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Fix custom inertia in physics2d, closes#30838

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This commit is contained in:
RaphaelHunter 2019-08-15 19:34:47 +08:00
parent 7978e9071b
commit 74713fe970
5 changed files with 20 additions and 15 deletions
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1
servers/physics/body_sw.cpp
View file

@ -266,6 +266,7 @@ void BodySW::set_mode(PhysicsServer::BodyMode p_mode) {
_inv_mass = mass > 0 ? (1.0 / mass) : 0;
_set_static(false);
angular_velocity = Vector3();
} break;
}

29
servers/physics_2d/body_2d_sw.cpp
View file

@ -47,8 +47,10 @@ void Body2DSW::update_inertias() {
case Physics2DServer::BODY_MODE_RIGID: {
if (user_inertia) break;
if (user_inertia) {
_inv_inertia = inertia > 0 ? (1.0 / inertia) : 0;
break;
}
//update tensor for allshapes, not the best way but should be somehow OK. (inspired from bullet)
real_t total_area = 0;
@ -57,7 +59,7 @@ void Body2DSW::update_inertias() {
total_area += get_shape_aabb(i).get_area();
}
real_t _inertia = 0;
inertia = 0;
for (int i = 0; i < get_shape_count(); i++) {
@ -73,15 +75,10 @@ void Body2DSW::update_inertias() {
Transform2D mtx = get_shape_transform(i);
Vector2 scale = mtx.get_scale();
_inertia += shape->get_moment_of_inertia(mass, scale) + mass * mtx.get_origin().length_squared();
//Rect2 ab = get_shape_aabb(i);
//_inertia+=mass*ab.size.dot(ab.size)/12.0f;
inertia += shape->get_moment_of_inertia(mass, scale) + mass * mtx.get_origin().length_squared();
}
if (_inertia != 0)
_inv_inertia = 1.0 / _inertia;
else
_inv_inertia = 0.0; //wathever
_inv_inertia = inertia > 0 ? (1.0 / inertia) : 0;
if (mass)
_inv_mass = 1.0 / mass;
@ -160,6 +157,7 @@ void Body2DSW::set_param(Physics2DServer::BodyParameter p_param, real_t p_value)
_update_inertia();
} else {
user_inertia = true;
inertia = p_value;
_inv_inertia = 1.0 / p_value;
}
} break;
@ -194,7 +192,7 @@ real_t Body2DSW::get_param(Physics2DServer::BodyParameter p_param) const {
return mass;
}
case Physics2DServer::BODY_PARAM_INERTIA: {
return _inv_inertia == 0 ? 0 : 1.0 / _inv_inertia;
return inertia;
}
case Physics2DServer::BODY_PARAM_GRAVITY_SCALE: {
return gravity_scale;
@ -226,6 +224,7 @@ void Body2DSW::set_mode(Physics2DServer::BodyMode p_mode) {
_set_inv_transform(get_transform().affine_inverse());
_inv_mass = 0;
_inv_inertia = 0;
_set_static(p_mode == Physics2DServer::BODY_MODE_STATIC);
set_active(p_mode == Physics2DServer::BODY_MODE_KINEMATIC && contacts.size());
linear_velocity = Vector2();
@ -237,17 +236,21 @@ void Body2DSW::set_mode(Physics2DServer::BodyMode p_mode) {
case Physics2DServer::BODY_MODE_RIGID: {
_inv_mass = mass > 0 ? (1.0 / mass) : 0;
_inv_inertia = inertia > 0 ? (1.0 / inertia) : 0;
_set_static(false);
} break;
case Physics2DServer::BODY_MODE_CHARACTER: {
_inv_mass = mass > 0 ? (1.0 / mass) : 0;
_inv_inertia = 0;
_set_static(false);
angular_velocity = 0;
} break;
}
_update_inertia();
if (p_mode == Physics2DServer::BODY_MODE_RIGID && _inv_inertia == 0) {
_update_inertia();
}
/*
if (get_space())
_update_queries();

1
servers/physics_2d/body_2d_sw.h
View file

@ -52,6 +52,7 @@ class Body2DSW : public CollisionObject2DSW {
real_t gravity_scale;
real_t mass;
real_t inertia;
real_t bounce;
real_t friction;