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[3.x] Fix applied rotation from moving platforms in move_and_slide #51447

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Aug 9, 2021
Merged

[3.x] Fix applied rotation from moving platforms in move_and_slide #51447

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7 changes: 7 additions & 0 deletions doc/classes/Physics2DDirectBodyState.xml
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Expand Up @@ -137,6 +137,13 @@
Returns the current state of the space, useful for queries.
</description>
</method>
<method name="get_velocity_at_local_position" qualifiers="const">
<return type="Vector2" />
<argument index="0" name="local_position" type="Vector2" />
<description>
Returns the body's velocity at the given relative position, including both translation and rotation.
</description>
</method>
<method name="integrate_forces">
<return type="void" />
<description>
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7 changes: 7 additions & 0 deletions doc/classes/PhysicsDirectBodyState.xml
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Expand Up @@ -138,6 +138,13 @@
Returns the current state of the space, useful for queries.
</description>
</method>
<method name="get_velocity_at_local_position" qualifiers="const">
<return type="Vector3" />
<argument index="0" name="local_position" type="Vector3" />
<description>
Returns the body's velocity at the given relative position, including both translation and rotation.
</description>
</method>
<method name="integrate_forces">
<return type="void" />
<description>
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10 changes: 10 additions & 0 deletions modules/bullet/rigid_body_bullet.cpp
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Expand Up @@ -114,6 +114,16 @@ Transform BulletPhysicsDirectBodyState::get_transform() const {
return body->get_transform();
}

Vector3 BulletPhysicsDirectBodyState::get_velocity_at_local_position(const Vector3 &p_position) const {
btVector3 local_position;
G_TO_B(p_position, local_position);

Vector3 velocity;
B_TO_G(body->btBody->getVelocityInLocalPoint(local_position), velocity);

return velocity;
}

void BulletPhysicsDirectBodyState::add_central_force(const Vector3 &p_force) {
body->apply_central_force(p_force);
}
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2 changes: 2 additions & 0 deletions modules/bullet/rigid_body_bullet.h
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Expand Up @@ -110,6 +110,8 @@ class BulletPhysicsDirectBodyState : public PhysicsDirectBodyState {
virtual void set_transform(const Transform &p_transform);
virtual Transform get_transform() const;

virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const;

virtual void add_central_force(const Vector3 &p_force);
virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos);
virtual void add_torque(const Vector3 &p_torque);
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4 changes: 3 additions & 1 deletion scene/2d/physics_body_2d.cpp
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Expand Up @@ -1115,7 +1115,9 @@ Vector2 KinematicBody2D::move_and_slide(const Vector2 &p_linear_velocity, const
//this approach makes sure there is less delay between the actual body velocity and the one we saved
Physics2DDirectBodyState *bs = Physics2DServer::get_singleton()->body_get_direct_state(on_floor_body);
if (bs) {
current_floor_velocity = bs->get_linear_velocity();
Transform2D gt = get_global_transform();
Vector2 local_position = gt.elements[2] - bs->get_transform().elements[2];
current_floor_velocity = bs->get_velocity_at_local_position(local_position);
}
}

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4 changes: 3 additions & 1 deletion scene/3d/physics_body.cpp
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Expand Up @@ -1066,7 +1066,9 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve
// This approach makes sure there is less delay between the actual body velocity and the one we saved.
PhysicsDirectBodyState *bs = PhysicsServer::get_singleton()->body_get_direct_state(on_floor_body);
if (bs) {
current_floor_velocity = bs->get_linear_velocity();
Transform gt = get_global_transform();
Vector3 local_position = gt.origin - bs->get_transform().origin;
current_floor_velocity = bs->get_velocity_at_local_position(local_position);
}
}

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2 changes: 2 additions & 0 deletions servers/physics/body_sw.h
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Expand Up @@ -402,6 +402,8 @@ class PhysicsDirectBodyStateSW : public PhysicsDirectBodyState {
virtual void set_transform(const Transform &p_transform) { body->set_state(PhysicsServer::BODY_STATE_TRANSFORM, p_transform); }
virtual Transform get_transform() const { return body->get_transform(); }

virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const { return body->get_velocity_in_local_point(p_position); }

virtual void add_central_force(const Vector3 &p_force) { body->add_central_force(p_force); }
virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos) { body->add_force(p_force, p_pos); }
virtual void add_torque(const Vector3 &p_torque) { body->add_torque(p_torque); }
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6 changes: 6 additions & 0 deletions servers/physics_2d/body_2d_sw.h
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Expand Up @@ -273,6 +273,10 @@ class Body2DSW : public CollisionObject2DSW {
void integrate_forces(real_t p_step);
void integrate_velocities(real_t p_step);

_FORCE_INLINE_ Vector2 get_velocity_in_local_point(const Vector2 &rel_pos) const {
return linear_velocity + Vector2(-angular_velocity * rel_pos.y, angular_velocity * rel_pos.x);
}

_FORCE_INLINE_ Vector2 get_motion() const {
if (mode > Physics2DServer::BODY_MODE_KINEMATIC) {
return new_transform.get_origin() - get_transform().get_origin();
Expand Down Expand Up @@ -359,6 +363,8 @@ class Physics2DDirectBodyStateSW : public Physics2DDirectBodyState {
virtual void set_transform(const Transform2D &p_transform) { body->set_state(Physics2DServer::BODY_STATE_TRANSFORM, p_transform); }
virtual Transform2D get_transform() const { return body->get_transform(); }

virtual Vector2 get_velocity_at_local_position(const Vector2 &p_position) const { return body->get_velocity_in_local_point(p_position); }

virtual void add_central_force(const Vector2 &p_force) { body->add_central_force(p_force); }
virtual void add_force(const Vector2 &p_offset, const Vector2 &p_force) { body->add_force(p_offset, p_force); }
virtual void add_torque(real_t p_torque) { body->add_torque(p_torque); }
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2 changes: 2 additions & 0 deletions servers/physics_2d_server.cpp
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Expand Up @@ -90,6 +90,8 @@ void Physics2DDirectBodyState::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_transform", "transform"), &Physics2DDirectBodyState::set_transform);
ClassDB::bind_method(D_METHOD("get_transform"), &Physics2DDirectBodyState::get_transform);

ClassDB::bind_method(D_METHOD("get_velocity_at_local_position", "local_position"), &Physics2DDirectBodyState::get_velocity_at_local_position);

ClassDB::bind_method(D_METHOD("add_central_force", "force"), &Physics2DDirectBodyState::add_central_force);
ClassDB::bind_method(D_METHOD("add_force", "offset", "force"), &Physics2DDirectBodyState::add_force);
ClassDB::bind_method(D_METHOD("add_torque", "torque"), &Physics2DDirectBodyState::add_torque);
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2 changes: 2 additions & 0 deletions servers/physics_2d_server.h
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Expand Up @@ -60,6 +60,8 @@ class Physics2DDirectBodyState : public Object {
virtual void set_transform(const Transform2D &p_transform) = 0;
virtual Transform2D get_transform() const = 0;

virtual Vector2 get_velocity_at_local_position(const Vector2 &p_position) const = 0;

virtual void add_central_force(const Vector2 &p_force) = 0;
virtual void add_force(const Vector2 &p_offset, const Vector2 &p_force) = 0;
virtual void add_torque(real_t p_torque) = 0;
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2 changes: 2 additions & 0 deletions servers/physics_server.cpp
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Expand Up @@ -92,6 +92,8 @@ void PhysicsDirectBodyState::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_transform", "transform"), &PhysicsDirectBodyState::set_transform);
ClassDB::bind_method(D_METHOD("get_transform"), &PhysicsDirectBodyState::get_transform);

ClassDB::bind_method(D_METHOD("get_velocity_at_local_position", "local_position"), &PhysicsDirectBodyState::get_velocity_at_local_position);

ClassDB::bind_method(D_METHOD("add_central_force", "force"), &PhysicsDirectBodyState::add_central_force);
ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &PhysicsDirectBodyState::add_force);
ClassDB::bind_method(D_METHOD("add_torque", "torque"), &PhysicsDirectBodyState::add_torque);
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2 changes: 2 additions & 0 deletions servers/physics_server.h
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Expand Up @@ -62,6 +62,8 @@ class PhysicsDirectBodyState : public Object {
virtual void set_transform(const Transform &p_transform) = 0;
virtual Transform get_transform() const = 0;

virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const = 0;

virtual void add_central_force(const Vector3 &p_force) = 0;
virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos) = 0;
virtual void add_torque(const Vector3 &p_torque) = 0;
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