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.cpp60
1 files changed, 40 insertions, 20 deletions
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index f263893287..2fca7fe633 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -283,8 +283,9 @@ RigidBodyBullet::RigidBodyBullet() :
RigidBodyBullet::~RigidBodyBullet() {
bulletdelete(godotMotionState);
- if (force_integration_callback)
+ if (force_integration_callback) {
memdelete(force_integration_callback);
+ }
destroy_kinematic_utilities();
}
@@ -309,8 +310,9 @@ void RigidBodyBullet::main_shape_changed() {
void RigidBodyBullet::reload_body() {
if (space) {
space->remove_rigid_body(this);
- if (get_main_shape())
+ if (get_main_shape()) {
space->add_rigid_body(this);
+ }
}
}
@@ -336,8 +338,9 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) {
void RigidBodyBullet::dispatch_callbacks() {
/// The check isFirstTransformChanged is necessary in order to call integrated forces only when the first transform is sent
if ((btBody->isKinematicObject() || btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && can_integrate_forces) {
- if (omit_forces_integration)
+ if (omit_forces_integration) {
btBody->clearForces();
+ }
BulletPhysicsDirectBodyState3D *bodyDirect = BulletPhysicsDirectBodyState3D::get_singleton(this);
@@ -431,8 +434,9 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const
bool RigidBodyBullet::was_colliding(RigidBodyBullet *p_other_object) {
for (int i = prev_collision_count - 1; 0 <= i; --i) {
- if ((*prev_collision_traces)[i] == p_other_object)
+ if ((*prev_collision_traces)[i] == p_other_object) {
return true;
+ }
}
return false;
}
@@ -607,8 +611,9 @@ Variant RigidBodyBullet::get_state(PhysicsServer3D::BodyState p_state) const {
void RigidBodyBullet::apply_central_impulse(const Vector3 &p_impulse) {
btVector3 btImpu;
G_TO_B(p_impulse, btImpu);
- if (Vector3() != p_impulse)
+ if (Vector3() != p_impulse) {
btBody->activate();
+ }
btBody->applyCentralImpulse(btImpu);
}
@@ -617,16 +622,18 @@ void RigidBodyBullet::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impul
btVector3 btPos;
G_TO_B(p_impulse, btImpu);
G_TO_B(p_pos, btPos);
- if (Vector3() != p_impulse)
+ if (Vector3() != p_impulse) {
btBody->activate();
+ }
btBody->applyImpulse(btImpu, btPos);
}
void RigidBodyBullet::apply_torque_impulse(const Vector3 &p_impulse) {
btVector3 btImp;
G_TO_B(p_impulse, btImp);
- if (Vector3() != p_impulse)
+ if (Vector3() != p_impulse) {
btBody->activate();
+ }
btBody->applyTorqueImpulse(btImp);
}
@@ -635,32 +642,36 @@ void RigidBodyBullet::apply_force(const Vector3 &p_force, const Vector3 &p_pos)
btVector3 btPos;
G_TO_B(p_force, btForce);
G_TO_B(p_pos, btPos);
- if (Vector3() != p_force)
+ if (Vector3() != p_force) {
btBody->activate();
+ }
btBody->applyForce(btForce, btPos);
}
void RigidBodyBullet::apply_central_force(const Vector3 &p_force) {
btVector3 btForce;
G_TO_B(p_force, btForce);
- if (Vector3() != p_force)
+ if (Vector3() != p_force) {
btBody->activate();
+ }
btBody->applyCentralForce(btForce);
}
void RigidBodyBullet::apply_torque(const Vector3 &p_torque) {
btVector3 btTorq;
G_TO_B(p_torque, btTorq);
- if (Vector3() != p_torque)
+ if (Vector3() != p_torque) {
btBody->activate();
+ }
btBody->applyTorque(btTorq);
}
void RigidBodyBullet::set_applied_force(const Vector3 &p_force) {
btVector3 btVec = btBody->getTotalTorque();
- if (Vector3() != p_force)
+ if (Vector3() != p_force) {
btBody->activate();
+ }
btBody->clearForces();
btBody->applyTorque(btVec);
@@ -678,8 +689,9 @@ Vector3 RigidBodyBullet::get_applied_force() const {
void RigidBodyBullet::set_applied_torque(const Vector3 &p_torque) {
btVector3 btVec = btBody->getTotalForce();
- if (Vector3() != p_torque)
+ if (Vector3() != p_torque) {
btBody->activate();
+ }
btBody->clearForces();
btBody->applyCentralForce(btVec);
@@ -747,8 +759,9 @@ bool RigidBodyBullet::is_continuous_collision_detection_enabled() const {
void RigidBodyBullet::set_linear_velocity(const Vector3 &p_velocity) {
btVector3 btVec;
G_TO_B(p_velocity, btVec);
- if (Vector3() != p_velocity)
+ if (Vector3() != p_velocity) {
btBody->activate();
+ }
btBody->setLinearVelocity(btVec);
}
@@ -761,8 +774,9 @@ Vector3 RigidBodyBullet::get_linear_velocity() const {
void RigidBodyBullet::set_angular_velocity(const Vector3 &p_velocity) {
btVector3 btVec;
G_TO_B(p_velocity, btVec);
- if (Vector3() != p_velocity)
+ if (Vector3() != p_velocity) {
btBody->activate();
+ }
btBody->setAngularVelocity(btVec);
}
@@ -774,8 +788,9 @@ Vector3 RigidBodyBullet::get_angular_velocity() const {
void RigidBodyBullet::set_transform__bullet(const btTransform &p_global_transform) {
if (mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
- if (space && space->get_delta_time() != 0)
+ 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
godotMotionState->moveBody(p_global_transform);
} else {
@@ -804,8 +819,9 @@ void RigidBodyBullet::reload_shapes() {
// shapes incorrectly do not set the vector in calculateLocalIntertia.
// Arbitrary zero is preferable to undefined behaviour.
btVector3 inertia(0, 0, 0);
- if (EMPTY_SHAPE_PROXYTYPE != mainShape->getShapeType()) // Necessary to avoid assertion of the empty shape
+ if (EMPTY_SHAPE_PROXYTYPE != mainShape->getShapeType()) { // Necessary to avoid assertion of the empty shape
mainShape->calculateLocalInertia(mass, inertia);
+ }
btBody->setMassProps(mass, inertia);
}
btBody->updateInertiaTensor();
@@ -879,8 +895,9 @@ 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() && PhysicsServer3D::BODY_MODE_KINEMATIC != mode)
+ if (!is_active() && PhysicsServer3D::BODY_MODE_KINEMATIC != mode) {
return;
+ }
Vector3 newGravity(0.0, 0.0, 0.0);
real_t newLinearDamp = MAX(0.0, linearDamp);
@@ -1001,12 +1018,14 @@ void RigidBodyBullet::_internal_set_mass(real_t p_mass) {
// Rigidbody is dynamic if and only if mass is non Zero, otherwise static
const bool isDynamic = p_mass != 0.f;
if (isDynamic) {
- if (PhysicsServer3D::BODY_MODE_RIGID != mode && PhysicsServer3D::BODY_MODE_CHARACTER != mode)
+ if (PhysicsServer3D::BODY_MODE_RIGID != mode && PhysicsServer3D::BODY_MODE_CHARACTER != mode) {
return;
+ }
m_isStatic = false;
- if (mainShape)
+ if (mainShape) {
mainShape->calculateLocalInertia(p_mass, localInertia);
+ }
if (PhysicsServer3D::BODY_MODE_RIGID == mode) {
btBody->setCollisionFlags(clearedCurrentFlags); // Just set the flags without Kin and Static
@@ -1020,8 +1039,9 @@ void RigidBodyBullet::_internal_set_mass(real_t p_mass) {
btBody->forceActivationState(DISABLE_DEACTIVATION); // DISABLE_DEACTIVATION 4
}
} else {
- if (PhysicsServer3D::BODY_MODE_STATIC != mode && PhysicsServer3D::BODY_MODE_KINEMATIC != mode)
+ if (PhysicsServer3D::BODY_MODE_STATIC != mode && PhysicsServer3D::BODY_MODE_KINEMATIC != mode) {
return;
+ }
m_isStatic = true;
if (PhysicsServer3D::BODY_MODE_STATIC == mode) {
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-22 01:31:07 +0000