Add linear_velocity and angular_velocity to PhysicalBone3D

doc/classes/PhysicalBone3D.xml

@@ -7,6 +7,13 @@
 	<tutorials>
 	</tutorials>
 	<methods>
+		<method name="_integrate_forces" qualifiers="virtual">
+			<return type="void" />
+			<argument index="0" name="state" type="PhysicsDirectBodyState3D" />
+			<description>
+				Called during physics processing, allowing you to read and safely modify the simulation state for the object. By default, it works in addition to the usual physics behavior, but the [member custom_integrator] property allows you to disable the default behavior and do fully custom force integration for a body.
+			</description>
+		</method>
 		<method name="apply_central_impulse">
 			<return type="void" />
 			<argument index="0" name="impulse" type="Vector3" />
@@ -44,6 +51,9 @@
 		<member name="angular_damp_mode" type="int" setter="set_angular_damp_mode" getter="get_angular_damp_mode" enum="PhysicalBone3D.DampMode" default="0">
 			Defines how [member angular_damp] is applied. See [enum DampMode] for possible values.
 		</member>
+		<member name="angular_velocity" type="Vector3" setter="set_angular_velocity" getter="get_angular_velocity" default="Vector3(0, 0, 0)">
+			The PhysicalBone3D's rotational velocity in [i]radians[/i] per second.
+		</member>
 		<member name="body_offset" type="Transform3D" setter="set_body_offset" getter="get_body_offset" default="Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0)">
 			Sets the body's transform.
 		</member>
@@ -53,6 +63,9 @@
 		<member name="can_sleep" type="bool" setter="set_can_sleep" getter="is_able_to_sleep" default="true">
 			If [code]true[/code], the body is deactivated when there is no movement, so it will not take part in the simulation until it is awakened by an external force.
 		</member>
+		<member name="custom_integrator" type="bool" setter="set_use_custom_integrator" getter="is_using_custom_integrator" default="false">
+			If [code]true[/code], internal force integration will be disabled (like gravity or air friction) for this body. Other than collision response, the body will only move as determined by the [method _integrate_forces] function, if defined.
+		</member>
 		<member name="friction" type="float" setter="set_friction" getter="get_friction" default="1.0">
 			The body's friction, from [code]0[/code] (frictionless) to [code]1[/code] (max friction).
 		</member>
@@ -75,6 +88,9 @@
 		<member name="linear_damp_mode" type="int" setter="set_linear_damp_mode" getter="get_linear_damp_mode" enum="PhysicalBone3D.DampMode" default="0">
 			Defines how [member linear_damp] is applied. See [enum DampMode] for possible values.
 		</member>
+		<member name="linear_velocity" type="Vector3" setter="set_linear_velocity" getter="get_linear_velocity" default="Vector3(0, 0, 0)">
+			The body's linear velocity in units per second. Can be used sporadically, but [b]don't set this every frame[/b], because physics may run in another thread and runs at a different granularity. Use [method _integrate_forces] as your process loop for precise control of the body state.
+		</member>
 		<member name="mass" type="float" setter="set_mass" getter="get_mass" default="1.0">
 			The body's mass.
 		</member>

scene/3d/physics_body_3d.cpp

@@ -2159,6 +2159,37 @@ void PhysicalBone3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_po
 	PhysicsServer3D::get_singleton()->body_apply_impulse(get_rid(), p_impulse, p_position);
 }
 
+void PhysicalBone3D::set_linear_velocity(const Vector3 &p_velocity) {
+	linear_velocity = p_velocity;
+	PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, linear_velocity);
+}
+
+Vector3 PhysicalBone3D::get_linear_velocity() const {
+	return linear_velocity;
+}
+
+void PhysicalBone3D::set_angular_velocity(const Vector3 &p_velocity) {
+	angular_velocity = p_velocity;
+	PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, angular_velocity);
+}
+
+Vector3 PhysicalBone3D::get_angular_velocity() const {
+	return angular_velocity;
+}
+
+void PhysicalBone3D::set_use_custom_integrator(bool p_enable) {
+	if (custom_integrator == p_enable) {
+		return;
+	}
+
+	custom_integrator = p_enable;
+	PhysicsServer3D::get_singleton()->body_set_omit_force_integration(get_rid(), p_enable);
+}
+
+bool PhysicalBone3D::is_using_custom_integrator() {
+	return custom_integrator;
+}
+
 void PhysicalBone3D::reset_physics_simulation_state() {
 	if (simulate_physics) {
 		_start_physics_simulation();
@@ -2867,6 +2898,11 @@ void PhysicalBone3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) {
 		return;
 	}
 
+	linear_velocity = p_state->get_linear_velocity();
+	angular_velocity = p_state->get_angular_velocity();
+
+	GDVIRTUAL_CALL(_integrate_forces, p_state);
+
 	/// Update bone transform.
 
 	Transform3D global_transform(p_state->get_transform());
@@ -2929,9 +2965,20 @@ void PhysicalBone3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &PhysicalBone3D::set_angular_damp);
 	ClassDB::bind_method(D_METHOD("get_angular_damp"), &PhysicalBone3D::get_angular_damp);
 
+	ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &PhysicalBone3D::set_linear_velocity);
+	ClassDB::bind_method(D_METHOD("get_linear_velocity"), &PhysicalBone3D::get_linear_velocity);
+
+	ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &PhysicalBone3D::set_angular_velocity);
+	ClassDB::bind_method(D_METHOD("get_angular_velocity"), &PhysicalBone3D::get_angular_velocity);
+
+	ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &PhysicalBone3D::set_use_custom_integrator);
+	ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &PhysicalBone3D::is_using_custom_integrator);
+
 	ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &PhysicalBone3D::set_can_sleep);
 	ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &PhysicalBone3D::is_able_to_sleep);
 
+	GDVIRTUAL_BIND(_integrate_forces, "state");
+
 	ADD_GROUP("Joint", "joint_");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "joint_type", PROPERTY_HINT_ENUM, "None,PinJoint,ConeJoint,HingeJoint,SliderJoint,6DOFJoint"), "set_joint_type", "get_joint_type");
 	ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "joint_offset"), "set_joint_offset", "get_joint_offset");
@@ -2943,10 +2990,13 @@ void PhysicalBone3D::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "friction", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_friction", "get_friction");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_bounce", "get_bounce");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-10,10,0.01"), "set_gravity_scale", "get_gravity_scale");
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "custom_integrator"), "set_use_custom_integrator", "is_using_custom_integrator");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "linear_damp_mode", PROPERTY_HINT_ENUM, "Combine,Replace"), "set_linear_damp_mode", "get_linear_damp_mode");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "linear_damp", PROPERTY_HINT_RANGE, "0,100,0.001,or_greater"), "set_linear_damp", "get_linear_damp");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "angular_damp_mode", PROPERTY_HINT_ENUM, "Combine,Replace"), "set_angular_damp_mode", "get_angular_damp_mode");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_damp", PROPERTY_HINT_RANGE, "0,100,0.001,or_greater"), "set_angular_damp", "get_angular_damp");
+	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::BOOL, "can_sleep"), "set_can_sleep", "is_able_to_sleep");
 
 	BIND_ENUM_CONSTANT(DAMP_MODE_COMBINE);

scene/3d/physics_body_3d.h

@@ -662,9 +662,13 @@ private:
 	real_t bounce = 0.0;
 	real_t mass = 1.0;
 	real_t friction = 1.0;
+	Vector3 linear_velocity;
+	Vector3 angular_velocity;
 	real_t gravity_scale = 1.0;
 	bool can_sleep = true;
 
+	bool custom_integrator = false;
+
 	DampMode linear_damp_mode = DAMP_MODE_COMBINE;
 	DampMode angular_damp_mode = DAMP_MODE_COMBINE;
 
@@ -676,6 +680,7 @@ protected:
 	bool _get(const StringName &p_name, Variant &r_ret) const;
 	void _get_property_list(List<PropertyInfo> *p_list) const;
 	void _notification(int p_what);
+	GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *)
 	static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
 	void _body_state_changed(PhysicsDirectBodyState3D *p_state);
 
@@ -691,6 +696,15 @@ private:
 public:
 	void _on_bone_parent_changed();
 
+	void set_linear_velocity(const Vector3 &p_velocity);
+	Vector3 get_linear_velocity() const override;
+
+	void set_angular_velocity(const Vector3 &p_velocity);
+	Vector3 get_angular_velocity() const override;
+
+	void set_use_custom_integrator(bool p_enable);
+	bool is_using_custom_integrator();
+
 #ifdef TOOLS_ENABLED
 	void _set_gizmo_move_joint(bool p_move_joint);
 	virtual Transform3D get_global_gizmo_transform() const override;