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Diffstat (limited to 'scene/3d/physics_body_3d.cpp')
-rw-r--r--scene/3d/physics_body_3d.cpp80
1 files changed, 26 insertions, 54 deletions
diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp
index 4d712069ec..6d135c8283 100644
--- a/scene/3d/physics_body_3d.cpp
+++ b/scene/3d/physics_body_3d.cpp
@@ -51,7 +51,7 @@ Vector3 PhysicsBody3D::get_angular_velocity() const {
return Vector3();
}
-float PhysicsBody3D::get_inverse_mass() const {
+real_t PhysicsBody3D::get_inverse_mass() const {
return 0;
}
@@ -148,7 +148,8 @@ void PhysicsBody3D::_bind_methods() {
}
PhysicsBody3D::PhysicsBody3D(PhysicsServer3D::BodyMode p_mode) :
- CollisionObject3D(PhysicsServer3D::get_singleton()->body_create(p_mode), false) {
+ CollisionObject3D(PhysicsServer3D::get_singleton()->body_create(), false) {
+ PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), p_mode);
collision_layer = 1;
collision_mask = 1;
}
@@ -330,8 +331,8 @@ void RigidBody3D::_body_inout(int p_status, ObjectID p_instance, int p_body_shap
struct _RigidBodyInOut {
ObjectID id;
- int shape;
- int local_shape;
+ int shape = 0;
+ int local_shape = 0;
};
void RigidBody3D::_direct_state_changed(Object *p_state) {
@@ -825,24 +826,6 @@ void RigidBody3D::_bind_methods() {
RigidBody3D::RigidBody3D() :
PhysicsBody3D(PhysicsServer3D::BODY_MODE_RIGID) {
- mode = MODE_RIGID;
-
- mass = 1;
- max_contacts_reported = 0;
- state = nullptr;
-
- gravity_scale = 1;
- linear_damp = -1;
- angular_damp = -1;
-
- //angular_velocity=0;
- sleeping = false;
- ccd = false;
-
- custom_integrator = false;
- contact_monitor = nullptr;
- can_sleep = true;
-
PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed");
}
@@ -924,7 +907,7 @@ bool KinematicBody3D::move_and_collide(const Vector3 &p_motion, bool p_infinite_
//so, if you pass 45 as limit, avoid numerical precision errors when angle is 45.
#define FLOOR_ANGLE_THRESHOLD 0.01
-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 KinematicBody3D::move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_up_direction, bool p_stop_on_slope, int p_max_slides, real_t 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();
@@ -1018,7 +1001,7 @@ Vector3 KinematicBody3D::move_and_slide(const Vector3 &p_linear_velocity, const
return body_velocity;
}
-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 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, real_t p_floor_max_angle, bool p_infinite_inertia) {
Vector3 up_direction = p_up_direction.normalized();
bool was_on_floor = on_floor;
@@ -1090,7 +1073,7 @@ bool KinematicBody3D::separate_raycast_shapes(bool p_infinite_inertia, Collision
Vector3 recover;
int hits = PhysicsServer3D::get_singleton()->body_test_ray_separation(get_rid(), gt, p_infinite_inertia, recover, sep_res, 8, margin);
int deepest = -1;
- float deepest_depth;
+ real_t deepest_depth;
for (int i = 0; i < hits; i++) {
if (deepest == -1 || sep_res[i].collision_depth > deepest_depth) {
deepest = i;
@@ -1131,12 +1114,12 @@ bool KinematicBody3D::get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const {
return PhysicsServer3D::get_singleton()->body_is_axis_locked(get_rid(), p_axis);
}
-void KinematicBody3D::set_safe_margin(float p_margin) {
+void KinematicBody3D::set_safe_margin(real_t p_margin) {
margin = p_margin;
PhysicsServer3D::get_singleton()->body_set_kinematic_safe_margin(get_rid(), margin);
}
-float KinematicBody3D::get_safe_margin() const {
+real_t KinematicBody3D::get_safe_margin() const {
return margin;
}
@@ -1180,8 +1163,8 @@ void KinematicBody3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("_direct_state_changed"), &KinematicBody3D::_direct_state_changed);
ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "infinite_inertia", "exclude_raycast_shapes", "test_only"), &KinematicBody3D::_move, DEFVAL(true), DEFVAL(true), DEFVAL(false));
- ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "up_direction", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody3D::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"), &KinematicBody3D::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"), &KinematicBody3D::move_and_slide, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((real_t)45.0)), 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"), &KinematicBody3D::move_and_slide_with_snap, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((real_t)45.0)), DEFVAL(true));
ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec", "infinite_inertia"), &KinematicBody3D::test_move, DEFVAL(true));
@@ -1221,11 +1204,6 @@ void KinematicBody3D::_direct_state_changed(Object *p_state) {
KinematicBody3D::KinematicBody3D() :
PhysicsBody3D(PhysicsServer3D::BODY_MODE_KINEMATIC) {
- 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");
}
@@ -2034,7 +2012,7 @@ void PhysicalBone3D::_notification(int p_what) {
update_bone_id();
reset_to_rest_position();
reset_physics_simulation_state();
- if (!joint.is_valid() && joint_data) {
+ if (joint_data) {
_reload_joint();
}
break;
@@ -2045,10 +2023,7 @@ void PhysicalBone3D::_notification(int p_what) {
}
}
parent_skeleton = nullptr;
- if (joint.is_valid()) {
- PhysicsServer3D::get_singleton()->free(joint);
- joint = RID();
- }
+ PhysicsServer3D::get_singleton()->joint_clear(joint);
break;
case NOTIFICATION_TRANSFORM_CHANGED:
if (Engine::get_singleton()->is_editor_hint()) {
@@ -2198,17 +2173,14 @@ void PhysicalBone3D::_fix_joint_offset() {
}
void PhysicalBone3D::_reload_joint() {
- if (joint.is_valid()) {
- PhysicsServer3D::get_singleton()->free(joint);
- joint = RID();
- }
-
if (!parent_skeleton) {
+ PhysicsServer3D::get_singleton()->joint_clear(joint);
return;
}
PhysicalBone3D *body_a = parent_skeleton->get_physical_bone_parent(bone_id);
if (!body_a) {
+ PhysicsServer3D::get_singleton()->joint_clear(joint);
return;
}
@@ -2218,7 +2190,7 @@ void PhysicalBone3D::_reload_joint() {
switch (get_joint_type()) {
case JOINT_TYPE_PIN: {
- joint = PhysicsServer3D::get_singleton()->joint_create_pin(body_a->get_rid(), local_a.origin, get_rid(), joint_offset.origin);
+ PhysicsServer3D::get_singleton()->joint_make_pin(joint, body_a->get_rid(), local_a.origin, get_rid(), joint_offset.origin);
const PinJointData *pjd(static_cast<const PinJointData *>(joint_data));
PhysicsServer3D::get_singleton()->pin_joint_set_param(joint, PhysicsServer3D::PIN_JOINT_BIAS, pjd->bias);
PhysicsServer3D::get_singleton()->pin_joint_set_param(joint, PhysicsServer3D::PIN_JOINT_DAMPING, pjd->damping);
@@ -2226,7 +2198,7 @@ void PhysicalBone3D::_reload_joint() {
} break;
case JOINT_TYPE_CONE: {
- joint = PhysicsServer3D::get_singleton()->joint_create_cone_twist(body_a->get_rid(), local_a, get_rid(), joint_offset);
+ PhysicsServer3D::get_singleton()->joint_make_cone_twist(joint, body_a->get_rid(), local_a, get_rid(), joint_offset);
const ConeJointData *cjd(static_cast<const ConeJointData *>(joint_data));
PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN, cjd->swing_span);
PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN, cjd->twist_span);
@@ -2236,7 +2208,7 @@ void PhysicalBone3D::_reload_joint() {
} break;
case JOINT_TYPE_HINGE: {
- joint = PhysicsServer3D::get_singleton()->joint_create_hinge(body_a->get_rid(), local_a, get_rid(), joint_offset);
+ PhysicsServer3D::get_singleton()->joint_make_hinge(joint, body_a->get_rid(), local_a, get_rid(), joint_offset);
const HingeJointData *hjd(static_cast<const HingeJointData *>(joint_data));
PhysicsServer3D::get_singleton()->hinge_joint_set_flag(joint, PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT, hjd->angular_limit_enabled);
PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER, hjd->angular_limit_upper);
@@ -2247,7 +2219,7 @@ void PhysicalBone3D::_reload_joint() {
} break;
case JOINT_TYPE_SLIDER: {
- joint = PhysicsServer3D::get_singleton()->joint_create_slider(body_a->get_rid(), local_a, get_rid(), joint_offset);
+ PhysicsServer3D::get_singleton()->joint_make_slider(joint, body_a->get_rid(), local_a, get_rid(), joint_offset);
const SliderJointData *sjd(static_cast<const SliderJointData *>(joint_data));
PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER, sjd->linear_limit_upper);
PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER, sjd->linear_limit_lower);
@@ -2262,7 +2234,7 @@ void PhysicalBone3D::_reload_joint() {
} break;
case JOINT_TYPE_6DOF: {
- joint = PhysicsServer3D::get_singleton()->joint_create_generic_6dof(body_a->get_rid(), local_a, get_rid(), joint_offset);
+ PhysicsServer3D::get_singleton()->joint_make_generic_6dof(joint, body_a->get_rid(), local_a, get_rid(), joint_offset);
const SixDOFJointData *g6dofjd(static_cast<const SixDOFJointData *>(joint_data));
for (int axis = 0; axis < 3; ++axis) {
PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, g6dofjd->axis_data[axis].linear_limit_enabled);
@@ -2355,7 +2327,7 @@ void PhysicalBone3D::set_joint_type(JointType p_joint_type) {
_reload_joint();
#ifdef TOOLS_ENABLED
- _change_notify();
+ notify_property_list_changed();
if (get_gizmo().is_valid()) {
get_gizmo()->redraw();
}
@@ -2370,7 +2342,6 @@ void PhysicalBone3D::set_joint_offset(const Transform &p_offset) {
joint_offset = p_offset;
_update_joint_offset();
- _change_notify("joint_rotation_degrees");
}
const Transform &PhysicalBone3D::get_joint_offset() const {
@@ -2381,7 +2352,6 @@ void PhysicalBone3D::set_joint_rotation(const Vector3 &p_euler_rad) {
joint_offset.basis.set_euler_scale(p_euler_rad, joint_offset.basis.get_scale());
_update_joint_offset();
- _change_notify("joint_offset");
}
Vector3 PhysicalBone3D::get_joint_rotation() const {
@@ -2389,11 +2359,11 @@ Vector3 PhysicalBone3D::get_joint_rotation() const {
}
void PhysicalBone3D::set_joint_rotation_degrees(const Vector3 &p_euler_deg) {
- set_joint_rotation(p_euler_deg * Math_PI / 180.0);
+ set_joint_rotation(p_euler_deg * (Math_PI / 180.0));
}
Vector3 PhysicalBone3D::get_joint_rotation_degrees() const {
- return get_joint_rotation() * 180.0 / Math_PI;
+ return get_joint_rotation() * (180.0 / Math_PI);
}
const Transform &PhysicalBone3D::get_body_offset() const {
@@ -2516,6 +2486,7 @@ bool PhysicalBone3D::get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const {
PhysicalBone3D::PhysicalBone3D() :
PhysicsBody3D(PhysicsServer3D::BODY_MODE_STATIC) {
+ joint = PhysicsServer3D::get_singleton()->joint_create();
reset_physics_simulation_state();
}
@@ -2523,6 +2494,7 @@ PhysicalBone3D::~PhysicalBone3D() {
if (joint_data) {
memdelete(joint_data);
}
+ PhysicsServer3D::get_singleton()->free(joint);
}
void PhysicalBone3D::update_bone_id() {
generated by cgit v1.2.3 (git 2.25.1) at 2025-03-20 17:20:00 +0000