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-rw-r--r--scene/3d/physics_body_3d.cpp110
1 files changed, 80 insertions, 30 deletions
diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp
index c6d7e1df86..c1f5ab1d32 100644
--- a/scene/3d/physics_body_3d.cpp
+++ b/scene/3d/physics_body_3d.cpp
@@ -1169,7 +1169,7 @@ bool CharacterBody3D::move_and_slide() {
for (int i = 0; i < 3; i++) {
if (locked_axis & (1 << i)) {
- motion_velocity[i] = 0.0;
+ velocity[i] = 0.0;
}
}
@@ -1239,7 +1239,7 @@ bool CharacterBody3D::move_and_slide() {
if (moving_platform_apply_velocity_on_leave == PLATFORM_VEL_ON_LEAVE_UPWARD_ONLY && current_platform_velocity.dot(up_direction) < 0) {
current_platform_velocity = current_platform_velocity.slide(up_direction);
}
- motion_velocity += current_platform_velocity;
+ velocity += current_platform_velocity;
}
}
@@ -1247,7 +1247,7 @@ bool CharacterBody3D::move_and_slide() {
}
void CharacterBody3D::_move_and_slide_grounded(double p_delta, bool p_was_on_floor) {
- Vector3 motion = motion_velocity * p_delta;
+ Vector3 motion = velocity * p_delta;
Vector3 motion_slide_up = motion.slide(up_direction);
Vector3 prev_floor_normal = floor_normal;
@@ -1267,7 +1267,7 @@ void CharacterBody3D::_move_and_slide_grounded(double p_delta, bool p_was_on_flo
// If the platform's ceiling push down the body.
bool apply_ceiling_velocity = false;
bool first_slide = true;
- bool vel_dir_facing_up = motion_velocity.dot(up_direction) > 0;
+ bool vel_dir_facing_up = velocity.dot(up_direction) > 0;
Vector3 total_travel;
for (int iteration = 0; iteration < max_slides; ++iteration) {
@@ -1287,26 +1287,26 @@ void CharacterBody3D::_move_and_slide_grounded(double p_delta, bool p_was_on_flo
CollisionState result_state;
_set_collision_direction(result, result_state);
- // If we hit a ceiling platform, we set the vertical motion_velocity to at least the platform one.
+ // If we hit a ceiling platform, we set the vertical velocity to at least the platform one.
if (collision_state.ceiling && platform_ceiling_velocity != Vector3() && platform_ceiling_velocity.dot(up_direction) < 0) {
// If ceiling sliding is on, only apply when the ceiling is flat or when the motion is upward.
if (!slide_on_ceiling || motion.dot(up_direction) < 0 || (ceiling_normal + up_direction).length() < 0.01) {
apply_ceiling_velocity = true;
Vector3 ceiling_vertical_velocity = up_direction * up_direction.dot(platform_ceiling_velocity);
- Vector3 motion_vertical_velocity = up_direction * up_direction.dot(motion_velocity);
+ Vector3 motion_vertical_velocity = up_direction * up_direction.dot(velocity);
if (motion_vertical_velocity.dot(up_direction) > 0 || ceiling_vertical_velocity.length_squared() > motion_vertical_velocity.length_squared()) {
- motion_velocity = ceiling_vertical_velocity + motion_velocity.slide(up_direction);
+ velocity = ceiling_vertical_velocity + velocity.slide(up_direction);
}
}
}
- if (collision_state.floor && floor_stop_on_slope && (motion_velocity.normalized() + up_direction).length() < 0.01) {
+ if (collision_state.floor && floor_stop_on_slope && (velocity.normalized() + up_direction).length() < 0.01) {
Transform3D gt = get_global_transform();
if (result.travel.length() <= margin + CMP_EPSILON) {
gt.origin -= result.travel;
}
set_global_transform(gt);
- motion_velocity = Vector3();
+ velocity = Vector3();
motion = Vector3();
last_motion = Vector3();
break;
@@ -1367,11 +1367,11 @@ void CharacterBody3D::_move_and_slide_grounded(double p_delta, bool p_was_on_flo
// Scales the horizontal velocity according to the wall slope.
if (vel_dir_facing_up) {
- Vector3 slide_motion = motion_velocity.slide(result.collisions[0].normal);
- // Keeps the vertical motion from motion_velocity and add the horizontal motion of the projection.
- motion_velocity = up_direction * up_direction.dot(motion_velocity) + slide_motion.slide(up_direction);
+ Vector3 slide_motion = velocity.slide(result.collisions[0].normal);
+ // Keeps the vertical motion from velocity and add the horizontal motion of the projection.
+ velocity = up_direction * up_direction.dot(velocity) + slide_motion.slide(up_direction);
} else {
- motion_velocity = motion_velocity.slide(forward);
+ velocity = velocity.slide(forward);
}
// Allow only lateral motion along previous floor when already on floor.
@@ -1401,7 +1401,7 @@ void CharacterBody3D::_move_and_slide_grounded(double p_delta, bool p_was_on_flo
if (stop_all_motion) {
motion = Vector3();
- motion_velocity = Vector3();
+ velocity = Vector3();
}
}
}
@@ -1412,7 +1412,7 @@ void CharacterBody3D::_move_and_slide_grounded(double p_delta, bool p_was_on_flo
real_t motion_angle = Math::abs(Math::acos(-horizontal_normal.dot(motion_slide_up.normalized())));
if (motion_angle < wall_min_slide_angle) {
motion = up_direction * motion.dot(up_direction);
- motion_velocity = up_direction * motion_velocity.dot(up_direction);
+ velocity = up_direction * velocity.dot(up_direction);
apply_default_sliding = false;
}
@@ -1437,7 +1437,7 @@ void CharacterBody3D::_move_and_slide_grounded(double p_delta, bool p_was_on_flo
slide_motion *= motion_length;
}
- if (slide_motion.dot(motion_velocity) > 0.0) {
+ if (slide_motion.dot(velocity) > 0.0) {
motion = slide_motion;
} else {
motion = Vector3();
@@ -1446,10 +1446,10 @@ void CharacterBody3D::_move_and_slide_grounded(double p_delta, bool p_was_on_flo
if (slide_on_ceiling && result_state.ceiling) {
// Apply slide only in the direction of the input motion, otherwise just stop to avoid jittering when moving against a wall.
if (vel_dir_facing_up) {
- motion_velocity = motion_velocity.slide(collision.normal);
+ velocity = velocity.slide(collision.normal);
} else {
// Avoid acceleration in slope when falling.
- motion_velocity = up_direction * up_direction.dot(motion_velocity);
+ velocity = up_direction * up_direction.dot(velocity);
}
}
}
@@ -1457,7 +1457,7 @@ void CharacterBody3D::_move_and_slide_grounded(double p_delta, bool p_was_on_flo
else {
motion = result.remainder;
if (result_state.ceiling && !slide_on_ceiling && vel_dir_facing_up) {
- motion_velocity = motion_velocity.slide(up_direction);
+ velocity = velocity.slide(up_direction);
motion = motion.slide(up_direction);
}
}
@@ -1502,12 +1502,12 @@ void CharacterBody3D::_move_and_slide_grounded(double p_delta, bool p_was_on_flo
// Reset the gravity accumulation when touching the ground.
if (collision_state.floor && !vel_dir_facing_up) {
- motion_velocity = motion_velocity.slide(up_direction);
+ velocity = velocity.slide(up_direction);
}
}
void CharacterBody3D::_move_and_slide_floating(double p_delta) {
- Vector3 motion = motion_velocity * p_delta;
+ Vector3 motion = velocity * p_delta;
platform_rid = RID();
platform_object_id = ObjectID();
@@ -1534,7 +1534,7 @@ void CharacterBody3D::_move_and_slide_floating(double p_delta) {
break;
}
- if (wall_min_slide_angle != 0 && Math::acos(wall_normal.dot(-motion_velocity.normalized())) < wall_min_slide_angle + FLOOR_ANGLE_THRESHOLD) {
+ if (wall_min_slide_angle != 0 && Math::acos(wall_normal.dot(-velocity.normalized())) < wall_min_slide_angle + FLOOR_ANGLE_THRESHOLD) {
motion = Vector3();
if (result.travel.length() < margin + CMP_EPSILON) {
Transform3D gt = get_global_transform();
@@ -1548,7 +1548,7 @@ void CharacterBody3D::_move_and_slide_floating(double p_delta) {
motion = result.remainder.slide(wall_normal);
}
- if (motion.dot(motion_velocity) <= 0.0) {
+ if (motion.dot(velocity) <= 0.0) {
motion = Vector3();
}
}
@@ -1723,12 +1723,12 @@ real_t CharacterBody3D::get_safe_margin() const {
return margin;
}
-const Vector3 &CharacterBody3D::get_motion_velocity() const {
- return motion_velocity;
+const Vector3 &CharacterBody3D::get_velocity() const {
+ return velocity;
}
-void CharacterBody3D::set_motion_velocity(const Vector3 &p_velocity) {
- motion_velocity = p_velocity;
+void CharacterBody3D::set_velocity(const Vector3 &p_velocity) {
+ velocity = p_velocity;
}
bool CharacterBody3D::is_on_floor() const {
@@ -1943,8 +1943,8 @@ void CharacterBody3D::_notification(int p_what) {
void CharacterBody3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("move_and_slide"), &CharacterBody3D::move_and_slide);
- ClassDB::bind_method(D_METHOD("set_motion_velocity", "motion_velocity"), &CharacterBody3D::set_motion_velocity);
- ClassDB::bind_method(D_METHOD("get_motion_velocity"), &CharacterBody3D::get_motion_velocity);
+ ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &CharacterBody3D::set_velocity);
+ ClassDB::bind_method(D_METHOD("get_velocity"), &CharacterBody3D::get_velocity);
ClassDB::bind_method(D_METHOD("set_safe_margin", "pixels"), &CharacterBody3D::set_safe_margin);
ClassDB::bind_method(D_METHOD("get_safe_margin"), &CharacterBody3D::get_safe_margin);
@@ -1997,7 +1997,7 @@ void CharacterBody3D::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::INT, "motion_mode", PROPERTY_HINT_ENUM, "Grounded,Floating", PROPERTY_USAGE_DEFAULT | PROPERTY_USAGE_UPDATE_ALL_IF_MODIFIED), "set_motion_mode", "get_motion_mode");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "up_direction"), "set_up_direction", "get_up_direction");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "slide_on_ceiling"), "set_slide_on_ceiling_enabled", "is_slide_on_ceiling_enabled");
- ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "motion_velocity", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_motion_velocity", "get_motion_velocity");
+ ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "velocity", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_velocity", "get_velocity");
ADD_PROPERTY(PropertyInfo(Variant::INT, "max_slides", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_max_slides", "get_max_slides");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "wall_min_slide_angle", PROPERTY_HINT_RANGE, "0,180,0.1,radians", PROPERTY_USAGE_DEFAULT), "set_wall_min_slide_angle", "get_wall_min_slide_angle");
ADD_GROUP("Floor", "floor_");
@@ -2159,6 +2159,37 @@ void PhysicalBone3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_po
PhysicsServer3D::get_singleton()->body_apply_impulse(get_rid(), p_impulse, p_position);
}
+void PhysicalBone3D::set_linear_velocity(const Vector3 &p_velocity) {
+ linear_velocity = p_velocity;
+ PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, linear_velocity);
+}
+
+Vector3 PhysicalBone3D::get_linear_velocity() const {
+ return linear_velocity;
+}
+
+void PhysicalBone3D::set_angular_velocity(const Vector3 &p_velocity) {
+ angular_velocity = p_velocity;
+ PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, angular_velocity);
+}
+
+Vector3 PhysicalBone3D::get_angular_velocity() const {
+ return angular_velocity;
+}
+
+void PhysicalBone3D::set_use_custom_integrator(bool p_enable) {
+ if (custom_integrator == p_enable) {
+ return;
+ }
+
+ custom_integrator = p_enable;
+ PhysicsServer3D::get_singleton()->body_set_omit_force_integration(get_rid(), p_enable);
+}
+
+bool PhysicalBone3D::is_using_custom_integrator() {
+ return custom_integrator;
+}
+
void PhysicalBone3D::reset_physics_simulation_state() {
if (simulate_physics) {
_start_physics_simulation();
@@ -2867,6 +2898,11 @@ void PhysicalBone3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) {
return;
}
+ linear_velocity = p_state->get_linear_velocity();
+ angular_velocity = p_state->get_angular_velocity();
+
+ GDVIRTUAL_CALL(_integrate_forces, p_state);
+
/// Update bone transform.
Transform3D global_transform(p_state->get_transform());
@@ -2929,9 +2965,20 @@ void PhysicalBone3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &PhysicalBone3D::set_angular_damp);
ClassDB::bind_method(D_METHOD("get_angular_damp"), &PhysicalBone3D::get_angular_damp);
+ ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &PhysicalBone3D::set_linear_velocity);
+ ClassDB::bind_method(D_METHOD("get_linear_velocity"), &PhysicalBone3D::get_linear_velocity);
+
+ ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &PhysicalBone3D::set_angular_velocity);
+ ClassDB::bind_method(D_METHOD("get_angular_velocity"), &PhysicalBone3D::get_angular_velocity);
+
+ ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &PhysicalBone3D::set_use_custom_integrator);
+ ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &PhysicalBone3D::is_using_custom_integrator);
+
ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &PhysicalBone3D::set_can_sleep);
ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &PhysicalBone3D::is_able_to_sleep);
+ GDVIRTUAL_BIND(_integrate_forces, "state");
+
ADD_GROUP("Joint", "joint_");
ADD_PROPERTY(PropertyInfo(Variant::INT, "joint_type", PROPERTY_HINT_ENUM, "None,PinJoint,ConeJoint,HingeJoint,SliderJoint,6DOFJoint"), "set_joint_type", "get_joint_type");
ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "joint_offset"), "set_joint_offset", "get_joint_offset");
@@ -2943,10 +2990,13 @@ void PhysicalBone3D::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "friction", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_friction", "get_friction");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_bounce", "get_bounce");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-10,10,0.01"), "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::INT, "linear_damp_mode", PROPERTY_HINT_ENUM, "Combine,Replace"), "set_linear_damp_mode", "get_linear_damp_mode");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "linear_damp", PROPERTY_HINT_RANGE, "0,100,0.001,or_greater"), "set_linear_damp", "get_linear_damp");
ADD_PROPERTY(PropertyInfo(Variant::INT, "angular_damp_mode", PROPERTY_HINT_ENUM, "Combine,Replace"), "set_angular_damp_mode", "get_angular_damp_mode");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_damp", PROPERTY_HINT_RANGE, "0,100,0.001,or_greater"), "set_angular_damp", "get_angular_damp");
+ ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity");
+ ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "angular_velocity"), "set_angular_velocity", "get_angular_velocity");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "can_sleep"), "set_can_sleep", "is_able_to_sleep");
BIND_ENUM_CONSTANT(DAMP_MODE_COMBINE);
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-04 12:34:28 +0000