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GLTF: Add center of mass property #80463

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Aug 18, 2023
Merged

GLTF: Add center of mass property #80463

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5 changes: 4 additions & 1 deletion modules/gltf/doc_classes/GLTFPhysicsBody.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,10 @@
The angular velocity of the physics body, in radians per second. This is only used when the body type is "rigid" or "vehicle".
</member>
<member name="body_type" type="String" setter="set_body_type" getter="get_body_type" default="&quot;static&quot;">
The type of the body. Valid values are "static", "kinematic", "character", "rigid", "vehicle", and "trigger".
The type of the body. When importing, this controls what type of [CollisionObject3D] node Godot should generate. Valid values are "static", "kinematic", "character", "rigid", "vehicle", and "trigger".
</member>
<member name="center_of_mass" type="Vector3" setter="set_center_of_mass" getter="get_center_of_mass" default="Vector3(0, 0, 0)">
The center of mass of the body, in meters. This is in local space relative to the body. By default, the center of the mass is the body's origin.
</member>
<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".
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30 changes: 30 additions & 0 deletions modules/gltf/extensions/physics/gltf_physics_body.cpp
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Expand Up @@ -48,13 +48,16 @@ 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_center_of_mass"), &GLTFPhysicsBody::get_center_of_mass);
ClassDB::bind_method(D_METHOD("set_center_of_mass", "center_of_mass"), &GLTFPhysicsBody::set_center_of_mass);
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, "center_of_mass"), "set_center_of_mass", "get_center_of_mass");
ADD_PROPERTY(PropertyInfo(Variant::BASIS, "inertia_tensor"), "set_inertia_tensor", "get_inertia_tensor");
}

Expand Down Expand Up @@ -90,6 +93,14 @@ void GLTFPhysicsBody::set_angular_velocity(Vector3 p_angular_velocity) {
angular_velocity = p_angular_velocity;
}

Vector3 GLTFPhysicsBody::get_center_of_mass() const {
return center_of_mass;
}

void GLTFPhysicsBody::set_center_of_mass(const Vector3 &p_center_of_mass) {
center_of_mass = p_center_of_mass;
}

Basis GLTFPhysicsBody::get_inertia_tensor() const {
return inertia_tensor;
}
Expand All @@ -111,6 +122,7 @@ 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->center_of_mass = body->get_center_of_mass();
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()) {
Expand Down Expand Up @@ -145,6 +157,7 @@ CollisionObject3D *GLTFPhysicsBody::to_node() const {
body->set_angular_velocity(angular_velocity);
body->set_inertia(inertia_tensor.get_main_diagonal());
body->set_center_of_mass_mode(RigidBody3D::CENTER_OF_MASS_MODE_CUSTOM);
body->set_center_of_mass(center_of_mass);
return body;
}
if (body_type == "rigid") {
Expand All @@ -154,6 +167,7 @@ CollisionObject3D *GLTFPhysicsBody::to_node() const {
body->set_angular_velocity(angular_velocity);
body->set_inertia(inertia_tensor.get_main_diagonal());
body->set_center_of_mass_mode(RigidBody3D::CENTER_OF_MASS_MODE_CUSTOM);
body->set_center_of_mass(center_of_mass);
return body;
}
if (body_type == "static") {
Expand Down Expand Up @@ -193,6 +207,14 @@ Ref<GLTFPhysicsBody> GLTFPhysicsBody::from_dictionary(const Dictionary p_diction
ERR_PRINT("Error parsing GLTF physics body: The angular velocity vector must have exactly 3 numbers.");
}
}
if (p_dictionary.has("centerOfMass")) {
const Array &arr = p_dictionary["centerOfMass"];
if (arr.size() == 3) {
physics_body->set_center_of_mass(Vector3(arr[0], arr[1], arr[2]));
} else {
ERR_PRINT("Error parsing GLTF physics body: The center of mass vector must have exactly 3 numbers.");
}
}
if (p_dictionary.has("inertiaTensor")) {
const Array &arr = p_dictionary["inertiaTensor"];
if (arr.size() == 9) {
Expand Down Expand Up @@ -230,6 +252,14 @@ Dictionary GLTFPhysicsBody::to_dictionary() const {
velocity_array[2] = angular_velocity.z;
d["angularVelocity"] = velocity_array;
}
if (center_of_mass != Vector3()) {
Array center_of_mass_array;
center_of_mass_array.resize(3);
center_of_mass_array[0] = center_of_mass.x;
center_of_mass_array[1] = center_of_mass.y;
center_of_mass_array[2] = center_of_mass.z;
d["centerOfMass"] = center_of_mass_array;
}
if (inertia_tensor != Basis(0, 0, 0, 0, 0, 0, 0, 0, 0)) {
Array inertia_array;
inertia_array.resize(9);
Expand Down
8 changes: 6 additions & 2 deletions modules/gltf/extensions/physics/gltf_physics_body.h
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Expand Up @@ -45,8 +45,9 @@ class GLTFPhysicsBody : public Resource {
private:
String body_type = "static";
real_t mass = 1.0;
Vector3 linear_velocity = Vector3();
Vector3 angular_velocity = Vector3();
Vector3 linear_velocity;
Vector3 angular_velocity;
Vector3 center_of_mass;
Basis inertia_tensor = Basis(0, 0, 0, 0, 0, 0, 0, 0, 0);

public:
Expand All @@ -62,6 +63,9 @@ class GLTFPhysicsBody : public Resource {
Vector3 get_angular_velocity() const;
void set_angular_velocity(Vector3 p_angular_velocity);

Vector3 get_center_of_mass() const;
void set_center_of_mass(const Vector3 &p_center_of_mass);

Basis get_inertia_tensor() const;
void set_inertia_tensor(Basis p_inertia_tensor);

Expand Down
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