Commit graph

84 commits

Author SHA1 Message Date
PouleyKetchoupp
448c41a3e4 Godot Physics collisions and solver processed on threads
Use ThreadWorkPool to process physics step tasks in multiple threads. Collisions are all processed in parallel and solving impulses is
processed in parallel for rigid body islands.

Additional changes:
- Proper islands for soft bodies linked to active bodies
- All moving areas are on separate islands (can be parallelized)
- Fix inconsistencies with body islands (Kinematic bodies could link
bodies together or not depending on the processing order)
- Completely prevent static bodies to be active (it could cause islands
to be wrongly created and cause dangerous multi-threading operations as
well as inconsistencies in created islands)
- Apply impulses only on dynamic bodies to avoid unsafe multi-threaded
operations (static bodies can be on multiple islands)
- Removed inverted iterations when populating body islands, it's now
faster in regular order (maybe after fixing inconsistencies)
2021-04-26 18:26:00 -07:00
rafallus
cfa06f0f76 Unexpose _direct_state_changed in PhysicsBody
Removed _direct_state_changed bindings
Affects 2D and 3D nodes
Callbacks now use Callable
Tests were changed accordingly
2021-04-22 23:20:58 -05:00
Rémi Verschelde
fdf041a466
Merge pull request from nekomatata/heightmap-support
Heightmap collision shape support in Godot Physics
2021-04-20 17:40:28 +02:00
PouleyKetchoupp
60ae264db1 Fix errors related to joints setup with two non-dynamic bodies 2021-04-15 17:37:45 -07:00
Rémi Verschelde
9e0f87359b
Merge pull request from nekomatata/solver-optimization
Godot Physics solver optimization
2021-04-14 18:04:30 +02:00
PouleyKetchoupp
b65d6b56fb Godot Physics solver optimization
Several optimizations in the way solver islands are processed in both
2D and 3D physics:
- Use LocalVector instead of linked list to avoid cache misses (with
persistent storage based on worst case scenario)
- Remove pairs when setup fails (no valid contact) to avoid unnecessary
solving of non-colliding rigid bodies just to return immediately
2021-04-12 18:59:49 -07:00
PouleyKetchoupp
70aa39d127 Fix SoftBody contact impulses applied on rigid bodies
Parameters were inverted in `apply_impulse` and `apply_bias_impulse` due
to a modification on master.
2021-04-12 17:38:14 -07:00
Marcel Admiraal
6544f8422f Ensure ConvexPolygonShape3D support count variable is initialised 2021-04-06 16:46:15 +01:00
Rémi Verschelde
d83761ba80
Style: Apply clang-tidy's readability-braces-around-statements 2021-04-05 14:09:59 +02:00
Rémi Verschelde
9bbe51dc27
Style: Apply clang-tidy's modernize-use-nullptr 2021-04-05 14:05:07 +02:00
Rémi Verschelde
2bd89ac249
Merge pull request from madmiraal/fix-44632
Remove all elements from monitored_bodies and monitored_areas when processed
2021-03-26 16:34:02 +01:00
PouleyKetchoupp
c8dd3c7d80 Heightmap collision shape support in Godot Physics 2021-03-25 16:52:41 -07:00
Josh Jones
9aadd0cde7 [Godot Physics]: Correct typo in moment of inertia calculations.
The moment of inertia calculation for BoxShape is:

```
Vector3(
    (p_mass / 3.0) * (ly * ly + lz * lz), 
    (p_mass / 3.0) * (lx * lx + lz * lz), 
    (p_mass / 3.0) * (lx * lx + ly * ly));
```

where the final line includes both the x and y extents.

However, for CapsuleShape3D, CylinderShape3D, ConvexPolygonShape3D, ConcavePolygonShape3D, and HeightMapShape3D, the final line read `(p_mass / 3.0) * (extents.y * extents.y + extents.y * extents.y)`.  I believe this is a mistake, considering the comment in each case mentions using an AABB approximation, which should follow the same approach as BoxShape.

This change corrects the final line to include both the x and y components of the shape's extent.
2021-03-22 20:10:11 -07:00
Rémi Verschelde
992de9c053
Merge pull request from nekomatata/solver-kinematic-bug-fix
Fix GodotPhysics solver with kinematic body set to report contacts
2021-03-20 21:53:01 +01:00
Rémi Verschelde
900b28f6d8
Merge pull request from e344fde6bf/fix-angular-velocity-calculation
Fix kinematic angular velocity calculations
2021-03-20 21:46:02 +01:00
Rémi Verschelde
fa681d04b7
Merge pull request from nekomatata/soft-body-support
SoftBody support in GodotPhysics 3D
2021-03-20 21:45:20 +01:00
e344fde6bf
1c123aaf2b Fix some angular velocity calculations
The angular velocity estimate for kinematic bodies was calculated
incorrectly.  Also, fixes its use in some kinematic/rigid collision
calculations.

This fixes .
2021-03-20 07:21:37 +10:00
PouleyKetchoupp
7bbd545432 Disable backface collision with ConcavePolygonShape by default
Helps a lot with soft bodies and generally useful to avoid shapes to go
through the ground in certain cases.

Added an option in ConcavePolygonShape to re-enable backface collision
on specific bodies if needed.
2021-03-18 11:30:22 -07:00
PouleyKetchoupp
d5ea4acd2d SoftBody support in GodotPhysics 3D
- Fixed SoftBody surface update with new rendering system
- Added GodotPhysics implementation for SoftBody
- Added support to get SoftBody rid to interact with the physics server
- Added support to get SoftBody bounds from the physics server
- Removed support for unused get_vertex_position and get_point_offset
from the physics server
- Removed SoftBody properties that are unused in both Bullet and
GodotPhysics (angular and volume stiffness, pose matching)
- Added RenderingServerHandler interface to PhysicsServer3D so the physics servers don't need to reference the class from SoftBody node directly
2021-03-18 09:04:17 -07:00
Rémi Verschelde
af0806722f
Merge pull request from nekomatata/cylinder-fix-margins
Fix Cylinder shape collision with margins when using GJK-EPA
2021-03-17 11:05:13 +01:00
PouleyKetchoupp
380f04fa0d Fix capsule-cylinder collision in godot physics
Test specific axes before falling back to GJK-EPA algorithm to get more
accurate separation axes for common cases, the same way it's done for
cylinder-cylinder collision.
2021-03-16 19:22:59 -07:00
PouleyKetchoupp
93076ef117 Fix Cylinder shape collision with margins when using GJK-EPA
In the case of falling back to GJK-EPA algorithm to generate cylinder
contact points, margins were never taken into account.

This fixes the depenetration phase for kinematic bodies and allows
consistent floor detection for cylinder shapes.
2021-03-16 10:19:26 -07:00
PouleyKetchoupp
c5d2404a13 Fix GodotPhysics solver with kinematic body set to report contacts
In 3D, collision is disabled between kinematic/static bodies when
contacts are generated only to report them.

In 2D, this case was already fixed but the code is cleaned to make it
easier to follow.
2021-03-11 18:06:00 -07:00
Kyle
554990992a Fixes division by zero when 3d body does not have valid shape
Fixes  by setting the default inertia to a valid value when there are no valid shapes for a 3d body.
Changed the comment style for the update_inertias method as well.
2021-03-08 19:25:26 -05:00
Rémi Verschelde
5885381373
Merge pull request from Riteo/fix-capsule-shape
Change CapsuleShape3D's collision detection axis to vertical
2021-03-02 16:46:48 +01:00
Riteo Siuga
b24bba95d0 Change CapsuleShape3D's collision detection axis to vertical
This fixes an issue where its collision detection would actually work as if it had the old default orientation.
2021-03-02 08:33:44 +01:00
Eryk Dwornicki
aa42e8920b Move removal of the constraints from bodies to Joint3DSW destructor
Joint3DSW instances are also destroyed without explicitly calling free()
for example when changing constrainted bodies at runtime using
set_node method.
2021-02-27 20:52:01 +01:00
Rémi Verschelde
a930472319
Merge pull request from nekomatata/physics-queries-disabled-shapes
Fix physics queries not filtering out disabled collision shapes
2021-02-24 13:05:28 +01:00
PouleyKetchoupp
cff7a69aa0 Fix test_body_motion recovery
This change makes test_body_motion more reliable when the kinematic body
recovers from being stuck.

- When recovery occurs, the rest information is generated, in order to
make sure collision results from test_move, move_and_collide and
move_and_slide are consistent and return a collision in case of overlap.

- The new calculation for recovery vector makes sure the recovery is
never more than the overlap depth between shapes.
This can help with cases where the kinematic body overlaps with several
shapes.
Recovery is made iteratively, without forcing a full overlap at each
step. This helps with getting proper rest information when recovery
occurs.

- One Way Collision:
When attempting motion, contact direction is checked against motion
before skipping in order to solve cases where kinematic bodies can sink
into one-way collision shapes.
Rest info now sets max contact depth in order to properly handle one-way
collision.

- Low speed motion is now handled in the rest info, by never setting
min_allowed_depth lower than motion length.
Separation is always applied with full margin, otherwise contact is lost
when low speed motion occurs right after higher speed motion.

- Similar changes are applied to 3D in order to make 2D and 3D
consistent.
2021-02-17 19:02:59 -07:00
PouleyKetchoupp
6d0898bf4c Revised cylinder contact point generation
Cylinder contact points generation is adjusted to make it more stable
when standing on triangle meshes.

Point-Circle:
Switched to simpler plane projection as it's done for Point-Face contact
points. It solves some cases where discrepancies between the two points
caused the cylinder to jump.

Edge-Circle:
Same as before, the case for edge has just been moved from Face-Circle
to a specific method.

Face-Circle:
The previous method was clipping edges against the circle, and then
tried to add contact points when there wasn't enough support and failed
in some cases.
Now using a different algorithm which adds proper contact points around
the circle more consistently.
First, by clipping edges against circle segments using Face-Face
algorithm.
Second, by clipping edges against the circle plane.
2021-02-12 12:25:58 -07:00
PouleyKetchoupp
333f184734 Cylinder support in Godot Physics 3D
Cylinder collision detection uses a mix of SAT and GJKEPA.
GJKEPA is used to find the best separation axis in cases where finding
it analytically is too complex.

Changes in SAT solver:
Added support for generating separation axes for cylinder shape.
Added support for generating contact points with circle feature.

Changes in GJKEPA solver:
Updated from latest Bullet version which includes EPA fixes in some
scenarios.
Setting a lower EPA_ACCURACY to fix accuracy problems with cylinder vs.
cylinder in some cases.
2021-02-10 10:00:53 -07:00
reduz
8b19ffd810 Make Servers truly Thread Safe
-Rendering server now uses a split RID allocate/initialize internally, this allows generating RIDs immediately but initialization to happen later on the proper thread (as rendering APIs generally requiere to call on the right thread).
-RenderingServerWrapMT is no more, multithreading is done in RenderingServerDefault.
-Some functions like texture or mesh creation, when renderer supports it, can register and return immediately (so no waiting for server API to flush, and saving staging and command buffer memory).
-3D physics server changed to be made multithread friendly.
-Added PhysicsServer3DWrapMT to use 3D physics server from multiple threads.
-Disablet Bullet (too much effort to make multithread friendly, this needs to be fixed eventually).
2021-02-10 13:21:46 -03:00
PouleyKetchoupp
50501f2843 Fix physics queries not filtering out disabled collision shapes
This change allows collide_shape, intersect_shape, cast_motion and
rest_info in both 2D and 3D to ignore disabled shapes and make them
consistent with the physics simulation.

In some other cases, _cull_aabb_for_body is used and filters shapes out
internally, but whenever a physics query uses the broadphase directly
without calling _cull_aabb_for_body, disabled shapes can be returned
and need to be filtered out.
2021-02-09 19:14:17 -07:00
Rémi Verschelde
d2e1216504
Merge pull request from aaronfranke/tau
Use Math_TAU and deg2rad/etc in more places and optimize code
2021-02-01 20:55:25 +01:00
Aaron Franke
cb9fc117d1
Use real_t in physics code 2021-01-28 18:15:42 -05:00
Rémi Verschelde
011d201046
Merge pull request from madmiraal/fix-43588
Fix cast_motion sometimes failing
2021-01-14 20:44:19 +01:00
Rémi Verschelde
af878716f2
CI: Update to clang-format 11 and apply ternary operator changes 2021-01-12 19:32:53 +01:00
Aaron Franke
1d5042c9e2
Use Math_TAU and deg2rad/rad2deg in more places and optimize code 2021-01-09 03:47:14 -05:00
Marcel Admiraal
7653b8cc1e Fix multiple issues with one-way collisions
For RigidBodies, uses the collision normal determined by relative motion
to determine whether or not a one-way collision has occurred.

For KinematicBodies, performs additional checks to ensure a one-way
collision has occurred, and averages the recovery step over all collision
shapes.

Co-authored-by:    Sergej Gureev <sergej.gureev@relex.fi>
2021-01-07 09:22:39 +00:00
Rémi Verschelde
b5334d14f7
Update copyright statements to 2021
Happy new year to the wonderful Godot community!

2020 has been a tough year for most of us personally, but a good year for
Godot development nonetheless with a huge amount of work done towards Godot
4.0 and great improvements backported to the long-lived 3.2 branch.

We've had close to 400 contributors to engine code this year, authoring near
7,000 commit! (And that's only for the `master` branch and for the engine code,
there's a lot more when counting docs, demos and other first-party repos.)

Here's to a great year 2021 for all Godot users 🎆
2021-01-01 20:19:21 +01:00
Marcel Admiraal
5b937d493f Rename empty() to is_empty() 2020-12-28 10:39:56 +00:00
Marcel Admiraal
d7c3a41363 Remove all elements from monitored_bodies and monitored_areas when processed 2020-12-26 09:27:42 +00:00
Exxion
583ab9ce7a Fixes collisions in Godot 3D physics 2020-12-19 21:52:33 -05:00
Marcel Admiraal
9bc62bf449 Remove Generic6DOFJoint precision property 2020-12-15 10:14:48 +00:00
Marcel Admiraal
c013361bdc Fix inconsistent Joint3DSW copy constructor and assignment declarations 2020-12-07 16:29:58 +00:00
Marcel Admiraal
356a2b7235 Fix cast_motion sometimes failing
- Fixes Godot physics failing when the cast Shape is inside of, or
already colliding with another Shape.
- Fixes Bullet physics failing when there is no motion.
- Ensures Godot and Bullet physics behave the same.
- Updates the documentation to exclude the caveats for the failures and
differences.
2020-11-27 15:33:00 +00:00
Aaron Franke
02161aad5a
Remove empty lines around braces with the formatting script 2020-11-16 23:38:11 -05:00
Rémi Verschelde
d7176e9040
Merge pull request from madmiraal/fix-42108
Remove the unnecessary sync() and the restrictions it imposes on 3D Physics.
2020-11-16 09:32:48 +01:00
reduz
127458ed17 Reorganized core/ directory, it was too fatty already
-Removed FuncRef, since Callable makes it obsolete
-Removed int_types.h as its obsolete in c++11+
-Changed color names code
2020-11-07 20:17:12 -03:00
Marcel Admiraal
41209efa7f Remove the unnecessary sync() and the restrictions it imposes on 3D Physics. 2020-09-18 10:43:31 +01:00