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Proper support for custom mass properties in 2D/3D physics bodies

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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
This commit is contained in:
PouleyKetchoupp 2021-06-10 17:37:19 -07:00
parent e1ae2708ee
commit 82ea2a7045
31 changed files with 665 additions and 319 deletions
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17
doc/classes/RigidBody3D.xml
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@ -102,6 +102,13 @@
<member name="can_sleep" type="bool" setter="set_can_sleep" getter="is_able_to_sleep" default="true">
If [code]true[/code], the body can enter sleep mode when there is no movement. See [member sleeping].
</member>
<member name="center_of_mass" type="Vector3" setter="set_center_of_mass" getter="get_center_of_mass" default="Vector3(0, 0, 0)">
The body's custom center of mass, relative to the body's origin position, when [member center_of_mass_mode] is set to [constant CENTER_OF_MASS_MODE_CUSTOM]. This is the balanced point of the body, where applied forces only cause linear acceleration. Applying forces outside of the center of mass causes angular acceleration.
When [member center_of_mass_mode] is set to [constant CENTER_OF_MASS_MODE_AUTO] (default value), the center of mass is automatically computed.
</member>
<member name="center_of_mass_mode" type="int" setter="set_center_of_mass_mode" getter="get_center_of_mass_mode" enum="RigidBody3D.CenterOfMassMode" default="0">
Defines the way the body's center of mass is set. See [enum CenterOfMassMode] for possible values.
</member>
<member name="contact_monitor" type="bool" setter="set_contact_monitor" getter="is_contact_monitor_enabled" default="false">
If [code]true[/code], the RigidBody3D will emit signals when it collides with another RigidBody3D. See also [member contacts_reported].
</member>
@ -119,6 +126,10 @@
<member name="gravity_scale" type="float" setter="set_gravity_scale" getter="get_gravity_scale" default="1.0">
This is multiplied by the global 3D gravity setting found in [b]Project &gt; Project Settings &gt; Physics &gt; 3d[/b] to produce RigidBody3D's gravity. For example, a value of 1 will be normal gravity, 2 will apply double gravity, and 0.5 will apply half gravity to this object.
</member>
<member name="inertia" type="Vector3" setter="set_inertia" getter="get_inertia" default="Vector3(0, 0, 0)">
The body's moment of inertia. This is like mass, but for rotation: it determines how much torque it takes to rotate the body on each axis. The moment of inertia is usually computed automatically from the mass and the shapes, but this property allows you to set a custom value.
If set to [code]Vector3.ZERO[/code], inertia is automatically computed (default value).
</member>
<member name="linear_damp" type="float" setter="set_linear_damp" getter="get_linear_damp" default="-1.0">
The body's linear damp. Cannot be less than -1.0. If this value is different from -1.0, any linear damp derived from the world or areas will be overridden.
See [member ProjectSettings.physics/3d/default_linear_damp] for more details about damping.
@ -204,5 +215,11 @@
<constant name="MODE_KINEMATIC" value="3" enum="Mode">
Kinematic body mode. The body behaves like a [AnimatableBody3D], and can only move by user code.
</constant>
<constant name="CENTER_OF_MASS_MODE_AUTO" value="0" enum="CenterOfMassMode">
In this mode, the body's center of mass is calculated automatically based on its shapes.
</constant>
<constant name="CENTER_OF_MASS_MODE_CUSTOM" value="1" enum="CenterOfMassMode">
In this mode, the body's center of mass is set through [member center_of_mass]. Defaults to the body's origin position.
</constant>
</constants>
</class>