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Some fixes on physics #17074

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merged 2 commits into from
Feb 27, 2018
Merged

Some fixes on physics #17074

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e1e78a5
Implemented Bullet method omit forces
AndreaCatania Feb 27, 2018
134cca0
Fixed physics server typo
AndreaCatania Feb 27, 2018
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23 changes: 14 additions & 9 deletions modules/bullet/bullet_physics_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -619,11 +619,11 @@ uint32_t BulletPhysicsServer::body_get_collision_mask(RID p_body) const {
}

void BulletPhysicsServer::body_set_user_flags(RID p_body, uint32_t p_flags) {
WARN_PRINT("This function si not currently supported by bullet and Godot");
// This function si not currently supported
}

uint32_t BulletPhysicsServer::body_get_user_flags(RID p_body) const {
WARN_PRINT("This function si not currently supported by bullet and Godot");
// This function si not currently supported
return 0;
}

Expand Down Expand Up @@ -784,21 +784,26 @@ int BulletPhysicsServer::body_get_max_contacts_reported(RID p_body) const {
}

void BulletPhysicsServer::body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) {
WARN_PRINT("Not supported by bullet and even Godot");
// Not supported by bullet and even Godot
}

float BulletPhysicsServer::body_get_contacts_reported_depth_threshold(RID p_body) const {
WARN_PRINT("Not supported by bullet and even Godot");
// Not supported by bullet and even Godot
return 0.;
}

void BulletPhysicsServer::body_set_omit_force_integration(RID p_body, bool p_omit) {
WARN_PRINT("Not supported by bullet");
RigidBodyBullet *body = rigid_body_owner.get(p_body);
ERR_FAIL_COND(!body);

body->set_omit_forces_integration(p_omit);
}

bool BulletPhysicsServer::body_is_omitting_force_integration(RID p_body) const {
WARN_PRINT("Not supported by bullet");
return false;
RigidBodyBullet *body = rigid_body_owner.get(p_body);
ERR_FAIL_COND_V(!body, false);

return body->get_omit_forces_integration();
}

void BulletPhysicsServer::body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata) {
Expand Down Expand Up @@ -979,11 +984,11 @@ PhysicsServer::JointType BulletPhysicsServer::joint_get_type(RID p_joint) const
}

void BulletPhysicsServer::joint_set_solver_priority(RID p_joint, int p_priority) {
//WARN_PRINTS("Joint priority not supported by bullet");
// Joint priority not supported by bullet
}

int BulletPhysicsServer::joint_get_solver_priority(RID p_joint) const {
//WARN_PRINTS("Joint priority not supported by bullet");
// Joint priority not supported by bullet
return 0;
}

Expand Down
8 changes: 8 additions & 0 deletions modules/bullet/rigid_body_bullet.cpp
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Expand Up @@ -255,6 +255,7 @@ RigidBodyBullet::RigidBodyBullet() :
linearDamp(0),
angularDamp(0),
can_sleep(true),
omit_forces_integration(false),
force_integration_callback(NULL),
isTransformChanged(false),
previousActiveState(true),
Expand Down Expand Up @@ -334,6 +335,9 @@ void RigidBodyBullet::dispatch_callbacks() {
/// The check isTransformChanged is necessary in order to call integrated forces only when the first transform is sent
if ((btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && isTransformChanged) {

if (omit_forces_integration)
btBody->clearForces();

BulletPhysicsDirectBodyState *bodyDirect = BulletPhysicsDirectBodyState::get_singleton(this);

Variant variantBodyDirect = bodyDirect;
Expand Down Expand Up @@ -437,6 +441,10 @@ bool RigidBodyBullet::is_active() const {
return btBody->isActive();
}

void RigidBodyBullet::set_omit_forces_integration(bool p_omit) {
omit_forces_integration = p_omit;
}

void RigidBodyBullet::set_param(PhysicsServer::BodyParameter p_param, real_t p_value) {
switch (p_param) {
case PhysicsServer::BODY_PARAM_BOUNCE:
Expand Down
4 changes: 4 additions & 0 deletions modules/bullet/rigid_body_bullet.h
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Expand Up @@ -198,6 +198,7 @@ class RigidBodyBullet : public RigidCollisionObjectBullet {
real_t linearDamp;
real_t angularDamp;
bool can_sleep;
bool omit_forces_integration;

Vector<CollisionData> collisions;
// these parameters are used to avoid vector resize
Expand Down Expand Up @@ -254,6 +255,9 @@ class RigidBodyBullet : public RigidCollisionObjectBullet {
void set_activation_state(bool p_active);
bool is_active() const;

void set_omit_forces_integration(bool p_omit);
_FORCE_INLINE_ bool get_omit_forces_integration() const { return omit_forces_integration; }

void set_param(PhysicsServer::BodyParameter p_param, real_t);
real_t get_param(PhysicsServer::BodyParameter p_param) const;

Expand Down
2 changes: 1 addition & 1 deletion servers/physics_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,7 @@ void PhysicsDirectBodyState::_bind_methods() {
ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &PhysicsDirectBodyState::add_force);
ClassDB::bind_method(D_METHOD("add_torque", "torque"), &PhysicsDirectBodyState::add_torque);
ClassDB::bind_method(D_METHOD("apply_impulse", "position", "j"), &PhysicsDirectBodyState::apply_impulse);
ClassDB::bind_method(D_METHOD("apply_torqe_impulse", "j"), &PhysicsDirectBodyState::apply_torque_impulse);
ClassDB::bind_method(D_METHOD("apply_torque_impulse", "j"), &PhysicsDirectBodyState::apply_torque_impulse);

ClassDB::bind_method(D_METHOD("set_sleep_state", "enabled"), &PhysicsDirectBodyState::set_sleep_state);
ClassDB::bind_method(D_METHOD("is_sleeping"), &PhysicsDirectBodyState::is_sleeping);
Expand Down