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Fix 2D center of mass not updated from transform

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Same logic as what was done in 3D, applied to 2D center of mass.

Also did some minor cleanup in 3D and fixed center of mass transform
during the first frame after teleporting a dynamic body.
This commit is contained in:
PouleyKetchoupp 2021-10-19 16:16:00 -07:00
parent a4fbb67902
commit c1577e5a3f
4 changed files with 26 additions and 12 deletions
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12
servers/physics_2d/godot_body_2d.cpp
View file

@ -119,6 +119,8 @@ void GodotBody2D::update_mass_properties() {
} break;
}
_update_transform_dependent();
}
void GodotBody2D::reset_mass_properties() {
@ -179,7 +181,8 @@ void GodotBody2D::set_param(PhysicsServer2D::BodyParameter p_param, const Varian
} break;
case PhysicsServer2D::BODY_PARAM_CENTER_OF_MASS: {
calculate_center_of_mass = false;
center_of_mass = p_value;
center_of_mass_local = p_value;
_update_transform_dependent();
} break;
case PhysicsServer2D::BODY_PARAM_GRAVITY_SCALE: {
gravity_scale = p_value;
@ -301,6 +304,7 @@ void GodotBody2D::set_state(PhysicsServer2D::BodyState p_state, const Variant &p
}
_set_transform(t);
_set_inv_transform(get_transform().inverse());
_update_transform_dependent();
}
wakeup();
@ -400,6 +404,10 @@ void GodotBody2D::_compute_area_gravity_and_damping(const GodotArea2D *p_area) {
area_angular_damp += p_area->get_angular_damp();
}
void GodotBody2D::_update_transform_dependent() {
center_of_mass = get_transform().basis_xform(center_of_mass_local);
}
void GodotBody2D::integrate_forces(real_t p_step) {
if (mode == PhysicsServer2D::BODY_MODE_STATIC) {
return;
@ -568,6 +576,8 @@ void GodotBody2D::integrate_velocities(real_t p_step) {
if (continuous_cd_mode != PhysicsServer2D::CCD_MODE_DISABLED) {
new_transform = get_transform();
}
_update_transform_dependent();
}
void GodotBody2D::wakeup_neighbours() {

5
servers/physics_2d/godot_body_2d.h
View file

@ -66,6 +66,7 @@ class GodotBody2D : public GodotCollisionObject2D {
real_t inertia = 0.0;
real_t _inv_inertia = 0.0;
Vector2 center_of_mass_local;
Vector2 center_of_mass;
bool calculate_inertia = true;
@ -139,7 +140,9 @@ class GodotBody2D : public GodotCollisionObject2D {
uint64_t island_step = 0;
_FORCE_INLINE_ void _compute_area_gravity_and_damping(const GodotArea2D *p_area);
void _compute_area_gravity_and_damping(const GodotArea2D *p_area);
void _update_transform_dependent();
friend class GodotPhysicsDirectBodyState2D; // i give up, too many functions to expose

17
servers/physics_3d/godot_body_3d.cpp
View file

@ -40,7 +40,7 @@ void GodotBody3D::_mass_properties_changed() {
}
}
void GodotBody3D::_update_transform_dependant() {
void GodotBody3D::_update_transform_dependent() {
center_of_mass = get_transform().basis.xform(center_of_mass_local);
principal_inertia_axes = get_transform().basis * principal_inertia_axes_local;
@ -161,7 +161,7 @@ void GodotBody3D::update_mass_properties() {
} break;
}
_update_transform_dependant();
_update_transform_dependent();
}
void GodotBody3D::reset_mass_properties() {
@ -217,14 +217,14 @@ void GodotBody3D::set_param(PhysicsServer3D::BodyParameter p_param, const Varian
if (mode == PhysicsServer3D::BODY_MODE_DYNAMIC) {
principal_inertia_axes_local = Basis();
_inv_inertia = inertia.inverse();
_update_transform_dependant();
_update_transform_dependent();
}
}
} break;
case PhysicsServer3D::BODY_PARAM_CENTER_OF_MASS: {
calculate_center_of_mass = false;
center_of_mass_local = p_value;
_update_transform_dependant();
_update_transform_dependent();
} break;
case PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE: {
gravity_scale = p_value;
@ -295,7 +295,7 @@ void GodotBody3D::set_mode(PhysicsServer3D::BodyMode p_mode) {
if (mode == PhysicsServer3D::BODY_MODE_KINEMATIC && prev != mode) {
first_time_kinematic = true;
}
_update_transform_dependant();
_update_transform_dependent();
} break;
case PhysicsServer3D::BODY_MODE_DYNAMIC: {
@ -303,7 +303,7 @@ void GodotBody3D::set_mode(PhysicsServer3D::BodyMode p_mode) {
if (!calculate_inertia) {
principal_inertia_axes_local = Basis();
_inv_inertia = inertia.inverse();
_update_transform_dependant();
_update_transform_dependent();
}
_mass_properties_changed();
_set_static(false);
@ -314,7 +314,7 @@ void GodotBody3D::set_mode(PhysicsServer3D::BodyMode p_mode) {
_inv_mass = mass > 0 ? (1.0 / mass) : 0;
_inv_inertia = Vector3();
angular_velocity = Vector3();
_update_transform_dependant();
_update_transform_dependent();
_set_static(false);
set_active(true);
}
@ -355,6 +355,7 @@ void GodotBody3D::set_state(PhysicsServer3D::BodyState p_state, const Variant &p
}
_set_transform(t);
_set_inv_transform(get_transform().inverse());
_update_transform_dependent();
}
wakeup();
@ -651,7 +652,7 @@ void GodotBody3D::integrate_velocities(real_t p_step) {
_set_transform(transform);
_set_inv_transform(get_transform().inverse());
_update_transform_dependant();
_update_transform_dependent();
}
void GodotBody3D::wakeup_neighbours() {

4
servers/physics_3d/godot_body_3d.h
View file

@ -135,9 +135,9 @@ class GodotBody3D : public GodotCollisionObject3D {
uint64_t island_step = 0;
_FORCE_INLINE_ void _compute_area_gravity_and_damping(const GodotArea3D *p_area);
void _compute_area_gravity_and_damping(const GodotArea3D *p_area);
_FORCE_INLINE_ void _update_transform_dependant();
void _update_transform_dependent();
friend class GodotPhysicsDirectBodyState3D; // i give up, too many functions to expose