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PhysicsDirectBodyState2D: add get_contact_local_velocity_at_position

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This commit is contained in:
Ricardo Buring
2023-04-13 21:45:37 +02:00
parent 220953b625
commit aacb20437a
10 changed files with 37 additions and 11 deletions
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6
servers/physics_2d/godot_body_2d.h
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@ -125,6 +125,7 @@ class GodotBody2D : public GodotCollisionObject2D {
struct Contact {
Vector2 local_pos;
Vector2 local_normal;
Vector2 local_velocity_at_pos;
real_t depth = 0.0;
int local_shape = 0;
Vector2 collider_pos;
@ -191,7 +192,7 @@ public:
_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 Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos, const Vector2 &p_impulse);
_FORCE_INLINE_ void add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_local_velocity_at_pos, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos, const Vector2 &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); }
@ -341,7 +342,7 @@ public:
//add contact inline
void GodotBody2D::add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos, const Vector2 &p_impulse) {
void GodotBody2D::add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_local_velocity_at_pos, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos, const Vector2 &p_impulse) {
int c_max = contacts.size();
if (c_max == 0) {
@ -374,6 +375,7 @@ void GodotBody2D::add_contact(const Vector2 &p_local_pos, const Vector2 &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;

5
servers/physics_2d/godot_body_direct_state_2d.cpp
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@ -186,6 +186,11 @@ int GodotPhysicsDirectBodyState2D::get_contact_local_shape(int p_contact_idx) co
return body->contacts[p_contact_idx].local_shape;
}
Vector2 GodotPhysicsDirectBodyState2D::get_contact_local_velocity_at_position(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2());
return body->contacts[p_contact_idx].local_velocity_at_pos;
}
RID GodotPhysicsDirectBodyState2D::get_contact_collider(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, RID());
return body->contacts[p_contact_idx].collider;

1
servers/physics_2d/godot_body_direct_state_2d.h
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@ -87,6 +87,7 @@ public:
virtual Vector2 get_contact_local_position(int p_contact_idx) const override;
virtual Vector2 get_contact_local_normal(int p_contact_idx) const override;
virtual int get_contact_local_shape(int p_contact_idx) const override;
virtual Vector2 get_contact_local_velocity_at_position(int p_contact_idx) const override;
virtual RID get_contact_collider(int p_contact_idx) const override;
virtual Vector2 get_contact_collider_position(int p_contact_idx) const override;

17
servers/physics_2d/godot_body_pair_2d.cpp
View File

@ -455,14 +455,15 @@ bool GodotBodyPair2D::pre_solve(real_t p_step) {
c.acc_impulse -= P;
if (A->can_report_contacts()) {
Vector2 crB(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x);
A->add_contact(global_A + offset_A, -c.normal, depth, shape_A, global_B + offset_A, shape_B, B->get_instance_id(), B->get_self(), crB + B->get_linear_velocity(), c.acc_impulse);
}
if (B->can_report_contacts()) {
Vector2 crA(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x);
B->add_contact(global_B + offset_A, c.normal, depth, shape_B, global_A + offset_A, shape_A, A->get_instance_id(), A->get_self(), crA + A->get_linear_velocity(), c.acc_impulse);
if (A->can_report_contacts() || B->can_report_contacts()) {
Vector2 crB = Vector2(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x) + B->get_linear_velocity();
Vector2 crA = Vector2(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x) + A->get_linear_velocity();
if (A->can_report_contacts()) {
A->add_contact(global_A + offset_A, -c.normal, depth, shape_A, crA, global_B + offset_A, shape_B, B->get_instance_id(), B->get_self(), crB, c.acc_impulse);
}
if (B->can_report_contacts()) {
B->add_contact(global_B + offset_A, c.normal, depth, shape_B, crB, global_A + offset_A, shape_A, A->get_instance_id(), A->get_self(), crA, c.acc_impulse);
}
}
if (report_contacts_only) {