756 lines
19 KiB
C++
756 lines
19 KiB
C++
/*************************************************************************/
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/* body_sw.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "body_sw.h"
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#include "area_sw.h"
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#include "space_sw.h"
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void BodySW::_update_inertia() {
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if (get_space() && !inertia_update_list.in_list())
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get_space()->body_add_to_inertia_update_list(&inertia_update_list);
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}
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void BodySW::_update_inertia_tensor() {
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Matrix3 tb = get_transform().basis;
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tb.scale(_inv_inertia);
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_inv_inertia_tensor = tb * get_transform().basis.transposed();
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}
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void BodySW::update_inertias() {
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//update shapes and motions
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switch (mode) {
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case PhysicsServer::BODY_MODE_RIGID: {
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//update tensor for allshapes, not the best way but should be somehow OK. (inspired from bullet)
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float total_area = 0;
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for (int i = 0; i < get_shape_count(); i++) {
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total_area += get_shape_aabb(i).get_area();
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}
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Vector3 _inertia;
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for (int i = 0; i < get_shape_count(); i++) {
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const ShapeSW *shape = get_shape(i);
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float area = get_shape_aabb(i).get_area();
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float mass = area * this->mass / total_area;
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_inertia += shape->get_moment_of_inertia(mass) + mass * get_shape_transform(i).get_origin();
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}
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if (_inertia != Vector3())
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_inv_inertia = _inertia.inverse();
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else
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_inv_inertia = Vector3();
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if (mass)
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_inv_mass = 1.0 / mass;
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else
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_inv_mass = 0;
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} break;
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case PhysicsServer::BODY_MODE_KINEMATIC:
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case PhysicsServer::BODY_MODE_STATIC: {
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_inv_inertia = Vector3();
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_inv_mass = 0;
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} break;
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case PhysicsServer::BODY_MODE_CHARACTER: {
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_inv_inertia = Vector3();
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_inv_mass = 1.0 / mass;
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} break;
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}
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_update_inertia_tensor();
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//_update_shapes();
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}
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void BodySW::set_active(bool p_active) {
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if (active == p_active)
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return;
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active = p_active;
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if (!p_active) {
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if (get_space())
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get_space()->body_remove_from_active_list(&active_list);
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} else {
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if (mode == PhysicsServer::BODY_MODE_STATIC)
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return; //static bodies can't become active
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if (get_space())
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get_space()->body_add_to_active_list(&active_list);
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//still_time=0;
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}
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/*
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if (!space)
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return;
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for(int i=0;i<get_shape_count();i++) {
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Shape &s=shapes[i];
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if (s.bpid>0) {
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get_space()->get_broadphase()->set_active(s.bpid,active);
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}
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}
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*/
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}
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void BodySW::set_param(PhysicsServer::BodyParameter p_param, float p_value) {
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switch (p_param) {
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case PhysicsServer::BODY_PARAM_BOUNCE: {
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bounce = p_value;
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} break;
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case PhysicsServer::BODY_PARAM_FRICTION: {
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friction = p_value;
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} break;
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case PhysicsServer::BODY_PARAM_MASS: {
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ERR_FAIL_COND(p_value <= 0);
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mass = p_value;
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_update_inertia();
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} break;
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case PhysicsServer::BODY_PARAM_GRAVITY_SCALE: {
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gravity_scale = p_value;
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} break;
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case PhysicsServer::BODY_PARAM_LINEAR_DAMP: {
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linear_damp = p_value;
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} break;
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case PhysicsServer::BODY_PARAM_ANGULAR_DAMP: {
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angular_damp = p_value;
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} break;
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default: {
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}
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}
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}
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float BodySW::get_param(PhysicsServer::BodyParameter p_param) const {
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switch (p_param) {
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case PhysicsServer::BODY_PARAM_BOUNCE: {
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return bounce;
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} break;
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case PhysicsServer::BODY_PARAM_FRICTION: {
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return friction;
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} break;
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case PhysicsServer::BODY_PARAM_MASS: {
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return mass;
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} break;
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case PhysicsServer::BODY_PARAM_GRAVITY_SCALE: {
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return gravity_scale;
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} break;
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case PhysicsServer::BODY_PARAM_LINEAR_DAMP: {
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return linear_damp;
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} break;
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case PhysicsServer::BODY_PARAM_ANGULAR_DAMP: {
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return angular_damp;
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} break;
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default: {
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}
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}
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return 0;
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}
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void BodySW::set_mode(PhysicsServer::BodyMode p_mode) {
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PhysicsServer::BodyMode prev = mode;
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mode = p_mode;
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switch (p_mode) {
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//CLEAR UP EVERYTHING IN CASE IT NOT WORKS!
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case PhysicsServer::BODY_MODE_STATIC:
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case PhysicsServer::BODY_MODE_KINEMATIC: {
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_set_inv_transform(get_transform().affine_inverse());
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_inv_mass = 0;
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_set_static(p_mode == PhysicsServer::BODY_MODE_STATIC);
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//set_active(p_mode==PhysicsServer::BODY_MODE_KINEMATIC);
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set_active(p_mode == PhysicsServer::BODY_MODE_KINEMATIC && contacts.size());
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linear_velocity = Vector3();
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angular_velocity = Vector3();
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if (mode == PhysicsServer::BODY_MODE_KINEMATIC && prev != mode) {
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first_time_kinematic = true;
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}
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} break;
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case PhysicsServer::BODY_MODE_RIGID: {
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_inv_mass = mass > 0 ? (1.0 / mass) : 0;
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_set_static(false);
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} break;
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case PhysicsServer::BODY_MODE_CHARACTER: {
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_inv_mass = mass > 0 ? (1.0 / mass) : 0;
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_set_static(false);
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} break;
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}
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_update_inertia();
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//if (get_space())
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// _update_queries();
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}
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PhysicsServer::BodyMode BodySW::get_mode() const {
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return mode;
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}
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void BodySW::_shapes_changed() {
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_update_inertia();
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}
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void BodySW::_shape_index_removed(int p_index) {
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for (Map<ConstraintSW *, int>::Element *E = constraint_map.front(); E; E = E->next()) {
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E->key()->shift_shape_indices(this, p_index);
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}
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}
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void BodySW::set_state(PhysicsServer::BodyState p_state, const Variant &p_variant) {
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switch (p_state) {
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case PhysicsServer::BODY_STATE_TRANSFORM: {
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if (mode == PhysicsServer::BODY_MODE_KINEMATIC) {
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new_transform = p_variant;
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//wakeup_neighbours();
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set_active(true);
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if (first_time_kinematic) {
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_set_transform(p_variant);
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_set_inv_transform(get_transform().affine_inverse());
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first_time_kinematic = false;
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}
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} else if (mode == PhysicsServer::BODY_MODE_STATIC) {
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_set_transform(p_variant);
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_set_inv_transform(get_transform().affine_inverse());
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wakeup_neighbours();
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} else {
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Transform t = p_variant;
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t.orthonormalize();
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new_transform = get_transform(); //used as old to compute motion
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if (new_transform == t)
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break;
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_set_transform(t);
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_set_inv_transform(get_transform().inverse());
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}
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wakeup();
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} break;
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case PhysicsServer::BODY_STATE_LINEAR_VELOCITY: {
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//if (mode==PhysicsServer::BODY_MODE_STATIC)
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// break;
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linear_velocity = p_variant;
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wakeup();
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} break;
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case PhysicsServer::BODY_STATE_ANGULAR_VELOCITY: {
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//if (mode!=PhysicsServer::BODY_MODE_RIGID)
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// break;
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angular_velocity = p_variant;
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wakeup();
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} break;
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case PhysicsServer::BODY_STATE_SLEEPING: {
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//?
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if (mode == PhysicsServer::BODY_MODE_STATIC || mode == PhysicsServer::BODY_MODE_KINEMATIC)
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break;
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bool do_sleep = p_variant;
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if (do_sleep) {
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linear_velocity = Vector3();
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//biased_linear_velocity=Vector3();
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angular_velocity = Vector3();
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//biased_angular_velocity=Vector3();
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set_active(false);
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} else {
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if (mode != PhysicsServer::BODY_MODE_STATIC)
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set_active(true);
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}
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} break;
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case PhysicsServer::BODY_STATE_CAN_SLEEP: {
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can_sleep = p_variant;
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if (mode == PhysicsServer::BODY_MODE_RIGID && !active && !can_sleep)
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set_active(true);
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} break;
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}
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}
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Variant BodySW::get_state(PhysicsServer::BodyState p_state) const {
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switch (p_state) {
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case PhysicsServer::BODY_STATE_TRANSFORM: {
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return get_transform();
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} break;
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case PhysicsServer::BODY_STATE_LINEAR_VELOCITY: {
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return linear_velocity;
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} break;
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case PhysicsServer::BODY_STATE_ANGULAR_VELOCITY: {
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return angular_velocity;
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} break;
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case PhysicsServer::BODY_STATE_SLEEPING: {
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return !is_active();
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} break;
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case PhysicsServer::BODY_STATE_CAN_SLEEP: {
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return can_sleep;
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} break;
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}
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return Variant();
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}
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void BodySW::set_space(SpaceSW *p_space) {
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if (get_space()) {
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if (inertia_update_list.in_list())
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get_space()->body_remove_from_inertia_update_list(&inertia_update_list);
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if (active_list.in_list())
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get_space()->body_remove_from_active_list(&active_list);
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if (direct_state_query_list.in_list())
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get_space()->body_remove_from_state_query_list(&direct_state_query_list);
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}
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_set_space(p_space);
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if (get_space()) {
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_update_inertia();
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if (active)
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get_space()->body_add_to_active_list(&active_list);
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// _update_queries();
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//if (is_active()) {
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// active=false;
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// set_active(true);
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//}
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}
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first_integration = true;
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}
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void BodySW::_compute_area_gravity_and_dampenings(const AreaSW *p_area) {
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if (p_area->is_gravity_point()) {
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if (p_area->get_gravity_distance_scale() > 0) {
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Vector3 v = p_area->get_transform().xform(p_area->get_gravity_vector()) - get_transform().get_origin();
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gravity += v.normalized() * (p_area->get_gravity() / Math::pow(v.length() * p_area->get_gravity_distance_scale() + 1, 2));
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} else {
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gravity += (p_area->get_transform().xform(p_area->get_gravity_vector()) - get_transform().get_origin()).normalized() * p_area->get_gravity();
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}
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} else {
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gravity += p_area->get_gravity_vector() * p_area->get_gravity();
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}
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area_linear_damp += p_area->get_linear_damp();
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area_angular_damp += p_area->get_angular_damp();
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}
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void BodySW::integrate_forces(real_t p_step) {
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if (mode == PhysicsServer::BODY_MODE_STATIC)
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return;
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AreaSW *def_area = get_space()->get_default_area();
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// AreaSW *damp_area = def_area;
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ERR_FAIL_COND(!def_area);
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int ac = areas.size();
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bool stopped = false;
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gravity = Vector3(0, 0, 0);
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area_linear_damp = 0;
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area_angular_damp = 0;
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if (ac) {
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areas.sort();
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const AreaCMP *aa = &areas[0];
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// damp_area = aa[ac-1].area;
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for (int i = ac - 1; i >= 0 && !stopped; i--) {
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PhysicsServer::AreaSpaceOverrideMode mode = aa[i].area->get_space_override_mode();
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switch (mode) {
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case PhysicsServer::AREA_SPACE_OVERRIDE_COMBINE:
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case PhysicsServer::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: {
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_compute_area_gravity_and_dampenings(aa[i].area);
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stopped = mode == PhysicsServer::AREA_SPACE_OVERRIDE_COMBINE_REPLACE;
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} break;
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case PhysicsServer::AREA_SPACE_OVERRIDE_REPLACE:
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case PhysicsServer::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: {
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gravity = Vector3(0, 0, 0);
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area_angular_damp = 0;
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area_linear_damp = 0;
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_compute_area_gravity_and_dampenings(aa[i].area);
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stopped = mode == PhysicsServer::AREA_SPACE_OVERRIDE_REPLACE;
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} break;
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default: {
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}
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}
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}
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}
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if (!stopped) {
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_compute_area_gravity_and_dampenings(def_area);
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}
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gravity *= gravity_scale;
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// If less than 0, override dampenings with that of the Body
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if (angular_damp >= 0)
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area_angular_damp = angular_damp;
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//else
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// area_angular_damp=damp_area->get_angular_damp();
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if (linear_damp >= 0)
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area_linear_damp = linear_damp;
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//else
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// area_linear_damp=damp_area->get_linear_damp();
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Vector3 motion;
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bool do_motion = false;
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if (mode == PhysicsServer::BODY_MODE_KINEMATIC) {
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//compute motion, angular and etc. velocities from prev transform
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linear_velocity = (new_transform.origin - get_transform().origin) / p_step;
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//compute a FAKE angular velocity, not so easy
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Matrix3 rot = new_transform.basis.orthonormalized().transposed() * get_transform().basis.orthonormalized();
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Vector3 axis;
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float angle;
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rot.get_axis_and_angle(axis, angle);
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axis.normalize();
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angular_velocity = axis.normalized() * (angle / p_step);
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motion = new_transform.origin - get_transform().origin;
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do_motion = true;
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} else {
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if (!omit_force_integration && !first_integration) {
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//overriden by direct state query
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Vector3 force = gravity * mass;
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force += applied_force;
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Vector3 torque = applied_torque;
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real_t damp = 1.0 - p_step * area_linear_damp;
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if (damp < 0) // reached zero in the given time
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damp = 0;
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real_t angular_damp = 1.0 - p_step * area_angular_damp;
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if (angular_damp < 0) // reached zero in the given time
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angular_damp = 0;
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linear_velocity *= damp;
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angular_velocity *= angular_damp;
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linear_velocity += _inv_mass * force * p_step;
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angular_velocity += _inv_inertia_tensor.xform(torque) * p_step;
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}
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if (continuous_cd) {
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motion = linear_velocity * p_step;
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do_motion = true;
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}
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}
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applied_force = Vector3();
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applied_torque = Vector3();
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first_integration = false;
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//motion=linear_velocity*p_step;
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biased_angular_velocity = Vector3();
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biased_linear_velocity = Vector3();
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if (do_motion) { //shapes temporarily extend for raycast
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_update_shapes_with_motion(motion);
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}
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def_area = NULL; // clear the area, so it is set in the next frame
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contact_count = 0;
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}
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void BodySW::integrate_velocities(real_t p_step) {
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if (mode == PhysicsServer::BODY_MODE_STATIC)
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return;
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if (fi_callback)
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get_space()->body_add_to_state_query_list(&direct_state_query_list);
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if (mode == PhysicsServer::BODY_MODE_KINEMATIC) {
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_set_transform(new_transform, false);
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_set_inv_transform(new_transform.affine_inverse());
|
|
if (contacts.size() == 0 && linear_velocity == Vector3() && angular_velocity == Vector3())
|
|
set_active(false); //stopped moving, deactivate
|
|
|
|
return;
|
|
}
|
|
|
|
//apply axis lock
|
|
if (axis_lock != PhysicsServer::BODY_AXIS_LOCK_DISABLED) {
|
|
|
|
int axis = axis_lock - 1;
|
|
for (int i = 0; i < 3; i++) {
|
|
if (i == axis) {
|
|
linear_velocity[i] = 0;
|
|
biased_linear_velocity[i] = 0;
|
|
} else {
|
|
|
|
angular_velocity[i] = 0;
|
|
biased_angular_velocity[i] = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
Vector3 total_angular_velocity = angular_velocity + biased_angular_velocity;
|
|
|
|
float ang_vel = total_angular_velocity.length();
|
|
Transform transform = get_transform();
|
|
|
|
if (ang_vel != 0.0) {
|
|
Vector3 ang_vel_axis = total_angular_velocity / ang_vel;
|
|
Matrix3 rot(ang_vel_axis, -ang_vel * p_step);
|
|
transform.basis = rot * transform.basis;
|
|
transform.orthonormalize();
|
|
}
|
|
|
|
Vector3 total_linear_velocity = linear_velocity + biased_linear_velocity;
|
|
/*for(int i=0;i<3;i++) {
|
|
if (axis_lock&(1<<i)) {
|
|
transform.origin[i]=0.0;
|
|
}
|
|
}*/
|
|
|
|
transform.origin += total_linear_velocity * p_step;
|
|
|
|
_set_transform(transform);
|
|
_set_inv_transform(get_transform().inverse());
|
|
|
|
_update_inertia_tensor();
|
|
|
|
//if (fi_callback) {
|
|
|
|
// get_space()->body_add_to_state_query_list(&direct_state_query_list);
|
|
//
|
|
}
|
|
|
|
/*
|
|
void BodySW::simulate_motion(const Transform& p_xform,real_t p_step) {
|
|
|
|
Transform inv_xform = p_xform.affine_inverse();
|
|
if (!get_space()) {
|
|
_set_transform(p_xform);
|
|
_set_inv_transform(inv_xform);
|
|
|
|
return;
|
|
}
|
|
|
|
//compute a FAKE linear velocity - this is easy
|
|
|
|
linear_velocity=(p_xform.origin - get_transform().origin)/p_step;
|
|
|
|
//compute a FAKE angular velocity, not so easy
|
|
Matrix3 rot=get_transform().basis.orthonormalized().transposed() * p_xform.basis.orthonormalized();
|
|
Vector3 axis;
|
|
float angle;
|
|
|
|
rot.get_axis_and_angle(axis,angle);
|
|
axis.normalize();
|
|
angular_velocity=axis.normalized() * (angle/p_step);
|
|
linear_velocity = (p_xform.origin - get_transform().origin)/p_step;
|
|
|
|
if (!direct_state_query_list.in_list())// - callalways, so lv and av are cleared && (state_query || direct_state_query))
|
|
get_space()->body_add_to_state_query_list(&direct_state_query_list);
|
|
simulated_motion=true;
|
|
_set_transform(p_xform);
|
|
|
|
|
|
}
|
|
*/
|
|
|
|
void BodySW::wakeup_neighbours() {
|
|
|
|
for (Map<ConstraintSW *, int>::Element *E = constraint_map.front(); E; E = E->next()) {
|
|
|
|
const ConstraintSW *c = E->key();
|
|
BodySW **n = c->get_body_ptr();
|
|
int bc = c->get_body_count();
|
|
|
|
for (int i = 0; i < bc; i++) {
|
|
|
|
if (i == E->get())
|
|
continue;
|
|
BodySW *b = n[i];
|
|
if (b->mode != PhysicsServer::BODY_MODE_RIGID)
|
|
continue;
|
|
|
|
if (!b->is_active())
|
|
b->set_active(true);
|
|
}
|
|
}
|
|
}
|
|
|
|
void BodySW::call_queries() {
|
|
|
|
if (fi_callback) {
|
|
|
|
PhysicsDirectBodyStateSW *dbs = PhysicsDirectBodyStateSW::singleton;
|
|
dbs->body = this;
|
|
|
|
Variant v = dbs;
|
|
|
|
Object *obj = ObjectDB::get_instance(fi_callback->id);
|
|
if (!obj) {
|
|
|
|
set_force_integration_callback(0, StringName());
|
|
} else {
|
|
const Variant *vp[2] = { &v, &fi_callback->udata };
|
|
|
|
Variant::CallError ce;
|
|
int argc = (fi_callback->udata.get_type() == Variant::NIL) ? 1 : 2;
|
|
obj->call(fi_callback->method, vp, argc, ce);
|
|
}
|
|
}
|
|
}
|
|
|
|
bool BodySW::sleep_test(real_t p_step) {
|
|
|
|
if (mode == PhysicsServer::BODY_MODE_STATIC || mode == PhysicsServer::BODY_MODE_KINEMATIC)
|
|
return true; //
|
|
else if (mode == PhysicsServer::BODY_MODE_CHARACTER)
|
|
return !active; // characters don't sleep unless asked to sleep
|
|
else if (!can_sleep)
|
|
return false;
|
|
|
|
if (Math::abs(angular_velocity.length()) < get_space()->get_body_angular_velocity_sleep_treshold() && Math::abs(linear_velocity.length_squared()) < get_space()->get_body_linear_velocity_sleep_treshold() * get_space()->get_body_linear_velocity_sleep_treshold()) {
|
|
|
|
still_time += p_step;
|
|
|
|
return still_time > get_space()->get_body_time_to_sleep();
|
|
} else {
|
|
|
|
still_time = 0; //maybe this should be set to 0 on set_active?
|
|
return false;
|
|
}
|
|
}
|
|
|
|
void BodySW::set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata) {
|
|
|
|
if (fi_callback) {
|
|
|
|
memdelete(fi_callback);
|
|
fi_callback = NULL;
|
|
}
|
|
|
|
if (p_id != 0) {
|
|
|
|
fi_callback = memnew(ForceIntegrationCallback);
|
|
fi_callback->id = p_id;
|
|
fi_callback->method = p_method;
|
|
fi_callback->udata = p_udata;
|
|
}
|
|
}
|
|
|
|
BodySW::BodySW() :
|
|
CollisionObjectSW(TYPE_BODY),
|
|
active_list(this),
|
|
inertia_update_list(this),
|
|
direct_state_query_list(this) {
|
|
|
|
mode = PhysicsServer::BODY_MODE_RIGID;
|
|
active = true;
|
|
|
|
mass = 1;
|
|
// _inv_inertia=Transform();
|
|
_inv_mass = 1;
|
|
bounce = 0;
|
|
friction = 1;
|
|
omit_force_integration = false;
|
|
// applied_torque=0;
|
|
island_step = 0;
|
|
island_next = NULL;
|
|
island_list_next = NULL;
|
|
first_time_kinematic = false;
|
|
first_integration = false;
|
|
_set_static(false);
|
|
|
|
contact_count = 0;
|
|
gravity_scale = 1.0;
|
|
|
|
linear_damp = -1;
|
|
angular_damp = -1;
|
|
area_angular_damp = 0;
|
|
area_linear_damp = 0;
|
|
|
|
still_time = 0;
|
|
continuous_cd = false;
|
|
can_sleep = false;
|
|
fi_callback = NULL;
|
|
axis_lock = PhysicsServer::BODY_AXIS_LOCK_DISABLED;
|
|
}
|
|
|
|
BodySW::~BodySW() {
|
|
|
|
if (fi_callback)
|
|
memdelete(fi_callback);
|
|
}
|
|
|
|
PhysicsDirectBodyStateSW *PhysicsDirectBodyStateSW::singleton = NULL;
|
|
|
|
PhysicsDirectSpaceState *PhysicsDirectBodyStateSW::get_space_state() {
|
|
|
|
return body->get_space()->get_direct_state();
|
|
}
|