From ba27deef06f0152a59c86e3b0ab3ebb0976344ad Mon Sep 17 00:00:00 2001 From: Aaron Franke Date: Thu, 26 Mar 2020 00:23:34 -0400 Subject: Refactor physics force and impulse code --- servers/physics_2d/body_2d_sw.h | 18 +++++----- servers/physics_2d/body_pair_2d_sw.cpp | 9 +++-- servers/physics_2d/joints_2d_sw.cpp | 24 ++++++------- servers/physics_2d/physics_server_2d_sw.cpp | 8 ++--- servers/physics_2d/physics_server_2d_sw.h | 4 +-- servers/physics_3d/body_3d_sw.h | 40 ++++++++++++---------- servers/physics_3d/body_pair_3d_sw.cpp | 12 +++---- .../physics_3d/joints/cone_twist_joint_3d_sw.cpp | 4 +-- .../physics_3d/joints/generic_6dof_joint_3d_sw.cpp | 4 +-- servers/physics_3d/joints/hinge_joint_3d_sw.cpp | 4 +-- servers/physics_3d/joints/pin_joint_3d_sw.cpp | 4 +-- servers/physics_3d/joints/slider_joint_3d_sw.cpp | 8 ++--- servers/physics_3d/physics_server_3d_sw.cpp | 8 ++--- servers/physics_3d/physics_server_3d_sw.h | 4 +-- servers/physics_server_2d.cpp | 8 ++--- servers/physics_server_2d.h | 8 ++--- servers/physics_server_3d.cpp | 14 ++++---- servers/physics_server_3d.h | 12 +++---- 18 files changed, 98 insertions(+), 95 deletions(-) (limited to 'servers') diff --git a/servers/physics_2d/body_2d_sw.h b/servers/physics_2d/body_2d_sw.h index 2300c9cdee..8c7876e5cd 100644 --- a/servers/physics_2d/body_2d_sw.h +++ b/servers/physics_2d/body_2d_sw.h @@ -203,18 +203,18 @@ public: linear_velocity += p_impulse * _inv_mass; } - _FORCE_INLINE_ void apply_impulse(const Vector2 &p_offset, const Vector2 &p_impulse) { + _FORCE_INLINE_ void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) { linear_velocity += p_impulse * _inv_mass; - angular_velocity += _inv_inertia * p_offset.cross(p_impulse); + angular_velocity += _inv_inertia * p_position.cross(p_impulse); } _FORCE_INLINE_ void apply_torque_impulse(real_t p_torque) { angular_velocity += _inv_inertia * p_torque; } - _FORCE_INLINE_ void apply_bias_impulse(const Vector2 &p_pos, const Vector2 &p_j) { - biased_linear_velocity += p_j * _inv_mass; - biased_angular_velocity += _inv_inertia * p_pos.cross(p_j); + _FORCE_INLINE_ void apply_bias_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) { + biased_linear_velocity += p_impulse * _inv_mass; + biased_angular_velocity += _inv_inertia * p_position.cross(p_impulse); } void set_active(bool p_active); @@ -246,9 +246,9 @@ public: applied_force += p_force; } - _FORCE_INLINE_ void add_force(const Vector2 &p_offset, const Vector2 &p_force) { + _FORCE_INLINE_ void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) { applied_force += p_force; - applied_torque += p_offset.cross(p_force); + applied_torque += p_position.cross(p_force); } _FORCE_INLINE_ void add_torque(real_t p_torque) { @@ -360,10 +360,10 @@ public: virtual Transform2D get_transform() const { return body->get_transform(); } virtual void add_central_force(const Vector2 &p_force) { body->add_central_force(p_force); } - virtual void add_force(const Vector2 &p_offset, const Vector2 &p_force) { body->add_force(p_offset, p_force); } + virtual void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) { body->add_force(p_force, p_position); } virtual void add_torque(real_t p_torque) { body->add_torque(p_torque); } virtual void apply_central_impulse(const Vector2 &p_impulse) { body->apply_central_impulse(p_impulse); } - virtual void apply_impulse(const Vector2 &p_offset, const Vector2 &p_force) { body->apply_impulse(p_offset, p_force); } + virtual void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) { body->apply_impulse(p_impulse, p_position); } virtual void apply_torque_impulse(real_t p_torque) { body->apply_torque_impulse(p_torque); } virtual void set_sleep_state(bool p_enable) { body->set_active(!p_enable); } diff --git a/servers/physics_2d/body_pair_2d_sw.cpp b/servers/physics_2d/body_pair_2d_sw.cpp index e483ddf1cc..258979ff22 100644 --- a/servers/physics_2d/body_pair_2d_sw.cpp +++ b/servers/physics_2d/body_pair_2d_sw.cpp @@ -427,10 +427,9 @@ bool BodyPair2DSW::setup(real_t p_step) { // Apply normal + friction impulse Vector2 P = c.acc_normal_impulse * c.normal + c.acc_tangent_impulse * tangent; - A->apply_impulse(c.rA, -P); - B->apply_impulse(c.rB, P); + A->apply_impulse(-P, c.rA); + B->apply_impulse(P, c.rB); } - #endif c.bounce = combine_bounce(A, B); @@ -497,8 +496,8 @@ void BodyPair2DSW::solve(real_t p_step) { Vector2 j = c.normal * (c.acc_normal_impulse - jnOld) + tangent * (c.acc_tangent_impulse - jtOld); - A->apply_impulse(c.rA, -j); - B->apply_impulse(c.rB, j); + A->apply_impulse(-j, c.rA); + B->apply_impulse(j, c.rB); } } diff --git a/servers/physics_2d/joints_2d_sw.cpp b/servers/physics_2d/joints_2d_sw.cpp index eda0b923a2..d9a96580da 100644 --- a/servers/physics_2d/joints_2d_sw.cpp +++ b/servers/physics_2d/joints_2d_sw.cpp @@ -136,9 +136,9 @@ bool PinJoint2DSW::setup(real_t p_step) { bias = delta * -(get_bias() == 0 ? space->get_constraint_bias() : get_bias()) * (1.0 / p_step); // apply accumulated impulse - A->apply_impulse(rA, -P); + A->apply_impulse(-P, rA); if (B) { - B->apply_impulse(rB, P); + B->apply_impulse(P, rB); } return true; @@ -161,9 +161,9 @@ void PinJoint2DSW::solve(real_t p_step) { Vector2 impulse = M.basis_xform(bias - rel_vel - Vector2(softness, softness) * P); - A->apply_impulse(rA, -impulse); + A->apply_impulse(-impulse, rA); if (B) { - B->apply_impulse(rB, impulse); + B->apply_impulse(impulse, rB); } P += impulse; @@ -301,8 +301,8 @@ bool GrooveJoint2DSW::setup(real_t p_step) { gbias = (delta * -(_b == 0 ? space->get_constraint_bias() : _b) * (1.0 / p_step)).clamped(get_max_bias()); // apply accumulated impulse - A->apply_impulse(rA, -jn_acc); - B->apply_impulse(rB, jn_acc); + A->apply_impulse(-jn_acc, rA); + B->apply_impulse(jn_acc, rB); correct = true; return true; @@ -320,8 +320,8 @@ void GrooveJoint2DSW::solve(real_t p_step) { j = jn_acc - jOld; - A->apply_impulse(rA, -j); - B->apply_impulse(rB, j); + A->apply_impulse(-j, rA); + B->apply_impulse(j, rB); } GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, Body2DSW *p_body_a, Body2DSW *p_body_b) : @@ -370,8 +370,8 @@ bool DampedSpringJoint2DSW::setup(real_t p_step) { real_t f_spring = (rest_length - dist) * stiffness; Vector2 j = n * f_spring * (p_step); - A->apply_impulse(rA, -j); - B->apply_impulse(rB, j); + A->apply_impulse(-j, rA); + B->apply_impulse(j, rB); return true; } @@ -386,8 +386,8 @@ void DampedSpringJoint2DSW::solve(real_t p_step) { target_vrn = vrn + v_damp; Vector2 j = n * v_damp * n_mass; - A->apply_impulse(rA, -j); - B->apply_impulse(rB, j); + A->apply_impulse(-j, rA); + B->apply_impulse(j, rB); } void DampedSpringJoint2DSW::set_param(PhysicsServer2D::DampedStringParam p_param, real_t p_value) { diff --git a/servers/physics_2d/physics_server_2d_sw.cpp b/servers/physics_2d/physics_server_2d_sw.cpp index a686903763..c4e32ca5d7 100644 --- a/servers/physics_2d/physics_server_2d_sw.cpp +++ b/servers/physics_2d/physics_server_2d_sw.cpp @@ -823,13 +823,13 @@ void PhysicsServer2DSW::body_apply_torque_impulse(RID p_body, real_t p_torque) { body->apply_torque_impulse(p_torque); } -void PhysicsServer2DSW::body_apply_impulse(RID p_body, const Vector2 &p_pos, const Vector2 &p_impulse) { +void PhysicsServer2DSW::body_apply_impulse(RID p_body, const Vector2 &p_impulse, const Vector2 &p_position) { Body2DSW *body = body_owner.getornull(p_body); ERR_FAIL_COND(!body); _update_shapes(); - body->apply_impulse(p_pos, p_impulse); + body->apply_impulse(p_impulse, p_position); body->wakeup(); }; @@ -841,11 +841,11 @@ void PhysicsServer2DSW::body_add_central_force(RID p_body, const Vector2 &p_forc body->wakeup(); }; -void PhysicsServer2DSW::body_add_force(RID p_body, const Vector2 &p_offset, const Vector2 &p_force) { +void PhysicsServer2DSW::body_add_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position) { Body2DSW *body = body_owner.getornull(p_body); ERR_FAIL_COND(!body); - body->add_force(p_offset, p_force); + body->add_force(p_force, p_position); body->wakeup(); }; diff --git a/servers/physics_2d/physics_server_2d_sw.h b/servers/physics_2d/physics_server_2d_sw.h index f9b0bc716c..fa2ae0ead6 100644 --- a/servers/physics_2d/physics_server_2d_sw.h +++ b/servers/physics_2d/physics_server_2d_sw.h @@ -221,12 +221,12 @@ public: virtual real_t body_get_applied_torque(RID p_body) const; virtual void body_add_central_force(RID p_body, const Vector2 &p_force); - virtual void body_add_force(RID p_body, const Vector2 &p_offset, const Vector2 &p_force); + virtual void body_add_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position = Vector2()); virtual void body_add_torque(RID p_body, real_t p_torque); virtual void body_apply_central_impulse(RID p_body, const Vector2 &p_impulse); virtual void body_apply_torque_impulse(RID p_body, real_t p_torque); - virtual void body_apply_impulse(RID p_body, const Vector2 &p_pos, const Vector2 &p_impulse); + virtual void body_apply_impulse(RID p_body, const Vector2 &p_impulse, const Vector2 &p_position = Vector2()); virtual void body_set_axis_velocity(RID p_body, const Vector2 &p_axis_velocity); virtual void body_add_collision_exception(RID p_body, RID p_body_b); diff --git a/servers/physics_3d/body_3d_sw.h b/servers/physics_3d/body_3d_sw.h index 483ea58620..2878c97c9d 100644 --- a/servers/physics_3d/body_3d_sw.h +++ b/servers/physics_3d/body_3d_sw.h @@ -216,23 +216,23 @@ public: _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; } - _FORCE_INLINE_ void apply_central_impulse(const Vector3 &p_j) { - linear_velocity += p_j * _inv_mass; + _FORCE_INLINE_ void apply_central_impulse(const Vector3 &p_impulse) { + linear_velocity += p_impulse * _inv_mass; } - _FORCE_INLINE_ void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) { - linear_velocity += p_j * _inv_mass; - angular_velocity += _inv_inertia_tensor.xform((p_pos - center_of_mass).cross(p_j)); + _FORCE_INLINE_ void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) { + linear_velocity += p_impulse * _inv_mass; + angular_velocity += _inv_inertia_tensor.xform((p_position - center_of_mass).cross(p_impulse)); } - _FORCE_INLINE_ void apply_torque_impulse(const Vector3 &p_j) { - angular_velocity += _inv_inertia_tensor.xform(p_j); + _FORCE_INLINE_ void apply_torque_impulse(const Vector3 &p_impulse) { + angular_velocity += _inv_inertia_tensor.xform(p_impulse); } - _FORCE_INLINE_ void apply_bias_impulse(const Vector3 &p_pos, const Vector3 &p_j, real_t p_max_delta_av = -1.0) { - biased_linear_velocity += p_j * _inv_mass; + _FORCE_INLINE_ void apply_bias_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3(), real_t p_max_delta_av = -1.0) { + biased_linear_velocity += p_impulse * _inv_mass; if (p_max_delta_av != 0.0) { - Vector3 delta_av = _inv_inertia_tensor.xform((p_pos - center_of_mass).cross(p_j)); + Vector3 delta_av = _inv_inertia_tensor.xform((p_position - center_of_mass).cross(p_impulse)); if (p_max_delta_av > 0 && delta_av.length() > p_max_delta_av) { delta_av = delta_av.normalized() * p_max_delta_av; } @@ -240,17 +240,17 @@ public: } } - _FORCE_INLINE_ void apply_bias_torque_impulse(const Vector3 &p_j) { - biased_angular_velocity += _inv_inertia_tensor.xform(p_j); + _FORCE_INLINE_ void apply_bias_torque_impulse(const Vector3 &p_impulse) { + biased_angular_velocity += _inv_inertia_tensor.xform(p_impulse); } _FORCE_INLINE_ void add_central_force(const Vector3 &p_force) { applied_force += p_force; } - _FORCE_INLINE_ void add_force(const Vector3 &p_force, const Vector3 &p_pos) { + _FORCE_INLINE_ void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) { applied_force += p_force; - applied_torque += (p_pos - center_of_mass).cross(p_force); + applied_torque += (p_position - center_of_mass).cross(p_force); } _FORCE_INLINE_ void add_torque(const Vector3 &p_torque) { @@ -403,11 +403,15 @@ public: virtual Transform get_transform() const { return body->get_transform(); } virtual void add_central_force(const Vector3 &p_force) { body->add_central_force(p_force); } - virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos) { body->add_force(p_force, p_pos); } + virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) { + body->add_force(p_force, p_position); + } virtual void add_torque(const Vector3 &p_torque) { body->add_torque(p_torque); } - virtual void apply_central_impulse(const Vector3 &p_j) { body->apply_central_impulse(p_j); } - virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) { body->apply_impulse(p_pos, p_j); } - virtual void apply_torque_impulse(const Vector3 &p_j) { body->apply_torque_impulse(p_j); } + virtual void apply_central_impulse(const Vector3 &p_impulse) { body->apply_central_impulse(p_impulse); } + virtual void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) { + body->apply_impulse(p_impulse, p_position); + } + virtual void apply_torque_impulse(const Vector3 &p_impulse) { body->apply_torque_impulse(p_impulse); } virtual void set_sleep_state(bool p_sleep) { body->set_active(!p_sleep); } virtual bool is_sleeping() const { return !body->is_active(); } diff --git a/servers/physics_3d/body_pair_3d_sw.cpp b/servers/physics_3d/body_pair_3d_sw.cpp index a4f86badbe..848138940e 100644 --- a/servers/physics_3d/body_pair_3d_sw.cpp +++ b/servers/physics_3d/body_pair_3d_sw.cpp @@ -321,8 +321,8 @@ bool BodyPair3DSW::setup(real_t p_step) { c.depth = depth; Vector3 j_vec = c.normal * c.acc_normal_impulse + c.acc_tangent_impulse; - A->apply_impulse(c.rA + A->get_center_of_mass(), -j_vec); - B->apply_impulse(c.rB + B->get_center_of_mass(), j_vec); + A->apply_impulse(-j_vec, c.rA + A->get_center_of_mass()); + B->apply_impulse(j_vec, c.rB + B->get_center_of_mass()); c.acc_bias_impulse = 0; c.acc_bias_impulse_center_of_mass = 0; @@ -404,8 +404,8 @@ void BodyPair3DSW::solve(real_t p_step) { Vector3 j = c.normal * (c.acc_normal_impulse - jnOld); - A->apply_impulse(c.rA + A->get_center_of_mass(), -j); - B->apply_impulse(c.rB + B->get_center_of_mass(), j); + A->apply_impulse(-j, c.rA + A->get_center_of_mass()); + B->apply_impulse(j, c.rB + B->get_center_of_mass()); c.active = true; } @@ -447,8 +447,8 @@ void BodyPair3DSW::solve(real_t p_step) { jt = c.acc_tangent_impulse - jtOld; - A->apply_impulse(c.rA + A->get_center_of_mass(), -jt); - B->apply_impulse(c.rB + B->get_center_of_mass(), jt); + A->apply_impulse(-jt, c.rA + A->get_center_of_mass()); + B->apply_impulse(jt, c.rB + B->get_center_of_mass()); c.active = true; } diff --git a/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp b/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp index 9d10ede608..789d6687a4 100644 --- a/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp @@ -261,8 +261,8 @@ void ConeTwistJoint3DSW::solve(real_t p_timestep) { real_t impulse = depth * tau / p_timestep * jacDiagABInv - rel_vel * jacDiagABInv; m_appliedImpulse += impulse; Vector3 impulse_vector = normal * impulse; - A->apply_impulse(pivotAInW - A->get_transform().origin, impulse_vector); - B->apply_impulse(pivotBInW - B->get_transform().origin, -impulse_vector); + A->apply_impulse(impulse_vector, pivotAInW - A->get_transform().origin); + B->apply_impulse(-impulse_vector, pivotBInW - B->get_transform().origin); } } 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 423bbc0dfd..fede40ca65 100644 --- a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp @@ -205,8 +205,8 @@ real_t G6DOFTranslationalLimitMotor3DSW::solveLinearAxis( normalImpulse = m_accumulatedImpulse[limit_index] - oldNormalImpulse; Vector3 impulse_vector = axis_normal_on_a * normalImpulse; - body1->apply_impulse(rel_pos1, impulse_vector); - body2->apply_impulse(rel_pos2, -impulse_vector); + body1->apply_impulse(impulse_vector, rel_pos1); + body2->apply_impulse(-impulse_vector, rel_pos2); return normalImpulse; } diff --git a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp b/servers/physics_3d/joints/hinge_joint_3d_sw.cpp index a879b4ca7f..52c7389e1f 100644 --- a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/hinge_joint_3d_sw.cpp @@ -275,8 +275,8 @@ void HingeJoint3DSW::solve(real_t p_step) { real_t impulse = depth * tau / p_step * jacDiagABInv - rel_vel * jacDiagABInv; m_appliedImpulse += impulse; Vector3 impulse_vector = normal * impulse; - A->apply_impulse(pivotAInW - A->get_transform().origin, impulse_vector); - B->apply_impulse(pivotBInW - B->get_transform().origin, -impulse_vector); + A->apply_impulse(impulse_vector, pivotAInW - A->get_transform().origin); + B->apply_impulse(-impulse_vector, pivotBInW - B->get_transform().origin); } } diff --git a/servers/physics_3d/joints/pin_joint_3d_sw.cpp b/servers/physics_3d/joints/pin_joint_3d_sw.cpp index 230904408b..f028ad88f9 100644 --- a/servers/physics_3d/joints/pin_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/pin_joint_3d_sw.cpp @@ -119,8 +119,8 @@ void PinJoint3DSW::solve(real_t p_step) { m_appliedImpulse += impulse; Vector3 impulse_vector = normal * impulse; - A->apply_impulse(pivotAInW - A->get_transform().origin, impulse_vector); - B->apply_impulse(pivotBInW - B->get_transform().origin, -impulse_vector); + A->apply_impulse(impulse_vector, pivotAInW - A->get_transform().origin); + B->apply_impulse(-impulse_vector, pivotBInW - B->get_transform().origin); normal[i] = 0; } diff --git a/servers/physics_3d/joints/slider_joint_3d_sw.cpp b/servers/physics_3d/joints/slider_joint_3d_sw.cpp index 5b4609f24e..43bd49b4b5 100644 --- a/servers/physics_3d/joints/slider_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/slider_joint_3d_sw.cpp @@ -197,8 +197,8 @@ void SliderJoint3DSW::solve(real_t p_step) { // calcutate and apply impulse real_t normalImpulse = softness * (restitution * depth / p_step - damping * rel_vel) * m_jacLinDiagABInv[i]; Vector3 impulse_vector = normal * normalImpulse; - A->apply_impulse(m_relPosA, impulse_vector); - B->apply_impulse(m_relPosB, -impulse_vector); + A->apply_impulse(impulse_vector, m_relPosA); + B->apply_impulse(-impulse_vector, m_relPosB); if (m_poweredLinMotor && (!i)) { // apply linear motor if (m_accumulatedLinMotorImpulse < m_maxLinMotorForce) { real_t desiredMotorVel = m_targetLinMotorVelocity; @@ -218,8 +218,8 @@ void SliderJoint3DSW::solve(real_t p_step) { m_accumulatedLinMotorImpulse = new_acc; // apply clamped impulse impulse_vector = normal * normalImpulse; - A->apply_impulse(m_relPosA, impulse_vector); - B->apply_impulse(m_relPosB, -impulse_vector); + A->apply_impulse(impulse_vector, m_relPosA); + B->apply_impulse(-impulse_vector, m_relPosB); } } } diff --git a/servers/physics_3d/physics_server_3d_sw.cpp b/servers/physics_3d/physics_server_3d_sw.cpp index 1c2329f2dc..143cc9ebbd 100644 --- a/servers/physics_3d/physics_server_3d_sw.cpp +++ b/servers/physics_3d/physics_server_3d_sw.cpp @@ -710,11 +710,11 @@ void PhysicsServer3DSW::body_add_central_force(RID p_body, const Vector3 &p_forc body->wakeup(); } -void PhysicsServer3DSW::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos) { +void PhysicsServer3DSW::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) { Body3DSW *body = body_owner.getornull(p_body); ERR_FAIL_COND(!body); - body->add_force(p_force, p_pos); + body->add_force(p_force, p_position); body->wakeup(); }; @@ -736,13 +736,13 @@ void PhysicsServer3DSW::body_apply_central_impulse(RID p_body, const Vector3 &p_ body->wakeup(); } -void PhysicsServer3DSW::body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) { +void PhysicsServer3DSW::body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position) { Body3DSW *body = body_owner.getornull(p_body); ERR_FAIL_COND(!body); _update_shapes(); - body->apply_impulse(p_pos, p_impulse); + body->apply_impulse(p_impulse, p_position); body->wakeup(); }; diff --git a/servers/physics_3d/physics_server_3d_sw.h b/servers/physics_3d/physics_server_3d_sw.h index 26230ef674..dccacb063f 100644 --- a/servers/physics_3d/physics_server_3d_sw.h +++ b/servers/physics_3d/physics_server_3d_sw.h @@ -206,11 +206,11 @@ public: virtual Vector3 body_get_applied_torque(RID p_body) const; virtual void body_add_central_force(RID p_body, const Vector3 &p_force); - virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos); + virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()); virtual void body_add_torque(RID p_body, const Vector3 &p_torque); virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse); - virtual void body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse); + virtual void body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position = Vector3()); virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse); virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity); diff --git a/servers/physics_server_2d.cpp b/servers/physics_server_2d.cpp index c2de7fbd00..228e59a992 100644 --- a/servers/physics_server_2d.cpp +++ b/servers/physics_server_2d.cpp @@ -91,11 +91,11 @@ void PhysicsDirectBodyState2D::_bind_methods() { ClassDB::bind_method(D_METHOD("get_transform"), &PhysicsDirectBodyState2D::get_transform); ClassDB::bind_method(D_METHOD("add_central_force", "force"), &PhysicsDirectBodyState2D::add_central_force); - ClassDB::bind_method(D_METHOD("add_force", "offset", "force"), &PhysicsDirectBodyState2D::add_force); + ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &PhysicsDirectBodyState2D::add_force, Vector2()); ClassDB::bind_method(D_METHOD("add_torque", "torque"), &PhysicsDirectBodyState2D::add_torque); ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &PhysicsDirectBodyState2D::apply_central_impulse); ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &PhysicsDirectBodyState2D::apply_torque_impulse); - ClassDB::bind_method(D_METHOD("apply_impulse", "offset", "impulse"), &PhysicsDirectBodyState2D::apply_impulse); + ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &PhysicsDirectBodyState2D::apply_impulse, Vector2()); ClassDB::bind_method(D_METHOD("set_sleep_state", "enabled"), &PhysicsDirectBodyState2D::set_sleep_state); ClassDB::bind_method(D_METHOD("is_sleeping"), &PhysicsDirectBodyState2D::is_sleeping); @@ -624,9 +624,9 @@ void PhysicsServer2D::_bind_methods() { ClassDB::bind_method(D_METHOD("body_apply_central_impulse", "body", "impulse"), &PhysicsServer2D::body_apply_central_impulse); ClassDB::bind_method(D_METHOD("body_apply_torque_impulse", "body", "impulse"), &PhysicsServer2D::body_apply_torque_impulse); - ClassDB::bind_method(D_METHOD("body_apply_impulse", "body", "position", "impulse"), &PhysicsServer2D::body_apply_impulse); + ClassDB::bind_method(D_METHOD("body_apply_impulse", "body", "impulse", "position"), &PhysicsServer2D::body_apply_impulse, Vector2()); ClassDB::bind_method(D_METHOD("body_add_central_force", "body", "force"), &PhysicsServer2D::body_add_central_force); - ClassDB::bind_method(D_METHOD("body_add_force", "body", "offset", "force"), &PhysicsServer2D::body_add_force); + ClassDB::bind_method(D_METHOD("body_add_force", "body", "force", "position"), &PhysicsServer2D::body_add_force, Vector2()); ClassDB::bind_method(D_METHOD("body_add_torque", "body", "torque"), &PhysicsServer2D::body_add_torque); ClassDB::bind_method(D_METHOD("body_set_axis_velocity", "body", "axis_velocity"), &PhysicsServer2D::body_set_axis_velocity); diff --git a/servers/physics_server_2d.h b/servers/physics_server_2d.h index 3553ec11a1..fc37be3bd2 100644 --- a/servers/physics_server_2d.h +++ b/servers/physics_server_2d.h @@ -61,11 +61,11 @@ public: virtual Transform2D get_transform() const = 0; virtual void add_central_force(const Vector2 &p_force) = 0; - virtual void add_force(const Vector2 &p_offset, const Vector2 &p_force) = 0; + virtual void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) = 0; virtual void add_torque(real_t p_torque) = 0; virtual void apply_central_impulse(const Vector2 &p_impulse) = 0; virtual void apply_torque_impulse(real_t p_torque) = 0; - virtual void apply_impulse(const Vector2 &p_offset, const Vector2 &p_impulse) = 0; + virtual void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) = 0; virtual void set_sleep_state(bool p_enable) = 0; virtual bool is_sleeping() const = 0; @@ -452,12 +452,12 @@ public: virtual float body_get_applied_torque(RID p_body) const = 0; virtual void body_add_central_force(RID p_body, const Vector2 &p_force) = 0; - virtual void body_add_force(RID p_body, const Vector2 &p_offset, const Vector2 &p_force) = 0; + virtual void body_add_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position = Vector2()) = 0; virtual void body_add_torque(RID p_body, float p_torque) = 0; virtual void body_apply_central_impulse(RID p_body, const Vector2 &p_impulse) = 0; virtual void body_apply_torque_impulse(RID p_body, float p_torque) = 0; - virtual void body_apply_impulse(RID p_body, const Vector2 &p_offset, const Vector2 &p_impulse) = 0; + virtual void body_apply_impulse(RID p_body, const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) = 0; virtual void body_set_axis_velocity(RID p_body, const Vector2 &p_axis_velocity) = 0; //fix diff --git a/servers/physics_server_3d.cpp b/servers/physics_server_3d.cpp index 2dd8ea3edb..9c01871075 100644 --- a/servers/physics_server_3d.cpp +++ b/servers/physics_server_3d.cpp @@ -92,12 +92,12 @@ void PhysicsDirectBodyState3D::_bind_methods() { ClassDB::bind_method(D_METHOD("set_transform", "transform"), &PhysicsDirectBodyState3D::set_transform); ClassDB::bind_method(D_METHOD("get_transform"), &PhysicsDirectBodyState3D::get_transform); - ClassDB::bind_method(D_METHOD("add_central_force", "force"), &PhysicsDirectBodyState3D::add_central_force); - ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &PhysicsDirectBodyState3D::add_force); + ClassDB::bind_method(D_METHOD("add_central_force", "force"), &PhysicsDirectBodyState3D::add_central_force, Vector3()); + ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &PhysicsDirectBodyState3D::add_force, Vector3()); ClassDB::bind_method(D_METHOD("add_torque", "torque"), &PhysicsDirectBodyState3D::add_torque); - ClassDB::bind_method(D_METHOD("apply_central_impulse", "j"), &PhysicsDirectBodyState3D::apply_central_impulse); - ClassDB::bind_method(D_METHOD("apply_impulse", "position", "j"), &PhysicsDirectBodyState3D::apply_impulse); - ClassDB::bind_method(D_METHOD("apply_torque_impulse", "j"), &PhysicsDirectBodyState3D::apply_torque_impulse); + ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &PhysicsDirectBodyState3D::apply_central_impulse, Vector3()); + ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &PhysicsDirectBodyState3D::apply_impulse, Vector3()); + ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &PhysicsDirectBodyState3D::apply_torque_impulse); ClassDB::bind_method(D_METHOD("set_sleep_state", "enabled"), &PhysicsDirectBodyState3D::set_sleep_state); ClassDB::bind_method(D_METHOD("is_sleeping"), &PhysicsDirectBodyState3D::is_sleeping); @@ -486,11 +486,11 @@ void PhysicsServer3D::_bind_methods() { ClassDB::bind_method(D_METHOD("body_get_state", "body", "state"), &PhysicsServer3D::body_get_state); ClassDB::bind_method(D_METHOD("body_add_central_force", "body", "force"), &PhysicsServer3D::body_add_central_force); - ClassDB::bind_method(D_METHOD("body_add_force", "body", "force", "position"), &PhysicsServer3D::body_add_force); + ClassDB::bind_method(D_METHOD("body_add_force", "body", "force", "position"), &PhysicsServer3D::body_add_force, Vector3()); ClassDB::bind_method(D_METHOD("body_add_torque", "body", "torque"), &PhysicsServer3D::body_add_torque); ClassDB::bind_method(D_METHOD("body_apply_central_impulse", "body", "impulse"), &PhysicsServer3D::body_apply_central_impulse); - ClassDB::bind_method(D_METHOD("body_apply_impulse", "body", "position", "impulse"), &PhysicsServer3D::body_apply_impulse); + ClassDB::bind_method(D_METHOD("body_apply_impulse", "body", "impulse", "position"), &PhysicsServer3D::body_apply_impulse, Vector3()); ClassDB::bind_method(D_METHOD("body_apply_torque_impulse", "body", "impulse"), &PhysicsServer3D::body_apply_torque_impulse); ClassDB::bind_method(D_METHOD("body_set_axis_velocity", "body", "axis_velocity"), &PhysicsServer3D::body_set_axis_velocity); diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h index 2465b40d3e..9ee52ff202 100644 --- a/servers/physics_server_3d.h +++ b/servers/physics_server_3d.h @@ -63,11 +63,11 @@ public: virtual Transform get_transform() const = 0; virtual void add_central_force(const Vector3 &p_force) = 0; - virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos) = 0; + virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) = 0; virtual void add_torque(const Vector3 &p_torque) = 0; - virtual void apply_central_impulse(const Vector3 &p_j) = 0; - virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) = 0; - virtual void apply_torque_impulse(const Vector3 &p_j) = 0; + virtual void apply_central_impulse(const Vector3 &p_impulse) = 0; + virtual void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) = 0; + virtual void apply_torque_impulse(const Vector3 &p_impulse) = 0; virtual void set_sleep_state(bool p_sleep) = 0; virtual bool is_sleeping() const = 0; @@ -429,11 +429,11 @@ public: virtual Vector3 body_get_applied_torque(RID p_body) const = 0; virtual void body_add_central_force(RID p_body, const Vector3 &p_force) = 0; - virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos) = 0; + virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()) = 0; virtual void body_add_torque(RID p_body, const Vector3 &p_torque) = 0; virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) = 0; - virtual void body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) = 0; + virtual void body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) = 0; virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) = 0; virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) = 0; -- cgit v1.2.3