Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Contacts and PhysicsDirectBodyState3D #58880

Merged
merged 1 commit into from
Apr 13, 2023
Merged

Contacts and PhysicsDirectBodyState3D #58880

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 7 additions & 0 deletions doc/classes/PhysicsDirectBodyState3D.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -179,6 +179,13 @@
Returns the local shape index of the collision.
</description>
</method>
<method name="get_contact_local_velocity_at_position" qualifiers="const">
<return type="Vector3" />
<param index="0" name="contact_idx" type="int" />
<description>
Returns the linear velocity vector at the body's contact point.
</description>
</method>
<method name="get_space_state">
<return type="PhysicsDirectSpaceState3D" />
<description>
Expand Down
6 changes: 6 additions & 0 deletions doc/classes/PhysicsDirectBodyState3DExtension.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -154,6 +154,12 @@
<description>
</description>
</method>
<method name="_get_contact_local_velocity_at_position" qualifiers="virtual const">
<return type="Vector3" />
<param index="0" name="contact_idx" type="int" />
<description>
</description>
</method>
<method name="_get_inverse_inertia" qualifiers="virtual const">
<return type="Vector3" />
<description>
Expand Down
1 change: 1 addition & 0 deletions servers/extensions/physics_server_3d_extension.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -102,6 +102,7 @@ void PhysicsDirectBodyState3DExtension::_bind_methods() {
GDVIRTUAL_BIND(_get_contact_local_normal, "contact_idx");
GDVIRTUAL_BIND(_get_contact_impulse, "contact_idx");
GDVIRTUAL_BIND(_get_contact_local_shape, "contact_idx");
GDVIRTUAL_BIND(_get_contact_local_velocity_at_position, "contact_idx");
GDVIRTUAL_BIND(_get_contact_collider, "contact_idx");
GDVIRTUAL_BIND(_get_contact_collider_position, "contact_idx");
GDVIRTUAL_BIND(_get_contact_collider_id, "contact_idx");
Expand Down
1 change: 1 addition & 0 deletions servers/extensions/physics_server_3d_extension.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -96,6 +96,7 @@ class PhysicsDirectBodyState3DExtension : public PhysicsDirectBodyState3D {
EXBIND1RC(Vector3, get_contact_local_normal, int)
EXBIND1RC(Vector3, get_contact_impulse, int)
EXBIND1RC(int, get_contact_local_shape, int)
EXBIND1RC(Vector3, get_contact_local_velocity_at_position, int)
EXBIND1RC(RID, get_contact_collider, int)
EXBIND1RC(Vector3, get_contact_collider_position, int)
EXBIND1RC(ObjectID, get_contact_collider_id, int)
Expand Down
6 changes: 4 additions & 2 deletions servers/physics_3d/godot_body_3d.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -119,6 +119,7 @@ class GodotBody3D : public GodotCollisionObject3D {
struct Contact {
Vector3 local_pos;
Vector3 local_normal;
Vector3 local_velocity_at_pos;
real_t depth = 0.0;
int local_shape = 0;
Vector3 collider_pos;
Expand Down Expand Up @@ -184,7 +185,7 @@ class GodotBody3D : public GodotCollisionObject3D {
_FORCE_INLINE_ int get_max_contacts_reported() const { return contacts.size(); }

_FORCE_INLINE_ bool can_report_contacts() const { return !contacts.is_empty(); }
_FORCE_INLINE_ void add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos, const Vector3 &p_impulse);
_FORCE_INLINE_ void add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_local_velocity_at_pos, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos, const Vector3 &p_impulse);

_FORCE_INLINE_ void add_exception(const RID &p_exception) { exceptions.insert(p_exception); }
_FORCE_INLINE_ void remove_exception(const RID &p_exception) { exceptions.erase(p_exception); }
Expand Down Expand Up @@ -348,7 +349,7 @@ class GodotBody3D : public GodotCollisionObject3D {

//add contact inline

void GodotBody3D::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos, const Vector3 &p_impulse) {
void GodotBody3D::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_local_velocity_at_pos, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos, const Vector3 &p_impulse) {
int c_max = contacts.size();

if (c_max == 0) {
Expand Down Expand Up @@ -381,6 +382,7 @@ void GodotBody3D::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local

c[idx].local_pos = p_local_pos;
c[idx].local_normal = p_local_normal;
c[idx].local_velocity_at_pos = p_local_velocity_at_pos;
c[idx].depth = p_depth;
c[idx].local_shape = p_local_shape;
c[idx].collider_pos = p_collider_pos;
Expand Down
5 changes: 5 additions & 0 deletions servers/physics_3d/godot_body_direct_state_3d.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -193,6 +193,11 @@ Vector3 GodotPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) co
return body->contacts[p_contact_idx].impulse;
}

Vector3 GodotPhysicsDirectBodyState3D::get_contact_local_velocity_at_position(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
return body->contacts[p_contact_idx].local_velocity_at_pos;
}

int GodotPhysicsDirectBodyState3D::get_contact_local_shape(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, -1);
return body->contacts[p_contact_idx].local_shape;
Expand Down
1 change: 1 addition & 0 deletions servers/physics_3d/godot_body_direct_state_3d.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -91,6 +91,7 @@ class GodotPhysicsDirectBodyState3D : public PhysicsDirectBodyState3D {
virtual Vector3 get_contact_local_normal(int p_contact_idx) const override;
virtual Vector3 get_contact_impulse(int p_contact_idx) const override;
virtual int get_contact_local_shape(int p_contact_idx) const override;
virtual Vector3 get_contact_local_velocity_at_position(int p_contact_idx) const override;

virtual RID get_contact_collider(int p_contact_idx) const override;
virtual Vector3 get_contact_collider_position(int p_contact_idx) const override;
Expand Down
20 changes: 12 additions & 8 deletions servers/physics_3d/godot_body_pair_3d.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -407,14 +407,18 @@ bool GodotBodyPair3D::pre_solve(real_t p_step) {

// contact query reporting...

if (A->can_report_contacts()) {
if (A->can_report_contacts() || B->can_report_contacts()) {
Vector3 crB = B->get_angular_velocity().cross(c.rB) + B->get_linear_velocity();
Vector3 crA = A->get_angular_velocity().cross(c.rA) + A->get_linear_velocity();
A->add_contact(global_A, -c.normal, depth, shape_A, global_B, shape_B, B->get_instance_id(), B->get_self(), crA, c.acc_impulse);
}
Vector3 wlB = global_B - offset_B;

if (B->can_report_contacts()) {
Vector3 crB = B->get_angular_velocity().cross(c.rB) + B->get_linear_velocity();
B->add_contact(global_B, c.normal, depth, shape_B, global_A, shape_A, A->get_instance_id(), A->get_self(), crB, -c.acc_impulse);
if (A->can_report_contacts()) {
A->add_contact(global_A, -c.normal, depth, shape_A, crA, wlB, shape_B, B->get_instance_id(), B->get_self(), crB, c.acc_impulse);
}

if (B->can_report_contacts()) {
B->add_contact(wlB, c.normal, depth, shape_B, crB, global_A, shape_A, A->get_instance_id(), A->get_self(), crA, -c.acc_impulse);
}
}

if (report_contacts_only) {
Expand Down Expand Up @@ -797,9 +801,9 @@ bool GodotBodySoftBodyPair3D::pre_solve(real_t p_step) {

if (body->can_report_contacts()) {
Vector3 crA = body->get_angular_velocity().cross(c.rA) + body->get_linear_velocity();
body->add_contact(global_A, -c.normal, depth, body_shape, global_B, 0, soft_body->get_instance_id(), soft_body->get_self(), crA, c.acc_impulse);
Vector3 crB = soft_body->get_node_velocity(c.index_B);
body->add_contact(global_A, -c.normal, depth, body_shape, crA, global_B, 0, soft_body->get_instance_id(), soft_body->get_self(), crB, c.acc_impulse);
}

if (report_contacts_only) {
collided = false;
continue;
Expand Down
1 change: 1 addition & 0 deletions servers/physics_server_3d.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -139,6 +139,7 @@ void PhysicsDirectBodyState3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_contact_local_normal", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_local_normal);
ClassDB::bind_method(D_METHOD("get_contact_impulse", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_impulse);
ClassDB::bind_method(D_METHOD("get_contact_local_shape", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_local_shape);
ClassDB::bind_method(D_METHOD("get_contact_local_velocity_at_position", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_local_velocity_at_position);
ClassDB::bind_method(D_METHOD("get_contact_collider", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider);
ClassDB::bind_method(D_METHOD("get_contact_collider_position", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider_position);
ClassDB::bind_method(D_METHOD("get_contact_collider_id", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider_id);
Expand Down
1 change: 1 addition & 0 deletions servers/physics_server_3d.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -97,6 +97,7 @@ class PhysicsDirectBodyState3D : public Object {
virtual Vector3 get_contact_local_normal(int p_contact_idx) const = 0;
virtual Vector3 get_contact_impulse(int p_contact_idx) const = 0;
virtual int get_contact_local_shape(int p_contact_idx) const = 0;
virtual Vector3 get_contact_local_velocity_at_position(int p_contact_idx) const = 0;

virtual RID get_contact_collider(int p_contact_idx) const = 0;
virtual Vector3 get_contact_collider_position(int p_contact_idx) const = 0;
Expand Down