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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

5
servers/physics_3d/godot_body_3d.cpp
View file

@ -628,9 +628,8 @@ void GodotBody3D::integrate_forces(real_t p_step) {
if (!omit_force_integration) {
//overridden by direct state query
Vector3 force = gravity * mass;
force += applied_force;
Vector3 torque = applied_torque;
Vector3 force = gravity * mass + applied_force + constant_force;
Vector3 torque = applied_torque + constant_torque;
real_t damp = 1.0 - p_step * total_linear_damp;

34
servers/physics_3d/godot_body_3d.h
View file

@ -93,6 +93,9 @@ class GodotBody3D : public GodotCollisionObject3D {
Vector3 applied_force;
Vector3 applied_torque;
Vector3 constant_force;
Vector3 constant_torque;
SelfList<GodotBody3D> active_list;
SelfList<GodotBody3D> mass_properties_update_list;
SelfList<GodotBody3D> direct_state_query_list;
@ -244,19 +247,38 @@ public:
biased_angular_velocity += _inv_inertia_tensor.xform(p_impulse);
}
_FORCE_INLINE_ void add_central_force(const Vector3 &p_force) {
_FORCE_INLINE_ void apply_central_force(const Vector3 &p_force) {
applied_force += p_force;
}
_FORCE_INLINE_ void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) {
_FORCE_INLINE_ void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) {
applied_force += p_force;
applied_torque += (p_position - center_of_mass).cross(p_force);
}
_FORCE_INLINE_ void add_torque(const Vector3 &p_torque) {
_FORCE_INLINE_ void apply_torque(const Vector3 &p_torque) {
applied_torque += p_torque;
}
_FORCE_INLINE_ void add_constant_central_force(const Vector3 &p_force) {
constant_force += p_force;
}
_FORCE_INLINE_ void add_constant_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) {
constant_force += p_force;
constant_torque += (p_position - center_of_mass).cross(p_force);
}
_FORCE_INLINE_ void add_constant_torque(const Vector3 &p_torque) {
constant_torque += p_torque;
}
void set_constant_force(const Vector3 &p_force) { constant_force = p_force; }
Vector3 get_constant_force() const { return constant_force; }
void set_constant_torque(const Vector3 &p_torque) { constant_torque = p_torque; }
Vector3 get_constant_torque() const { return constant_torque; }
void set_active(bool p_active);
_FORCE_INLINE_ bool is_active() const { return active; }
@ -276,12 +298,6 @@ public:
void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant);
Variant get_state(PhysicsServer3D::BodyState p_state) const;
void set_applied_force(const Vector3 &p_force) { applied_force = p_force; }
Vector3 get_applied_force() const { return applied_force; }
void set_applied_torque(const Vector3 &p_torque) { applied_torque = p_torque; }
Vector3 get_applied_torque() const { return applied_torque; }
_FORCE_INLINE_ void set_continuous_collision_detection(bool p_enable) { continuous_cd = p_enable; }
_FORCE_INLINE_ bool is_continuous_collision_detection_enabled() const { return continuous_cd; }

67
servers/physics_3d/godot_body_direct_state_3d.cpp
View file

@ -99,21 +99,6 @@ Vector3 GodotPhysicsDirectBodyState3D::get_velocity_at_local_position(const Vect
return body->get_velocity_in_local_point(p_position);
}
void GodotPhysicsDirectBodyState3D::add_central_force(const Vector3 &p_force) {
body->wakeup();
body->add_central_force(p_force);
}
void GodotPhysicsDirectBodyState3D::add_force(const Vector3 &p_force, const Vector3 &p_position) {
body->wakeup();
body->add_force(p_force, p_position);
}
void GodotPhysicsDirectBodyState3D::add_torque(const Vector3 &p_torque) {
body->wakeup();
body->add_torque(p_torque);
}
void GodotPhysicsDirectBodyState3D::apply_central_impulse(const Vector3 &p_impulse) {
body->wakeup();
body->apply_central_impulse(p_impulse);
@ -129,6 +114,58 @@ void GodotPhysicsDirectBodyState3D::apply_torque_impulse(const Vector3 &p_impuls
body->apply_torque_impulse(p_impulse);
}
void GodotPhysicsDirectBodyState3D::apply_central_force(const Vector3 &p_force) {
body->wakeup();
body->apply_central_force(p_force);
}
void GodotPhysicsDirectBodyState3D::apply_force(const Vector3 &p_force, const Vector3 &p_position) {
body->wakeup();
body->apply_force(p_force, p_position);
}
void GodotPhysicsDirectBodyState3D::apply_torque(const Vector3 &p_torque) {
body->wakeup();
body->apply_torque(p_torque);
}
void GodotPhysicsDirectBodyState3D::add_constant_central_force(const Vector3 &p_force) {
body->wakeup();
body->add_constant_central_force(p_force);
}
void GodotPhysicsDirectBodyState3D::add_constant_force(const Vector3 &p_force, const Vector3 &p_position) {
body->wakeup();
body->add_constant_force(p_force, p_position);
}
void GodotPhysicsDirectBodyState3D::add_constant_torque(const Vector3 &p_torque) {
body->wakeup();
body->add_constant_torque(p_torque);
}
void GodotPhysicsDirectBodyState3D::set_constant_force(const Vector3 &p_force) {
if (!p_force.is_equal_approx(Vector3())) {
body->wakeup();
}
body->set_constant_force(p_force);
}
Vector3 GodotPhysicsDirectBodyState3D::get_constant_force() const {
return body->get_constant_force();
}
void GodotPhysicsDirectBodyState3D::set_constant_torque(const Vector3 &p_torque) {
if (!p_torque.is_equal_approx(Vector3())) {
body->wakeup();
}
body->set_constant_torque(p_torque);
}
Vector3 GodotPhysicsDirectBodyState3D::get_constant_torque() const {
return body->get_constant_torque();
}
void GodotPhysicsDirectBodyState3D::set_sleep_state(bool p_sleep) {
body->set_active(!p_sleep);
}

17
servers/physics_3d/godot_body_direct_state_3d.h
View file

@ -64,13 +64,24 @@ public:
virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const override;
virtual void add_central_force(const Vector3 &p_force) override;
virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) override;
virtual void add_torque(const Vector3 &p_torque) override;
virtual void apply_central_impulse(const Vector3 &p_impulse) override;
virtual void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) override;
virtual void apply_torque_impulse(const Vector3 &p_impulse) override;
virtual void apply_central_force(const Vector3 &p_force) override;
virtual void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) override;
virtual void apply_torque(const Vector3 &p_torque) override;
virtual void add_constant_central_force(const Vector3 &p_force) override;
virtual void add_constant_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) override;
virtual void add_constant_torque(const Vector3 &p_torque) override;
virtual void set_constant_force(const Vector3 &p_force) override;
virtual Vector3 get_constant_force() const override;
virtual void set_constant_torque(const Vector3 &p_torque) override;
virtual Vector3 get_constant_torque() const override;
virtual void set_sleep_state(bool p_sleep) override;
virtual bool is_sleeping() const override;

154
servers/physics_3d/godot_physics_server_3d.cpp
View file

@ -607,40 +607,40 @@ void GodotPhysicsServer3D::body_attach_object_instance_id(RID p_body, ObjectID p
}
ERR_FAIL_MSG("Invalid ID.");
};
}
ObjectID GodotPhysicsServer3D::body_get_object_instance_id(RID p_body) const {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, ObjectID());
return body->get_instance_id();
};
}
void GodotPhysicsServer3D::body_set_user_flags(RID p_body, uint32_t p_flags) {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
};
}
uint32_t GodotPhysicsServer3D::body_get_user_flags(RID p_body) const {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0);
return 0;
};
}
void GodotPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_param(p_param, p_value);
};
}
Variant GodotPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_param(p_param);
};
}
void GodotPhysicsServer3D::body_reset_mass_properties(RID p_body) {
GodotBody3D *body = body_owner.get_or_null(p_body);
@ -654,68 +654,15 @@ void GodotPhysicsServer3D::body_set_state(RID p_body, BodyState p_state, const V
ERR_FAIL_COND(!body);
body->set_state(p_state, p_variant);
};
}
Variant GodotPhysicsServer3D::body_get_state(RID p_body, BodyState p_state) const {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, Variant());
return body->get_state(p_state);
};
void GodotPhysicsServer3D::body_set_applied_force(RID p_body, const Vector3 &p_force) {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_applied_force(p_force);
body->wakeup();
};
Vector3 GodotPhysicsServer3D::body_get_applied_force(RID p_body) const {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, Vector3());
return body->get_applied_force();
};
void GodotPhysicsServer3D::body_set_applied_torque(RID p_body, const Vector3 &p_torque) {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_applied_torque(p_torque);
body->wakeup();
};
Vector3 GodotPhysicsServer3D::body_get_applied_torque(RID p_body) const {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, Vector3());
return body->get_applied_torque();
};
void GodotPhysicsServer3D::body_add_central_force(RID p_body, const Vector3 &p_force) {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->add_central_force(p_force);
body->wakeup();
}
void GodotPhysicsServer3D::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->add_force(p_force, p_position);
body->wakeup();
};
void GodotPhysicsServer3D::body_add_torque(RID p_body, const Vector3 &p_torque) {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->add_torque(p_torque);
body->wakeup();
};
void GodotPhysicsServer3D::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
@ -734,7 +681,7 @@ void GodotPhysicsServer3D::body_apply_impulse(RID p_body, const Vector3 &p_impul
body->apply_impulse(p_impulse, p_position);
body->wakeup();
};
}
void GodotPhysicsServer3D::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) {
GodotBody3D *body = body_owner.get_or_null(p_body);
@ -744,7 +691,88 @@ void GodotPhysicsServer3D::body_apply_torque_impulse(RID p_body, const Vector3 &
body->apply_torque_impulse(p_impulse);
body->wakeup();
};
}
void GodotPhysicsServer3D::body_apply_central_force(RID p_body, const Vector3 &p_force) {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->apply_central_force(p_force);
body->wakeup();
}
void GodotPhysicsServer3D::body_apply_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->apply_force(p_force, p_position);
body->wakeup();
}
void GodotPhysicsServer3D::body_apply_torque(RID p_body, const Vector3 &p_torque) {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->apply_torque(p_torque);
body->wakeup();
}
void GodotPhysicsServer3D::body_add_constant_central_force(RID p_body, const Vector3 &p_force) {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->add_constant_central_force(p_force);
body->wakeup();
}
void GodotPhysicsServer3D::body_add_constant_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->add_constant_force(p_force, p_position);
body->wakeup();
}
void GodotPhysicsServer3D::body_add_constant_torque(RID p_body, const Vector3 &p_torque) {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->add_constant_torque(p_torque);
body->wakeup();
}
void GodotPhysicsServer3D::body_set_constant_force(RID p_body, const Vector3 &p_force) {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_constant_force(p_force);
if (!p_force.is_equal_approx(Vector3())) {
body->wakeup();
}
}
Vector3 GodotPhysicsServer3D::body_get_constant_force(RID p_body) const {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, Vector3());
return body->get_constant_force();
}
void GodotPhysicsServer3D::body_set_constant_torque(RID p_body, const Vector3 &p_torque) {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND(!body);
body->set_constant_torque(p_torque);
if (!p_torque.is_equal_approx(Vector3())) {
body->wakeup();
}
}
Vector3 GodotPhysicsServer3D::body_get_constant_torque(RID p_body) const {
GodotBody3D *body = body_owner.get_or_null(p_body);
ERR_FAIL_COND_V(!body, Vector3());
return body->get_constant_torque();
}
void GodotPhysicsServer3D::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) {
GodotBody3D *body = body_owner.get_or_null(p_body);
@ -758,7 +786,7 @@ void GodotPhysicsServer3D::body_set_axis_velocity(RID p_body, const Vector3 &p_a
v += p_axis_velocity;
body->set_linear_velocity(v);
body->wakeup();
};
}
void GodotPhysicsServer3D::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) {
GodotBody3D *body = body_owner.get_or_null(p_body);

25
servers/physics_3d/godot_physics_server_3d.h
View file

@ -203,19 +203,24 @@ 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 Vector3 &p_force) override;
virtual Vector3 body_get_applied_force(RID p_body) const override;
virtual void body_set_applied_torque(RID p_body, const Vector3 &p_torque) override;
virtual Vector3 body_get_applied_torque(RID p_body) const override;
virtual void body_add_central_force(RID p_body, const Vector3 &p_force) override;
virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()) override;
virtual void body_add_torque(RID p_body, const Vector3 &p_torque) override;
virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) override;
virtual void body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) override;
virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) override;
virtual void body_apply_central_force(RID p_body, const Vector3 &p_force) override;
virtual void body_apply_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()) override;
virtual void body_apply_torque(RID p_body, const Vector3 &p_torque) override;
virtual void body_add_constant_central_force(RID p_body, const Vector3 &p_force) override;
virtual void body_add_constant_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()) override;
virtual void body_add_constant_torque(RID p_body, const Vector3 &p_torque) override;
virtual void body_set_constant_force(RID p_body, const Vector3 &p_force) override;
virtual Vector3 body_get_constant_force(RID p_body) const override;
virtual void body_set_constant_torque(RID p_body, const Vector3 &p_torque) override;
virtual Vector3 body_get_constant_torque(RID p_body) const override;
virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) override;
virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) override;