1 files changed, 60 insertions, 189 deletions

diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp
index fc021e5532..93d3e946fd 100644
--- a/scene/3d/physics_body_3d.cpp
+++ b/scene/3d/physics_body_3d.cpp
@@ -5,8 +5,8 @@
 /*                           GODOT ENGINE                                */
 /*                      https://godotengine.org                          */
 /*************************************************************************/
-/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md).   */
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md).   */
 /*                                                                       */
 /* Permission is hereby granted, free of charge, to any person obtaining */
 /* a copy of this software and associated documentation files (the       */
@@ -30,12 +30,11 @@
 
 #include "physics_body_3d.h"
 
+#include "core/config/engine.h"
 #include "core/core_string_names.h"
-#include "core/engine.h"
-#include "core/list.h"
-#include "core/method_bind_ext.gen.inc"
-#include "core/object.h"
-#include "core/rid.h"
+#include "core/object/class_db.h"
+#include "core/templates/list.h"
+#include "core/templates/rid.h"
 #include "scene/3d/collision_shape_3d.h"
 #include "scene/scene_string_names.h"
 #include "servers/navigation_server_3d.h"
@@ -52,56 +51,10 @@ Vector3 PhysicsBody3D::get_angular_velocity() const {
 	return Vector3();
 }
 
-float PhysicsBody3D::get_inverse_mass() const {
+real_t PhysicsBody3D::get_inverse_mass() const {
 	return 0;
 }
 
-void PhysicsBody3D::set_collision_layer(uint32_t p_layer) {
-	collision_layer = p_layer;
-	PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), p_layer);
-}
-
-uint32_t PhysicsBody3D::get_collision_layer() const {
-	return collision_layer;
-}
-
-void PhysicsBody3D::set_collision_mask(uint32_t p_mask) {
-	collision_mask = p_mask;
-	PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), p_mask);
-}
-
-uint32_t PhysicsBody3D::get_collision_mask() const {
-	return collision_mask;
-}
-
-void PhysicsBody3D::set_collision_mask_bit(int p_bit, bool p_value) {
-	uint32_t mask = get_collision_mask();
-	if (p_value) {
-		mask |= 1 << p_bit;
-	} else {
-		mask &= ~(1 << p_bit);
-	}
-	set_collision_mask(mask);
-}
-
-bool PhysicsBody3D::get_collision_mask_bit(int p_bit) const {
-	return get_collision_mask() & (1 << p_bit);
-}
-
-void PhysicsBody3D::set_collision_layer_bit(int p_bit, bool p_value) {
-	uint32_t mask = get_collision_layer();
-	if (p_value) {
-		mask |= 1 << p_bit;
-	} else {
-		mask &= ~(1 << p_bit);
-	}
-	set_collision_layer(mask);
-}
-
-bool PhysicsBody3D::get_collision_layer_bit(int p_bit) const {
-	return get_collision_layer() & (1 << p_bit);
-}
-
 TypedArray<PhysicsBody3D> PhysicsBody3D::get_collision_exceptions() {
 	List<RID> exceptions;
 	PhysicsServer3D::get_singleton()->body_get_collision_exceptions(get_rid(), &exceptions);
@@ -130,40 +83,11 @@ void PhysicsBody3D::remove_collision_exception_with(Node *p_node) {
 	PhysicsServer3D::get_singleton()->body_remove_collision_exception(get_rid(), collision_object->get_rid());
 }
 
-void PhysicsBody3D::_set_layers(uint32_t p_mask) {
-	set_collision_layer(p_mask);
-	set_collision_mask(p_mask);
-}
-
-uint32_t PhysicsBody3D::_get_layers() const {
-	return get_collision_layer();
-}
-
-void PhysicsBody3D::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("set_collision_layer", "layer"), &PhysicsBody3D::set_collision_layer);
-	ClassDB::bind_method(D_METHOD("get_collision_layer"), &PhysicsBody3D::get_collision_layer);
-
-	ClassDB::bind_method(D_METHOD("set_collision_mask", "mask"), &PhysicsBody3D::set_collision_mask);
-	ClassDB::bind_method(D_METHOD("get_collision_mask"), &PhysicsBody3D::get_collision_mask);
-
-	ClassDB::bind_method(D_METHOD("set_collision_mask_bit", "bit", "value"), &PhysicsBody3D::set_collision_mask_bit);
-	ClassDB::bind_method(D_METHOD("get_collision_mask_bit", "bit"), &PhysicsBody3D::get_collision_mask_bit);
-
-	ClassDB::bind_method(D_METHOD("set_collision_layer_bit", "bit", "value"), &PhysicsBody3D::set_collision_layer_bit);
-	ClassDB::bind_method(D_METHOD("get_collision_layer_bit", "bit"), &PhysicsBody3D::get_collision_layer_bit);
-
-	ClassDB::bind_method(D_METHOD("_set_layers", "mask"), &PhysicsBody3D::_set_layers);
-	ClassDB::bind_method(D_METHOD("_get_layers"), &PhysicsBody3D::_get_layers);
-
-	ADD_GROUP("Collision", "collision_");
-	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_layer", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_layer", "get_collision_layer");
-	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask");
-}
+void PhysicsBody3D::_bind_methods() {}
 
 PhysicsBody3D::PhysicsBody3D(PhysicsServer3D::BodyMode p_mode) :
-		CollisionObject3D(PhysicsServer3D::get_singleton()->body_create(p_mode), false) {
-	collision_layer = 1;
-	collision_mask = 1;
+		CollisionObject3D(PhysicsServer3D::get_singleton()->body_create(), false) {
+	PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), p_mode);
 }
 
 void StaticBody3D::set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override) {
@@ -324,7 +248,7 @@ void RigidBody3D::_body_inout(int p_status, ObjectID p_instance, int p_body_shap
 
 		bool in_tree = E->get().in_tree;
 
-		if (E->get().shapes.empty()) {
+		if (E->get().shapes.is_empty()) {
 			if (node) {
 				node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree));
 				node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree));
@@ -343,13 +267,14 @@ void RigidBody3D::_body_inout(int p_status, ObjectID p_instance, int p_body_shap
 
 struct _RigidBodyInOut {
 	ObjectID id;
-	int shape;
-	int local_shape;
+	int shape = 0;
+	int local_shape = 0;
 };
 
 void RigidBody3D::_direct_state_changed(Object *p_state) {
 #ifdef DEBUG_ENABLED
 	state = Object::cast_to<PhysicsDirectBodyState3D>(p_state);
+	ERR_FAIL_NULL_MSG(state, "Method '_direct_state_changed' must receive a valid PhysicsDirectBodyState3D object as argument");
 #else
 	state = (PhysicsDirectBodyState3D *)p_state; //trust it
 #endif
@@ -428,13 +353,13 @@ void RigidBody3D::_direct_state_changed(Object *p_state) {
 			}
 		}
 
-		//process remotions
+		//process removals
 
 		for (int i = 0; i < toremove_count; i++) {
 			_body_inout(0, toremove[i].body_id, toremove[i].pair.body_shape, toremove[i].pair.local_shape);
 		}
 
-		//process aditions
+		//process additions
 
 		for (int i = 0; i < toadd_count; i++) {
 			_body_inout(1, toadd[i].id, toadd[i].shape, toadd[i].local_shape);
@@ -456,7 +381,7 @@ void RigidBody3D::_notification(int p_what) {
 
 	if (p_what == NOTIFICATION_LOCAL_TRANSFORM_CHANGED) {
 		if (Engine::get_singleton()->is_editor_hint()) {
-			update_configuration_warning();
+			update_configuration_warnings();
 		}
 	}
 
@@ -481,7 +406,7 @@ void RigidBody3D::set_mode(Mode p_mode) {
 			PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_KINEMATIC);
 		} break;
 	}
-	update_configuration_warning();
+	update_configuration_warnings();
 }
 
 RigidBody3D::Mode RigidBody3D::get_mode() const {
@@ -491,8 +416,6 @@ RigidBody3D::Mode RigidBody3D::get_mode() const {
 void RigidBody3D::set_mass(real_t p_mass) {
 	ERR_FAIL_COND(p_mass <= 0);
 	mass = p_mass;
-	_change_notify("mass");
-	_change_notify("weight");
 	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_MASS, mass);
 }
 
@@ -500,14 +423,6 @@ real_t RigidBody3D::get_mass() const {
 	return mass;
 }
 
-void RigidBody3D::set_weight(real_t p_weight) {
-	set_mass(p_weight / real_t(GLOBAL_DEF("physics/3d/default_gravity", 9.8)));
-}
-
-real_t RigidBody3D::get_weight() const {
-	return mass * real_t(GLOBAL_DEF("physics/3d/default_gravity", 9.8));
-}
-
 void RigidBody3D::set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override) {
 	if (physics_material_override.is_valid()) {
 		if (physics_material_override->is_connected(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidBody3D::_reload_physics_characteristics))) {
@@ -731,19 +646,16 @@ Array RigidBody3D::get_colliding_bodies() const {
 	return ret;
 }
 
-String RigidBody3D::get_configuration_warning() const {
+TypedArray<String> RigidBody3D::get_configuration_warnings() const {
 	Transform t = get_transform();
 
-	String warning = CollisionObject3D::get_configuration_warning();
+	TypedArray<String> warnings = Node::get_configuration_warnings();
 
 	if ((get_mode() == MODE_RIGID || get_mode() == MODE_CHARACTER) && (ABS(t.basis.get_axis(0).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(1).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(2).length() - 1.0) > 0.05)) {
-		if (warning != String()) {
-			warning += "\n\n";
-		}
-		warning += TTR("Size changes to RigidBody3D (in character or rigid modes) will be overridden by the physics engine when running.\nChange the size in children collision shapes instead.");
+		warnings.push_back(TTR("Size changes to RigidBody3D (in character or rigid modes) will be overridden by the physics engine when running.\nChange the size in children collision shapes instead."));
 	}
 
-	return warning;
+	return warnings;
 }
 
 void RigidBody3D::_bind_methods() {
@@ -753,9 +665,6 @@ void RigidBody3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_mass", "mass"), &RigidBody3D::set_mass);
 	ClassDB::bind_method(D_METHOD("get_mass"), &RigidBody3D::get_mass);
 
-	ClassDB::bind_method(D_METHOD("set_weight", "weight"), &RigidBody3D::set_weight);
-	ClassDB::bind_method(D_METHOD("get_weight"), &RigidBody3D::get_weight);
-
 	ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &RigidBody3D::set_physics_material_override);
 	ClassDB::bind_method(D_METHOD("get_physics_material_override"), &RigidBody3D::get_physics_material_override);
 
@@ -804,8 +713,6 @@ void RigidBody3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &RigidBody3D::set_can_sleep);
 	ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &RigidBody3D::is_able_to_sleep);
 
-	ClassDB::bind_method(D_METHOD("_direct_state_changed"), &RigidBody3D::_direct_state_changed);
-
 	ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &RigidBody3D::set_axis_lock);
 	ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &RigidBody3D::get_axis_lock);
 
@@ -815,7 +722,6 @@ void RigidBody3D::_bind_methods() {
 
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "mode", PROPERTY_HINT_ENUM, "Rigid,Static,Character,Kinematic"), "set_mode", "get_mode");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_mass", "get_mass");
-	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "weight", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01", PROPERTY_USAGE_EDITOR), "set_weight", "get_weight");
 	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-128,128,0.01"), "set_gravity_scale", "get_gravity_scale");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "custom_integrator"), "set_use_custom_integrator", "is_using_custom_integrator");
@@ -852,25 +758,7 @@ void RigidBody3D::_bind_methods() {
 
 RigidBody3D::RigidBody3D() :
 		PhysicsBody3D(PhysicsServer3D::BODY_MODE_RIGID) {
-	mode = MODE_RIGID;
-
-	mass = 1;
-	max_contacts_reported = 0;
-	state = nullptr;
-
-	gravity_scale = 1;
-	linear_damp = -1;
-	angular_damp = -1;
-
-	//angular_velocity=0;
-	sleeping = false;
-	ccd = false;
-
-	custom_integrator = false;
-	contact_monitor = nullptr;
-	can_sleep = true;
-
-	PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed");
+	PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), callable_mp(this, &RigidBody3D::_direct_state_changed));
 }
 
 RigidBody3D::~RigidBody3D() {
@@ -951,7 +839,7 @@ bool KinematicBody3D::move_and_collide(const Vector3 &p_motion, bool p_infinite_
 //so, if you pass 45 as limit, avoid numerical precision errors when angle is 45.
 #define FLOOR_ANGLE_THRESHOLD 0.01
 
-Vector3 KinematicBody3D::move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_up_direction, bool p_stop_on_slope, int p_max_slides, float p_floor_max_angle, bool p_infinite_inertia) {
+Vector3 KinematicBody3D::move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_up_direction, bool p_stop_on_slope, int p_max_slides, real_t p_floor_max_angle, bool p_infinite_inertia) {
 	Vector3 body_velocity = p_linear_velocity;
 	Vector3 body_velocity_normal = body_velocity.normalized();
 	Vector3 up_direction = p_up_direction.normalized();
@@ -1045,7 +933,7 @@ Vector3 KinematicBody3D::move_and_slide(const Vector3 &p_linear_velocity, const
 	return body_velocity;
 }
 
-Vector3 KinematicBody3D::move_and_slide_with_snap(const Vector3 &p_linear_velocity, const Vector3 &p_snap, const Vector3 &p_up_direction, bool p_stop_on_slope, int p_max_slides, float p_floor_max_angle, bool p_infinite_inertia) {
+Vector3 KinematicBody3D::move_and_slide_with_snap(const Vector3 &p_linear_velocity, const Vector3 &p_snap, const Vector3 &p_up_direction, bool p_stop_on_slope, int p_max_slides, real_t p_floor_max_angle, bool p_infinite_inertia) {
 	Vector3 up_direction = p_up_direction.normalized();
 	bool was_on_floor = on_floor;
 
@@ -1117,7 +1005,7 @@ bool KinematicBody3D::separate_raycast_shapes(bool p_infinite_inertia, Collision
 	Vector3 recover;
 	int hits = PhysicsServer3D::get_singleton()->body_test_ray_separation(get_rid(), gt, p_infinite_inertia, recover, sep_res, 8, margin);
 	int deepest = -1;
-	float deepest_depth;
+	real_t deepest_depth;
 	for (int i = 0; i < hits; i++) {
 		if (deepest == -1 || sep_res[i].collision_depth > deepest_depth) {
 			deepest = i;
@@ -1158,12 +1046,12 @@ bool KinematicBody3D::get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const {
 	return PhysicsServer3D::get_singleton()->body_is_axis_locked(get_rid(), p_axis);
 }
 
-void KinematicBody3D::set_safe_margin(float p_margin) {
+void KinematicBody3D::set_safe_margin(real_t p_margin) {
 	margin = p_margin;
 	PhysicsServer3D::get_singleton()->body_set_kinematic_safe_margin(get_rid(), margin);
 }
 
-float KinematicBody3D::get_safe_margin() const {
+real_t KinematicBody3D::get_safe_margin() const {
 	return margin;
 }
 
@@ -1204,11 +1092,9 @@ void KinematicBody3D::_notification(int p_what) {
 }
 
 void KinematicBody3D::_bind_methods() {
-	ClassDB::bind_method(D_METHOD("_direct_state_changed"), &KinematicBody3D::_direct_state_changed);
-
 	ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "infinite_inertia", "exclude_raycast_shapes", "test_only"), &KinematicBody3D::_move, DEFVAL(true), DEFVAL(true), DEFVAL(false));
-	ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "up_direction", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody3D::move_and_slide, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)), DEFVAL(true));
-	ClassDB::bind_method(D_METHOD("move_and_slide_with_snap", "linear_velocity", "snap", "up_direction", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody3D::move_and_slide_with_snap, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)), DEFVAL(true));
+	ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "up_direction", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody3D::move_and_slide, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((real_t)45.0)), DEFVAL(true));
+	ClassDB::bind_method(D_METHOD("move_and_slide_with_snap", "linear_velocity", "snap", "up_direction", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody3D::move_and_slide_with_snap, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((real_t)45.0)), DEFVAL(true));
 
 	ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec", "infinite_inertia"), &KinematicBody3D::test_move, DEFVAL(true));
 
@@ -1238,6 +1124,7 @@ void KinematicBody3D::_bind_methods() {
 void KinematicBody3D::_direct_state_changed(Object *p_state) {
 #ifdef DEBUG_ENABLED
 	PhysicsDirectBodyState3D *state = Object::cast_to<PhysicsDirectBodyState3D>(p_state);
+	ERR_FAIL_NULL_MSG(state, "Method '_direct_state_changed' must receive a valid PhysicsDirectBodyState3D object as argument");
 #else
 	PhysicsDirectBodyState3D *state = (PhysicsDirectBodyState3D *)p_state; //trust it
 #endif
@@ -1248,13 +1135,8 @@ void KinematicBody3D::_direct_state_changed(Object *p_state) {
 
 KinematicBody3D::KinematicBody3D() :
 		PhysicsBody3D(PhysicsServer3D::BODY_MODE_KINEMATIC) {
-	locked_axis = 0;
-	on_floor = false;
-	on_ceiling = false;
-	on_wall = false;
-
 	set_safe_margin(0.001);
-	PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed");
+	PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), callable_mp(this, &KinematicBody3D::_direct_state_changed));
 }
 
 KinematicBody3D::~KinematicBody3D() {
@@ -1743,6 +1625,10 @@ bool PhysicalBone3D::SixDOFJointData::_set(const StringName &p_name, const Varia
 
 	String path = p_name;
 
+	if (!path.begins_with("joint_constraints/")) {
+		return false;
+	}
+
 	Vector3::Axis axis;
 	{
 		const String axis_s = path.get_slicec('/', 1);
@@ -1899,6 +1785,10 @@ bool PhysicalBone3D::SixDOFJointData::_get(const StringName &p_name, Variant &r_
 
 	String path = p_name;
 
+	if (!path.begins_with("joint_constraints/")) {
+		return false;
+	}
+
 	int axis;
 	{
 		const String axis_s = path.get_slicec('/', 1);
@@ -1998,7 +1888,7 @@ bool PhysicalBone3D::_set(const StringName &p_name, const Variant &p_value) {
 	}
 
 	if (joint_data) {
-		if (joint_data->_set(p_name, p_value)) {
+		if (joint_data->_set(p_name, p_value, joint)) {
 #ifdef TOOLS_ENABLED
 			if (get_gizmo().is_valid()) {
 				get_gizmo()->redraw();
@@ -2053,7 +1943,7 @@ void PhysicalBone3D::_notification(int p_what) {
 			update_bone_id();
 			reset_to_rest_position();
 			reset_physics_simulation_state();
-			if (!joint.is_valid() && joint_data) {
+			if (joint_data) {
 				_reload_joint();
 			}
 			break;
@@ -2064,10 +1954,7 @@ void PhysicalBone3D::_notification(int p_what) {
 				}
 			}
 			parent_skeleton = nullptr;
-			if (joint.is_valid()) {
-				PhysicsServer3D::get_singleton()->free(joint);
-				joint = RID();
-			}
+			PhysicsServer3D::get_singleton()->joint_clear(joint);
 			break;
 		case NOTIFICATION_TRANSFORM_CHANGED:
 			if (Engine::get_singleton()->is_editor_hint()) {
@@ -2088,6 +1975,7 @@ void PhysicalBone3D::_direct_state_changed(Object *p_state) {
 
 #ifdef DEBUG_ENABLED
 	state = Object::cast_to<PhysicsDirectBodyState3D>(p_state);
+	ERR_FAIL_NULL_MSG(state, "Method '_direct_state_changed' must receive a valid PhysicsDirectBodyState3D object as argument");
 #else
 	state = (PhysicsDirectBodyState3D *)p_state; //trust it
 #endif
@@ -2110,8 +1998,6 @@ void PhysicalBone3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &PhysicalBone3D::apply_central_impulse);
 	ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &PhysicalBone3D::apply_impulse, Vector3());
 
-	ClassDB::bind_method(D_METHOD("_direct_state_changed"), &PhysicalBone3D::_direct_state_changed);
-
 	ClassDB::bind_method(D_METHOD("set_joint_type", "joint_type"), &PhysicalBone3D::set_joint_type);
 	ClassDB::bind_method(D_METHOD("get_joint_type"), &PhysicalBone3D::get_joint_type);
 
@@ -2134,9 +2020,6 @@ void PhysicalBone3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_mass", "mass"), &PhysicalBone3D::set_mass);
 	ClassDB::bind_method(D_METHOD("get_mass"), &PhysicalBone3D::get_mass);
 
-	ClassDB::bind_method(D_METHOD("set_weight", "weight"), &PhysicalBone3D::set_weight);
-	ClassDB::bind_method(D_METHOD("get_weight"), &PhysicalBone3D::get_weight);
-
 	ClassDB::bind_method(D_METHOD("set_friction", "friction"), &PhysicalBone3D::set_friction);
 	ClassDB::bind_method(D_METHOD("get_friction"), &PhysicalBone3D::get_friction);
 
@@ -2167,7 +2050,6 @@ void PhysicalBone3D::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM, "body_offset"), "set_body_offset", "get_body_offset");
 
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_mass", "get_mass");
-	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "weight", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_weight", "get_weight");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "friction", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_friction", "get_friction");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_bounce", "get_bounce");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-10,10,0.01"), "set_gravity_scale", "get_gravity_scale");
@@ -2221,17 +2103,14 @@ void PhysicalBone3D::_fix_joint_offset() {
 }
 
 void PhysicalBone3D::_reload_joint() {
-	if (joint.is_valid()) {
-		PhysicsServer3D::get_singleton()->free(joint);
-		joint = RID();
-	}
-
 	if (!parent_skeleton) {
+		PhysicsServer3D::get_singleton()->joint_clear(joint);
 		return;
 	}
 
 	PhysicalBone3D *body_a = parent_skeleton->get_physical_bone_parent(bone_id);
 	if (!body_a) {
+		PhysicsServer3D::get_singleton()->joint_clear(joint);
 		return;
 	}
 
@@ -2241,7 +2120,7 @@ void PhysicalBone3D::_reload_joint() {
 
 	switch (get_joint_type()) {
 		case JOINT_TYPE_PIN: {
-			joint = PhysicsServer3D::get_singleton()->joint_create_pin(body_a->get_rid(), local_a.origin, get_rid(), joint_offset.origin);
+			PhysicsServer3D::get_singleton()->joint_make_pin(joint, body_a->get_rid(), local_a.origin, get_rid(), joint_offset.origin);
 			const PinJointData *pjd(static_cast<const PinJointData *>(joint_data));
 			PhysicsServer3D::get_singleton()->pin_joint_set_param(joint, PhysicsServer3D::PIN_JOINT_BIAS, pjd->bias);
 			PhysicsServer3D::get_singleton()->pin_joint_set_param(joint, PhysicsServer3D::PIN_JOINT_DAMPING, pjd->damping);
@@ -2249,7 +2128,7 @@ void PhysicalBone3D::_reload_joint() {
 
 		} break;
 		case JOINT_TYPE_CONE: {
-			joint = PhysicsServer3D::get_singleton()->joint_create_cone_twist(body_a->get_rid(), local_a, get_rid(), joint_offset);
+			PhysicsServer3D::get_singleton()->joint_make_cone_twist(joint, body_a->get_rid(), local_a, get_rid(), joint_offset);
 			const ConeJointData *cjd(static_cast<const ConeJointData *>(joint_data));
 			PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN, cjd->swing_span);
 			PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN, cjd->twist_span);
@@ -2259,7 +2138,7 @@ void PhysicalBone3D::_reload_joint() {
 
 		} break;
 		case JOINT_TYPE_HINGE: {
-			joint = PhysicsServer3D::get_singleton()->joint_create_hinge(body_a->get_rid(), local_a, get_rid(), joint_offset);
+			PhysicsServer3D::get_singleton()->joint_make_hinge(joint, body_a->get_rid(), local_a, get_rid(), joint_offset);
 			const HingeJointData *hjd(static_cast<const HingeJointData *>(joint_data));
 			PhysicsServer3D::get_singleton()->hinge_joint_set_flag(joint, PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT, hjd->angular_limit_enabled);
 			PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER, hjd->angular_limit_upper);
@@ -2270,7 +2149,7 @@ void PhysicalBone3D::_reload_joint() {
 
 		} break;
 		case JOINT_TYPE_SLIDER: {
-			joint = PhysicsServer3D::get_singleton()->joint_create_slider(body_a->get_rid(), local_a, get_rid(), joint_offset);
+			PhysicsServer3D::get_singleton()->joint_make_slider(joint, body_a->get_rid(), local_a, get_rid(), joint_offset);
 			const SliderJointData *sjd(static_cast<const SliderJointData *>(joint_data));
 			PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER, sjd->linear_limit_upper);
 			PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER, sjd->linear_limit_lower);
@@ -2285,7 +2164,7 @@ void PhysicalBone3D::_reload_joint() {
 
 		} break;
 		case JOINT_TYPE_6DOF: {
-			joint = PhysicsServer3D::get_singleton()->joint_create_generic_6dof(body_a->get_rid(), local_a, get_rid(), joint_offset);
+			PhysicsServer3D::get_singleton()->joint_make_generic_6dof(joint, body_a->get_rid(), local_a, get_rid(), joint_offset);
 			const SixDOFJointData *g6dofjd(static_cast<const SixDOFJointData *>(joint_data));
 			for (int axis = 0; axis < 3; ++axis) {
 				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, g6dofjd->axis_data[axis].linear_limit_enabled);
@@ -2378,7 +2257,7 @@ void PhysicalBone3D::set_joint_type(JointType p_joint_type) {
 	_reload_joint();
 
 #ifdef TOOLS_ENABLED
-	_change_notify();
+	notify_property_list_changed();
 	if (get_gizmo().is_valid()) {
 		get_gizmo()->redraw();
 	}
@@ -2393,7 +2272,6 @@ void PhysicalBone3D::set_joint_offset(const Transform &p_offset) {
 	joint_offset = p_offset;
 
 	_update_joint_offset();
-	_change_notify("joint_rotation_degrees");
 }
 
 const Transform &PhysicalBone3D::get_joint_offset() const {
@@ -2404,7 +2282,6 @@ void PhysicalBone3D::set_joint_rotation(const Vector3 &p_euler_rad) {
 	joint_offset.basis.set_euler_scale(p_euler_rad, joint_offset.basis.get_scale());
 
 	_update_joint_offset();
-	_change_notify("joint_offset");
 }
 
 Vector3 PhysicalBone3D::get_joint_rotation() const {
@@ -2412,11 +2289,11 @@ Vector3 PhysicalBone3D::get_joint_rotation() const {
 }
 
 void PhysicalBone3D::set_joint_rotation_degrees(const Vector3 &p_euler_deg) {
-	set_joint_rotation(p_euler_deg * Math_PI / 180.0);
+	set_joint_rotation(p_euler_deg * (Math_PI / 180.0));
 }
 
 Vector3 PhysicalBone3D::get_joint_rotation_degrees() const {
-	return get_joint_rotation() * 180.0 / Math_PI;
+	return get_joint_rotation() * (180.0 / Math_PI);
 }
 
 const Transform &PhysicalBone3D::get_body_offset() const {
@@ -2469,14 +2346,6 @@ real_t PhysicalBone3D::get_mass() const {
 	return mass;
 }
 
-void PhysicalBone3D::set_weight(real_t p_weight) {
-	set_mass(p_weight / real_t(GLOBAL_DEF("physics/3d/default_gravity", 9.8)));
-}
-
-real_t PhysicalBone3D::get_weight() const {
-	return mass * real_t(GLOBAL_DEF("physics/3d/default_gravity", 9.8));
-}
-
 void PhysicalBone3D::set_friction(real_t p_friction) {
 	ERR_FAIL_COND(p_friction < 0 || p_friction > 1);
 
@@ -2547,6 +2416,7 @@ bool PhysicalBone3D::get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const {
 
 PhysicalBone3D::PhysicalBone3D() :
 		PhysicsBody3D(PhysicsServer3D::BODY_MODE_STATIC) {
+	joint = PhysicsServer3D::get_singleton()->joint_create();
 	reset_physics_simulation_state();
 }
 
@@ -2554,6 +2424,7 @@ PhysicalBone3D::~PhysicalBone3D() {
 	if (joint_data) {
 		memdelete(joint_data);
 	}
+	PhysicsServer3D::get_singleton()->free(joint);
 }
 
 void PhysicalBone3D::update_bone_id() {
@@ -2605,8 +2476,8 @@ void PhysicalBone3D::_start_physics_simulation() {
 	PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_RIGID);
 	PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer());
 	PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask());
-	PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed");
-	set_as_toplevel(true);
+	PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), callable_mp(this, &PhysicalBone3D::_direct_state_changed));
+	set_as_top_level(true);
 	_internal_simulate_physics = true;
 }
 
@@ -2624,9 +2495,9 @@ void PhysicalBone3D::_stop_physics_simulation() {
 		PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), 0);
 	}
 	if (_internal_simulate_physics) {
-		PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), nullptr, "");
+		PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), Callable());
 		parent_skeleton->set_bone_global_pose_override(bone_id, Transform(), 0.0, false);
-		set_as_toplevel(false);
+		set_as_top_level(false);
 		_internal_simulate_physics = false;
 	}
 }