dimensions 1 meter, try 0.2 btVector3 center; btScalar radius; btBody->getCollisionShape()->getBoundingSphere(center, radius); @@ -832,7 +848,8 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) { void RigidBodyBullet::reload_space_override_modificator() { - if (!is_active()) + // Make sure that kinematic bodies have their total gravity calculated + if (!is_active() && PhysicsServer::BODY_MODE_KINEMATIC != mode) return; Vector3 newGravity(space->get_gravity_direction() * space->get_gravity_magnitude()); @@ -955,7 +972,8 @@ void RigidBodyBullet::_internal_set_mass(real_t p_mass) { const bool isDynamic = p_mass != 0.f; if (isDynamic) { - ERR_FAIL_COND(PhysicsServer::BODY_MODE_RIGID != mode && PhysicsServer::BODY_MODE_CHARACTER != mode); + if (PhysicsServer::BODY_MODE_RIGID != mode && PhysicsServer::BODY_MODE_CHARACTER != mode) + return; m_isStatic = false; compoundShape->calculateLocalInertia(p_mass, localInertia); @@ -975,7 +993,8 @@ void RigidBodyBullet::_internal_set_mass(real_t p_mass) { } } else { - ERR_FAIL_COND(PhysicsServer::BODY_MODE_STATIC != mode && PhysicsServer::BODY_MODE_KINEMATIC != mode); + if (PhysicsServer::BODY_MODE_STATIC != mode && PhysicsServer::BODY_MODE_KINEMATIC != mode) + return; m_isStatic = true; if (PhysicsServer::BODY_MODE_STATIC == mode) { |