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-rw-r--r--servers/physics_3d/godot_body_3d.cpp71
1 files changed, 37 insertions, 34 deletions
diff --git a/servers/physics_3d/godot_body_3d.cpp b/servers/physics_3d/godot_body_3d.cpp
index ad97533f44..53f4ab86f9 100644
--- a/servers/physics_3d/godot_body_3d.cpp
+++ b/servers/physics_3d/godot_body_3d.cpp
@@ -56,7 +56,7 @@ void GodotBody3D::update_mass_properties() {
// Update shapes and motions.
switch (mode) {
- case PhysicsServer3D::BODY_MODE_DYNAMIC: {
+ case PhysicsServer3D::BODY_MODE_RIGID: {
real_t total_area = 0;
for (int i = 0; i < get_shape_count(); i++) {
if (is_shape_disabled(i)) {
@@ -78,10 +78,10 @@ void GodotBody3D::update_mass_properties() {
real_t area = get_shape_area(i);
- real_t mass = area * this->mass / total_area;
+ real_t mass_new = area * 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;
+ center_of_mass_local += mass_new * get_shape_transform(i).origin;
}
center_of_mass_local /= mass;
@@ -108,9 +108,9 @@ void GodotBody3D::update_mass_properties() {
const GodotShape3D *shape = get_shape(i);
- real_t mass = area * this->mass / total_area;
+ real_t mass_new = area * mass / total_area;
- Basis shape_inertia_tensor = Basis::from_scale(shape->get_moment_of_inertia(mass));
+ Basis shape_inertia_tensor = Basis::from_scale(shape->get_moment_of_inertia(mass_new));
Transform3D shape_transform = get_shape_transform(i);
Basis shape_basis = shape_transform.basis.orthonormalized();
@@ -118,7 +118,7 @@ void GodotBody3D::update_mass_properties() {
shape_inertia_tensor = shape_basis * shape_inertia_tensor * shape_basis.transposed();
Vector3 shape_origin = shape_transform.origin - center_of_mass_local;
- inertia_tensor += shape_inertia_tensor + (Basis() * shape_origin.dot(shape_origin) - shape_origin.outer(shape_origin)) * mass;
+ inertia_tensor += shape_inertia_tensor + (Basis() * shape_origin.dot(shape_origin) - shape_origin.outer(shape_origin)) * mass_new;
}
// Set the inertia to a valid value when there are no valid shapes.
@@ -154,7 +154,7 @@ void GodotBody3D::update_mass_properties() {
_inv_inertia = Vector3();
_inv_mass = 0;
} break;
- case PhysicsServer3D::BODY_MODE_DYNAMIC_LINEAR: {
+ case PhysicsServer3D::BODY_MODE_RIGID_LINEAR: {
_inv_inertia_tensor.set_zero();
_inv_mass = 1.0 / mass;
@@ -201,7 +201,7 @@ void GodotBody3D::set_param(PhysicsServer3D::BodyParameter p_param, const Varian
real_t mass_value = p_value;
ERR_FAIL_COND(mass_value <= 0);
mass = mass_value;
- if (mode >= PhysicsServer3D::BODY_MODE_DYNAMIC) {
+ if (mode >= PhysicsServer3D::BODY_MODE_RIGID) {
_mass_properties_changed();
}
} break;
@@ -209,12 +209,12 @@ void GodotBody3D::set_param(PhysicsServer3D::BodyParameter p_param, const Varian
inertia = p_value;
if ((inertia.x <= 0.0) || (inertia.y <= 0.0) || (inertia.z <= 0.0)) {
calculate_inertia = true;
- if (mode == PhysicsServer3D::BODY_MODE_DYNAMIC) {
+ if (mode == PhysicsServer3D::BODY_MODE_RIGID) {
_mass_properties_changed();
}
} else {
calculate_inertia = false;
- if (mode == PhysicsServer3D::BODY_MODE_DYNAMIC) {
+ if (mode == PhysicsServer3D::BODY_MODE_RIGID) {
principal_inertia_axes_local = Basis();
_inv_inertia = inertia.inverse();
_update_transform_dependent();
@@ -263,7 +263,7 @@ Variant GodotBody3D::get_param(PhysicsServer3D::BodyParameter p_param) const {
return mass;
} break;
case PhysicsServer3D::BODY_PARAM_INERTIA: {
- if (mode == PhysicsServer3D::BODY_MODE_DYNAMIC) {
+ if (mode == PhysicsServer3D::BODY_MODE_RIGID) {
return _inv_inertia.inverse();
} else {
return Vector3();
@@ -315,7 +315,7 @@ void GodotBody3D::set_mode(PhysicsServer3D::BodyMode p_mode) {
_update_transform_dependent();
} break;
- case PhysicsServer3D::BODY_MODE_DYNAMIC: {
+ case PhysicsServer3D::BODY_MODE_RIGID: {
_inv_mass = mass > 0 ? (1.0 / mass) : 0;
if (!calculate_inertia) {
principal_inertia_axes_local = Basis();
@@ -327,7 +327,7 @@ void GodotBody3D::set_mode(PhysicsServer3D::BodyMode p_mode) {
set_active(true);
} break;
- case PhysicsServer3D::BODY_MODE_DYNAMIC_LINEAR: {
+ case PhysicsServer3D::BODY_MODE_RIGID_LINEAR: {
_inv_mass = mass > 0 ? (1.0 / mass) : 0;
_inv_inertia = Vector3();
angular_velocity = Vector3();
@@ -407,7 +407,7 @@ void GodotBody3D::set_state(PhysicsServer3D::BodyState p_state, const Variant &p
} break;
case PhysicsServer3D::BODY_STATE_CAN_SLEEP: {
can_sleep = p_variant;
- if (mode >= PhysicsServer3D::BODY_MODE_DYNAMIC && !active && !can_sleep) {
+ if (mode >= PhysicsServer3D::BODY_MODE_RIGID && !active && !can_sleep) {
set_active(true);
}
@@ -637,14 +637,14 @@ void GodotBody3D::integrate_forces(real_t p_step) {
damp = 0;
}
- real_t angular_damp = 1.0 - p_step * total_angular_damp;
+ real_t angular_damp_new = 1.0 - p_step * total_angular_damp;
- if (angular_damp < 0) { // reached zero in the given time
- angular_damp = 0;
+ if (angular_damp_new < 0) { // reached zero in the given time
+ angular_damp_new = 0;
}
linear_velocity *= damp;
- angular_velocity *= angular_damp;
+ angular_velocity *= angular_damp_new;
linear_velocity += _inv_mass * force * p_step;
angular_velocity += _inv_inertia_tensor.xform(torque) * p_step;
@@ -674,7 +674,7 @@ void GodotBody3D::integrate_velocities(real_t p_step) {
return;
}
- if (fi_callback_data || body_state_callback) {
+ if (fi_callback_data || body_state_callback.get_object()) {
get_space()->body_add_to_state_query_list(&direct_state_query_list);
}
@@ -707,27 +707,27 @@ void GodotBody3D::integrate_velocities(real_t p_step) {
Vector3 total_angular_velocity = angular_velocity + biased_angular_velocity;
real_t ang_vel = total_angular_velocity.length();
- Transform3D transform = get_transform();
+ Transform3D transform_new = get_transform();
if (!Math::is_zero_approx(ang_vel)) {
Vector3 ang_vel_axis = total_angular_velocity / ang_vel;
Basis rot(ang_vel_axis, ang_vel * p_step);
Basis identity3(1, 0, 0, 0, 1, 0, 0, 0, 1);
- transform.origin += ((identity3 - rot) * transform.basis).xform(center_of_mass_local);
- transform.basis = rot * transform.basis;
- transform.orthonormalize();
+ transform_new.origin += ((identity3 - rot) * transform_new.basis).xform(center_of_mass_local);
+ transform_new.basis = rot * transform_new.basis;
+ transform_new.orthonormalize();
}
Vector3 total_linear_velocity = linear_velocity + biased_linear_velocity;
/*for(int i=0;i<3;i++) {
if (axis_lock&(1<<i)) {
- transform.origin[i]=0.0;
+ transform_new.origin[i]=0.0;
}
}*/
- transform.origin += total_linear_velocity * p_step;
+ transform_new.origin += total_linear_velocity * p_step;
- _set_transform(transform);
+ _set_transform(transform_new);
_set_inv_transform(get_transform().inverse());
_update_transform_dependent();
@@ -744,7 +744,7 @@ void GodotBody3D::wakeup_neighbours() {
continue;
}
GodotBody3D *b = n[i];
- if (b->mode < PhysicsServer3D::BODY_MODE_DYNAMIC) {
+ if (b->mode < PhysicsServer3D::BODY_MODE_RIGID) {
continue;
}
@@ -756,22 +756,26 @@ void GodotBody3D::wakeup_neighbours() {
}
void GodotBody3D::call_queries() {
+ Variant direct_state_variant = get_direct_state();
+
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;
int argc = (fi_callback_data->udata.get_type() == Variant::NIL) ? 1 : 2;
Variant rv;
- fi_callback_data->callable.call(vp, argc, rv, ce);
+ fi_callback_data->callable.callp(vp, argc, rv, ce);
}
}
- if (body_state_callback_instance) {
- (body_state_callback)(body_state_callback_instance, get_direct_state());
+ if (body_state_callback.get_object()) {
+ const Variant *vp[1] = { &direct_state_variant };
+ Callable::CallError ce;
+ Variant rv;
+ body_state_callback.callp(vp, 1, rv, ce);
}
}
@@ -792,9 +796,8 @@ bool GodotBody3D::sleep_test(real_t p_step) {
}
}
-void GodotBody3D::set_state_sync_callback(void *p_instance, PhysicsServer3D::BodyStateCallback p_callback) {
- body_state_callback_instance = p_instance;
- body_state_callback = p_callback;
+void GodotBody3D::set_state_sync_callback(const Callable &p_callable) {
+ body_state_callback = p_callable;
}
void GodotBody3D::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) {
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-25 01:12:00 +0000