summaryrefslogtreecommitdiff
path: root/scene/3d
diff options
context:
space:
mode:
Diffstat (limited to 'scene/3d')
-rw-r--r--scene/3d/bone_attachment_3d.cpp2
-rw-r--r--scene/3d/collision_shape_3d.cpp3
-rw-r--r--scene/3d/physics_body_3d.cpp123
-rw-r--r--scene/3d/physics_body_3d.h40
-rw-r--r--scene/3d/skeleton_ik_3d.cpp4
-rw-r--r--scene/3d/vehicle_body_3d.cpp6
6 files changed, 118 insertions, 60 deletions
diff --git a/scene/3d/bone_attachment_3d.cpp b/scene/3d/bone_attachment_3d.cpp
index c34c150145..afd11482e3 100644
--- a/scene/3d/bone_attachment_3d.cpp
+++ b/scene/3d/bone_attachment_3d.cpp
@@ -110,7 +110,7 @@ TypedArray<String> BoneAttachment3D::get_configuration_warnings() const {
} else {
Skeleton3D *parent = Object::cast_to<Skeleton3D>(get_parent());
if (!parent) {
- warnings.append(TTR("Parent node is not a Skeleton3D node! Please use an extenral Skeleton3D if you intend to use the BoneAttachment3D without it being a child of a Skeleton3D node."));
+ warnings.append(TTR("Parent node is not a Skeleton3D node! Please use an external Skeleton3D if you intend to use the BoneAttachment3D without it being a child of a Skeleton3D node."));
}
}
diff --git a/scene/3d/collision_shape_3d.cpp b/scene/3d/collision_shape_3d.cpp
index c79f956642..4e496fba47 100644
--- a/scene/3d/collision_shape_3d.cpp
+++ b/scene/3d/collision_shape_3d.cpp
@@ -124,8 +124,7 @@ TypedArray<String> CollisionShape3D::get_configuration_warnings() const {
if (shape.is_valid() &&
Object::cast_to<RigidDynamicBody3D>(get_parent()) &&
- Object::cast_to<ConcavePolygonShape3D>(*shape) &&
- Object::cast_to<RigidDynamicBody3D>(get_parent())->get_mode() != RigidDynamicBody3D::MODE_STATIC) {
+ Object::cast_to<ConcavePolygonShape3D>(*shape)) {
warnings.push_back(TTR("ConcavePolygonShape3D doesn't support RigidDynamicBody3D in another mode than static."));
}
diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp
index 48da186860..bbf2c81a92 100644
--- a/scene/3d/physics_body_3d.cpp
+++ b/scene/3d/physics_body_3d.cpp
@@ -38,8 +38,8 @@
#endif
void PhysicsBody3D::_bind_methods() {
- ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "test_only", "safe_margin", "max_collisions"), &PhysicsBody3D::_move, DEFVAL(false), DEFVAL(0.001), DEFVAL(1));
- ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec", "collision", "safe_margin", "max_collisions"), &PhysicsBody3D::test_move, DEFVAL(Variant()), DEFVAL(0.001), DEFVAL(1));
+ ClassDB::bind_method(D_METHOD("move_and_collide", "linear_velocity", "test_only", "safe_margin", "max_collisions"), &PhysicsBody3D::_move, DEFVAL(false), DEFVAL(0.001), DEFVAL(1));
+ ClassDB::bind_method(D_METHOD("test_move", "from", "linear_velocity", "collision", "safe_margin", "max_collisions"), &PhysicsBody3D::test_move, DEFVAL(Variant()), DEFVAL(0.001), DEFVAL(1));
ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &PhysicsBody3D::set_axis_lock);
ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &PhysicsBody3D::get_axis_lock);
@@ -97,7 +97,10 @@ void PhysicsBody3D::remove_collision_exception_with(Node *p_node) {
Ref<KinematicCollision3D> PhysicsBody3D::_move(const Vector3 &p_motion, bool p_test_only, real_t p_margin, int p_max_collisions) {
PhysicsServer3D::MotionResult result;
- if (move_and_collide(p_motion, result, p_margin, p_test_only, p_max_collisions)) {
+ // Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky
+ double delta = Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time();
+
+ if (move_and_collide(p_motion * delta, result, p_margin, p_test_only, p_max_collisions)) {
// Create a new instance when the cached reference is invalid or still in use in script.
if (motion_cache.is_null() || motion_cache->reference_get_count() > 1) {
motion_cache.instantiate();
@@ -177,7 +180,10 @@ bool PhysicsBody3D::test_move(const Transform3D &p_from, const Vector3 &p_motion
r = const_cast<PhysicsServer3D::MotionResult *>(&r_collision->result);
}
- return PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), p_from, p_motion, p_margin, r, p_max_collisions);
+ // Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky
+ double delta = Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time();
+
+ return PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), p_from, p_motion * delta, p_margin, r, p_max_collisions);
}
void PhysicsBody3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock) {
@@ -599,27 +605,60 @@ void RigidDynamicBody3D::_notification(int p_what) {
#endif
}
-void RigidDynamicBody3D::set_mode(Mode p_mode) {
- mode = p_mode;
- switch (p_mode) {
- case MODE_DYNAMIC: {
- set_body_mode(PhysicsServer3D::BODY_MODE_DYNAMIC);
- } break;
- case MODE_STATIC: {
- set_body_mode(PhysicsServer3D::BODY_MODE_STATIC);
- } break;
- case MODE_DYNAMIC_LOCKED: {
- set_body_mode(PhysicsServer3D::BODY_MODE_DYNAMIC_LOCKED);
- } break;
- case MODE_KINEMATIC: {
- set_body_mode(PhysicsServer3D::BODY_MODE_KINEMATIC);
- } break;
+void RigidDynamicBody3D::_apply_body_mode() {
+ if (freeze) {
+ switch (freeze_mode) {
+ case FREEZE_MODE_STATIC: {
+ set_body_mode(PhysicsServer3D::BODY_MODE_STATIC);
+ } break;
+ case FREEZE_MODE_KINEMATIC: {
+ set_body_mode(PhysicsServer3D::BODY_MODE_KINEMATIC);
+ } break;
+ }
+ } else if (lock_rotation) {
+ set_body_mode(PhysicsServer3D::BODY_MODE_DYNAMIC_LINEAR);
+ } else {
+ set_body_mode(PhysicsServer3D::BODY_MODE_DYNAMIC);
+ }
+}
+
+void RigidDynamicBody3D::set_lock_rotation_enabled(bool p_lock_rotation) {
+ if (p_lock_rotation == lock_rotation) {
+ return;
}
- update_configuration_warnings();
+
+ lock_rotation = p_lock_rotation;
+ _apply_body_mode();
}
-RigidDynamicBody3D::Mode RigidDynamicBody3D::get_mode() const {
- return mode;
+bool RigidDynamicBody3D::is_lock_rotation_enabled() const {
+ return lock_rotation;
+}
+
+void RigidDynamicBody3D::set_freeze_enabled(bool p_freeze) {
+ if (p_freeze == freeze) {
+ return;
+ }
+
+ freeze = p_freeze;
+ _apply_body_mode();
+}
+
+bool RigidDynamicBody3D::is_freeze_enabled() const {
+ return freeze;
+}
+
+void RigidDynamicBody3D::set_freeze_mode(FreezeMode p_freeze_mode) {
+ if (p_freeze_mode == freeze_mode) {
+ return;
+ }
+
+ freeze_mode = p_freeze_mode;
+ _apply_body_mode();
+}
+
+RigidDynamicBody3D::FreezeMode RigidDynamicBody3D::get_freeze_mode() const {
+ return freeze_mode;
}
void RigidDynamicBody3D::set_mass(real_t p_mass) {
@@ -892,17 +931,14 @@ TypedArray<String> RigidDynamicBody3D::get_configuration_warnings() const {
TypedArray<String> warnings = Node::get_configuration_warnings();
- if ((get_mode() == MODE_DYNAMIC || get_mode() == MODE_DYNAMIC_LOCKED) && (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)) {
- warnings.push_back(TTR("Size changes to RigidDynamicBody (in dynamic modes) will be overridden by the physics engine when running.\nChange the size in children collision shapes instead."));
+ if (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) {
+ warnings.push_back(TTR("Size changes to RigidDynamicBody will be overridden by the physics engine when running.\nChange the size in children collision shapes instead."));
}
return warnings;
}
void RigidDynamicBody3D::_bind_methods() {
- ClassDB::bind_method(D_METHOD("set_mode", "mode"), &RigidDynamicBody3D::set_mode);
- ClassDB::bind_method(D_METHOD("get_mode"), &RigidDynamicBody3D::get_mode);
-
ClassDB::bind_method(D_METHOD("set_mass", "mass"), &RigidDynamicBody3D::set_mass);
ClassDB::bind_method(D_METHOD("get_mass"), &RigidDynamicBody3D::get_mass);
@@ -963,11 +999,19 @@ void RigidDynamicBody3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &RigidDynamicBody3D::set_can_sleep);
ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &RigidDynamicBody3D::is_able_to_sleep);
+ ClassDB::bind_method(D_METHOD("set_lock_rotation_enabled", "lock_rotation"), &RigidDynamicBody3D::set_lock_rotation_enabled);
+ ClassDB::bind_method(D_METHOD("is_lock_rotation_enabled"), &RigidDynamicBody3D::is_lock_rotation_enabled);
+
+ ClassDB::bind_method(D_METHOD("set_freeze_enabled", "freeze_mode"), &RigidDynamicBody3D::set_freeze_enabled);
+ ClassDB::bind_method(D_METHOD("is_freeze_enabled"), &RigidDynamicBody3D::is_freeze_enabled);
+
+ ClassDB::bind_method(D_METHOD("set_freeze_mode", "freeze_mode"), &RigidDynamicBody3D::set_freeze_mode);
+ ClassDB::bind_method(D_METHOD("get_freeze_mode"), &RigidDynamicBody3D::get_freeze_mode);
+
ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidDynamicBody3D::get_colliding_bodies);
GDVIRTUAL_BIND(_integrate_forces, "state");
- ADD_PROPERTY(PropertyInfo(Variant::INT, "mode", PROPERTY_HINT_ENUM, "Dynamic,Static,DynamicLocked,Kinematic"), "set_mode", "get_mode");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_RANGE, "0.01,1000,0.01,or_greater,exp"), "set_mass", "get_mass");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "inertia", PROPERTY_HINT_RANGE, "0,1000,0.01,or_greater,exp"), "set_inertia", "get_inertia");
ADD_PROPERTY(PropertyInfo(Variant::INT, "center_of_mass_mode", PROPERTY_HINT_ENUM, "Auto,Custom", PROPERTY_USAGE_DEFAULT | PROPERTY_USAGE_UPDATE_ALL_IF_MODIFIED), "set_center_of_mass_mode", "get_center_of_mass_mode");
@@ -981,6 +1025,9 @@ void RigidDynamicBody3D::_bind_methods() {
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");
+ ADD_PROPERTY(PropertyInfo(Variant::BOOL, "lock_rotation"), "set_lock_rotation_enabled", "is_lock_rotation_enabled");
+ ADD_PROPERTY(PropertyInfo(Variant::BOOL, "freeze"), "set_freeze_enabled", "is_freeze_enabled");
+ ADD_PROPERTY(PropertyInfo(Variant::INT, "freeze_mode", PROPERTY_HINT_ENUM, "Static,Kinematic"), "set_freeze_mode", "get_freeze_mode");
ADD_GROUP("Linear", "linear_");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "linear_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_linear_damp", "get_linear_damp");
@@ -994,10 +1041,8 @@ void RigidDynamicBody3D::_bind_methods() {
ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node")));
ADD_SIGNAL(MethodInfo("sleeping_state_changed"));
- BIND_ENUM_CONSTANT(MODE_DYNAMIC);
- BIND_ENUM_CONSTANT(MODE_STATIC);
- BIND_ENUM_CONSTANT(MODE_DYNAMIC_LOCKED);
- BIND_ENUM_CONSTANT(MODE_KINEMATIC);
+ BIND_ENUM_CONSTANT(FREEZE_MODE_STATIC);
+ BIND_ENUM_CONSTANT(FREEZE_MODE_KINEMATIC);
BIND_ENUM_CONSTANT(CENTER_OF_MASS_MODE_AUTO);
BIND_ENUM_CONSTANT(CENTER_OF_MASS_MODE_CUSTOM);
@@ -1146,8 +1191,7 @@ void CharacterBody3D::_move_and_slide_grounded(double p_delta, bool p_was_on_flo
if (collision_state.floor && floor_stop_on_slope && (linear_velocity.normalized() + up_direction).length() < 0.01) {
Transform3D gt = get_global_transform();
- real_t travel_total = result.travel.length();
- if (travel_total <= margin + CMP_EPSILON) {
+ if (result.travel.length() <= margin + CMP_EPSILON) {
gt.origin -= result.travel;
}
set_global_transform(gt);
@@ -1186,7 +1230,7 @@ void CharacterBody3D::_move_and_slide_grounded(double p_delta, bool p_was_on_flo
Transform3D gt = get_global_transform();
real_t travel_total = result.travel.length();
real_t cancel_dist_max = MIN(0.1, margin * 20);
- if (travel_total < margin + CMP_EPSILON) {
+ if (travel_total <= margin + CMP_EPSILON) {
gt.origin -= result.travel;
} else if (travel_total < cancel_dist_max) { // If the movement is large the body can be prevented from reaching the walls.
gt.origin -= result.travel.slide(up_direction);
@@ -1377,7 +1421,9 @@ void CharacterBody3D::_snap_on_floor(bool was_on_floor, bool vel_dir_facing_up)
return;
}
+ // Snap by at least collision margin to keep floor state consistent.
real_t length = MAX(floor_snap_length, margin);
+
Transform3D gt = get_global_transform();
PhysicsServer3D::MotionResult result;
if (move_and_collide(-up_direction * length, result, margin, true, 4, false, true)) {
@@ -1403,12 +1449,15 @@ void CharacterBody3D::_snap_on_floor(bool was_on_floor, bool vel_dir_facing_up)
}
bool CharacterBody3D::_on_floor_if_snapped(bool was_on_floor, bool vel_dir_facing_up) {
- if (Math::is_zero_approx(floor_snap_length) || up_direction == Vector3() || collision_state.floor || !was_on_floor || vel_dir_facing_up) {
+ if (up_direction == Vector3() || collision_state.floor || !was_on_floor || vel_dir_facing_up) {
return false;
}
+ // Snap by at least collision margin to keep floor state consistent.
+ real_t length = MAX(floor_snap_length, margin);
+
PhysicsServer3D::MotionResult result;
- if (move_and_collide(-up_direction * floor_snap_length, result, margin, true, 4, false, true)) {
+ if (move_and_collide(-up_direction * length, result, margin, true, 4, false, true)) {
CollisionState result_state;
// Don't apply direction for any type.
_set_collision_direction(result, result_state, CollisionState());
diff --git a/scene/3d/physics_body_3d.h b/scene/3d/physics_body_3d.h
index 96f3d7d747..a53147cb8f 100644
--- a/scene/3d/physics_body_3d.h
+++ b/scene/3d/physics_body_3d.h
@@ -105,7 +105,7 @@ private:
Vector3 linear_velocity;
Vector3 angular_velocity;
- bool sync_to_physics = false;
+ bool sync_to_physics = true;
Transform3D last_valid_transform;
@@ -133,11 +133,9 @@ class RigidDynamicBody3D : public PhysicsBody3D {
GDCLASS(RigidDynamicBody3D, PhysicsBody3D);
public:
- enum Mode {
- MODE_DYNAMIC,
- MODE_STATIC,
- MODE_DYNAMIC_LOCKED,
- MODE_KINEMATIC,
+ enum FreezeMode {
+ FREEZE_MODE_STATIC,
+ FREEZE_MODE_KINEMATIC,
};
enum CenterOfMassMode {
@@ -145,11 +143,11 @@ public:
CENTER_OF_MASS_MODE_CUSTOM,
};
- GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *)
-
-protected:
+private:
bool can_sleep = true;
- Mode mode = MODE_DYNAMIC;
+ bool lock_rotation = false;
+ bool freeze = false;
+ FreezeMode freeze_mode = FREEZE_MODE_STATIC;
real_t mass = 1.0;
Vector3 inertia;
@@ -214,16 +212,28 @@ protected:
void _body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape);
static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
- virtual void _body_state_changed(PhysicsDirectBodyState3D *p_state);
+protected:
void _notification(int p_what);
static void _bind_methods();
virtual void _validate_property(PropertyInfo &property) const override;
+ GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *)
+
+ virtual void _body_state_changed(PhysicsDirectBodyState3D *p_state);
+
+ void _apply_body_mode();
+
public:
- void set_mode(Mode p_mode);
- Mode get_mode() const;
+ void set_lock_rotation_enabled(bool p_lock_rotation);
+ bool is_lock_rotation_enabled() const;
+
+ void set_freeze_enabled(bool p_freeze);
+ bool is_freeze_enabled() const;
+
+ void set_freeze_mode(FreezeMode p_freeze_mode);
+ FreezeMode get_freeze_mode() const;
void set_mass(real_t p_mass);
real_t get_mass() const;
@@ -298,7 +308,7 @@ private:
void _reload_physics_characteristics();
};
-VARIANT_ENUM_CAST(RigidDynamicBody3D::Mode);
+VARIANT_ENUM_CAST(RigidDynamicBody3D::FreezeMode);
VARIANT_ENUM_CAST(RigidDynamicBody3D::CenterOfMassMode);
class KinematicCollision3D;
@@ -364,8 +374,8 @@ private:
};
CollisionState collision_state;
- bool floor_stop_on_slope = false;
bool floor_constant_speed = false;
+ bool floor_stop_on_slope = true;
bool floor_block_on_wall = true;
bool slide_on_ceiling = true;
int max_slides = 6;
diff --git a/scene/3d/skeleton_ik_3d.cpp b/scene/3d/skeleton_ik_3d.cpp
index 466f67afb8..8d90aabfac 100644
--- a/scene/3d/skeleton_ik_3d.cpp
+++ b/scene/3d/skeleton_ik_3d.cpp
@@ -99,7 +99,7 @@ bool FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain
child_ci->current_pos = child_ci->initial_transform.origin;
if (child_ci->parent_item) {
- child_ci->length = (child_ci->current_pos - child_ci->parent_item->current_pos).length();
+ child_ci->length = child_ci->parent_item->current_pos.distance_to(child_ci->current_pos);
}
}
@@ -140,7 +140,7 @@ void FabrikInverseKinematic::solve_simple(Task *p_task, bool p_solve_magnet, Vec
solve_simple_backwards(p_task->chain, p_solve_magnet);
solve_simple_forwards(p_task->chain, p_solve_magnet, p_origin_pos);
- distance_to_goal = (p_task->chain.tips[0].chain_item->current_pos - p_task->chain.tips[0].end_effector->goal_transform.origin).length();
+ distance_to_goal = p_task->chain.tips[0].end_effector->goal_transform.origin.distance_to(p_task->chain.tips[0].chain_item->current_pos);
}
}
diff --git a/scene/3d/vehicle_body_3d.cpp b/scene/3d/vehicle_body_3d.cpp
index bc3bb81ed4..9a2aaa8be2 100644
--- a/scene/3d/vehicle_body_3d.cpp
+++ b/scene/3d/vehicle_body_3d.cpp
@@ -470,7 +470,7 @@ real_t VehicleBody3D::_ray_cast(int p_idx, PhysicsDirectBodyState3D *s) {
}
void VehicleBody3D::_update_suspension(PhysicsDirectBodyState3D *s) {
- real_t chassisMass = mass;
+ real_t chassisMass = get_mass();
for (int w_it = 0; w_it < wheels.size(); w_it++) {
VehicleWheel3D &wheel_info = *wheels[w_it];
@@ -558,7 +558,7 @@ void VehicleBody3D::_resolve_single_bilateral(PhysicsDirectBodyState3D *s, const
rel_pos2,
normal,
s->get_inverse_inertia_tensor().get_main_diagonal(),
- 1.0 / mass,
+ 1.0 / get_mass(),
b2invinertia,
b2invmass);
@@ -584,7 +584,7 @@ void VehicleBody3D::_resolve_single_bilateral(PhysicsDirectBodyState3D *s, const
#define ONLY_USE_LINEAR_MASS
#ifdef ONLY_USE_LINEAR_MASS
- real_t massTerm = real_t(1.) / ((1.0 / mass) + b2invmass);
+ real_t massTerm = real_t(1.) / ((1.0 / get_mass()) + b2invmass);
impulse = -contactDamping * rel_vel * massTerm;
#else
real_t velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
generated by cgit v1.2.3 (git 2.25.1) at 2025-01-16 19:51:55 +0000