diff options
Diffstat (limited to 'servers/physics_3d/godot_body_3d.h')
| -rw-r--r-- | servers/physics_3d/godot_body_3d.h | 70 |
1 files changed, 47 insertions, 23 deletions
diff --git a/servers/physics_3d/godot_body_3d.h b/servers/physics_3d/godot_body_3d.h index 5acdab9d13..93bd5a0071 100644 --- a/servers/physics_3d/godot_body_3d.h +++ b/servers/physics_3d/godot_body_3d.h @@ -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 */ @@ -45,6 +45,9 @@ class GodotBody3D : public GodotCollisionObject3D { Vector3 linear_velocity; Vector3 angular_velocity; + Vector3 prev_linear_velocity; + Vector3 prev_angular_velocity; + Vector3 constant_linear_velocity; Vector3 constant_angular_velocity; @@ -55,8 +58,15 @@ class GodotBody3D : public GodotCollisionObject3D { real_t friction = 1.0; Vector3 inertia; - real_t linear_damp = -1.0; - real_t angular_damp = -1.0; + PhysicsServer3D::BodyDampMode linear_damp_mode = PhysicsServer3D::BODY_DAMP_MODE_COMBINE; + PhysicsServer3D::BodyDampMode angular_damp_mode = PhysicsServer3D::BODY_DAMP_MODE_COMBINE; + + real_t linear_damp = 0.0; + real_t angular_damp = 0.0; + + real_t total_linear_damp = 0.0; + real_t total_angular_damp = 0.0; + real_t gravity_scale = 1.0; uint16_t locked_axis = 0; @@ -83,8 +93,8 @@ class GodotBody3D : public GodotCollisionObject3D { Vector3 applied_force; Vector3 applied_torque; - real_t area_angular_damp = 0.0; - real_t area_linear_damp = 0.0; + Vector3 constant_force; + Vector3 constant_torque; SelfList<GodotBody3D> active_list; SelfList<GodotBody3D> mass_properties_update_list; @@ -99,10 +109,10 @@ class GodotBody3D : public GodotCollisionObject3D { bool first_time_kinematic = false; void _mass_properties_changed(); - virtual void _shapes_changed(); + virtual void _shapes_changed() override; Transform3D new_transform; - Map<GodotConstraint3D *, int> constraint_map; + HashMap<GodotConstraint3D *, int> constraint_map; Vector<AreaCMP> areas; @@ -135,8 +145,6 @@ class GodotBody3D : public GodotCollisionObject3D { uint64_t island_step = 0; - void _compute_area_gravity_and_damping(const GodotArea3D *p_area); - void _update_transform_dependent(); friend class GodotPhysicsDirectBodyState3D; // i give up, too many functions to expose @@ -161,7 +169,7 @@ public: if (index > -1) { areas.write[index].refCount -= 1; if (areas[index].refCount < 1) { - areas.remove(index); + areas.remove_at(index); } } } @@ -188,7 +196,7 @@ public: _FORCE_INLINE_ void add_constraint(GodotConstraint3D *p_constraint, int p_pos) { constraint_map[p_constraint] = p_pos; } _FORCE_INLINE_ void remove_constraint(GodotConstraint3D *p_constraint) { constraint_map.erase(p_constraint); } - const Map<GodotConstraint3D *, int> &get_constraint_map() const { return constraint_map; } + const HashMap<GodotConstraint3D *, int> &get_constraint_map() const { return constraint_map; } _FORCE_INLINE_ void clear_constraint_map() { constraint_map.clear(); } _FORCE_INLINE_ void set_omit_force_integration(bool p_omit_force_integration) { omit_force_integration = p_omit_force_integration; } @@ -196,6 +204,7 @@ public: _FORCE_INLINE_ Basis get_principal_inertia_axes() const { return principal_inertia_axes; } _FORCE_INLINE_ Vector3 get_center_of_mass() const { return center_of_mass; } + _FORCE_INLINE_ Vector3 get_center_of_mass_local() const { return center_of_mass_local; } _FORCE_INLINE_ Vector3 xform_local_to_principal(const Vector3 &p_pos) const { return principal_inertia_axes_local.xform(p_pos - center_of_mass_local); } _FORCE_INLINE_ void set_linear_velocity(const Vector3 &p_velocity) { linear_velocity = p_velocity; } @@ -204,6 +213,9 @@ public: _FORCE_INLINE_ void set_angular_velocity(const Vector3 &p_velocity) { angular_velocity = p_velocity; } _FORCE_INLINE_ Vector3 get_angular_velocity() const { return angular_velocity; } + _FORCE_INLINE_ Vector3 get_prev_linear_velocity() const { return prev_linear_velocity; } + _FORCE_INLINE_ Vector3 get_prev_angular_velocity() const { return prev_angular_velocity; } + _FORCE_INLINE_ const Vector3 &get_biased_linear_velocity() const { return biased_linear_velocity; } _FORCE_INLINE_ const Vector3 &get_biased_angular_velocity() const { return biased_angular_velocity; } @@ -235,19 +247,38 @@ public: biased_angular_velocity += _inv_inertia_tensor.xform(p_impulse); } - _FORCE_INLINE_ void add_central_force(const Vector3 &p_force) { + _FORCE_INLINE_ void apply_central_force(const Vector3 &p_force) { applied_force += p_force; } - _FORCE_INLINE_ void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) { + _FORCE_INLINE_ void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) { applied_force += p_force; applied_torque += (p_position - center_of_mass).cross(p_force); } - _FORCE_INLINE_ void add_torque(const Vector3 &p_torque) { + _FORCE_INLINE_ void apply_torque(const Vector3 &p_torque) { applied_torque += p_torque; } + _FORCE_INLINE_ void add_constant_central_force(const Vector3 &p_force) { + constant_force += p_force; + } + + _FORCE_INLINE_ void add_constant_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) { + constant_force += p_force; + constant_torque += (p_position - center_of_mass).cross(p_force); + } + + _FORCE_INLINE_ void add_constant_torque(const Vector3 &p_torque) { + constant_torque += p_torque; + } + + void set_constant_force(const Vector3 &p_force) { constant_force = p_force; } + Vector3 get_constant_force() const { return constant_force; } + + void set_constant_torque(const Vector3 &p_torque) { constant_torque = p_torque; } + Vector3 get_constant_torque() const { return constant_torque; } + void set_active(bool p_active); _FORCE_INLINE_ bool is_active() const { return active; } @@ -267,16 +298,10 @@ public: void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant); Variant get_state(PhysicsServer3D::BodyState p_state) const; - void set_applied_force(const Vector3 &p_force) { applied_force = p_force; } - Vector3 get_applied_force() const { return applied_force; } - - void set_applied_torque(const Vector3 &p_torque) { applied_torque = p_torque; } - Vector3 get_applied_torque() const { return applied_torque; } - _FORCE_INLINE_ void set_continuous_collision_detection(bool p_enable) { continuous_cd = p_enable; } _FORCE_INLINE_ bool is_continuous_collision_detection_enabled() const { return continuous_cd; } - void set_space(GodotSpace3D *p_space); + void set_space(GodotSpace3D *p_space) override; void update_mass_properties(); void reset_mass_properties(); @@ -285,7 +310,6 @@ public: _FORCE_INLINE_ const Vector3 &get_inv_inertia() const { return _inv_inertia; } _FORCE_INLINE_ const Basis &get_inv_inertia_tensor() const { return _inv_inertia_tensor; } _FORCE_INLINE_ real_t get_friction() const { return friction; } - _FORCE_INLINE_ const Vector3 &get_gravity() const { return gravity; } _FORCE_INLINE_ real_t get_bounce() const { return bounce; } void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool lock); |