diff options
22 files changed, 93 insertions, 84 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"> diff --git a/servers/physics_2d/godot_body_pair_2d.cpp b/servers/physics_2d/godot_body_pair_2d.cpp index a4658a289c..f8ec0b6512 100644 --- a/servers/physics_2d/godot_body_pair_2d.cpp +++ b/servers/physics_2d/godot_body_pair_2d.cpp @@ -341,7 +341,7 @@ bool GodotBodyPair2D::pre_solve(real_t p_step) { real_t max_penetration = space->get_contact_max_allowed_penetration(); - real_t bias = 0.8; + real_t bias = space->get_contact_bias(); GodotShape2D *shape_A_ptr = A->get_shape(shape_A); GodotShape2D *shape_B_ptr = B->get_shape(shape_B); diff --git a/servers/physics_2d/godot_physics_server_2d.cpp b/servers/physics_2d/godot_physics_server_2d.cpp index 3d2880c63d..c88fd39657 100644 --- a/servers/physics_2d/godot_physics_server_2d.cpp +++ b/servers/physics_2d/godot_physics_server_2d.cpp @@ -1214,21 +1214,16 @@ void GodotPhysicsServer2D::free(RID p_rid) { } else { ERR_FAIL_MSG("Invalid ID."); } -}; +} void GodotPhysicsServer2D::set_active(bool p_active) { active = p_active; -}; - -void GodotPhysicsServer2D::set_collision_iterations(int p_iterations) { - iterations = p_iterations; -}; +} void GodotPhysicsServer2D::init() { doing_sync = false; - iterations = 16; stepper = memnew(GodotStep2D); -}; +} void GodotPhysicsServer2D::step(real_t p_step) { if (!active) { @@ -1241,16 +1236,16 @@ void GodotPhysicsServer2D::step(real_t p_step) { active_objects = 0; collision_pairs = 0; for (Set<const GodotSpace2D *>::Element *E = active_spaces.front(); E; E = E->next()) { - stepper->step((GodotSpace2D *)E->get(), p_step, iterations); + stepper->step((GodotSpace2D *)E->get(), p_step); island_count += E->get()->get_island_count(); active_objects += E->get()->get_active_objects(); collision_pairs += E->get()->get_collision_pairs(); } -}; +} void GodotPhysicsServer2D::sync() { doing_sync = true; -}; +} void GodotPhysicsServer2D::flush_queries() { if (!active) { @@ -1308,7 +1303,7 @@ void GodotPhysicsServer2D::end_sync() { void GodotPhysicsServer2D::finish() { memdelete(stepper); -}; +} void GodotPhysicsServer2D::_update_shapes() { while (pending_shape_update_list.first()) { @@ -1340,4 +1335,4 @@ GodotPhysicsServer2D::GodotPhysicsServer2D(bool p_using_threads) { GodotBroadPhase2D::create_func = GodotBroadPhase2DBVH::_create; using_threads = p_using_threads; -}; +} diff --git a/servers/physics_2d/godot_physics_server_2d.h b/servers/physics_2d/godot_physics_server_2d.h index 1f544fee72..ad6d5e0940 100644 --- a/servers/physics_2d/godot_physics_server_2d.h +++ b/servers/physics_2d/godot_physics_server_2d.h @@ -45,7 +45,6 @@ class GodotPhysicsServer2D : public PhysicsServer2D { friend class GodotPhysicsDirectSpaceState2D; friend class GodotPhysicsDirectBodyState2D; bool active = true; - int iterations = 0; bool doing_sync = false; int island_count = 0; @@ -283,8 +282,6 @@ public: virtual void end_sync() override; virtual void finish() override; - virtual void set_collision_iterations(int p_iterations) override; - virtual bool is_flushing_queries() const override { return flushing_queries; } int get_process_info(ProcessInfo p_info) override; diff --git a/servers/physics_2d/godot_space_2d.cpp b/servers/physics_2d/godot_space_2d.cpp index 7a5eb26bb3..5e6f233667 100644 --- a/servers/physics_2d/godot_space_2d.cpp +++ b/servers/physics_2d/godot_space_2d.cpp @@ -1138,9 +1138,12 @@ void GodotSpace2D::set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_v case PhysicsServer2D::SPACE_PARAM_CONTACT_MAX_SEPARATION: contact_max_separation = p_value; break; - case PhysicsServer2D::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: + case PhysicsServer2D::SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION: contact_max_allowed_penetration = p_value; break; + case PhysicsServer2D::SPACE_PARAM_CONTACT_DEFAULT_BIAS: + contact_bias = p_value; + break; case PhysicsServer2D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: body_linear_velocity_sleep_threshold = p_value; break; @@ -1153,6 +1156,9 @@ void GodotSpace2D::set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_v case PhysicsServer2D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias = p_value; break; + case PhysicsServer2D::SPACE_PARAM_SOLVER_ITERATIONS: + solver_iterations = p_value; + break; } } @@ -1162,8 +1168,10 @@ real_t GodotSpace2D::get_param(PhysicsServer2D::SpaceParameter p_param) const { return contact_recycle_radius; case PhysicsServer2D::SPACE_PARAM_CONTACT_MAX_SEPARATION: return contact_max_separation; - case PhysicsServer2D::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: + case PhysicsServer2D::SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION: return contact_max_allowed_penetration; + case PhysicsServer2D::SPACE_PARAM_CONTACT_DEFAULT_BIAS: + return contact_bias; case PhysicsServer2D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: return body_linear_velocity_sleep_threshold; case PhysicsServer2D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: @@ -1172,6 +1180,8 @@ real_t GodotSpace2D::get_param(PhysicsServer2D::SpaceParameter p_param) const { return body_time_to_sleep; case PhysicsServer2D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias; + case PhysicsServer2D::SPACE_PARAM_SOLVER_ITERATIONS: + return solver_iterations; } return 0; } diff --git a/servers/physics_2d/godot_space_2d.h b/servers/physics_2d/godot_space_2d.h index b155a834b6..c0d06706d8 100644 --- a/servers/physics_2d/godot_space_2d.h +++ b/servers/physics_2d/godot_space_2d.h @@ -96,9 +96,12 @@ private: GodotArea2D *area = nullptr; + int solver_iterations = 16; + 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; enum { @@ -155,9 +158,11 @@ public: void remove_object(GodotCollisionObject2D *p_object); const Set<GodotCollisionObject2D *> &get_objects() const; + _FORCE_INLINE_ int get_solver_iterations() const { return solver_iterations; } _FORCE_INLINE_ real_t get_contact_recycle_radius() const { return contact_recycle_radius; } _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; } diff --git a/servers/physics_2d/godot_step_2d.cpp b/servers/physics_2d/godot_step_2d.cpp index 00d11acdab..bc604e380a 100644 --- a/servers/physics_2d/godot_step_2d.cpp +++ b/servers/physics_2d/godot_step_2d.cpp @@ -124,14 +124,14 @@ void GodotStep2D::_check_suspend(LocalVector<GodotBody2D *> &p_body_island) cons } } -void GodotStep2D::step(GodotSpace2D *p_space, real_t p_delta, int p_iterations) { +void GodotStep2D::step(GodotSpace2D *p_space, real_t p_delta) { p_space->lock(); // can't access space during this p_space->setup(); //update inertias, etc p_space->set_last_step(p_delta); - iterations = p_iterations; + iterations = p_space->get_solver_iterations(); delta = p_delta; const SelfList<GodotBody2D>::List *body_list = &p_space->get_active_body_list(); diff --git a/servers/physics_2d/godot_step_2d.h b/servers/physics_2d/godot_step_2d.h index efec243632..4038417854 100644 --- a/servers/physics_2d/godot_step_2d.h +++ b/servers/physics_2d/godot_step_2d.h @@ -55,7 +55,7 @@ class GodotStep2D { void _check_suspend(LocalVector<GodotBody2D *> &p_body_island) const; public: - void step(GodotSpace2D *p_space, real_t p_delta, int p_iterations); + void step(GodotSpace2D *p_space, real_t p_delta); GodotStep2D(); ~GodotStep2D(); }; diff --git a/servers/physics_3d/godot_body_pair_3d.cpp b/servers/physics_3d/godot_body_pair_3d.cpp index 28bb6fb466..5c25ba9537 100644 --- a/servers/physics_3d/godot_body_pair_3d.cpp +++ b/servers/physics_3d/godot_body_pair_3d.cpp @@ -658,7 +658,7 @@ bool GodotBodySoftBodyPair3D::pre_solve(real_t p_step) { real_t max_penetration = space->get_contact_max_allowed_penetration(); - real_t bias = 0.8; + real_t bias = space->get_contact_bias(); GodotShape3D *shape_A_ptr = body->get_shape(body_shape); diff --git a/servers/physics_3d/godot_physics_server_3d.cpp b/servers/physics_3d/godot_physics_server_3d.cpp index 49f9164a7c..573a5d373f 100644 --- a/servers/physics_3d/godot_physics_server_3d.cpp +++ b/servers/physics_3d/godot_physics_server_3d.cpp @@ -1574,20 +1574,15 @@ void GodotPhysicsServer3D::free(RID p_rid) { } else { ERR_FAIL_MSG("Invalid ID."); } -}; +} void GodotPhysicsServer3D::set_active(bool p_active) { active = p_active; -}; - -void GodotPhysicsServer3D::set_collision_iterations(int p_iterations) { - iterations = p_iterations; -}; +} void GodotPhysicsServer3D::init() { - iterations = 16; stepper = memnew(GodotStep3D); -}; +} void GodotPhysicsServer3D::step(real_t p_step) { #ifndef _3D_DISABLED @@ -1602,7 +1597,7 @@ void GodotPhysicsServer3D::step(real_t p_step) { active_objects = 0; collision_pairs = 0; for (Set<const GodotSpace3D *>::Element *E = active_spaces.front(); E; E = E->next()) { - stepper->step((GodotSpace3D *)E->get(), p_step, iterations); + stepper->step((GodotSpace3D *)E->get(), p_step); island_count += E->get()->get_island_count(); active_objects += E->get()->get_active_objects(); collision_pairs += E->get()->get_collision_pairs(); @@ -1612,7 +1607,7 @@ void GodotPhysicsServer3D::step(real_t p_step) { void GodotPhysicsServer3D::sync() { doing_sync = true; -}; +} void GodotPhysicsServer3D::flush_queries() { #ifndef _3D_DISABLED @@ -1665,15 +1660,15 @@ void GodotPhysicsServer3D::flush_queries() { EngineDebugger::profiler_add_frame_data("servers", values); } #endif -}; +} void GodotPhysicsServer3D::end_sync() { doing_sync = false; -}; +} void GodotPhysicsServer3D::finish() { memdelete(stepper); -}; +} int GodotPhysicsServer3D::get_process_info(ProcessInfo p_info) { switch (p_info) { diff --git a/servers/physics_3d/godot_physics_server_3d.h b/servers/physics_3d/godot_physics_server_3d.h index f5c8e0f60d..be9bbea76b 100644 --- a/servers/physics_3d/godot_physics_server_3d.h +++ b/servers/physics_3d/godot_physics_server_3d.h @@ -44,7 +44,6 @@ class GodotPhysicsServer3D : public PhysicsServer3D { friend class GodotPhysicsDirectSpaceState3D; bool active = true; - int iterations = 0; int island_count = 0; int active_objects = 0; @@ -364,8 +363,6 @@ public: virtual void end_sync() override; virtual void finish() override; - virtual void set_collision_iterations(int p_iterations) override; - virtual bool is_flushing_queries() const override { return flushing_queries; } int get_process_info(ProcessInfo p_info) override; diff --git a/servers/physics_3d/godot_space_3d.cpp b/servers/physics_3d/godot_space_3d.cpp index f503273c88..b2a8b00bca 100644 --- a/servers/physics_3d/godot_space_3d.cpp +++ b/servers/physics_3d/godot_space_3d.cpp @@ -1173,9 +1173,12 @@ void GodotSpace3D::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_v case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_SEPARATION: contact_max_separation = p_value; break; - case PhysicsServer3D::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: + case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION: contact_max_allowed_penetration = p_value; break; + case PhysicsServer3D::SPACE_PARAM_CONTACT_DEFAULT_BIAS: + contact_bias = p_value; + break; case PhysicsServer3D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: body_linear_velocity_sleep_threshold = p_value; break; @@ -1191,6 +1194,9 @@ void GodotSpace3D::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_v case PhysicsServer3D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias = p_value; break; + case PhysicsServer3D::SPACE_PARAM_SOLVER_ITERATIONS: + solver_iterations = p_value; + break; } } @@ -1200,8 +1206,10 @@ real_t GodotSpace3D::get_param(PhysicsServer3D::SpaceParameter p_param) const { return contact_recycle_radius; case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_SEPARATION: return contact_max_separation; - case PhysicsServer3D::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: + case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION: return contact_max_allowed_penetration; + case PhysicsServer3D::SPACE_PARAM_CONTACT_DEFAULT_BIAS: + return contact_bias; case PhysicsServer3D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: return body_linear_velocity_sleep_threshold; case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: @@ -1212,6 +1220,8 @@ real_t GodotSpace3D::get_param(PhysicsServer3D::SpaceParameter p_param) const { 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; } return 0; } diff --git a/servers/physics_3d/godot_space_3d.h b/servers/physics_3d/godot_space_3d.h index aa5e965751..b9aeee7583 100644 --- a/servers/physics_3d/godot_space_3d.h +++ b/servers/physics_3d/godot_space_3d.h @@ -93,9 +93,12 @@ private: GodotArea3D *area = nullptr; + int solver_iterations = 16; + 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; enum { @@ -159,9 +162,11 @@ public: void remove_object(GodotCollisionObject3D *p_object); const Set<GodotCollisionObject3D *> &get_objects() const; + _FORCE_INLINE_ int get_solver_iterations() const { return solver_iterations; } _FORCE_INLINE_ real_t get_contact_recycle_radius() const { return contact_recycle_radius; } _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; } diff --git a/servers/physics_3d/godot_step_3d.cpp b/servers/physics_3d/godot_step_3d.cpp index 5453c4415c..6332532f6e 100644 --- a/servers/physics_3d/godot_step_3d.cpp +++ b/servers/physics_3d/godot_step_3d.cpp @@ -181,14 +181,14 @@ void GodotStep3D::_check_suspend(const LocalVector<GodotBody3D *> &p_body_island } } -void GodotStep3D::step(GodotSpace3D *p_space, real_t p_delta, int p_iterations) { +void GodotStep3D::step(GodotSpace3D *p_space, real_t p_delta) { p_space->lock(); // can't access space during this p_space->setup(); //update inertias, etc p_space->set_last_step(p_delta); - iterations = p_iterations; + iterations = p_space->get_solver_iterations(); delta = p_delta; const SelfList<GodotBody3D>::List *body_list = &p_space->get_active_body_list(); diff --git a/servers/physics_3d/godot_step_3d.h b/servers/physics_3d/godot_step_3d.h index 23ede4feff..10389713f6 100644 --- a/servers/physics_3d/godot_step_3d.h +++ b/servers/physics_3d/godot_step_3d.h @@ -56,7 +56,7 @@ class GodotStep3D { void _check_suspend(const LocalVector<GodotBody3D *> &p_body_island) const; public: - void step(GodotSpace3D *p_space, real_t p_delta, int p_iterations); + void step(GodotSpace3D *p_space, real_t p_delta); GodotStep3D(); ~GodotStep3D(); }; diff --git a/servers/physics_server_2d.cpp b/servers/physics_server_2d.cpp index 76f0b74c72..c660bd4d69 100644 --- a/servers/physics_server_2d.cpp +++ b/servers/physics_server_2d.cpp @@ -730,17 +730,17 @@ void PhysicsServer2D::_bind_methods() { ClassDB::bind_method(D_METHOD("set_active", "active"), &PhysicsServer2D::set_active); - ClassDB::bind_method(D_METHOD("set_collision_iterations", "iterations"), &PhysicsServer2D::set_collision_iterations); - ClassDB::bind_method(D_METHOD("get_process_info", "process_info"), &PhysicsServer2D::get_process_info); BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_RECYCLE_RADIUS); BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_MAX_SEPARATION); - BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION); + BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION); + BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_DEFAULT_BIAS); 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_CONSTRAINT_DEFAULT_BIAS); + BIND_ENUM_CONSTANT(SPACE_PARAM_SOLVER_ITERATIONS); BIND_ENUM_CONSTANT(SHAPE_WORLD_BOUNDARY); BIND_ENUM_CONSTANT(SHAPE_SEPARATION_RAY); diff --git a/servers/physics_server_2d.h b/servers/physics_server_2d.h index 2bff8f5dcb..fb227898d6 100644 --- a/servers/physics_server_2d.h +++ b/servers/physics_server_2d.h @@ -242,11 +242,13 @@ public: enum SpaceParameter { SPACE_PARAM_CONTACT_RECYCLE_RADIUS, SPACE_PARAM_CONTACT_MAX_SEPARATION, - SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION, + SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION, + SPACE_PARAM_CONTACT_DEFAULT_BIAS, SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD, SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD, SPACE_PARAM_BODY_TIME_TO_SLEEP, SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS, + SPACE_PARAM_SOLVER_ITERATIONS, }; virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) = 0; @@ -566,8 +568,6 @@ public: virtual bool is_flushing_queries() const = 0; - virtual void set_collision_iterations(int p_iterations) = 0; - enum ProcessInfo { INFO_ACTIVE_OBJECTS, INFO_COLLISION_PAIRS, diff --git a/servers/physics_server_2d_wrap_mt.h b/servers/physics_server_2d_wrap_mt.h index dda4eb6ffa..f65c8921ce 100644 --- a/servers/physics_server_2d_wrap_mt.h +++ b/servers/physics_server_2d_wrap_mt.h @@ -294,7 +294,6 @@ public: FUNC1(free, RID); FUNC1(set_active, bool); - FUNC1(set_collision_iterations, int); virtual void init() override; virtual void step(real_t p_step) override; diff --git a/servers/physics_server_3d.cpp b/servers/physics_server_3d.cpp index 373f216e01..658f7daf9f 100644 --- a/servers/physics_server_3d.cpp +++ b/servers/physics_server_3d.cpp @@ -890,8 +890,6 @@ void PhysicsServer3D::_bind_methods() { ClassDB::bind_method(D_METHOD("set_active", "active"), &PhysicsServer3D::set_active); - ClassDB::bind_method(D_METHOD("set_collision_iterations", "iterations"), &PhysicsServer3D::set_collision_iterations); - ClassDB::bind_method(D_METHOD("get_process_info", "process_info"), &PhysicsServer3D::get_process_info); BIND_ENUM_CONSTANT(SHAPE_WORLD_BOUNDARY); @@ -963,12 +961,14 @@ void PhysicsServer3D::_bind_methods() { BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_RECYCLE_RADIUS); BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_MAX_SEPARATION); - BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION); + BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION); + BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_DEFAULT_BIAS); 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); BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_Y); diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h index 89a7eeee96..ef8bf1ac90 100644 --- a/servers/physics_server_3d.h +++ b/servers/physics_server_3d.h @@ -263,12 +263,14 @@ public: enum SpaceParameter { SPACE_PARAM_CONTACT_RECYCLE_RADIUS, SPACE_PARAM_CONTACT_MAX_SEPARATION, - SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION, + SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION, + SPACE_PARAM_CONTACT_DEFAULT_BIAS, 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, }; virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) = 0; @@ -768,8 +770,6 @@ public: virtual bool is_flushing_queries() const = 0; - virtual void set_collision_iterations(int p_iterations) = 0; - enum ProcessInfo { INFO_ACTIVE_OBJECTS, INFO_COLLISION_PAIRS, diff --git a/servers/physics_server_3d_wrap_mt.h b/servers/physics_server_3d_wrap_mt.h index 507427ecec..e6dc2d8ed9 100644 --- a/servers/physics_server_3d_wrap_mt.h +++ b/servers/physics_server_3d_wrap_mt.h @@ -370,7 +370,6 @@ public: FUNC1(free, RID); FUNC1(set_active, bool); - FUNC1(set_collision_iterations, int); virtual void init() override; virtual void step(real_t p_step) override; |