diff options
| -rw-r--r-- | modules/gltf/doc_classes/GLTFPhysicsBody.xml | 6 | ||||
| -rw-r--r-- | modules/gltf/extensions/physics/gltf_physics_body.cpp | 37 | ||||
| -rw-r--r-- | modules/gltf/extensions/physics/gltf_physics_body.h | 6 |
3 files changed, 28 insertions, 21 deletions
diff --git a/modules/gltf/doc_classes/GLTFPhysicsBody.xml b/modules/gltf/doc_classes/GLTFPhysicsBody.xml index 054bd2fc85..5d21deff05 100644 --- a/modules/gltf/doc_classes/GLTFPhysicsBody.xml +++ b/modules/gltf/doc_classes/GLTFPhysicsBody.xml @@ -44,9 +44,9 @@ <member name="body_type" type="String" setter="set_body_type" getter="get_body_type" default=""static""> The type of the body. Valid values are "static", "kinematic", "character", "rigid", "vehicle", and "trigger". </member> - <member name="inertia" type="Vector3" setter="set_inertia" getter="get_inertia" default="Vector3(0, 0, 0)"> - The principle axes of the inertia tensor of the physics body, in kilogram meter squared (kg⋅m²). This is only used when the body type is "rigid" or "vehicle". - This is written to and read from the GLTF file as a 3x3 matrix, but is exposed as a Vector3 since Godot only supports principal axis inertia values. When converted to a Godot [RigidBody3D] node, if this value is zero, then the inertia will be calculated automatically. + <member name="inertia_tensor" type="Basis" setter="set_inertia_tensor" getter="get_inertia_tensor" default="Basis(0, 0, 0, 0, 0, 0, 0, 0, 0)"> + The inertia tensor of the physics body, in kilogram meter squared (kg⋅m²). This is only used when the body type is "rigid" or "vehicle". + When converted to a Godot [RigidBody3D] node, if this value is zero, then the inertia will be calculated automatically. </member> <member name="linear_velocity" type="Vector3" setter="set_linear_velocity" getter="get_linear_velocity" default="Vector3(0, 0, 0)"> The linear velocity of the physics body, in meters per second. This is only used when the body type is "rigid" or "vehicle". diff --git a/modules/gltf/extensions/physics/gltf_physics_body.cpp b/modules/gltf/extensions/physics/gltf_physics_body.cpp index a187fc53a1..3b0fad064a 100644 --- a/modules/gltf/extensions/physics/gltf_physics_body.cpp +++ b/modules/gltf/extensions/physics/gltf_physics_body.cpp @@ -48,14 +48,14 @@ void GLTFPhysicsBody::_bind_methods() { ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &GLTFPhysicsBody::set_linear_velocity); ClassDB::bind_method(D_METHOD("get_angular_velocity"), &GLTFPhysicsBody::get_angular_velocity); ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &GLTFPhysicsBody::set_angular_velocity); - ClassDB::bind_method(D_METHOD("get_inertia"), &GLTFPhysicsBody::get_inertia); - ClassDB::bind_method(D_METHOD("set_inertia", "inertia"), &GLTFPhysicsBody::set_inertia); + ClassDB::bind_method(D_METHOD("get_inertia_tensor"), &GLTFPhysicsBody::get_inertia_tensor); + ClassDB::bind_method(D_METHOD("set_inertia_tensor", "inertia_tensor"), &GLTFPhysicsBody::set_inertia_tensor); ADD_PROPERTY(PropertyInfo(Variant::STRING, "body_type"), "set_body_type", "get_body_type"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass"), "set_mass", "get_mass"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "angular_velocity"), "set_angular_velocity", "get_angular_velocity"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "inertia"), "set_inertia", "get_inertia"); + ADD_PROPERTY(PropertyInfo(Variant::BASIS, "inertia_tensor"), "set_inertia_tensor", "get_inertia_tensor"); } String GLTFPhysicsBody::get_body_type() const { @@ -90,12 +90,12 @@ void GLTFPhysicsBody::set_angular_velocity(Vector3 p_angular_velocity) { angular_velocity = p_angular_velocity; } -Vector3 GLTFPhysicsBody::get_inertia() const { - return inertia; +Basis GLTFPhysicsBody::get_inertia_tensor() const { + return inertia_tensor; } -void GLTFPhysicsBody::set_inertia(Vector3 p_inertia) { - inertia = p_inertia; +void GLTFPhysicsBody::set_inertia_tensor(Basis p_inertia_tensor) { + inertia_tensor = p_inertia_tensor; } Ref<GLTFPhysicsBody> GLTFPhysicsBody::from_node(const CollisionObject3D *p_body_node) { @@ -111,7 +111,8 @@ Ref<GLTFPhysicsBody> GLTFPhysicsBody::from_node(const CollisionObject3D *p_body_ physics_body->mass = body->get_mass(); physics_body->linear_velocity = body->get_linear_velocity(); physics_body->angular_velocity = body->get_angular_velocity(); - physics_body->inertia = body->get_inertia(); + Vector3 inertia_diagonal = body->get_inertia(); + physics_body->inertia_tensor = Basis(inertia_diagonal.x, 0, 0, 0, inertia_diagonal.y, 0, 0, 0, inertia_diagonal.z); if (body->get_center_of_mass() != Vector3()) { WARN_PRINT("GLTFPhysicsBody: This rigid body has a center of mass offset from the origin, which will be ignored when exporting to GLTF."); } @@ -142,7 +143,7 @@ CollisionObject3D *GLTFPhysicsBody::to_node() const { body->set_mass(mass); body->set_linear_velocity(linear_velocity); body->set_angular_velocity(angular_velocity); - body->set_inertia(inertia); + body->set_inertia(inertia_tensor.get_main_diagonal()); body->set_center_of_mass_mode(RigidBody3D::CENTER_OF_MASS_MODE_CUSTOM); return body; } @@ -151,7 +152,7 @@ CollisionObject3D *GLTFPhysicsBody::to_node() const { body->set_mass(mass); body->set_linear_velocity(linear_velocity); body->set_angular_velocity(angular_velocity); - body->set_inertia(inertia); + body->set_inertia(inertia_tensor.get_main_diagonal()); body->set_center_of_mass_mode(RigidBody3D::CENTER_OF_MASS_MODE_CUSTOM); return body; } @@ -196,7 +197,7 @@ Ref<GLTFPhysicsBody> GLTFPhysicsBody::from_dictionary(const Dictionary p_diction const Array &arr = p_dictionary["inertiaTensor"]; if (arr.size() == 9) { // Only use the diagonal elements of the inertia tensor matrix (principal axes). - physics_body->set_inertia(Vector3(arr[0], arr[4], arr[8])); + physics_body->set_inertia_tensor(Basis(arr[0], arr[1], arr[2], arr[3], arr[4], arr[5], arr[6], arr[7], arr[8])); } else { ERR_PRINT("Error parsing GLTF physics body: The inertia tensor must be a 3x3 matrix (9 number array)."); } @@ -229,13 +230,19 @@ Dictionary GLTFPhysicsBody::to_dictionary() const { velocity_array[2] = angular_velocity.z; d["angularVelocity"] = velocity_array; } - if (inertia != Vector3()) { + if (inertia_tensor != Basis(0, 0, 0, 0, 0, 0, 0, 0, 0)) { Array inertia_array; inertia_array.resize(9); inertia_array.fill(0.0); - inertia_array[0] = inertia.x; - inertia_array[4] = inertia.y; - inertia_array[8] = inertia.z; + inertia_array[0] = inertia_tensor[0][0]; + inertia_array[1] = inertia_tensor[0][1]; + inertia_array[2] = inertia_tensor[0][2]; + inertia_array[3] = inertia_tensor[1][0]; + inertia_array[4] = inertia_tensor[1][1]; + inertia_array[5] = inertia_tensor[1][2]; + inertia_array[6] = inertia_tensor[2][0]; + inertia_array[7] = inertia_tensor[2][1]; + inertia_array[8] = inertia_tensor[2][2]; d["inertiaTensor"] = inertia_array; } return d; diff --git a/modules/gltf/extensions/physics/gltf_physics_body.h b/modules/gltf/extensions/physics/gltf_physics_body.h index 1562c65b2b..5fedb4f111 100644 --- a/modules/gltf/extensions/physics/gltf_physics_body.h +++ b/modules/gltf/extensions/physics/gltf_physics_body.h @@ -47,7 +47,7 @@ private: real_t mass = 1.0; Vector3 linear_velocity = Vector3(); Vector3 angular_velocity = Vector3(); - Vector3 inertia = Vector3(); + Basis inertia_tensor = Basis(0, 0, 0, 0, 0, 0, 0, 0, 0); public: String get_body_type() const; @@ -62,8 +62,8 @@ public: Vector3 get_angular_velocity() const; void set_angular_velocity(Vector3 p_angular_velocity); - Vector3 get_inertia() const; - void set_inertia(Vector3 p_inertia); + Basis get_inertia_tensor() const; + void set_inertia_tensor(Basis p_inertia_tensor); static Ref<GLTFPhysicsBody> from_node(const CollisionObject3D *p_body_node); CollisionObject3D *to_node() const; |