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-rw-r--r--servers/physics_3d/area_3d_sw.cpp22
-rw-r--r--servers/physics_3d/area_3d_sw.h16
-rw-r--r--servers/physics_3d/gjk_epa.cpp2
-rw-r--r--servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp2
-rw-r--r--servers/physics_3d/joints/generic_6dof_joint_3d_sw.h2
-rw-r--r--servers/physics_3d/joints/hinge_joint_3d_sw.cpp2
-rw-r--r--servers/physics_3d/joints/hinge_joint_3d_sw.h2
-rw-r--r--servers/physics_3d/joints/jacobian_entry_3d_sw.h2
-rw-r--r--servers/physics_3d/joints/pin_joint_3d_sw.cpp2
-rw-r--r--servers/physics_3d/joints/pin_joint_3d_sw.h2
-rw-r--r--servers/physics_3d/joints/slider_joint_3d_sw.cpp2
-rw-r--r--servers/physics_3d/joints/slider_joint_3d_sw.h2
-rw-r--r--servers/physics_3d/shape_3d_sw.cpp2
-rw-r--r--servers/physics_3d/soft_body_3d_sw.cpp87
-rw-r--r--servers/physics_3d/soft_body_3d_sw.h6
15 files changed, 123 insertions, 30 deletions
diff --git a/servers/physics_3d/area_3d_sw.cpp b/servers/physics_3d/area_3d_sw.cpp
index 364f63e4ad..c292abad48 100644
--- a/servers/physics_3d/area_3d_sw.cpp
+++ b/servers/physics_3d/area_3d_sw.cpp
@@ -163,6 +163,20 @@ void Area3DSW::set_param(PhysicsServer3D::AreaParameter p_param, const Variant &
case PhysicsServer3D::AREA_PARAM_PRIORITY:
priority = p_value;
break;
+ case PhysicsServer3D::AREA_PARAM_WIND_FORCE_MAGNITUDE:
+ ERR_FAIL_COND_MSG(wind_force_magnitude < 0, "Wind force magnitude must be a non-negative real number, but a negative number was specified.");
+ wind_force_magnitude = p_value;
+ break;
+ case PhysicsServer3D::AREA_PARAM_WIND_SOURCE:
+ wind_source = p_value;
+ break;
+ case PhysicsServer3D::AREA_PARAM_WIND_DIRECTION:
+ wind_direction = p_value;
+ break;
+ case PhysicsServer3D::AREA_PARAM_WIND_ATTENUATION_FACTOR:
+ ERR_FAIL_COND_MSG(wind_attenuation_factor < 0, "Wind attenuation factor must be a non-negative real number, but a negative number was specified.");
+ wind_attenuation_factor = p_value;
+ break;
}
}
@@ -184,6 +198,14 @@ Variant Area3DSW::get_param(PhysicsServer3D::AreaParameter p_param) const {
return angular_damp;
case PhysicsServer3D::AREA_PARAM_PRIORITY:
return priority;
+ case PhysicsServer3D::AREA_PARAM_WIND_FORCE_MAGNITUDE:
+ return wind_force_magnitude;
+ case PhysicsServer3D::AREA_PARAM_WIND_SOURCE:
+ return wind_source;
+ case PhysicsServer3D::AREA_PARAM_WIND_DIRECTION:
+ return wind_direction;
+ case PhysicsServer3D::AREA_PARAM_WIND_ATTENUATION_FACTOR:
+ return wind_attenuation_factor;
}
return Variant();
diff --git a/servers/physics_3d/area_3d_sw.h b/servers/physics_3d/area_3d_sw.h
index 5959ee1e95..814472885c 100644
--- a/servers/physics_3d/area_3d_sw.h
+++ b/servers/physics_3d/area_3d_sw.h
@@ -50,6 +50,10 @@ class Area3DSW : public CollisionObject3DSW {
real_t point_attenuation;
real_t linear_damp;
real_t angular_damp;
+ real_t wind_force_magnitude = 0.0;
+ real_t wind_attenuation_factor = 0.0;
+ Vector3 wind_source;
+ Vector3 wind_direction;
int priority;
bool monitorable;
@@ -154,6 +158,18 @@ public:
_FORCE_INLINE_ void set_priority(int p_priority) { priority = p_priority; }
_FORCE_INLINE_ int get_priority() const { return priority; }
+ _FORCE_INLINE_ void set_wind_force_magnitude(real_t p_wind_force_magnitude) { wind_force_magnitude = p_wind_force_magnitude; }
+ _FORCE_INLINE_ real_t get_wind_force_magnitude() const { return wind_force_magnitude; }
+
+ _FORCE_INLINE_ void set_wind_attenuation_factor(real_t p_wind_attenuation_factor) { wind_attenuation_factor = p_wind_attenuation_factor; }
+ _FORCE_INLINE_ real_t get_wind_attenuation_factor() const { return wind_attenuation_factor; }
+
+ _FORCE_INLINE_ void set_wind_source(const Vector3 &p_wind_source) { wind_source = p_wind_source; }
+ _FORCE_INLINE_ const Vector3 &get_wind_source() const { return wind_source; }
+
+ _FORCE_INLINE_ void set_wind_direction(const Vector3 &p_wind_direction) { wind_direction = p_wind_direction; }
+ _FORCE_INLINE_ const Vector3 &get_wind_direction() const { return wind_direction; }
+
_FORCE_INLINE_ void add_constraint(Constraint3DSW *p_constraint) { constraints.insert(p_constraint); }
_FORCE_INLINE_ void remove_constraint(Constraint3DSW *p_constraint) { constraints.erase(p_constraint); }
_FORCE_INLINE_ const Set<Constraint3DSW *> &get_constraints() const { return constraints; }
diff --git a/servers/physics_3d/gjk_epa.cpp b/servers/physics_3d/gjk_epa.cpp
index 2df991563d..f2f712193a 100644
--- a/servers/physics_3d/gjk_epa.cpp
+++ b/servers/physics_3d/gjk_epa.cpp
@@ -37,7 +37,7 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2008 Erwin Coumans https://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the
diff --git a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp
index 56aba24b42..d2b64ce6e3 100644
--- a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp
@@ -34,7 +34,7 @@ Adapted to Godot from the Bullet library.
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h
index d0f3dbbd35..c2a0443aff 100644
--- a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h
+++ b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h
@@ -40,7 +40,7 @@ Adapted to Godot from the Bullet library.
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp b/servers/physics_3d/joints/hinge_joint_3d_sw.cpp
index b928f18231..e2bf2845fe 100644
--- a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/hinge_joint_3d_sw.cpp
@@ -34,7 +34,7 @@ Adapted to Godot from the Bullet library.
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/servers/physics_3d/joints/hinge_joint_3d_sw.h b/servers/physics_3d/joints/hinge_joint_3d_sw.h
index 22eb2f4660..572c35266f 100644
--- a/servers/physics_3d/joints/hinge_joint_3d_sw.h
+++ b/servers/physics_3d/joints/hinge_joint_3d_sw.h
@@ -40,7 +40,7 @@ Adapted to Godot from the Bullet library.
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/servers/physics_3d/joints/jacobian_entry_3d_sw.h b/servers/physics_3d/joints/jacobian_entry_3d_sw.h
index 6afa70c816..30c80db23f 100644
--- a/servers/physics_3d/joints/jacobian_entry_3d_sw.h
+++ b/servers/physics_3d/joints/jacobian_entry_3d_sw.h
@@ -37,7 +37,7 @@ Adapted to Godot from the Bullet library.
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/servers/physics_3d/joints/pin_joint_3d_sw.cpp b/servers/physics_3d/joints/pin_joint_3d_sw.cpp
index 8eb84d1c2f..7a713c1161 100644
--- a/servers/physics_3d/joints/pin_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/pin_joint_3d_sw.cpp
@@ -34,7 +34,7 @@ Adapted to Godot from the Bullet library.
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/servers/physics_3d/joints/pin_joint_3d_sw.h b/servers/physics_3d/joints/pin_joint_3d_sw.h
index 3d91452850..09deefc5c4 100644
--- a/servers/physics_3d/joints/pin_joint_3d_sw.h
+++ b/servers/physics_3d/joints/pin_joint_3d_sw.h
@@ -40,7 +40,7 @@ Adapted to Godot from the Bullet library.
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/servers/physics_3d/joints/slider_joint_3d_sw.cpp b/servers/physics_3d/joints/slider_joint_3d_sw.cpp
index 1895fe1e2e..9f01196c30 100644
--- a/servers/physics_3d/joints/slider_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/slider_joint_3d_sw.cpp
@@ -34,7 +34,7 @@ Adapted to Godot from the Bullet library.
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/servers/physics_3d/joints/slider_joint_3d_sw.h b/servers/physics_3d/joints/slider_joint_3d_sw.h
index f357bbd67a..f09476f570 100644
--- a/servers/physics_3d/joints/slider_joint_3d_sw.h
+++ b/servers/physics_3d/joints/slider_joint_3d_sw.h
@@ -40,7 +40,7 @@ Adapted to Godot from the Bullet library.
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/servers/physics_3d/shape_3d_sw.cpp b/servers/physics_3d/shape_3d_sw.cpp
index a84405de81..664308ed7b 100644
--- a/servers/physics_3d/shape_3d_sw.cpp
+++ b/servers/physics_3d/shape_3d_sw.cpp
@@ -39,7 +39,7 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
+Copyright (c) 2003-2009 Erwin Coumans https://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/servers/physics_3d/soft_body_3d_sw.cpp b/servers/physics_3d/soft_body_3d_sw.cpp
index 73b81444e1..ead6497f1f 100644
--- a/servers/physics_3d/soft_body_3d_sw.cpp
+++ b/servers/physics_3d/soft_body_3d_sw.cpp
@@ -38,7 +38,7 @@
/*
Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
@@ -165,7 +165,7 @@ void SoftBody3DSW::update_rendering_server(RenderingServerHandler *p_rendering_s
p_rendering_server_handler->set_aabb(bounds);
}
-void SoftBody3DSW::update_normals() {
+void SoftBody3DSW::update_normals_and_centroids() {
uint32_t i, ni;
for (i = 0, ni = nodes.size(); i < ni; ++i) {
@@ -180,6 +180,7 @@ void SoftBody3DSW::update_normals() {
face.n[2]->n += n;
face.normal = n;
face.normal.normalize();
+ face.centroid = 0.33333333333 * (face.n[0]->x + face.n[1]->x + face.n[2]->x);
}
for (i = 0, ni = nodes.size(); i < ni; ++i) {
@@ -310,7 +311,7 @@ void SoftBody3DSW::apply_nodes_transform(const Transform3D &p_transform) {
face_tree.clear();
- update_normals();
+ update_normals_and_centroids();
update_bounds();
update_constants();
}
@@ -574,7 +575,7 @@ bool SoftBody3DSW::create_from_trimesh(const Vector<int> &p_indices, const Vecto
reoptimize_link_order();
update_constants();
- update_normals();
+ update_normals_and_centroids();
update_bounds();
return true;
@@ -898,32 +899,66 @@ void SoftBody3DSW::add_velocity(const Vector3 &p_velocity) {
}
}
-void SoftBody3DSW::apply_forces() {
- if (pressure_coefficient < CMP_EPSILON) {
- return;
- }
+void SoftBody3DSW::apply_forces(bool p_has_wind_forces) {
+ int ac = areas.size();
if (nodes.is_empty()) {
return;
}
uint32_t i, ni;
+ int32_t j;
- // Calculate volume.
real_t volume = 0.0;
const Vector3 &org = nodes[0].x;
+
+ // Iterate over faces (try not to iterate elsewhere if possible).
for (i = 0, ni = faces.size(); i < ni; ++i) {
+ bool stopped = false;
const Face &face = faces[i];
+
+ Vector3 wind_force(0, 0, 0);
+
+ // Compute volume.
volume += vec3_dot(face.n[0]->x - org, vec3_cross(face.n[1]->x - org, face.n[2]->x - org));
+
+ // Compute nodal forces from area winds.
+ if (ac && p_has_wind_forces) {
+ const AreaCMP *aa = &areas[0];
+ for (j = ac - 1; j >= 0 && !stopped; j--) {
+ PhysicsServer3D::AreaSpaceOverrideMode mode = aa[j].area->get_space_override_mode();
+ switch (mode) {
+ case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE:
+ case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: {
+ wind_force += _compute_area_windforce(aa[j].area, &face);
+ stopped = mode == PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE;
+ } break;
+ case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE:
+ case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: {
+ wind_force = _compute_area_windforce(aa[j].area, &face);
+ stopped = mode == PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE;
+ } break;
+ default: {
+ }
+ }
+ }
+
+ for (j = 0; j < 3; j++) {
+ Node *current_node = face.n[j];
+ current_node->f += wind_force;
+ }
+ }
}
volume /= 6.0;
- // Apply per node forces.
- real_t ivolumetp = 1.0 / Math::abs(volume) * pressure_coefficient;
- for (i = 0, ni = nodes.size(); i < ni; ++i) {
- Node &node = nodes[i];
- if (node.im > 0) {
- node.f += node.n * (node.area * ivolumetp);
+ // Apply nodal pressure forces.
+ if (pressure_coefficient > CMP_EPSILON) {
+ real_t ivolumetp = 1.0 / Math::abs(volume) * pressure_coefficient;
+ for (i = 0, ni = nodes.size(); i < ni; ++i) {
+ Node &node = nodes[i];
+ if (node.im > 0) {
+ node.f += node.n * (node.area * ivolumetp);
+ }
}
}
}
@@ -941,6 +976,18 @@ void SoftBody3DSW::_compute_area_gravity(const Area3DSW *p_area) {
}
}
+Vector3 SoftBody3DSW::_compute_area_windforce(const Area3DSW *p_area, const Face *p_face) {
+ real_t wfm = p_area->get_wind_force_magnitude();
+ real_t waf = p_area->get_wind_attenuation_factor();
+ const Vector3 &wd = p_area->get_wind_direction();
+ const Vector3 &ws = p_area->get_wind_source();
+ real_t projection_on_tri_normal = vec3_dot(p_face->normal, wd);
+ real_t projection_toward_centroid = vec3_dot(p_face->centroid - ws, wd);
+ real_t attenuation_over_distance = pow(projection_toward_centroid, -waf);
+ real_t nodal_force_magnitude = wfm * 0.33333333333 * p_face->ra * projection_on_tri_normal * attenuation_over_distance;
+ return nodal_force_magnitude * p_face->normal;
+}
+
void SoftBody3DSW::predict_motion(real_t p_delta) {
const real_t inv_delta = 1.0 / p_delta;
@@ -952,11 +999,15 @@ void SoftBody3DSW::predict_motion(real_t p_delta) {
int ac = areas.size();
bool stopped = false;
+ bool has_wind_forces = false;
if (ac) {
areas.sort();
const AreaCMP *aa = &areas[0];
for (int i = ac - 1; i >= 0 && !stopped; i--) {
+ // Avoids unnecessary loop in apply_forces().
+ has_wind_forces = has_wind_forces || aa[i].area->get_wind_force_magnitude() > CMP_EPSILON;
+
PhysicsServer3D::AreaSpaceOverrideMode mode = aa[i].area->get_space_override_mode();
switch (mode) {
case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE:
@@ -978,7 +1029,9 @@ void SoftBody3DSW::predict_motion(real_t p_delta) {
// Apply forces.
add_velocity(gravity * p_delta);
- apply_forces();
+ if (pressure_coefficient > CMP_EPSILON || has_wind_forces) {
+ apply_forces(has_wind_forces);
+ }
// Avoid soft body from 'exploding' so use some upper threshold of maximum motion
// that a node can travel per frame.
@@ -1057,7 +1110,7 @@ void SoftBody3DSW::solve_constraints(real_t p_delta) {
node.q = node.x;
}
- update_normals();
+ update_normals_and_centroids();
}
void SoftBody3DSW::solve_links(real_t kst, real_t ti) {
diff --git a/servers/physics_3d/soft_body_3d_sw.h b/servers/physics_3d/soft_body_3d_sw.h
index be0620c506..58fd234fde 100644
--- a/servers/physics_3d/soft_body_3d_sw.h
+++ b/servers/physics_3d/soft_body_3d_sw.h
@@ -71,6 +71,7 @@ class SoftBody3DSW : public CollisionObject3DSW {
};
struct Face {
+ Vector3 centroid;
Node *n[3] = { nullptr, nullptr, nullptr }; // Node pointers
Vector3 normal; // Normal
real_t ra = 0.0; // Rest area
@@ -114,6 +115,7 @@ class SoftBody3DSW : public CollisionObject3DSW {
uint64_t island_step = 0;
_FORCE_INLINE_ void _compute_area_gravity(const Area3DSW *p_area);
+ _FORCE_INLINE_ Vector3 _compute_area_windforce(const Area3DSW *p_area, const Face *p_face);
public:
SoftBody3DSW();
@@ -220,7 +222,7 @@ protected:
virtual void _shapes_changed();
private:
- void update_normals();
+ void update_normals_and_centroids();
void update_bounds();
void update_constants();
void update_area();
@@ -231,7 +233,7 @@ private:
void add_velocity(const Vector3 &p_velocity);
- void apply_forces();
+ void apply_forces(bool p_has_wind_forces);
bool create_from_trimesh(const Vector<int> &p_indices, const Vector<Vector3> &p_vertices);
void generate_bending_constraints(int p_distance);
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-06 01:26:57 +0000