diff options
Diffstat (limited to 'servers/physics_2d/space_2d_sw.cpp')
| -rw-r--r-- | servers/physics_2d/space_2d_sw.cpp | 62 |
1 files changed, 20 insertions, 42 deletions
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp index c0493749e0..b9b26eb21d 100644 --- a/servers/physics_2d/space_2d_sw.cpp +++ b/servers/physics_2d/space_2d_sw.cpp @@ -383,18 +383,18 @@ bool PhysicsDirectSpaceState2DSW::collide_shape(RID p_shape, const Transform2D & } struct _RestCallbackData2D { - const CollisionObject2DSW *object; - const CollisionObject2DSW *best_object; - int local_shape; - int best_local_shape; - int shape; - int best_shape; + const CollisionObject2DSW *object = nullptr; + const CollisionObject2DSW *best_object = nullptr; + int local_shape = 0; + int best_local_shape = 0; + int shape = 0; + int best_shape = 0; Vector2 best_contact; Vector2 best_normal; - real_t best_len; + real_t best_len = 0.0; Vector2 valid_dir; - real_t valid_depth; - real_t min_allowed_depth; + real_t valid_depth = 0.0; + real_t min_allowed_depth = 0.0; }; static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata) { @@ -482,7 +482,7 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh r_info->metadata = rcd.best_object->get_shape_metadata(rcd.best_shape); if (rcd.best_object->get_type() == CollisionObject2DSW::TYPE_BODY) { const Body2DSW *body = static_cast<const Body2DSW *>(rcd.best_object); - Vector2 rel_vec = r_info->point - body->get_transform().get_origin(); + Vector2 rel_vec = r_info->point - (body->get_transform().get_origin() + body->get_center_of_mass()); r_info->linear_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity(); } else { @@ -492,10 +492,6 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh return true; } -PhysicsDirectSpaceState2DSW::PhysicsDirectSpaceState2DSW() { - space = nullptr; -} - //////////////////////////////////////////////////////////////////////////////////////////////////////////// int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) { @@ -634,7 +630,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co //fix for moving platforms (kinematic and dynamic), margin is increased by how much it moved in the given direction Vector2 lv = b->get_linear_velocity(); //compute displacement from linear velocity - Vector2 motion = lv * PhysicsDirectBodyState2DSW::singleton->step; + Vector2 motion = lv * last_step; real_t motion_len = motion.length(); motion.normalize(); cbk.valid_depth += motion_len * MAX(motion.dot(-cbk.valid_dir), 0.0); @@ -926,7 +922,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co //fix for moving platforms (kinematic and dynamic), margin is increased by how much it moved in the given direction Vector2 lv = b->get_linear_velocity(); //compute displacement from linear velocity - Vector2 motion = lv * PhysicsDirectBodyState2DSW::singleton->step; + Vector2 motion = lv * last_step; real_t motion_len = motion.length(); motion.normalize(); rcd.valid_depth += motion_len * MAX(motion.dot(-rcd.valid_dir), 0.0); @@ -961,7 +957,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape); const Body2DSW *body = static_cast<const Body2DSW *>(rcd.best_object); - Vector2 rel_vec = r_result->collision_point - body->get_transform().get_origin(); + Vector2 rel_vec = r_result->collision_point - (body->get_transform().get_origin() + body->get_center_of_mass()); r_result->collider_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity(); r_result->travel = safe * p_motion; @@ -1041,12 +1037,12 @@ void Space2DSW::body_remove_from_active_list(SelfList<Body2DSW> *p_body) { active_list.remove(p_body); } -void Space2DSW::body_add_to_inertia_update_list(SelfList<Body2DSW> *p_body) { - inertia_update_list.add(p_body); +void Space2DSW::body_add_to_mass_properties_update_list(SelfList<Body2DSW> *p_body) { + mass_properties_update_list.add(p_body); } -void Space2DSW::body_remove_from_inertia_update_list(SelfList<Body2DSW> *p_body) { - inertia_update_list.remove(p_body); +void Space2DSW::body_remove_from_mass_properties_update_list(SelfList<Body2DSW> *p_body) { + mass_properties_update_list.remove(p_body); } BroadPhase2DSW *Space2DSW::get_broadphase() { @@ -1112,9 +1108,9 @@ void Space2DSW::call_queries() { void Space2DSW::setup() { contact_debug_count = 0; - while (inertia_update_list.first()) { - inertia_update_list.first()->self()->update_inertias(); - inertia_update_list.remove(inertia_update_list.first()); + while (mass_properties_update_list.first()) { + mass_properties_update_list.first()->self()->update_mass_properties(); + mass_properties_update_list.remove(mass_properties_update_list.first()); } } @@ -1190,19 +1186,6 @@ PhysicsDirectSpaceState2DSW *Space2DSW::get_direct_state() { } Space2DSW::Space2DSW() { - collision_pairs = 0; - active_objects = 0; - island_count = 0; - - contact_debug_count = 0; - - locked = false; - contact_recycle_radius = 1.0; - contact_max_separation = 1.5; - contact_max_allowed_penetration = 0.3; - test_motion_min_contact_depth = 0.005; - - constraint_bias = 0.2; body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_linear", 2.0); body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_angular", Math::deg2rad(8.0)); body_time_to_sleep = GLOBAL_DEF("physics/2d/time_before_sleep", 0.5); @@ -1211,14 +1194,9 @@ Space2DSW::Space2DSW() { broadphase = BroadPhase2DSW::create_func(); broadphase->set_pair_callback(_broadphase_pair, this); broadphase->set_unpair_callback(_broadphase_unpair, this); - area = nullptr; direct_access = memnew(PhysicsDirectSpaceState2DSW); direct_access->space = this; - - for (int i = 0; i < ELAPSED_TIME_MAX; i++) { - elapsed_time[i] = 0; - } } Space2DSW::~Space2DSW() { |