Commit graph

305 commits

Author SHA1 Message Date
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
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 #37547 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 #43923 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 #42167 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
Rémi Verschelde
c845e20add Revert "Allow Area2D and 3D mouse events without a collision layer"
This reverts commit 7eebb06b55.
2020-07-27 22:45:01 +02:00
Juan Linietsky
13e0385702 Properly pass safe margin on initialization.
Fixes jitter.
2020-07-14 10:19:58 -03:00
Rémi Verschelde
d0cea291d2
Merge pull request #40193 from KoBeWi/dem_pikks
Allow Area2D and 3D mouse events without collision layer
2020-07-11 00:26:56 +02:00
Marcel Admiraal
26fcf2b04c Add override keywords. 2020-07-10 13:56:54 +01:00
Tomasz Chabora
7eebb06b55 Allow Area2D and 3D mouse events without a collision layer
Co-authored-by: madmiraal <madmiraal@users.noreply.github.com>
2020-07-10 13:23:20 +02:00
Marcel Admiraal
7eb0fcdb1a Remove elements from monitored_bodies and monitored_areas as they are
processed before calling the callback, instead of after they have all
been processed, because the callbacks may readd them.
2020-07-04 10:17:57 +01:00
Rémi Verschelde
67e4082b1e
Merge pull request #37350 from aaronfranke/force-impulse
Refactor physics force and impulse code to use (force, position) order
2020-07-02 18:39:16 +02:00
Marcel Admiraal
79d3d3d17b Trigger broadphase update when changing collision layer/mask, and
check for collision layer/mask changes in 2D hash grid broadphase update.
2020-06-27 18:34:16 +01:00
Marcel Admiraal
a442526744 Test collision mask before creating constraint pair in Godot physics broadphase 2D and 3D. 2020-06-08 17:46:21 +01:00
Aaron Franke
ba27deef06
Refactor physics force and impulse code 2020-06-02 23:18:59 -04:00
Andrii Doroshenko (Xrayez)
69d5de632e Split Geometry singleton into Geometry2D and Geometry3D
Extra `_2d` suffixes are removed from 2D methods accoringly.
2020-05-27 14:28:34 +03:00
Rémi Verschelde
ca3192d18a Style: Fix unnecessary semicolons that confused clang-format 2020-05-19 11:24:58 +02:00
Rémi Verschelde
0ee0fa42e6 Style: Enforce braces around if blocks and loops
Using clang-tidy's `readability-braces-around-statements`.
https://clang.llvm.org/extra/clang-tidy/checks/readability-braces-around-statements.html
2020-05-14 21:57:34 +02:00
Rémi Verschelde
07bc4e2f96 Style: Enforce separation line between function definitions
I couldn't find a tool that enforces it, so I went the manual route:
```
find -name "thirdparty" -prune \
  -o -name "*.cpp" -o -name "*.h" -o -name "*.m" -o -name "*.mm" \
  -o -name "*.glsl" > files
perl -0777 -pi -e 's/\n}\n([^#])/\n}\n\n\1/g' $(cat files)
misc/scripts/fix_style.sh -c
```

This adds a newline after all `}` on the first column, unless they
are followed by `#` (typically `#endif`). This leads to having lots
of places with two lines between function/class definitions, but
clang-format then fixes it as we enforce max one line of separation.

This doesn't fix potential occurrences of function definitions which
are indented (e.g. for a helper class defined in a .cpp), but it's
better than nothing. Also can't be made to run easily on CI/hooks so
we'll have to be careful with new code.

Part of #33027.
2020-05-14 16:54:55 +02:00
Rémi Verschelde
0be6d925dc Style: clang-format: Disable KeepEmptyLinesAtTheStartOfBlocks
Which means that reduz' beloved style which we all became used to
will now be changed automatically to remove the first empty line.

This makes us lean closer to 1TBS (the one true brace style) instead
of hybridating it with some Allman-inspired spacing.

There's still the case of braces around single-statement blocks that
needs to be addressed (but clang-format can't help with that, but
clang-tidy may if we agree about it).

Part of #33027.
2020-05-14 16:54:55 +02:00
Rémi Verschelde
a1aaed5a84 Remove redundant void argument lists
Using clang-tidy's `modernize-redundant-void-arg`.
https://clang.llvm.org/extra/clang-tidy/checks/modernize-redundant-void-arg.html
2020-05-14 13:51:45 +02:00
Rémi Verschelde
dcd1151d77 Enforce use of bool literals instead of integers
Using clang-tidy's `modernize-use-bool-literals`.
https://clang.llvm.org/extra/clang-tidy/checks/modernize-use-bool-literals.html
2020-05-14 13:45:01 +02:00
Rémi Verschelde
1f6f364a56 Port member initialization from constructor to declaration (C++11)
Using `clang-tidy`'s `modernize-use-default-member-init` check and
manual review of the changes, and some extra manual changes that
`clang-tidy` failed to do.

Also went manually through all of `core` to find occurrences that
`clang-tidy` couldn't handle, especially all initializations done
in a constructor without using initializer lists.
2020-05-14 10:01:56 +02:00
Rémi Verschelde
94721f5ab8 Revert "Renamed plane's d to distance"
This reverts commit ec7b481170.

This was wrong, `d` is not a distance but the `d` constant in the
parametric equation `ax + by + cz = d` describing the plane.
2020-05-10 16:47:11 +02:00
Rémi Verschelde
69de7ce38c Style: clang-format: Disable AllowShortCaseLabelsOnASingleLine
Part of #33027.
2020-05-10 13:13:54 +02:00
Rémi Verschelde
e956e80c1f Style: clang-format: Disable AllowShortIfStatementsOnASingleLine
Part of #33027, also discussed in #29848.

Enforcing the use of brackets even on single line statements would be
preferred, but `clang-format` doesn't have this functionality yet.
2020-05-10 13:12:16 +02:00
Marcus Elg
ec7b481170 Renamed plane's d to distance 2020-05-10 12:12:51 +02:00
SkyJJ
0991cdc975 Correct typo mistake of profiler_add_frame_data argument in physics 3d server 2020-04-17 21:56:25 +02:00
Rémi Verschelde
e0eb9a8ae4
Merge pull request #37826 from nekomatata/direct-body-state-sleep
Fix set_sleep_state in Bullet body direct state
2020-04-14 12:53:20 +02:00
PouleyKetchoupp
30b184cb06 Fix set_sleep_state in Bullet body direct state
It was inverted, it should set the body to be active when sleep is disabled.
2020-04-14 11:39:34 +02:00
Rémi Verschelde
1846d33b5f
Merge pull request #37822 from nekomatata/rigid-body-force-pos
Fix add_force in Godot Physics RigidBody
2020-04-12 11:46:22 +02:00
PouleyKetchoupp
4a0d15f91c Fix add_force in Godot Physics RigidBody
Now takes the center of mass into account for calculating the applied
torque, like apply_impulse does.
2020-04-12 11:20:32 +02:00
WARIO-MDMA
6d5c6ffbe0 Rename "GodotPhysics" to "GodotPhysics{2D,3D}" 2020-04-09 03:13:33 +10:00
lupoDharkael
95a1400a2a Replace NULL with nullptr 2020-04-02 13:38:00 +02:00
Rémi Verschelde
f3c74afd28
Merge pull request #37436 from akien-mga/doc-node-renames
doc: Update classref with node renames
2020-03-30 20:32:11 +02:00
Rémi Verschelde
eaaee63b62 doc: Update classref with node renames
A few extra renames for classes which were missed in last week's PRs.
2020-03-30 18:23:02 +02:00
Rémi Verschelde
cd4e46ee65 SCons: Format buildsystem files with psf/black
Configured for a max line length of 120 characters.

psf/black is very opinionated and purposely doesn't leave much room for
configuration. The output is mostly OK so that should be fine for us,
but some things worth noting:

- Manually wrapped strings will be reflowed, so by using a line length
  of 120 for the sake of preserving readability for our long command
  calls, it also means that some manually wrapped strings are back on
  the same line and should be manually merged again.

- Code generators using string concatenation extensively look awful,
  since black puts each operand on a single line. We need to refactor
  these generators to use more pythonic string formatting, for which
  many options are available (`%`, `format` or f-strings).

- CI checks and a pre-commit hook will be added to ensure that future
  buildsystem changes are well-formatted.
2020-03-30 09:05:53 +02:00
Rémi Verschelde
0c320a6bf3 More server renames for consistency after #37361 2020-03-28 13:20:48 +01:00
Juan Linietsky
a6f3bc7c69 Renaming of servers for coherency.
VisualServer -> RenderingServer
PhysicsServer -> PhysicsServer3D
Physics2DServer -> PhysicsServer2D
NavigationServer -> NavigationServer3D
Navigation2DServer -> NavigationServer2D

Also renamed corresponding files.
2020-03-27 15:21:27 -03:00