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Diffstat (limited to 'servers/physics_3d/godot_space_3d.cpp')
-rw-r--r--servers/physics_3d/godot_space_3d.cpp61
1 files changed, 40 insertions, 21 deletions
diff --git a/servers/physics_3d/godot_space_3d.cpp b/servers/physics_3d/godot_space_3d.cpp
index f503273c88..ed756a7f9d 100644
--- a/servers/physics_3d/godot_space_3d.cpp
+++ b/servers/physics_3d/godot_space_3d.cpp
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2022 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 */
@@ -35,6 +35,7 @@
#include "core/config/project_settings.h"
+#define TEST_MOTION_MARGIN_MIN_VALUE 0.0001
#define TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR 0.05
_FORCE_INLINE_ static bool _can_collide_with(GodotCollisionObject3D *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
@@ -507,8 +508,10 @@ bool GodotPhysicsDirectSpaceState3D::rest_info(const ShapeParameters &p_paramete
GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_parameters.shape_rid);
ERR_FAIL_COND_V(!shape, 0);
+ real_t margin = MAX(p_parameters.margin, TEST_MOTION_MARGIN_MIN_VALUE);
+
AABB aabb = p_parameters.transform.xform(shape->get_aabb());
- aabb = aabb.grow(p_parameters.margin);
+ aabb = aabb.grow(margin);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
@@ -516,7 +519,7 @@ bool GodotPhysicsDirectSpaceState3D::rest_info(const ShapeParameters &p_paramete
// Allowed depth can't be lower than motion length, in order to handle contacts at low speed.
real_t motion_length = p_parameters.motion.length();
- real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
+ real_t min_contact_depth = margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
rcd.min_allowed_depth = MIN(motion_length, min_contact_depth);
for (int i = 0; i < amount; i++) {
@@ -534,7 +537,7 @@ bool GodotPhysicsDirectSpaceState3D::rest_info(const ShapeParameters &p_paramete
rcd.object = col_obj;
rcd.shape = shape_idx;
- bool sc = GodotCollisionSolver3D::solve_static(shape, p_parameters.transform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, p_parameters.margin);
+ bool sc = GodotCollisionSolver3D::solve_static(shape, p_parameters.transform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, margin);
if (!sc) {
continue;
}
@@ -677,11 +680,13 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::
return false;
}
+ real_t margin = MAX(p_parameters.margin, TEST_MOTION_MARGIN_MIN_VALUE);
+
// Undo the currently transform the physics server is aware of and apply the provided one
body_aabb = p_parameters.from.xform(p_body->get_inv_transform().xform(body_aabb));
- body_aabb = body_aabb.grow(p_parameters.margin);
+ body_aabb = body_aabb.grow(margin);
- real_t min_contact_depth = p_parameters.margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
+ real_t min_contact_depth = margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
real_t motion_length = p_parameters.motion.length();
Vector3 motion_normal = p_parameters.motion / motion_length;
@@ -729,7 +734,7 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::
int shape_idx = intersection_query_subindex_results[i];
- if (GodotCollisionSolver3D::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, p_parameters.margin)) {
+ if (GodotCollisionSolver3D::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, margin)) {
collided = cbk.amount > 0;
}
}
@@ -949,7 +954,7 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::
rcd.object = col_obj;
rcd.shape = shape_idx;
- bool sc = GodotCollisionSolver3D::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, p_parameters.margin);
+ bool sc = GodotCollisionSolver3D::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, margin);
if (!sc) {
continue;
}
@@ -1173,9 +1178,12 @@ 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;
@@ -1185,11 +1193,8 @@ void GodotSpace3D::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_v
case PhysicsServer3D::SPACE_PARAM_BODY_TIME_TO_SLEEP:
body_time_to_sleep = p_value;
break;
- case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO:
- body_angular_velocity_damp_ratio = p_value;
- break;
- case PhysicsServer3D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
- constraint_bias = p_value;
+ case PhysicsServer3D::SPACE_PARAM_SOLVER_ITERATIONS:
+ solver_iterations = p_value;
break;
}
}
@@ -1200,18 +1205,18 @@ 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:
return body_angular_velocity_sleep_threshold;
case PhysicsServer3D::SPACE_PARAM_BODY_TIME_TO_SLEEP:
return body_time_to_sleep;
- case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO:
- return body_angular_velocity_damp_ratio;
- case PhysicsServer3D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
- return constraint_bias;
+ case PhysicsServer3D::SPACE_PARAM_SOLVER_ITERATIONS:
+ return solver_iterations;
}
return 0;
}
@@ -1237,7 +1242,21 @@ GodotSpace3D::GodotSpace3D() {
body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_angular", Math::deg2rad(8.0));
body_time_to_sleep = GLOBAL_DEF("physics/3d/time_before_sleep", 0.5);
ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/time_before_sleep", PropertyInfo(Variant::FLOAT, "physics/3d/time_before_sleep", PROPERTY_HINT_RANGE, "0,5,0.01,or_greater"));
- body_angular_velocity_damp_ratio = 10;
+
+ solver_iterations = GLOBAL_DEF("physics/3d/solver/solver_iterations", 16);
+ ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/solver/solver_iterations", PropertyInfo(Variant::INT, "physics/3d/solver/solver_iterations", PROPERTY_HINT_RANGE, "1,32,1,or_greater"));
+
+ contact_recycle_radius = GLOBAL_DEF("physics/3d/solver/contact_recycle_radius", 0.01);
+ ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/solver/contact_recycle_radius", PropertyInfo(Variant::FLOAT, "physics/3d/solver/contact_max_separation", PROPERTY_HINT_RANGE, "0,0.1,0.01,or_greater"));
+
+ contact_max_separation = GLOBAL_DEF("physics/3d/solver/contact_max_separation", 0.05);
+ ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/solver/contact_max_separation", PropertyInfo(Variant::FLOAT, "physics/3d/solver/contact_max_separation", PROPERTY_HINT_RANGE, "0,0.1,0.01,or_greater"));
+
+ contact_max_allowed_penetration = GLOBAL_DEF("physics/3d/solver/contact_max_allowed_penetration", 0.01);
+ ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/solver/contact_max_allowed_penetration", PropertyInfo(Variant::FLOAT, "physics/3d/solver/contact_max_allowed_penetration", PROPERTY_HINT_RANGE, "0,0.1,0.01,or_greater"));
+
+ contact_bias = GLOBAL_DEF("physics/3d/solver/default_contact_bias", 0.8);
+ ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/solver/default_contact_bias", PropertyInfo(Variant::FLOAT, "physics/3d/solver/default_contact_bias", PROPERTY_HINT_RANGE, "0,1,0.01"));
broadphase = GodotBroadPhase3D::create_func();
broadphase->set_pair_callback(_broadphase_pair, this);
generated by cgit v1.2.3 (git 2.25.1) at 2025-10-05 11:19:55 +0000