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Add functions to apply impulse and force to SoftBody on GodotPhysics and JoltPhysics

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This commit is contained in:
PiCode
2025-05-13 23:49:28 +03:00
parent 209a446e36
commit fe3aaa2ae3
19 changed files with 303 additions and 0 deletions
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28
modules/jolt_physics/jolt_physics_server_3d.cpp
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@ -288,6 +288,34 @@ void JoltPhysicsServer3D::area_set_space(RID p_area, RID p_space) {
area->set_space(space);
}
void JoltPhysicsServer3D::soft_body_apply_point_impulse(RID p_body, int p_point_index, const Vector3 &p_impulse) {
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_NULL(body);
body->apply_vertex_impulse(p_point_index, p_impulse);
}
void JoltPhysicsServer3D::soft_body_apply_point_force(RID p_body, int p_point_index, const Vector3 &p_force) {
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_NULL(body);
body->apply_vertex_force(p_point_index, p_force);
}
void JoltPhysicsServer3D::soft_body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) {
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_NULL(body);
body->apply_central_impulse(p_impulse);
}
void JoltPhysicsServer3D::soft_body_apply_central_force(RID p_body, const Vector3 &p_force) {
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
ERR_FAIL_NULL(body);
body->apply_central_force(p_force);
}
RID JoltPhysicsServer3D::area_get_space(RID p_area) const {
const JoltArea3D *area = area_owner.get_or_null(p_area);
ERR_FAIL_NULL_V(area, RID());

5
modules/jolt_physics/jolt_physics_server_3d.h
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@ -322,6 +322,11 @@ public:
virtual void soft_body_set_transform(RID p_body, const Transform3D &p_transform) override;
virtual void soft_body_apply_point_impulse(RID p_body, int p_point_index, const Vector3 &p_impulse) override;
virtual void soft_body_apply_point_force(RID p_body, int p_point_index, const Vector3 &p_force) override;
virtual void soft_body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) override;
virtual void soft_body_apply_central_force(RID p_body, const Vector3 &p_force) override;
virtual void soft_body_set_simulation_precision(RID p_body, int p_precision) override;
virtual int soft_body_get_simulation_precision(RID p_body) const override;

51
modules/jolt_physics/objects/jolt_soft_body_3d.cpp
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@ -396,6 +396,57 @@ bool JoltSoftBody3D::is_sleeping() const {
}
}
void JoltSoftBody3D::apply_vertex_impulse(int p_index, const Vector3 &p_impulse) {
ERR_FAIL_COND_MSG(!in_space(), vformat("Failed to apply impulse to '%s'. Doing so without a physics space is not supported when using Jolt Physics. If this relates to a node, try adding the node to a scene tree first.", to_string()));
ERR_FAIL_NULL(shared);
ERR_FAIL_INDEX(p_index, (int)shared->mesh_to_physics.size());
const size_t physics_index = (size_t)shared->mesh_to_physics[p_index];
ERR_FAIL_COND_MSG(pinned_vertices.has(physics_index), vformat("Failed to apply impulse to point at index %d for '%s'. Point was found to be pinned.", static_cast<int>(physics_index), to_string()));
JPH::SoftBodyMotionProperties &motion_properties = static_cast<JPH::SoftBodyMotionProperties &>(*jolt_body->GetMotionPropertiesUnchecked());
JPH::Array<JPH::SoftBodyVertex> &physics_vertices = motion_properties.GetVertices();
JPH::SoftBodyVertex &physics_vertex = physics_vertices[physics_index];
physics_vertex.mVelocity += to_jolt(p_impulse) * physics_vertex.mInvMass;
wake_up();
}
void JoltSoftBody3D::apply_vertex_force(int p_index, const Vector3 &p_force) {
ERR_FAIL_COND_MSG(!in_space(), vformat("Failed to apply force to '%s'. Doing so without a physics space is not supported when using Jolt Physics. If this relates to a node, try adding the node to a scene tree first.", to_string()));
apply_vertex_impulse(p_index, p_force * space->get_last_step());
}
void JoltSoftBody3D::apply_central_impulse(const Vector3 &p_impulse) {
ERR_FAIL_COND_MSG(!in_space(), vformat("Failed to apply central impulse to '%s'. Doing so without a physics space is not supported when using Jolt Physics. If this relates to a node, try adding the node to a scene tree first.", to_string()));
ERR_FAIL_NULL(shared);
JPH::SoftBodyMotionProperties &motion_properties = static_cast<JPH::SoftBodyMotionProperties &>(*jolt_body->GetMotionPropertiesUnchecked());
JPH::Array<JPH::SoftBodyVertex> &physics_vertices = motion_properties.GetVertices();
const JPH::Vec3 impulse = to_jolt(p_impulse) / physics_vertices.size();
for (JPH::SoftBodyVertex &physics_vertex : physics_vertices) {
if (physics_vertex.mInvMass > 0.0f) {
physics_vertex.mVelocity += impulse * physics_vertex.mInvMass;
}
}
wake_up();
}
void JoltSoftBody3D::apply_central_force(const Vector3 &p_force) {
ERR_FAIL_COND_MSG(!in_space(), vformat("Failed to apply central force to '%s'. Doing so without a physics space is not supported when using Jolt Physics. If this relates to a node, try adding the node to a scene tree first.", to_string()));
ERR_FAIL_NULL(shared);
JPH::BodyInterface &body_iface = space->get_body_iface();
body_iface.AddForce(jolt_body->GetID(), to_jolt(p_force), JPH::EActivation::Activate);
}
void JoltSoftBody3D::set_is_sleeping(bool p_enabled) {
if (!in_space()) {
return;

5
modules/jolt_physics/objects/jolt_soft_body_3d.h
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@ -166,4 +166,9 @@ public:
void unpin_all_vertices();
bool is_vertex_pinned(int p_index) const;
void apply_vertex_impulse(int p_index, const Vector3 &p_impulse);
void apply_vertex_force(int p_index, const Vector3 &p_force);
void apply_central_impulse(const Vector3 &p_impulse);
void apply_central_force(const Vector3 &p_force);
};