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use double in builds for rapier too. Fix properties for objects not i…
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…n simulation. (#46)

* use double in builds for rapier too

* fix all things set before adding to simulation

* Update rapier_body_2d.cpp
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@Ughuuu
Ughuuu authored Oct 25, 2023
1 parent 589e4b6 commit 4f03a8d
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Showing 5 changed files with 86 additions and 64 deletions.
4 changes: 2 additions & 2 deletions .github/actions/build/action.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -54,15 +54,15 @@ runs:
shell: sh
run: |
cd src/rapier2d-wrapper && \
cargo build ${{ inputs.rust_target }} --release --features=${{ inputs.features }}
cargo build ${{ inputs.rust_target }} --release --features="${{ inputs.features }},${{ inputs.precision }}"
- name: Build Rapier Macos Universal
shell: sh

# we already built for x86_64-apple-darwin for mac, now build arm64
if: ${{ inputs.platform == 'macos'}}
run: |
cd src/rapier2d-wrapper && mkdir release && rustup target add aarch64-apple-darwin && \
cargo build --target=aarch64-apple-darwin --release --features=${{ inputs.features }} && \
cargo build --target=aarch64-apple-darwin --release --features="${{ inputs.features }},${{ inputs.precision }}" && \
lipo -create -output target/release/librapier2d_wrapper.a target/aarch64-apple-darwin/release/librapier2d_wrapper.a target/x86_64-apple-darwin/release/librapier2d_wrapper.a
- name: Build Physics Server Rapier
shell: sh
Expand Down
128 changes: 70 additions & 58 deletions src/bodies/rapier_body_2d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -363,11 +363,7 @@ void RapierBody2D::set_mode(PhysicsServer2D::BodyMode p_mode) {
if (get_space()) {
update_area_override();

rapier2d::Handle space_handle = get_space()->get_handle();
ERR_FAIL_COND(!rapier2d::is_handle_valid(space_handle));

ERR_FAIL_COND(!rapier2d::is_handle_valid(body_handle));
rapier2d::body_set_gravity_scale(space_handle, body_handle, gravity_scale, false);
_apply_gravity_scale(gravity_scale);
}
}
}
Expand Down Expand Up @@ -396,10 +392,10 @@ void RapierBody2D::set_state(PhysicsServer2D::BodyState p_state, const Variant &
if (mode == PhysicsServer2D::BODY_MODE_STATIC || mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
break;
}
bool do_sleep = p_variant;
sleep = p_variant;

if (do_sleep) {
if (!can_sleep) {
if (sleep) {
if (can_sleep) {
force_sleep();
set_active(false);
}
Expand Down Expand Up @@ -511,10 +507,18 @@ void RapierBody2D::set_space(RapierSpace2D *p_space) {

if (get_space()) {
if (mode >= PhysicsServer2D::BODY_MODE_KINEMATIC) {
if (mode >= PhysicsServer2D::BODY_MODE_RIGID) {
rapier2d::Handle space_handle = get_space()->get_handle();
ERR_FAIL_COND(!rapier2d::is_handle_valid(space_handle));
if (!can_sleep) {
set_can_sleep(false);
}

if (active || !sleep) {
wakeup();
get_space()->body_add_to_active_list(&active_list);
} else if (can_sleep && sleep) {
force_sleep();
}
if (mode >= PhysicsServer2D::BODY_MODE_RIGID) {
_apply_gravity_scale(gravity_scale);
if (linear_damping_mode == PhysicsServer2D::BODY_DAMP_MODE_COMBINE) {
_apply_linear_damping(linear_damping);
}
Expand All @@ -523,22 +527,29 @@ void RapierBody2D::set_space(RapierSpace2D *p_space) {
}

_mass_properties_changed();
rapier2d::body_set_gravity_scale(space_handle, body_handle, gravity_scale, false);

if (ccd_mode != PhysicsServer2D::CCD_MODE_DISABLED) {
rapier2d::body_set_ccd_enabled(space_handle, body_handle, true);
if (!linear_velocity.is_zero_approx()) {
set_linear_velocity(linear_velocity);
}
}

if (!can_sleep) {
set_can_sleep(false);
}

if (active) {
wakeup();
get_space()->body_add_to_active_list(&active_list);
} else if (can_sleep) {
force_sleep();
if (angular_velocity != 0.0) {
set_angular_velocity(angular_velocity);
}
if (!constant_force.is_zero_approx()) {
set_constant_force(constant_force);
}
if (constant_torque != 0.0) {
set_constant_torque(constant_torque);
}
if (!impulse.is_zero_approx()) {
apply_impulse(impulse);
}
if (torque != 0.0) {
apply_torque_impulse(torque);
}
rapier2d::Handle space_handle = get_space()->get_handle();
rapier2d::Material mat;
mat.friction = friction;
mat.restitution = bounce;
rapier2d::body_update_material(space_handle, body_handle, &mat);
}
}
}
Expand Down Expand Up @@ -601,8 +612,8 @@ void RapierBody2D::set_force_integration_callback(const Callable &p_callable, co
}

void RapierBody2D::apply_central_impulse(const Vector2 &p_impulse) {
impulse += p_impulse;
if (!get_space()) {
WARN_PRINT("Applying central impulse on body not in simulation, ignored.");
return;
}

Expand All @@ -620,8 +631,9 @@ void RapierBody2D::apply_central_impulse(const Vector2 &p_impulse) {
}

void RapierBody2D::apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position) {
impulse += p_impulse;
torque += (p_position - get_center_of_mass()).cross(p_impulse);
if (!get_space()) {
WARN_PRINT("Applying impulse on body not in simulation, ignored. Ensure to apply impulse after add_child.");
return;
}

Expand All @@ -640,8 +652,8 @@ void RapierBody2D::apply_impulse(const Vector2 &p_impulse, const Vector2 &p_posi
}

void RapierBody2D::apply_torque_impulse(real_t p_torque) {
torque += p_torque;
if (!get_space()) {
WARN_PRINT("Applying torque impulse on body not in simulation, ignored. Ensure to apply impulse after add_child.");
return;
}

Expand All @@ -658,8 +670,10 @@ void RapierBody2D::apply_torque_impulse(real_t p_torque) {
}

void RapierBody2D::apply_central_force(const Vector2 &p_force) {
// Note: using last delta assuming constant physics time
real_t last_delta = get_space()->get_last_step();
impulse += p_force * last_delta;
if (!get_space()) {
WARN_PRINT("Applying central force on body not in simulation, ignored. Ensure to apply force after add_child.");
return;
}

Expand All @@ -671,17 +685,17 @@ void RapierBody2D::apply_central_force(const Vector2 &p_force) {
rapier2d::Handle space_handle = get_space()->get_handle();
ERR_FAIL_COND(!rapier2d::is_handle_valid(space_handle));

// Note: using last delta assuming constant physics time
real_t last_delta = get_space()->get_last_step();

ERR_FAIL_COND(!rapier2d::is_handle_valid(body_handle));
rapier2d::Vector force = { p_force.x * last_delta, p_force.y * last_delta };
rapier2d::body_apply_impulse(space_handle, body_handle, &force);
}

void RapierBody2D::apply_force(const Vector2 &p_force, const Vector2 &p_position) {
// Note: using last delta assuming constant physics time
real_t last_delta = get_space()->get_last_step();
impulse += p_force * last_delta;
torque += (p_position - get_center_of_mass()).cross(p_force) * last_delta;
if (!get_space()) {
WARN_PRINT("Applying force on body not in simulation, ignored. Ensure to apply force after add_child.");
return;
}

Expand All @@ -692,19 +706,17 @@ void RapierBody2D::apply_force(const Vector2 &p_force, const Vector2 &p_position

rapier2d::Handle space_handle = get_space()->get_handle();
ERR_FAIL_COND(!rapier2d::is_handle_valid(space_handle));

// Note: using last delta assuming constant physics time
real_t last_delta = get_space()->get_last_step();

ERR_FAIL_COND(!rapier2d::is_handle_valid(body_handle));
rapier2d::Vector force = { p_force.x * last_delta, p_force.y * last_delta };
rapier2d::Vector pos = { p_position.x, p_position.y };
rapier2d::body_apply_impulse_at_point(space_handle, body_handle, &force, &pos);
}

void RapierBody2D::apply_torque(real_t p_torque) {
// Note: using last delta assuming constant physics time
real_t last_delta = get_space()->get_last_step();
torque += p_torque * last_delta;
if (!get_space()) {
WARN_PRINT("Applying torque on body not in simulation, ignored. Ensure to apply torque after add_child.");
return;
}

Expand All @@ -716,16 +728,13 @@ void RapierBody2D::apply_torque(real_t p_torque) {
rapier2d::Handle space_handle = get_space()->get_handle();
ERR_FAIL_COND(!rapier2d::is_handle_valid(space_handle));

// Note: using last delta assuming constant physics time
real_t last_delta = get_space()->get_last_step();

ERR_FAIL_COND(!rapier2d::is_handle_valid(body_handle));
rapier2d::body_apply_torque_impulse(space_handle, body_handle, p_torque * last_delta);
}

void RapierBody2D::add_constant_central_force(const Vector2 &p_force) {
constant_force += p_force;
if (!get_space()) {
WARN_PRINT("Adding constant central force on body not in simulation, ignored. Ensure to apply force after add_child.");
return;
}

Expand All @@ -743,8 +752,9 @@ void RapierBody2D::add_constant_central_force(const Vector2 &p_force) {
}

void RapierBody2D::add_constant_force(const Vector2 &p_force, const Vector2 &p_position) {
constant_torque += (p_position - get_center_of_mass()).cross(p_force);
constant_force += p_force;
if (!get_space()) {
WARN_PRINT("Adding constant force on body not in simulation, ignored. Ensure to apply force after add_child.");
return;
}

Expand All @@ -763,8 +773,8 @@ void RapierBody2D::add_constant_force(const Vector2 &p_force, const Vector2 &p_p
}

void RapierBody2D::add_constant_torque(real_t p_torque) {
constant_torque += p_torque;
if (!get_space()) {
WARN_PRINT("Adding constant torque on body not in simulation, ignored. Ensure to apply torque after add_child.");
return;
}

Expand All @@ -781,8 +791,8 @@ void RapierBody2D::add_constant_torque(real_t p_torque) {
}

void RapierBody2D::set_constant_force(const Vector2 &p_force) {
constant_force = p_force;
if (!get_space()) {
WARN_PRINT("Setting constant force on body not in simulation, ignored. Ensure to apply force after add_child.");
return;
}

Expand All @@ -802,7 +812,7 @@ void RapierBody2D::set_constant_force(const Vector2 &p_force) {

Vector2 RapierBody2D::get_constant_force() const {
if (!get_space()) {
return Vector2();
return constant_force;
}

rapier2d::Handle space_handle = get_space()->get_handle();
Expand All @@ -816,8 +826,8 @@ Vector2 RapierBody2D::get_constant_force() const {
}

void RapierBody2D::set_constant_torque(real_t p_torque) {
constant_torque = p_torque;
if (!get_space()) {
WARN_PRINT("Setting constant torque on body not in simulation, ignored. Ensure to apply torque after add_child.");
return;
}

Expand All @@ -836,7 +846,7 @@ void RapierBody2D::set_constant_torque(real_t p_torque) {

real_t RapierBody2D::get_constant_torque() const {
if (!get_space()) {
return 0.0;
return constant_torque;
}

rapier2d::Handle space_handle = get_space()->get_handle();
Expand All @@ -847,7 +857,8 @@ real_t RapierBody2D::get_constant_torque() const {
return rapier2d::body_get_constant_torque(space_handle, body_handle);
}

void RapierBody2D::wakeup() const {
void RapierBody2D::wakeup() {
sleep = false;
if (mode == PhysicsServer2D::BODY_MODE_STATIC) {
return;
}
Expand All @@ -863,7 +874,8 @@ void RapierBody2D::wakeup() const {
rapier2d::body_wake_up(space_handle, body_handle, true);
}

void RapierBody2D::force_sleep() const {
void RapierBody2D::force_sleep() {
sleep = true;
if (!get_space()) {
return;
}
Expand Down Expand Up @@ -912,7 +924,8 @@ void RapierBody2D::on_area_updated(RapierArea2D *p_area) {
}
}

void RapierBody2D::set_linear_velocity(const Vector2 &linear_velocity) {
void RapierBody2D::set_linear_velocity(const Vector2 &p_linear_velocity) {
linear_velocity = p_linear_velocity;
if (mode == PhysicsServer2D::BODY_MODE_STATIC) {
if (linear_velocity != Vector2()) {
WARN_PRINT_ONCE("Setting linear velocity on static bodies is not supported.");
Expand All @@ -921,7 +934,6 @@ void RapierBody2D::set_linear_velocity(const Vector2 &linear_velocity) {
}

if (!get_space()) {
WARN_PRINT("Setting linear velocity on body not in simulation, ignored. Ensure to apply velocity after add_child.");
return;
}

Expand All @@ -936,7 +948,7 @@ void RapierBody2D::set_linear_velocity(const Vector2 &linear_velocity) {

Vector2 RapierBody2D::get_linear_velocity() const {
if (!get_space()) {
return Vector2();
return linear_velocity;
}

rapier2d::Handle space_handle = get_space()->get_handle();
Expand All @@ -947,16 +959,16 @@ Vector2 RapierBody2D::get_linear_velocity() const {
return Vector2(vel.x, vel.y);
}

void RapierBody2D::set_angular_velocity(real_t angular_velocity) {
void RapierBody2D::set_angular_velocity(real_t p_angular_velocity) {
angular_velocity = p_angular_velocity;
if (mode == PhysicsServer2D::BODY_MODE_STATIC) {
if (angular_velocity != 0.0f) {
WARN_PRINT_ONCE("Setting angular velocity on static bodies is not supported. Ensure to apply velocity after add_child.");
WARN_PRINT_ONCE("Setting angular velocity on static bodies is not supported.");
}
return;
}

if (!get_space()) {
WARN_PRINT("Setting angular velocity on body not in simulation, ignored.");
return;
}

Expand All @@ -970,7 +982,7 @@ void RapierBody2D::set_angular_velocity(real_t angular_velocity) {

real_t RapierBody2D::get_angular_velocity() const {
if (!get_space()) {
return 0.0f;
return angular_velocity;
}

rapier2d::Handle space_handle = get_space()->get_handle();
Expand Down
13 changes: 11 additions & 2 deletions src/bodies/rapier_body_2d.h
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,15 @@ class RapierBody2D : public RapierCollisionObject2D {
bool marked_active = false;
bool can_sleep = true;

Vector2 constant_force;
Vector2 linear_velocity;
Vector2 impulse;
real_t torque = 0.0;
real_t angular_velocity = 0.0;
real_t constant_torque = 0.0;

bool sleep = false;

void _mass_properties_changed();
void _apply_mass_properties(bool force_update = false);

Expand Down Expand Up @@ -181,8 +190,8 @@ class RapierBody2D : public RapierCollisionObject2D {
void on_marked_active();
void on_update_active();

void wakeup() const;
void force_sleep() const;
void wakeup();
void force_sleep();

void set_param(PhysicsServer2D::BodyParameter p_param, const Variant &p_value);
Variant get_param(PhysicsServer2D::BodyParameter p_param) const;
Expand Down
3 changes: 2 additions & 1 deletion src/rapier2d-wrapper/Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,8 @@ name = "rapier2d_wrapper"
crate-type = ["staticlib"] # Creates static lib

[features]
f64 = []
single = []
double = []
enhanced-determinism = ["rapier2d/enhanced-determinism", "rapier2d-f64/enhanced-determinism"]
simd-stable = ["rapier2d/simd-stable", "rapier2d-f64/simd-stable"]
simd-nightly = ["rapier2d/simd-nightly", "rapier2d-f64/simd-nightly"]
Expand Down
2 changes: 1 addition & 1 deletion src/rapier2d-wrapper/src/lib.rs
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
#[cfg(feature = "f64")]
#[cfg(feature = "double")]
extern crate rapier2d_f64 as rapier2d;
mod body;
mod collider;
Expand Down

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