summaryrefslogtreecommitdiff
path: root/modules/bullet/rigid_body_bullet.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'modules/bullet/rigid_body_bullet.cpp')
-rw-r--r--modules/bullet/rigid_body_bullet.cpp126
1 files changed, 63 insertions, 63 deletions
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index 80f42c8441..b92166e653 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -194,7 +194,7 @@ Vector3 BulletPhysicsDirectBodyState::get_contact_collider_velocity_at_position(
return velocityAtPoint;
}
-PhysicsDirectSpaceState *BulletPhysicsDirectBodyState::get_space_state() {
+PhysicsDirectSpaceState3D *BulletPhysicsDirectBodyState::get_space_state() {
return body->get_space()->get_direct_state();
}
@@ -231,12 +231,12 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
shapes.write[i].transform = shape_wrapper->transform;
shapes.write[i].transform.getOrigin() *= owner_scale;
switch (shape_wrapper->shape->get_type()) {
- case PhysicsServer::SHAPE_SPHERE:
- case PhysicsServer::SHAPE_BOX:
- case PhysicsServer::SHAPE_CAPSULE:
- case PhysicsServer::SHAPE_CYLINDER:
- case PhysicsServer::SHAPE_CONVEX_POLYGON:
- case PhysicsServer::SHAPE_RAY: {
+ case PhysicsServer3D::SHAPE_SPHERE:
+ case PhysicsServer3D::SHAPE_BOX:
+ case PhysicsServer3D::SHAPE_CAPSULE:
+ case PhysicsServer3D::SHAPE_CYLINDER:
+ case PhysicsServer3D::SHAPE_CONVEX_POLYGON:
+ case PhysicsServer3D::SHAPE_RAY: {
shapes.write[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
} break;
default:
@@ -286,7 +286,7 @@ RigidBodyBullet::RigidBodyBullet() :
reload_shapes();
setupBulletCollisionObject(btBody);
- set_mode(PhysicsServer::BODY_MODE_RIGID);
+ set_mode(PhysicsServer3D::BODY_MODE_RIGID);
reload_axis_lock();
areasWhereIam.resize(maxAreasWhereIam);
@@ -487,29 +487,29 @@ 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) {
+void RigidBodyBullet::set_param(PhysicsServer3D::BodyParameter p_param, real_t p_value) {
switch (p_param) {
- case PhysicsServer::BODY_PARAM_BOUNCE:
+ case PhysicsServer3D::BODY_PARAM_BOUNCE:
btBody->setRestitution(p_value);
break;
- case PhysicsServer::BODY_PARAM_FRICTION:
+ case PhysicsServer3D::BODY_PARAM_FRICTION:
btBody->setFriction(p_value);
break;
- case PhysicsServer::BODY_PARAM_MASS: {
+ case PhysicsServer3D::BODY_PARAM_MASS: {
ERR_FAIL_COND(p_value < 0);
mass = p_value;
_internal_set_mass(p_value);
break;
}
- case PhysicsServer::BODY_PARAM_LINEAR_DAMP:
+ case PhysicsServer3D::BODY_PARAM_LINEAR_DAMP:
linearDamp = p_value;
btBody->setDamping(linearDamp, angularDamp);
break;
- case PhysicsServer::BODY_PARAM_ANGULAR_DAMP:
+ case PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP:
angularDamp = p_value;
btBody->setDamping(linearDamp, angularDamp);
break;
- case PhysicsServer::BODY_PARAM_GRAVITY_SCALE:
+ case PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE:
gravity_scale = p_value;
/// The Bullet gravity will be is set by reload_space_override_modificator
scratch_space_override_modificator();
@@ -519,21 +519,21 @@ void RigidBodyBullet::set_param(PhysicsServer::BodyParameter p_param, real_t p_v
}
}
-real_t RigidBodyBullet::get_param(PhysicsServer::BodyParameter p_param) const {
+real_t RigidBodyBullet::get_param(PhysicsServer3D::BodyParameter p_param) const {
switch (p_param) {
- case PhysicsServer::BODY_PARAM_BOUNCE:
+ case PhysicsServer3D::BODY_PARAM_BOUNCE:
return btBody->getRestitution();
- case PhysicsServer::BODY_PARAM_FRICTION:
+ case PhysicsServer3D::BODY_PARAM_FRICTION:
return btBody->getFriction();
- case PhysicsServer::BODY_PARAM_MASS: {
+ case PhysicsServer3D::BODY_PARAM_MASS: {
const btScalar invMass = btBody->getInvMass();
return 0 == invMass ? 0 : 1 / invMass;
}
- case PhysicsServer::BODY_PARAM_LINEAR_DAMP:
+ case PhysicsServer3D::BODY_PARAM_LINEAR_DAMP:
return linearDamp;
- case PhysicsServer::BODY_PARAM_ANGULAR_DAMP:
+ case PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP:
return angularDamp;
- case PhysicsServer::BODY_PARAM_GRAVITY_SCALE:
+ case PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE:
return gravity_scale;
default:
WARN_PRINT("Parameter " + itos(p_param) + " not supported by bullet");
@@ -541,31 +541,31 @@ real_t RigidBodyBullet::get_param(PhysicsServer::BodyParameter p_param) const {
}
}
-void RigidBodyBullet::set_mode(PhysicsServer::BodyMode p_mode) {
+void RigidBodyBullet::set_mode(PhysicsServer3D::BodyMode p_mode) {
// This is necessary to block force_integration untile next move
can_integrate_forces = false;
destroy_kinematic_utilities();
// The mode change is relevant to its mass
switch (p_mode) {
- case PhysicsServer::BODY_MODE_KINEMATIC:
- mode = PhysicsServer::BODY_MODE_KINEMATIC;
+ case PhysicsServer3D::BODY_MODE_KINEMATIC:
+ mode = PhysicsServer3D::BODY_MODE_KINEMATIC;
reload_axis_lock();
_internal_set_mass(0);
init_kinematic_utilities();
break;
- case PhysicsServer::BODY_MODE_STATIC:
- mode = PhysicsServer::BODY_MODE_STATIC;
+ case PhysicsServer3D::BODY_MODE_STATIC:
+ mode = PhysicsServer3D::BODY_MODE_STATIC;
reload_axis_lock();
_internal_set_mass(0);
break;
- case PhysicsServer::BODY_MODE_RIGID:
- mode = PhysicsServer::BODY_MODE_RIGID;
+ case PhysicsServer3D::BODY_MODE_RIGID:
+ mode = PhysicsServer3D::BODY_MODE_RIGID;
reload_axis_lock();
_internal_set_mass(0 == mass ? 1 : mass);
scratch_space_override_modificator();
break;
- case PhysicsServer::BODY_MODE_CHARACTER:
- mode = PhysicsServer::BODY_MODE_CHARACTER;
+ case PhysicsServer3D::BODY_MODE_CHARACTER:
+ mode = PhysicsServer3D::BODY_MODE_CHARACTER;
reload_axis_lock();
_internal_set_mass(0 == mass ? 1 : mass);
scratch_space_override_modificator();
@@ -575,26 +575,26 @@ void RigidBodyBullet::set_mode(PhysicsServer::BodyMode p_mode) {
btBody->setAngularVelocity(btVector3(0, 0, 0));
btBody->setLinearVelocity(btVector3(0, 0, 0));
}
-PhysicsServer::BodyMode RigidBodyBullet::get_mode() const {
+PhysicsServer3D::BodyMode RigidBodyBullet::get_mode() const {
return mode;
}
-void RigidBodyBullet::set_state(PhysicsServer::BodyState p_state, const Variant &p_variant) {
+void RigidBodyBullet::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant) {
switch (p_state) {
- case PhysicsServer::BODY_STATE_TRANSFORM:
+ case PhysicsServer3D::BODY_STATE_TRANSFORM:
set_transform(p_variant);
break;
- case PhysicsServer::BODY_STATE_LINEAR_VELOCITY:
+ case PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY:
set_linear_velocity(p_variant);
break;
- case PhysicsServer::BODY_STATE_ANGULAR_VELOCITY:
+ case PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY:
set_angular_velocity(p_variant);
break;
- case PhysicsServer::BODY_STATE_SLEEPING:
+ case PhysicsServer3D::BODY_STATE_SLEEPING:
set_activation_state(!bool(p_variant));
break;
- case PhysicsServer::BODY_STATE_CAN_SLEEP:
+ case PhysicsServer3D::BODY_STATE_CAN_SLEEP:
can_sleep = bool(p_variant);
if (!can_sleep) {
// Can't sleep
@@ -606,17 +606,17 @@ void RigidBodyBullet::set_state(PhysicsServer::BodyState p_state, const Variant
}
}
-Variant RigidBodyBullet::get_state(PhysicsServer::BodyState p_state) const {
+Variant RigidBodyBullet::get_state(PhysicsServer3D::BodyState p_state) const {
switch (p_state) {
- case PhysicsServer::BODY_STATE_TRANSFORM:
+ case PhysicsServer3D::BODY_STATE_TRANSFORM:
return get_transform();
- case PhysicsServer::BODY_STATE_LINEAR_VELOCITY:
+ case PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY:
return get_linear_velocity();
- case PhysicsServer::BODY_STATE_ANGULAR_VELOCITY:
+ case PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY:
return get_angular_velocity();
- case PhysicsServer::BODY_STATE_SLEEPING:
+ case PhysicsServer3D::BODY_STATE_SLEEPING:
return !is_active();
- case PhysicsServer::BODY_STATE_CAN_SLEEP:
+ case PhysicsServer3D::BODY_STATE_CAN_SLEEP:
return can_sleep;
default:
WARN_PRINT("This state " + itos(p_state) + " is not supported by Bullet");
@@ -714,7 +714,7 @@ Vector3 RigidBodyBullet::get_applied_torque() const {
return gTotTorq;
}
-void RigidBodyBullet::set_axis_lock(PhysicsServer::BodyAxis p_axis, bool lock) {
+void RigidBodyBullet::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool lock) {
if (lock) {
locked_axis |= p_axis;
} else {
@@ -724,18 +724,18 @@ void RigidBodyBullet::set_axis_lock(PhysicsServer::BodyAxis p_axis, bool lock) {
reload_axis_lock();
}
-bool RigidBodyBullet::is_axis_locked(PhysicsServer::BodyAxis p_axis) const {
+bool RigidBodyBullet::is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const {
return locked_axis & p_axis;
}
void RigidBodyBullet::reload_axis_lock() {
- btBody->setLinearFactor(btVector3(float(!is_axis_locked(PhysicsServer::BODY_AXIS_LINEAR_X)), float(!is_axis_locked(PhysicsServer::BODY_AXIS_LINEAR_Y)), float(!is_axis_locked(PhysicsServer::BODY_AXIS_LINEAR_Z))));
- if (PhysicsServer::BODY_MODE_CHARACTER == mode) {
+ btBody->setLinearFactor(btVector3(float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_X)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Y)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Z))));
+ if (PhysicsServer3D::BODY_MODE_CHARACTER == mode) {
/// When character angular is always locked
btBody->setAngularFactor(btVector3(0., 0., 0.));
} else {
- btBody->setAngularFactor(btVector3(float(!is_axis_locked(PhysicsServer::BODY_AXIS_ANGULAR_X)), float(!is_axis_locked(PhysicsServer::BODY_AXIS_ANGULAR_Y)), float(!is_axis_locked(PhysicsServer::BODY_AXIS_ANGULAR_Z))));
+ btBody->setAngularFactor(btVector3(float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_X)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Y)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_ANGULAR_Z))));
}
}
@@ -794,7 +794,7 @@ Vector3 RigidBodyBullet::get_angular_velocity() const {
}
void RigidBodyBullet::set_transform__bullet(const btTransform &p_global_transform) {
- if (mode == PhysicsServer::BODY_MODE_KINEMATIC) {
+ if (mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
if (space && space->get_delta_time() != 0)
btBody->setLinearVelocity((p_global_transform.getOrigin() - btBody->getWorldTransform().getOrigin()) / space->get_delta_time());
// The kinematic use MotionState class
@@ -862,7 +862,7 @@ void RigidBodyBullet::on_enter_area(AreaBullet *p_area) {
}
}
}
- if (PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED != p_area->get_spOv_mode()) {
+ if (PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED != p_area->get_spOv_mode()) {
scratch_space_override_modificator();
}
@@ -895,7 +895,7 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
--areaWhereIamCount;
areasWhereIam.write[areaWhereIamCount] = NULL; // Even if this is not required, I clear the last element to be safe
- if (PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED != p_area->get_spOv_mode()) {
+ if (PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED != p_area->get_spOv_mode()) {
scratch_space_override_modificator();
}
}
@@ -904,7 +904,7 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
void RigidBodyBullet::reload_space_override_modificator() {
// Make sure that kinematic bodies have their total gravity calculated
- if (!is_active() && PhysicsServer::BODY_MODE_KINEMATIC != mode)
+ if (!is_active() && PhysicsServer3D::BODY_MODE_KINEMATIC != mode)
return;
Vector3 newGravity(space->get_gravity_direction() * space->get_gravity_magnitude());
@@ -920,7 +920,7 @@ void RigidBodyBullet::reload_space_override_modificator() {
currentArea = areasWhereIam[i];
- if (!currentArea || PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED == currentArea->get_spOv_mode()) {
+ if (!currentArea || PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED == currentArea->get_spOv_mode()) {
continue;
}
@@ -954,11 +954,11 @@ void RigidBodyBullet::reload_space_override_modificator() {
}
switch (currentArea->get_spOv_mode()) {
- case PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED:
+ case PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED:
/// This area does not affect gravity/damp. These are generally areas
/// that exist only to detect collisions, and objects entering or exiting them.
break;
- case PhysicsServer::AREA_SPACE_OVERRIDE_COMBINE:
+ case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE:
/// This area adds its gravity/damp values to whatever has been
/// calculated so far. This way, many overlapping areas can combine
/// their physics to make interesting
@@ -967,7 +967,7 @@ void RigidBodyBullet::reload_space_override_modificator() {
newAngularDamp += currentArea->get_spOv_angularDamp();
++countCombined;
break;
- case PhysicsServer::AREA_SPACE_OVERRIDE_COMBINE_REPLACE:
+ case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE:
/// This area adds its gravity/damp values to whatever has been calculated
/// so far. Then stops taking into account the rest of the areas, even the
/// default one.
@@ -976,7 +976,7 @@ void RigidBodyBullet::reload_space_override_modificator() {
newAngularDamp += currentArea->get_spOv_angularDamp();
++countCombined;
goto endAreasCycle;
- case PhysicsServer::AREA_SPACE_OVERRIDE_REPLACE:
+ case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE:
/// This area replaces any gravity/damp, even the default one, and
/// stops taking into account the rest of the areas.
newGravity = support_gravity;
@@ -984,7 +984,7 @@ void RigidBodyBullet::reload_space_override_modificator() {
newAngularDamp = currentArea->get_spOv_angularDamp();
countCombined = 1;
goto endAreasCycle;
- case PhysicsServer::AREA_SPACE_OVERRIDE_REPLACE_COMBINE:
+ case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE:
/// This area replaces any gravity/damp calculated so far, but keeps
/// calculating the rest of the areas, down to the default one.
newGravity = support_gravity;
@@ -1032,14 +1032,14 @@ void RigidBodyBullet::_internal_set_mass(real_t p_mass) {
const bool isDynamic = p_mass != 0.f;
if (isDynamic) {
- if (PhysicsServer::BODY_MODE_RIGID != mode && PhysicsServer::BODY_MODE_CHARACTER != mode)
+ if (PhysicsServer3D::BODY_MODE_RIGID != mode && PhysicsServer3D::BODY_MODE_CHARACTER != mode)
return;
m_isStatic = false;
if (mainShape)
mainShape->calculateLocalInertia(p_mass, localInertia);
- if (PhysicsServer::BODY_MODE_RIGID == mode) {
+ if (PhysicsServer3D::BODY_MODE_RIGID == mode) {
btBody->setCollisionFlags(clearedCurrentFlags); // Just set the flags without Kin and Static
} else {
@@ -1054,11 +1054,11 @@ void RigidBodyBullet::_internal_set_mass(real_t p_mass) {
}
} else {
- if (PhysicsServer::BODY_MODE_STATIC != mode && PhysicsServer::BODY_MODE_KINEMATIC != mode)
+ if (PhysicsServer3D::BODY_MODE_STATIC != mode && PhysicsServer3D::BODY_MODE_KINEMATIC != mode)
return;
m_isStatic = true;
- if (PhysicsServer::BODY_MODE_STATIC == mode) {
+ if (PhysicsServer3D::BODY_MODE_STATIC == mode) {
btBody->setCollisionFlags(clearedCurrentFlags | btCollisionObject::CF_STATIC_OBJECT);
} else {
generated by cgit v1.2.3 (git 2.25.1) at 2025-04-13 22:16:52 +0000