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path: root/servers/physics_3d/body_3d_sw.cpp
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Diffstat (limited to 'servers/physics_3d/body_3d_sw.cpp')
-rw-r--r--servers/physics_3d/body_3d_sw.cpp84
1 files changed, 55 insertions, 29 deletions
diff --git a/servers/physics_3d/body_3d_sw.cpp b/servers/physics_3d/body_3d_sw.cpp
index c01e55c4dd..a3bdc96c9f 100644
--- a/servers/physics_3d/body_3d_sw.cpp
+++ b/servers/physics_3d/body_3d_sw.cpp
@@ -33,8 +33,9 @@
#include "space_3d_sw.h"
void Body3DSW::_update_inertia() {
- if (get_space() && !inertia_update_list.in_list())
+ if (get_space() && !inertia_update_list.in_list()) {
get_space()->body_add_to_inertia_update_list(&inertia_update_list);
+ }
}
void Body3DSW::_update_transform_dependant() {
@@ -105,10 +106,11 @@ void Body3DSW::update_inertias() {
principal_inertia_axes_local = inertia_tensor.diagonalize().transposed();
_inv_inertia = inertia_tensor.get_main_diagonal().inverse();
- if (mass)
+ if (mass) {
_inv_mass = 1.0 / mass;
- else
+ } else {
_inv_mass = 0;
+ }
} break;
@@ -130,18 +132,22 @@ void Body3DSW::update_inertias() {
}
void Body3DSW::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 == PhysicsServer3D::BODY_MODE_STATIC)
+ if (mode == PhysicsServer3D::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;
}
@@ -284,8 +290,9 @@ void Body3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_va
Transform t = p_variant;
t.orthonormalize();
new_transform = get_transform(); //used as old to compute motion
- if (new_transform == t)
+ if (new_transform == t) {
break;
+ }
_set_transform(t);
_set_inv_transform(get_transform().inverse());
}
@@ -311,8 +318,9 @@ void Body3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_va
} break;
case PhysicsServer3D::BODY_STATE_SLEEPING: {
//?
- if (mode == PhysicsServer3D::BODY_MODE_STATIC || mode == PhysicsServer3D::BODY_MODE_KINEMATIC)
+ if (mode == PhysicsServer3D::BODY_MODE_STATIC || mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
break;
+ }
bool do_sleep = p_variant;
if (do_sleep) {
linear_velocity = Vector3();
@@ -326,8 +334,9 @@ void Body3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_va
} break;
case PhysicsServer3D::BODY_STATE_CAN_SLEEP: {
can_sleep = p_variant;
- if (mode == PhysicsServer3D::BODY_MODE_RIGID && !active && !can_sleep)
+ if (mode == PhysicsServer3D::BODY_MODE_RIGID && !active && !can_sleep) {
set_active(true);
+ }
} break;
}
@@ -357,20 +366,24 @@ Variant Body3DSW::get_state(PhysicsServer3D::BodyState p_state) const {
void Body3DSW::set_space(Space3DSW *p_space) {
if (get_space()) {
- 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()) {
@@ -412,8 +425,9 @@ bool Body3DSW::is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const {
}
void Body3DSW::integrate_forces(real_t p_step) {
- if (mode == PhysicsServer3D::BODY_MODE_STATIC)
+ if (mode == PhysicsServer3D::BODY_MODE_STATIC) {
return;
+ }
Area3DSW *def_area = get_space()->get_default_area();
// AreaSW *damp_area = def_area;
@@ -458,15 +472,17 @@ void Body3DSW::integrate_forces(real_t p_step) {
gravity *= gravity_scale;
// If less than 0, override dampenings with that of the Body
- 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();
@@ -501,13 +517,15 @@ void Body3DSW::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;
@@ -540,11 +558,13 @@ void Body3DSW::integrate_forces(real_t p_step) {
}
void Body3DSW::integrate_velocities(real_t p_step) {
- if (mode == PhysicsServer3D::BODY_MODE_STATIC)
+ if (mode == PhysicsServer3D::BODY_MODE_STATIC) {
return;
+ }
- if (fi_callback)
+ if (fi_callback) {
get_space()->body_add_to_state_query_list(&direct_state_query_list);
+ }
//apply axis lock linear
for (int i = 0; i < 3; i++) {
@@ -565,8 +585,9 @@ void Body3DSW::integrate_velocities(real_t p_step) {
if (mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
_set_transform(new_transform, false);
_set_inv_transform(new_transform.affine_inverse());
- if (contacts.size() == 0 && linear_velocity == Vector3() && angular_velocity == Vector3())
+ if (contacts.size() == 0 && linear_velocity == Vector3() && angular_velocity == Vector3()) {
set_active(false); //stopped moving, deactivate
+ }
return;
}
@@ -647,14 +668,17 @@ void Body3DSW::wakeup_neighbours() {
int bc = c->get_body_count();
for (int i = 0; i < bc; i++) {
- if (i == E->get())
+ if (i == E->get()) {
continue;
+ }
Body3DSW *b = n[i];
- if (b->mode != PhysicsServer3D::BODY_MODE_RIGID)
+ if (b->mode != PhysicsServer3D::BODY_MODE_RIGID) {
continue;
+ }
- if (!b->is_active())
+ if (!b->is_active()) {
b->set_active(true);
+ }
}
}
}
@@ -680,12 +704,13 @@ void Body3DSW::call_queries() {
}
bool Body3DSW::sleep_test(real_t p_step) {
- if (mode == PhysicsServer3D::BODY_MODE_STATIC || mode == PhysicsServer3D::BODY_MODE_KINEMATIC)
+ if (mode == PhysicsServer3D::BODY_MODE_STATIC || mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
return true; //
- else if (mode == PhysicsServer3D::BODY_MODE_CHARACTER)
+ } else if (mode == PhysicsServer3D::BODY_MODE_CHARACTER) {
return !active; // characters don't sleep unless asked to sleep
- else if (!can_sleep)
+ } else if (!can_sleep) {
return false;
+ }
if (Math::abs(angular_velocity.length()) < 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;
@@ -753,8 +778,9 @@ Body3DSW::Body3DSW() :
}
Body3DSW::~Body3DSW() {
- if (fi_callback)
+ if (fi_callback) {
memdelete(fi_callback);
+ }
}
PhysicsDirectBodyState3DSW *PhysicsDirectBodyState3DSW::singleton = nullptr;
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-22 01:58:42 +0000