summaryrefslogtreecommitdiff
path: root/servers/physics
diff options
context:
space:
mode:
Diffstat (limited to 'servers/physics')
-rw-r--r--servers/physics/body_sw.cpp11
-rw-r--r--servers/physics/collision_object_sw.cpp3
-rw-r--r--servers/physics/collision_object_sw.h4
-rw-r--r--servers/physics/collision_solver_sat.cpp14
-rw-r--r--servers/physics/joints/cone_twist_joint_sw.cpp10
-rw-r--r--servers/physics/joints/generic_6dof_joint_sw.cpp2
-rw-r--r--servers/physics/joints/hinge_joint_sw.cpp6
-rw-r--r--servers/physics/physics_server_sw.cpp34
-rw-r--r--servers/physics/physics_server_sw.h8
-rw-r--r--servers/physics/shape_sw.cpp2
-rw-r--r--servers/physics/space_sw.cpp45
-rw-r--r--servers/physics/space_sw.h1
12 files changed, 81 insertions, 59 deletions
diff --git a/servers/physics/body_sw.cpp b/servers/physics/body_sw.cpp
index 23f16c246e..b4c3670a7b 100644
--- a/servers/physics/body_sw.cpp
+++ b/servers/physics/body_sw.cpp
@@ -196,7 +196,8 @@ void BodySW::set_param(PhysicsServer::BodyParameter p_param, real_t p_value) {
angular_damp = p_value;
} break;
- default: {}
+ default: {
+ }
}
}
@@ -226,7 +227,8 @@ real_t BodySW::get_param(PhysicsServer::BodyParameter p_param) const {
return angular_damp;
} break;
- default: {}
+ default: {
+ }
}
return 0;
@@ -474,7 +476,8 @@ void BodySW::integrate_forces(real_t p_step) {
_compute_area_gravity_and_dampenings(aa[i].area);
stopped = mode == PhysicsServer::AREA_SPACE_OVERRIDE_REPLACE;
} break;
- default: {}
+ default: {
+ }
}
}
}
@@ -652,7 +655,7 @@ void BodySW::simulate_motion(const Transform& p_xform,real_t p_step) {
linear_velocity=(p_xform.origin - get_transform().origin)/p_step;
//compute a FAKE angular velocity, not so easy
- Matrix3 rot=get_transform().basis.orthonormalized().transposed() * p_xform.basis.orthonormalized();
+ Basis rot=get_transform().basis.orthonormalized().transposed() * p_xform.basis.orthonormalized();
Vector3 axis;
real_t angle;
diff --git a/servers/physics/collision_object_sw.cpp b/servers/physics/collision_object_sw.cpp
index 085ad4f9ea..b1c21290ab 100644
--- a/servers/physics/collision_object_sw.cpp
+++ b/servers/physics/collision_object_sw.cpp
@@ -32,13 +32,14 @@
#include "servers/physics/physics_server_sw.h"
#include "space_sw.h"
-void CollisionObjectSW::add_shape(ShapeSW *p_shape, const Transform &p_transform) {
+void CollisionObjectSW::add_shape(ShapeSW *p_shape, const Transform &p_transform, bool p_disabled) {
Shape s;
s.shape = p_shape;
s.xform = p_transform;
s.xform_inv = s.xform.affine_inverse();
s.bpid = 0; //needs update
+ s.disabled = p_disabled;
shapes.push_back(s);
p_shape->add_owner(this);
diff --git a/servers/physics/collision_object_sw.h b/servers/physics/collision_object_sw.h
index 6e6b66dac2..c2c3fe0e5a 100644
--- a/servers/physics/collision_object_sw.h
+++ b/servers/physics/collision_object_sw.h
@@ -118,7 +118,7 @@ public:
void _shape_changed();
_FORCE_INLINE_ Type get_type() const { return type; }
- void add_shape(ShapeSW *p_shape, const Transform &p_transform = Transform());
+ void add_shape(ShapeSW *p_shape, const Transform &p_transform = Transform(), bool p_disabled = false);
void set_shape(int p_index, ShapeSW *p_shape);
void set_shape_transform(int p_index, const Transform &p_transform);
_FORCE_INLINE_ int get_shape_count() const { return shapes.size(); }
@@ -130,7 +130,7 @@ public:
_FORCE_INLINE_ const Transform &get_shape_transform(int p_index) const { return shapes[p_index].xform; }
_FORCE_INLINE_ const Transform &get_shape_inv_transform(int p_index) const { return shapes[p_index].xform_inv; }
_FORCE_INLINE_ const AABB &get_shape_aabb(int p_index) const { return shapes[p_index].aabb_cache; }
- _FORCE_INLINE_ const real_t get_shape_area(int p_index) const { return shapes[p_index].area_cache; }
+ _FORCE_INLINE_ real_t get_shape_area(int p_index) const { return shapes[p_index].area_cache; }
_FORCE_INLINE_ Transform get_transform() const { return transform; }
_FORCE_INLINE_ Transform get_inv_transform() const { return inv_transform; }
diff --git a/servers/physics/collision_solver_sat.cpp b/servers/physics/collision_solver_sat.cpp
index fd919343f0..3073cc8b11 100644
--- a/servers/physics/collision_solver_sat.cpp
+++ b/servers/physics/collision_solver_sat.cpp
@@ -98,7 +98,7 @@ static void _generate_contacts_edge_edge(const Vector3 *p_points_A, int p_point_
Vector3 c = rel_A.cross(rel_B).cross(rel_B);
- if (Math::abs(rel_A.dot(c)) < CMP_EPSILON) {
+ if (Math::is_zero_approx(rel_A.dot(c))) {
// should handle somehow..
//ERR_PRINT("TODO FIX");
@@ -678,7 +678,7 @@ static void _collision_box_box(const ShapeSW *p_a, const Transform &p_transform_
Vector3 axis = p_transform_a.basis.get_axis(i).cross(p_transform_b.basis.get_axis(j));
- if (axis.length_squared() < CMP_EPSILON)
+ if (Math::is_zero_approx(axis.length_squared()))
continue;
axis.normalize();
@@ -767,7 +767,7 @@ static void _collision_box_capsule(const ShapeSW *p_a, const Transform &p_transf
// cylinder
Vector3 box_axis = p_transform_a.basis.get_axis(i);
Vector3 axis = box_axis.cross(cyl_axis);
- if (axis.length_squared() < CMP_EPSILON)
+ if (Math::is_zero_approx(axis.length_squared()))
continue;
if (!separator.test_axis(axis.normalized()))
@@ -821,9 +821,9 @@ static void _collision_box_capsule(const ShapeSW *p_a, const Transform &p_transf
// test edges of A
- for (int i = 0; i < 3; i++) {
+ for (int j = 0; j < 3; j++) {
- Vector3 axis = point_axis.cross(p_transform_a.basis.get_axis(i)).cross(p_transform_a.basis.get_axis(i)).normalized();
+ Vector3 axis = point_axis.cross(p_transform_a.basis.get_axis(j)).cross(p_transform_a.basis.get_axis(j)).normalized();
if (!separator.test_axis(axis))
return;
@@ -1337,7 +1337,7 @@ static void _collision_convex_polygon_convex_polygon(const ShapeSW *p_a, const T
return;
}
}
- //edge-vertex( hsell)
+ //edge-vertex (shell)
for (int i = 0; i < edge_count_A; i++) {
@@ -1438,7 +1438,7 @@ static void _collision_convex_polygon_face(const ShapeSW *p_a, const Transform &
return;
}
}
- //edge-vertex( hsell)
+ //edge-vertex (shell)
for (int i = 0; i < edge_count; i++) {
diff --git a/servers/physics/joints/cone_twist_joint_sw.cpp b/servers/physics/joints/cone_twist_joint_sw.cpp
index 05778ee9b0..1b3de3e913 100644
--- a/servers/physics/joints/cone_twist_joint_sw.cpp
+++ b/servers/physics/joints/cone_twist_joint_sw.cpp
@@ -127,10 +127,10 @@ bool ConeTwistJointSW::setup(real_t p_timestep) {
Vector3 relPos = pivotBInW - pivotAInW;
Vector3 normal[3];
- if (relPos.length_squared() > CMP_EPSILON) {
- normal[0] = relPos.normalized();
- } else {
+ if (Math::is_zero_approx(relPos.length_squared())) {
normal[0] = Vector3(real_t(1.0), 0, 0);
+ } else {
+ normal[0] = relPos.normalized();
}
plane_space(normal[0], normal[1], normal[2]);
@@ -205,9 +205,9 @@ bool ConeTwistJointSW::setup(real_t p_timestep) {
// Twist limits
if (m_twistSpan >= real_t(0.)) {
- Vector3 b2Axis2 = B->get_transform().basis.xform(this->m_rbBFrame.basis.get_axis(1));
+ Vector3 b2Axis22 = B->get_transform().basis.xform(this->m_rbBFrame.basis.get_axis(1));
Quat rotationArc = Quat(b2Axis1, b1Axis1);
- Vector3 TwistRef = rotationArc.xform(b2Axis2);
+ Vector3 TwistRef = rotationArc.xform(b2Axis22);
real_t twist = atan2fast(TwistRef.dot(b1Axis3), TwistRef.dot(b1Axis2));
real_t lockedFreeFactor = (m_twistSpan > real_t(0.05f)) ? m_limitSoftness : real_t(0.);
diff --git a/servers/physics/joints/generic_6dof_joint_sw.cpp b/servers/physics/joints/generic_6dof_joint_sw.cpp
index 756348f448..813d9b7704 100644
--- a/servers/physics/joints/generic_6dof_joint_sw.cpp
+++ b/servers/physics/joints/generic_6dof_joint_sw.cpp
@@ -107,7 +107,7 @@ real_t G6DOFRotationalLimitMotorSW::solveAngularLimits(
// correction velocity
real_t motor_relvel = m_limitSoftness * (target_velocity - m_damping * rel_vel);
- if (motor_relvel < CMP_EPSILON && motor_relvel > -CMP_EPSILON) {
+ if (Math::is_zero_approx(motor_relvel)) {
return 0.0f; //no need for applying force
}
diff --git a/servers/physics/joints/hinge_joint_sw.cpp b/servers/physics/joints/hinge_joint_sw.cpp
index e972496b2b..1d1b30286e 100644
--- a/servers/physics/joints/hinge_joint_sw.cpp
+++ b/servers/physics/joints/hinge_joint_sw.cpp
@@ -167,10 +167,10 @@ bool HingeJointSW::setup(real_t p_step) {
Vector3 relPos = pivotBInW - pivotAInW;
Vector3 normal[3];
- if (relPos.length_squared() > CMP_EPSILON) {
- normal[0] = relPos.normalized();
- } else {
+ if (Math::is_zero_approx(relPos.length_squared())) {
normal[0] = Vector3(real_t(1.0), 0, 0);
+ } else {
+ normal[0] = relPos.normalized();
}
plane_space(normal[0], normal[1], normal[2]);
diff --git a/servers/physics/physics_server_sw.cpp b/servers/physics/physics_server_sw.cpp
index 2975ae9453..7b982e7015 100644
--- a/servers/physics/physics_server_sw.cpp
+++ b/servers/physics/physics_server_sw.cpp
@@ -40,10 +40,10 @@
#include "joints/pin_joint_sw.h"
#include "joints/slider_joint_sw.h"
-#define FLUSH_QUERY_CHECK \
- if (flushing_queries) { \
- ERR_EXPLAIN("Can't change this state while flushing queries. Use call_deferred()/set_deferred() to change monitoring state instead"); \
- ERR_FAIL(); \
+#define FLUSH_QUERY_CHECK(m_object) \
+ if (m_object->get_space() && flushing_queries) { \
+ ERR_EXPLAIN("Can't change this state while flushing queries. Use call_deferred() or set_deferred() to change monitoring state instead"); \
+ ERR_FAIL(); \
}
RID PhysicsServerSW::shape_create(ShapeType p_shape) {
@@ -283,7 +283,7 @@ PhysicsServer::AreaSpaceOverrideMode PhysicsServerSW::area_get_space_override_mo
return area->get_space_override_mode();
}
-void PhysicsServerSW::area_add_shape(RID p_area, RID p_shape, const Transform &p_transform) {
+void PhysicsServerSW::area_add_shape(RID p_area, RID p_shape, const Transform &p_transform, bool p_disabled) {
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
@@ -291,7 +291,7 @@ void PhysicsServerSW::area_add_shape(RID p_area, RID p_shape, const Transform &p
ShapeSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
- area->add_shape(shape, p_transform);
+ area->add_shape(shape, p_transform, p_disabled);
}
void PhysicsServerSW::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
@@ -358,15 +358,14 @@ void PhysicsServerSW::area_clear_shapes(RID p_area) {
void PhysicsServerSW::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) {
- FLUSH_QUERY_CHECK
-
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
ERR_FAIL_INDEX(p_shape_idx, area->get_shape_count());
+ FLUSH_QUERY_CHECK(area);
area->set_shape_as_disabled(p_shape_idx, p_disabled);
}
-void PhysicsServerSW::area_attach_object_instance_id(RID p_area, ObjectID p_ID) {
+void PhysicsServerSW::area_attach_object_instance_id(RID p_area, ObjectID p_id) {
if (space_owner.owns(p_area)) {
SpaceSW *space = space_owner.get(p_area);
@@ -374,7 +373,7 @@ void PhysicsServerSW::area_attach_object_instance_id(RID p_area, ObjectID p_ID)
}
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
- area->set_instance_id(p_ID);
+ area->set_instance_id(p_id);
}
ObjectID PhysicsServerSW::area_get_object_instance_id(RID p_area) const {
@@ -443,10 +442,9 @@ void PhysicsServerSW::area_set_collision_mask(RID p_area, uint32_t p_mask) {
void PhysicsServerSW::area_set_monitorable(RID p_area, bool p_monitorable) {
- FLUSH_QUERY_CHECK
-
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
+ FLUSH_QUERY_CHECK(area);
area->set_monitorable(p_monitorable);
}
@@ -542,7 +540,7 @@ PhysicsServer::BodyMode PhysicsServerSW::body_get_mode(RID p_body) const {
return body->get_mode();
};
-void PhysicsServerSW::body_add_shape(RID p_body, RID p_shape, const Transform &p_transform) {
+void PhysicsServerSW::body_add_shape(RID p_body, RID p_shape, const Transform &p_transform, bool p_disabled) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
@@ -550,7 +548,7 @@ void PhysicsServerSW::body_add_shape(RID p_body, RID p_shape, const Transform &p
ShapeSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
- body->add_shape(shape, p_transform);
+ body->add_shape(shape, p_transform, p_disabled);
}
void PhysicsServerSW::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {
@@ -592,11 +590,11 @@ RID PhysicsServerSW::body_get_shape(RID p_body, int p_shape_idx) const {
void PhysicsServerSW::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) {
- FLUSH_QUERY_CHECK
-
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count());
+ FLUSH_QUERY_CHECK(body);
+
body->set_shape_as_disabled(p_shape_idx, p_disabled);
}
@@ -675,12 +673,12 @@ uint32_t PhysicsServerSW::body_get_collision_mask(RID p_body) const {
return body->get_collision_mask();
}
-void PhysicsServerSW::body_attach_object_instance_id(RID p_body, uint32_t p_ID) {
+void PhysicsServerSW::body_attach_object_instance_id(RID p_body, uint32_t p_id) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
- body->set_instance_id(p_ID);
+ body->set_instance_id(p_id);
};
uint32_t PhysicsServerSW::body_get_object_instance_id(RID p_body) const {
diff --git a/servers/physics/physics_server_sw.h b/servers/physics/physics_server_sw.h
index 5d0ba3628e..b593e9b5f1 100644
--- a/servers/physics/physics_server_sw.h
+++ b/servers/physics/physics_server_sw.h
@@ -119,7 +119,7 @@ public:
virtual void area_set_space(RID p_area, RID p_space);
virtual RID area_get_space(RID p_area) const;
- virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform());
+ virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false);
virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape);
virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform);
@@ -132,7 +132,7 @@ public:
virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled);
- virtual void area_attach_object_instance_id(RID p_area, ObjectID p_ID);
+ virtual void area_attach_object_instance_id(RID p_area, ObjectID p_id);
virtual ObjectID area_get_object_instance_id(RID p_area) const;
virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value);
@@ -163,7 +163,7 @@ public:
virtual void body_set_mode(RID p_body, BodyMode p_mode);
virtual BodyMode body_get_mode(RID p_body) const;
- virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform());
+ virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false);
virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape);
virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform);
@@ -176,7 +176,7 @@ public:
virtual void body_remove_shape(RID p_body, int p_shape_idx);
virtual void body_clear_shapes(RID p_body);
- virtual void body_attach_object_instance_id(RID p_body, uint32_t p_ID);
+ virtual void body_attach_object_instance_id(RID p_body, uint32_t p_id);
virtual uint32_t body_get_object_instance_id(RID p_body) const;
virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable);
diff --git a/servers/physics/shape_sw.cpp b/servers/physics/shape_sw.cpp
index fdc5eccc5a..d40de669fd 100644
--- a/servers/physics/shape_sw.cpp
+++ b/servers/physics/shape_sw.cpp
@@ -32,7 +32,7 @@
#include "core/math/geometry.h"
#include "core/math/quick_hull.h"
-#include "core/sort.h"
+#include "core/sort_array.h"
#define _POINT_SNAP 0.001953125
#define _EDGE_IS_VALID_SUPPORT_THRESHOLD 0.0002
diff --git a/servers/physics/space_sw.cpp b/servers/physics/space_sw.cpp
index 1087cd2483..8b9f210850 100644
--- a/servers/physics/space_sw.cpp
+++ b/servers/physics/space_sw.cpp
@@ -277,7 +277,7 @@ bool PhysicsDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform
real_t hi = 1;
Vector3 mnormal = p_motion.normalized();
- for (int i = 0; i < 8; i++) { //steps should be customizable..
+ for (int j = 0; j < 8; j++) { //steps should be customizable..
real_t ofs = (low + hi) * 0.5;
@@ -351,10 +351,8 @@ bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform &p_sh
CollisionSolverSW::CallbackResult cbkres = NULL;
PhysicsServerSW::CollCbkData *cbkptr = NULL;
- if (p_result_max > 0) {
- cbkptr = &cbk;
- cbkres = PhysicsServerSW::_shape_col_cbk;
- }
+ cbkptr = &cbk;
+ cbkres = PhysicsServerSW::_shape_col_cbk;
for (int i = 0; i < amount; i++) {
@@ -387,6 +385,7 @@ struct _RestCallbackData {
Vector3 best_contact;
Vector3 best_normal;
real_t best_len;
+ real_t min_allowed_depth;
};
static void _rest_cbk_result(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata) {
@@ -395,6 +394,8 @@ static void _rest_cbk_result(const Vector3 &p_point_A, const Vector3 &p_point_B,
Vector3 contact_rel = p_point_B - p_point_A;
real_t len = contact_rel.length();
+ if (len < rd->min_allowed_depth)
+ return;
if (len <= rd->best_len)
return;
@@ -418,6 +419,7 @@ bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform &p_shape_
rcd.best_len = 0;
rcd.best_object = NULL;
rcd.best_shape = 0;
+ rcd.min_allowed_depth = space->test_motion_min_contact_depth;
for (int i = 0; i < amount; i++) {
@@ -593,7 +595,6 @@ int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transfo
bool collided = false;
int amount = _cull_aabb_for_body(p_body, body_aabb);
- int ray_index = 0;
for (int j = 0; j < p_body->get_shape_count(); j++) {
if (p_body->is_shape_set_as_disabled(j))
@@ -627,7 +628,19 @@ int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transfo
collided = true;
}
- if (ray_index < p_result_max) {
+ int ray_index = -1; //reuse shape
+ for (int k = 0; k < rays_found; k++) {
+ if (r_results[k].collision_local_shape == j) {
+ ray_index = k;
+ }
+ }
+
+ if (ray_index == -1 && rays_found < p_result_max) {
+ ray_index = rays_found;
+ rays_found++;
+ }
+
+ if (ray_index != -1) {
PhysicsServer::SeparationResult &result = r_results[ray_index];
for (int k = 0; k < cbk.amount; k++) {
@@ -642,9 +655,10 @@ int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transfo
result.collision_depth = depth;
result.collision_point = b;
result.collision_normal = (b - a).normalized();
- result.collision_local_shape = shape_idx;
+ result.collision_local_shape = j;
result.collider = col_obj->get_self();
result.collider_id = col_obj->get_instance_id();
+ result.collider_shape = shape_idx;
//result.collider_metadata = col_obj->get_shape_metadata(shape_idx);
if (col_obj->get_type() == CollisionObjectSW::TYPE_BODY) {
BodySW *body = (BodySW *)col_obj;
@@ -658,12 +672,8 @@ int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transfo
}
}
}
-
- ray_index++;
}
- rays_found = MAX(ray_index, rays_found);
-
if (!collided || recover_motion == Vector3()) {
break;
}
@@ -717,6 +727,11 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
}
if (!shapes_found) {
+ if (r_result) {
+ *r_result = PhysicsServer::MotionResult();
+ r_result->motion = p_motion;
+ }
+
return false;
}
@@ -855,7 +870,7 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
real_t hi = 1;
Vector3 mnormal = p_motion.normalized();
- for (int i = 0; i < 8; i++) { //steps should be customizable..
+ for (int k = 0; k < 8; k++) { //steps should be customizable..
real_t ofs = (low + hi) * 0.5;
@@ -924,6 +939,7 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
rcd.best_len = 0;
rcd.best_object = NULL;
rcd.best_shape = 0;
+ rcd.min_allowed_depth = test_motion_min_contact_depth;
Transform body_shape_xform = ugt * p_body->get_shape_transform(best_shape);
ShapeSW *body_shape = p_body->get_shape(best_shape);
@@ -1148,6 +1164,7 @@ void SpaceSW::set_param(PhysicsServer::SpaceParameter p_param, real_t p_value) {
case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep = p_value; break;
case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: body_angular_velocity_damp_ratio = p_value; break;
case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias = p_value; break;
+ case PhysicsServer::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: test_motion_min_contact_depth = p_value; break;
}
}
@@ -1163,6 +1180,7 @@ real_t SpaceSW::get_param(PhysicsServer::SpaceParameter p_param) const {
case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep;
case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: return body_angular_velocity_damp_ratio;
case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias;
+ case PhysicsServer::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: return test_motion_min_contact_depth;
}
return 0;
}
@@ -1198,6 +1216,7 @@ SpaceSW::SpaceSW() {
contact_recycle_radius = 0.01;
contact_max_separation = 0.05;
contact_max_allowed_penetration = 0.01;
+ test_motion_min_contact_depth = 0.00001;
constraint_bias = 0.01;
body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_linear", 0.1);
diff --git a/servers/physics/space_sw.h b/servers/physics/space_sw.h
index ae6f349e51..3aaa552845 100644
--- a/servers/physics/space_sw.h
+++ b/servers/physics/space_sw.h
@@ -96,6 +96,7 @@ private:
real_t contact_max_separation;
real_t contact_max_allowed_penetration;
real_t constraint_bias;
+ real_t test_motion_min_contact_depth;
enum {
generated by cgit v1.2.3 (git 2.25.1) at 2025-01-05 17:50:40 +0000