Merge pull request #16751 from AndreaCatania/moreAPIs

Added Physics state APIs

modules/bullet/rigid_body_bullet.cpp

@@ -114,10 +114,18 @@ Transform BulletPhysicsDirectBodyState::get_transform() const {
 	return body->get_transform();
 }
 
+void BulletPhysicsDirectBodyState::add_central_force(const Vector3 &p_force) {
+	body->apply_central_force(p_force);
+}
+
 void BulletPhysicsDirectBodyState::add_force(const Vector3 &p_force, const Vector3 &p_pos) {
 	body->apply_force(p_force, p_pos);
 }
 
+void BulletPhysicsDirectBodyState::add_torque(const Vector3 &p_torque) {
+	body->apply_torque(p_torque);
+}
+
 void BulletPhysicsDirectBodyState::apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) {
 	body->apply_impulse(p_pos, p_j);
 }

modules/bullet/rigid_body_bullet.h

@@ -110,7 +110,9 @@ public:
 	virtual void set_transform(const Transform &p_transform);
 	virtual Transform get_transform() const;
 
+	virtual void add_central_force(const Vector3 &p_force);
 	virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos);
+	virtual void add_torque(const Vector3 &p_torque);
 	virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j);
 	virtual void apply_torque_impulse(const Vector3 &p_j);
 

servers/physics/body_sw.h

@@ -245,12 +245,21 @@ public:
 		biased_angular_velocity += _inv_inertia_tensor.xform(p_j);
 	}
 
+	_FORCE_INLINE_ void add_central_force(const Vector3 &p_force) {
+
+		applied_force += p_force;
+	}
+
 	_FORCE_INLINE_ void add_force(const Vector3 &p_force, const Vector3 &p_pos) {
 
 		applied_force += p_force;
 		applied_torque += p_pos.cross(p_force);
 	}
 
+	_FORCE_INLINE_ void add_torque(const Vector3 &p_torque) {
+		applied_torque += p_torque;
+	}
+
 	void set_active(bool p_active);
 	_FORCE_INLINE_ bool is_active() const { return active; }
 
@@ -401,7 +410,9 @@ public:
 	virtual void set_transform(const Transform &p_transform) { body->set_state(PhysicsServer::BODY_STATE_TRANSFORM, p_transform); }
 	virtual Transform get_transform() const { return body->get_transform(); }
 
+	virtual void add_central_force(const Vector3 &p_force) { body->add_central_force(p_force); }
 	virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos) { body->add_force(p_force, p_pos); }
+	virtual void add_torque(const Vector3 &p_torque) { body->add_torque(p_torque); }
 	virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) { body->apply_impulse(p_pos, p_j); }
 	virtual void apply_torque_impulse(const Vector3 &p_j) { body->apply_torque_impulse(p_j); }
 

servers/physics_server.cpp

@@ -92,7 +92,9 @@ void PhysicsDirectBodyState::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_transform", "transform"), &PhysicsDirectBodyState::set_transform);
 	ClassDB::bind_method(D_METHOD("get_transform"), &PhysicsDirectBodyState::get_transform);
 
+	ClassDB::bind_method(D_METHOD("add_central_force", "force"), &PhysicsDirectBodyState::add_central_force);
 	ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &PhysicsDirectBodyState::add_force);
+	ClassDB::bind_method(D_METHOD("add_torque", "torque"), &PhysicsDirectBodyState::add_torque);
 	ClassDB::bind_method(D_METHOD("apply_impulse", "position", "j"), &PhysicsDirectBodyState::apply_impulse);
 	ClassDB::bind_method(D_METHOD("apply_torqe_impulse", "j"), &PhysicsDirectBodyState::apply_torque_impulse);
 

servers/physics_server.h

@@ -63,7 +63,9 @@ public:
 	virtual void set_transform(const Transform &p_transform) = 0;
 	virtual Transform get_transform() const = 0;
 
+	virtual void add_central_force(const Vector3 &p_force) = 0;
 	virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos) = 0;
+	virtual void add_torque(const Vector3 &p_torque) = 0;
 	virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) = 0;
 	virtual void apply_torque_impulse(const Vector3 &p_j) = 0;