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Proper support for custom mass properties in 2D/3D physics bodies

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Changes:
-Added support for custom inertia and center of mass in 3D
-Added support for custom center of mass in 2D
-Calculated center of mass from shapes in 2D (same as in 3D)
-Fixed mass properties calculation with disabled shapes in 2D/3D
-Removed first_integration which is not used in 2D and doesn't seem to
make a lot of sense (prevents omit_force_integration to work during the
first frame)
-Support for custom inertia on different axes for RigidBody3D
This commit is contained in:
PouleyKetchoupp
2021-06-10 17:37:19 -07:00
parent e1ae2708ee
commit 82ea2a7045
31 changed files with 665 additions and 319 deletions
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10
servers/physics_server_2d.h
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@ -48,6 +48,7 @@ public:
virtual real_t get_total_linear_damp() const = 0; // get density of this body space/area
virtual real_t get_total_angular_damp() const = 0; // get density of this body space/area
virtual Vector2 get_center_of_mass() const = 0;
virtual real_t get_inverse_mass() const = 0; // get the mass
virtual real_t get_inverse_inertia() const = 0; // get density of this body space
@ -402,15 +403,18 @@ public:
BODY_PARAM_BOUNCE,
BODY_PARAM_FRICTION,
BODY_PARAM_MASS, ///< unused for static, always infinite
BODY_PARAM_INERTIA, // read-only: computed from mass & shapes
BODY_PARAM_INERTIA,
BODY_PARAM_CENTER_OF_MASS,
BODY_PARAM_GRAVITY_SCALE,
BODY_PARAM_LINEAR_DAMP,
BODY_PARAM_ANGULAR_DAMP,
BODY_PARAM_MAX,
};
virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value) = 0;
virtual real_t body_get_param(RID p_body, BodyParameter p_param) const = 0;
virtual void body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) = 0;
virtual Variant body_get_param(RID p_body, BodyParameter p_param) const = 0;
virtual void body_reset_mass_properties(RID p_body) = 0;
//state
enum BodyState {