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
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).
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).
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.
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.
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.
Fixing by applying the movement in two steps, first the platform
movement, and then the body movement. Plus, add the platform movement
when we are on_wall.
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>
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>
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.
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).
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.
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.
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>
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 🎆
- 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.
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.
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.
- Renames PackedIntArray to PackedInt32Array.
- Renames PackedFloatArray to PackedFloat32Array.
- Adds PackedInt64Array and PackedFloat64Array.
- Renames Variant::REAL to Variant::FLOAT for consistency.
Packed arrays are for storing large amount of data and creating stuff like
meshes, buffers. textures, etc. Forcing them to be 64 is a huge waste of
memory. That said, many users requested the ability to have 64 bits packed
arrays for their games, so this is just an optional added type.
For Variant, the float datatype is always 64 bits, and exposed as `float`.
We still have `real_t` which is the datatype that can change from 32 to 64
bits depending on a compile flag (not entirely working right now, but that's
the idea). It affects math related datatypes and code only.
Neither Variant nor PackedArray make use of real_t, which is only intended
for math precision, so the term is removed from there to keep only float.
Happy new year to the wonderful Godot community!
We're starting a new decade with a well-established, non-profit, free
and open source game engine, and tons of further improvements in the
pipeline from hundreds of contributors.
Godot will keep getting better, and we're looking forward to all the
games that the community will keep developing and releasing with it.
