godot/servers/physics_2d/body_direct_state_2d_sw.cpp
PouleyKetchoupp 82ea2a7045 Proper support for custom mass properties in 2D/3D physics bodies
Changes:
-Added support for custom inertia and center of mass in 3D
-Added support for custom center of mass in 2D
-Calculated center of mass from shapes in 2D (same as in 3D)
-Fixed mass properties calculation with disabled shapes in 2D/3D
-Removed first_integration which is not used in 2D and doesn't seem to
make a lot of sense (prevents omit_force_integration to work during the
first frame)
-Support for custom inertia on different axes for RigidBody3D
2021-09-06 10:20:16 -07:00

187 lines
7.1 KiB
C++

/*************************************************************************/
/* body_direct_state_2d_sw.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/*************************************************************************/
#include "body_direct_state_2d_sw.h"
#include "body_2d_sw.h"
#include "physics_server_2d_sw.h"
#include "space_2d_sw.h"
Vector2 PhysicsDirectBodyState2DSW::get_total_gravity() const {
return body->gravity;
}
real_t PhysicsDirectBodyState2DSW::get_total_angular_damp() const {
return body->area_angular_damp;
}
real_t PhysicsDirectBodyState2DSW::get_total_linear_damp() const {
return body->area_linear_damp;
}
Vector2 PhysicsDirectBodyState2DSW::get_center_of_mass() const {
return body->get_center_of_mass();
}
real_t PhysicsDirectBodyState2DSW::get_inverse_mass() const {
return body->get_inv_mass();
}
real_t PhysicsDirectBodyState2DSW::get_inverse_inertia() const {
return body->get_inv_inertia();
}
void PhysicsDirectBodyState2DSW::set_linear_velocity(const Vector2 &p_velocity) {
body->set_linear_velocity(p_velocity);
}
Vector2 PhysicsDirectBodyState2DSW::get_linear_velocity() const {
return body->get_linear_velocity();
}
void PhysicsDirectBodyState2DSW::set_angular_velocity(real_t p_velocity) {
body->set_angular_velocity(p_velocity);
}
real_t PhysicsDirectBodyState2DSW::get_angular_velocity() const {
return body->get_angular_velocity();
}
void PhysicsDirectBodyState2DSW::set_transform(const Transform2D &p_transform) {
body->set_state(PhysicsServer2D::BODY_STATE_TRANSFORM, p_transform);
}
Transform2D PhysicsDirectBodyState2DSW::get_transform() const {
return body->get_transform();
}
Vector2 PhysicsDirectBodyState2DSW::get_velocity_at_local_position(const Vector2 &p_position) const {
return body->get_velocity_in_local_point(p_position);
}
void PhysicsDirectBodyState2DSW::add_central_force(const Vector2 &p_force) {
body->add_central_force(p_force);
}
void PhysicsDirectBodyState2DSW::add_force(const Vector2 &p_force, const Vector2 &p_position) {
body->add_force(p_force, p_position);
}
void PhysicsDirectBodyState2DSW::add_torque(real_t p_torque) {
body->add_torque(p_torque);
}
void PhysicsDirectBodyState2DSW::apply_central_impulse(const Vector2 &p_impulse) {
body->apply_central_impulse(p_impulse);
}
void PhysicsDirectBodyState2DSW::apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position) {
body->apply_impulse(p_impulse, p_position);
}
void PhysicsDirectBodyState2DSW::apply_torque_impulse(real_t p_torque) {
body->apply_torque_impulse(p_torque);
}
void PhysicsDirectBodyState2DSW::set_sleep_state(bool p_enable) {
body->set_active(!p_enable);
}
bool PhysicsDirectBodyState2DSW::is_sleeping() const {
return !body->is_active();
}
int PhysicsDirectBodyState2DSW::get_contact_count() const {
return body->contact_count;
}
Vector2 PhysicsDirectBodyState2DSW::get_contact_local_position(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2());
return body->contacts[p_contact_idx].local_pos;
}
Vector2 PhysicsDirectBodyState2DSW::get_contact_local_normal(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2());
return body->contacts[p_contact_idx].local_normal;
}
int PhysicsDirectBodyState2DSW::get_contact_local_shape(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, -1);
return body->contacts[p_contact_idx].local_shape;
}
RID PhysicsDirectBodyState2DSW::get_contact_collider(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, RID());
return body->contacts[p_contact_idx].collider;
}
Vector2 PhysicsDirectBodyState2DSW::get_contact_collider_position(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2());
return body->contacts[p_contact_idx].collider_pos;
}
ObjectID PhysicsDirectBodyState2DSW::get_contact_collider_id(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, ObjectID());
return body->contacts[p_contact_idx].collider_instance_id;
}
int PhysicsDirectBodyState2DSW::get_contact_collider_shape(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, 0);
return body->contacts[p_contact_idx].collider_shape;
}
Vector2 PhysicsDirectBodyState2DSW::get_contact_collider_velocity_at_position(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2());
return body->contacts[p_contact_idx].collider_velocity_at_pos;
}
Variant PhysicsDirectBodyState2DSW::get_contact_collider_shape_metadata(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Variant());
if (!PhysicsServer2DSW::singletonsw->body_owner.owns(body->contacts[p_contact_idx].collider)) {
return Variant();
}
Body2DSW *other = PhysicsServer2DSW::singletonsw->body_owner.getornull(body->contacts[p_contact_idx].collider);
int sidx = body->contacts[p_contact_idx].collider_shape;
if (sidx < 0 || sidx >= other->get_shape_count()) {
return Variant();
}
return other->get_shape_metadata(sidx);
}
PhysicsDirectSpaceState2D *PhysicsDirectBodyState2DSW::get_space_state() {
return body->get_space()->get_direct_state();
}
real_t PhysicsDirectBodyState2DSW::get_step() const {
return body->get_space()->get_last_step();
}