summaryrefslogtreecommitdiff
path: root/servers/physics_2d/body_2d_sw.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'servers/physics_2d/body_2d_sw.cpp')
-rw-r--r--servers/physics_2d/body_2d_sw.cpp150
1 files changed, 61 insertions, 89 deletions
diff --git a/servers/physics_2d/body_2d_sw.cpp b/servers/physics_2d/body_2d_sw.cpp
index 39e28fd002..856bba78f7 100644
--- a/servers/physics_2d/body_2d_sw.cpp
+++ b/servers/physics_2d/body_2d_sw.cpp
@@ -34,19 +34,16 @@
#include "space_2d_sw.h"
void Body2DSW::_update_inertia() {
-
- if (!user_inertia && get_space() && !inertia_update_list.in_list())
+ if (!user_inertia && get_space() && !inertia_update_list.in_list()) {
get_space()->body_add_to_inertia_update_list(&inertia_update_list);
+ }
}
void Body2DSW::update_inertias() {
-
//update shapes and motions
switch (mode) {
-
case PhysicsServer2D::BODY_MODE_RIGID: {
-
if (user_inertia) {
_inv_inertia = inertia > 0 ? (1.0 / inertia) : 0;
break;
@@ -55,14 +52,12 @@ void Body2DSW::update_inertias() {
real_t total_area = 0;
for (int i = 0; i < get_shape_count(); i++) {
-
total_area += get_shape_aabb(i).get_area();
}
inertia = 0;
for (int i = 0; i < get_shape_count(); i++) {
-
if (is_shape_disabled(i)) {
continue;
}
@@ -80,20 +75,19 @@ void Body2DSW::update_inertias() {
_inv_inertia = inertia > 0 ? (1.0 / inertia) : 0;
- if (mass)
+ if (mass) {
_inv_mass = 1.0 / mass;
- else
+ } else {
_inv_mass = 0;
+ }
} break;
case PhysicsServer2D::BODY_MODE_KINEMATIC:
case PhysicsServer2D::BODY_MODE_STATIC: {
-
_inv_inertia = 0;
_inv_mass = 0;
} break;
case PhysicsServer2D::BODY_MODE_CHARACTER: {
-
_inv_inertia = 0;
_inv_mass = 1.0 / mass;
@@ -105,19 +99,22 @@ void Body2DSW::update_inertias() {
}
void Body2DSW::set_active(bool p_active) {
-
- if (active == p_active)
+ if (active == p_active) {
return;
+ }
active = p_active;
if (!p_active) {
- if (get_space())
+ if (get_space()) {
get_space()->body_remove_from_active_list(&active_list);
+ }
} else {
- if (mode == PhysicsServer2D::BODY_MODE_STATIC)
+ if (mode == PhysicsServer2D::BODY_MODE_STATIC) {
return; //static bodies can't become active
- if (get_space())
+ }
+ if (get_space()) {
get_space()->body_add_to_active_list(&active_list);
+ }
//still_time=0;
}
@@ -135,14 +132,11 @@ void Body2DSW::set_active(bool p_active) {
}
void Body2DSW::set_param(PhysicsServer2D::BodyParameter p_param, real_t p_value) {
-
switch (p_param) {
case PhysicsServer2D::BODY_PARAM_BOUNCE: {
-
bounce = p_value;
} break;
case PhysicsServer2D::BODY_PARAM_FRICTION: {
-
friction = p_value;
} break;
case PhysicsServer2D::BODY_PARAM_MASS: {
@@ -165,11 +159,9 @@ void Body2DSW::set_param(PhysicsServer2D::BodyParameter p_param, real_t p_value)
gravity_scale = p_value;
} break;
case PhysicsServer2D::BODY_PARAM_LINEAR_DAMP: {
-
linear_damp = p_value;
} break;
case PhysicsServer2D::BODY_PARAM_ANGULAR_DAMP: {
-
angular_damp = p_value;
} break;
default: {
@@ -178,14 +170,11 @@ void Body2DSW::set_param(PhysicsServer2D::BodyParameter p_param, real_t p_value)
}
real_t Body2DSW::get_param(PhysicsServer2D::BodyParameter p_param) const {
-
switch (p_param) {
case PhysicsServer2D::BODY_PARAM_BOUNCE: {
-
return bounce;
}
case PhysicsServer2D::BODY_PARAM_FRICTION: {
-
return friction;
}
case PhysicsServer2D::BODY_PARAM_MASS: {
@@ -198,11 +187,9 @@ real_t Body2DSW::get_param(PhysicsServer2D::BodyParameter p_param) const {
return gravity_scale;
}
case PhysicsServer2D::BODY_PARAM_LINEAR_DAMP: {
-
return linear_damp;
}
case PhysicsServer2D::BODY_PARAM_ANGULAR_DAMP: {
-
return angular_damp;
}
default: {
@@ -213,7 +200,6 @@ real_t Body2DSW::get_param(PhysicsServer2D::BodyParameter p_param) const {
}
void Body2DSW::set_mode(PhysicsServer2D::BodyMode p_mode) {
-
PhysicsServer2D::BodyMode prev = mode;
mode = p_mode;
@@ -221,7 +207,6 @@ void Body2DSW::set_mode(PhysicsServer2D::BodyMode p_mode) {
//CLEAR UP EVERYTHING IN CASE IT NOT WORKS!
case PhysicsServer2D::BODY_MODE_STATIC:
case PhysicsServer2D::BODY_MODE_KINEMATIC: {
-
_set_inv_transform(get_transform().affine_inverse());
_inv_mass = 0;
_inv_inertia = 0;
@@ -234,7 +219,6 @@ void Body2DSW::set_mode(PhysicsServer2D::BodyMode p_mode) {
}
} break;
case PhysicsServer2D::BODY_MODE_RIGID: {
-
_inv_mass = mass > 0 ? (1.0 / mass) : 0;
_inv_inertia = inertia > 0 ? (1.0 / inertia) : 0;
_set_static(false);
@@ -242,7 +226,6 @@ void Body2DSW::set_mode(PhysicsServer2D::BodyMode p_mode) {
} break;
case PhysicsServer2D::BODY_MODE_CHARACTER: {
-
_inv_mass = mass > 0 ? (1.0 / mass) : 0;
_inv_inertia = 0;
_set_static(false);
@@ -258,24 +241,20 @@ void Body2DSW::set_mode(PhysicsServer2D::BodyMode p_mode) {
_update_queries();
*/
}
-PhysicsServer2D::BodyMode Body2DSW::get_mode() const {
+PhysicsServer2D::BodyMode Body2DSW::get_mode() const {
return mode;
}
void Body2DSW::_shapes_changed() {
-
_update_inertia();
wakeup_neighbours();
}
void Body2DSW::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_variant) {
-
switch (p_state) {
case PhysicsServer2D::BODY_STATE_TRANSFORM: {
-
if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
-
new_transform = p_variant;
//wakeup_neighbours();
set_active(true);
@@ -292,8 +271,9 @@ void Body2DSW::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_va
Transform2D t = p_variant;
t.orthonormalize();
new_transform = get_transform(); //used as old to compute motion
- if (t == new_transform)
+ if (t == new_transform) {
break;
+ }
_set_transform(t);
_set_inv_transform(get_transform().inverse());
}
@@ -301,7 +281,6 @@ void Body2DSW::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_va
} break;
case PhysicsServer2D::BODY_STATE_LINEAR_VELOCITY: {
-
/*
if (mode==PhysicsServer2D::BODY_MODE_STATIC)
break;
@@ -321,8 +300,9 @@ void Body2DSW::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_va
} break;
case PhysicsServer2D::BODY_STATE_SLEEPING: {
//?
- if (mode == PhysicsServer2D::BODY_MODE_STATIC || mode == PhysicsServer2D::BODY_MODE_KINEMATIC)
+ if (mode == PhysicsServer2D::BODY_MODE_STATIC || mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
break;
+ }
bool do_sleep = p_variant;
if (do_sleep) {
linear_velocity = Vector2();
@@ -331,20 +311,22 @@ void Body2DSW::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_va
//biased_angular_velocity=Vector3();
set_active(false);
} else {
- if (mode != PhysicsServer2D::BODY_MODE_STATIC)
+ if (mode != PhysicsServer2D::BODY_MODE_STATIC) {
set_active(true);
+ }
}
} break;
case PhysicsServer2D::BODY_STATE_CAN_SLEEP: {
can_sleep = p_variant;
- if (mode == PhysicsServer2D::BODY_MODE_RIGID && !active && !can_sleep)
+ if (mode == PhysicsServer2D::BODY_MODE_RIGID && !active && !can_sleep) {
set_active(true);
+ }
} break;
}
}
-Variant Body2DSW::get_state(PhysicsServer2D::BodyState p_state) const {
+Variant Body2DSW::get_state(PhysicsServer2D::BodyState p_state) const {
switch (p_state) {
case PhysicsServer2D::BODY_STATE_TRANSFORM: {
return get_transform();
@@ -367,26 +349,27 @@ Variant Body2DSW::get_state(PhysicsServer2D::BodyState p_state) const {
}
void Body2DSW::set_space(Space2DSW *p_space) {
-
if (get_space()) {
-
wakeup_neighbours();
- if (inertia_update_list.in_list())
+ if (inertia_update_list.in_list()) {
get_space()->body_remove_from_inertia_update_list(&inertia_update_list);
- if (active_list.in_list())
+ }
+ if (active_list.in_list()) {
get_space()->body_remove_from_active_list(&active_list);
- if (direct_state_query_list.in_list())
+ }
+ if (direct_state_query_list.in_list()) {
get_space()->body_remove_from_state_query_list(&direct_state_query_list);
+ }
}
_set_space(p_space);
if (get_space()) {
-
_update_inertia();
- if (active)
+ if (active) {
get_space()->body_add_to_active_list(&active_list);
+ }
/*
_update_queries();
if (is_active()) {
@@ -400,7 +383,6 @@ void Body2DSW::set_space(Space2DSW *p_space) {
}
void Body2DSW::_compute_area_gravity_and_dampenings(const Area2DSW *p_area) {
-
if (p_area->is_gravity_point()) {
if (p_area->get_gravity_distance_scale() > 0) {
Vector2 v = p_area->get_transform().xform(p_area->get_gravity_vector()) - get_transform().get_origin();
@@ -417,9 +399,9 @@ void Body2DSW::_compute_area_gravity_and_dampenings(const Area2DSW *p_area) {
}
void Body2DSW::integrate_forces(real_t p_step) {
-
- if (mode == PhysicsServer2D::BODY_MODE_STATIC)
+ if (mode == PhysicsServer2D::BODY_MODE_STATIC) {
return;
+ }
Area2DSW *def_area = get_space()->get_default_area();
// Area2DSW *damp_area = def_area;
@@ -461,15 +443,17 @@ void Body2DSW::integrate_forces(real_t p_step) {
gravity *= gravity_scale;
// If less than 0, override dampenings with that of the Body2D
- if (angular_damp >= 0)
+ if (angular_damp >= 0) {
area_angular_damp = angular_damp;
+ }
/*
else
area_angular_damp=damp_area->get_angular_damp();
*/
- if (linear_damp >= 0)
+ if (linear_damp >= 0) {
area_linear_damp = linear_damp;
+ }
/*
else
area_linear_damp=damp_area->get_linear_damp();
@@ -479,7 +463,6 @@ void Body2DSW::integrate_forces(real_t p_step) {
bool do_motion = false;
if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
-
//compute motion, angular and etc. velocities from prev transform
motion = new_transform.get_origin() - get_transform().get_origin();
linear_velocity = motion / p_step;
@@ -506,13 +489,15 @@ void Body2DSW::integrate_forces(real_t p_step) {
real_t damp = 1.0 - p_step * area_linear_damp;
- if (damp < 0) // reached zero in the given time
+ if (damp < 0) { // reached zero in the given time
damp = 0;
+ }
real_t angular_damp = 1.0 - p_step * area_angular_damp;
- if (angular_damp < 0) // reached zero in the given time
+ if (angular_damp < 0) { // reached zero in the given time
angular_damp = 0;
+ }
linear_velocity *= damp;
angular_velocity *= angular_damp;
@@ -522,7 +507,6 @@ void Body2DSW::integrate_forces(real_t p_step) {
}
if (continuous_cd_mode != PhysicsServer2D::CCD_MODE_DISABLED) {
-
motion = linear_velocity * p_step;
do_motion = true;
}
@@ -544,19 +528,20 @@ void Body2DSW::integrate_forces(real_t p_step) {
}
void Body2DSW::integrate_velocities(real_t p_step) {
-
- if (mode == PhysicsServer2D::BODY_MODE_STATIC)
+ if (mode == PhysicsServer2D::BODY_MODE_STATIC) {
return;
+ }
- if (fi_callback)
+ if (fi_callback) {
get_space()->body_add_to_state_query_list(&direct_state_query_list);
+ }
if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
-
_set_transform(new_transform, false);
_set_inv_transform(new_transform.affine_inverse());
- if (contacts.size() == 0 && linear_velocity == Vector2() && angular_velocity == 0)
+ if (contacts.size() == 0 && linear_velocity == Vector2() && angular_velocity == 0) {
set_active(false); //stopped moving, deactivate
+ }
return;
}
@@ -569,38 +554,37 @@ void Body2DSW::integrate_velocities(real_t p_step) {
_set_transform(Transform2D(angle, pos), continuous_cd_mode == PhysicsServer2D::CCD_MODE_DISABLED);
_set_inv_transform(get_transform().inverse());
- if (continuous_cd_mode != PhysicsServer2D::CCD_MODE_DISABLED)
+ if (continuous_cd_mode != PhysicsServer2D::CCD_MODE_DISABLED) {
new_transform = get_transform();
+ }
//_update_inertia_tensor();
}
void Body2DSW::wakeup_neighbours() {
-
for (Map<Constraint2DSW *, int>::Element *E = constraint_map.front(); E; E = E->next()) {
-
const Constraint2DSW *c = E->key();
Body2DSW **n = c->get_body_ptr();
int bc = c->get_body_count();
for (int i = 0; i < bc; i++) {
-
- if (i == E->get())
+ if (i == E->get()) {
continue;
+ }
Body2DSW *b = n[i];
- if (b->mode != PhysicsServer2D::BODY_MODE_RIGID)
+ if (b->mode != PhysicsServer2D::BODY_MODE_RIGID) {
continue;
+ }
- if (!b->is_active())
+ if (!b->is_active()) {
b->set_active(true);
+ }
}
}
}
void Body2DSW::call_queries() {
-
if (fi_callback) {
-
PhysicsDirectBodyState2DSW *dbs = PhysicsDirectBodyState2DSW::singleton;
dbs->body = this;
@@ -609,12 +593,10 @@ void Body2DSW::call_queries() {
Object *obj = ObjectDB::get_instance(fi_callback->id);
if (!obj) {
-
set_force_integration_callback(ObjectID(), StringName());
} else {
Callable::CallError ce;
if (fi_callback->callback_udata.get_type() != Variant::NIL) {
-
obj->call(fi_callback->method, vp, 2, ce);
} else {
@@ -625,36 +607,31 @@ void Body2DSW::call_queries() {
}
bool Body2DSW::sleep_test(real_t p_step) {
-
- if (mode == PhysicsServer2D::BODY_MODE_STATIC || mode == PhysicsServer2D::BODY_MODE_KINEMATIC)
+ if (mode == PhysicsServer2D::BODY_MODE_STATIC || mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
return true; //
- else if (mode == PhysicsServer2D::BODY_MODE_CHARACTER)
+ } else if (mode == PhysicsServer2D::BODY_MODE_CHARACTER) {
return !active; // characters and kinematic bodies don't sleep unless asked to sleep
- else if (!can_sleep)
+ } else if (!can_sleep) {
return false;
+ }
if (Math::abs(angular_velocity) < get_space()->get_body_angular_velocity_sleep_threshold() && Math::abs(linear_velocity.length_squared()) < get_space()->get_body_linear_velocity_sleep_threshold() * get_space()->get_body_linear_velocity_sleep_threshold()) {
-
still_time += p_step;
return still_time > get_space()->get_body_time_to_sleep();
} else {
-
still_time = 0; //maybe this should be set to 0 on set_active?
return false;
}
}
void Body2DSW::set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata) {
-
if (fi_callback) {
-
memdelete(fi_callback);
fi_callback = nullptr;
}
if (p_id.is_valid()) {
-
fi_callback = memnew(ForceIntegrationCallback);
fi_callback->id = p_id;
fi_callback->method = p_method;
@@ -667,7 +644,6 @@ Body2DSW::Body2DSW() :
active_list(this),
inertia_update_list(this),
direct_state_query_list(this) {
-
mode = PhysicsServer2D::BODY_MODE_RIGID;
active = true;
angular_velocity = 0;
@@ -701,31 +677,27 @@ Body2DSW::Body2DSW() :
}
Body2DSW::~Body2DSW() {
-
- if (fi_callback)
+ if (fi_callback) {
memdelete(fi_callback);
+ }
}
PhysicsDirectBodyState2DSW *PhysicsDirectBodyState2DSW::singleton = nullptr;
PhysicsDirectSpaceState2D *PhysicsDirectBodyState2DSW::get_space_state() {
-
return body->get_space()->get_direct_state();
}
Variant PhysicsDirectBodyState2DSW::get_contact_collider_shape_metadata(int p_contact_idx) const {
-
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Variant());
if (!PhysicsServer2DSW::singletonsw->body_owner.owns(body->contacts[p_contact_idx].collider)) {
-
return Variant();
}
Body2DSW *other = PhysicsServer2DSW::singletonsw->body_owner.getornull(body->contacts[p_contact_idx].collider);
int sidx = body->contacts[p_contact_idx].collider_shape;
if (sidx < 0 || sidx >= other->get_shape_count()) {
-
return Variant();
}
generated by cgit v1.2.3 (git 2.25.1) at 2025-01-20 07:16:02 +0000