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 GameObject::Update() {
input_->Update(this);
physics_->Update(this);
graphics_->Update(this);
set_linear_velocity();
set_angular_velocity();
}
void GameObject::Reset() {
Clamp clamp = { { 0.f, 0.f }, { 0.f, 0.f } };
set_position();
set_rotation();
set_size();
set_linear_velocity();
set_angular_velocity();
set_clamp(clamp);
set_movement_velocity();
set_rotation_velocity();
}
void RigidBodyBullet::set_state(PhysicsServer::BodyState p_state, const Variant &p_variant) {
switch (p_state) {
case PhysicsServer::BODY_STATE_TRANSFORM:
set_transform(p_variant);
break;
case PhysicsServer::BODY_STATE_LINEAR_VELOCITY:
set_linear_velocity(p_variant);
break;
case PhysicsServer::BODY_STATE_ANGULAR_VELOCITY:
set_angular_velocity(p_variant);
break;
case PhysicsServer::BODY_STATE_SLEEPING:
set_activation_state(!bool(p_variant));
break;
case PhysicsServer::BODY_STATE_CAN_SLEEP:
can_sleep = bool(p_variant);
if (!can_sleep) {
// Can't sleep
btBody->forceActivationState(DISABLE_DEACTIVATION);
}
break;
}
}
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);
}
BodyDescription::BodyDescription(const PhysicsContext &pc, const std::string &resource_id, const XMLResourceDocument &resources)
: impl(new BodyDescription_Impl(pc.impl->get_owner()))
{
/* example resource entry with all parameters:
<body2d name="TestBody" type="static">
<position x="0" y="0"/>
<rotation angle="180"/>
<velocity x="0" y="0" angular="0"/>
<damping linear="0" angular="0"/>
<parameters awake="true" can_sleep="true" bullet="false" active="true" />
</body2d>
*/
XMLResourceNode resource = resources.get_resource(resource_id);
if (resource.get_type() != "body2d" && resource.get_type() != "body2d_description")
throw Exception(string_format("Resource '%1' is not of type 'body2d' or 'body2d_description'", resource_id));
DomNode cur_node = resource.get_element().get_first_child();
//Body type
std::string body_type = resource.get_element().get_attribute("type","static");
if(body_type == "kinematic") set_type(body_kinematic);
else if(body_type == "dynamic") set_type(body_dynamic);
else set_type(body_static);
while(!cur_node.is_null())
{
if (!cur_node.is_element())
continue;
DomElement cur_element = cur_node.to_element();
std::string tag_name = cur_element.get_tag_name();
//<position x="0" y="0"/>
if(tag_name == "position")
{
float pos_x = 0.0f;
float pos_y = 0.0f;
if(cur_element.has_attribute("x"))
{
pos_x = StringHelp::text_to_float(cur_element.get_attribute("x"));
}
if(cur_element.has_attribute("y"))
{
pos_y = StringHelp::text_to_float(cur_element.get_attribute("y"));
}
set_position(pos_x, pos_y);
}
//<rotation angle="180"/>
else if(tag_name == "rotation")
{
Angle angle(0.0f, angle_degrees);
if(cur_element.has_attribute("angle"))
{
angle = Angle(StringHelp::text_to_float(cur_element.get_attribute("angle")), angle_degrees);
}
set_angle(angle);
}
//<velocity x="0" y="0" angular="0"/>
else if(tag_name == "velocity")
{
Vec2f velocity(0.0f, 0.0f);
Angle angular_velocity(0.0f, angle_degrees);
if(cur_element.has_attribute("x"))
{
velocity.x = StringHelp::text_to_float(cur_element.get_attribute("x"));
}
if(cur_element.has_attribute("y"))
{
velocity.y = StringHelp::text_to_float(cur_element.get_attribute("y"));
}
if(cur_element.has_attribute("angular"))
{
angular_velocity = Angle(StringHelp::text_to_float(cur_element.get_attribute("angular")), angle_degrees);
}
set_linear_velocity(velocity);
set_angular_velocity(angular_velocity);
}
//<damping linear="0" angular="0"/>
else if(tag_name == "damping")
{
float linear;
float angular;
if(cur_element.has_attribute("linear"))
{
linear = StringHelp::text_to_float(cur_element.get_attribute("linear"));
}
if(cur_element.has_attribute("angular"))
{
angular = StringHelp::text_to_float(cur_element.get_attribute("angular"));
}
set_linear_damping(linear);
set_angular_damping(angular);
}
//<parameters awake="true" can_sleep="true" bullet="false" active="true" />
else if(tag_name == "parameters")
{
bool value;
if(cur_element.has_attribute("awake"))
{
value = true;
value = StringHelp::text_to_bool(cur_element.get_attribute("awake"));
set_awake(value);
}
if(cur_element.has_attribute("active"))
{
value = true;
value = StringHelp::text_to_bool(cur_element.get_attribute("active"));
set_active(value);
}
if(cur_element.has_attribute("bullet"))
{
value = false;
value = StringHelp::text_to_bool(cur_element.get_attribute("bullet"));
set_as_bullet(value);
}
if(cur_element.has_attribute("can_sleep"))
{
value = true;
value = StringHelp::text_to_bool(cur_element.get_attribute("can_sleep"));
allow_sleep(value);
}
}
cur_node = cur_node.get_next_sibling();
}
}