void rotating_body::update(const simulation_context *c)
{
if (rotator)
rotator->calc_orientation(c->julian_cur, get_orientation(), get_angular_velocity());
assert(get_linear_velocity().mag() == 0);
} // update()
void Physics2DDirectBodyState::integrate_forces() {
real_t step = get_step();
Vector2 lv = get_linear_velocity();
lv+=get_total_gravity() * step;
real_t av = get_angular_velocity();
float damp = 1.0 - step * get_total_linear_damp();
if (damp<0) // reached zero in the given time
damp=0;
lv*=damp;
damp = 1.0 - step * get_total_angular_damp();
if (damp<0) // reached zero in the given time
damp=0;
av*=damp;
set_linear_velocity(lv);
set_angular_velocity(av);
}
void orbital_frame::update(const simulation_context *c)
{
if (prop)
prop->update(c->julian_cur, get_translation(), get_linear_velocity());
assert(get_angular_velocity().mag() == 0);
} // orbital_frame::update()
double agent_body::get_sensor_value(agent_sensor_id const& sensor) const
{
switch(sensor)
{
case Position_X:
return get_position().x;
case Position_Y:
return get_position().y;
case WorldVelocity_X:
return get_linear_velocity().x;
case WorldVelocity_Y:
return get_linear_velocity().y;
case KineticEnergy:
return get_kinetic_energy();
default:
throw std::exception("Invalid Sensor Id");
}
}
size_t composite_body::initialize_state_value_bindings_(sv_bindings_t& bindings, sv_accessors_t& accessors) const
{
auto initial_count = bindings.size();
auto bound_id = accessors.size();
bindings[s_sv_names.left.at(StateValue::PositionX)] = bound_id++;
accessors.push_back([this]
{
return get_com_position().x;
});
bindings[s_sv_names.left.at(StateValue::PositionY)] = bound_id++;
accessors.push_back([this]
{
return get_com_position().y;
});
bindings[s_sv_names.left.at(StateValue::LinVelX)] = bound_id++;
accessors.push_back([this]
{
return get_linear_velocity().x;
});
bindings[s_sv_names.left.at(StateValue::LinVelY)] = bound_id++;
accessors.push_back([this]
{
return get_linear_velocity().y;
});
bindings[s_sv_names.left.at(StateValue::KE)] = bound_id++;
accessors.push_back([this]
{
return get_kinetic_energy();
});
// TODO: what about joints added or removed dynamically? can these be supported?
for(auto const& rev : m_revolutes)
{
rev.rev->initialize_state_value_bindings_(bindings, accessors, rev.name);
}
return bindings.size() - initial_count;
}
Variant RigidBodyBullet::get_state(PhysicsServer::BodyState p_state) const {
switch (p_state) {
case PhysicsServer::BODY_STATE_TRANSFORM:
return get_transform();
case PhysicsServer::BODY_STATE_LINEAR_VELOCITY:
return get_linear_velocity();
case PhysicsServer::BODY_STATE_ANGULAR_VELOCITY:
return get_angular_velocity();
case PhysicsServer::BODY_STATE_SLEEPING:
return !is_active();
case PhysicsServer::BODY_STATE_CAN_SLEEP:
return can_sleep;
default:
WARN_PRINTS("This state " + itos(p_state) + " is not supported by Bullet");
return Variant();
}
}
void PhysicsDirectBodyState::integrate_forces() {
real_t step = get_step();
Vector3 lv = get_linear_velocity();
lv += get_total_gravity() * step;
Vector3 av = get_angular_velocity();
float linear_damp = 1.0 - step * get_total_linear_damp();
if (linear_damp < 0) // reached zero in the given time
linear_damp = 0;
float angular_damp = 1.0 - step * get_total_angular_damp();
if (angular_damp < 0) // reached zero in the given time
angular_damp = 0;
lv *= linear_damp;
av *= angular_damp;
set_linear_velocity(lv);
set_angular_velocity(av);
}