diff options
Diffstat (limited to 'servers/physics_3d')
45 files changed, 440 insertions, 288 deletions
diff --git a/servers/physics_3d/gjk_epa.cpp b/servers/physics_3d/gjk_epa.cpp index ef6535a878..928ffe0980 100644 --- a/servers/physics_3d/gjk_epa.cpp +++ b/servers/physics_3d/gjk_epa.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 */ diff --git a/servers/physics_3d/gjk_epa.h b/servers/physics_3d/gjk_epa.h index 39a7d03435..01a47f222e 100644 --- a/servers/physics_3d/gjk_epa.h +++ b/servers/physics_3d/gjk_epa.h @@ -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 */ diff --git a/servers/physics_3d/godot_area_3d.cpp b/servers/physics_3d/godot_area_3d.cpp index d4e14b8d85..e7df23d0d8 100644 --- a/servers/physics_3d/godot_area_3d.cpp +++ b/servers/physics_3d/godot_area_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 */ diff --git a/servers/physics_3d/godot_area_3d.h b/servers/physics_3d/godot_area_3d.h index 0dcf89b2b4..ce64fc802a 100644 --- a/servers/physics_3d/godot_area_3d.h +++ b/servers/physics_3d/godot_area_3d.h @@ -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 */ diff --git a/servers/physics_3d/godot_area_pair_3d.cpp b/servers/physics_3d/godot_area_pair_3d.cpp index 58188565e3..a75cb74f60 100644 --- a/servers/physics_3d/godot_area_pair_3d.cpp +++ b/servers/physics_3d/godot_area_pair_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 */ diff --git a/servers/physics_3d/godot_area_pair_3d.h b/servers/physics_3d/godot_area_pair_3d.h index 4237e7722e..c416477204 100644 --- a/servers/physics_3d/godot_area_pair_3d.h +++ b/servers/physics_3d/godot_area_pair_3d.h @@ -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 */ diff --git a/servers/physics_3d/godot_body_3d.cpp b/servers/physics_3d/godot_body_3d.cpp index d5098a2a5f..ad97533f44 100644 --- a/servers/physics_3d/godot_body_3d.cpp +++ b/servers/physics_3d/godot_body_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 */ @@ -628,9 +628,8 @@ void GodotBody3D::integrate_forces(real_t p_step) { if (!omit_force_integration) { //overridden by direct state query - Vector3 force = gravity * mass; - force += applied_force; - Vector3 torque = applied_torque; + Vector3 force = gravity * mass + applied_force + constant_force; + Vector3 torque = applied_torque + constant_torque; real_t damp = 1.0 - p_step * total_linear_damp; diff --git a/servers/physics_3d/godot_body_3d.h b/servers/physics_3d/godot_body_3d.h index 6ea6d1fcaa..1906e8aab1 100644 --- a/servers/physics_3d/godot_body_3d.h +++ b/servers/physics_3d/godot_body_3d.h @@ -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 */ @@ -93,6 +93,9 @@ class GodotBody3D : public GodotCollisionObject3D { Vector3 applied_force; Vector3 applied_torque; + Vector3 constant_force; + Vector3 constant_torque; + SelfList<GodotBody3D> active_list; SelfList<GodotBody3D> mass_properties_update_list; SelfList<GodotBody3D> direct_state_query_list; @@ -244,19 +247,38 @@ public: biased_angular_velocity += _inv_inertia_tensor.xform(p_impulse); } - _FORCE_INLINE_ void add_central_force(const Vector3 &p_force) { + _FORCE_INLINE_ void apply_central_force(const Vector3 &p_force) { applied_force += p_force; } - _FORCE_INLINE_ void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) { + _FORCE_INLINE_ void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) { applied_force += p_force; applied_torque += (p_position - center_of_mass).cross(p_force); } - _FORCE_INLINE_ void add_torque(const Vector3 &p_torque) { + _FORCE_INLINE_ void apply_torque(const Vector3 &p_torque) { applied_torque += p_torque; } + _FORCE_INLINE_ void add_constant_central_force(const Vector3 &p_force) { + constant_force += p_force; + } + + _FORCE_INLINE_ void add_constant_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) { + constant_force += p_force; + constant_torque += (p_position - center_of_mass).cross(p_force); + } + + _FORCE_INLINE_ void add_constant_torque(const Vector3 &p_torque) { + constant_torque += p_torque; + } + + void set_constant_force(const Vector3 &p_force) { constant_force = p_force; } + Vector3 get_constant_force() const { return constant_force; } + + void set_constant_torque(const Vector3 &p_torque) { constant_torque = p_torque; } + Vector3 get_constant_torque() const { return constant_torque; } + void set_active(bool p_active); _FORCE_INLINE_ bool is_active() const { return active; } @@ -276,12 +298,6 @@ public: void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant); Variant get_state(PhysicsServer3D::BodyState p_state) const; - void set_applied_force(const Vector3 &p_force) { applied_force = p_force; } - Vector3 get_applied_force() const { return applied_force; } - - void set_applied_torque(const Vector3 &p_torque) { applied_torque = p_torque; } - Vector3 get_applied_torque() const { return applied_torque; } - _FORCE_INLINE_ void set_continuous_collision_detection(bool p_enable) { continuous_cd = p_enable; } _FORCE_INLINE_ bool is_continuous_collision_detection_enabled() const { return continuous_cd; } diff --git a/servers/physics_3d/godot_body_direct_state_3d.cpp b/servers/physics_3d/godot_body_direct_state_3d.cpp index a929cab6f9..a8c6086e1c 100644 --- a/servers/physics_3d/godot_body_direct_state_3d.cpp +++ b/servers/physics_3d/godot_body_direct_state_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 */ @@ -99,34 +99,71 @@ Vector3 GodotPhysicsDirectBodyState3D::get_velocity_at_local_position(const Vect return body->get_velocity_in_local_point(p_position); } -void GodotPhysicsDirectBodyState3D::add_central_force(const Vector3 &p_force) { +void GodotPhysicsDirectBodyState3D::apply_central_impulse(const Vector3 &p_impulse) { body->wakeup(); - body->add_central_force(p_force); + body->apply_central_impulse(p_impulse); } -void GodotPhysicsDirectBodyState3D::add_force(const Vector3 &p_force, const Vector3 &p_position) { +void GodotPhysicsDirectBodyState3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) { body->wakeup(); - body->add_force(p_force, p_position); + body->apply_impulse(p_impulse, p_position); } -void GodotPhysicsDirectBodyState3D::add_torque(const Vector3 &p_torque) { +void GodotPhysicsDirectBodyState3D::apply_torque_impulse(const Vector3 &p_impulse) { body->wakeup(); - body->add_torque(p_torque); + body->apply_torque_impulse(p_impulse); } -void GodotPhysicsDirectBodyState3D::apply_central_impulse(const Vector3 &p_impulse) { +void GodotPhysicsDirectBodyState3D::apply_central_force(const Vector3 &p_force) { body->wakeup(); - body->apply_central_impulse(p_impulse); + body->apply_central_force(p_force); } -void GodotPhysicsDirectBodyState3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) { +void GodotPhysicsDirectBodyState3D::apply_force(const Vector3 &p_force, const Vector3 &p_position) { body->wakeup(); - body->apply_impulse(p_impulse, p_position); + body->apply_force(p_force, p_position); } -void GodotPhysicsDirectBodyState3D::apply_torque_impulse(const Vector3 &p_impulse) { +void GodotPhysicsDirectBodyState3D::apply_torque(const Vector3 &p_torque) { body->wakeup(); - body->apply_torque_impulse(p_impulse); + body->apply_torque(p_torque); +} + +void GodotPhysicsDirectBodyState3D::add_constant_central_force(const Vector3 &p_force) { + body->wakeup(); + body->add_constant_central_force(p_force); +} + +void GodotPhysicsDirectBodyState3D::add_constant_force(const Vector3 &p_force, const Vector3 &p_position) { + body->wakeup(); + body->add_constant_force(p_force, p_position); +} + +void GodotPhysicsDirectBodyState3D::add_constant_torque(const Vector3 &p_torque) { + body->wakeup(); + body->add_constant_torque(p_torque); +} + +void GodotPhysicsDirectBodyState3D::set_constant_force(const Vector3 &p_force) { + if (!p_force.is_equal_approx(Vector3())) { + body->wakeup(); + } + body->set_constant_force(p_force); +} + +Vector3 GodotPhysicsDirectBodyState3D::get_constant_force() const { + return body->get_constant_force(); +} + +void GodotPhysicsDirectBodyState3D::set_constant_torque(const Vector3 &p_torque) { + if (!p_torque.is_equal_approx(Vector3())) { + body->wakeup(); + } + body->set_constant_torque(p_torque); +} + +Vector3 GodotPhysicsDirectBodyState3D::get_constant_torque() const { + return body->get_constant_torque(); } void GodotPhysicsDirectBodyState3D::set_sleep_state(bool p_sleep) { diff --git a/servers/physics_3d/godot_body_direct_state_3d.h b/servers/physics_3d/godot_body_direct_state_3d.h index 35fd1543b0..483cfb9298 100644 --- a/servers/physics_3d/godot_body_direct_state_3d.h +++ b/servers/physics_3d/godot_body_direct_state_3d.h @@ -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 */ @@ -64,13 +64,24 @@ public: virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const override; - virtual void add_central_force(const Vector3 &p_force) override; - virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) override; - virtual void add_torque(const Vector3 &p_torque) override; virtual void apply_central_impulse(const Vector3 &p_impulse) override; virtual void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) override; virtual void apply_torque_impulse(const Vector3 &p_impulse) override; + virtual void apply_central_force(const Vector3 &p_force) override; + virtual void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) override; + virtual void apply_torque(const Vector3 &p_torque) override; + + virtual void add_constant_central_force(const Vector3 &p_force) override; + virtual void add_constant_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) override; + virtual void add_constant_torque(const Vector3 &p_torque) override; + + virtual void set_constant_force(const Vector3 &p_force) override; + virtual Vector3 get_constant_force() const override; + + virtual void set_constant_torque(const Vector3 &p_torque) override; + virtual Vector3 get_constant_torque() const override; + virtual void set_sleep_state(bool p_sleep) override; virtual bool is_sleeping() const override; diff --git a/servers/physics_3d/godot_body_pair_3d.cpp b/servers/physics_3d/godot_body_pair_3d.cpp index 8a701466ed..89d5d59161 100644 --- a/servers/physics_3d/godot_body_pair_3d.cpp +++ b/servers/physics_3d/godot_body_pair_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 */ @@ -44,11 +44,6 @@ void GodotBodyPair3D::_contact_added_callback(const Vector3 &p_point_A, int p_in } void GodotBodyPair3D::contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B) { - // check if we already have the contact - - //Vector3 local_A = A->get_inv_transform().xform(p_point_A); - //Vector3 local_B = B->get_inv_transform().xform(p_point_B); - Vector3 local_A = A->get_inv_transform().basis.xform(p_point_A); Vector3 local_B = B->get_inv_transform().basis.xform(p_point_B - offset_B); @@ -57,19 +52,14 @@ void GodotBodyPair3D::contact_added_callback(const Vector3 &p_point_A, int p_ind ERR_FAIL_COND(new_index >= (MAX_CONTACTS + 1)); Contact contact; - - contact.acc_normal_impulse = 0; - contact.acc_bias_impulse = 0; - contact.acc_bias_impulse_center_of_mass = 0; - contact.acc_tangent_impulse = Vector3(); contact.index_A = p_index_A; contact.index_B = p_index_B; contact.local_A = local_A; contact.local_B = local_B; contact.normal = (p_point_A - p_point_B).normalized(); - contact.mass_normal = 0; // will be computed in setup() + contact.used = true; - // attempt to determine if the contact will be reused + // Attempt to determine if the contact will be reused. real_t contact_recycle_radius = space->get_contact_recycle_radius(); for (int i = 0; i < contact_count; i++) { @@ -80,23 +70,34 @@ void GodotBodyPair3D::contact_added_callback(const Vector3 &p_point_A, int p_ind contact.acc_bias_impulse = c.acc_bias_impulse; contact.acc_bias_impulse_center_of_mass = c.acc_bias_impulse_center_of_mass; contact.acc_tangent_impulse = c.acc_tangent_impulse; - new_index = i; - break; + c = contact; + return; } } - // figure out if the contact amount must be reduced to fit the new contact - + // Figure out if the contact amount must be reduced to fit the new contact. if (new_index == MAX_CONTACTS) { - // remove the contact with the minimum depth + // Remove the contact with the minimum depth. + + const Basis &basis_A = A->get_transform().basis; + const Basis &basis_B = B->get_transform().basis; int least_deep = -1; - real_t min_depth = 1e10; + real_t min_depth; - for (int i = 0; i <= contact_count; i++) { - Contact &c = (i == contact_count) ? contact : contacts[i]; - Vector3 global_A = A->get_transform().basis.xform(c.local_A); - Vector3 global_B = B->get_transform().basis.xform(c.local_B) + offset_B; + // Start with depth for new contact. + { + Vector3 global_A = basis_A.xform(contact.local_A); + Vector3 global_B = basis_B.xform(contact.local_B) + offset_B; + + Vector3 axis = global_A - global_B; + min_depth = axis.dot(contact.normal); + } + + for (int i = 0; i < contact_count; i++) { + const Contact &c = contacts[i]; + Vector3 global_A = basis_A.xform(c.local_A); + Vector3 global_B = basis_B.xform(c.local_B) + offset_B; Vector3 axis = global_A - global_B; real_t depth = axis.dot(c.normal); @@ -107,10 +108,8 @@ void GodotBodyPair3D::contact_added_callback(const Vector3 &p_point_A, int p_ind } } - ERR_FAIL_COND(least_deep == -1); - - if (least_deep < contact_count) { //replace the last deep contact by the new one - + if (least_deep > -1) { + // Replace the least deep contact by the new one. contacts[least_deep] = contact; } @@ -118,29 +117,41 @@ void GodotBodyPair3D::contact_added_callback(const Vector3 &p_point_A, int p_ind } contacts[new_index] = contact; - - if (new_index == contact_count) { - contact_count++; - } + contact_count++; } void GodotBodyPair3D::validate_contacts() { - //make sure to erase contacts that are no longer valid + // Make sure to erase contacts that are no longer valid. + real_t max_separation = space->get_contact_max_separation(); + real_t max_separation2 = max_separation * max_separation; + + const Basis &basis_A = A->get_transform().basis; + const Basis &basis_B = B->get_transform().basis; - real_t contact_max_separation = space->get_contact_max_separation(); for (int i = 0; i < contact_count; i++) { Contact &c = contacts[i]; - Vector3 global_A = A->get_transform().basis.xform(c.local_A); - Vector3 global_B = B->get_transform().basis.xform(c.local_B) + offset_B; - Vector3 axis = global_A - global_B; - real_t depth = axis.dot(c.normal); + bool erase = false; + if (!c.used) { + // Was left behind in previous frame. + erase = true; + } else { + c.used = false; + + Vector3 global_A = basis_A.xform(c.local_A); + Vector3 global_B = basis_B.xform(c.local_B) + offset_B; + Vector3 axis = global_A - global_B; + real_t depth = axis.dot(c.normal); - if (depth < -contact_max_separation || (global_B + c.normal * depth - global_A).length() > contact_max_separation) { - // contact no longer needed, remove + if (depth < -max_separation || (global_B + c.normal * depth - global_A).length_squared() > max_separation2) { + erase = true; + } + } + if (erase) { + // Contact no longer needed, remove. if ((i + 1) < contact_count) { - // swap with the last one + // Swap with the last one. SWAP(contacts[i], contacts[contact_count - 1]); } @@ -161,21 +172,26 @@ bool GodotBodyPair3D::_test_ccd(real_t p_step, GodotBody3D *p_A, int p_shape_A, real_t min, max; p_A->get_shape(p_shape_A)->project_range(mnormal, p_xform_A, min, max); - bool fast_object = mlen > (max - min) * 0.3; //going too fast in that direction - if (!fast_object) { //did it move enough in this direction to even attempt raycast? let's say it should move more than 1/3 the size of the object in that axis + // Did it move enough in this direction to even attempt raycast? + // Let's say it should move more than 1/3 the size of the object in that axis. + bool fast_object = mlen > (max - min) * 0.3; + if (!fast_object) { return false; } - //cast a segment from support in motion normal, in the same direction of motion by motion length - //support is the worst case collision point, so real collision happened before + // Going too fast in that direction. + + // Cast a segment from support in motion normal, in the same direction of motion by motion length. + // Support is the worst case collision point, so real collision happened before. Vector3 s = p_A->get_shape(p_shape_A)->get_support(p_xform_A.basis.xform(mnormal).normalized()); Vector3 from = p_xform_A.xform(s); Vector3 to = from + motion; Transform3D from_inv = p_xform_B.affine_inverse(); - Vector3 local_from = from_inv.xform(from - mnormal * mlen * 0.1); //start from a little inside the bounding box + // Start from a little inside the bounding box. + Vector3 local_from = from_inv.xform(from - mnormal * mlen * 0.1); Vector3 local_to = from_inv.xform(to); Vector3 rpos, rnorm; @@ -183,7 +199,8 @@ bool GodotBodyPair3D::_test_ccd(real_t p_step, GodotBody3D *p_A, int p_shape_A, return false; } - //shorten the linear velocity so it does not hit, but gets close enough, next frame will hit softly or soft enough + // Shorten the linear velocity so it does not hit, but gets close enough, + // next frame will hit softly or soft enough. Vector3 hitpos = p_xform_B.xform(rpos); real_t newlen = hitpos.distance_to(from) - (max - min) * 0.01; @@ -201,6 +218,8 @@ real_t combine_friction(GodotBody3D *A, GodotBody3D *B) { } bool GodotBodyPair3D::setup(real_t p_step) { + check_ccd = false; + if (!A->interacts_with(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) { collided = false; return false; @@ -237,14 +256,14 @@ bool GodotBodyPair3D::setup(real_t p_step) { collided = GodotCollisionSolver3D::solve_static(shape_A_ptr, xform_A, shape_B_ptr, xform_B, _contact_added_callback, this, &sep_axis); if (!collided) { - //test ccd (currently just a raycast) - if (A->is_continuous_collision_detection_enabled() && collide_A) { - _test_ccd(p_step, A, shape_A, xform_A, B, shape_B, xform_B); + check_ccd = true; + return true; } if (B->is_continuous_collision_detection_enabled() && collide_B) { - _test_ccd(p_step, B, shape_B, xform_B, A, shape_A, xform_A); + check_ccd = true; + return true; } return false; @@ -255,12 +274,30 @@ bool GodotBodyPair3D::setup(real_t p_step) { bool GodotBodyPair3D::pre_solve(real_t p_step) { if (!collided) { + if (check_ccd) { + const Vector3 &offset_A = A->get_transform().get_origin(); + Transform3D xform_Au = Transform3D(A->get_transform().basis, Vector3()); + Transform3D xform_A = xform_Au * A->get_shape_transform(shape_A); + + Transform3D xform_Bu = B->get_transform(); + xform_Bu.origin -= offset_A; + Transform3D xform_B = xform_Bu * B->get_shape_transform(shape_B); + + if (A->is_continuous_collision_detection_enabled() && collide_A) { + _test_ccd(p_step, A, shape_A, xform_A, B, shape_B, xform_B); + } + + if (B->is_continuous_collision_detection_enabled() && collide_B) { + _test_ccd(p_step, B, shape_B, xform_B, A, shape_A, xform_A); + } + } + return false; } real_t max_penetration = space->get_contact_max_allowed_penetration(); - real_t bias = (real_t)0.3; + real_t bias = 0.8; GodotShape3D *shape_A_ptr = A->get_shape(shape_A); GodotShape3D *shape_B_ptr = B->get_shape(shape_B); @@ -353,8 +390,6 @@ bool GodotBodyPair3D::pre_solve(real_t p_step) { if (collide_B) { B->apply_impulse(j_vec, c.rB + B->get_center_of_mass()); } - c.acc_bias_impulse = 0; - c.acc_bias_impulse_center_of_mass = 0; c.bounce = combine_bounce(A, B); if (c.bounce) { @@ -538,14 +573,10 @@ void GodotBodySoftBodyPair3D::contact_added_callback(const Vector3 &p_point_A, i Contact contact; contact.index_A = p_index_A; contact.index_B = p_index_B; - contact.acc_normal_impulse = 0; - contact.acc_bias_impulse = 0; - contact.acc_bias_impulse_center_of_mass = 0; - contact.acc_tangent_impulse = Vector3(); contact.local_A = local_A; contact.local_B = local_B; contact.normal = (p_point_A - p_point_B).normalized(); - contact.mass_normal = 0; + contact.used = true; // Attempt to determine if the contact will be reused. real_t contact_recycle_radius = space->get_contact_recycle_radius(); @@ -571,20 +602,33 @@ void GodotBodySoftBodyPair3D::contact_added_callback(const Vector3 &p_point_A, i void GodotBodySoftBodyPair3D::validate_contacts() { // Make sure to erase contacts that are no longer valid. - const Transform3D &transform_A = body->get_transform(); + real_t max_separation = space->get_contact_max_separation(); + real_t max_separation2 = max_separation * max_separation; - real_t contact_max_separation = space->get_contact_max_separation(); + const Transform3D &transform_A = body->get_transform(); uint32_t contact_count = contacts.size(); for (uint32_t contact_index = 0; contact_index < contact_count; ++contact_index) { Contact &c = contacts[contact_index]; - Vector3 global_A = transform_A.xform(c.local_A); - Vector3 global_B = soft_body->get_node_position(c.index_B) + c.local_B; - Vector3 axis = global_A - global_B; - real_t depth = axis.dot(c.normal); + bool erase = false; + if (!c.used) { + // Was left behind in previous frame. + erase = true; + } else { + c.used = false; + + Vector3 global_A = transform_A.xform(c.local_A); + Vector3 global_B = soft_body->get_node_position(c.index_B) + c.local_B; + Vector3 axis = global_A - global_B; + real_t depth = axis.dot(c.normal); + + if (depth < -max_separation || (global_B + c.normal * depth - global_A).length_squared() > max_separation2) { + erase = true; + } + } - if (depth < -contact_max_separation || (global_B + c.normal * depth - global_A).length() > contact_max_separation) { + if (erase) { // Contact no longer needed, remove. if ((contact_index + 1) < contact_count) { // Swap with the last one. @@ -640,7 +684,7 @@ bool GodotBodySoftBodyPair3D::pre_solve(real_t p_step) { real_t max_penetration = space->get_contact_max_allowed_penetration(); - real_t bias = (real_t)0.3; + real_t bias = space->get_contact_bias(); GodotShape3D *shape_A_ptr = body->get_shape(body_shape); @@ -723,8 +767,6 @@ bool GodotBodySoftBodyPair3D::pre_solve(real_t p_step) { if (soft_body_collides) { soft_body->apply_node_impulse(c.index_B, j_vec); } - c.acc_bias_impulse = 0; - c.acc_bias_impulse_center_of_mass = 0; c.bounce = body->get_bounce(); diff --git a/servers/physics_3d/godot_body_pair_3d.h b/servers/physics_3d/godot_body_pair_3d.h index c0a2424e05..7a7309f9d5 100644 --- a/servers/physics_3d/godot_body_pair_3d.h +++ b/servers/physics_3d/godot_body_pair_3d.h @@ -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 */ @@ -54,11 +54,13 @@ protected: real_t depth = 0.0; bool active = false; + bool used = false; Vector3 rA, rB; // Offset in world orientation with respect to center of mass }; Vector3 sep_axis; bool collided = false; + bool check_ccd = false; GodotSpace3D *space = nullptr; diff --git a/servers/physics_3d/godot_broad_phase_3d.cpp b/servers/physics_3d/godot_broad_phase_3d.cpp index db51dfb2b6..115a01a0c5 100644 --- a/servers/physics_3d/godot_broad_phase_3d.cpp +++ b/servers/physics_3d/godot_broad_phase_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 */ diff --git a/servers/physics_3d/godot_broad_phase_3d.h b/servers/physics_3d/godot_broad_phase_3d.h index 65423f293c..75196cbd1b 100644 --- a/servers/physics_3d/godot_broad_phase_3d.h +++ b/servers/physics_3d/godot_broad_phase_3d.h @@ -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 */ diff --git a/servers/physics_3d/godot_broad_phase_3d_bvh.cpp b/servers/physics_3d/godot_broad_phase_3d_bvh.cpp index 0f2061a1ea..9a6b96c411 100644 --- a/servers/physics_3d/godot_broad_phase_3d_bvh.cpp +++ b/servers/physics_3d/godot_broad_phase_3d_bvh.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 */ diff --git a/servers/physics_3d/godot_broad_phase_3d_bvh.h b/servers/physics_3d/godot_broad_phase_3d_bvh.h index 61127e52c1..7138019a9c 100644 --- a/servers/physics_3d/godot_broad_phase_3d_bvh.h +++ b/servers/physics_3d/godot_broad_phase_3d_bvh.h @@ -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 */ diff --git a/servers/physics_3d/godot_collision_object_3d.cpp b/servers/physics_3d/godot_collision_object_3d.cpp index 421291011b..63284aeca5 100644 --- a/servers/physics_3d/godot_collision_object_3d.cpp +++ b/servers/physics_3d/godot_collision_object_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 */ diff --git a/servers/physics_3d/godot_collision_object_3d.h b/servers/physics_3d/godot_collision_object_3d.h index 43558034e0..0178838a25 100644 --- a/servers/physics_3d/godot_collision_object_3d.h +++ b/servers/physics_3d/godot_collision_object_3d.h @@ -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 */ diff --git a/servers/physics_3d/godot_collision_solver_3d.cpp b/servers/physics_3d/godot_collision_solver_3d.cpp index 540b16c6e3..81e1a88366 100644 --- a/servers/physics_3d/godot_collision_solver_3d.cpp +++ b/servers/physics_3d/godot_collision_solver_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 */ diff --git a/servers/physics_3d/godot_collision_solver_3d.h b/servers/physics_3d/godot_collision_solver_3d.h index 133635ca7e..a6a0ebfead 100644 --- a/servers/physics_3d/godot_collision_solver_3d.h +++ b/servers/physics_3d/godot_collision_solver_3d.h @@ -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 */ diff --git a/servers/physics_3d/godot_collision_solver_3d_sat.cpp b/servers/physics_3d/godot_collision_solver_3d_sat.cpp index 4faa07b6c9..82e04a7e31 100644 --- a/servers/physics_3d/godot_collision_solver_3d_sat.cpp +++ b/servers/physics_3d/godot_collision_solver_3d_sat.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 */ diff --git a/servers/physics_3d/godot_collision_solver_3d_sat.h b/servers/physics_3d/godot_collision_solver_3d_sat.h index 069a701cba..3eb7aa4c9e 100644 --- a/servers/physics_3d/godot_collision_solver_3d_sat.h +++ b/servers/physics_3d/godot_collision_solver_3d_sat.h @@ -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 */ diff --git a/servers/physics_3d/godot_constraint_3d.h b/servers/physics_3d/godot_constraint_3d.h index 840c81716c..217955047f 100644 --- a/servers/physics_3d/godot_constraint_3d.h +++ b/servers/physics_3d/godot_constraint_3d.h @@ -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 */ diff --git a/servers/physics_3d/godot_joint_3d.h b/servers/physics_3d/godot_joint_3d.h index 4086bb53e1..d4b719fc5e 100644 --- a/servers/physics_3d/godot_joint_3d.h +++ b/servers/physics_3d/godot_joint_3d.h @@ -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 */ diff --git a/servers/physics_3d/godot_physics_server_3d.cpp b/servers/physics_3d/godot_physics_server_3d.cpp index 9acae62382..4e1680e6ac 100644 --- a/servers/physics_3d/godot_physics_server_3d.cpp +++ b/servers/physics_3d/godot_physics_server_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 */ @@ -607,40 +607,40 @@ void GodotPhysicsServer3D::body_attach_object_instance_id(RID p_body, ObjectID p } ERR_FAIL_MSG("Invalid ID."); -}; +} ObjectID GodotPhysicsServer3D::body_get_object_instance_id(RID p_body) const { GodotBody3D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, ObjectID()); return body->get_instance_id(); -}; +} void GodotPhysicsServer3D::body_set_user_flags(RID p_body, uint32_t p_flags) { GodotBody3D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); -}; +} uint32_t GodotPhysicsServer3D::body_get_user_flags(RID p_body) const { GodotBody3D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, 0); return 0; -}; +} void GodotPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) { GodotBody3D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->set_param(p_param, p_value); -}; +} Variant GodotPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const { GodotBody3D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, 0); return body->get_param(p_param); -}; +} void GodotPhysicsServer3D::body_reset_mass_properties(RID p_body) { GodotBody3D *body = body_owner.get_or_null(p_body); @@ -654,97 +654,125 @@ void GodotPhysicsServer3D::body_set_state(RID p_body, BodyState p_state, const V ERR_FAIL_COND(!body); body->set_state(p_state, p_variant); -}; +} Variant GodotPhysicsServer3D::body_get_state(RID p_body, BodyState p_state) const { GodotBody3D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, Variant()); return body->get_state(p_state); -}; +} -void GodotPhysicsServer3D::body_set_applied_force(RID p_body, const Vector3 &p_force) { +void GodotPhysicsServer3D::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) { GodotBody3D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); - body->set_applied_force(p_force); + _update_shapes(); + + body->apply_central_impulse(p_impulse); body->wakeup(); -}; +} -Vector3 GodotPhysicsServer3D::body_get_applied_force(RID p_body) const { +void GodotPhysicsServer3D::body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position) { GodotBody3D *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, Vector3()); - return body->get_applied_force(); -}; + ERR_FAIL_COND(!body); + + _update_shapes(); + + body->apply_impulse(p_impulse, p_position); + body->wakeup(); +} -void GodotPhysicsServer3D::body_set_applied_torque(RID p_body, const Vector3 &p_torque) { +void GodotPhysicsServer3D::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) { GodotBody3D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); - body->set_applied_torque(p_torque); + _update_shapes(); + + body->apply_torque_impulse(p_impulse); body->wakeup(); -}; +} -Vector3 GodotPhysicsServer3D::body_get_applied_torque(RID p_body) const { +void GodotPhysicsServer3D::body_apply_central_force(RID p_body, const Vector3 &p_force) { GodotBody3D *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, Vector3()); + ERR_FAIL_COND(!body); - return body->get_applied_torque(); -}; + body->apply_central_force(p_force); + body->wakeup(); +} -void GodotPhysicsServer3D::body_add_central_force(RID p_body, const Vector3 &p_force) { +void GodotPhysicsServer3D::body_apply_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) { GodotBody3D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); - body->add_central_force(p_force); + body->apply_force(p_force, p_position); body->wakeup(); } -void GodotPhysicsServer3D::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) { +void GodotPhysicsServer3D::body_apply_torque(RID p_body, const Vector3 &p_torque) { GodotBody3D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); - body->add_force(p_force, p_position); + body->apply_torque(p_torque); body->wakeup(); -}; +} -void GodotPhysicsServer3D::body_add_torque(RID p_body, const Vector3 &p_torque) { +void GodotPhysicsServer3D::body_add_constant_central_force(RID p_body, const Vector3 &p_force) { GodotBody3D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); - body->add_torque(p_torque); + body->add_constant_central_force(p_force); body->wakeup(); -}; +} -void GodotPhysicsServer3D::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) { +void GodotPhysicsServer3D::body_add_constant_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) { GodotBody3D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); - _update_shapes(); + body->add_constant_force(p_force, p_position); + body->wakeup(); +} - body->apply_central_impulse(p_impulse); +void GodotPhysicsServer3D::body_add_constant_torque(RID p_body, const Vector3 &p_torque) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->add_constant_torque(p_torque); body->wakeup(); } -void GodotPhysicsServer3D::body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position) { +void GodotPhysicsServer3D::body_set_constant_force(RID p_body, const Vector3 &p_force) { GodotBody3D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); - _update_shapes(); + body->set_constant_force(p_force); + if (!p_force.is_equal_approx(Vector3())) { + body->wakeup(); + } +} - body->apply_impulse(p_impulse, p_position); - body->wakeup(); -}; +Vector3 GodotPhysicsServer3D::body_get_constant_force(RID p_body) const { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, Vector3()); + return body->get_constant_force(); +} -void GodotPhysicsServer3D::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) { +void GodotPhysicsServer3D::body_set_constant_torque(RID p_body, const Vector3 &p_torque) { GodotBody3D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); - _update_shapes(); + body->set_constant_torque(p_torque); + if (!p_torque.is_equal_approx(Vector3())) { + body->wakeup(); + } +} - body->apply_torque_impulse(p_impulse); - body->wakeup(); -}; +Vector3 GodotPhysicsServer3D::body_get_constant_torque(RID p_body) const { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, Vector3()); + + return body->get_constant_torque(); +} void GodotPhysicsServer3D::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) { GodotBody3D *body = body_owner.get_or_null(p_body); @@ -758,7 +786,7 @@ void GodotPhysicsServer3D::body_set_axis_velocity(RID p_body, const Vector3 &p_a v += p_axis_velocity; body->set_linear_velocity(v); body->wakeup(); -}; +} void GodotPhysicsServer3D::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) { GodotBody3D *body = body_owner.get_or_null(p_body); @@ -1574,20 +1602,15 @@ 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 = 8; // 8? stepper = memnew(GodotStep3D); -}; +} void GodotPhysicsServer3D::step(real_t p_step) { #ifndef _3D_DISABLED @@ -1602,7 +1625,7 @@ 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 +1635,7 @@ void GodotPhysicsServer3D::step(real_t p_step) { void GodotPhysicsServer3D::sync() { doing_sync = true; -}; +} void GodotPhysicsServer3D::flush_queries() { #ifndef _3D_DISABLED @@ -1665,15 +1688,15 @@ 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..b903f4808c 100644 --- a/servers/physics_3d/godot_physics_server_3d.h +++ b/servers/physics_3d/godot_physics_server_3d.h @@ -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 */ @@ -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; @@ -204,19 +203,24 @@ public: virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) override; virtual Variant body_get_state(RID p_body, BodyState p_state) const override; - virtual void body_set_applied_force(RID p_body, const Vector3 &p_force) override; - virtual Vector3 body_get_applied_force(RID p_body) const override; - - virtual void body_set_applied_torque(RID p_body, const Vector3 &p_torque) override; - virtual Vector3 body_get_applied_torque(RID p_body) const override; - - virtual void body_add_central_force(RID p_body, const Vector3 &p_force) override; - virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()) override; - virtual void body_add_torque(RID p_body, const Vector3 &p_torque) override; - virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) override; virtual void body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) override; virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) override; + + virtual void body_apply_central_force(RID p_body, const Vector3 &p_force) override; + virtual void body_apply_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()) override; + virtual void body_apply_torque(RID p_body, const Vector3 &p_torque) override; + + virtual void body_add_constant_central_force(RID p_body, const Vector3 &p_force) override; + virtual void body_add_constant_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()) override; + virtual void body_add_constant_torque(RID p_body, const Vector3 &p_torque) override; + + virtual void body_set_constant_force(RID p_body, const Vector3 &p_force) override; + virtual Vector3 body_get_constant_force(RID p_body) const override; + + virtual void body_set_constant_torque(RID p_body, const Vector3 &p_torque) override; + virtual Vector3 body_get_constant_torque(RID p_body) const override; + virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) override; virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) override; @@ -364,8 +368,6 @@ 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_shape_3d.cpp b/servers/physics_3d/godot_shape_3d.cpp index 5364a9833d..26fa470233 100644 --- a/servers/physics_3d/godot_shape_3d.cpp +++ b/servers/physics_3d/godot_shape_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 */ diff --git a/servers/physics_3d/godot_shape_3d.h b/servers/physics_3d/godot_shape_3d.h index 43319510d4..9d171c3928 100644 --- a/servers/physics_3d/godot_shape_3d.h +++ b/servers/physics_3d/godot_shape_3d.h @@ -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 */ diff --git a/servers/physics_3d/godot_soft_body_3d.cpp b/servers/physics_3d/godot_soft_body_3d.cpp index 43d4433302..1de27760d5 100644 --- a/servers/physics_3d/godot_soft_body_3d.cpp +++ b/servers/physics_3d/godot_soft_body_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 */ diff --git a/servers/physics_3d/godot_soft_body_3d.h b/servers/physics_3d/godot_soft_body_3d.h index 14ddc419cf..5028e81dd8 100644 --- a/servers/physics_3d/godot_soft_body_3d.h +++ b/servers/physics_3d/godot_soft_body_3d.h @@ -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 */ 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); diff --git a/servers/physics_3d/godot_space_3d.h b/servers/physics_3d/godot_space_3d.h index aa5e965751..ac54c8bf69 100644 --- a/servers/physics_3d/godot_space_3d.h +++ b/servers/physics_3d/godot_space_3d.h @@ -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 */ @@ -75,10 +75,10 @@ public: private: uint64_t elapsed_time[ELAPSED_TIME_MAX] = {}; - GodotPhysicsDirectSpaceState3D *direct_access; + GodotPhysicsDirectSpaceState3D *direct_access = nullptr; RID self; - GodotBroadPhase3D *broadphase; + GodotBroadPhase3D *broadphase = nullptr; SelfList<GodotBody3D>::List active_list; SelfList<GodotBody3D>::List mass_properties_update_list; SelfList<GodotBody3D>::List state_query_list; @@ -93,10 +93,12 @@ private: GodotArea3D *area = nullptr; - real_t contact_recycle_radius = 0.01; - real_t contact_max_separation = 0.05; - real_t contact_max_allowed_penetration = 0.01; - real_t constraint_bias = 0.01; + int solver_iterations = 0; + + real_t contact_recycle_radius = 0.0; + real_t contact_max_separation = 0.0; + real_t contact_max_allowed_penetration = 0.0; + real_t contact_bias = 0.0; enum { INTERSECTION_QUERY_MAX = 2048 @@ -105,10 +107,9 @@ private: GodotCollisionObject3D *intersection_query_results[INTERSECTION_QUERY_MAX]; int intersection_query_subindex_results[INTERSECTION_QUERY_MAX]; - real_t body_linear_velocity_sleep_threshold; - real_t body_angular_velocity_sleep_threshold; - real_t body_time_to_sleep; - real_t body_angular_velocity_damp_ratio; + real_t body_linear_velocity_sleep_threshold = 0.0; + real_t body_angular_velocity_sleep_threshold = 0.0; + real_t body_time_to_sleep = 0.0; bool locked = false; @@ -159,14 +160,14 @@ 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_constraint_bias() const { return constraint_bias; } + _FORCE_INLINE_ real_t get_contact_bias() const { return contact_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; } _FORCE_INLINE_ real_t get_body_time_to_sleep() const { return body_time_to_sleep; } - _FORCE_INLINE_ real_t get_body_angular_velocity_damp_ratio() const { return body_angular_velocity_damp_ratio; } void update(); void setup(); diff --git a/servers/physics_3d/godot_step_3d.cpp b/servers/physics_3d/godot_step_3d.cpp index 5453c4415c..63635b224b 100644 --- a/servers/physics_3d/godot_step_3d.cpp +++ b/servers/physics_3d/godot_step_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 */ @@ -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..6d975b0dd3 100644 --- a/servers/physics_3d/godot_step_3d.h +++ b/servers/physics_3d/godot_step_3d.h @@ -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 */ @@ -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(); }; diff --git a/servers/physics_3d/joints/godot_cone_twist_joint_3d.cpp b/servers/physics_3d/joints/godot_cone_twist_joint_3d.cpp index 864086c956..dc4858ff9a 100644 --- a/servers/physics_3d/joints/godot_cone_twist_joint_3d.cpp +++ b/servers/physics_3d/joints/godot_cone_twist_joint_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 */ diff --git a/servers/physics_3d/joints/godot_cone_twist_joint_3d.h b/servers/physics_3d/joints/godot_cone_twist_joint_3d.h index 999d0f0692..fdcc2ceea3 100644 --- a/servers/physics_3d/joints/godot_cone_twist_joint_3d.h +++ b/servers/physics_3d/joints/godot_cone_twist_joint_3d.h @@ -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 */ diff --git a/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp b/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp index 915bb528e9..41e9bf06bb 100644 --- a/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp +++ b/servers/physics_3d/joints/godot_generic_6dof_joint_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 */ diff --git a/servers/physics_3d/joints/godot_generic_6dof_joint_3d.h b/servers/physics_3d/joints/godot_generic_6dof_joint_3d.h index f37b5b981b..bcf2d18647 100644 --- a/servers/physics_3d/joints/godot_generic_6dof_joint_3d.h +++ b/servers/physics_3d/joints/godot_generic_6dof_joint_3d.h @@ -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 */ diff --git a/servers/physics_3d/joints/godot_hinge_joint_3d.cpp b/servers/physics_3d/joints/godot_hinge_joint_3d.cpp index cf77129a30..a7a7843499 100644 --- a/servers/physics_3d/joints/godot_hinge_joint_3d.cpp +++ b/servers/physics_3d/joints/godot_hinge_joint_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 */ diff --git a/servers/physics_3d/joints/godot_hinge_joint_3d.h b/servers/physics_3d/joints/godot_hinge_joint_3d.h index ff1fbe0f25..b934540e8d 100644 --- a/servers/physics_3d/joints/godot_hinge_joint_3d.h +++ b/servers/physics_3d/joints/godot_hinge_joint_3d.h @@ -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 */ diff --git a/servers/physics_3d/joints/godot_jacobian_entry_3d.h b/servers/physics_3d/joints/godot_jacobian_entry_3d.h index 90a77a9b61..0fe15751d5 100644 --- a/servers/physics_3d/joints/godot_jacobian_entry_3d.h +++ b/servers/physics_3d/joints/godot_jacobian_entry_3d.h @@ -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 */ diff --git a/servers/physics_3d/joints/godot_pin_joint_3d.cpp b/servers/physics_3d/joints/godot_pin_joint_3d.cpp index e9e81b61a7..c52ea2665c 100644 --- a/servers/physics_3d/joints/godot_pin_joint_3d.cpp +++ b/servers/physics_3d/joints/godot_pin_joint_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 */ diff --git a/servers/physics_3d/joints/godot_pin_joint_3d.h b/servers/physics_3d/joints/godot_pin_joint_3d.h index 17e2e6e973..eeeaa650bd 100644 --- a/servers/physics_3d/joints/godot_pin_joint_3d.h +++ b/servers/physics_3d/joints/godot_pin_joint_3d.h @@ -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 */ diff --git a/servers/physics_3d/joints/godot_slider_joint_3d.cpp b/servers/physics_3d/joints/godot_slider_joint_3d.cpp index 1f463ad24c..f175421304 100644 --- a/servers/physics_3d/joints/godot_slider_joint_3d.cpp +++ b/servers/physics_3d/joints/godot_slider_joint_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 */ diff --git a/servers/physics_3d/joints/godot_slider_joint_3d.h b/servers/physics_3d/joints/godot_slider_joint_3d.h index 9baaf1fa40..f596c9ff75 100644 --- a/servers/physics_3d/joints/godot_slider_joint_3d.h +++ b/servers/physics_3d/joints/godot_slider_joint_3d.h @@ -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 */ |