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Implemented physics linear and angular lock

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This commit is contained in:
AndreaCatania
2017-12-10 17:21:14 +01:00
parent a5b3c9cae0
commit 5dee44bbc1
12 changed files with 124 additions and 135 deletions
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8
modules/bullet/bullet_physics_server.cpp
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@@ -723,16 +723,16 @@ 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, int axis, bool p_lock) {
void BulletPhysicsServer::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) {
RigidBodyBullet *body = rigid_body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_axis_lock(axis, p_lock);
body->set_axis_lock(p_axis, p_lock);
}
bool BulletPhysicsServer::body_get_axis_lock(RID p_body) const {
bool BulletPhysicsServer::body_is_axis_locked(RID p_body, BodyAxis p_axis) const {
const RigidBodyBullet *body = rigid_body_owner.get(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_axis_lock();
return body->is_axis_locked(p_axis);
}
void BulletPhysicsServer::body_add_collision_exception(RID p_body, RID p_body_b) {

4
modules/bullet/bullet_physics_server.h
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@@ -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, int axis, bool p_lock);
virtual bool body_get_axis_lock(RID p_body) const;
virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock);
virtual bool body_is_axis_locked(RID p_body, BodyAxis p_axis) 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);

45
modules/bullet/rigid_body_bullet.cpp
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@@ -253,6 +253,7 @@ void RigidBodyBullet::KinematicUtilities::just_delete_shapes(int new_size) {
RigidBodyBullet::RigidBodyBullet() :
RigidCollisionObjectBullet(CollisionObjectBullet::TYPE_RIGID_BODY),
kinematic_utilities(NULL),
locked_axis(0),
gravity_scale(1),
mass(1),
linearDamp(0),
@@ -277,7 +278,7 @@ RigidBodyBullet::RigidBodyBullet() :
setupBulletCollisionObject(btBody);
set_mode(PhysicsServer::BODY_MODE_RIGID);
set_axis_lock(0, locked_axis[0]);
reload_axis_lock();
areasWhereIam.resize(maxAreasWhereIam);
for (int i = areasWhereIam.size() - 1; 0 <= i; --i) {
@@ -498,25 +499,25 @@ void RigidBodyBullet::set_mode(PhysicsServer::BodyMode p_mode) {
switch (p_mode) {
case PhysicsServer::BODY_MODE_KINEMATIC:
mode = PhysicsServer::BODY_MODE_KINEMATIC;
set_axis_lock(0, locked_axis[0]); // Reload axis lock
reload_axis_lock();
_internal_set_mass(0);
init_kinematic_utilities();
break;
case PhysicsServer::BODY_MODE_STATIC:
mode = PhysicsServer::BODY_MODE_STATIC;
set_axis_lock(0, locked_axis[0]); // Reload axis lock
reload_axis_lock();
_internal_set_mass(0);
break;
case PhysicsServer::BODY_MODE_RIGID: {
mode = PhysicsServer::BODY_MODE_RIGID;
set_axis_lock(0, locked_axis[0]); // Reload axis lock
reload_axis_lock();
_internal_set_mass(0 == mass ? 1 : mass);
scratch_space_override_modificator();
break;
}
case PhysicsServer::BODY_MODE_CHARACTER: {
mode = PhysicsServer::BODY_MODE_CHARACTER;
set_axis_lock(0, locked_axis[0]); // Reload axis lock
reload_axis_lock();
_internal_set_mass(0 == mass ? 1 : mass);
scratch_space_override_modificator();
break;
@@ -655,23 +656,29 @@ Vector3 RigidBodyBullet::get_applied_torque() const {
return gTotTorq;
}
void RigidBodyBullet::set_axis_lock(int axis, bool p_lock) {
locked_axis[axis] = p_lock;
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.));
if (PhysicsServer::BODY_MODE_CHARACTER == mode) {
/// When character lock angular
btBody->setAngularFactor(btVector3(0., 0., 0.));
void RigidBodyBullet::set_axis_lock(PhysicsServer::BodyAxis p_axis, bool lock) {
if (lock) {
locked_axis |= p_axis;
} else {
locked_axis &= ~p_axis;
}
reload_axis_lock();
}
bool RigidBodyBullet::get_axis_lock() const {
return locked_axis;
bool RigidBodyBullet::is_axis_locked(PhysicsServer::BodyAxis p_axis) const {
return locked_axis & p_axis;
}
void RigidBodyBullet::reload_axis_lock() {
btBody->setLinearFactor(btVector3(!is_axis_locked(PhysicsServer::BODY_AXIS_LINEAR_X), !is_axis_locked(PhysicsServer::BODY_AXIS_LINEAR_Y), !is_axis_locked(PhysicsServer::BODY_AXIS_LINEAR_Z)));
if (PhysicsServer::BODY_MODE_CHARACTER == mode) {
/// When character angular is always locked
btBody->setAngularFactor(btVector3(0., 0., 0.));
} else {
btBody->setAngularFactor(btVector3(!is_axis_locked(PhysicsServer::BODY_AXIS_ANGULAR_X), !is_axis_locked(PhysicsServer::BODY_AXIS_ANGULAR_Y), !is_axis_locked(PhysicsServer::BODY_AXIS_ANGULAR_Z)));
}
}
void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) {

7
modules/bullet/rigid_body_bullet.h
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@@ -184,9 +184,9 @@ private:
KinematicUtilities *kinematic_utilities;
PhysicsServer::BodyMode mode;
bool locked_axis[3] = { false, false, false };
GodotMotionState *godotMotionState;
btRigidBody *btBody;
uint16_t locked_axis;
real_t mass;
real_t gravity_scale;
real_t linearDamp;
@@ -269,8 +269,9 @@ public:
void set_applied_torque(const Vector3 &p_torque);
Vector3 get_applied_torque() const;
void set_axis_lock(int axis, bool p_lock);
bool get_axis_lock() const;
void set_axis_lock(PhysicsServer::BodyAxis p_axis, bool lock);
bool is_axis_locked(PhysicsServer::BodyAxis p_axis) const;
void reload_axis_lock();
/// Doc:
/// http://www.bulletphysics.org/mediawiki-1.5.8/index.php?title=Anti_tunneling_by_Motion_Clamping