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Improve RigidDynamicBody force and torque API

Browse source 
Makes the API for forces and impulses more flexible, easier to
understand and harmonized between 2D and 3D.

Rigid bodies now have 3 sets of methods for forces and impulses:
-apply_impulse() for impulses (one-shot and time independent)
-apply_force() for forces (time dependent) applied for the current step
-add_constant_force() for forces that keeps being applied each step

Also updated the documentation to clarify the different methods and
parameters in rigid body nodes, body direct state and physics servers.
This commit is contained in:
PouleyKetchoupp 2021-12-07 18:09:54 -07:00
parent e69fa16eb3
commit 940f3fde5c
28 changed files with 1082 additions and 395 deletions
Download patch file Download diff file Expand all files Collapse all files

10
servers/physics_2d/godot_body_2d.cpp
View file

@ -569,9 +569,8 @@ void GodotBody2D::integrate_forces(real_t p_step) {
if (!omit_force_integration) {
//overridden by direct state query
Vector2 force = gravity * mass;
force += applied_force;
real_t torque = applied_torque;
Vector2 force = gravity * mass + applied_force + constant_force;
real_t torque = applied_torque + constant_torque;
real_t damp = 1.0 - p_step * total_linear_damp;
@ -598,7 +597,10 @@ void GodotBody2D::integrate_forces(real_t p_step) {
}
}
biased_angular_velocity = 0;
applied_force = Vector2();
applied_torque = 0.0;
biased_angular_velocity = 0.0;
biased_linear_velocity = Vector2();
if (do_motion) { //shapes temporarily extend for raycast

54
servers/physics_2d/godot_body_2d.h
View file

@ -89,6 +89,9 @@ class GodotBody2D : public GodotCollisionObject2D {
Vector2 applied_force;
real_t applied_torque = 0.0;
Vector2 constant_force;
real_t constant_torque = 0.0;
SelfList<GodotBody2D> active_list;
SelfList<GodotBody2D> mass_properties_update_list;
SelfList<GodotBody2D> direct_state_query_list;
@ -245,6 +248,38 @@ public:
}
}
_FORCE_INLINE_ void apply_central_force(const Vector2 &p_force) {
applied_force += p_force;
}
_FORCE_INLINE_ void apply_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) {
applied_force += p_force;
applied_torque += (p_position - center_of_mass).cross(p_force);
}
_FORCE_INLINE_ void apply_torque(real_t p_torque) {
applied_torque += p_torque;
}
_FORCE_INLINE_ void add_constant_central_force(const Vector2 &p_force) {
constant_force += p_force;
}
_FORCE_INLINE_ void add_constant_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) {
constant_force += p_force;
constant_torque += (p_position - center_of_mass).cross(p_force);
}
_FORCE_INLINE_ void add_constant_torque(real_t p_torque) {
constant_torque += p_torque;
}
void set_constant_force(const Vector2 &p_force) { constant_force = p_force; }
Vector2 get_constant_force() const { return constant_force; }
void set_constant_torque(real_t p_torque) { constant_torque = p_torque; }
real_t get_constant_torque() const { return constant_torque; }
void set_active(bool p_active);
_FORCE_INLINE_ bool is_active() const { return active; }
@ -264,25 +299,6 @@ public:
void set_state(PhysicsServer2D::BodyState p_state, const Variant &p_variant);
Variant get_state(PhysicsServer2D::BodyState p_state) const;
void set_applied_force(const Vector2 &p_force) { applied_force = p_force; }
Vector2 get_applied_force() const { return applied_force; }
void set_applied_torque(real_t p_torque) { applied_torque = p_torque; }
real_t get_applied_torque() const { return applied_torque; }
_FORCE_INLINE_ void add_central_force(const Vector2 &p_force) {
applied_force += p_force;
}
_FORCE_INLINE_ void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) {
applied_force += p_force;
applied_torque += (p_position - center_of_mass).cross(p_force);
}
_FORCE_INLINE_ void add_torque(real_t p_torque) {
applied_torque += p_torque;
}
_FORCE_INLINE_ void set_continuous_collision_detection_mode(PhysicsServer2D::CCDMode p_mode) { continuous_cd_mode = p_mode; }
_FORCE_INLINE_ PhysicsServer2D::CCDMode get_continuous_collision_detection_mode() const { return continuous_cd_mode; }

67
servers/physics_2d/godot_body_direct_state_2d.cpp
View file

@ -92,21 +92,6 @@ Vector2 GodotPhysicsDirectBodyState2D::get_velocity_at_local_position(const Vect
return body->get_velocity_in_local_point(p_position);
}
void GodotPhysicsDirectBodyState2D::add_central_force(const Vector2 &p_force) {
body->wakeup();
body->add_central_force(p_force);
}
void GodotPhysicsDirectBodyState2D::add_force(const Vector2 &p_force, const Vector2 &p_position) {
body->wakeup();
body->add_force(p_force, p_position);
}
void GodotPhysicsDirectBodyState2D::add_torque(real_t p_torque) {
body->wakeup();
body->add_torque(p_torque);
}
void GodotPhysicsDirectBodyState2D::apply_central_impulse(const Vector2 &p_impulse) {
body->wakeup();
body->apply_central_impulse(p_impulse);
@ -122,6 +107,58 @@ void GodotPhysicsDirectBodyState2D::apply_torque_impulse(real_t p_torque) {
body->apply_torque_impulse(p_torque);
}
void GodotPhysicsDirectBodyState2D::apply_central_force(const Vector2 &p_force) {
body->wakeup();
body->apply_central_force(p_force);
}
void GodotPhysicsDirectBodyState2D::apply_force(const Vector2 &p_force, const Vector2 &p_position) {
body->wakeup();
body->apply_force(p_force, p_position);
}
void GodotPhysicsDirectBodyState2D::apply_torque(real_t p_torque) {
body->wakeup();
body->apply_torque(p_torque);
}
void GodotPhysicsDirectBodyState2D::add_constant_central_force(const Vector2 &p_force) {
body->wakeup();
body->add_constant_central_force(p_force);
}
void GodotPhysicsDirectBodyState2D::add_constant_force(const Vector2 &p_force, const Vector2 &p_position) {
body->wakeup();
body->add_constant_force(p_force, p_position);
}
void GodotPhysicsDirectBodyState2D::add_constant_torque(real_t p_torque) {
body->wakeup();
body->add_constant_torque(p_torque);
}
void GodotPhysicsDirectBodyState2D::set_constant_force(const Vector2 &p_force) {
if (!p_force.is_equal_approx(Vector2())) {
body->wakeup();
}
body->set_constant_force(p_force);
}
Vector2 GodotPhysicsDirectBodyState2D::get_constant_force() const {
return body->get_constant_force();
}
void GodotPhysicsDirectBodyState2D::set_constant_torque(real_t p_torque) {
if (!Math::is_zero_approx(p_torque)) {
body->wakeup();
}
body->set_constant_torque(p_torque);
}
real_t GodotPhysicsDirectBodyState2D::get_constant_torque() const {
return body->get_constant_torque();
}
void GodotPhysicsDirectBodyState2D::set_sleep_state(bool p_enable) {
body->set_active(!p_enable);
}

17
servers/physics_2d/godot_body_direct_state_2d.h
View file

@ -61,13 +61,24 @@ public:
virtual Vector2 get_velocity_at_local_position(const Vector2 &p_position) const override;
virtual void add_central_force(const Vector2 &p_force) override;
virtual void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) override;
virtual void add_torque(real_t p_torque) override;
virtual void apply_central_impulse(const Vector2 &p_impulse) override;
virtual void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) override;
virtual void apply_torque_impulse(real_t p_torque) override;
virtual void apply_central_force(const Vector2 &p_force) override;
virtual void apply_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) override;
virtual void apply_torque(real_t p_torque) override;
virtual void add_constant_central_force(const Vector2 &p_force) override;
virtual void add_constant_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) override;
virtual void add_constant_torque(real_t p_torque) override;
virtual void set_constant_force(const Vector2 &p_force) override;
virtual Vector2 get_constant_force() const override;
virtual void set_constant_torque(real_t p_torque) override;
virtual real_t get_constant_torque() const override;
virtual void set_sleep_state(bool p_enable) override;
virtual bool is_sleeping() const override;

130
servers/physics_2d/godot_physics_server_2d.cpp
View file

@ -669,68 +669,68 @@ void GodotPhysicsServer2D::body_attach_object_instance_id(RID p_body, ObjectID p
ERR_FAIL_COND(!body);
body->set_instance_id(p_id);
};
}
ObjectID GodotPhysicsServer2D::body_get_object_instance_id(RID p_body) const {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, ObjectID());
return body->get_instance_id();
};
}
void GodotPhysicsServer2D::body_attach_canvas_instance_id(RID p_body, ObjectID p_id) {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_canvas_instance_id(p_id);
};
}
ObjectID GodotPhysicsServer2D::body_get_canvas_instance_id(RID p_body) const {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, ObjectID());
return body->get_canvas_instance_id();
};
}
void GodotPhysicsServer2D::body_set_collision_layer(RID p_body, uint32_t p_layer) {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_collision_layer(p_layer);
};
}
uint32_t GodotPhysicsServer2D::body_get_collision_layer(RID p_body) const {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_collision_layer();
};
}
void GodotPhysicsServer2D::body_set_collision_mask(RID p_body, uint32_t p_mask) {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_collision_mask(p_mask);
};
}
uint32_t GodotPhysicsServer2D::body_get_collision_mask(RID p_body) const {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_collision_mask();
};
}
void GodotPhysicsServer2D::body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_param(p_param, p_value);
};
}
Variant GodotPhysicsServer2D::body_get_param(RID p_body, BodyParameter p_param) const {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_param(p_param);
};
}
void GodotPhysicsServer2D::body_reset_mass_properties(RID p_body) {
GodotBody2D *body = body_owner.get_or_null(p_body);
@ -744,43 +744,14 @@ void GodotPhysicsServer2D::body_set_state(RID p_body, BodyState p_state, const V
ERR_FAIL_COND(!body);
body->set_state(p_state, p_variant);
};
}
Variant GodotPhysicsServer2D::body_get_state(RID p_body, BodyState p_state) const {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, Variant());
return body->get_state(p_state);
};
void GodotPhysicsServer2D::body_set_applied_force(RID p_body, const Vector2 &p_force) {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_applied_force(p_force);
body->wakeup();
};
Vector2 GodotPhysicsServer2D::body_get_applied_force(RID p_body) const {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, Vector2());
return body->get_applied_force();
};
void GodotPhysicsServer2D::body_set_applied_torque(RID p_body, real_t p_torque) {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_applied_torque(p_torque);
body->wakeup();
};
real_t GodotPhysicsServer2D::body_get_applied_torque(RID p_body) const {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_applied_torque();
};
}
void GodotPhysicsServer2D::body_apply_central_impulse(RID p_body, const Vector2 &p_impulse) {
GodotBody2D *body = body_owner.get_or_null(p_body);
@ -808,31 +779,88 @@ void GodotPhysicsServer2D::body_apply_impulse(RID p_body, const Vector2 &p_impul
body->apply_impulse(p_impulse, p_position);
body->wakeup();
};
}
void GodotPhysicsServer2D::body_add_central_force(RID p_body, const Vector2 &p_force) {
void GodotPhysicsServer2D::body_apply_central_force(RID p_body, const Vector2 &p_force) {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->add_central_force(p_force);
body->apply_central_force(p_force);
body->wakeup();
};
}
void GodotPhysicsServer2D::body_add_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position) {
void GodotPhysicsServer2D::body_apply_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position) {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->add_force(p_force, p_position);
body->apply_force(p_force, p_position);
body->wakeup();
};
}
void GodotPhysicsServer2D::body_add_torque(RID p_body, real_t p_torque) {
void GodotPhysicsServer2D::body_apply_torque(RID p_body, real_t p_torque) {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->add_torque(p_torque);
body->apply_torque(p_torque);
body->wakeup();
};
}
void GodotPhysicsServer2D::body_add_constant_central_force(RID p_body, const Vector2 &p_force) {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->add_constant_central_force(p_force);
body->wakeup();
}
void GodotPhysicsServer2D::body_add_constant_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position) {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->add_constant_force(p_force, p_position);
body->wakeup();
}
void GodotPhysicsServer2D::body_add_constant_torque(RID p_body, real_t p_torque) {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->add_constant_torque(p_torque);
body->wakeup();
}
void GodotPhysicsServer2D::body_set_constant_force(RID p_body, const Vector2 &p_force) {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_constant_force(p_force);
if (!p_force.is_equal_approx(Vector2())) {
body->wakeup();
}
}
Vector2 GodotPhysicsServer2D::body_get_constant_force(RID p_body) const {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, Vector2());
return body->get_constant_force();
}
void GodotPhysicsServer2D::body_set_constant_torque(RID p_body, real_t p_torque) {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_constant_torque(p_torque);
if (!Math::is_zero_approx(p_torque)) {
body->wakeup();
}
}
real_t GodotPhysicsServer2D::body_get_constant_torque(RID p_body) const {
GodotBody2D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_constant_torque();
}
void GodotPhysicsServer2D::body_set_axis_velocity(RID p_body, const Vector2 &p_axis_velocity) {
GodotBody2D *body = body_owner.get_or_null(p_body);

25
servers/physics_2d/godot_physics_server_2d.h
View file

@ -207,19 +207,24 @@ public:
virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) override;
virtual Variant body_get_state(RID p_body, BodyState p_state) const override;
virtual void body_set_applied_force(RID p_body, const Vector2 &p_force) override;
virtual Vector2 body_get_applied_force(RID p_body) const override;
virtual void body_set_applied_torque(RID p_body, real_t p_torque) override;
virtual real_t body_get_applied_torque(RID p_body) const override;
virtual void body_add_central_force(RID p_body, const Vector2 &p_force) override;
virtual void body_add_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position = Vector2()) override;
virtual void body_add_torque(RID p_body, real_t p_torque) override;
virtual void body_apply_central_impulse(RID p_body, const Vector2 &p_impulse) override;
virtual void body_apply_torque_impulse(RID p_body, real_t p_torque) override;
virtual void body_apply_impulse(RID p_body, const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) override;
virtual void body_apply_central_force(RID p_body, const Vector2 &p_force) override;
virtual void body_apply_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position = Vector2()) override;
virtual void body_apply_torque(RID p_body, real_t p_torque) override;
virtual void body_add_constant_central_force(RID p_body, const Vector2 &p_force) override;
virtual void body_add_constant_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position = Vector2()) override;
virtual void body_add_constant_torque(RID p_body, real_t p_torque) override;
virtual void body_set_constant_force(RID p_body, const Vector2 &p_force) override;
virtual Vector2 body_get_constant_force(RID p_body) const override;
virtual void body_set_constant_torque(RID p_body, real_t p_torque) override;
virtual real_t body_get_constant_torque(RID p_body) const override;
virtual void body_set_axis_velocity(RID p_body, const Vector2 &p_axis_velocity) override;
virtual void body_add_collision_exception(RID p_body, RID p_body_b) override;