Update space parameters in 2D and 3D

Clarified space parameters for contacts and added missing ones.

List of changes:
-Add contact bias to space parameters
-Add solver iterations to space parameters, instead of a specific
physics server function
-Renamed BODY_MAX_ALLOWED_PENETRATION to CONTACT_MAX_ALLOWED_PENETRATION
to make it consistent with other contact parameters

2 files changed, 23 insertions, 26 deletions

diff --git a/doc/classes/PhysicsServer2D.xml b/doc/classes/PhysicsServer2D.xml
index 868b58ea9f..556e2dae85 100644
--- a/doc/classes/PhysicsServer2D.xml
+++ b/doc/classes/PhysicsServer2D.xml
@@ -711,13 +711,6 @@
 				Activates or deactivates the 2D physics engine.
 			</description>
 		</method>
-		<method name="set_collision_iterations">
-			<return type="void" />
-			<argument index="0" name="iterations" type="int" />
-			<description>
-				Sets the amount of iterations for calculating velocities of colliding bodies. The greater the amount of iterations, the more accurate the collisions will be. However, a greater amount of iterations requires more CPU power, which can decrease performance. The default value is [code]8[/code].
-			</description>
-		</method>
 		<method name="shape_get_data" qualifiers="const">
 			<return type="Variant" />
 			<argument index="0" name="shape" type="RID" />
@@ -798,21 +791,27 @@
 		<constant name="SPACE_PARAM_CONTACT_MAX_SEPARATION" value="1" enum="SpaceParameter">
 			Constant to set/get the maximum distance a shape can be from another before they are considered separated.
 		</constant>
-		<constant name="SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION" value="2" enum="SpaceParameter">
+		<constant name="SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION" value="2" enum="SpaceParameter">
 			Constant to set/get the maximum distance a shape can penetrate another shape before it is considered a collision.
 		</constant>
-		<constant name="SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD" value="3" enum="SpaceParameter">
+		<constant name="SPACE_PARAM_CONTACT_DEFAULT_BIAS" value="3" enum="SpaceParameter">
+			Constant to set/get the default solver bias for all physics contacts. A solver bias is a factor controlling how much two objects "rebound", after overlapping, to avoid leaving them in that state because of numerical imprecision.
+		</constant>
+		<constant name="SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD" value="4" enum="SpaceParameter">
 			Constant to set/get the threshold linear velocity of activity. A body marked as potentially inactive for both linear and angular velocity will be put to sleep after the time given.
 		</constant>
-		<constant name="SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD" value="4" enum="SpaceParameter">
+		<constant name="SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD" value="5" enum="SpaceParameter">
 			Constant to set/get the threshold angular velocity of activity. A body marked as potentially inactive for both linear and angular velocity will be put to sleep after the time given.
 		</constant>
-		<constant name="SPACE_PARAM_BODY_TIME_TO_SLEEP" value="5" enum="SpaceParameter">
+		<constant name="SPACE_PARAM_BODY_TIME_TO_SLEEP" value="6" enum="SpaceParameter">
 			Constant to set/get the maximum time of activity. A body marked as potentially inactive for both linear and angular velocity will be put to sleep after this time.
 		</constant>
-		<constant name="SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS" value="6" enum="SpaceParameter">
+		<constant name="SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS" value="7" enum="SpaceParameter">
 			Constant to set/get the default solver bias for all physics constraints. A solver bias is a factor controlling how much two objects "rebound", after violating a constraint, to avoid leaving them in that state because of numerical imprecision.
 		</constant>
+		<constant name="SPACE_PARAM_SOLVER_ITERATIONS" value="8" enum="SpaceParameter">
+			Constant to set/get the number of solver iterations for all contacts and constraints. The greater the amount of iterations, the more accurate the collisions will be. However, a greater amount of iterations requires more CPU power, which can decrease performance.
+		</constant>
 		<constant name="SHAPE_WORLD_BOUNDARY" value="0" enum="ShapeType">
 			This is the constant for creating world boundary shapes. A world boundary shape is an [i]infinite[/i] line with an origin point, and a normal. Thus, it can be used for front/behind checks.
 		</constant>
diff --git a/doc/classes/PhysicsServer3D.xml b/doc/classes/PhysicsServer3D.xml
index dd8003be1d..96512b104f 100644
--- a/doc/classes/PhysicsServer3D.xml
+++ b/doc/classes/PhysicsServer3D.xml
@@ -846,14 +846,6 @@
 				Activates or deactivates the 3D physics engine.
 			</description>
 		</method>
-		<method name="set_collision_iterations">
-			<return type="void" />
-			<argument index="0" name="iterations" type="int" />
-			<description>
-				Sets the amount of iterations for calculating velocities of colliding bodies. The greater the amount of iterations, the more accurate the collisions will be. However, a greater amount of iterations requires more CPU power, which can decrease performance. The default value is [code]8[/code].
-				[b]Note:[/b] Only has an effect when using the default GodotPhysics engine, not the Bullet physics engine.
-			</description>
-		</method>
 		<method name="shape_get_data" qualifiers="const">
 			<return type="Variant" />
 			<argument index="0" name="shape" type="RID" />
@@ -1343,23 +1335,29 @@
 		<constant name="SPACE_PARAM_CONTACT_MAX_SEPARATION" value="1" enum="SpaceParameter">
 			Constant to set/get the maximum distance a shape can be from another before they are considered separated.
 		</constant>
-		<constant name="SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION" value="2" enum="SpaceParameter">
+		<constant name="SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION" value="2" enum="SpaceParameter">
 			Constant to set/get the maximum distance a shape can penetrate another shape before it is considered a collision.
 		</constant>
-		<constant name="SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD" value="3" enum="SpaceParameter">
+		<constant name="SPACE_PARAM_CONTACT_DEFAULT_BIAS" value="3" enum="SpaceParameter">
+			Constant to set/get the default solver bias for all physics contacts. A solver bias is a factor controlling how much two objects "rebound", after overlapping, to avoid leaving them in that state because of numerical imprecision.
+		</constant>
+		<constant name="SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD" value="4" enum="SpaceParameter">
 			Constant to set/get the threshold linear velocity of activity. A body marked as potentially inactive for both linear and angular velocity will be put to sleep after the time given.
 		</constant>
-		<constant name="SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD" value="4" enum="SpaceParameter">
+		<constant name="SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD" value="5" enum="SpaceParameter">
 			Constant to set/get the threshold angular velocity of activity. A body marked as potentially inactive for both linear and angular velocity will be put to sleep after the time given.
 		</constant>
-		<constant name="SPACE_PARAM_BODY_TIME_TO_SLEEP" value="5" enum="SpaceParameter">
+		<constant name="SPACE_PARAM_BODY_TIME_TO_SLEEP" value="6" enum="SpaceParameter">
 			Constant to set/get the maximum time of activity. A body marked as potentially inactive for both linear and angular velocity will be put to sleep after this time.
 		</constant>
-		<constant name="SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO" value="6" enum="SpaceParameter">
+		<constant name="SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO" value="7" enum="SpaceParameter">
 		</constant>
-		<constant name="SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS" value="7" enum="SpaceParameter">
+		<constant name="SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS" value="8" enum="SpaceParameter">
 			Constant to set/get the default solver bias for all physics constraints. A solver bias is a factor controlling how much two objects "rebound", after violating a constraint, to avoid leaving them in that state because of numerical imprecision.
 		</constant>
+		<constant name="SPACE_PARAM_SOLVER_ITERATIONS" value="9" enum="SpaceParameter">
+			Constant to set/get the number of solver iterations for contacts and constraints. The greater the amount of iterations, the more accurate the collisions and constraints will be. However, a greater amount of iterations requires more CPU power, which can decrease performance.
+		</constant>
 		<constant name="BODY_AXIS_LINEAR_X" value="1" enum="BodyAxis">
 		</constant>
 		<constant name="BODY_AXIS_LINEAR_Y" value="2" enum="BodyAxis">