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Diffstat (limited to 'scene/3d/physics_body_3d.cpp')
-rw-r--r--scene/3d/physics_body_3d.cpp76
1 files changed, 37 insertions, 39 deletions
diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp
index de8f1eea2e..a3e00d2cc3 100644
--- a/scene/3d/physics_body_3d.cpp
+++ b/scene/3d/physics_body_3d.cpp
@@ -30,12 +30,11 @@
#include "physics_body_3d.h"
+#include "core/config/engine.h"
#include "core/core_string_names.h"
-#include "core/engine.h"
-#include "core/list.h"
-#include "core/method_bind_ext.gen.inc"
-#include "core/object.h"
-#include "core/rid.h"
+#include "core/object/class_db.h"
+#include "core/templates/list.h"
+#include "core/templates/rid.h"
#include "scene/3d/collision_shape_3d.h"
#include "scene/scene_string_names.h"
#include "servers/navigation_server_3d.h"
@@ -130,15 +129,6 @@ void PhysicsBody3D::remove_collision_exception_with(Node *p_node) {
PhysicsServer3D::get_singleton()->body_remove_collision_exception(get_rid(), collision_object->get_rid());
}
-void PhysicsBody3D::_set_layers(uint32_t p_mask) {
- set_collision_layer(p_mask);
- set_collision_mask(p_mask);
-}
-
-uint32_t PhysicsBody3D::_get_layers() const {
- return get_collision_layer();
-}
-
void PhysicsBody3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_collision_layer", "layer"), &PhysicsBody3D::set_collision_layer);
ClassDB::bind_method(D_METHOD("get_collision_layer"), &PhysicsBody3D::get_collision_layer);
@@ -152,9 +142,6 @@ void PhysicsBody3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_collision_layer_bit", "bit", "value"), &PhysicsBody3D::set_collision_layer_bit);
ClassDB::bind_method(D_METHOD("get_collision_layer_bit", "bit"), &PhysicsBody3D::get_collision_layer_bit);
- ClassDB::bind_method(D_METHOD("_set_layers", "mask"), &PhysicsBody3D::_set_layers);
- ClassDB::bind_method(D_METHOD("_get_layers"), &PhysicsBody3D::_get_layers);
-
ADD_GROUP("Collision", "collision_");
ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_layer", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_layer", "get_collision_layer");
ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask");
@@ -358,6 +345,7 @@ void RigidBody3D::_direct_state_changed(Object *p_state) {
set_global_transform(state->get_transform());
linear_velocity = state->get_linear_velocity();
angular_velocity = state->get_angular_velocity();
+ inverse_inertia_tensor = state->get_inverse_inertia_tensor();
if (sleeping != state->is_sleeping()) {
sleeping = state->is_sleeping();
emit_signal(SceneStringNames::get_singleton()->sleeping_state_changed);
@@ -594,6 +582,10 @@ Vector3 RigidBody3D::get_angular_velocity() const {
return angular_velocity;
}
+Basis RigidBody3D::get_inverse_inertia_tensor() {
+ return inverse_inertia_tensor;
+}
+
void RigidBody3D::set_use_custom_integrator(bool p_enable) {
if (custom_integrator == p_enable) {
return;
@@ -638,8 +630,9 @@ void RigidBody3D::add_central_force(const Vector3 &p_force) {
PhysicsServer3D::get_singleton()->body_add_central_force(get_rid(), p_force);
}
-void RigidBody3D::add_force(const Vector3 &p_force, const Vector3 &p_pos) {
- PhysicsServer3D::get_singleton()->body_add_force(get_rid(), p_force, p_pos);
+void RigidBody3D::add_force(const Vector3 &p_force, const Vector3 &p_position) {
+ PhysicsServer3D *singleton = PhysicsServer3D::get_singleton();
+ singleton->body_add_force(get_rid(), p_force, p_position);
}
void RigidBody3D::add_torque(const Vector3 &p_torque) {
@@ -650,8 +643,9 @@ void RigidBody3D::apply_central_impulse(const Vector3 &p_impulse) {
PhysicsServer3D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse);
}
-void RigidBody3D::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) {
- PhysicsServer3D::get_singleton()->body_apply_impulse(get_rid(), p_pos, p_impulse);
+void RigidBody3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
+ PhysicsServer3D *singleton = PhysicsServer3D::get_singleton();
+ singleton->body_apply_impulse(get_rid(), p_impulse, p_position);
}
void RigidBody3D::apply_torque_impulse(const Vector3 &p_impulse) {
@@ -730,7 +724,7 @@ String RigidBody3D::get_configuration_warning() const {
String warning = CollisionObject3D::get_configuration_warning();
if ((get_mode() == MODE_RIGID || get_mode() == MODE_CHARACTER) && (ABS(t.basis.get_axis(0).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(1).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(2).length() - 1.0) > 0.05)) {
- if (warning != String()) {
+ if (!warning.empty()) {
warning += "\n\n";
}
warning += TTR("Size changes to RigidBody3D (in character or rigid modes) will be overridden by the physics engine when running.\nChange the size in children collision shapes instead.");
@@ -758,6 +752,8 @@ void RigidBody3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &RigidBody3D::set_angular_velocity);
ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidBody3D::get_angular_velocity);
+ ClassDB::bind_method(D_METHOD("get_inverse_inertia_tensor"), &RigidBody3D::get_inverse_inertia_tensor);
+
ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &RigidBody3D::set_gravity_scale);
ClassDB::bind_method(D_METHOD("get_gravity_scale"), &RigidBody3D::get_gravity_scale);
@@ -782,11 +778,11 @@ void RigidBody3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_axis_velocity", "axis_velocity"), &RigidBody3D::set_axis_velocity);
ClassDB::bind_method(D_METHOD("add_central_force", "force"), &RigidBody3D::add_central_force);
- ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &RigidBody3D::add_force);
+ ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &RigidBody3D::add_force, Vector3());
ClassDB::bind_method(D_METHOD("add_torque", "torque"), &RigidBody3D::add_torque);
ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &RigidBody3D::apply_central_impulse);
- ClassDB::bind_method(D_METHOD("apply_impulse", "position", "impulse"), &RigidBody3D::apply_impulse);
+ ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &RigidBody3D::apply_impulse, Vector3());
ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &RigidBody3D::apply_torque_impulse);
ClassDB::bind_method(D_METHOD("set_sleeping", "sleeping"), &RigidBody3D::set_sleeping);
@@ -945,6 +941,7 @@ bool KinematicBody3D::move_and_collide(const Vector3 &p_motion, bool p_infinite_
Vector3 KinematicBody3D::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 body_velocity = p_linear_velocity;
Vector3 body_velocity_normal = body_velocity.normalized();
+ Vector3 up_direction = p_up_direction.normalized();
for (int i = 0; i < 3; i++) {
if (locked_axis & (1 << i)) {
@@ -988,11 +985,11 @@ Vector3 KinematicBody3D::move_and_slide(const Vector3 &p_linear_velocity, const
colliders.push_back(collision);
motion = collision.remainder;
- if (p_up_direction == Vector3()) {
+ if (up_direction == Vector3()) {
//all is a wall
on_wall = true;
} else {
- if (Math::acos(collision.normal.dot(p_up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //floor
+ if (Math::acos(collision.normal.dot(up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //floor
on_floor = true;
floor_normal = collision.normal;
@@ -1000,14 +997,14 @@ Vector3 KinematicBody3D::move_and_slide(const Vector3 &p_linear_velocity, const
floor_velocity = collision.collider_vel;
if (p_stop_on_slope) {
- if ((body_velocity_normal + p_up_direction).length() < 0.01 && collision.travel.length() < 1) {
+ if ((body_velocity_normal + up_direction).length() < 0.01 && collision.travel.length() < 1) {
Transform gt = get_global_transform();
- gt.origin -= collision.travel.slide(p_up_direction);
+ gt.origin -= collision.travel.slide(up_direction);
set_global_transform(gt);
return Vector3();
}
}
- } else if (Math::acos(collision.normal.dot(-p_up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //ceiling
+ } else if (Math::acos(collision.normal.dot(-up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //ceiling
on_ceiling = true;
} else {
on_wall = true;
@@ -1036,9 +1033,10 @@ Vector3 KinematicBody3D::move_and_slide(const Vector3 &p_linear_velocity, const
}
Vector3 KinematicBody3D::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) {
+ Vector3 up_direction = p_up_direction.normalized();
bool was_on_floor = on_floor;
- 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);
+ Vector3 ret = move_and_slide(p_linear_velocity, 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;
}
@@ -1048,8 +1046,8 @@ Vector3 KinematicBody3D::move_and_slide_with_snap(const Vector3 &p_linear_veloci
if (move_and_collide(p_snap, p_infinite_inertia, col, false, true)) {
bool apply = true;
- if (p_up_direction != Vector3()) {
- if (Math::acos(p_up_direction.normalized().dot(col.normal)) < p_floor_max_angle) {
+ if (up_direction != Vector3()) {
+ if (Math::acos(col.normal.dot(up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) {
on_floor = true;
floor_normal = col.normal;
on_floor_body = col.collider_rid;
@@ -1057,7 +1055,7 @@ Vector3 KinematicBody3D::move_and_slide_with_snap(const Vector3 &p_linear_veloci
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_up_direction);
+ col.travel = col.travel.project(up_direction);
}
} else {
apply = false; //snapped with floor direction, but did not snap to a floor, do not snap.
@@ -1237,12 +1235,12 @@ void KinematicBody3D::_direct_state_changed(Object *p_state) {
KinematicBody3D::KinematicBody3D() :
PhysicsBody3D(PhysicsServer3D::BODY_MODE_KINEMATIC) {
- margin = 0.001;
locked_axis = 0;
on_floor = false;
on_ceiling = false;
on_wall = false;
+ set_safe_margin(0.001);
PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed");
}
@@ -1370,8 +1368,8 @@ void PhysicalBone3D::apply_central_impulse(const Vector3 &p_impulse) {
PhysicsServer3D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse);
}
-void PhysicalBone3D::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) {
- PhysicsServer3D::get_singleton()->body_apply_impulse(get_rid(), p_pos, p_impulse);
+void PhysicalBone3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
+ PhysicsServer3D::get_singleton()->body_apply_impulse(get_rid(), p_impulse, p_position);
}
void PhysicalBone3D::reset_physics_simulation_state() {
@@ -2097,7 +2095,7 @@ void PhysicalBone3D::_direct_state_changed(Object *p_state) {
void PhysicalBone3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &PhysicalBone3D::apply_central_impulse);
- ClassDB::bind_method(D_METHOD("apply_impulse", "position", "impulse"), &PhysicalBone3D::apply_impulse);
+ ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &PhysicalBone3D::apply_impulse, Vector3());
ClassDB::bind_method(D_METHOD("_direct_state_changed"), &PhysicalBone3D::_direct_state_changed);
@@ -2595,7 +2593,7 @@ void PhysicalBone3D::_start_physics_simulation() {
PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer());
PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask());
PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed");
- set_as_toplevel(true);
+ set_as_top_level(true);
_internal_simulate_physics = true;
}
@@ -2615,7 +2613,7 @@ void PhysicalBone3D::_stop_physics_simulation() {
if (_internal_simulate_physics) {
PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), nullptr, "");
parent_skeleton->set_bone_global_pose_override(bone_id, Transform(), 0.0, false);
- set_as_toplevel(false);
+ set_as_top_level(false);
_internal_simulate_physics = false;
}
}
generated by cgit v1.2.3 (git 2.25.1) at 2025-01-08 01:33:32 +0000