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path: root/servers/physics_3d/body_3d_sw.cpp
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-rw-r--r--servers/physics_3d/body_3d_sw.cpp117
1 files changed, 41 insertions, 76 deletions
diff --git a/servers/physics_3d/body_3d_sw.cpp b/servers/physics_3d/body_3d_sw.cpp
index 64ba0cb09d..ea6064cb4c 100644
--- a/servers/physics_3d/body_3d_sw.cpp
+++ b/servers/physics_3d/body_3d_sw.cpp
@@ -54,7 +54,7 @@ void Body3DSW::update_inertias() {
// Update shapes and motions.
switch (mode) {
- case PhysicsServer3D::BODY_MODE_RIGID: {
+ case PhysicsServer3D::BODY_MODE_DYNAMIC: {
// Update tensor for all shapes, not the best way but should be somehow OK. (inspired from bullet)
real_t total_area = 0;
@@ -65,16 +65,18 @@ void Body3DSW::update_inertias() {
// We have to recompute the center of mass.
center_of_mass_local.zero();
- for (int i = 0; i < get_shape_count(); i++) {
- real_t area = get_shape_area(i);
+ if (total_area != 0.0) {
+ for (int i = 0; i < get_shape_count(); i++) {
+ real_t area = get_shape_area(i);
- real_t mass = area * this->mass / total_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_local += mass * get_shape_transform(i).origin;
- }
+ // NOTE: we assume that the shape origin is also its center of mass.
+ center_of_mass_local += mass * get_shape_transform(i).origin;
+ }
- center_of_mass_local /= mass;
+ center_of_mass_local /= mass;
+ }
// Recompute the inertia tensor.
Basis inertia_tensor;
@@ -86,16 +88,19 @@ void Body3DSW::update_inertias() {
continue;
}
+ real_t area = get_shape_area(i);
+ if (area == 0.0) {
+ continue;
+ }
+
inertia_set = true;
const Shape3DSW *shape = get_shape(i);
- real_t area = get_shape_area(i);
-
real_t mass = area * this->mass / total_area;
Basis shape_inertia_tensor = shape->get_moment_of_inertia(mass).to_diagonal_matrix();
- Transform shape_transform = get_shape_transform(i);
+ Transform3D shape_transform = get_shape_transform(i);
Basis shape_basis = shape_transform.basis.orthonormalized();
// NOTE: we don't take the scale of collision shapes into account when computing the inertia tensor!
@@ -127,7 +132,7 @@ void Body3DSW::update_inertias() {
_inv_inertia_tensor.set_zero();
_inv_mass = 0;
} break;
- case PhysicsServer3D::BODY_MODE_CHARACTER: {
+ case PhysicsServer3D::BODY_MODE_DYNAMIC_LOCKED: {
_inv_inertia_tensor.set_zero();
_inv_mass = 1.0 / mass;
@@ -145,31 +150,17 @@ void Body3DSW::set_active(bool p_active) {
}
active = p_active;
- if (!p_active) {
- if (get_space()) {
- get_space()->body_remove_from_active_list(&active_list);
- }
- } else {
+
+ if (active) {
if (mode == PhysicsServer3D::BODY_MODE_STATIC) {
- return; //static bodies can't become active
- }
- if (get_space()) {
+ // Static bodies can't be active.
+ active = false;
+ } else if (get_space()) {
get_space()->body_add_to_active_list(&active_list);
}
-
- //still_time=0;
- }
- /*
- if (!space)
- return;
-
- for(int i=0;i<get_shape_count();i++) {
- Shape &s=shapes[i];
- if (s.bpid>0) {
- get_space()->get_broadphase()->set_active(s.bpid,active);
- }
+ } else if (get_space()) {
+ get_space()->body_remove_from_active_list(&active_list);
}
-*/
}
void Body3DSW::set_param(PhysicsServer3D::BodyParameter p_param, real_t p_value) {
@@ -248,13 +239,13 @@ void Body3DSW::set_mode(PhysicsServer3D::BodyMode p_mode) {
}
} break;
- case PhysicsServer3D::BODY_MODE_RIGID: {
+ case PhysicsServer3D::BODY_MODE_DYNAMIC: {
_inv_mass = mass > 0 ? (1.0 / mass) : 0;
_set_static(false);
set_active(true);
} break;
- case PhysicsServer3D::BODY_MODE_CHARACTER: {
+ case PhysicsServer3D::BODY_MODE_DYNAMIC_LOCKED: {
_inv_mass = mass > 0 ? (1.0 / mass) : 0;
_set_static(false);
set_active(true);
@@ -295,7 +286,7 @@ void Body3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_va
_set_inv_transform(get_transform().affine_inverse());
wakeup_neighbours();
} else {
- Transform t = p_variant;
+ Transform3D t = p_variant;
t.orthonormalize();
new_transform = get_transform(); //used as old to compute motion
if (new_transform == t) {
@@ -308,24 +299,15 @@ void Body3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_va
} break;
case PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY: {
- /*
- if (mode==PhysicsServer3D::BODY_MODE_STATIC)
- break;
- */
linear_velocity = p_variant;
wakeup();
} break;
case PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY: {
- /*
- if (mode!=PhysicsServer3D::BODY_MODE_RIGID)
- break;
- */
angular_velocity = p_variant;
wakeup();
} break;
case PhysicsServer3D::BODY_STATE_SLEEPING: {
- //?
if (mode == PhysicsServer3D::BODY_MODE_STATIC || mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
break;
}
@@ -342,7 +324,7 @@ 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_DYNAMIC && !active && !can_sleep) {
set_active(true);
}
@@ -392,13 +374,6 @@ void Body3DSW::set_space(Space3DSW *p_space) {
if (active) {
get_space()->body_add_to_active_list(&active_list);
}
- /*
- _update_queries();
- if (is_active()) {
- active=false;
- set_active(true);
- }
- */
}
first_integration = true;
@@ -601,7 +576,7 @@ void Body3DSW::integrate_velocities(real_t p_step) {
Vector3 total_angular_velocity = angular_velocity + biased_angular_velocity;
real_t ang_vel = total_angular_velocity.length();
- Transform transform = get_transform();
+ Transform3D transform = get_transform();
if (ang_vel != 0.0) {
Vector3 ang_vel_axis = total_angular_velocity / ang_vel;
@@ -633,8 +608,8 @@ void Body3DSW::integrate_velocities(real_t p_step) {
}
/*
-void BodySW::simulate_motion(const Transform& p_xform,real_t p_step) {
- Transform inv_xform = p_xform.affine_inverse();
+void BodySW::simulate_motion(const Transform3D& p_xform,real_t p_step) {
+ Transform3D inv_xform = p_xform.affine_inverse();
if (!get_space()) {
_set_transform(p_xform);
_set_inv_transform(inv_xform);
@@ -675,7 +650,7 @@ void Body3DSW::wakeup_neighbours() {
continue;
}
Body3DSW *b = n[i];
- if (b->mode != PhysicsServer3D::BODY_MODE_RIGID) {
+ if (b->mode != PhysicsServer3D::BODY_MODE_DYNAMIC) {
continue;
}
@@ -693,24 +668,23 @@ void Body3DSW::call_queries() {
Variant v = dbs;
- Object *obj = ObjectDB::get_instance(fi_callback->id);
+ Object *obj = fi_callback->callable.get_object();
if (!obj) {
- set_force_integration_callback(ObjectID(), StringName());
+ set_force_integration_callback(Callable());
} else {
const Variant *vp[2] = { &v, &fi_callback->udata };
Callable::CallError ce;
int argc = (fi_callback->udata.get_type() == Variant::NIL) ? 1 : 2;
- obj->call(fi_callback->method, vp, argc, ce);
+ Variant rv;
+ fi_callback->callable.call(vp, argc, rv, ce);
}
}
}
bool Body3DSW::sleep_test(real_t p_step) {
if (mode == PhysicsServer3D::BODY_MODE_STATIC || mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
- return true; //
- } else if (mode == PhysicsServer3D::BODY_MODE_CHARACTER) {
- return !active; // characters don't sleep unless asked to sleep
+ return true;
} else if (!can_sleep) {
return false;
}
@@ -725,44 +699,35 @@ bool Body3DSW::sleep_test(real_t p_step) {
}
}
-void Body3DSW::set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata) {
+void Body3DSW::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) {
if (fi_callback) {
memdelete(fi_callback);
fi_callback = nullptr;
}
- if (p_id.is_valid()) {
+ if (p_callable.get_object()) {
fi_callback = memnew(ForceIntegrationCallback);
- fi_callback->id = p_id;
- fi_callback->method = p_method;
+ fi_callback->callable = p_callable;
fi_callback->udata = p_udata;
}
}
-void Body3DSW::set_kinematic_margin(real_t p_margin) {
- kinematic_safe_margin = p_margin;
-}
-
Body3DSW::Body3DSW() :
CollisionObject3DSW(TYPE_BODY),
active_list(this),
inertia_update_list(this),
direct_state_query_list(this) {
- mode = PhysicsServer3D::BODY_MODE_RIGID;
+ mode = PhysicsServer3D::BODY_MODE_DYNAMIC;
active = true;
mass = 1;
- kinematic_safe_margin = 0.001;
- //_inv_inertia=Transform();
_inv_mass = 1;
bounce = 0;
friction = 1;
omit_force_integration = false;
//applied_torque=0;
island_step = 0;
- island_next = nullptr;
- island_list_next = nullptr;
first_time_kinematic = false;
first_integration = false;
_set_static(false);
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-15 03:58:26 +0000