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-rw-r--r--servers/physics_3d/godot_body_pair_3d.cpp2
-rw-r--r--servers/physics_3d/godot_physics_server_3d.cpp21
-rw-r--r--servers/physics_3d/godot_physics_server_3d.h3
-rw-r--r--servers/physics_3d/godot_space_3d.cpp14
-rw-r--r--servers/physics_3d/godot_space_3d.h5
-rw-r--r--servers/physics_3d/godot_step_3d.cpp4
-rw-r--r--servers/physics_3d/godot_step_3d.h2
7 files changed, 29 insertions, 22 deletions
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();
};
generated by cgit v1.2.3 (git 2.25.1) at 2025-02-20 18:19:16 +0000