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godot/servers/physics/body_sw.cpp
Rémi Verschelde d8223ffa75 Welcome in 2017, dear changelog reader! 
That year should bring the long-awaited OpenGL ES 3.0 compatible renderer
with state-of-the-art rendering techniques tuned to work as low as middle
end handheld devices - without compromising with the possibilities given
for higher end desktop games of course. Great times ahead for the Godot
community and the gamers that will play our games!

(cherry picked from commit c7bc44d5ad)
2017-01-12 19:15:30 +01:00

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/*************************************************************************/
/* body_sw.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
/* */
/* 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 */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "body_sw.h"
#include "space_sw.h"
#include "area_sw.h"
void BodySW::_update_inertia() {
if (get_space() && !inertia_update_list.in_list())
get_space()->body_add_to_inertia_update_list(&inertia_update_list);
}
void BodySW::_update_inertia_tensor() {
Matrix3 tb = get_transform().basis;
tb.scale(_inv_inertia);
_inv_inertia_tensor = tb * get_transform().basis.transposed();
}
void BodySW::update_inertias() {
//update shapes and motions
switch(mode) {
case PhysicsServer::BODY_MODE_RIGID: {
//update tensor for allshapes, not the best way but should be somehow OK. (inspired from bullet)
float total_area=0;
for (int i=0;i<get_shape_count();i++) {
total_area+=get_shape_aabb(i).get_area();
}
Vector3 _inertia;
for (int i=0;i<get_shape_count();i++) {
const ShapeSW* shape=get_shape(i);
float area=get_shape_aabb(i).get_area();
float mass = area * this->mass / total_area;
_inertia += shape->get_moment_of_inertia(mass) + mass * get_shape_transform(i).get_origin();
}
if (_inertia!=Vector3())
_inv_inertia=_inertia.inverse();
else
_inv_inertia=Vector3();
if (mass)
_inv_mass=1.0/mass;
else
_inv_mass=0;
} break;
case PhysicsServer::BODY_MODE_KINEMATIC:
case PhysicsServer::BODY_MODE_STATIC: {
_inv_inertia=Vector3();
_inv_mass=0;
} break;
case PhysicsServer::BODY_MODE_CHARACTER: {
_inv_inertia=Vector3();
_inv_mass=1.0/mass;
} break;
}
_update_inertia_tensor();
//_update_shapes();
}
void BodySW::set_active(bool p_active) {
if (active==p_active)
return;
active=p_active;
if (!p_active) {
if (get_space())
get_space()->body_remove_from_active_list(&active_list);
} else {
if (mode==PhysicsServer::BODY_MODE_STATIC)
return; //static bodies can't become active
if (get_space())
get_space()->body_add_to_active_list(&active_list);
//still_time=0;
}
/*
if (!space)
return;
for(int i=0;i<get_shape_count();i++) {
Shape &s=shapes[i];
if (s.bpid>0) {
get_space()->get_broadphase()->set_active(s.bpid,active);
}
}
*/
}
void BodySW::set_param(PhysicsServer::BodyParameter p_param, float p_value) {
switch(p_param) {
case PhysicsServer::BODY_PARAM_BOUNCE: {
bounce=p_value;
} break;
case PhysicsServer::BODY_PARAM_FRICTION: {
friction=p_value;
} break;
case PhysicsServer::BODY_PARAM_MASS: {
ERR_FAIL_COND(p_value<=0);
mass=p_value;
_update_inertia();
} break;
case PhysicsServer::BODY_PARAM_GRAVITY_SCALE: {
gravity_scale=p_value;
} break;
case PhysicsServer::BODY_PARAM_LINEAR_DAMP: {
linear_damp=p_value;
} break;
case PhysicsServer::BODY_PARAM_ANGULAR_DAMP: {
angular_damp=p_value;
} break;
default:{}
}
}
float BodySW::get_param(PhysicsServer::BodyParameter p_param) const {
switch(p_param) {
case PhysicsServer::BODY_PARAM_BOUNCE: {
return bounce;
} break;
case PhysicsServer::BODY_PARAM_FRICTION: {
return friction;
} break;
case PhysicsServer::BODY_PARAM_MASS: {
return mass;
} break;
case PhysicsServer::BODY_PARAM_GRAVITY_SCALE: {
return gravity_scale;
} break;
case PhysicsServer::BODY_PARAM_LINEAR_DAMP: {
return linear_damp;
} break;
case PhysicsServer::BODY_PARAM_ANGULAR_DAMP: {
return angular_damp;
} break;
default:{}
}
return 0;
}
void BodySW::set_mode(PhysicsServer::BodyMode p_mode) {
PhysicsServer::BodyMode prev=mode;
mode=p_mode;
switch(p_mode) {
//CLEAR UP EVERYTHING IN CASE IT NOT WORKS!
case PhysicsServer::BODY_MODE_STATIC:
case PhysicsServer::BODY_MODE_KINEMATIC: {
_set_inv_transform(get_transform().affine_inverse());
_inv_mass=0;
_set_static(p_mode==PhysicsServer::BODY_MODE_STATIC);
//set_active(p_mode==PhysicsServer::BODY_MODE_KINEMATIC);
set_active(p_mode==PhysicsServer::BODY_MODE_KINEMATIC && contacts.size());
linear_velocity=Vector3();
angular_velocity=Vector3();
if (mode==PhysicsServer::BODY_MODE_KINEMATIC && prev!=mode) {
first_time_kinematic=true;
}
} break;
case PhysicsServer::BODY_MODE_RIGID: {
_inv_mass=mass>0?(1.0/mass):0;
_set_static(false);
} break;
case PhysicsServer::BODY_MODE_CHARACTER: {
_inv_mass=mass>0?(1.0/mass):0;
_set_static(false);
} break;
}
_update_inertia();
//if (get_space())
// _update_queries();
}
PhysicsServer::BodyMode BodySW::get_mode() const {
return mode;
}
void BodySW::_shapes_changed() {
_update_inertia();
}
void BodySW::set_state(PhysicsServer::BodyState p_state, const Variant& p_variant) {
switch(p_state) {
case PhysicsServer::BODY_STATE_TRANSFORM: {
if (mode==PhysicsServer::BODY_MODE_KINEMATIC) {
new_transform=p_variant;
//wakeup_neighbours();
set_active(true);
if (first_time_kinematic) {
_set_transform(p_variant);
_set_inv_transform(get_transform().affine_inverse());
first_time_kinematic=false;
}
} else if (mode==PhysicsServer::BODY_MODE_STATIC) {
_set_transform(p_variant);
_set_inv_transform(get_transform().affine_inverse());
wakeup_neighbours();
} else {
Transform t = p_variant;
t.orthonormalize();
new_transform=get_transform(); //used as old to compute motion
if (new_transform==t)
break;
_set_transform(t);
_set_inv_transform(get_transform().inverse());
}
wakeup();
} break;
case PhysicsServer::BODY_STATE_LINEAR_VELOCITY: {
//if (mode==PhysicsServer::BODY_MODE_STATIC)
// break;
linear_velocity=p_variant;
wakeup();
} break;
case PhysicsServer::BODY_STATE_ANGULAR_VELOCITY: {
//if (mode!=PhysicsServer::BODY_MODE_RIGID)
// break;
angular_velocity=p_variant;
wakeup();
} break;
case PhysicsServer::BODY_STATE_SLEEPING: {
//?
if (mode==PhysicsServer::BODY_MODE_STATIC || mode==PhysicsServer::BODY_MODE_KINEMATIC)
break;
bool do_sleep=p_variant;
if (do_sleep) {
linear_velocity=Vector3();
//biased_linear_velocity=Vector3();
angular_velocity=Vector3();
//biased_angular_velocity=Vector3();
set_active(false);
} else {
if (mode!=PhysicsServer::BODY_MODE_STATIC)
set_active(true);
}
} break;
case PhysicsServer::BODY_STATE_CAN_SLEEP: {
can_sleep=p_variant;
if (mode==PhysicsServer::BODY_MODE_RIGID && !active && !can_sleep)
set_active(true);
} break;
}
}
Variant BodySW::get_state(PhysicsServer::BodyState p_state) const {
switch(p_state) {
case PhysicsServer::BODY_STATE_TRANSFORM: {
return get_transform();
} break;
case PhysicsServer::BODY_STATE_LINEAR_VELOCITY: {
return linear_velocity;
} break;
case PhysicsServer::BODY_STATE_ANGULAR_VELOCITY: {
return angular_velocity;
} break;
case PhysicsServer::BODY_STATE_SLEEPING: {
return !is_active();
} break;
case PhysicsServer::BODY_STATE_CAN_SLEEP: {
return can_sleep;
} break;
}
return Variant();
}
void BodySW::set_space(SpaceSW *p_space){
if (get_space()) {
if (inertia_update_list.in_list())
get_space()->body_remove_from_inertia_update_list(&inertia_update_list);
if (active_list.in_list())
get_space()->body_remove_from_active_list(&active_list);
if (direct_state_query_list.in_list())
get_space()->body_remove_from_state_query_list(&direct_state_query_list);
}
_set_space(p_space);
if (get_space()) {
_update_inertia();
if (active)
get_space()->body_add_to_active_list(&active_list);
// _update_queries();
//if (is_active()) {
// active=false;
// set_active(true);
//}
}
first_integration=true;
}
void BodySW::_compute_area_gravity_and_dampenings(const AreaSW *p_area) {
if (p_area->is_gravity_point()) {
if(p_area->get_gravity_distance_scale() > 0) {
Vector3 v = p_area->get_transform().xform(p_area->get_gravity_vector()) - get_transform().get_origin();
gravity += v.normalized() * (p_area->get_gravity() / Math::pow(v.length() * p_area->get_gravity_distance_scale()+1, 2) );
} else {
gravity += (p_area->get_transform().xform(p_area->get_gravity_vector()) - get_transform().get_origin()).normalized() * p_area->get_gravity();
}
} else {
gravity += p_area->get_gravity_vector() * p_area->get_gravity();
}
area_linear_damp += p_area->get_linear_damp();
area_angular_damp += p_area->get_angular_damp();
}
void BodySW::integrate_forces(real_t p_step) {
if (mode==PhysicsServer::BODY_MODE_STATIC)
return;
AreaSW *def_area = get_space()->get_default_area();
// AreaSW *damp_area = def_area;
ERR_FAIL_COND(!def_area);
int ac = areas.size();
bool stopped = false;
gravity = Vector3(0,0,0);
area_linear_damp = 0;
area_angular_damp = 0;
if (ac) {
areas.sort();
const AreaCMP *aa = &areas[0];
// damp_area = aa[ac-1].area;
for(int i=ac-1;i>=0 && !stopped;i--) {
PhysicsServer::AreaSpaceOverrideMode mode=aa[i].area->get_space_override_mode();
switch (mode) {
case PhysicsServer::AREA_SPACE_OVERRIDE_COMBINE:
case PhysicsServer::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: {
_compute_area_gravity_and_dampenings(aa[i].area);
stopped = mode==PhysicsServer::AREA_SPACE_OVERRIDE_COMBINE_REPLACE;
} break;
case PhysicsServer::AREA_SPACE_OVERRIDE_REPLACE:
case PhysicsServer::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: {
gravity = Vector3(0,0,0);
area_angular_damp = 0;
area_linear_damp = 0;
_compute_area_gravity_and_dampenings(aa[i].area);
stopped = mode==PhysicsServer::AREA_SPACE_OVERRIDE_REPLACE;
} break;
default: {}
}
}
}
if( !stopped ) {
_compute_area_gravity_and_dampenings(def_area);
}
gravity*=gravity_scale;
// If less than 0, override dampenings with that of the Body
if (angular_damp>=0)
area_angular_damp=angular_damp;
//else
// area_angular_damp=damp_area->get_angular_damp();
if (linear_damp>=0)
area_linear_damp=linear_damp;
//else
// area_linear_damp=damp_area->get_linear_damp();
Vector3 motion;
bool do_motion=false;
if (mode==PhysicsServer::BODY_MODE_KINEMATIC) {
//compute motion, angular and etc. velocities from prev transform
linear_velocity = (new_transform.origin - get_transform().origin)/p_step;
//compute a FAKE angular velocity, not so easy
Matrix3 rot=new_transform.basis.orthonormalized().transposed() * get_transform().basis.orthonormalized();
Vector3 axis;
float angle;
rot.get_axis_and_angle(axis,angle);
axis.normalize();
angular_velocity=axis.normalized() * (angle/p_step);
motion = new_transform.origin - get_transform().origin;
do_motion=true;
} else {
if (!omit_force_integration && !first_integration) {
//overriden by direct state query
Vector3 force=gravity*mass;
force+=applied_force;
Vector3 torque=applied_torque;
real_t damp = 1.0 - p_step * area_linear_damp;
if (damp<0) // reached zero in the given time
damp=0;
real_t angular_damp = 1.0 - p_step * area_angular_damp;
if (angular_damp<0) // reached zero in the given time
angular_damp=0;
linear_velocity*=damp;
angular_velocity*=angular_damp;
linear_velocity+=_inv_mass * force * p_step;
angular_velocity+=_inv_inertia_tensor.xform(torque)*p_step;
}
if (continuous_cd) {
motion=linear_velocity*p_step;
do_motion=true;
}
}
applied_force=Vector3();
applied_torque=Vector3();
first_integration=false;
//motion=linear_velocity*p_step;
biased_angular_velocity=Vector3();
biased_linear_velocity=Vector3();
if (do_motion) {//shapes temporarily extend for raycast
_update_shapes_with_motion(motion);
}
def_area=NULL; // clear the area, so it is set in the next frame
contact_count=0;
}
void BodySW::integrate_velocities(real_t p_step) {
if (mode==PhysicsServer::BODY_MODE_STATIC)
return;
if (fi_callback)
get_space()->body_add_to_state_query_list(&direct_state_query_list);
if (mode==PhysicsServer::BODY_MODE_KINEMATIC) {
_set_transform(new_transform,false);
_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;
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();
}
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