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

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

1 files changed, 9 insertions, 2 deletions

diff --git a/servers/physics_3d/physics_server_3d_sw.cpp b/servers/physics_3d/physics_server_3d_sw.cpp
index a214e80c6c..8de54c5c48 100644
--- a/servers/physics_3d/physics_server_3d_sw.cpp
+++ b/servers/physics_3d/physics_server_3d_sw.cpp
@@ -643,20 +643,27 @@ uint32_t PhysicsServer3DSW::body_get_user_flags(RID p_body) const {
 	return 0;
 };
 
-void PhysicsServer3DSW::body_set_param(RID p_body, BodyParameter p_param, real_t p_value) {
+void PhysicsServer3DSW::body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) {
 	Body3DSW *body = body_owner.getornull(p_body);
 	ERR_FAIL_COND(!body);
 
 	body->set_param(p_param, p_value);
 };
 
-real_t PhysicsServer3DSW::body_get_param(RID p_body, BodyParameter p_param) const {
+Variant PhysicsServer3DSW::body_get_param(RID p_body, BodyParameter p_param) const {
 	Body3DSW *body = body_owner.getornull(p_body);
 	ERR_FAIL_COND_V(!body, 0);
 
 	return body->get_param(p_param);
 };
 
+void PhysicsServer3DSW::body_reset_mass_properties(RID p_body) {
+	Body3DSW *body = body_owner.getornull(p_body);
+	ERR_FAIL_COND(!body);
+
+	return body->reset_mass_properties();
+}
+
 void PhysicsServer3DSW::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
 	Body3DSW *body = body_owner.getornull(p_body);
 	ERR_FAIL_COND(!body);