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-rw-r--r--scene/3d/physics_body.cpp202
1 files changed, 92 insertions, 110 deletions
diff --git a/scene/3d/physics_body.cpp b/scene/3d/physics_body.cpp
index a107c3bf7a..a1a221b5bb 100644
--- a/scene/3d/physics_body.cpp
+++ b/scene/3d/physics_body.cpp
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */
+/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
@@ -1014,7 +1014,7 @@ void RigidBody::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::REAL, "gravity_scale", PROPERTY_HINT_RANGE, "-128,128,0.01"), "set_gravity_scale", "get_gravity_scale");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "custom_integrator"), "set_use_custom_integrator", "is_using_custom_integrator");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "continuous_cd"), "set_use_continuous_collision_detection", "is_using_continuous_collision_detection");
- ADD_PROPERTY(PropertyInfo(Variant::INT, "contacts_reported"), "set_max_contacts_reported", "get_max_contacts_reported");
+ ADD_PROPERTY(PropertyInfo(Variant::INT, "contacts_reported", PROPERTY_HINT_RANGE, "0,64,1,or_greater"), "set_max_contacts_reported", "get_max_contacts_reported");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "contact_monitor"), "set_contact_monitor", "is_contact_monitor_enabled");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sleeping"), "set_sleeping", "is_sleeping");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "can_sleep"), "set_can_sleep", "is_able_to_sleep");
@@ -1140,27 +1140,28 @@ bool KinematicBody::move_and_collide(const Vector3 &p_motion, bool p_infinite_in
//so, if you pass 45 as limit, avoid numerical precision errors when angle is 45.
#define FLOOR_ANGLE_THRESHOLD 0.01
-Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_floor_direction, bool p_stop_on_slope, int p_max_slides, float p_floor_max_angle, bool p_infinite_inertia) {
+Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_up_direction, bool p_stop_on_slope, int p_max_slides, float p_floor_max_angle, bool p_infinite_inertia) {
- Vector3 lv = p_linear_velocity;
+ Vector3 body_velocity = p_linear_velocity;
+ Vector3 body_velocity_normal = body_velocity.normalized();
for (int i = 0; i < 3; i++) {
if (locked_axis & (1 << i)) {
- lv[i] = 0;
+ body_velocity[i] = 0;
}
}
// Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky
- Vector3 motion = (floor_velocity + lv) * (Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time());
+ Vector3 motion = (floor_velocity + body_velocity) * (Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time());
on_floor = false;
+ on_floor_body = RID();
on_ceiling = false;
on_wall = false;
colliders.clear();
+ floor_normal = Vector3();
floor_velocity = Vector3();
- Vector3 lv_n = p_linear_velocity.normalized();
-
while (p_max_slides) {
Collision collision;
@@ -1187,47 +1188,38 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve
colliders.push_back(collision);
motion = collision.remainder;
- bool is_on_slope = false;
- if (p_floor_direction == Vector3()) {
+ if (p_up_direction == Vector3()) {
//all is a wall
on_wall = true;
} else {
- if (Math::acos(collision.normal.dot(p_floor_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //floor
+ if (Math::acos(collision.normal.dot(p_up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //floor
on_floor = true;
+ floor_normal = collision.normal;
on_floor_body = collision.collider_rid;
floor_velocity = collision.collider_vel;
if (p_stop_on_slope) {
- if ((lv_n + p_floor_direction).length() < 0.01 && collision.travel.length() < 1) {
+ if ((body_velocity_normal + p_up_direction).length() < 0.01 && collision.travel.length() < 1) {
Transform gt = get_global_transform();
- gt.origin -= collision.travel.slide(p_floor_direction);
+ gt.origin -= collision.travel.slide(p_up_direction);
set_global_transform(gt);
return Vector3();
}
}
-
- is_on_slope = true;
-
- } else if (Math::acos(collision.normal.dot(-p_floor_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //ceiling
+ } else if (Math::acos(collision.normal.dot(-p_up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //ceiling
on_ceiling = true;
} else {
on_wall = true;
}
}
- if (p_stop_on_slope && is_on_slope) {
- motion = motion.slide(p_floor_direction);
- lv = lv.slide(p_floor_direction);
- } else {
- Vector3 n = collision.normal;
- motion = motion.slide(n);
- lv = lv.slide(n);
- }
+ motion = motion.slide(collision.normal);
+ body_velocity = body_velocity.slide(collision.normal);
for (int j = 0; j < 3; j++) {
if (locked_axis & (1 << j)) {
- lv[j] = 0;
+ body_velocity[j] = 0;
}
}
}
@@ -1239,14 +1231,14 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve
--p_max_slides;
}
- return lv;
+ return body_velocity;
}
-Vector3 KinematicBody::move_and_slide_with_snap(const Vector3 &p_linear_velocity, const Vector3 &p_snap, const Vector3 &p_floor_direction, bool p_stop_on_slope, int p_max_slides, float p_floor_max_angle, bool p_infinite_inertia) {
+Vector3 KinematicBody::move_and_slide_with_snap(const Vector3 &p_linear_velocity, const Vector3 &p_snap, const Vector3 &p_up_direction, bool p_stop_on_slope, int p_max_slides, float p_floor_max_angle, bool p_infinite_inertia) {
bool was_on_floor = on_floor;
- Vector3 ret = move_and_slide(p_linear_velocity, p_floor_direction, p_stop_on_slope, p_max_slides, p_floor_max_angle, p_infinite_inertia);
+ Vector3 ret = move_and_slide(p_linear_velocity, p_up_direction, p_stop_on_slope, p_max_slides, p_floor_max_angle, p_infinite_inertia);
if (!was_on_floor || p_snap == Vector3()) {
return ret;
}
@@ -1257,15 +1249,16 @@ Vector3 KinematicBody::move_and_slide_with_snap(const Vector3 &p_linear_velocity
if (move_and_collide(p_snap, p_infinite_inertia, col, false, true)) {
bool apply = true;
- if (p_floor_direction != Vector3()) {
- if (Math::acos(p_floor_direction.normalized().dot(col.normal)) < p_floor_max_angle) {
+ if (p_up_direction != Vector3()) {
+ if (Math::acos(p_up_direction.normalized().dot(col.normal)) < p_floor_max_angle) {
on_floor = true;
+ floor_normal = col.normal;
on_floor_body = col.collider_rid;
floor_velocity = col.collider_vel;
if (p_stop_on_slope) {
// move and collide may stray the object a bit because of pre un-stucking,
// so only ensure that motion happens on floor direction in this case.
- col.travel = col.travel.project(p_floor_direction);
+ col.travel = col.travel.project(p_up_direction);
}
} else {
apply = false; //snapped with floor direction, but did not snap to a floor, do not snap.
@@ -1294,6 +1287,11 @@ bool KinematicBody::is_on_ceiling() const {
return on_ceiling;
}
+Vector3 KinematicBody::get_floor_normal() const {
+
+ return floor_normal;
+}
+
Vector3 KinematicBody::get_floor_velocity() const {
return floor_velocity;
@@ -1402,14 +1400,15 @@ void KinematicBody::_notification(int p_what) {
void KinematicBody::_bind_methods() {
ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "infinite_inertia", "exclude_raycast_shapes", "test_only"), &KinematicBody::_move, DEFVAL(true), DEFVAL(true), DEFVAL(false));
- ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "floor_normal", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody::move_and_slide, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)), DEFVAL(true));
- ClassDB::bind_method(D_METHOD("move_and_slide_with_snap", "linear_velocity", "snap", "floor_normal", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody::move_and_slide_with_snap, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)), DEFVAL(true));
+ ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "up_direction", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody::move_and_slide, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)), DEFVAL(true));
+ ClassDB::bind_method(D_METHOD("move_and_slide_with_snap", "linear_velocity", "snap", "up_direction", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody::move_and_slide_with_snap, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)), DEFVAL(true));
ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec", "infinite_inertia"), &KinematicBody::test_move, DEFVAL(true));
ClassDB::bind_method(D_METHOD("is_on_floor"), &KinematicBody::is_on_floor);
ClassDB::bind_method(D_METHOD("is_on_ceiling"), &KinematicBody::is_on_ceiling);
ClassDB::bind_method(D_METHOD("is_on_wall"), &KinematicBody::is_on_wall);
+ ClassDB::bind_method(D_METHOD("get_floor_normal"), &KinematicBody::get_floor_normal);
ClassDB::bind_method(D_METHOD("get_floor_velocity"), &KinematicBody::get_floor_velocity);
ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &KinematicBody::set_axis_lock);
@@ -1555,6 +1554,32 @@ bool PhysicalBone::JointData::_get(const StringName &p_name, Variant &r_ret) con
void PhysicalBone::JointData::_get_property_list(List<PropertyInfo> *p_list) const {
}
+void PhysicalBone::apply_central_impulse(const Vector3 &p_impulse) {
+ PhysicsServer::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse);
+}
+
+void PhysicalBone::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) {
+ PhysicsServer::get_singleton()->body_apply_impulse(get_rid(), p_pos, p_impulse);
+}
+
+void PhysicalBone::reset_physics_simulation_state() {
+ if (simulate_physics) {
+ _start_physics_simulation();
+ } else {
+ _stop_physics_simulation();
+ }
+}
+
+void PhysicalBone::reset_to_rest_position() {
+ if (parent_skeleton) {
+ if (-1 == bone_id) {
+ set_global_transform(parent_skeleton->get_global_transform() * body_offset);
+ } else {
+ set_global_transform(parent_skeleton->get_global_transform() * parent_skeleton->get_bone_global_pose(bone_id) * body_offset);
+ }
+ }
+}
+
bool PhysicalBone::PinJointData::_set(const StringName &p_name, const Variant &p_value, RID j) {
if (JointData::_set(p_name, p_value, j)) {
return true;
@@ -2160,7 +2185,10 @@ void PhysicalBone::_notification(int p_what) {
parent_skeleton = find_skeleton_parent(get_parent());
update_bone_id();
reset_to_rest_position();
- _reset_physics_simulation_state();
+ reset_physics_simulation_state();
+ if (!joint.is_valid() && joint_data) {
+ _reload_joint();
+ }
break;
case NOTIFICATION_EXIT_TREE:
if (parent_skeleton) {
@@ -2169,7 +2197,10 @@ void PhysicalBone::_notification(int p_what) {
}
}
parent_skeleton = NULL;
- update_bone_id();
+ if (joint.is_valid()) {
+ PhysicsServer::get_singleton()->free(joint);
+ joint = RID();
+ }
break;
case NOTIFICATION_TRANSFORM_CHANGED:
if (Engine::get_singleton()->is_editor_hint()) {
@@ -2211,6 +2242,9 @@ void PhysicalBone::_direct_state_changed(Object *p_state) {
}
void PhysicalBone::_bind_methods() {
+ ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &PhysicalBone::apply_central_impulse);
+ ClassDB::bind_method(D_METHOD("apply_impulse", "position", "impulse"), &PhysicalBone::apply_impulse);
+
ClassDB::bind_method(D_METHOD("_direct_state_changed"), &PhysicalBone::_direct_state_changed);
ClassDB::bind_method(D_METHOD("set_joint_type", "joint_type"), &PhysicalBone::set_joint_type);
@@ -2222,8 +2256,6 @@ void PhysicalBone::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_body_offset", "offset"), &PhysicalBone::set_body_offset);
ClassDB::bind_method(D_METHOD("get_body_offset"), &PhysicalBone::get_body_offset);
- ClassDB::bind_method(D_METHOD("is_static_body"), &PhysicalBone::is_static_body);
-
ClassDB::bind_method(D_METHOD("get_simulate_physics"), &PhysicalBone::get_simulate_physics);
ClassDB::bind_method(D_METHOD("is_simulating_physics"), &PhysicalBone::is_simulating_physics);
@@ -2492,26 +2524,13 @@ const Transform &PhysicalBone::get_joint_offset() const {
return joint_offset;
}
-void PhysicalBone::set_static_body(bool p_static) {
-
- static_body = p_static;
-
- set_as_toplevel(!static_body);
-
- _reset_physics_simulation_state();
-}
-
-bool PhysicalBone::is_static_body() {
- return static_body;
-}
-
void PhysicalBone::set_simulate_physics(bool p_simulate) {
if (simulate_physics == p_simulate) {
return;
}
simulate_physics = p_simulate;
- _reset_physics_simulation_state();
+ reset_physics_simulation_state();
}
bool PhysicalBone::get_simulate_physics() {
@@ -2519,7 +2538,7 @@ bool PhysicalBone::get_simulate_physics() {
}
bool PhysicalBone::is_simulating_physics() {
- return _internal_simulate_physics && !_internal_static_body;
+ return _internal_simulate_physics;
}
void PhysicalBone::set_bone_name(const String &p_name) {
@@ -2602,8 +2621,6 @@ PhysicalBone::PhysicalBone() :
#endif
joint_data(NULL),
parent_skeleton(NULL),
- static_body(false),
- _internal_static_body(false),
simulate_physics(false),
_internal_simulate_physics(false),
bone_id(-1),
@@ -2613,8 +2630,7 @@ PhysicalBone::PhysicalBone() :
friction(1),
gravity_scale(1) {
- set_static_body(static_body);
- _reset_physics_simulation_state();
+ reset_physics_simulation_state();
}
PhysicalBone::~PhysicalBone() {
@@ -2641,8 +2657,7 @@ void PhysicalBone::update_bone_id() {
parent_skeleton->bind_physical_bone_to_bone(bone_id, this);
_fix_joint_offset();
- _internal_static_body = !static_body; // Force staticness reset
- _reset_staticness_state();
+ reset_physics_simulation_state();
}
}
@@ -2664,49 +2679,6 @@ void PhysicalBone::update_offset() {
#endif
}
-void PhysicalBone::reset_to_rest_position() {
- if (parent_skeleton) {
- if (-1 == bone_id) {
- set_global_transform(parent_skeleton->get_global_transform() * body_offset);
- } else {
- set_global_transform(parent_skeleton->get_global_transform() * parent_skeleton->get_bone_global_pose(bone_id) * body_offset);
- }
- }
-}
-
-void PhysicalBone::_reset_physics_simulation_state() {
- if (simulate_physics && !static_body) {
- _start_physics_simulation();
- } else {
- _stop_physics_simulation();
- }
-
- _reset_staticness_state();
-}
-
-void PhysicalBone::_reset_staticness_state() {
-
- if (parent_skeleton && -1 != bone_id) {
- if (static_body && simulate_physics) { // With this check I'm sure the position of this body is updated only when it's necessary
-
- if (_internal_static_body) {
- return;
- }
-
- parent_skeleton->bind_child_node_to_bone(bone_id, this);
- _internal_static_body = true;
- } else {
-
- if (!_internal_static_body) {
- return;
- }
-
- parent_skeleton->unbind_child_node_from_bone(bone_id, this);
- _internal_static_body = false;
- }
- }
-}
-
void PhysicalBone::_start_physics_simulation() {
if (_internal_simulate_physics || !parent_skeleton) {
return;
@@ -2716,17 +2688,27 @@ void PhysicalBone::_start_physics_simulation() {
PhysicsServer::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer());
PhysicsServer::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask());
PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed");
+ set_as_toplevel(true);
_internal_simulate_physics = true;
}
void PhysicalBone::_stop_physics_simulation() {
- if (!_internal_simulate_physics || !parent_skeleton) {
+ if (!parent_skeleton) {
return;
}
- PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_STATIC);
- PhysicsServer::get_singleton()->body_set_collision_layer(get_rid(), 0);
- PhysicsServer::get_singleton()->body_set_collision_mask(get_rid(), 0);
- PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(), NULL, "");
- parent_skeleton->set_bone_global_pose_override(bone_id, Transform(), 0.0, false);
- _internal_simulate_physics = false;
+ if (parent_skeleton->get_animate_physical_bones()) {
+ PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_KINEMATIC);
+ PhysicsServer::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer());
+ PhysicsServer::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask());
+ } else {
+ PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_STATIC);
+ PhysicsServer::get_singleton()->body_set_collision_layer(get_rid(), 0);
+ PhysicsServer::get_singleton()->body_set_collision_mask(get_rid(), 0);
+ }
+ if (_internal_simulate_physics) {
+ PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(), NULL, "");
+ parent_skeleton->set_bone_global_pose_override(bone_id, Transform(), 0.0, false);
+ set_as_toplevel(false);
+ _internal_simulate_physics = false;
+ }
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-12 15:39:36 +0000