Clarified space parameters for contacts and added missing ones.
List of changes:
-Add contact bias to space parameters
-Add solver iterations to space parameters, instead of a specific
physics server function
-Renamed BODY_MAX_ALLOWED_PENETRATION to CONTACT_MAX_ALLOWED_PENETRATION
to make it consistent with other contact parameters
In all physics servers, body_get_direct_state() now silently returns
nullptr when the body has been already freed or is removed from space,
so the client code can detect this state and invalidate the body rid.
In 2D, there is no change in behavior (just no more errors).
In 3D, the Bullet server returned a valid direct body state when the
body was removed from the physics space, but in this case it didn't
make sense to use the information from the body state.
Center of mass in body's local space is more useful than the transformed
one in some cases, like drawing its position for debug.
It's especially useful to get the generated local center of mass when
in auto mode (by default).
Physics Server BODY_PARAM_CENTER_OF_MASS:
Now always returns the local center of mass, instead of setting a local
center of mass and getting a transformed one.
This causes compatibility breaking, but it makes more sense for the
parameter to be consistent between getter and setter.
Direct Body State:
There are now two properties, because both of them can be useful in
different situations.
center_of_mass: relative position in global coordinates (same as before)
center_of_mass_local: position in local coordinates
Damping values are now non-negative.
Add new properties linear_damp_mode and angular_damp_mode to set the way
RigidDynamicBody and PhysicalBone (2D & 3D) use damping values.
It can now be Combine (default) to add to the default/areas, or Replace
to override the value completely (current behavior).
-Physics servers test body motion use a class to hold parameters instead
of multiple arguments to make it more readable and flexible since there
are many options
-Improved documentation for test body motion and kinematic collision
-Removed read-only properties for body motion results (not handled in
scripts, so they should be get_ methods only instead)
Allows 2D character controller to work without applying gravity when
touching the ground (also more safely in 3D), and collision detection
is more flexible with different safe margin values.
Character body motion changes in 2D and 3D:
-Recovery only for depth > min contact depth to help with collision
detection consistency (rest info could be lost if recovery was too much)
-Adaptive min contact depth (based on margin) instead of space parameter
Extra CharacterBody changes:
-2D: apply changes made in 3D for stop on slope and floor snap that help
fixing some jittering cases
-3D: fix minor inconsistencies in stop on slope and floor snap logic
RigidDynamicBody modes are replaced with several properties to make their
usage clearer:
-lock_rotation: disable body's rotation (instead of MODE_LOCKED)
-freeze: no gravity or forces (instead of MODE_STATIC and MODE_KINEMATIC)
-freeze_mode: Static (can be only teleported) or Kinematic (can be animated)
Also renamed MODE_DYNAMIC_LOCKED to MODE_DYNAMIC_LINEAR in the physics
servers.
Changes:
-Added support for custom inertia and center of mass in 3D
-Added support for custom center of mass in 2D
-Calculated center of mass from shapes in 2D (same as in 3D)
-Fixed mass properties calculation with disabled shapes in 2D/3D
-Removed first_integration which is not used in 2D and doesn't seem to
make a lot of sense (prevents omit_force_integration to work during the
first frame)
-Support for custom inertia on different axes for RigidBody3D
Instead of having a physics node named Static that can be either Static
or Kinematic, AnimatableBody is added again as a separate node:
-Inherited from StaticBody to make its usage clearer
-Still separated from CharacterBody to make its usage more focused
Properly implemented constant velocity for kinematic bodies in godot
physics servers (induced velocity without actually moving).
Also updated description for the different physics nodes to make their
usage clearer.
Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers.
Remove usage of PhysicsDirectBodyState in physics nodes when not
necessary.
Store PhysicsDirectBodyState for bodies individually instead of a
singleton to avoid issues when accessing direct body state for multiple
bodies.
PhysicsDirectBodyState is initialized only when needed, so it doesn't
have to be created when using the physics server directly.
Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate
cpp files.
Make separation ray shapes work properly in move_and_slide, wihtout the
specific code in CharacterBody like before.
Now most of the logic is handled inside the physics server. The only
thing that's needed is to use ray shapes only for recovery and ignore
them when performing the motion itself (unless we're snapping or slips
on slope is on).
Infinite inertia:
Not needed anymore, since it's now possible to set one-directional
collision layers in order for characters to ignore rigid bodies, while
rigid bodies still collide with characters.
Ray shapes:
They were introduced as a work around to allow constant speed on slopes,
which is now possible with the new property in CharacterBody instead.
Same thing that was already done in 2D, applies moving platform motion
by using a call to move_and_collide that excludes the platform itself,
instead of making it part of the body motion.
Helps with handling walls and slopes correctly when the character walks
on the moving platform.
Also made some minor adjustments to the 2D version and documentation.
Co-authored-by: fabriceci <fabricecipolla@gmail.com>
For the time being we don't support writing a description for those, preferring
having all details in the method's description.
Using self-closing tags saves half the lines, and prevents contributors from
thinking that they should write the argument or return documentation there.
Safe margin property on CharacterBody only, used as argument in
move_and_collide.
Removed kinematic_safe_margin in 3D physics server, not really useful
and now harmonized with 2D.
MODE_DYNAMIC instead of MODE_RIGID
MODE_DYNAMIC_LOCKED instead of MODE_CHARACTER
No more special case for sleeping behavior for MODE_DYNAMIC_LOCKED
(MODE_CHARACTER was forcing the body not to sleep, which is redundant
with can_sleep and wasn't done in Bullet).
