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-rw-r--r--scene/3d/physics_body_3d.cpp188
1 files changed, 151 insertions, 37 deletions
diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp
index e7482d35e7..760dbdadca 100644
--- a/scene/3d/physics_body_3d.cpp
+++ b/scene/3d/physics_body_3d.cpp
@@ -125,11 +125,11 @@ bool PhysicsBody3D::move_and_collide(const Vector3 &p_motion, bool p_infinite_in
// Restore direction of motion to be along original motion,
// in order to avoid sliding due to recovery,
// but only if collision depth is low enough to avoid tunneling.
- real_t motion_length = p_motion.length();
- if (motion_length > CMP_EPSILON) {
- real_t precision = CMP_EPSILON;
+ if (p_cancel_sliding) {
+ real_t motion_length = p_motion.length();
+ real_t precision = 0.001;
- if (colliding && p_cancel_sliding) {
+ if (colliding) {
// Can't just use margin as a threshold because collision depth is calculated on unsafe motion,
// so even in normal resting cases the depth can be a bit more than the margin.
precision += motion_length * (r_result.collision_unsafe_fraction - r_result.collision_safe_fraction);
@@ -140,16 +140,21 @@ bool PhysicsBody3D::move_and_collide(const Vector3 &p_motion, bool p_infinite_in
}
if (p_cancel_sliding) {
+ // When motion is null, recovery is the resulting motion.
+ Vector3 motion_normal;
+ if (motion_length > CMP_EPSILON) {
+ motion_normal = p_motion / motion_length;
+ }
+
// Check depth of recovery.
- Vector3 motion_normal = p_motion / motion_length;
- real_t dot = r_result.motion.dot(motion_normal);
- Vector3 recovery = r_result.motion - motion_normal * dot;
+ real_t projected_length = r_result.motion.dot(motion_normal);
+ Vector3 recovery = r_result.motion - motion_normal * projected_length;
real_t recovery_length = recovery.length();
// Fixes cases where canceling slide causes the motion to go too deep into the ground,
- // Becauses we're only taking rest information into account and not general recovery.
+ // because we're only taking rest information into account and not general recovery.
if (recovery_length < (real_t)p_margin + precision) {
// Apply adjustment to motion.
- r_result.motion = motion_normal * dot;
+ r_result.motion = motion_normal * projected_length;
r_result.remainder = p_motion - r_result.motion;
}
}
@@ -238,6 +243,13 @@ void StaticBody3D::set_kinematic_motion_enabled(bool p_enabled) {
set_body_mode(PhysicsServer3D::BODY_MODE_STATIC);
}
+#ifdef TOOLS_ENABLED
+ if (Engine::get_singleton()->is_editor_hint()) {
+ update_configuration_warnings();
+ return;
+ }
+#endif
+
_update_kinematic_motion();
}
@@ -255,6 +267,57 @@ void StaticBody3D::set_constant_linear_velocity(const Vector3 &p_vel) {
}
}
+void StaticBody3D::set_sync_to_physics(bool p_enable) {
+ if (sync_to_physics == p_enable) {
+ return;
+ }
+
+ sync_to_physics = p_enable;
+
+#ifdef TOOLS_ENABLED
+ if (Engine::get_singleton()->is_editor_hint()) {
+ update_configuration_warnings();
+ return;
+ }
+#endif
+
+ if (kinematic_motion) {
+ _update_kinematic_motion();
+ }
+}
+
+bool StaticBody3D::is_sync_to_physics_enabled() const {
+ return sync_to_physics;
+}
+
+void StaticBody3D::_direct_state_changed(Object *p_state) {
+ PhysicsDirectBodyState3D *state = Object::cast_to<PhysicsDirectBodyState3D>(p_state);
+ ERR_FAIL_NULL_MSG(state, "Method '_direct_state_changed' must receive a valid PhysicsDirectBodyState3D object as argument");
+
+ linear_velocity = state->get_linear_velocity();
+ angular_velocity = state->get_angular_velocity();
+
+ if (!sync_to_physics) {
+ return;
+ }
+
+ last_valid_transform = state->get_transform();
+ set_notify_local_transform(false);
+ set_global_transform(last_valid_transform);
+ set_notify_local_transform(true);
+ _on_transform_changed();
+}
+
+TypedArray<String> StaticBody3D::get_configuration_warnings() const {
+ TypedArray<String> warnings = PhysicsBody3D::get_configuration_warnings();
+
+ if (sync_to_physics && !kinematic_motion) {
+ warnings.push_back(TTR("Sync to physics works only when kinematic motion is enabled."));
+ }
+
+ return warnings;
+}
+
void StaticBody3D::set_constant_angular_velocity(const Vector3 &p_vel) {
constant_angular_velocity = p_vel;
@@ -283,6 +346,34 @@ Vector3 StaticBody3D::get_angular_velocity() const {
void StaticBody3D::_notification(int p_what) {
switch (p_what) {
+ case NOTIFICATION_ENTER_TREE: {
+ last_valid_transform = get_global_transform();
+ } break;
+
+ case NOTIFICATION_LOCAL_TRANSFORM_CHANGED: {
+ // Used by sync to physics, send the new transform to the physics...
+ Transform3D new_transform = get_global_transform();
+
+ real_t delta_time = get_physics_process_delta_time();
+ new_transform.origin += constant_linear_velocity * delta_time;
+
+ real_t ang_vel = constant_angular_velocity.length();
+ if (!Math::is_zero_approx(ang_vel)) {
+ Vector3 ang_vel_axis = constant_angular_velocity / ang_vel;
+ Basis rot(ang_vel_axis, ang_vel * delta_time);
+ new_transform.basis = rot * new_transform.basis;
+ new_transform.orthonormalize();
+ }
+
+ PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_TRANSFORM, new_transform);
+
+ // ... but then revert changes.
+ set_notify_local_transform(false);
+ set_global_transform(last_valid_transform);
+ set_notify_local_transform(true);
+ _on_transform_changed();
+ } break;
+
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
#ifdef TOOLS_ENABLED
if (Engine::get_singleton()->is_editor_hint()) {
@@ -292,9 +383,9 @@ void StaticBody3D::_notification(int p_what) {
ERR_FAIL_COND(!kinematic_motion);
- real_t delta_time = get_physics_process_delta_time();
-
Transform3D new_transform = get_global_transform();
+
+ real_t delta_time = get_physics_process_delta_time();
new_transform.origin += constant_linear_velocity * delta_time;
real_t ang_vel = constant_angular_velocity.length();
@@ -305,13 +396,18 @@ void StaticBody3D::_notification(int p_what) {
new_transform.orthonormalize();
}
- PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_TRANSFORM, new_transform);
+ if (sync_to_physics) {
+ // Propagate transform change to node.
+ set_global_transform(new_transform);
+ } else {
+ PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_TRANSFORM, new_transform);
- // Propagate transform change to node.
- set_ignore_transform_notification(true);
- set_global_transform(new_transform);
- set_ignore_transform_notification(false);
- _on_transform_changed();
+ // Propagate transform change to node.
+ set_ignore_transform_notification(true);
+ set_global_transform(new_transform);
+ set_ignore_transform_notification(false);
+ _on_transform_changed();
+ }
} break;
}
}
@@ -328,22 +424,14 @@ void StaticBody3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &StaticBody3D::set_physics_material_override);
ClassDB::bind_method(D_METHOD("get_physics_material_override"), &StaticBody3D::get_physics_material_override);
+ ClassDB::bind_method(D_METHOD("set_sync_to_physics", "enable"), &StaticBody3D::set_sync_to_physics);
+ ClassDB::bind_method(D_METHOD("is_sync_to_physics_enabled"), &StaticBody3D::is_sync_to_physics_enabled);
+
ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_linear_velocity"), "set_constant_linear_velocity", "get_constant_linear_velocity");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_angular_velocity"), "set_constant_angular_velocity", "get_constant_angular_velocity");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "kinematic_motion"), "set_kinematic_motion_enabled", "is_kinematic_motion_enabled");
-}
-
-void StaticBody3D::_direct_state_changed(Object *p_state) {
-#ifdef DEBUG_ENABLED
- PhysicsDirectBodyState3D *state = Object::cast_to<PhysicsDirectBodyState3D>(p_state);
- ERR_FAIL_NULL_MSG(state, "Method '_direct_state_changed' must receive a valid PhysicsDirectBodyState3D object as argument");
-#else
- PhysicsDirectBodyState3D *state = (PhysicsDirectBodyState3D *)p_state; //trust it
-#endif
-
- linear_velocity = state->get_linear_velocity();
- angular_velocity = state->get_angular_velocity();
+ ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sync_to_physics"), "set_sync_to_physics", "is_sync_to_physics_enabled");
}
StaticBody3D::StaticBody3D() :
@@ -367,18 +455,26 @@ void StaticBody3D::_update_kinematic_motion() {
}
#endif
+ if (kinematic_motion && sync_to_physics) {
+ set_only_update_transform_changes(true);
+ set_notify_local_transform(true);
+ } else {
+ set_only_update_transform_changes(false);
+ set_notify_local_transform(false);
+ }
+
+ bool needs_physics_process = false;
if (kinematic_motion) {
PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), callable_mp(this, &StaticBody3D::_direct_state_changed));
if (!constant_angular_velocity.is_equal_approx(Vector3()) || !constant_linear_velocity.is_equal_approx(Vector3())) {
- set_physics_process_internal(true);
- return;
+ needs_physics_process = true;
}
} else {
PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), Callable());
}
- set_physics_process_internal(false);
+ set_physics_process_internal(needs_physics_process);
}
void RigidBody3D::_body_enter_tree(ObjectID p_id) {
@@ -1001,6 +1097,15 @@ void CharacterBody3D::move_and_slide() {
}
}
+ Vector3 current_floor_velocity = floor_velocity;
+ if (on_floor && on_floor_body.is_valid()) {
+ //this approach makes sure there is less delay between the actual body velocity and the one we saved
+ PhysicsDirectBodyState3D *bs = PhysicsServer3D::get_singleton()->body_get_direct_state(on_floor_body);
+ if (bs) {
+ current_floor_velocity = bs->get_linear_velocity();
+ }
+ }
+
// Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky
Vector3 motion = (floor_velocity + linear_velocity) * (Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time());
@@ -1012,8 +1117,9 @@ void CharacterBody3D::move_and_slide() {
floor_normal = Vector3();
floor_velocity = Vector3();
- // No sliding on first attempt to keep motion stable when possible.
- bool sliding_enabled = false;
+ // No sliding on first attempt to keep floor motion stable when possible,
+ // when stop on slope is enabled.
+ bool sliding_enabled = !stop_on_slope;
for (int iteration = 0; iteration < max_slides; ++iteration) {
PhysicsServer3D::MotionResult result;
bool found_collision = false;
@@ -1052,7 +1158,11 @@ void CharacterBody3D::move_and_slide() {
if (stop_on_slope) {
if ((body_velocity_normal + up_direction).length() < 0.01) {
Transform3D gt = get_global_transform();
- gt.origin -= result.motion.slide(up_direction);
+ if (result.motion.length() > margin) {
+ gt.origin -= result.motion.slide(up_direction);
+ } else {
+ gt.origin -= result.motion;
+ }
set_global_transform(gt);
linear_velocity = Vector3();
return;
@@ -1094,7 +1204,7 @@ void CharacterBody3D::move_and_slide() {
// Apply snap.
Transform3D gt = get_global_transform();
PhysicsServer3D::MotionResult result;
- if (move_and_collide(snap, infinite_inertia, result, margin, false, true)) {
+ if (move_and_collide(snap, infinite_inertia, result, margin, false, true, false)) {
bool apply = true;
if (up_direction != Vector3()) {
if (Math::acos(result.collision_normal.dot(up_direction)) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) {
@@ -1105,7 +1215,11 @@ void CharacterBody3D::move_and_slide() {
if (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.
- result.motion = result.motion.project(up_direction);
+ if (result.motion.length() > margin) {
+ result.motion = result.motion.project(up_direction);
+ } else {
+ result.motion = Vector3();
+ }
}
} else {
apply = false; //snapped with floor direction, but did not snap to a floor, do not snap.
generated by cgit v1.2.3 (git 2.25.1) at 2025-04-11 05:46:20 +0000