diff options
Diffstat (limited to 'servers/physics_3d/godot_body_3d.cpp')
| -rw-r--r-- | servers/physics_3d/godot_body_3d.cpp | 194 |
1 files changed, 135 insertions, 59 deletions
diff --git a/servers/physics_3d/godot_body_3d.cpp b/servers/physics_3d/godot_body_3d.cpp index 02929eeaed..4c89106839 100644 --- a/servers/physics_3d/godot_body_3d.cpp +++ b/servers/physics_3d/godot_body_3d.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -227,8 +227,19 @@ void GodotBody3D::set_param(PhysicsServer3D::BodyParameter p_param, const Varian _update_transform_dependent(); } break; case PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE: { + if (Math::is_zero_approx(gravity_scale)) { + wakeup(); + } gravity_scale = p_value; } break; + case PhysicsServer3D::BODY_PARAM_LINEAR_DAMP_MODE: { + int mode_value = p_value; + linear_damp_mode = (PhysicsServer3D::BodyDampMode)mode_value; + } break; + case PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP_MODE: { + int mode_value = p_value; + angular_damp_mode = (PhysicsServer3D::BodyDampMode)mode_value; + } break; case PhysicsServer3D::BODY_PARAM_LINEAR_DAMP: { linear_damp = p_value; } break; @@ -259,11 +270,17 @@ Variant GodotBody3D::get_param(PhysicsServer3D::BodyParameter p_param) const { } } break; case PhysicsServer3D::BODY_PARAM_CENTER_OF_MASS: { - return center_of_mass; + return center_of_mass_local; } break; case PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE: { return gravity_scale; } break; + case PhysicsServer3D::BODY_PARAM_LINEAR_DAMP_MODE: { + return linear_damp_mode; + } + case PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP_MODE: { + return angular_damp_mode; + } case PhysicsServer3D::BODY_PARAM_LINEAR_DAMP: { return linear_damp; } break; @@ -443,15 +460,6 @@ void GodotBody3D::set_space(GodotSpace3D *p_space) { } } -void GodotBody3D::_compute_area_gravity_and_damping(const GodotArea3D *p_area) { - Vector3 area_gravity; - p_area->compute_gravity(get_transform().get_origin(), area_gravity); - gravity += area_gravity; - - area_linear_damp += p_area->get_linear_damp(); - area_angular_damp += p_area->get_angular_damp(); -} - void GodotBody3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool lock) { if (lock) { locked_axis |= p_axis; @@ -469,63 +477,135 @@ void GodotBody3D::integrate_forces(real_t p_step) { return; } - GodotArea3D *def_area = get_space()->get_default_area(); - - ERR_FAIL_COND(!def_area); + ERR_FAIL_COND(!get_space()); int ac = areas.size(); + + bool gravity_done = false; + bool linear_damp_done = false; + bool angular_damp_done = false; + bool stopped = false; + gravity = Vector3(0, 0, 0); - area_linear_damp = 0; - area_angular_damp = 0; + + total_linear_damp = 0.0; + total_angular_damp = 0.0; + + // Combine gravity and damping from overlapping areas in priority order. if (ac) { areas.sort(); const AreaCMP *aa = &areas[0]; - // damp_area = aa[ac-1].area; for (int i = ac - 1; i >= 0 && !stopped; i--) { - PhysicsServer3D::AreaSpaceOverrideMode mode = aa[i].area->get_space_override_mode(); - switch (mode) { - case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE: - case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: { - _compute_area_gravity_and_damping(aa[i].area); - stopped = mode == PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE; - } break; - case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE: - case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: { - gravity = Vector3(0, 0, 0); - area_angular_damp = 0; - area_linear_damp = 0; - _compute_area_gravity_and_damping(aa[i].area); - stopped = mode == PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE; - } break; - default: { + if (!gravity_done) { + PhysicsServer3D::AreaSpaceOverrideMode area_gravity_mode = (PhysicsServer3D::AreaSpaceOverrideMode)(int)aa[i].area->get_param(PhysicsServer3D::AREA_PARAM_GRAVITY_OVERRIDE_MODE); + if (area_gravity_mode != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED) { + Vector3 area_gravity; + aa[i].area->compute_gravity(get_transform().get_origin(), area_gravity); + switch (area_gravity_mode) { + case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE: + case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: { + gravity += area_gravity; + gravity_done = area_gravity_mode == PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE; + } break; + case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE: + case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: { + gravity = area_gravity; + gravity_done = area_gravity_mode == PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE; + } break; + default: { + } + } + } + } + if (!linear_damp_done) { + PhysicsServer3D::AreaSpaceOverrideMode area_linear_damp_mode = (PhysicsServer3D::AreaSpaceOverrideMode)(int)aa[i].area->get_param(PhysicsServer3D::AREA_PARAM_LINEAR_DAMP_OVERRIDE_MODE); + if (area_linear_damp_mode != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED) { + real_t area_linear_damp = aa[i].area->get_linear_damp(); + switch (area_linear_damp_mode) { + case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE: + case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: { + total_linear_damp += area_linear_damp; + linear_damp_done = area_linear_damp_mode == PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE; + } break; + case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE: + case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: { + total_linear_damp = area_linear_damp; + linear_damp_done = area_linear_damp_mode == PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE; + } break; + default: { + } + } } } + if (!angular_damp_done) { + PhysicsServer3D::AreaSpaceOverrideMode area_angular_damp_mode = (PhysicsServer3D::AreaSpaceOverrideMode)(int)aa[i].area->get_param(PhysicsServer3D::AREA_PARAM_ANGULAR_DAMP_OVERRIDE_MODE); + if (area_angular_damp_mode != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED) { + real_t area_angular_damp = aa[i].area->get_angular_damp(); + switch (area_angular_damp_mode) { + case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE: + case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: { + total_angular_damp += area_angular_damp; + angular_damp_done = area_angular_damp_mode == PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE; + } break; + case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE: + case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: { + total_angular_damp = area_angular_damp; + angular_damp_done = area_angular_damp_mode == PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE; + } break; + default: { + } + } + } + } + stopped = gravity_done && linear_damp_done && angular_damp_done; } } + // Add default gravity and damping from space area. if (!stopped) { - _compute_area_gravity_and_damping(def_area); - } + GodotArea3D *default_area = get_space()->get_default_area(); + ERR_FAIL_COND(!default_area); - gravity *= gravity_scale; + if (!gravity_done) { + Vector3 default_gravity; + default_area->compute_gravity(get_transform().get_origin(), default_gravity); + gravity += default_gravity; + } + + if (!linear_damp_done) { + total_linear_damp += default_area->get_linear_damp(); + } + + if (!angular_damp_done) { + total_angular_damp += default_area->get_angular_damp(); + } + } - // If less than 0, override dampenings with that of the Body - if (angular_damp >= 0) { - area_angular_damp = angular_damp; + // Override linear damping with body's value. + switch (linear_damp_mode) { + case PhysicsServer3D::BODY_DAMP_MODE_COMBINE: { + total_linear_damp += linear_damp; + } break; + case PhysicsServer3D::BODY_DAMP_MODE_REPLACE: { + total_linear_damp = linear_damp; + } break; } - /* - else - area_angular_damp=damp_area->get_angular_damp(); - */ - if (linear_damp >= 0) { - area_linear_damp = linear_damp; + // Override angular damping with body's value. + switch (angular_damp_mode) { + case PhysicsServer3D::BODY_DAMP_MODE_COMBINE: { + total_angular_damp += angular_damp; + } break; + case PhysicsServer3D::BODY_DAMP_MODE_REPLACE: { + total_angular_damp = angular_damp; + } break; } - /* - else - area_linear_damp=damp_area->get_linear_damp(); - */ + + gravity *= gravity_scale; + + prev_linear_velocity = linear_velocity; + prev_angular_velocity = angular_velocity; Vector3 motion; bool do_motion = false; @@ -548,17 +628,16 @@ void GodotBody3D::integrate_forces(real_t p_step) { if (!omit_force_integration) { //overridden by direct state query - Vector3 force = gravity * mass; - force += applied_force; - Vector3 torque = applied_torque; + Vector3 force = gravity * mass + applied_force + constant_force; + Vector3 torque = applied_torque + constant_torque; - real_t damp = 1.0 - p_step * area_linear_damp; + real_t damp = 1.0 - p_step * total_linear_damp; if (damp < 0) { // reached zero in the given time damp = 0; } - real_t angular_damp = 1.0 - p_step * area_angular_damp; + real_t angular_damp = 1.0 - p_step * total_angular_damp; if (angular_damp < 0) { // reached zero in the given time angular_damp = 0; @@ -580,8 +659,6 @@ void GodotBody3D::integrate_forces(real_t p_step) { applied_force = Vector3(); applied_torque = Vector3(); - //motion=linear_velocity*p_step; - biased_angular_velocity = Vector3(); biased_linear_velocity = Vector3(); @@ -589,7 +666,6 @@ void GodotBody3D::integrate_forces(real_t p_step) { _update_shapes_with_motion(motion); } - def_area = nullptr; // clear the area, so it is set in the next frame contact_count = 0; } @@ -690,7 +766,7 @@ void GodotBody3D::call_queries() { 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); } } |