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-rw-r--r--servers/physics/body_pair_sw.cpp1
-rw-r--r--servers/physics/body_sw.h11
-rw-r--r--servers/physics/collision_object_sw.h3
-rw-r--r--servers/physics/collision_solver_sw.cpp4
-rw-r--r--servers/physics/constraint_sw.h5
-rw-r--r--servers/physics/physics_server_sw.cpp35
-rw-r--r--servers/physics/physics_server_sw.h5
-rw-r--r--servers/physics/shape_sw.cpp24
-rw-r--r--servers/physics/shape_sw.h6
-rw-r--r--servers/physics/space_sw.cpp2
-rw-r--r--servers/physics/space_sw.h2
11 files changed, 81 insertions, 17 deletions
diff --git a/servers/physics/body_pair_sw.cpp b/servers/physics/body_pair_sw.cpp
index 882d201f61..2a6a9e08ae 100644
--- a/servers/physics/body_pair_sw.cpp
+++ b/servers/physics/body_pair_sw.cpp
@@ -78,6 +78,7 @@ void BodyPairSW::contact_added_callback(const Vector3 &p_point_A, const Vector3
contact.local_A = local_A;
contact.local_B = local_B;
contact.normal = (p_point_A - p_point_B).normalized();
+ contact.mass_normal = 0; // will be computed in setup()
// attempt to determine if the contact will be reused
real_t contact_recycle_radius = space->get_contact_recycle_radius();
diff --git a/servers/physics/body_sw.h b/servers/physics/body_sw.h
index e8ea5531e5..fd2ab16b84 100644
--- a/servers/physics/body_sw.h
+++ b/servers/physics/body_sw.h
@@ -245,12 +245,21 @@ public:
biased_angular_velocity += _inv_inertia_tensor.xform(p_j);
}
+ _FORCE_INLINE_ void add_central_force(const Vector3 &p_force) {
+
+ applied_force += p_force;
+ }
+
_FORCE_INLINE_ void add_force(const Vector3 &p_force, const Vector3 &p_pos) {
applied_force += p_force;
applied_torque += p_pos.cross(p_force);
}
+ _FORCE_INLINE_ void add_torque(const Vector3 &p_torque) {
+ applied_torque += p_torque;
+ }
+
void set_active(bool p_active);
_FORCE_INLINE_ bool is_active() const { return active; }
@@ -401,7 +410,9 @@ public:
virtual void set_transform(const Transform &p_transform) { body->set_state(PhysicsServer::BODY_STATE_TRANSFORM, p_transform); }
virtual Transform get_transform() const { return body->get_transform(); }
+ virtual void add_central_force(const Vector3 &p_force) { body->add_central_force(p_force); }
virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos) { body->add_force(p_force, p_pos); }
+ virtual void add_torque(const Vector3 &p_torque) { body->add_torque(p_torque); }
virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) { body->apply_impulse(p_pos, p_j); }
virtual void apply_torque_impulse(const Vector3 &p_j) { body->apply_torque_impulse(p_j); }
diff --git a/servers/physics/collision_object_sw.h b/servers/physics/collision_object_sw.h
index f5d32e56a0..dee28bb6df 100644
--- a/servers/physics/collision_object_sw.h
+++ b/servers/physics/collision_object_sw.h
@@ -37,7 +37,8 @@
#include "shape_sw.h"
#ifdef DEBUG_ENABLED
-#define MAX_OBJECT_DISTANCE 10000000.0
+#define MAX_OBJECT_DISTANCE 3.1622776601683791e+18
+
#define MAX_OBJECT_DISTANCE_X2 (MAX_OBJECT_DISTANCE * MAX_OBJECT_DISTANCE)
#endif
diff --git a/servers/physics/collision_solver_sw.cpp b/servers/physics/collision_solver_sw.cpp
index e26a7a4d89..0037b9a862 100644
--- a/servers/physics/collision_solver_sw.cpp
+++ b/servers/physics/collision_solver_sw.cpp
@@ -90,6 +90,10 @@ bool CollisionSolverSW::solve_ray(const ShapeSW *p_shape_A, const Transform &p_t
return false;
Vector3 support_B = p_transform_B.xform(p);
+ if (ray->get_slips_on_slope()) {
+ Vector3 global_n = ai.basis.xform_inv(n).normalized();
+ support_B = support_A + (support_B - support_A).length() * global_n;
+ }
if (p_result_callback) {
if (p_swap_result)
diff --git a/servers/physics/constraint_sw.h b/servers/physics/constraint_sw.h
index a641f06f0c..41789600f6 100644
--- a/servers/physics/constraint_sw.h
+++ b/servers/physics/constraint_sw.h
@@ -41,6 +41,7 @@ class ConstraintSW : public RID_Data {
ConstraintSW *island_next;
ConstraintSW *island_list_next;
int priority;
+ bool disabled_collisions_between_bodies;
RID self;
@@ -50,6 +51,7 @@ protected:
_body_count = p_body_count;
island_step = 0;
priority = 1;
+ disabled_collisions_between_bodies = true;
}
public:
@@ -71,6 +73,9 @@ public:
_FORCE_INLINE_ void set_priority(int p_priority) { priority = p_priority; }
_FORCE_INLINE_ int get_priority() const { return priority; }
+ _FORCE_INLINE_ void disable_collisions_between_bodies(const bool p_disabled) { disabled_collisions_between_bodies = p_disabled; }
+ _FORCE_INLINE_ bool is_disabled_collisions_between_bodies() const { return disabled_collisions_between_bodies; }
+
virtual bool setup(real_t p_step) = 0;
virtual void solve(real_t p_step) = 0;
diff --git a/servers/physics/physics_server_sw.cpp b/servers/physics/physics_server_sw.cpp
index 5681ca838a..f2dbb635f8 100644
--- a/servers/physics/physics_server_sw.cpp
+++ b/servers/physics/physics_server_sw.cpp
@@ -795,12 +795,12 @@ void PhysicsServerSW::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_v
body->wakeup();
};
-void PhysicsServerSW::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool lock) {
+void PhysicsServerSW::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
- body->set_axis_lock(p_axis, lock);
+ body->set_axis_lock(p_axis, p_lock);
body->wakeup();
}
@@ -902,7 +902,7 @@ bool PhysicsServerSW::body_is_ray_pickable(RID p_body) const {
return body->is_ray_pickable();
}
-bool PhysicsServerSW::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, MotionResult *r_result) {
+bool PhysicsServerSW::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, false);
@@ -911,7 +911,7 @@ bool PhysicsServerSW::body_test_motion(RID p_body, const Transform &p_from, cons
_update_shapes();
- return body->get_space()->test_body_motion(body, p_from, p_motion, body->get_kinematic_margin(), r_result);
+ return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, body->get_kinematic_margin(), r_result);
}
PhysicsDirectBodyState *PhysicsServerSW::body_get_direct_state(RID p_body) {
@@ -1093,6 +1093,33 @@ int PhysicsServerSW::joint_get_solver_priority(RID p_joint) const {
return joint->get_priority();
}
+void PhysicsServerSW::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) {
+ JointSW *joint = joint_owner.get(p_joint);
+ ERR_FAIL_COND(!joint);
+
+ joint->disable_collisions_between_bodies(p_disable);
+
+ if (2 == joint->get_body_count()) {
+ BodySW *body_a = *joint->get_body_ptr();
+ BodySW *body_b = *(joint->get_body_ptr() + 1);
+
+ if (p_disable) {
+ body_add_collision_exception(body_a->get_self(), body_b->get_self());
+ body_add_collision_exception(body_b->get_self(), body_a->get_self());
+ } else {
+ body_remove_collision_exception(body_a->get_self(), body_b->get_self());
+ body_remove_collision_exception(body_b->get_self(), body_a->get_self());
+ }
+ }
+}
+
+bool PhysicsServerSW::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
+ JointSW *joint = joint_owner.get(p_joint);
+ ERR_FAIL_COND_V(!joint, true);
+
+ return joint->is_disabled_collisions_between_bodies();
+}
+
PhysicsServerSW::JointType PhysicsServerSW::joint_get_type(RID p_joint) const {
JointSW *joint = joint_owner.get(p_joint);
diff --git a/servers/physics/physics_server_sw.h b/servers/physics/physics_server_sw.h
index 132ac78968..3f56ba26d0 100644
--- a/servers/physics/physics_server_sw.h
+++ b/servers/physics/physics_server_sw.h
@@ -225,7 +225,7 @@ public:
virtual void body_set_ray_pickable(RID p_body, bool p_enable);
virtual bool body_is_ray_pickable(RID p_body) const;
- virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, MotionResult *r_result = NULL);
+ virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = NULL);
// this function only works on physics process, errors and returns null otherwise
virtual PhysicsDirectBodyState *body_get_direct_state(RID p_body);
@@ -275,6 +275,9 @@ public:
virtual void joint_set_solver_priority(RID p_joint, int p_priority);
virtual int joint_get_solver_priority(RID p_joint) const;
+ virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable);
+ virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const;
+
/* MISC */
virtual void free(RID p_rid);
diff --git a/servers/physics/shape_sw.cpp b/servers/physics/shape_sw.cpp
index 5a58742958..9d2e5e846d 100644
--- a/servers/physics/shape_sw.cpp
+++ b/servers/physics/shape_sw.cpp
@@ -165,6 +165,10 @@ real_t RayShapeSW::get_length() const {
return length;
}
+bool RayShapeSW::get_slips_on_slope() const {
+ return slips_on_slope;
+}
+
void RayShapeSW::project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const {
// don't think this will be even used
@@ -221,25 +225,31 @@ Vector3 RayShapeSW::get_moment_of_inertia(real_t p_mass) const {
return Vector3();
}
-void RayShapeSW::_setup(real_t p_length) {
+void RayShapeSW::_setup(real_t p_length, bool p_slips_on_slope) {
length = p_length;
+ slips_on_slope = p_slips_on_slope;
configure(AABB(Vector3(0, 0, 0), Vector3(0.1, 0.1, length)));
}
void RayShapeSW::set_data(const Variant &p_data) {
- _setup(p_data);
+ Dictionary d = p_data;
+ _setup(d["length"], d["slips_on_slope"]);
}
Variant RayShapeSW::get_data() const {
- return length;
+ Dictionary d;
+ d["length"] = length;
+ d["slips_on_slope"] = slips_on_slope;
+ return d;
}
RayShapeSW::RayShapeSW() {
length = 1;
+ slips_on_slope = false;
}
/********** SPHERE *************/
@@ -672,7 +682,7 @@ Vector3 CapsuleShapeSW::get_closest_point_to(const Vector3 &p_point) const {
Vector3 CapsuleShapeSW::get_moment_of_inertia(real_t p_mass) const {
- // use crappy AABB approximation
+ // use bad AABB approximation
Vector3 extents = get_aabb().size * 0.5;
return Vector3(
@@ -943,7 +953,7 @@ Vector3 ConvexPolygonShapeSW::get_closest_point_to(const Vector3 &p_point) const
Vector3 ConvexPolygonShapeSW::get_moment_of_inertia(real_t p_mass) const {
- // use crappy AABB approximation
+ // use bad AABB approximation
Vector3 extents = get_aabb().size * 0.5;
return Vector3(
@@ -1331,7 +1341,7 @@ void ConcavePolygonShapeSW::cull(const AABB &p_local_aabb, Callback p_callback,
Vector3 ConcavePolygonShapeSW::get_moment_of_inertia(real_t p_mass) const {
- // use crappy AABB approximation
+ // use bad AABB approximation
Vector3 extents = get_aabb().size * 0.5;
return Vector3(
@@ -1594,7 +1604,7 @@ void HeightMapShapeSW::cull(const AABB &p_local_aabb, Callback p_callback, void
Vector3 HeightMapShapeSW::get_moment_of_inertia(real_t p_mass) const {
- // use crappy AABB approximation
+ // use bad AABB approximation
Vector3 extents = get_aabb().size * 0.5;
return Vector3(
diff --git a/servers/physics/shape_sw.h b/servers/physics/shape_sw.h
index 4a9a6289ff..7be818b23c 100644
--- a/servers/physics/shape_sw.h
+++ b/servers/physics/shape_sw.h
@@ -149,11 +149,13 @@ public:
class RayShapeSW : public ShapeSW {
real_t length;
+ bool slips_on_slope;
- void _setup(real_t p_length);
+ void _setup(real_t p_length, bool p_slips_on_slope);
public:
real_t get_length() const;
+ bool get_slips_on_slope() const;
virtual real_t get_area() const { return 0.0; }
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_RAY; }
@@ -238,7 +240,7 @@ public:
_FORCE_INLINE_ real_t get_height() const { return height; }
_FORCE_INLINE_ real_t get_radius() const { return radius; }
- virtual real_t get_area() { return 4.0 / 3.0 * Math_PI * radius * radius * radius + height * Math_PI * radius * radius; }
+ virtual real_t get_area() const { return 4.0 / 3.0 * Math_PI * radius * radius * radius + height * Math_PI * radius * radius; }
virtual PhysicsServer::ShapeType get_type() const { return PhysicsServer::SHAPE_CAPSULE; }
diff --git a/servers/physics/space_sw.cpp b/servers/physics/space_sw.cpp
index fe6c42a531..b604e5cdf6 100644
--- a/servers/physics/space_sw.cpp
+++ b/servers/physics/space_sw.cpp
@@ -541,7 +541,7 @@ int SpaceSW::_cull_aabb_for_body(BodySW *p_body, const AABB &p_aabb) {
return amount;
}
-bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer::MotionResult *r_result) {
+bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer::MotionResult *r_result) {
//give me back regular physics engine logic
//this is madness
diff --git a/servers/physics/space_sw.h b/servers/physics/space_sw.h
index 0d519ea50b..2452d6a187 100644
--- a/servers/physics/space_sw.h
+++ b/servers/physics/space_sw.h
@@ -197,7 +197,7 @@ public:
void set_elapsed_time(ElapsedTime p_time, uint64_t p_msec) { elapsed_time[p_time] = p_msec; }
uint64_t get_elapsed_time(ElapsedTime p_time) const { return elapsed_time[p_time]; }
- bool test_body_motion(BodySW *p_body, const Transform &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer::MotionResult *r_result);
+ bool test_body_motion(BodySW *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer::MotionResult *r_result);
SpaceSW();
~SpaceSW();
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-16 20:37:21 +0000