Commit graph

305 commits

Author SHA1 Message Date
Brennen Green
37993f0c0c Add wakeup() conditional if previous gravity was 0 2021-11-22 12:03:50 -05:00
Marcel Admiraal
1d1ceca6b4 Add area to moved list when changing monitorable,
and only remove area from query when deleting pair if it was monitorable.
2021-11-20 06:57:34 +00:00
Rémi Verschelde
c6555cafa5
Merge pull request #55074 from nekomatata/fix-soft-body-gravity 2021-11-18 09:27:23 +01:00
PouleyKetchoupp
ea52c68337 Fix applied gravity on soft bodies
Regression fix, gravity was accumulated between frames after some
changes around area gravity calculation.

Also got rid of unused member and method in soft body class.
2021-11-17 17:59:26 -07:00
PouleyKetchoupp
d630269593 Fix contact generation with backface collision disabled
Replaced the previous implementation for backface collision handling (in
test_axis function from SAT algorithm) with much simpler logic in the
collision generation phase with face shapes, in order to get rid of
wrong contacts when backface collision is disabled.

Now it just ignores the generated collision if the contact normal is
against the face normal, with a threshold to keep edge contacts.

Added a special case for soft bodies to invert the collision instead of
ignoring it, because for now it's the best solution to avoid soft bodies
to go through concave shapes (they use small spheres). This might be
replaced with a better algorithm for soft bodies later.
2021-11-17 17:57:02 -07:00
PouleyKetchoupp
43ff9ad86f Fix rest_info returning no result with high margin and low motion
Apply the same logic as in test_body_motion to make sure the minimum
allowed depth doesn't filter out all contacts in this case.
2021-11-17 11:47:30 -07:00
Camille Mohr-Daurat
7d1b454b67
Merge pull request #55036 from nekomatata/bvh-fix-update
Fix physics BVH pairing for teleported or fast moving objects
2021-11-16 17:59:21 -07:00
PouleyKetchoupp
afb9e2d9b7 Fix physics BVH pairing for teleported or fast moving objects
Updating the broadphase to find new collision pairs was done after
checking for collision islands, so it was working in most cases due to
the pairing margin used in the BVH, but in case of teleported objects
the narrowphase collision could be skipped.

Now it's done before checking for collision islands, so we can ensure
that broadphase pairing has been done at the same time as objects are
marked as moved so their collision can be checked properly.

This issue didn't happen in the Octree/HashGrid because they do nothing
on update and trigger pairs directly when objects move instead.
2021-11-16 14:51:37 -07:00
Hugo Locurcio
8fb7e622a6
Rename built-in SGN() macro to SIGN()
This matches the name of the GDScript function (except it's uppercase
here).
2021-11-16 20:40:49 +01:00
Camille Mohr-Daurat
11e03ae7f0
Merge pull request #54810 from nekomatata/area-separate-override-modes
Separate space override modes for gravity/damping in Area
2021-11-11 15:11:21 -07:00
PouleyKetchoupp
c3ae7ddedd Add raycast options to hit when starting inside / hit back faces
Makes the results consistent for all shape types with options to set
the desired behavior.
2021-11-10 17:43:35 -07:00
PouleyKetchoupp
bfd0d33244 Fix errors in CharacterBody when floor is destroyed or removed
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.
2021-11-10 08:27:33 -07:00
PouleyKetchoupp
3d1c123d45 Separate space override modes for gravity/damping in Area
Also make inspector clearer for gravity point properties.
2021-11-09 10:29:24 -07:00
Camille Mohr-Daurat
c6062cd93e
Merge pull request #54134 from nekomatata/body-center-of-mass-local
Expose local center of mass in physics servers
2021-11-08 18:44:51 -07:00
PouleyKetchoupp
fc8c766ef9 Expose local center of mass in physics servers
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
2021-11-08 16:17:57 -07:00
Rémi Verschelde
e87687a6d0
Merge pull request #54486 from ibrahn/thread-work-pool-lazier 2021-11-08 13:39:39 +01:00
Brian Semrau
dc11e73bf0 Rename AABB get_area to get_volume 2021-11-05 18:22:42 -04:00
Camille Mohr-Daurat
70c82d9d3d
Merge pull request #54642 from BoilingFusion/master
Fix the volume calculation for cylinders
2021-11-05 15:08:57 -07:00
Julian Adamse
03903fdeec Fix the volume calculation for cylinders 2021-11-05 20:49:14 +01:00
PouleyKetchoupp
acbd24ea84 Use parameter classes instead of arguments for all physics queries
Same as what is already done for shape queries, applied to point and ray
queries. Easier to document and more flexible to add more parameters.

Also expose intersect_point method to script in 3D.
Remove intersect_point_on_canvas in 2D, replaced with a parameter.
2021-11-04 11:44:39 -07:00
rafallus
770e3a8e51 Use Callable in Area monitor callback 2021-11-01 21:53:17 -06:00
Ibrahn Sahir
151d2e34ca ThreadWorkPool no longer starts worker threads if given zero work. 2021-11-01 19:19:25 +00:00
Camille Mohr-Daurat
a57de3b818
Merge pull request #37880 from nekomatata/rigid-body-damping-override
Improved RigidDynamicBody linear/angular damping override
2021-11-01 11:24:01 -07:00
Rémi Verschelde
3a6be64c12
clang-format: Various fixes to comments alignment from clang-format 13
All reviewed manually and occasionally rewritten to avoid bad auto formatting.
2021-10-28 15:43:36 +02:00
Rémi Verschelde
3b11e33a09
clang-format: Disable alignment of operands, too unreliable
Sets `AlignOperands` to `DontAlign`.

`clang-format` developers seem to mostly care about space-based indentation and
every other version of clang-format breaks the bad mismatch of tabs and spaces
that it seems to use for operand alignment. So it's better without, so that it
respects our two-tabs `ContinuationIndentWidth`.
2021-10-28 15:19:35 +02:00
PouleyKetchoupp
daf7dcac7a Improved RigidDynamicBody linear/angular damping override
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).
2021-10-25 18:22:12 -07:00
reduz
d03b7fbe09 Refactored Node3D rotation modes
* Made the Basis euler orders indexed via enum.
* Node3D has a new rotation_order property to choose Euler rotation order.
* Node3D has also a rotation_mode property to choose between Euler, Quaternion and Basis

Exposing these modes as well as the order makes Godot a lot friendlier for animators, which can choose the best way to interpolate rotations.
The new *Basis* mode makes the (exposed) transform property obsolete, so it was removed (can still be accessed by code of course).
2021-10-25 14:34:00 -03:00
PouleyKetchoupp
d804c34285 Fix RigidDynamicBody collision update after changing collision layer/mask
Changing the collision layer of a sleeping body was not triggering area
updates correctly.

Bodies need to be active for collision to be checked against already
overlapping bodies and areas.

Neighbors need to be activated too in order to handle the case where a
static body is modified (it can't be activated directly but paired
bodies need to check their collision again).

In 3D, moved the call to wakeup() from the physics server to
GodotBody3D::_shapes_changed to make it consistent with 2D and also
handle the case where shapes are modified (_shapes_changed is called in
both this case and collision layer changes).
2021-10-21 17:36:58 -07:00
PouleyKetchoupp
e6f7235ffb Fix SoftDynamicBody3D crash when setting disable mode
Proper logic for changing physics state when disabled and disabled mode
is changed (it was unnecessarily making calls to re-initialize physics).

Extra error handling in soft body implementations to avoid crashes with
invalid mesh.
2021-10-21 08:56:12 -07:00
PouleyKetchoupp
c1577e5a3f Fix 2D center of mass not updated from transform
Same logic as what was done in 3D, applied to 2D center of mass.

Also did some minor cleanup in 3D and fixed center of mass transform
during the first frame after teleporting a dynamic body.
2021-10-19 16:22:30 -07:00
PouleyKetchoupp
cc39dca9f7 Rename Godot Physics classes from *SW to Godot*
Also moved MT physics server wrappers to the main servers folder, since
they don't have to be implementation specific.
2021-10-18 17:01:10 -07:00
mennomax
b4eeeb315a
Swap args of Plane(point, normal) constructor
Now (normal, point)
2021-10-15 20:49:42 -05:00
Rémi Verschelde
6637207c70
Merge pull request #53420 from nekomatata/fix-tilemap-moving-platform 2021-10-05 10:50:56 +02:00
Camille Mohr-Daurat
4778770d3c
Merge pull request #53365 from danger-dan/wakeup_fix
Use wakeup() function to wake sleeping bodies on impulse, force and velocities. Fix for PR #52967
2021-10-04 18:03:35 -07:00
Daniel
243f235300 Changed from directly waking bodies to using the wakeup() functions in direct body state changes (forces, impulses and veloicities). this 'bug' was introduced in PR #52967
added wakeup to 2d direct body
2021-10-05 13:17:05 +13:00
PouleyKetchoupp
4f8d761be6 Fix physics glitch with TileMap moving platforms
Added a parameter in test_body_motion to exclude attached objects from
collision, used to avoid collision with all TileMap tiles with moving
platform motion instead of just the one tile the character touches.

Same changes made in 3D for consistency, and handling potential similar
cases.
2021-10-04 12:27:42 -07:00
Rémi Verschelde
5b270278c8
Merge pull request #53280 from nekomatata/test-body-motion-parameters 2021-10-04 21:05:38 +02:00
PouleyKetchoupp
3ae5687d48 Script interface improvements for test body motion
-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)
2021-10-04 10:49:10 -07:00
PouleyKetchoupp
f9702cc8d0 Fix crashes with pinned vertices in GodotPhysics Soft Body 2021-10-04 08:45:27 -07:00
Haoyu Qiu
f3816898fa Fix crash when pinned SoftBody point is out of range 2021-10-04 16:42:53 +08:00
PouleyKetchoupp
b8eeb34b4e Remove scene code in physics servers
Replaced Mesh with mesh RID in Godot Physics 3D and Bullet.
2021-10-01 08:42:47 -07:00
Lightning_A
c63b18507d Use range iterators for Map 2021-09-30 15:09:12 -06:00
PouleyKetchoupp
d0ec46be68 Remove shape metadata from 2D physics server
Shape metadata was only used to get tile information when colliding with
tilemaps. It's not needed anymore since there's an API in tilemap using
body ids instead.
2021-09-30 10:45:36 -07:00
Hugo Locurcio
ba65730cbf
Rename RID's getornull() to get_or_null() 2021-09-29 23:58:02 +02:00
Haoyu Qiu
9dd0d3f550 Don't memcpy to nullptr even if length is zero 2021-09-29 20:58:14 +08:00
Camille Mohr-Daurat
341b532d5e
Merge pull request #52754 from nekomatata/dynamic-body-modes
Clarify RigidDynamicBody modes
2021-09-28 17:11:17 -07:00
Rémi Verschelde
60988a06c2
Merge pull request #52953 from nekomatata/fix-collision-recovery-depth 2021-09-28 12:11:38 +02:00
PouleyKetchoupp
bf523a2b2a Improved logic for CharacterBody collision recovery depth
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
2021-09-27 15:31:41 -07:00
Daniel
e8efe621d5 Added set_active(true) to all body direct state force apply/impulses. #52915 2021-09-24 17:22:51 +12:00
fabriceci
fd9e573ba6 Port 2D improvement to move and slide 3D
Co-authored-by: Camille Mohr-Daurat <pouleyketchoup@gmail.com>
2021-09-22 00:14:04 +02:00
Anilforextra
90908cd67d Add Get Center Method for Rect2/Rect2i and AABB. 2021-09-21 21:14:17 +05:45
Aaron Franke
bf0213470c
Replace Vector3.to_diagonal_matrix with Basis.from_scale 2021-09-17 10:30:30 -05:00
PouleyKetchoupp
ed1ba5093f Clarify RigidDynamicBody modes
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.
2021-09-16 16:03:48 -07:00
Camille Mohr-Daurat
062cff373a
Merge pull request #52668 from qarmin/cppcheck_servers_physics
Initialize variables in servers/physics
2021-09-16 09:06:03 -07:00
Camille Mohr-Daurat
1852afb6b0
Merge pull request #52679 from nekomatata/world-boundary-shape
Rename WorldMarginShape to WorldBoundaryShape
2021-09-15 16:02:40 -07:00
qarmin
91257c3900 Initialize variables in servers/physics 2021-09-15 19:41:32 +02:00
PouleyKetchoupp
bb75aec8bc Rename WorldMarginShape to WorldBoundaryShape 2021-09-14 11:16:31 -07:00
Aaron Franke
3a902c66c4
Revert some URLs from the "Replace HTTP URLs with HTTPS" PR 2021-09-13 15:18:35 -05:00
PouleyKetchoupp
8d56354f7c Optimize raycast with large Heightmap shape data
Port raycast accelerator from Bullet's btHeightfieldTerrainShape.
2021-09-06 16:01:44 -07:00
PouleyKetchoupp
82ea2a7045 Proper support for custom mass properties in 2D/3D physics bodies
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
2021-09-06 10:20:16 -07:00
Camille Mohr-Daurat
e1ae2708ee
Merge pull request #52271 from nekomatata/query-layer-default-mask
Harmonize default value for collision mask in ray/shape queries
2021-09-06 09:33:18 -07:00
PouleyKetchoupp
83baecdff0 Add AnimatableBody inherited from StaticBody for moving platforms
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.
2021-08-31 18:14:32 -07:00
Juan Linietsky
7946066577
Merge pull request #49471 from nekomatata/body-state-sync-callback
Clean physics direct body state usage in 2D and 3D physics
2021-08-31 14:30:17 -03:00
PouleyKetchoupp
26bd432707 Harmonize default value for collision mask in ray/shape queries
The default mask for queries was 0, 0x7FFFFFFF or 0xFFFFFFFF depending
on the cases.

Now always using 0xFFFFFFFF (in the form of UINT32_MAX to make it clear)
in order to use all layers by default.
2021-08-30 16:42:49 -07:00
Fabio Alessandrelli
dcf2d09231
Merge pull request #52070 from nekomatata/area-point-gravity-fix
Fix point gravity calculation
2021-08-28 05:10:15 +02:00
PouleyKetchoupp
cc43c2ea16 Optimize area detection and intersect_shape queries with concave shapes
Whenever contact points are not needed, collision checks with concave
shapes (triangle mesh and heightmap) stop at the first colliding
triangle.
2021-08-27 09:53:40 -07:00
Camille Mohr-Daurat
ca4f20529c
Merge pull request #51896 from nekomatata/restore-ray-shape
Refactor RayShape and rename to SeparationRayShape
2021-08-27 08:49:49 -07:00
Camille Mohr-Daurat
f89adbf112
Merge pull request #51801 from nekomatata/area-one-directional-layer-check
One-directional layer check for Area vs. RigidBody/SoftBody/Area
2021-08-26 07:59:06 -07:00
PouleyKetchoupp
6a9ed72185 Clean physics direct body state usage in 2D and 3D physics
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.
2021-08-25 08:57:42 -07:00
PouleyKetchoupp
3d5dc80348 Rename RayShape to SeparationRayShape
Makes it clearer that it's used for special cases when picking a
collision shape.
2021-08-24 17:34:55 -07:00
PouleyKetchoupp
aa4791735d Rename slips_on_slope to slide_on_slope
Also added some precision to the documentation.
2021-08-24 17:34:55 -07:00
PouleyKetchoupp
d9720d4395 Fix CharacterBody motion with RayShape
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).
2021-08-24 17:34:55 -07:00
PouleyKetchoupp
829fb4fba1 Fix RayShape collision detection
One-way collision is disabled for both rigid bodies and character
bodies.

Kinematic margin is now applied to ray shapes to help getting consistent
results in slopes and flat surfaces.

Convex shapes don't return inverted normals when a segment test starts
inside (raycasting will be made consistent in a separate patch).

Ray shapes also discard contacts when fully contained inside a shape
and when the contact direction is inverted, so the behavior is
consistent with all shape types. Now they always separate only when
intersecting the top of a shape (for downward rays).
2021-08-24 16:03:05 -07:00
PouleyKetchoupp
45c7af9862 Restore RayShape as a regular shape type
Partial revert from previously removing ray shapes completely, added
back as a shape type but without the specific character controller code.
2021-08-24 16:03:05 -07:00
PouleyKetchoupp
9c9e528e3e Fix point gravity calculation
Removing the + 1 in point gravity formula when using distance scale to
make it more accurate for standard gravitation.

Fixes precession in orbits for games using gravitation.

Also moved gravity calculation to area to use it for both rigid bodies
and soft bodies in 3D (same change in 2D for consistency).

Co-authored-by: Ryan Peach <ryan.peach@keysight.com>
2021-08-24 09:32:28 -07:00
Camille Mohr-Daurat
770a1d00a3
Merge pull request #51751 from jeffrey-cochran/windforce
Created an area-specific wind force that interacts with soft bodies
2021-08-23 16:48:19 -07:00
Jeffrey Cochran
e806397196 Enabled area-specific wind forces 2021-08-23 17:00:50 -04:00
Aaron Franke
ae1702bee5
Replace HTTP links with HTTPS for sites with HTTPS versions 2021-08-22 20:13:11 -05:00
PouleyKetchoupp
dafb6edacf Fix compilation warnings in Shape2DSW/Shape3DSW 2021-08-19 16:19:49 -07:00
PouleyKetchoupp
d034c1b0fa One-directional layer check for Area vs. RigidBody/SoftBody/Area
Same thing that was already done for rigid body and character body
collision detection.
2021-08-17 09:32:00 -07:00
LoipesMas
4e6e25eae7 Epsilon check for angular velocity in Body3DSW 2021-08-16 20:05:48 +02:00
Rémi Verschelde
43440228db
Merge pull request #51645 from fabriceci/improve-physics-api
API improvement on the physics (CharacterBody and related classes)
2021-08-16 17:05:08 +02:00
Jeffrey Cochran
14640fb6c5 Enabled softbody-area collision (intersection) and enabled area-specific gravity for soft bodies. 2021-08-15 23:01:33 -04:00
fabriceci
d776b6c154 API improvement on physics, mainly CharacterBody
Changes:

- Rename few methods/property and group them in the editor when it's possible
- Make MotionResult API consistency with KinematicCollision
- Return a boolean in move_and_slide if there was a collision
- New methods:
  - get_floor_angle on CharacterBody to get the floor angle.
  - get_angle on KinematicCollision to get the collision angle.
  - get_last_slide_collision to quickly get the latest collision of move_and_slide.
2021-08-15 12:53:29 +02:00
PouleyKetchoupp
f9176a39ce Make radius & height in CapsuleShape3D independent
Also changed CapsuleMesh to make settings consistent between render and
physics.
2021-08-11 14:54:53 -07:00
PouleyKetchoupp
4da3a87f7d Remove infinite inertia and ray shapes from CharacterBody
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.
2021-08-10 12:10:26 -07:00
Rémi Verschelde
50d5569ad4
Merge pull request #51457 from nekomatata/moving-platforms-3d
Fix 3D moving platform logic
2021-08-10 14:12:01 +02:00
PouleyKetchoupp
ec9fed69f4 Fix 3D moving platform logic
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>
2021-08-09 20:21:04 -07:00
Aaron Franke
430ad75963
Some work on double support 2021-08-09 17:43:48 -05:00
Rémi Verschelde
2de5d2361a
Merge pull request #51446 from nekomatata/fix-moving-platform-rotation
Fix applied rotation from moving platforms in move_and_slide
2021-08-09 23:20:44 +02:00
PouleyKetchoupp
5650c83e4b Fix applied rotation from moving platforms in move_and_slide
When synchronizing CharacterBody motion with moving the platform using
direct body state, only the linear velocity was taken into account.

This change exposes velocity at local point in direct body state and
uses it in move_and_slide to get the proper velocity that includes
rotations.
2021-08-09 12:30:17 -07:00
lawnjelly
dd0f54a368 Fix Transform::xform(Plane) functions
The Transform::xform and xform_inv are made safe for Planes when using non-uniform scaling.
Optimization of calling sites to prevent loss of performance from the changes to xform(Plane).
2021-08-07 11:10:50 +01:00
Rémi Verschelde
6acbcf7a86
Merge pull request #50625 from nekomatata/body-one-direction-layers
One-directional collision layer check for rigid bodies and soft bodies
2021-07-31 22:12:46 +02:00
luz paz
3564c16cb8
Fix various typos with codespell
Found via `codespell -q 3 -S ./thirdparty,*.po,./DONORS.md -L ackward,ang,ans,ba,beng,cas,childs,childrens,dof,doubleclick,fave,findn,hist,inout,leapyear,lod,nd,numer,ois,ony,paket,seeked,sinc,switchs,te,uint`
2021-07-25 11:21:51 +02:00
Rémi Verschelde
2273f13fbe
Merge pull request #50686 from Calinou/use-standard-inf-nan-constants
Use the standard C `INFINITY` and `NAN` constants directly
2021-07-21 11:50:26 +02:00
Hugo Locurcio
4bd5e4fd9b
Use the standard C INFINITY and NAN constants directly
The `Math_INF` and `Math_NAN` defines were just aliases for those
constants, so we might as well use them directly.

Some portions of the code were already using `INFINITY` directly.
2021-07-21 10:41:08 +02:00
Aaron Franke
78b0a7da03
Use is_equal_approx in more places 2021-07-21 00:32:37 -04:00
PouleyKetchoupp
940838c174 One-directional collision layer check for rigid bodies and soft bodies
Check for each body individually if it collides with the other one or
ignores it.

When a body is being ignored, the other body's mass is considered
infinite when applying impulses to avoid extra overlapping.
2021-07-19 17:24:04 -07:00
Marcel Admiraal
b8fe576355 Ensure KinematicBodies only interact with other Bodies with matching mask. 2021-07-19 17:03:43 +01:00
Rémi Verschelde
96a69899d0
Merge pull request #50255 from Calinou/physicsserver3d-add-set-iterations
Add a method to set the number of physics solver iterations in 3D
2021-07-14 07:56:24 +02:00
Rémi Verschelde
bc6ea71771
Merge pull request #50063 from nekomatata/more-accurate-move-and-slide
Make move_and_slide collision detection more accurate
2021-07-13 20:41:09 +02:00
Hugo Locurcio
f0a145bbf5
Add a method to set the number of physics solver iterations in 3D
This is only for GodotPhysics, and adds a 3D counterpart to the 2D
method that was recently added.
2021-07-10 16:28:34 +02:00
PouleyKetchoupp
72087b8158 Fix concave collision with backface collision disabled
Disabled backface collision is only applied on face separation axes,
because applying it also on edges and vertices was causing some contacts
to be wrongly disabled and contact points to be off.
2021-07-06 18:53:29 -07:00
PouleyKetchoupp
cf1ddfdb90 Make move_and_slide collision detection more accurate
More accurate unsafe motion calculation
* Safe and unsafe motion are calculated by dichotomy with a limited
number of steps. It's good for performance, but on long motions that
either collide near the beginning or near the end, the result can be
very imprecise.
* Now a factor 0.25 or 0.75 is used to converge faster when this case
happens, which allows longer motions to get more accurate collision
detection.
* Makes snap collision more precise, and helps with cases where diagonal collision on the border of a platform can lead to the character being stuck.

Additional improvements to move_and_slide:
* Handle slide canceling in move_and_collide with 0 velocity instead of
not applying it.
* Better handling of snap with custom logic to cancel sliding.
* Remove small jittering when using stop on slope, by canceling the
motion completely when the resulting motion is less than margin instead
of always projecting to the up direction (in both body motion and snap).

Co-authored-by: fabriceci <fabricecipolla@gmail.com>
2021-07-01 15:15:42 -07:00
Rémi Verschelde
24c6ee9f56
Merge pull request #49844 from nekomatata/physics-disabled-shapes
Fix and clean disabled shapes handling in godot physics servers
2021-06-30 10:08:52 +02:00
PouleyKetchoupp
9758a75221 Fix move_and_collide causing sliding on slopes
Make sure the direction of the motion is preserved, unless the depth is
higher than the margin, which means the body needs depenetration in any
direction.

Also changed move_and_slide to avoid sliding on the first motion, in
order to avoid issues with unstable position on ground when jumping.

Co-authored-by: fabriceci <fabricecipolla@gmail.com>
2021-06-28 17:17:52 -07:00
PouleyKetchoupp
a65cdca894 Fix and clean disabled shapes handling in godot physics servers
In 3D, disabled shapes are now not added to the broadphase anymore.
Since they are removed right away when disabled, no need to check for
disabled shapes for any query that comes from the broadphase.
Also Fixes raycast queries returning disabled shapes.

In 2D, disabled shapes where already not added to the broadphase.
Remove the same unnecessary checks as in 3D.

Overall harmonized API for disabled shapes in the physics servers and
removed duplicate method.
2021-06-22 16:51:47 -07:00
Rémi Verschelde
9aedc020c3
Merge pull request #42636 from madmiraal/fix-infinite-inertia 2021-06-11 13:00:31 +02:00
reduz
c66b2651a6 Refactor CommandQueueMT
* RingBuffer had no reason to be in this context
* A single buffer is used that can grow as much as the game needs.

This should make thread loading entirely reliable.
2021-06-09 13:10:49 -03:00
Rémi Verschelde
c1c76850cb
Style: Cleanup uses of double spaces between words
Or after punctuation. Tried to leave third-party stuff alone, unless it has
been heavily modified for Godot.
2021-06-07 11:03:08 +02:00
Rémi Verschelde
6f7d45d210
Merge pull request #45364 from madmiraal/rename-quat
Rename Quat to Quaternion
2021-06-05 13:32:08 +02:00
PouleyKetchoupp
b2bd9f4e51 Safe margin cleanup
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.
2021-06-04 11:40:36 -07:00
PouleyKetchoupp
ee4b756a51 More explanatory names for RigidBody modes
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).
2021-06-04 11:40:36 -07:00
Marcel Admiraal
8acd13a456 Rename Quat to Quaternion 2021-06-04 18:14:32 +01:00
Aaron Franke
a3c29ed899
Rename files and the exposed name for Transform3D 2021-06-03 07:30:01 -04:00
Aaron Franke
de3f6699a5
Rename Transform to Transform3D in core 2021-06-03 07:30:01 -04:00
Arkadiusz Marcin Kołek
e347baddf3 Avoid division by zero when calculating inertias for bodies with colliders without areas. 2021-05-29 14:11:59 +02:00
Morris Tabor
d1bc88d426 Replace QuickHull with Bullet's convex hull computer.
The code is based on the current version of thirdparty/vhacd and modified to use Godot's types and code style.

Additional changes:
- extended PagedAllocator to allow leaked objects
- applied patch from https://github.com/bulletphysics/bullet3/pull/3037
2021-05-22 22:35:42 +02:00
Rémi Verschelde
4219a4cb6f
Fix typos with codespell
Using codespell 2.0.0.

Method:
```
$ cat > ../godot-word-whitelist.txt << EOF
ang
curvelinear
dof
doubleclick
fave
findn
GIRD
leapyear
lod
merchantibility
nd
numer
ois
ony
que
seeked
synching
te
uint
unselect
webp
EOF

$ codespell -w -q 3 -I ../godot-word-whitelist.txt --skip="./thirdparty,*.po"
$ git diff // undo unwanted changes
```
2021-05-20 12:38:56 +02:00
PouleyKetchoupp
3877ed73d0 Dynamic BVH broadphase in 2D & 3D Godot Physics
Port lawnjelly's dynamic BVH implementation from 3.x to be used in
both 2D and 3D broadphases.

Removed alternative broadphase implementations which are not meant to be
used anymore since they are much slower.

Includes changes in Rect2, Vector2, Vector3 that help with the template
implementation of the dynamic BVH by uniformizing the interface between
2D and 3D math.

Co-authored-by: lawnjelly <lawnjelly@gmail.com>
2021-05-10 16:28:55 -07:00
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 #47347 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 #47846 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 #44695 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 #46917 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 #47130 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 #46937 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 #47029.
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 #47067 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 #46738 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
Marcel Admiraal
b8aabe483e Apply infinite inertia checks to Godot physics 3D 2021-03-06 11:01:42 +00:00
Rémi Verschelde
5885381373
Merge pull request #46581 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 #45863 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