Add physics solver settings to project settings

Helps with discovery and setup of physics solver settings, in a specific
project settings section for both 2D and 3D.

Other changes for cleanup:
-Removed unused space parameters in 3D
SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO
SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS
-Added custom solver bias for Shape3D (same as Shape2D)
-Improved documentation for solver settings

6 files changed, 50 insertions, 36 deletions

diff --git a/servers/physics_2d/godot_space_2d.cpp b/servers/physics_2d/godot_space_2d.cpp
index 5e6f233667..2e0379fe8a 100644
--- a/servers/physics_2d/godot_space_2d.cpp
+++ b/servers/physics_2d/godot_space_2d.cpp
@@ -1208,6 +1208,24 @@ GodotSpace2D::GodotSpace2D() {
 	body_time_to_sleep = GLOBAL_DEF("physics/2d/time_before_sleep", 0.5);
 	ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/time_before_sleep", PropertyInfo(Variant::FLOAT, "physics/2d/time_before_sleep", PROPERTY_HINT_RANGE, "0,5,0.01,or_greater"));
 
+	solver_iterations = GLOBAL_DEF("physics/2d/solver/solver_iterations", 16);
+	ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/solver/solver_iterations", PropertyInfo(Variant::INT, "physics/2d/solver/solver_iterations", PROPERTY_HINT_RANGE, "1,32,1,or_greater"));
+
+	contact_recycle_radius = GLOBAL_DEF("physics/2d/solver/contact_recycle_radius", 1.0);
+	ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/solver/contact_recycle_radius", PropertyInfo(Variant::FLOAT, "physics/2d/solver/contact_max_separation", PROPERTY_HINT_RANGE, "0,10,0.01,or_greater"));
+
+	contact_max_separation = GLOBAL_DEF("physics/2d/solver/contact_max_separation", 1.5);
+	ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/solver/contact_max_separation", PropertyInfo(Variant::FLOAT, "physics/2d/solver/contact_max_separation", PROPERTY_HINT_RANGE, "0,10,0.01,or_greater"));
+
+	contact_max_allowed_penetration = GLOBAL_DEF("physics/2d/solver/contact_max_allowed_penetration", 0.3);
+	ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/solver/contact_max_allowed_penetration", PropertyInfo(Variant::FLOAT, "physics/2d/solver/contact_max_allowed_penetration", PROPERTY_HINT_RANGE, "0,10,0.01,or_greater"));
+
+	contact_bias = GLOBAL_DEF("physics/2d/solver/default_contact_bias", 0.8);
+	ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/solver/default_contact_bias", PropertyInfo(Variant::FLOAT, "physics/2d/solver/default_contact_bias", PROPERTY_HINT_RANGE, "0,1,0.01"));
+
+	constraint_bias = GLOBAL_DEF("physics/2d/solver/default_constraint_bias", 0.2);
+	ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/solver/default_constraint_bias", PropertyInfo(Variant::FLOAT, "physics/2d/solver/default_constraint_bias", PROPERTY_HINT_RANGE, "0,1,0.01"));
+
 	broadphase = GodotBroadPhase2D::create_func();
 	broadphase->set_pair_callback(_broadphase_pair, this);
 	broadphase->set_unpair_callback(_broadphase_unpair, this);
diff --git a/servers/physics_2d/godot_space_2d.h b/servers/physics_2d/godot_space_2d.h
index c0d06706d8..e11f4c3afb 100644
--- a/servers/physics_2d/godot_space_2d.h
+++ b/servers/physics_2d/godot_space_2d.h
@@ -82,7 +82,7 @@ private:
 	GodotPhysicsDirectSpaceState2D *direct_access = nullptr;
 	RID self;
 
-	GodotBroadPhase2D *broadphase;
+	GodotBroadPhase2D *broadphase = nullptr;
 	SelfList<GodotBody2D>::List active_list;
 	SelfList<GodotBody2D>::List mass_properties_update_list;
 	SelfList<GodotBody2D>::List state_query_list;
@@ -96,13 +96,13 @@ private:
 
 	GodotArea2D *area = nullptr;
 
-	int solver_iterations = 16;
+	int solver_iterations = 0;
 
-	real_t contact_recycle_radius = 1.0;
-	real_t contact_max_separation = 1.5;
-	real_t contact_max_allowed_penetration = 0.3;
-	real_t contact_bias = 0.8;
-	real_t constraint_bias = 0.2;
+	real_t contact_recycle_radius = 0.0;
+	real_t contact_max_separation = 0.0;
+	real_t contact_max_allowed_penetration = 0.0;
+	real_t contact_bias = 0.0;
+	real_t constraint_bias = 0.0;
 
 	enum {
 		INTERSECTION_QUERY_MAX = 2048
diff --git a/servers/physics_3d/godot_space_3d.cpp b/servers/physics_3d/godot_space_3d.cpp
index b2a8b00bca..e62ae41ca0 100644
--- a/servers/physics_3d/godot_space_3d.cpp
+++ b/servers/physics_3d/godot_space_3d.cpp
@@ -1188,12 +1188,6 @@ void GodotSpace3D::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_v
 		case PhysicsServer3D::SPACE_PARAM_BODY_TIME_TO_SLEEP:
 			body_time_to_sleep = p_value;
 			break;
-		case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO:
-			body_angular_velocity_damp_ratio = p_value;
-			break;
-		case PhysicsServer3D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
-			constraint_bias = p_value;
-			break;
 		case PhysicsServer3D::SPACE_PARAM_SOLVER_ITERATIONS:
 			solver_iterations = p_value;
 			break;
@@ -1216,10 +1210,6 @@ real_t GodotSpace3D::get_param(PhysicsServer3D::SpaceParameter p_param) const {
 			return body_angular_velocity_sleep_threshold;
 		case PhysicsServer3D::SPACE_PARAM_BODY_TIME_TO_SLEEP:
 			return body_time_to_sleep;
-		case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO:
-			return body_angular_velocity_damp_ratio;
-		case PhysicsServer3D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
-			return constraint_bias;
 		case PhysicsServer3D::SPACE_PARAM_SOLVER_ITERATIONS:
 			return solver_iterations;
 	}
@@ -1247,7 +1237,21 @@ GodotSpace3D::GodotSpace3D() {
 	body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_angular", Math::deg2rad(8.0));
 	body_time_to_sleep = GLOBAL_DEF("physics/3d/time_before_sleep", 0.5);
 	ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/time_before_sleep", PropertyInfo(Variant::FLOAT, "physics/3d/time_before_sleep", PROPERTY_HINT_RANGE, "0,5,0.01,or_greater"));
-	body_angular_velocity_damp_ratio = 10;
+
+	solver_iterations = GLOBAL_DEF("physics/3d/solver/solver_iterations", 16);
+	ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/solver/solver_iterations", PropertyInfo(Variant::INT, "physics/3d/solver/solver_iterations", PROPERTY_HINT_RANGE, "1,32,1,or_greater"));
+
+	contact_recycle_radius = GLOBAL_DEF("physics/3d/solver/contact_recycle_radius", 0.01);
+	ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/solver/contact_recycle_radius", PropertyInfo(Variant::FLOAT, "physics/3d/solver/contact_max_separation", PROPERTY_HINT_RANGE, "0,0.1,0.01,or_greater"));
+
+	contact_max_separation = GLOBAL_DEF("physics/3d/solver/contact_max_separation", 0.05);
+	ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/solver/contact_max_separation", PropertyInfo(Variant::FLOAT, "physics/3d/solver/contact_max_separation", PROPERTY_HINT_RANGE, "0,0.1,0.01,or_greater"));
+
+	contact_max_allowed_penetration = GLOBAL_DEF("physics/3d/solver/contact_max_allowed_penetration", 0.01);
+	ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/solver/contact_max_allowed_penetration", PropertyInfo(Variant::FLOAT, "physics/3d/solver/contact_max_allowed_penetration", PROPERTY_HINT_RANGE, "0,0.1,0.01,or_greater"));
+
+	contact_bias = GLOBAL_DEF("physics/3d/solver/default_contact_bias", 0.8);
+	ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/solver/default_contact_bias", PropertyInfo(Variant::FLOAT, "physics/3d/solver/default_contact_bias", PROPERTY_HINT_RANGE, "0,1,0.01"));
 
 	broadphase = GodotBroadPhase3D::create_func();
 	broadphase->set_pair_callback(_broadphase_pair, this);
diff --git a/servers/physics_3d/godot_space_3d.h b/servers/physics_3d/godot_space_3d.h
index b9aeee7583..fbdb65e29c 100644
--- a/servers/physics_3d/godot_space_3d.h
+++ b/servers/physics_3d/godot_space_3d.h
@@ -75,10 +75,10 @@ public:
 private:
 	uint64_t elapsed_time[ELAPSED_TIME_MAX] = {};
 
-	GodotPhysicsDirectSpaceState3D *direct_access;
+	GodotPhysicsDirectSpaceState3D *direct_access = nullptr;
 	RID self;
 
-	GodotBroadPhase3D *broadphase;
+	GodotBroadPhase3D *broadphase = nullptr;
 	SelfList<GodotBody3D>::List active_list;
 	SelfList<GodotBody3D>::List mass_properties_update_list;
 	SelfList<GodotBody3D>::List state_query_list;
@@ -93,13 +93,12 @@ private:
 
 	GodotArea3D *area = nullptr;
 
-	int solver_iterations = 16;
+	int solver_iterations = 0;
 
-	real_t contact_recycle_radius = 0.01;
-	real_t contact_max_separation = 0.05;
-	real_t contact_max_allowed_penetration = 0.01;
-	real_t contact_bias = 0.8;
-	real_t constraint_bias = 0.01;
+	real_t contact_recycle_radius = 0.0;
+	real_t contact_max_separation = 0.0;
+	real_t contact_max_allowed_penetration = 0.0;
+	real_t contact_bias = 0.0;
 
 	enum {
 		INTERSECTION_QUERY_MAX = 2048
@@ -108,10 +107,9 @@ private:
 	GodotCollisionObject3D *intersection_query_results[INTERSECTION_QUERY_MAX];
 	int intersection_query_subindex_results[INTERSECTION_QUERY_MAX];
 
-	real_t body_linear_velocity_sleep_threshold;
-	real_t body_angular_velocity_sleep_threshold;
-	real_t body_time_to_sleep;
-	real_t body_angular_velocity_damp_ratio;
+	real_t body_linear_velocity_sleep_threshold = 0.0;
+	real_t body_angular_velocity_sleep_threshold = 0.0;
+	real_t body_time_to_sleep = 0.0;
 
 	bool locked = false;
 
@@ -167,11 +165,9 @@ public:
 	_FORCE_INLINE_ real_t get_contact_max_separation() const { return contact_max_separation; }
 	_FORCE_INLINE_ real_t get_contact_max_allowed_penetration() const { return contact_max_allowed_penetration; }
 	_FORCE_INLINE_ real_t get_contact_bias() const { return contact_bias; }
-	_FORCE_INLINE_ real_t get_constraint_bias() const { return constraint_bias; }
 	_FORCE_INLINE_ real_t get_body_linear_velocity_sleep_threshold() const { return body_linear_velocity_sleep_threshold; }
 	_FORCE_INLINE_ real_t get_body_angular_velocity_sleep_threshold() const { return body_angular_velocity_sleep_threshold; }
 	_FORCE_INLINE_ real_t get_body_time_to_sleep() const { return body_time_to_sleep; }
-	_FORCE_INLINE_ real_t get_body_angular_velocity_damp_ratio() const { return body_angular_velocity_damp_ratio; }
 
 	void update();
 	void setup();
diff --git a/servers/physics_server_3d.cpp b/servers/physics_server_3d.cpp
index 658f7daf9f..405188d8d9 100644
--- a/servers/physics_server_3d.cpp
+++ b/servers/physics_server_3d.cpp
@@ -966,8 +966,6 @@ void PhysicsServer3D::_bind_methods() {
 	BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD);
 	BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD);
 	BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_TIME_TO_SLEEP);
-	BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO);
-	BIND_ENUM_CONSTANT(SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS);
 	BIND_ENUM_CONSTANT(SPACE_PARAM_SOLVER_ITERATIONS);
 
 	BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_X);
diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h
index dfaefc5fbf..d58dccc41a 100644
--- a/servers/physics_server_3d.h
+++ b/servers/physics_server_3d.h
@@ -268,8 +268,6 @@ public:
 		SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD,
 		SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD,
 		SPACE_PARAM_BODY_TIME_TO_SLEEP,
-		SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO,
-		SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS,
 		SPACE_PARAM_SOLVER_ITERATIONS,
 	};