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Merge pull request #49328 from nekomatata/sync-to-physics-3d

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Support for 3D sync to physics
This commit is contained in:
Rémi Verschelde 2021-07-15 23:18:59 +02:00 committed by GitHub
parent 7aa44bef1e 7f92127959
commit 60add98a4c
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GPG key ID: 4AEE18F83AFDEB23
5 changed files with 159 additions and 31 deletions
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3
doc/classes/StaticBody3D.xml
View file

@ -32,6 +32,9 @@
The physics material override for the body.
If a material is assigned to this property, it will be used instead of any other physics material, such as an inherited one.
</member>
<member name="sync_to_physics" type="bool" setter="set_sync_to_physics" getter="is_sync_to_physics_enabled" default="false">
If [code]true[/code] and [member kinematic_motion] is enabled, the body's movement will be synchronized to the physics frame. This is useful when animating movement via [AnimationPlayer], for example on moving platforms. Do [b]not[/b] use together with [method PhysicsBody3D.move_and_collide].
</member>
</members>
<constants>
</constants>

12
scene/3d/collision_object_3d.cpp
View file

@ -77,6 +77,10 @@ void CollisionObject3D::_notification(int p_what) {
} break;
case NOTIFICATION_TRANSFORM_CHANGED: {
if (only_update_transform_changes) {
return;
}
if (area) {
PhysicsServer3D::get_singleton()->area_set_transform(rid, get_global_transform());
} else {
@ -284,6 +288,14 @@ void CollisionObject3D::set_body_mode(PhysicsServer3D::BodyMode p_mode) {
PhysicsServer3D::get_singleton()->body_set_mode(rid, p_mode);
}
void CollisionObject3D::set_only_update_transform_changes(bool p_enable) {
only_update_transform_changes = p_enable;
}
bool CollisionObject3D::is_only_update_transform_changes_enabled() const {
return only_update_transform_changes;
}
void CollisionObject3D::_update_pickable() {
if (!is_inside_tree()) {
return;

5
scene/3d/collision_object_3d.h
View file

@ -74,6 +74,8 @@ private:
Map<uint32_t, ShapeData> shapes;
bool only_update_transform_changes = false; // This is used for sync to physics.
bool capture_input_on_drag = false;
bool ray_pickable = true;
@ -107,6 +109,9 @@ protected:
void set_body_mode(PhysicsServer3D::BodyMode p_mode);
void set_only_update_transform_changes(bool p_enable);
bool is_only_update_transform_changes_enabled() const;
public:
void set_collision_layer(uint32_t p_layer);
uint32_t get_collision_layer() const;

156
scene/3d/physics_body_3d.cpp
View file

@ -243,6 +243,13 @@ void StaticBody3D::set_kinematic_motion_enabled(bool p_enabled) {
set_body_mode(PhysicsServer3D::BODY_MODE_STATIC);
}
#ifdef TOOLS_ENABLED
if (Engine::get_singleton()->is_editor_hint()) {
update_configuration_warnings();
return;
}
#endif
_update_kinematic_motion();
}
@ -260,6 +267,57 @@ void StaticBody3D::set_constant_linear_velocity(const Vector3 &p_vel) {
}
}
void StaticBody3D::set_sync_to_physics(bool p_enable) {
if (sync_to_physics == p_enable) {
return;
}
sync_to_physics = p_enable;
#ifdef TOOLS_ENABLED
if (Engine::get_singleton()->is_editor_hint()) {
update_configuration_warnings();
return;
}
#endif
if (kinematic_motion) {
_update_kinematic_motion();
}
}
bool StaticBody3D::is_sync_to_physics_enabled() const {
return sync_to_physics;
}
void StaticBody3D::_direct_state_changed(Object *p_state) {
PhysicsDirectBodyState3D *state = Object::cast_to<PhysicsDirectBodyState3D>(p_state);
ERR_FAIL_NULL_MSG(state, "Method '_direct_state_changed' must receive a valid PhysicsDirectBodyState3D object as argument");
linear_velocity = state->get_linear_velocity();
angular_velocity = state->get_angular_velocity();
if (!sync_to_physics) {
return;
}
last_valid_transform = state->get_transform();
set_notify_local_transform(false);
set_global_transform(last_valid_transform);
set_notify_local_transform(true);
_on_transform_changed();
}
TypedArray<String> StaticBody3D::get_configuration_warnings() const {
TypedArray<String> warnings = PhysicsBody3D::get_configuration_warnings();
if (sync_to_physics && !kinematic_motion) {
warnings.push_back(TTR("Sync to physics works only when kinematic motion is enabled."));
}
return warnings;
}
void StaticBody3D::set_constant_angular_velocity(const Vector3 &p_vel) {
constant_angular_velocity = p_vel;
@ -288,18 +346,15 @@ Vector3 StaticBody3D::get_angular_velocity() const {
void StaticBody3D::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
#ifdef TOOLS_ENABLED
if (Engine::get_singleton()->is_editor_hint()) {
return;
}
#endif
case NOTIFICATION_ENTER_TREE: {
last_valid_transform = get_global_transform();
} break;
ERR_FAIL_COND(!kinematic_motion);
case NOTIFICATION_LOCAL_TRANSFORM_CHANGED: {
// Used by sync to physics, send the new transform to the physics...
Transform3D new_transform = get_global_transform();
real_t delta_time = get_physics_process_delta_time();
Transform3D new_transform = get_global_transform();
new_transform.origin += constant_linear_velocity * delta_time;
real_t ang_vel = constant_angular_velocity.length();
@ -312,12 +367,48 @@ void StaticBody3D::_notification(int p_what) {
PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_TRANSFORM, new_transform);
// Propagate transform change to node.
set_ignore_transform_notification(true);
set_global_transform(new_transform);
set_ignore_transform_notification(false);
// ... but then revert changes.
set_notify_local_transform(false);
set_global_transform(last_valid_transform);
set_notify_local_transform(true);
_on_transform_changed();
} break;
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
#ifdef TOOLS_ENABLED
if (Engine::get_singleton()->is_editor_hint()) {
return;
}
#endif
ERR_FAIL_COND(!kinematic_motion);
Transform3D new_transform = get_global_transform();
real_t delta_time = get_physics_process_delta_time();
new_transform.origin += constant_linear_velocity * delta_time;
real_t ang_vel = constant_angular_velocity.length();
if (!Math::is_zero_approx(ang_vel)) {
Vector3 ang_vel_axis = constant_angular_velocity / ang_vel;
Basis rot(ang_vel_axis, ang_vel * delta_time);
new_transform.basis = rot * new_transform.basis;
new_transform.orthonormalize();
}
if (sync_to_physics) {
// Propagate transform change to node.
set_global_transform(new_transform);
} else {
PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_TRANSFORM, new_transform);
// Propagate transform change to node.
set_ignore_transform_notification(true);
set_global_transform(new_transform);
set_ignore_transform_notification(false);
_on_transform_changed();
}
} break;
}
}
@ -333,22 +424,14 @@ void StaticBody3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &StaticBody3D::set_physics_material_override);
ClassDB::bind_method(D_METHOD("get_physics_material_override"), &StaticBody3D::get_physics_material_override);
ClassDB::bind_method(D_METHOD("set_sync_to_physics", "enable"), &StaticBody3D::set_sync_to_physics);
ClassDB::bind_method(D_METHOD("is_sync_to_physics_enabled"), &StaticBody3D::is_sync_to_physics_enabled);
ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_linear_velocity"), "set_constant_linear_velocity", "get_constant_linear_velocity");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_angular_velocity"), "set_constant_angular_velocity", "get_constant_angular_velocity");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "kinematic_motion"), "set_kinematic_motion_enabled", "is_kinematic_motion_enabled");
}
void StaticBody3D::_direct_state_changed(Object *p_state) {
#ifdef DEBUG_ENABLED
PhysicsDirectBodyState3D *state = Object::cast_to<PhysicsDirectBodyState3D>(p_state);
ERR_FAIL_NULL_MSG(state, "Method '_direct_state_changed' must receive a valid PhysicsDirectBodyState3D object as argument");
#else
PhysicsDirectBodyState3D *state = (PhysicsDirectBodyState3D *)p_state; //trust it
#endif
linear_velocity = state->get_linear_velocity();
angular_velocity = state->get_angular_velocity();
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sync_to_physics"), "set_sync_to_physics", "is_sync_to_physics_enabled");
}
StaticBody3D::StaticBody3D() :
@ -372,18 +455,26 @@ void StaticBody3D::_update_kinematic_motion() {
}
#endif
if (kinematic_motion && sync_to_physics) {
set_only_update_transform_changes(true);
set_notify_local_transform(true);
} else {
set_only_update_transform_changes(false);
set_notify_local_transform(false);
}
bool needs_physics_process = false;
if (kinematic_motion) {
PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), callable_mp(this, &StaticBody3D::_direct_state_changed));
if (!constant_angular_velocity.is_equal_approx(Vector3()) || !constant_linear_velocity.is_equal_approx(Vector3())) {
set_physics_process_internal(true);
return;
needs_physics_process = true;
}
} else {
PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), Callable());
}
set_physics_process_internal(false);
set_physics_process_internal(needs_physics_process);
}
void RigidBody3D::_body_enter_tree(ObjectID p_id) {
@ -1006,6 +1097,15 @@ void CharacterBody3D::move_and_slide() {
}
}
Vector3 current_floor_velocity = floor_velocity;
if (on_floor && on_floor_body.is_valid()) {
//this approach makes sure there is less delay between the actual body velocity and the one we saved
PhysicsDirectBodyState3D *bs = PhysicsServer3D::get_singleton()->body_get_direct_state(on_floor_body);
if (bs) {
current_floor_velocity = bs->get_linear_velocity();
}
}
// Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky
Vector3 motion = (floor_velocity + linear_velocity) * (Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time());

14
scene/3d/physics_body_3d.h
View file

@ -82,13 +82,16 @@ class StaticBody3D : public PhysicsBody3D {
Ref<PhysicsMaterial> physics_material_override;
bool kinematic_motion = false;
bool sync_to_physics = false;
Transform3D last_valid_transform;
void _direct_state_changed(Object *p_state);
protected:
void _notification(int p_what);
static void _bind_methods();
void _direct_state_changed(Object *p_state);
public:
void set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override);
Ref<PhysicsMaterial> get_physics_material_override() const;
@ -102,6 +105,8 @@ public:
virtual Vector3 get_linear_velocity() const override;
virtual Vector3 get_angular_velocity() const override;
virtual TypedArray<String> get_configuration_warnings() const override;
StaticBody3D();
private:
@ -111,6 +116,9 @@ private:
void set_kinematic_motion_enabled(bool p_enabled);
bool is_kinematic_motion_enabled() const;
void set_sync_to_physics(bool p_enable);
bool is_sync_to_physics_enabled() const;
};
class RigidBody3D : public PhysicsBody3D {
@ -251,7 +259,7 @@ public:
void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
void apply_torque_impulse(const Vector3 &p_impulse);
TypedArray<String> get_configuration_warnings() const override;
virtual TypedArray<String> get_configuration_warnings() const override;
RigidBody3D();
~RigidBody3D();