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Allow double-axis lock in RigidBody and KinematicBody

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This commit is contained in:
Eric Rybicki 2017-11-08 22:35:47 +01:00
parent 19b1ff0fc5
commit bd5df84199
12 changed files with 155 additions and 109 deletions
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8
modules/bullet/bullet_physics_server.cpp
View file

@ -723,15 +723,15 @@ void BulletPhysicsServer::body_set_axis_velocity(RID p_body, const Vector3 &p_ax
body->set_linear_velocity(v);
}
void BulletPhysicsServer::body_set_axis_lock(RID p_body, PhysicsServer::BodyAxisLock p_lock) {
void BulletPhysicsServer::body_set_axis_lock(RID p_body, int axis, bool p_lock) {
RigidBodyBullet *body = rigid_body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_axis_lock(p_lock);
body->set_axis_lock(axis, p_lock);
}
PhysicsServer::BodyAxisLock BulletPhysicsServer::body_get_axis_lock(RID p_body) const {
bool BulletPhysicsServer::body_get_axis_lock(RID p_body) const {
const RigidBodyBullet *body = rigid_body_owner.get(p_body);
ERR_FAIL_COND_V(!body, BODY_AXIS_LOCK_DISABLED);
ERR_FAIL_COND_V(!body, 0);
return body->get_axis_lock();
}

4
modules/bullet/bullet_physics_server.h
View file

@ -226,8 +226,8 @@ public:
virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse);
virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity);
virtual void body_set_axis_lock(RID p_body, BodyAxisLock p_lock);
virtual BodyAxisLock body_get_axis_lock(RID p_body) const;
virtual void body_set_axis_lock(RID p_body, int axis, bool p_lock);
virtual bool body_get_axis_lock(RID p_body) const;
virtual void body_add_collision_exception(RID p_body, RID p_body_b);
virtual void body_remove_collision_exception(RID p_body, RID p_body_b);

43
modules/bullet/rigid_body_bullet.cpp
View file

@ -277,7 +277,7 @@ RigidBodyBullet::RigidBodyBullet()
setupBulletCollisionObject(btBody);
set_mode(PhysicsServer::BODY_MODE_RIGID);
set_axis_lock(PhysicsServer::BODY_AXIS_LOCK_DISABLED);
set_axis_lock(0, locked_axis[0]);
areasWhereIam.resize(maxAreasWhereIam);
for (int i = areasWhereIam.size() - 1; 0 <= i; --i) {
@ -498,24 +498,24 @@ void RigidBodyBullet::set_mode(PhysicsServer::BodyMode p_mode) {
switch (p_mode) {
case PhysicsServer::BODY_MODE_KINEMATIC:
mode = PhysicsServer::BODY_MODE_KINEMATIC;
set_axis_lock(axis_lock); // Reload axis lock
set_axis_lock(0, locked_axis[0]); // Reload axis lock
_internal_set_mass(0);
init_kinematic_utilities();
break;
case PhysicsServer::BODY_MODE_STATIC:
mode = PhysicsServer::BODY_MODE_STATIC;
set_axis_lock(axis_lock); // Reload axis lock
set_axis_lock(0, locked_axis[0]); // Reload axis lock
_internal_set_mass(0);
break;
case PhysicsServer::BODY_MODE_RIGID: {
mode = PhysicsServer::BODY_MODE_RIGID;
set_axis_lock(axis_lock); // Reload axis lock
set_axis_lock(0, locked_axis[0]); // Reload axis lock
_internal_set_mass(0 == mass ? 1 : mass);
break;
}
case PhysicsServer::BODY_MODE_CHARACTER: {
mode = PhysicsServer::BODY_MODE_CHARACTER;
set_axis_lock(axis_lock); // Reload axis lock
set_axis_lock(0, locked_axis[0]); // Reload axis lock
_internal_set_mass(0 == mass ? 1 : mass);
break;
}
@ -653,22 +653,14 @@ Vector3 RigidBodyBullet::get_applied_torque() const {
return gTotTorq;
}
void RigidBodyBullet::set_axis_lock(PhysicsServer::BodyAxisLock p_lock) {
axis_lock = p_lock;
void RigidBodyBullet::set_axis_lock(int axis, bool p_lock) {
locked_axis[axis] = p_lock;
if (PhysicsServer::BODY_AXIS_LOCK_DISABLED == axis_lock) {
btBody->setLinearFactor(btVector3(1., 1., 1.));
btBody->setLinearFactor(btVector3(locked_axis[0] ? 0 : 1., locked_axis[1] ? 0 : 1., locked_axis[2] ? 0 : 1.));
if (locked_axis[0] || locked_axis[1] || locked_axis[2])
btBody->setAngularFactor(btVector3(locked_axis[0] ? 1. : 0, locked_axis[1] ? 1. : 0, locked_axis[2] ? 1. : 0));
else
btBody->setAngularFactor(btVector3(1., 1., 1.));
} else if (PhysicsServer::BODY_AXIS_LOCK_X == axis_lock) {
btBody->setLinearFactor(btVector3(0., 1., 1.));
btBody->setAngularFactor(btVector3(1., 0., 0.));
} else if (PhysicsServer::BODY_AXIS_LOCK_Y == axis_lock) {
btBody->setLinearFactor(btVector3(1., 0., 1.));
btBody->setAngularFactor(btVector3(0., 1., 0.));
} else if (PhysicsServer::BODY_AXIS_LOCK_Z == axis_lock) {
btBody->setLinearFactor(btVector3(1., 1., 0.));
btBody->setAngularFactor(btVector3(0., 0., 1.));
}
if (PhysicsServer::BODY_MODE_CHARACTER == mode) {
/// When character lock angular
@ -676,17 +668,8 @@ void RigidBodyBullet::set_axis_lock(PhysicsServer::BodyAxisLock p_lock) {
}
}
PhysicsServer::BodyAxisLock RigidBodyBullet::get_axis_lock() const {
btVector3 vec = btBody->getLinearFactor();
if (0. == vec.x()) {
return PhysicsServer::BODY_AXIS_LOCK_X;
} else if (0. == vec.y()) {
return PhysicsServer::BODY_AXIS_LOCK_Y;
} else if (0. == vec.z()) {
return PhysicsServer::BODY_AXIS_LOCK_Z;
} else {
return PhysicsServer::BODY_AXIS_LOCK_DISABLED;
}
bool RigidBodyBullet::get_axis_lock() const {
return locked_axis;
}
void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) {

6
modules/bullet/rigid_body_bullet.h
View file

@ -184,7 +184,7 @@ private:
KinematicUtilities *kinematic_utilities;
PhysicsServer::BodyMode mode;
PhysicsServer::BodyAxisLock axis_lock;
bool locked_axis[3] = { false, false, false };
GodotMotionState *godotMotionState;
btRigidBody *btBody;
real_t mass;
@ -269,8 +269,8 @@ public:
void set_applied_torque(const Vector3 &p_torque);
Vector3 get_applied_torque() const;
void set_axis_lock(PhysicsServer::BodyAxisLock p_lock);
PhysicsServer::BodyAxisLock get_axis_lock() const;
void set_axis_lock(int axis, bool p_lock);
bool get_axis_lock() const;
/// Doc:
/// http://www.bulletphysics.org/mediawiki-1.5.8/index.php?title=Anti_tunneling_by_Motion_Clamping