diff options
Diffstat (limited to 'servers/physics_2d/body_2d_sw.cpp')
-rw-r--r-- | servers/physics_2d/body_2d_sw.cpp | 296 |
1 files changed, 151 insertions, 145 deletions
diff --git a/servers/physics_2d/body_2d_sw.cpp b/servers/physics_2d/body_2d_sw.cpp index 7aa2f9b7de..edd769aa9a 100644 --- a/servers/physics_2d/body_2d_sw.cpp +++ b/servers/physics_2d/body_2d_sw.cpp @@ -29,51 +29,77 @@ /*************************************************************************/ #include "body_2d_sw.h" + #include "area_2d_sw.h" -#include "physics_server_2d_sw.h" +#include "body_direct_state_2d_sw.h" #include "space_2d_sw.h" -void Body2DSW::_update_inertia() { - if (!user_inertia && get_space() && !inertia_update_list.in_list()) { - get_space()->body_add_to_inertia_update_list(&inertia_update_list); +void Body2DSW::_mass_properties_changed() { + if (get_space() && !mass_properties_update_list.in_list() && (calculate_inertia || calculate_center_of_mass)) { + get_space()->body_add_to_mass_properties_update_list(&mass_properties_update_list); } } -void Body2DSW::update_inertias() { +void Body2DSW::update_mass_properties() { //update shapes and motions switch (mode) { case PhysicsServer2D::BODY_MODE_DYNAMIC: { - if (user_inertia) { - _inv_inertia = inertia > 0 ? (1.0 / inertia) : 0; - break; - } - //update tensor for allshapes, not the best way but should be somehow OK. (inspired from bullet) real_t total_area = 0; - for (int i = 0; i < get_shape_count(); i++) { + if (is_shape_disabled(i)) { + continue; + } total_area += get_shape_aabb(i).get_area(); } - inertia = 0; + if (calculate_center_of_mass) { + // We have to recompute the center of mass. + center_of_mass = Vector2(); - for (int i = 0; i < get_shape_count(); i++) { - if (is_shape_disabled(i)) { - continue; + if (total_area != 0.0) { + for (int i = 0; i < get_shape_count(); i++) { + if (is_shape_disabled(i)) { + continue; + } + + real_t area = get_shape_aabb(i).get_area(); + + real_t mass = area * this->mass / total_area; + + // NOTE: we assume that the shape origin is also its center of mass. + center_of_mass += mass * get_shape_transform(i).get_origin(); + } + + center_of_mass /= mass; } + } + + if (calculate_inertia) { + inertia = 0; + + for (int i = 0; i < get_shape_count(); i++) { + if (is_shape_disabled(i)) { + continue; + } - const Shape2DSW *shape = get_shape(i); + const Shape2DSW *shape = get_shape(i); - real_t area = get_shape_aabb(i).get_area(); + real_t area = get_shape_aabb(i).get_area(); + if (area == 0.0) { + continue; + } - real_t mass = area * this->mass / total_area; + real_t mass = area * this->mass / total_area; - Transform2D mtx = get_shape_transform(i); - Vector2 scale = mtx.get_scale(); - inertia += shape->get_moment_of_inertia(mass, scale) + mass * mtx.get_origin().length_squared(); + Transform2D mtx = get_shape_transform(i); + Vector2 scale = mtx.get_scale(); + Vector2 shape_origin = mtx.get_origin() - center_of_mass; + inertia += shape->get_moment_of_inertia(mass, scale) + mass * shape_origin.length_squared(); + } } - _inv_inertia = inertia > 0 ? (1.0 / inertia) : 0; + _inv_inertia = inertia > 0.0 ? (1.0 / inertia) : 0.0; if (mass) { _inv_mass = 1.0 / mass; @@ -93,9 +119,12 @@ void Body2DSW::update_inertias() { } break; } - //_update_inertia_tensor(); +} - //_update_shapes(); +void Body2DSW::reset_mass_properties() { + calculate_inertia = true; + calculate_center_of_mass = true; + _mass_properties_changed(); } void Body2DSW::set_active(bool p_active) { @@ -117,7 +146,7 @@ void Body2DSW::set_active(bool p_active) { } } -void Body2DSW::set_param(PhysicsServer2D::BodyParameter p_param, real_t p_value) { +void Body2DSW::set_param(PhysicsServer2D::BodyParameter p_param, const Variant &p_value) { switch (p_param) { case PhysicsServer2D::BODY_PARAM_BOUNCE: { bounce = p_value; @@ -126,21 +155,32 @@ void Body2DSW::set_param(PhysicsServer2D::BodyParameter p_param, real_t p_value) friction = p_value; } break; case PhysicsServer2D::BODY_PARAM_MASS: { - ERR_FAIL_COND(p_value <= 0); - mass = p_value; - _update_inertia(); - + real_t mass_value = p_value; + ERR_FAIL_COND(mass_value <= 0); + mass = mass_value; + if (mode >= PhysicsServer2D::BODY_MODE_DYNAMIC) { + _mass_properties_changed(); + } } break; case PhysicsServer2D::BODY_PARAM_INERTIA: { - if (p_value <= 0) { - user_inertia = false; - _update_inertia(); + real_t inertia_value = p_value; + if (inertia_value <= 0.0) { + calculate_inertia = true; + if (mode == PhysicsServer2D::BODY_MODE_DYNAMIC) { + _mass_properties_changed(); + } } else { - user_inertia = true; - inertia = p_value; - _inv_inertia = 1.0 / p_value; + calculate_inertia = false; + inertia = inertia_value; + if (mode == PhysicsServer2D::BODY_MODE_DYNAMIC) { + _inv_inertia = 1.0 / inertia; + } } } break; + case PhysicsServer2D::BODY_PARAM_CENTER_OF_MASS: { + calculate_center_of_mass = false; + center_of_mass = p_value; + } break; case PhysicsServer2D::BODY_PARAM_GRAVITY_SCALE: { gravity_scale = p_value; } break; @@ -155,7 +195,7 @@ void Body2DSW::set_param(PhysicsServer2D::BodyParameter p_param, real_t p_value) } } -real_t Body2DSW::get_param(PhysicsServer2D::BodyParameter p_param) const { +Variant Body2DSW::get_param(PhysicsServer2D::BodyParameter p_param) const { switch (p_param) { case PhysicsServer2D::BODY_PARAM_BOUNCE: { return bounce; @@ -169,6 +209,9 @@ real_t Body2DSW::get_param(PhysicsServer2D::BodyParameter p_param) const { case PhysicsServer2D::BODY_PARAM_INERTIA: { return inertia; } + case PhysicsServer2D::BODY_PARAM_CENTER_OF_MASS: { + return center_of_mass; + } case PhysicsServer2D::BODY_PARAM_GRAVITY_SCALE: { return gravity_scale; } @@ -206,7 +249,10 @@ void Body2DSW::set_mode(PhysicsServer2D::BodyMode p_mode) { } break; case PhysicsServer2D::BODY_MODE_DYNAMIC: { _inv_mass = mass > 0 ? (1.0 / mass) : 0; - _inv_inertia = inertia > 0 ? (1.0 / inertia) : 0; + if (!calculate_inertia) { + _inv_inertia = 1.0 / inertia; + } + _mass_properties_changed(); _set_static(false); set_active(true); @@ -214,18 +260,11 @@ void Body2DSW::set_mode(PhysicsServer2D::BodyMode p_mode) { case PhysicsServer2D::BODY_MODE_DYNAMIC_LOCKED: { _inv_mass = mass > 0 ? (1.0 / mass) : 0; _inv_inertia = 0; + angular_velocity = 0; _set_static(false); set_active(true); - angular_velocity = 0; - } break; - } - if (p_mode == PhysicsServer2D::BODY_MODE_DYNAMIC && _inv_inertia == 0) { - _update_inertia(); + } } - /* - if (get_space()) - _update_queries(); - */ } PhysicsServer2D::BodyMode Body2DSW::get_mode() const { @@ -233,7 +272,7 @@ PhysicsServer2D::BodyMode Body2DSW::get_mode() const { } void Body2DSW::_shapes_changed() { - _update_inertia(); + _mass_properties_changed(); wakeup_neighbours(); } @@ -268,11 +307,13 @@ void Body2DSW::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_va } break; case PhysicsServer2D::BODY_STATE_LINEAR_VELOCITY: { linear_velocity = p_variant; + constant_linear_velocity = linear_velocity; wakeup(); } break; case PhysicsServer2D::BODY_STATE_ANGULAR_VELOCITY: { angular_velocity = p_variant; + constant_angular_velocity = angular_velocity; wakeup(); } break; @@ -295,7 +336,7 @@ void Body2DSW::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_va } break; case PhysicsServer2D::BODY_STATE_CAN_SLEEP: { can_sleep = p_variant; - if (mode == PhysicsServer2D::BODY_MODE_DYNAMIC && !active && !can_sleep) { + if (mode >= PhysicsServer2D::BODY_MODE_DYNAMIC && !active && !can_sleep) { set_active(true); } @@ -329,8 +370,8 @@ void Body2DSW::set_space(Space2DSW *p_space) { if (get_space()) { wakeup_neighbours(); - if (inertia_update_list.in_list()) { - get_space()->body_remove_from_inertia_update_list(&inertia_update_list); + if (mass_properties_update_list.in_list()) { + get_space()->body_remove_from_mass_properties_update_list(&mass_properties_update_list); } if (active_list.in_list()) { get_space()->body_remove_from_active_list(&active_list); @@ -343,26 +384,17 @@ void Body2DSW::set_space(Space2DSW *p_space) { _set_space(p_space); if (get_space()) { - _update_inertia(); + _mass_properties_changed(); if (active) { get_space()->body_add_to_active_list(&active_list); } } - - first_integration = false; } -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(); - gravity += v.normalized() * (p_area->get_gravity() / Math::pow(v.length() * p_area->get_gravity_distance_scale() + 1, 2)); - } else { - gravity += (p_area->get_transform().xform(p_area->get_gravity_vector()) - get_transform().get_origin()).normalized() * p_area->get_gravity(); - } - } else { - gravity += p_area->get_gravity_vector() * p_area->get_gravity(); - } +void Body2DSW::_compute_area_gravity_and_damping(const Area2DSW *p_area) { + Vector2 area_gravity; + p_area->compute_gravity(get_transform().get_origin(), area_gravity); + gravity += area_gravity; area_linear_damp += p_area->get_linear_damp(); area_angular_damp += p_area->get_angular_damp(); @@ -391,7 +423,7 @@ void Body2DSW::integrate_forces(real_t p_step) { switch (mode) { case PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE: case PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: { - _compute_area_gravity_and_dampenings(aa[i].area); + _compute_area_gravity_and_damping(aa[i].area); stopped = mode == PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE; } break; case PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE: @@ -399,7 +431,7 @@ void Body2DSW::integrate_forces(real_t p_step) { gravity = Vector2(0, 0); area_angular_damp = 0; area_linear_damp = 0; - _compute_area_gravity_and_dampenings(aa[i].area); + _compute_area_gravity_and_damping(aa[i].area); stopped = mode == PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE; } break; default: { @@ -408,7 +440,7 @@ void Body2DSW::integrate_forces(real_t p_step) { } } if (!stopped) { - _compute_area_gravity_and_dampenings(def_area); + _compute_area_gravity_and_damping(def_area); } gravity *= gravity_scale; @@ -435,10 +467,10 @@ void Body2DSW::integrate_forces(real_t p_step) { 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; + linear_velocity = constant_linear_velocity + motion / p_step; real_t rot = new_transform.get_rotation() - get_transform().get_rotation(); - angular_velocity = remainder(rot, 2.0 * Math_PI) / p_step; + angular_velocity = constant_angular_velocity + remainder(rot, 2.0 * Math_PI) / p_step; do_motion = true; @@ -450,7 +482,7 @@ void Body2DSW::integrate_forces(real_t p_step) { */ } else { - if (!omit_force_integration && !first_integration) { + if (!omit_force_integration) { //overridden by direct state query Vector2 force = gravity * mass; @@ -484,7 +516,6 @@ void Body2DSW::integrate_forces(real_t p_step) { //motion=linear_velocity*p_step; - first_integration = false; biased_angular_velocity = 0; biased_linear_velocity = Vector2(); @@ -502,7 +533,7 @@ void Body2DSW::integrate_velocities(real_t p_step) { return; } - if (fi_callback) { + if (fi_callback_data || body_state_callback) { get_space()->body_add_to_state_query_list(&direct_state_query_list); } @@ -521,14 +552,22 @@ void Body2DSW::integrate_velocities(real_t p_step) { real_t angle = get_transform().get_rotation() + total_angular_velocity * p_step; Vector2 pos = get_transform().get_origin() + total_linear_velocity * p_step; + real_t center_of_mass_distance = center_of_mass.length(); + if (center_of_mass_distance > CMP_EPSILON) { + // Calculate displacement due to center of mass offset. + real_t prev_angle = get_transform().get_rotation(); + real_t angle_base = Math::atan2(center_of_mass.y, center_of_mass.x); + Vector2 point1(Math::cos(angle_base + prev_angle), Math::sin(angle_base + prev_angle)); + Vector2 point2(Math::cos(angle_base + angle), Math::sin(angle_base + angle)); + pos += center_of_mass_distance * (point1 - point2); + } + _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) { new_transform = get_transform(); } - - //_update_inertia_tensor(); } void Body2DSW::wakeup_neighbours() { @@ -542,7 +581,7 @@ void Body2DSW::wakeup_neighbours() { continue; } Body2DSW *b = n[i]; - if (b->mode != PhysicsServer2D::BODY_MODE_DYNAMIC) { + if (b->mode < PhysicsServer2D::BODY_MODE_DYNAMIC) { continue; } @@ -554,27 +593,27 @@ void Body2DSW::wakeup_neighbours() { } void Body2DSW::call_queries() { - if (fi_callback) { - PhysicsDirectBodyState2DSW *dbs = PhysicsDirectBodyState2DSW::singleton; - dbs->body = this; - - Variant v = dbs; - const Variant *vp[2] = { &v, &fi_callback->callback_udata }; - - Object *obj = fi_callback->callable.get_object(); - if (!obj) { + if (fi_callback_data) { + if (!fi_callback_data->callable.get_object()) { set_force_integration_callback(Callable()); } else { + Variant direct_state_variant = get_direct_state(); + const Variant *vp[2] = { &direct_state_variant, &fi_callback_data->udata }; + Callable::CallError ce; Variant rv; - if (fi_callback->callback_udata.get_type() != Variant::NIL) { - fi_callback->callable.call(vp, 2, rv, ce); + if (fi_callback_data->udata.get_type() != Variant::NIL) { + fi_callback_data->callable.call(vp, 2, rv, ce); } else { - fi_callback->callable.call(vp, 1, rv, ce); + fi_callback_data->callable.call(vp, 1, rv, ce); } } } + + if (body_state_callback) { + (body_state_callback)(body_state_callback_instance, get_direct_state()); + } } bool Body2DSW::sleep_test(real_t p_step) { @@ -594,78 +633,45 @@ bool Body2DSW::sleep_test(real_t p_step) { } } +void Body2DSW::set_state_sync_callback(void *p_instance, PhysicsServer2D::BodyStateCallback p_callback) { + body_state_callback_instance = p_instance; + body_state_callback = p_callback; +} + void Body2DSW::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) { - if (fi_callback) { - memdelete(fi_callback); - fi_callback = nullptr; + if (p_callable.get_object()) { + if (!fi_callback_data) { + fi_callback_data = memnew(ForceIntegrationCallbackData); + } + fi_callback_data->callable = p_callable; + fi_callback_data->udata = p_udata; + } else if (fi_callback_data) { + memdelete(fi_callback_data); + fi_callback_data = nullptr; } +} - if (p_callable.get_object()) { - fi_callback = memnew(ForceIntegrationCallback); - fi_callback->callable = p_callable; - fi_callback->callback_udata = p_udata; +PhysicsDirectBodyState2DSW *Body2DSW::get_direct_state() { + if (!direct_state) { + direct_state = memnew(PhysicsDirectBodyState2DSW); + direct_state->body = this; } + return direct_state; } Body2DSW::Body2DSW() : CollisionObject2DSW(TYPE_BODY), active_list(this), - inertia_update_list(this), + mass_properties_update_list(this), direct_state_query_list(this) { - mode = PhysicsServer2D::BODY_MODE_DYNAMIC; - active = true; - angular_velocity = 0; - biased_angular_velocity = 0; - mass = 1; - inertia = 0; - user_inertia = false; - _inv_inertia = 0; - _inv_mass = 1; - bounce = 0; - friction = 1; - omit_force_integration = false; - applied_torque = 0; - island_step = 0; _set_static(false); - first_time_kinematic = false; - linear_damp = -1; - angular_damp = -1; - area_angular_damp = 0; - area_linear_damp = 0; - contact_count = 0; - gravity_scale = 1.0; - first_integration = false; - - still_time = 0; - continuous_cd_mode = PhysicsServer2D::CCD_MODE_DISABLED; - can_sleep = true; - fi_callback = nullptr; } Body2DSW::~Body2DSW() { - 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(); + if (fi_callback_data) { + memdelete(fi_callback_data); } - 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(); + if (direct_state) { + memdelete(direct_state); } - - return other->get_shape_metadata(sidx); } |