diff options
Diffstat (limited to 'servers/physics_2d/body_2d_sw.cpp')
| -rw-r--r-- | servers/physics_2d/body_2d_sw.cpp | 69 |
1 files changed, 42 insertions, 27 deletions
diff --git a/servers/physics_2d/body_2d_sw.cpp b/servers/physics_2d/body_2d_sw.cpp index 12ac0bd1ca..093f69a169 100644 --- a/servers/physics_2d/body_2d_sw.cpp +++ b/servers/physics_2d/body_2d_sw.cpp @@ -5,7 +5,7 @@ /* GODOT ENGINE */ /* http://www.godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -68,7 +68,7 @@ void Body2DSW::update_inertias() { float mass = area * this->mass / total_area; - Matrix32 mtx = get_shape_transform(i); + 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(); //Rect2 ab = get_shape_aabb(i); @@ -251,8 +251,10 @@ void Body2DSW::set_mode(Physics2DServer::BodyMode p_mode) { } _update_inertia(); - //if (get_space()) -// _update_queries(); + /* + if (get_space()) + _update_queries(); + */ } Physics2DServer::BodyMode Body2DSW::get_mode() const { @@ -287,7 +289,7 @@ void Body2DSW::set_state(Physics2DServer::BodyState p_state, const Variant& p_va _set_inv_transform(get_transform().affine_inverse()); wakeup_neighbours(); } else { - Matrix32 t = p_variant; + Transform2D t = p_variant; t.orthonormalize(); new_transform=get_transform(); //used as old to compute motion if (t==new_transform) @@ -301,15 +303,19 @@ void Body2DSW::set_state(Physics2DServer::BodyState p_state, const Variant& p_va } break; case Physics2DServer::BODY_STATE_LINEAR_VELOCITY: { - //if (mode==Physics2DServer::BODY_MODE_STATIC) - // break; + /* + if (mode==Physics2DServer::BODY_MODE_STATIC) + break; + */ linear_velocity=p_variant; wakeup(); } break; case Physics2DServer::BODY_STATE_ANGULAR_VELOCITY: { - //if (mode!=Physics2DServer::BODY_MODE_RIGID) - // break; + /* + if (mode!=Physics2DServer::BODY_MODE_RIGID) + break; + */ angular_velocity=p_variant; wakeup(); @@ -385,11 +391,13 @@ void Body2DSW::set_space(Space2DSW *p_space){ _update_inertia(); if (active) get_space()->body_add_to_active_list(&active_list); -// _update_queries(); - //if (is_active()) { - // active=false; - // set_active(true); - //} + /* + _update_queries(); + if (is_active()) { + active=false; + set_active(true); + } + */ } @@ -459,13 +467,17 @@ void Body2DSW::integrate_forces(real_t p_step) { // If less than 0, override dampenings with that of the Body2D if (angular_damp>=0) area_angular_damp = angular_damp; - //else - // area_angular_damp=damp_area->get_angular_damp(); + /* + else + area_angular_damp=damp_area->get_angular_damp(); + */ if (linear_damp>=0) area_linear_damp = linear_damp; - //else - // area_linear_damp=damp_area->get_linear_damp(); + /* + else + area_linear_damp=damp_area->get_linear_damp(); + */ Vector2 motion; bool do_motion=false; @@ -473,18 +485,21 @@ void Body2DSW::integrate_forces(real_t p_step) { if (mode==Physics2DServer::BODY_MODE_KINEMATIC) { //compute motion, angular and etc. velocities from prev transform - linear_velocity = (new_transform.elements[2] - get_transform().elements[2])/p_step; + motion = new_transform.get_origin() - get_transform().get_origin(); + linear_velocity = motion/p_step; - real_t rot = new_transform.affine_inverse().basis_xform(get_transform().elements[1]).angle(); + real_t rot = new_transform.get_rotation() - get_transform().get_rotation(); angular_velocity = rot / p_step; - motion = new_transform.elements[2] - get_transform().elements[2]; + do_motion=true; - //for(int i=0;i<get_shape_count();i++) { - // set_shape_kinematic_advance(i,Vector2()); - // set_shape_kinematic_retreat(i,0); - //} + /* + for(int i=0;i<get_shape_count();i++) { + set_shape_kinematic_advance(i,Vector2()); + set_shape_kinematic_retreat(i,0); + } + */ } else { if (!omit_force_integration && !first_integration) { @@ -556,10 +571,10 @@ void Body2DSW::integrate_velocities(real_t p_step) { real_t total_angular_velocity = angular_velocity+biased_angular_velocity; Vector2 total_linear_velocity=linear_velocity+biased_linear_velocity; - real_t angle = get_transform().get_rotation() - total_angular_velocity * 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; - _set_transform(Matrix32(angle,pos),continuous_cd_mode==Physics2DServer::CCD_MODE_DISABLED); + _set_transform(Transform2D(angle,pos),continuous_cd_mode==Physics2DServer::CCD_MODE_DISABLED); _set_inv_transform(get_transform().inverse()); if (continuous_cd_mode!=Physics2DServer::CCD_MODE_DISABLED) |