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-rw-r--r--servers/physics/SCsub2
-rw-r--r--servers/physics/area_pair_sw.cpp4
-rw-r--r--servers/physics/body_pair_sw.h1
-rw-r--r--servers/physics/body_sw.cpp4
-rw-r--r--servers/physics/collision_solver_sat.cpp1
-rw-r--r--servers/physics/collision_solver_sw.cpp1
-rw-r--r--servers/physics/joints/SCsub2
-rw-r--r--servers/physics/joints/cone_twist_joint_sw.cpp2
-rw-r--r--servers/physics/joints/generic_6dof_joint_sw.cpp72
-rw-r--r--servers/physics/joints/generic_6dof_joint_sw.h6
-rw-r--r--servers/physics/joints/hinge_joint_sw.cpp4
-rw-r--r--servers/physics/joints/slider_joint_sw.cpp4
-rw-r--r--servers/physics/physics_server_sw.cpp17
-rw-r--r--servers/physics/physics_server_sw.h7
-rw-r--r--servers/physics/shape_sw.cpp2
-rw-r--r--servers/physics/space_sw.cpp29
16 files changed, 137 insertions, 21 deletions
diff --git a/servers/physics/SCsub b/servers/physics/SCsub
index c0ee2cc739..c5cc889112 100644
--- a/servers/physics/SCsub
+++ b/servers/physics/SCsub
@@ -4,6 +4,4 @@ Import('env')
env.add_source_files(env.servers_sources, "*.cpp")
-Export('env')
-
SConscript("joints/SCsub")
diff --git a/servers/physics/area_pair_sw.cpp b/servers/physics/area_pair_sw.cpp
index d2fef0ab77..5e295edcd1 100644
--- a/servers/physics/area_pair_sw.cpp
+++ b/servers/physics/area_pair_sw.cpp
@@ -147,10 +147,10 @@ Area2PairSW::~Area2PairSW() {
if (colliding) {
- if (area_b->has_area_monitor_callback() && area_a->is_monitorable())
+ if (area_b->has_area_monitor_callback())
area_b->remove_area_from_query(area_a, shape_a, shape_b);
- if (area_a->has_area_monitor_callback() && area_b->is_monitorable())
+ if (area_a->has_area_monitor_callback())
area_a->remove_area_from_query(area_b, shape_b, shape_a);
}
diff --git a/servers/physics/body_pair_sw.h b/servers/physics/body_pair_sw.h
index fd85d77718..17ff9d6a88 100644
--- a/servers/physics/body_pair_sw.h
+++ b/servers/physics/body_pair_sw.h
@@ -76,7 +76,6 @@ class BodyPairSW : public ConstraintSW {
Contact contacts[MAX_CONTACTS];
int contact_count;
bool collided;
- int cc;
static void _contact_added_callback(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata);
diff --git a/servers/physics/body_sw.cpp b/servers/physics/body_sw.cpp
index cc9681193c..36511f78ce 100644
--- a/servers/physics/body_sw.cpp
+++ b/servers/physics/body_sw.cpp
@@ -755,10 +755,10 @@ void BodySW::set_kinematic_margin(real_t p_margin) {
BodySW::BodySW() :
CollisionObjectSW(TYPE_BODY),
+ locked_axis(0),
active_list(this),
inertia_update_list(this),
- direct_state_query_list(this),
- locked_axis(0) {
+ direct_state_query_list(this) {
mode = PhysicsServer::BODY_MODE_RIGID;
active = true;
diff --git a/servers/physics/collision_solver_sat.cpp b/servers/physics/collision_solver_sat.cpp
index 087ae570fb..f17f6f7014 100644
--- a/servers/physics/collision_solver_sat.cpp
+++ b/servers/physics/collision_solver_sat.cpp
@@ -98,7 +98,6 @@ 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) )<_EDGE_IS_VALID_SUPPORT_TRESHOLD ) {
if (Math::abs(rel_A.dot(c)) < CMP_EPSILON) {
// should handle somehow..
diff --git a/servers/physics/collision_solver_sw.cpp b/servers/physics/collision_solver_sw.cpp
index 2f2f6d2908..86ef719f6f 100644
--- a/servers/physics/collision_solver_sw.cpp
+++ b/servers/physics/collision_solver_sw.cpp
@@ -31,7 +31,6 @@
#include "collision_solver_sw.h"
#include "collision_solver_sat.h"
-#include "collision_solver_sat.h"
#include "gjk_epa.h"
#define collision_solver sat_calculate_penetration
diff --git a/servers/physics/joints/SCsub b/servers/physics/joints/SCsub
index ccc76e823f..d730144861 100644
--- a/servers/physics/joints/SCsub
+++ b/servers/physics/joints/SCsub
@@ -3,5 +3,3 @@
Import('env')
env.add_source_files(env.servers_sources, "*.cpp")
-
-Export('env')
diff --git a/servers/physics/joints/cone_twist_joint_sw.cpp b/servers/physics/joints/cone_twist_joint_sw.cpp
index c06f27cc57..37fcde4b76 100644
--- a/servers/physics/joints/cone_twist_joint_sw.cpp
+++ b/servers/physics/joints/cone_twist_joint_sw.cpp
@@ -332,6 +332,7 @@ void ConeTwistJointSW::set_param(PhysicsServer::ConeTwistJointParam p_param, rea
m_relaxationFactor = p_value;
} break;
+ case PhysicsServer::CONE_TWIST_MAX: break; // Can't happen, but silences warning
}
}
@@ -358,6 +359,7 @@ real_t ConeTwistJointSW::get_param(PhysicsServer::ConeTwistJointParam p_param) c
return m_relaxationFactor;
} break;
+ case PhysicsServer::CONE_TWIST_MAX: break; // Can't happen, but silences warning
}
return 0;
diff --git a/servers/physics/joints/generic_6dof_joint_sw.cpp b/servers/physics/joints/generic_6dof_joint_sw.cpp
index c95e5cef32..3a965ff800 100644
--- a/servers/physics/joints/generic_6dof_joint_sw.cpp
+++ b/servers/physics/joints/generic_6dof_joint_sw.cpp
@@ -83,7 +83,7 @@ int G6DOFRotationalLimitMotorSW::testLimitValue(real_t test_value) {
real_t G6DOFRotationalLimitMotorSW::solveAngularLimits(
real_t timeStep, Vector3 &axis, real_t jacDiagABInv,
BodySW *body0, BodySW *body1) {
- if (needApplyTorques() == false) return 0.0f;
+ if (!needApplyTorques()) return 0.0f;
real_t target_velocity = m_targetVelocity;
real_t maxMotorForce = m_maxMotorForce;
@@ -497,6 +497,31 @@ void Generic6DOFJointSW::set_param(Vector3::Axis p_axis, PhysicsServer::G6DOFJoi
m_angularLimits[p_axis].m_maxLimitForce = p_value;
} break;
+ case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY: {
+ // Not implemented in GodotPhysics backend
+ } break;
+ case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT: {
+ // Not implemented in GodotPhysics backend
+ } break;
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS: {
+ // Not implemented in GodotPhysics backend
+ } break;
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING: {
+ // Not implemented in GodotPhysics backend
+ } break;
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT: {
+ // Not implemented in GodotPhysics backend
+ } break;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS: {
+ // Not implemented in GodotPhysics backend
+ } break;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING: {
+ // Not implemented in GodotPhysics backend
+ } break;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT: {
+ // Not implemented in GodotPhysics backend
+ } break;
+ case PhysicsServer::G6DOF_JOINT_MAX: break; // Can't happen, but silences warning
}
}
@@ -572,6 +597,31 @@ real_t Generic6DOFJointSW::get_param(Vector3::Axis p_axis, PhysicsServer::G6DOFJ
return m_angularLimits[p_axis].m_maxMotorForce;
} break;
+ case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY: {
+ // Not implemented in GodotPhysics backend
+ } break;
+ case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT: {
+ // Not implemented in GodotPhysics backend
+ } break;
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS: {
+ // Not implemented in GodotPhysics backend
+ } break;
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING: {
+ // Not implemented in GodotPhysics backend
+ } break;
+ case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT: {
+ // Not implemented in GodotPhysics backend
+ } break;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS: {
+ // Not implemented in GodotPhysics backend
+ } break;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING: {
+ // Not implemented in GodotPhysics backend
+ } break;
+ case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT: {
+ // Not implemented in GodotPhysics backend
+ } break;
+ case PhysicsServer::G6DOF_JOINT_MAX: break; // Can't happen, but silences warning
}
return 0;
}
@@ -593,6 +643,16 @@ void Generic6DOFJointSW::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJoin
m_angularLimits[p_axis].m_enableMotor = p_value;
} break;
+ case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR: {
+ // Not implemented in GodotPhysics backend
+ } break;
+ case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING: {
+ // Not implemented in GodotPhysics backend
+ } break;
+ case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING: {
+ // Not implemented in GodotPhysics backend
+ } break;
+ case PhysicsServer::G6DOF_JOINT_FLAG_MAX: break; // Can't happen, but silences warning
}
}
bool Generic6DOFJointSW::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const {
@@ -611,6 +671,16 @@ bool Generic6DOFJointSW::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJoin
return m_angularLimits[p_axis].m_enableMotor;
} break;
+ case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR: {
+ // Not implemented in GodotPhysics backend
+ } break;
+ case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING: {
+ // Not implemented in GodotPhysics backend
+ } break;
+ case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING: {
+ // Not implemented in GodotPhysics backend
+ } break;
+ case PhysicsServer::G6DOF_JOINT_FLAG_MAX: break; // Can't happen, but silences warning
}
return 0;
diff --git a/servers/physics/joints/generic_6dof_joint_sw.h b/servers/physics/joints/generic_6dof_joint_sw.h
index b350546c5d..035525c9e6 100644
--- a/servers/physics/joints/generic_6dof_joint_sw.h
+++ b/servers/physics/joints/generic_6dof_joint_sw.h
@@ -118,14 +118,12 @@ public:
//! Is limited
bool isLimited() {
- if (m_loLimit >= m_hiLimit) return false;
- return true;
+ return (m_loLimit < m_hiLimit);
}
//! Need apply correction
bool needApplyTorques() {
- if (m_currentLimit == 0 && m_enableMotor == false) return false;
- return true;
+ return (m_enableMotor || m_currentLimit != 0);
}
//! calculates error
diff --git a/servers/physics/joints/hinge_joint_sw.cpp b/servers/physics/joints/hinge_joint_sw.cpp
index 368a349632..50de0e871e 100644
--- a/servers/physics/joints/hinge_joint_sw.cpp
+++ b/servers/physics/joints/hinge_joint_sw.cpp
@@ -409,6 +409,7 @@ void HingeJointSW::set_param(PhysicsServer::HingeJointParam p_param, real_t p_va
case PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION: m_relaxationFactor = p_value; break;
case PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY: m_motorTargetVelocity = p_value; break;
case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE: m_maxMotorImpulse = p_value; break;
+ case PhysicsServer::HINGE_JOINT_MAX: break; // Can't happen, but silences warning
}
}
@@ -424,6 +425,7 @@ real_t HingeJointSW::get_param(PhysicsServer::HingeJointParam p_param) const {
case PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION: return m_relaxationFactor;
case PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY: return m_motorTargetVelocity;
case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE: return m_maxMotorImpulse;
+ case PhysicsServer::HINGE_JOINT_MAX: break; // Can't happen, but silences warning
}
return 0;
@@ -434,6 +436,7 @@ void HingeJointSW::set_flag(PhysicsServer::HingeJointFlag p_flag, bool p_value)
switch (p_flag) {
case PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT: m_useLimit = p_value; break;
case PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR: m_enableAngularMotor = p_value; break;
+ case PhysicsServer::HINGE_JOINT_FLAG_MAX: break; // Can't happen, but silences warning
}
}
bool HingeJointSW::get_flag(PhysicsServer::HingeJointFlag p_flag) const {
@@ -441,6 +444,7 @@ bool HingeJointSW::get_flag(PhysicsServer::HingeJointFlag p_flag) const {
switch (p_flag) {
case PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT: return m_useLimit;
case PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR: return m_enableAngularMotor;
+ case PhysicsServer::HINGE_JOINT_FLAG_MAX: break; // Can't happen, but silences warning
}
return false;
diff --git a/servers/physics/joints/slider_joint_sw.cpp b/servers/physics/joints/slider_joint_sw.cpp
index c0e9660b22..30700d45f1 100644
--- a/servers/physics/joints/slider_joint_sw.cpp
+++ b/servers/physics/joints/slider_joint_sw.cpp
@@ -404,6 +404,8 @@ void SliderJointSW::set_param(PhysicsServer::SliderJointParam p_param, real_t p_
case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: m_softnessOrthoAng = p_value; break;
case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: m_restitutionOrthoAng = p_value; break;
case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: m_dampingOrthoAng = p_value; break;
+
+ case PhysicsServer::SLIDER_JOINT_MAX: break; // Can't happen, but silences warning
}
}
@@ -433,6 +435,8 @@ real_t SliderJointSW::get_param(PhysicsServer::SliderJointParam p_param) const {
case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: return m_softnessOrthoAng;
case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: return m_restitutionOrthoAng;
case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: return m_dampingOrthoAng;
+
+ case PhysicsServer::SLIDER_JOINT_MAX: break; // Can't happen, but silences warning
}
return 0;
diff --git a/servers/physics/physics_server_sw.cpp b/servers/physics/physics_server_sw.cpp
index 76a6138817..fddb531a4f 100644
--- a/servers/physics/physics_server_sw.cpp
+++ b/servers/physics/physics_server_sw.cpp
@@ -40,6 +40,12 @@
#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(); \
+ }
+
RID PhysicsServerSW::shape_create(ShapeType p_shape) {
ShapeSW *shape = NULL;
@@ -352,6 +358,8 @@ 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());
@@ -435,6 +443,8 @@ 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);
@@ -582,6 +592,8 @@ 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());
@@ -1459,6 +1471,8 @@ void PhysicsServerSW::flush_queries() {
doing_sync = true;
+ flushing_queries = true;
+
uint64_t time_beg = OS::get_singleton()->get_ticks_usec();
for (Set<const SpaceSW *>::Element *E = active_spaces.front(); E; E = E->next()) {
@@ -1467,6 +1481,8 @@ void PhysicsServerSW::flush_queries() {
space->call_queries();
}
+ flushing_queries = false;
+
if (ScriptDebugger::get_singleton() && ScriptDebugger::get_singleton()->is_profiling()) {
uint64_t total_time[SpaceSW::ELAPSED_TIME_MAX];
@@ -1580,6 +1596,7 @@ PhysicsServerSW::PhysicsServerSW() {
collision_pairs = 0;
active = true;
+ flushing_queries = false;
};
PhysicsServerSW::~PhysicsServerSW(){
diff --git a/servers/physics/physics_server_sw.h b/servers/physics/physics_server_sw.h
index 4131c5e248..c361d00fcc 100644
--- a/servers/physics/physics_server_sw.h
+++ b/servers/physics/physics_server_sw.h
@@ -51,6 +51,8 @@ class PhysicsServerSW : public PhysicsServer {
int active_objects;
int collision_pairs;
+ bool flushing_queries;
+
StepSW *stepper;
Set<const SpaceSW *> active_spaces;
@@ -346,6 +348,9 @@ public:
virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag, bool p_enable);
virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag);
+ virtual void generic_6dof_joint_set_precision(RID p_joint, int precision) {}
+ virtual int generic_6dof_joint_get_precision(RID p_joint) { return 0; }
+
virtual JointType joint_get_type(RID p_joint) const;
virtual void joint_set_solver_priority(RID p_joint, int p_priority);
@@ -365,6 +370,8 @@ public:
virtual void flush_queries();
virtual void finish();
+ virtual bool is_flushing_queries() const { return flushing_queries; }
+
int get_process_info(ProcessInfo p_info);
PhysicsServerSW();
diff --git a/servers/physics/shape_sw.cpp b/servers/physics/shape_sw.cpp
index e1c985f44f..e7fc821c2c 100644
--- a/servers/physics/shape_sw.cpp
+++ b/servers/physics/shape_sw.cpp
@@ -1047,7 +1047,7 @@ void FaceShapeSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_su
/** FIND SUPPORT VERTEX **/
int vert_support_idx = -1;
- real_t support_max;
+ real_t support_max = 0;
for (int i = 0; i < 3; i++) {
diff --git a/servers/physics/space_sw.cpp b/servers/physics/space_sw.cpp
index 731749b8ce..3b5344f020 100644
--- a/servers/physics/space_sw.cpp
+++ b/servers/physics/space_sw.cpp
@@ -544,14 +544,24 @@ int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transfo
AABB body_aabb;
+ bool shapes_found = false;
+
for (int i = 0; i < p_body->get_shape_count(); i++) {
- if (i == 0)
+ if (p_body->is_shape_set_as_disabled(i))
+ continue;
+
+ if (!shapes_found) {
body_aabb = p_body->get_shape_aabb(i);
- else
+ shapes_found = true;
+ } else {
body_aabb = body_aabb.merge(p_body->get_shape_aabb(i));
+ }
}
+ if (!shapes_found) {
+ return 0;
+ }
// Undo the currently transform the physics server is aware of and apply the provided one
body_aabb = p_transform.xform(p_body->get_inv_transform().xform(body_aabb));
body_aabb = body_aabb.grow(p_margin);
@@ -691,13 +701,23 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve
r_result->collider_shape = 0;
}
AABB body_aabb;
+ bool shapes_found = false;
for (int i = 0; i < p_body->get_shape_count(); i++) {
- if (i == 0)
+ if (p_body->is_shape_set_as_disabled(i))
+ continue;
+
+ if (!shapes_found) {
body_aabb = p_body->get_shape_aabb(i);
- else
+ shapes_found = true;
+ } else {
body_aabb = body_aabb.merge(p_body->get_shape_aabb(i));
+ }
+ }
+
+ if (!shapes_found) {
+ return false;
}
// Undo the currently transform the physics server is aware of and apply the provided one
@@ -1183,6 +1203,7 @@ SpaceSW::SpaceSW() {
body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_linear", 0.1);
body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_angular", (8.0 / 180.0 * Math_PI));
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::REAL, "physics/3d/time_before_sleep", PROPERTY_HINT_RANGE, "0,5,0.01,or_greater"));
body_angular_velocity_damp_ratio = 10;
broadphase = BroadPhaseSW::create_func();
generated by cgit v1.2.3 (git 2.25.1) at 2025-02-14 04:25:30 +0000