diff options
Diffstat (limited to 'servers')
101 files changed, 2161 insertions, 1578 deletions
diff --git a/servers/audio/audio_stream.cpp b/servers/audio/audio_stream.cpp index e1b391b823..c098a97906 100644 --- a/servers/audio/audio_stream.cpp +++ b/servers/audio/audio_stream.cpp @@ -189,11 +189,21 @@ float AudioStream::get_length() const { return 0; } +bool AudioStream::is_monophonic() const { + bool ret; + if (GDVIRTUAL_CALL(_is_monophonic, ret)) { + return ret; + } + return true; +} + void AudioStream::_bind_methods() { ClassDB::bind_method(D_METHOD("get_length"), &AudioStream::get_length); + ClassDB::bind_method(D_METHOD("is_monophonic"), &AudioStream::is_monophonic); GDVIRTUAL_BIND(_instance_playback); GDVIRTUAL_BIND(_get_stream_name); GDVIRTUAL_BIND(_get_length); + GDVIRTUAL_BIND(_is_monophonic); } //////////////////////////////// @@ -221,6 +231,10 @@ float AudioStreamMicrophone::get_length() const { return 0; } +bool AudioStreamMicrophone::is_monophonic() const { + return true; +} + void AudioStreamMicrophone::_bind_methods() { } @@ -388,6 +402,14 @@ float AudioStreamRandomPitch::get_length() const { return 0; } +bool AudioStreamRandomPitch::is_monophonic() const { + if (audio_stream.is_valid()) { + return audio_stream->is_monophonic(); + } + + return true; // It doesn't really matter what we return here, but no sense instancing a many playbacks of a null stream. +} + void AudioStreamRandomPitch::_bind_methods() { ClassDB::bind_method(D_METHOD("set_audio_stream", "stream"), &AudioStreamRandomPitch::set_audio_stream); ClassDB::bind_method(D_METHOD("get_audio_stream"), &AudioStreamRandomPitch::get_audio_stream); diff --git a/servers/audio/audio_stream.h b/servers/audio/audio_stream.h index 922335508e..12d4343f5c 100644 --- a/servers/audio/audio_stream.h +++ b/servers/audio/audio_stream.h @@ -102,12 +102,14 @@ protected: GDVIRTUAL0RC(Ref<AudioStreamPlayback>, _instance_playback) GDVIRTUAL0RC(String, _get_stream_name) GDVIRTUAL0RC(float, _get_length) + GDVIRTUAL0RC(bool, _is_monophonic) public: virtual Ref<AudioStreamPlayback> instance_playback(); virtual String get_stream_name() const; virtual float get_length() const; + virtual bool is_monophonic() const; }; // Microphone @@ -129,6 +131,8 @@ public: virtual float get_length() const override; //if supported, otherwise return 0 + virtual bool is_monophonic() const override; + AudioStreamMicrophone(); }; @@ -187,6 +191,7 @@ public: virtual String get_stream_name() const override; virtual float get_length() const override; //if supported, otherwise return 0 + virtual bool is_monophonic() const override; AudioStreamRandomPitch(); }; diff --git a/servers/audio/effects/audio_effect_capture.h b/servers/audio/effects/audio_effect_capture.h index 7f50fc4965..bb1d03be8c 100644 --- a/servers/audio/effects/audio_effect_capture.h +++ b/servers/audio/effects/audio_effect_capture.h @@ -34,6 +34,7 @@ #include "core/config/engine.h" #include "core/math/audio_frame.h" #include "core/object/ref_counted.h" +#include "core/templates/ring_buffer.h" #include "core/templates/vector.h" #include "servers/audio/audio_effect.h" #include "servers/audio_server.h" diff --git a/servers/audio/effects/audio_stream_generator.cpp b/servers/audio/effects/audio_stream_generator.cpp index edb5c6d2dd..447acf53a4 100644 --- a/servers/audio/effects/audio_stream_generator.cpp +++ b/servers/audio/effects/audio_stream_generator.cpp @@ -64,6 +64,10 @@ float AudioStreamGenerator::get_length() const { return 0; } +bool AudioStreamGenerator::is_monophonic() const { + return true; +} + void AudioStreamGenerator::_bind_methods() { ClassDB::bind_method(D_METHOD("set_mix_rate", "hz"), &AudioStreamGenerator::set_mix_rate); ClassDB::bind_method(D_METHOD("get_mix_rate"), &AudioStreamGenerator::get_mix_rate); diff --git a/servers/audio/effects/audio_stream_generator.h b/servers/audio/effects/audio_stream_generator.h index 6bec744081..918589f6d0 100644 --- a/servers/audio/effects/audio_stream_generator.h +++ b/servers/audio/effects/audio_stream_generator.h @@ -54,6 +54,7 @@ public: virtual String get_stream_name() const override; virtual float get_length() const override; + virtual bool is_monophonic() const override; AudioStreamGenerator(); }; diff --git a/servers/audio_server.cpp b/servers/audio_server.cpp index 81735d522f..ac1569c15d 100644 --- a/servers/audio_server.cpp +++ b/servers/audio_server.cpp @@ -196,6 +196,7 @@ int AudioDriverManager::get_driver_count() { void AudioDriverManager::initialize(int p_driver) { GLOBAL_DEF_RST("audio/driver/enable_input", false); GLOBAL_DEF_RST("audio/driver/mix_rate", DEFAULT_MIX_RATE); + GLOBAL_DEF_RST("audio/driver/mix_rate.web", 0); // Safer default output_latency for web (use browser default). GLOBAL_DEF_RST("audio/driver/output_latency", DEFAULT_OUTPUT_LATENCY); GLOBAL_DEF_RST("audio/driver/output_latency.web", 50); // Safer default output_latency for web. @@ -363,10 +364,10 @@ void AudioServer::_mix_step() { if (mixed_frames != buffer_size) { // We know we have at least the size of our lookahead buffer for fade-out purposes. - float fadeout_base = 0.87; + float fadeout_base = 0.94; float fadeout_coefficient = 1; - static_assert(LOOKAHEAD_BUFFER_SIZE == 32, "Update fadeout_base and comment here if you change LOOKAHEAD_BUFFER_SIZE."); - // 0.87 ^ 32 = 0.0116. There might still be a pop but it'll be way better than if we didn't do this. + static_assert(LOOKAHEAD_BUFFER_SIZE == 64, "Update fadeout_base and comment here if you change LOOKAHEAD_BUFFER_SIZE."); + // 0.94 ^ 64 = 0.01906. There might still be a pop but it'll be way better than if we didn't do this. for (unsigned int idx = mixed_frames; idx < buffer_size; idx++) { fadeout_coefficient *= fadeout_base; buf[idx] *= fadeout_coefficient; @@ -381,29 +382,24 @@ void AudioServer::_mix_step() { } } - ERR_FAIL_COND(playback->bus_details.load() == nullptr); + AudioStreamPlaybackBusDetails *ptr = playback->bus_details.load(); + ERR_FAIL_COND(ptr == nullptr); // By putting null into the bus details pointers, we're taking ownership of their memory for the duration of this mix. - AudioStreamPlaybackBusDetails *bus_details = nullptr; - { - std::atomic<AudioStreamPlaybackBusDetails *> bus_details_atomic = nullptr; - bus_details = playback->bus_details.exchange(bus_details_atomic); - } - ERR_FAIL_COND(bus_details == nullptr); - AudioStreamPlaybackBusDetails *prev_bus_details = playback->prev_bus_details; + AudioStreamPlaybackBusDetails bus_details = *ptr; // Mix to any active buses. for (int idx = 0; idx < MAX_BUSES_PER_PLAYBACK; idx++) { - if (!bus_details->bus_active[idx]) { + if (!bus_details.bus_active[idx]) { continue; } - int bus_idx = thread_find_bus_index(bus_details->bus[idx]); + int bus_idx = thread_find_bus_index(bus_details.bus[idx]); int prev_bus_idx = -1; for (int search_idx = 0; search_idx < MAX_BUSES_PER_PLAYBACK; search_idx++) { - if (!prev_bus_details->bus_active[search_idx]) { + if (!playback->prev_bus_details->bus_active[search_idx]) { continue; } - if (prev_bus_details->bus[search_idx].hash() == bus_details->bus[idx].hash()) { + if (playback->prev_bus_details->bus[search_idx].hash() == bus_details.bus[idx].hash()) { prev_bus_idx = search_idx; } } @@ -411,13 +407,13 @@ void AudioServer::_mix_step() { for (int channel_idx = 0; channel_idx < channel_count; channel_idx++) { AudioFrame *channel_buf = thread_get_channel_mix_buffer(bus_idx, channel_idx); if (fading_out) { - bus_details->volume[idx][channel_idx] = AudioFrame(0, 0); + bus_details.volume[idx][channel_idx] = AudioFrame(0, 0); } - AudioFrame channel_vol = bus_details->volume[idx][channel_idx]; + AudioFrame channel_vol = bus_details.volume[idx][channel_idx]; AudioFrame prev_channel_vol = AudioFrame(0, 0); if (prev_bus_idx != -1) { - prev_channel_vol = prev_bus_details->volume[prev_bus_idx][channel_idx]; + prev_channel_vol = playback->prev_bus_details->volume[prev_bus_idx][channel_idx]; } _mix_step_for_channel(channel_buf, buf, prev_channel_vol, channel_vol, playback->attenuation_filter_cutoff_hz.get(), playback->highshelf_gain.get(), &playback->filter_process[channel_idx * 2], &playback->filter_process[channel_idx * 2 + 1]); } @@ -425,14 +421,14 @@ void AudioServer::_mix_step() { // Now go through and fade-out any buses that were being played to previously that we missed by going through current data. for (int idx = 0; idx < MAX_BUSES_PER_PLAYBACK; idx++) { - if (!prev_bus_details->bus_active[idx]) { + if (!playback->prev_bus_details->bus_active[idx]) { continue; } - int bus_idx = thread_find_bus_index(prev_bus_details->bus[idx]); + int bus_idx = thread_find_bus_index(playback->prev_bus_details->bus[idx]); int current_bus_idx = -1; for (int search_idx = 0; search_idx < MAX_BUSES_PER_PLAYBACK; search_idx++) { - if (bus_details->bus[search_idx] == prev_bus_details->bus[idx]) { + if (bus_details.bus[search_idx] == playback->prev_bus_details->bus[idx]) { current_bus_idx = search_idx; } } @@ -443,24 +439,17 @@ void AudioServer::_mix_step() { for (int channel_idx = 0; channel_idx < channel_count; channel_idx++) { AudioFrame *channel_buf = thread_get_channel_mix_buffer(bus_idx, channel_idx); - AudioFrame prev_channel_vol = prev_bus_details->volume[idx][channel_idx]; + AudioFrame prev_channel_vol = playback->prev_bus_details->volume[idx][channel_idx]; // Fade out to silence _mix_step_for_channel(channel_buf, buf, prev_channel_vol, AudioFrame(0, 0), playback->attenuation_filter_cutoff_hz.get(), playback->highshelf_gain.get(), &playback->filter_process[channel_idx * 2], &playback->filter_process[channel_idx * 2 + 1]); } } // Copy the bus details we mixed with to the previous bus details to maintain volume ramps. - std::copy(std::begin(bus_details->bus_active), std::end(bus_details->bus_active), std::begin(prev_bus_details->bus_active)); - std::copy(std::begin(bus_details->bus), std::end(bus_details->bus), std::begin(prev_bus_details->bus)); + std::copy(std::begin(bus_details.bus_active), std::end(bus_details.bus_active), std::begin(playback->prev_bus_details->bus_active)); + std::copy(std::begin(bus_details.bus), std::end(bus_details.bus), std::begin(playback->prev_bus_details->bus)); for (int bus_idx = 0; bus_idx < MAX_BUSES_PER_PLAYBACK; bus_idx++) { - std::copy(std::begin(bus_details->volume[bus_idx]), std::end(bus_details->volume[bus_idx]), std::begin(prev_bus_details->volume[bus_idx])); - } - - AudioStreamPlaybackBusDetails *bus_details_expected = nullptr; - // Only put the bus details pointer back if it hasn't been updated already. - if (!playback->bus_details.compare_exchange_strong(/* expected= */ bus_details_expected, /* new= */ bus_details)) { - // If it *has* been updated already, queue the old one for deletion. - bus_details_graveyard.insert(bus_details); + std::copy(std::begin(bus_details.volume[bus_idx]), std::end(bus_details.volume[bus_idx]), std::begin(playback->prev_bus_details->volume[bus_idx])); } switch (playback->state.load()) { @@ -1132,7 +1121,7 @@ void AudioServer::start_playback_stream(Ref<AudioStreamPlayback> p_playback, Str start_playback_stream(p_playback, map, p_start_time); } -void AudioServer::start_playback_stream(Ref<AudioStreamPlayback> p_playback, Map<StringName, Vector<AudioFrame>> p_bus_volumes, float p_start_time) { +void AudioServer::start_playback_stream(Ref<AudioStreamPlayback> p_playback, Map<StringName, Vector<AudioFrame>> p_bus_volumes, float p_start_time, float p_highshelf_gain, float p_attenuation_cutoff_hz, float p_pitch_scale) { ERR_FAIL_COND(p_playback.is_null()); AudioStreamPlaybackListNode *playback_node = new AudioStreamPlaybackListNode(); @@ -1154,10 +1143,9 @@ void AudioServer::start_playback_stream(Ref<AudioStreamPlayback> p_playback, Map playback_node->bus_details = new_bus_details; playback_node->prev_bus_details = new AudioStreamPlaybackBusDetails(); - playback_node->setseek.set(-1); - playback_node->pitch_scale.set(1); - playback_node->highshelf_gain.set(0); - playback_node->attenuation_filter_cutoff_hz.set(0); + playback_node->pitch_scale.set(p_pitch_scale); + playback_node->highshelf_gain.set(p_highshelf_gain); + playback_node->attenuation_filter_cutoff_hz.set(p_attenuation_cutoff_hz); memset(playback_node->prev_bus_details->volume, 0, sizeof(playback_node->prev_bus_details->volume)); @@ -1181,6 +1169,9 @@ void AudioServer::stop_playback_stream(Ref<AudioStreamPlayback> p_playback) { AudioStreamPlaybackListNode::PlaybackState new_state, old_state; do { old_state = playback_node->state.load(); + if (old_state == AudioStreamPlaybackListNode::AWAITING_DELETION) { + break; // Don't fade out again. + } new_state = AudioStreamPlaybackListNode::FADE_OUT_TO_DELETION; } while (!playback_node->state.compare_exchange_strong(old_state, new_state)); @@ -1206,6 +1197,9 @@ void AudioServer::set_playback_bus_volumes_linear(Ref<AudioStreamPlayback> p_pla int idx = 0; for (KeyValue<StringName, Vector<AudioFrame>> pair : p_bus_volumes) { + if (idx >= MAX_BUSES_PER_PLAYBACK) { + break; + } ERR_FAIL_COND(pair.value.size() < channel_count); ERR_FAIL_COND(pair.value.size() != MAX_CHANNELS_PER_BUS); @@ -1214,6 +1208,7 @@ void AudioServer::set_playback_bus_volumes_linear(Ref<AudioStreamPlayback> p_pla for (int channel_idx = 0; channel_idx < MAX_CHANNELS_PER_BUS; channel_idx++) { new_bus_details->volume[idx][channel_idx] = pair.value[channel_idx]; } + idx++; } do { @@ -1260,17 +1255,18 @@ void AudioServer::set_playback_paused(Ref<AudioStreamPlayback> p_playback, bool if (!playback_node) { return; } - if (!p_paused && playback_node->state == AudioStreamPlaybackListNode::PLAYING) { - return; // No-op. - } - if (p_paused && (playback_node->state == AudioStreamPlaybackListNode::PAUSED || playback_node->state == AudioStreamPlaybackListNode::FADE_OUT_TO_PAUSE)) { - return; // No-op. - } AudioStreamPlaybackListNode::PlaybackState new_state, old_state; do { old_state = playback_node->state.load(); new_state = p_paused ? AudioStreamPlaybackListNode::FADE_OUT_TO_PAUSE : AudioStreamPlaybackListNode::PLAYING; + if (!p_paused && old_state == AudioStreamPlaybackListNode::PLAYING) { + return; // No-op. + } + if (p_paused && (old_state == AudioStreamPlaybackListNode::PAUSED || old_state == AudioStreamPlaybackListNode::FADE_OUT_TO_PAUSE)) { + return; // No-op. + } + } while (!playback_node->state.compare_exchange_strong(old_state, new_state)); } @@ -1444,10 +1440,15 @@ void AudioServer::update() { update_callback_list.maybe_cleanup(); listener_changed_callback_list.maybe_cleanup(); playback_list.maybe_cleanup(); + for (AudioStreamPlaybackBusDetails *bus_details : bus_details_graveyard_frame_old) { + bus_details_graveyard_frame_old.erase(bus_details, [](AudioStreamPlaybackBusDetails *d) { delete d; }); + } for (AudioStreamPlaybackBusDetails *bus_details : bus_details_graveyard) { - bus_details_graveyard.erase(bus_details, [](AudioStreamPlaybackBusDetails *d) { delete d; }); + bus_details_graveyard_frame_old.insert(bus_details); + bus_details_graveyard.erase(bus_details); } bus_details_graveyard.maybe_cleanup(); + bus_details_graveyard_frame_old.maybe_cleanup(); } void AudioServer::load_default_bus_layout() { diff --git a/servers/audio_server.h b/servers/audio_server.h index affcb3df7b..a60d4ae4c4 100644 --- a/servers/audio_server.h +++ b/servers/audio_server.h @@ -163,7 +163,7 @@ public: AUDIO_DATA_INVALID_ID = -1, MAX_CHANNELS_PER_BUS = 4, MAX_BUSES_PER_PLAYBACK = 6, - LOOKAHEAD_BUFFER_SIZE = 32, + LOOKAHEAD_BUFFER_SIZE = 64, }; typedef void (*AudioCallback)(void *p_userdata); @@ -262,6 +262,9 @@ private: SafeList<AudioStreamPlaybackListNode *> playback_list; SafeList<AudioStreamPlaybackBusDetails *> bus_details_graveyard; + // TODO document if this is necessary. + SafeList<AudioStreamPlaybackBusDetails *> bus_details_graveyard_frame_old; + Vector<Vector<AudioFrame>> temp_buffer; //temp_buffer for each level Vector<AudioFrame> mix_buffer; Vector<Bus *> buses; @@ -364,8 +367,10 @@ public: void set_playback_speed_scale(float p_scale); float get_playback_speed_scale() const; + // Convenience method. void start_playback_stream(Ref<AudioStreamPlayback> p_playback, StringName p_bus, Vector<AudioFrame> p_volume_db_vector, float p_start_time = 0); - void start_playback_stream(Ref<AudioStreamPlayback> p_playback, Map<StringName, Vector<AudioFrame>> p_bus_volumes, float p_start_time = 0); + // Expose all parameters. + void start_playback_stream(Ref<AudioStreamPlayback> p_playback, Map<StringName, Vector<AudioFrame>> p_bus_volumes, float p_start_time = 0, float p_highshelf_gain = 0, float p_attenuation_cutoff_hz = 0, float p_pitch_scale = 1); void stop_playback_stream(Ref<AudioStreamPlayback> p_playback); void set_playback_bus_exclusive(Ref<AudioStreamPlayback> p_playback, StringName p_bus, Vector<AudioFrame> p_volumes); diff --git a/servers/display_server.cpp b/servers/display_server.cpp index 3d44484033..cdf892094d 100644 --- a/servers/display_server.cpp +++ b/servers/display_server.cpp @@ -605,4 +605,5 @@ DisplayServer::DisplayServer() { } DisplayServer::~DisplayServer() { + singleton = nullptr; } diff --git a/servers/physics_2d/area_2d_sw.cpp b/servers/physics_2d/area_2d_sw.cpp index 663a47f273..c85b1575e3 100644 --- a/servers/physics_2d/area_2d_sw.cpp +++ b/servers/physics_2d/area_2d_sw.cpp @@ -299,17 +299,6 @@ Area2DSW::Area2DSW() : monitor_query_list(this), moved_list(this) { _set_static(true); //areas are not active by default - space_override_mode = PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED; - gravity = 9.80665; - gravity_vector = Vector2(0, -1); - gravity_is_point = false; - gravity_distance_scale = 0; - point_attenuation = 1; - - angular_damp = 1.0; - linear_damp = 0.1; - priority = 0; - monitorable = false; } Area2DSW::~Area2DSW() { diff --git a/servers/physics_2d/area_2d_sw.h b/servers/physics_2d/area_2d_sw.h index d9147d6f1d..0b7c791ed5 100644 --- a/servers/physics_2d/area_2d_sw.h +++ b/servers/physics_2d/area_2d_sw.h @@ -40,16 +40,16 @@ class Body2DSW; class Constraint2DSW; class Area2DSW : public CollisionObject2DSW { - PhysicsServer2D::AreaSpaceOverrideMode space_override_mode; - real_t gravity; - Vector2 gravity_vector; - bool gravity_is_point; - real_t gravity_distance_scale; - real_t point_attenuation; - real_t linear_damp; - real_t angular_damp; - int priority; - bool monitorable; + PhysicsServer2D::AreaSpaceOverrideMode space_override_mode = PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED; + real_t gravity = 9.80665; + Vector2 gravity_vector = Vector2(0, -1); + bool gravity_is_point = false; + real_t gravity_distance_scale = 0.0; + real_t point_attenuation = 1.0; + real_t linear_damp = 0.1; + real_t angular_damp = 1.0; + int priority = 0; + bool monitorable = false; ObjectID monitor_callback_id; StringName monitor_callback_method; @@ -63,8 +63,8 @@ class Area2DSW : public CollisionObject2DSW { struct BodyKey { RID rid; ObjectID instance_id; - uint32_t body_shape; - uint32_t area_shape; + uint32_t body_shape = 0; + uint32_t area_shape = 0; _FORCE_INLINE_ bool operator<(const BodyKey &p_key) const { if (rid == p_key.rid) { @@ -84,10 +84,9 @@ class Area2DSW : public CollisionObject2DSW { }; struct BodyState { - int state; + int state = 0; _FORCE_INLINE_ void inc() { state++; } _FORCE_INLINE_ void dec() { state--; } - _FORCE_INLINE_ BodyState() { state = 0; } }; Map<BodyKey, BodyState> monitored_bodies; diff --git a/servers/physics_2d/body_2d_sw.cpp b/servers/physics_2d/body_2d_sw.cpp index ad47912b82..edd769aa9a 100644 --- a/servers/physics_2d/body_2d_sw.cpp +++ b/servers/physics_2d/body_2d_sw.cpp @@ -29,51 +29,77 @@ /*************************************************************************/ #include "body_2d_sw.h" + #include "area_2d_sw.h" -#include "physics_server_2d_sw.h" +#include "body_direct_state_2d_sw.h" #include "space_2d_sw.h" -void Body2DSW::_update_inertia() { - if (!user_inertia && get_space() && !inertia_update_list.in_list()) { - get_space()->body_add_to_inertia_update_list(&inertia_update_list); +void Body2DSW::_mass_properties_changed() { + if (get_space() && !mass_properties_update_list.in_list() && (calculate_inertia || calculate_center_of_mass)) { + get_space()->body_add_to_mass_properties_update_list(&mass_properties_update_list); } } -void Body2DSW::update_inertias() { +void Body2DSW::update_mass_properties() { //update shapes and motions switch (mode) { case PhysicsServer2D::BODY_MODE_DYNAMIC: { - if (user_inertia) { - _inv_inertia = inertia > 0 ? (1.0 / inertia) : 0; - break; - } - //update tensor for allshapes, not the best way but should be somehow OK. (inspired from bullet) real_t total_area = 0; - for (int i = 0; i < get_shape_count(); i++) { + if (is_shape_disabled(i)) { + continue; + } total_area += get_shape_aabb(i).get_area(); } - inertia = 0; + if (calculate_center_of_mass) { + // We have to recompute the center of mass. + center_of_mass = Vector2(); - for (int i = 0; i < get_shape_count(); i++) { - if (is_shape_disabled(i)) { - continue; + if (total_area != 0.0) { + for (int i = 0; i < get_shape_count(); i++) { + if (is_shape_disabled(i)) { + continue; + } + + real_t area = get_shape_aabb(i).get_area(); + + real_t mass = area * this->mass / total_area; + + // NOTE: we assume that the shape origin is also its center of mass. + center_of_mass += mass * get_shape_transform(i).get_origin(); + } + + center_of_mass /= mass; } + } + + if (calculate_inertia) { + inertia = 0; - const Shape2DSW *shape = get_shape(i); + for (int i = 0; i < get_shape_count(); i++) { + if (is_shape_disabled(i)) { + continue; + } - real_t area = get_shape_aabb(i).get_area(); + const Shape2DSW *shape = get_shape(i); - real_t mass = area * this->mass / total_area; + real_t area = get_shape_aabb(i).get_area(); + if (area == 0.0) { + continue; + } - Transform2D mtx = get_shape_transform(i); - Vector2 scale = mtx.get_scale(); - inertia += shape->get_moment_of_inertia(mass, scale) + mass * mtx.get_origin().length_squared(); + real_t mass = area * this->mass / total_area; + + Transform2D mtx = get_shape_transform(i); + Vector2 scale = mtx.get_scale(); + Vector2 shape_origin = mtx.get_origin() - center_of_mass; + inertia += shape->get_moment_of_inertia(mass, scale) + mass * shape_origin.length_squared(); + } } - _inv_inertia = inertia > 0 ? (1.0 / inertia) : 0; + _inv_inertia = inertia > 0.0 ? (1.0 / inertia) : 0.0; if (mass) { _inv_mass = 1.0 / mass; @@ -93,9 +119,12 @@ void Body2DSW::update_inertias() { } break; } - //_update_inertia_tensor(); +} - //_update_shapes(); +void Body2DSW::reset_mass_properties() { + calculate_inertia = true; + calculate_center_of_mass = true; + _mass_properties_changed(); } void Body2DSW::set_active(bool p_active) { @@ -117,7 +146,7 @@ void Body2DSW::set_active(bool p_active) { } } -void Body2DSW::set_param(PhysicsServer2D::BodyParameter p_param, real_t p_value) { +void Body2DSW::set_param(PhysicsServer2D::BodyParameter p_param, const Variant &p_value) { switch (p_param) { case PhysicsServer2D::BODY_PARAM_BOUNCE: { bounce = p_value; @@ -126,21 +155,32 @@ void Body2DSW::set_param(PhysicsServer2D::BodyParameter p_param, real_t p_value) friction = p_value; } break; case PhysicsServer2D::BODY_PARAM_MASS: { - ERR_FAIL_COND(p_value <= 0); - mass = p_value; - _update_inertia(); - + real_t mass_value = p_value; + ERR_FAIL_COND(mass_value <= 0); + mass = mass_value; + if (mode >= PhysicsServer2D::BODY_MODE_DYNAMIC) { + _mass_properties_changed(); + } } break; case PhysicsServer2D::BODY_PARAM_INERTIA: { - if (p_value <= 0) { - user_inertia = false; - _update_inertia(); + real_t inertia_value = p_value; + if (inertia_value <= 0.0) { + calculate_inertia = true; + if (mode == PhysicsServer2D::BODY_MODE_DYNAMIC) { + _mass_properties_changed(); + } } else { - user_inertia = true; - inertia = p_value; - _inv_inertia = 1.0 / p_value; + calculate_inertia = false; + inertia = inertia_value; + if (mode == PhysicsServer2D::BODY_MODE_DYNAMIC) { + _inv_inertia = 1.0 / inertia; + } } } break; + case PhysicsServer2D::BODY_PARAM_CENTER_OF_MASS: { + calculate_center_of_mass = false; + center_of_mass = p_value; + } break; case PhysicsServer2D::BODY_PARAM_GRAVITY_SCALE: { gravity_scale = p_value; } break; @@ -155,7 +195,7 @@ void Body2DSW::set_param(PhysicsServer2D::BodyParameter p_param, real_t p_value) } } -real_t Body2DSW::get_param(PhysicsServer2D::BodyParameter p_param) const { +Variant Body2DSW::get_param(PhysicsServer2D::BodyParameter p_param) const { switch (p_param) { case PhysicsServer2D::BODY_PARAM_BOUNCE: { return bounce; @@ -169,6 +209,9 @@ real_t Body2DSW::get_param(PhysicsServer2D::BodyParameter p_param) const { case PhysicsServer2D::BODY_PARAM_INERTIA: { return inertia; } + case PhysicsServer2D::BODY_PARAM_CENTER_OF_MASS: { + return center_of_mass; + } case PhysicsServer2D::BODY_PARAM_GRAVITY_SCALE: { return gravity_scale; } @@ -206,7 +249,10 @@ void Body2DSW::set_mode(PhysicsServer2D::BodyMode p_mode) { } break; case PhysicsServer2D::BODY_MODE_DYNAMIC: { _inv_mass = mass > 0 ? (1.0 / mass) : 0; - _inv_inertia = inertia > 0 ? (1.0 / inertia) : 0; + if (!calculate_inertia) { + _inv_inertia = 1.0 / inertia; + } + _mass_properties_changed(); _set_static(false); set_active(true); @@ -214,18 +260,11 @@ void Body2DSW::set_mode(PhysicsServer2D::BodyMode p_mode) { case PhysicsServer2D::BODY_MODE_DYNAMIC_LOCKED: { _inv_mass = mass > 0 ? (1.0 / mass) : 0; _inv_inertia = 0; + angular_velocity = 0; _set_static(false); set_active(true); - angular_velocity = 0; - } break; - } - if (p_mode == PhysicsServer2D::BODY_MODE_DYNAMIC && _inv_inertia == 0) { - _update_inertia(); + } } - /* - if (get_space()) - _update_queries(); - */ } PhysicsServer2D::BodyMode Body2DSW::get_mode() const { @@ -233,7 +272,7 @@ PhysicsServer2D::BodyMode Body2DSW::get_mode() const { } void Body2DSW::_shapes_changed() { - _update_inertia(); + _mass_properties_changed(); wakeup_neighbours(); } @@ -268,11 +307,13 @@ void Body2DSW::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_va } break; case PhysicsServer2D::BODY_STATE_LINEAR_VELOCITY: { linear_velocity = p_variant; + constant_linear_velocity = linear_velocity; wakeup(); } break; case PhysicsServer2D::BODY_STATE_ANGULAR_VELOCITY: { angular_velocity = p_variant; + constant_angular_velocity = angular_velocity; wakeup(); } break; @@ -295,7 +336,7 @@ void Body2DSW::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_va } break; case PhysicsServer2D::BODY_STATE_CAN_SLEEP: { can_sleep = p_variant; - if (mode == PhysicsServer2D::BODY_MODE_DYNAMIC && !active && !can_sleep) { + if (mode >= PhysicsServer2D::BODY_MODE_DYNAMIC && !active && !can_sleep) { set_active(true); } @@ -329,8 +370,8 @@ void Body2DSW::set_space(Space2DSW *p_space) { if (get_space()) { wakeup_neighbours(); - if (inertia_update_list.in_list()) { - get_space()->body_remove_from_inertia_update_list(&inertia_update_list); + if (mass_properties_update_list.in_list()) { + get_space()->body_remove_from_mass_properties_update_list(&mass_properties_update_list); } if (active_list.in_list()) { get_space()->body_remove_from_active_list(&active_list); @@ -343,13 +384,11 @@ void Body2DSW::set_space(Space2DSW *p_space) { _set_space(p_space); if (get_space()) { - _update_inertia(); + _mass_properties_changed(); if (active) { get_space()->body_add_to_active_list(&active_list); } } - - first_integration = false; } void Body2DSW::_compute_area_gravity_and_damping(const Area2DSW *p_area) { @@ -428,10 +467,10 @@ void Body2DSW::integrate_forces(real_t p_step) { if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC) { //compute motion, angular and etc. velocities from prev transform motion = new_transform.get_origin() - get_transform().get_origin(); - linear_velocity = motion / p_step; + linear_velocity = constant_linear_velocity + motion / p_step; real_t rot = new_transform.get_rotation() - get_transform().get_rotation(); - angular_velocity = remainder(rot, 2.0 * Math_PI) / p_step; + angular_velocity = constant_angular_velocity + remainder(rot, 2.0 * Math_PI) / p_step; do_motion = true; @@ -443,7 +482,7 @@ void Body2DSW::integrate_forces(real_t p_step) { */ } else { - if (!omit_force_integration && !first_integration) { + if (!omit_force_integration) { //overridden by direct state query Vector2 force = gravity * mass; @@ -477,7 +516,6 @@ void Body2DSW::integrate_forces(real_t p_step) { //motion=linear_velocity*p_step; - first_integration = false; biased_angular_velocity = 0; biased_linear_velocity = Vector2(); @@ -495,7 +533,7 @@ void Body2DSW::integrate_velocities(real_t p_step) { return; } - if (fi_callback) { + if (fi_callback_data || body_state_callback) { get_space()->body_add_to_state_query_list(&direct_state_query_list); } @@ -514,14 +552,22 @@ void Body2DSW::integrate_velocities(real_t p_step) { real_t angle = get_transform().get_rotation() + total_angular_velocity * p_step; Vector2 pos = get_transform().get_origin() + total_linear_velocity * p_step; + real_t center_of_mass_distance = center_of_mass.length(); + if (center_of_mass_distance > CMP_EPSILON) { + // Calculate displacement due to center of mass offset. + real_t prev_angle = get_transform().get_rotation(); + real_t angle_base = Math::atan2(center_of_mass.y, center_of_mass.x); + Vector2 point1(Math::cos(angle_base + prev_angle), Math::sin(angle_base + prev_angle)); + Vector2 point2(Math::cos(angle_base + angle), Math::sin(angle_base + angle)); + pos += center_of_mass_distance * (point1 - point2); + } + _set_transform(Transform2D(angle, pos), continuous_cd_mode == PhysicsServer2D::CCD_MODE_DISABLED); _set_inv_transform(get_transform().inverse()); if (continuous_cd_mode != PhysicsServer2D::CCD_MODE_DISABLED) { new_transform = get_transform(); } - - //_update_inertia_tensor(); } void Body2DSW::wakeup_neighbours() { @@ -535,7 +581,7 @@ void Body2DSW::wakeup_neighbours() { continue; } Body2DSW *b = n[i]; - if (b->mode != PhysicsServer2D::BODY_MODE_DYNAMIC) { + if (b->mode < PhysicsServer2D::BODY_MODE_DYNAMIC) { continue; } @@ -547,27 +593,27 @@ void Body2DSW::wakeup_neighbours() { } void Body2DSW::call_queries() { - if (fi_callback) { - PhysicsDirectBodyState2DSW *dbs = PhysicsDirectBodyState2DSW::singleton; - dbs->body = this; - - Variant v = dbs; - const Variant *vp[2] = { &v, &fi_callback->callback_udata }; - - Object *obj = fi_callback->callable.get_object(); - if (!obj) { + if (fi_callback_data) { + if (!fi_callback_data->callable.get_object()) { set_force_integration_callback(Callable()); } else { + Variant direct_state_variant = get_direct_state(); + const Variant *vp[2] = { &direct_state_variant, &fi_callback_data->udata }; + Callable::CallError ce; Variant rv; - if (fi_callback->callback_udata.get_type() != Variant::NIL) { - fi_callback->callable.call(vp, 2, rv, ce); + if (fi_callback_data->udata.get_type() != Variant::NIL) { + fi_callback_data->callable.call(vp, 2, rv, ce); } else { - fi_callback->callable.call(vp, 1, rv, ce); + fi_callback_data->callable.call(vp, 1, rv, ce); } } } + + if (body_state_callback) { + (body_state_callback)(body_state_callback_instance, get_direct_state()); + } } bool Body2DSW::sleep_test(real_t p_step) { @@ -587,78 +633,45 @@ bool Body2DSW::sleep_test(real_t p_step) { } } +void Body2DSW::set_state_sync_callback(void *p_instance, PhysicsServer2D::BodyStateCallback p_callback) { + body_state_callback_instance = p_instance; + body_state_callback = p_callback; +} + void Body2DSW::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) { - if (fi_callback) { - memdelete(fi_callback); - fi_callback = nullptr; + if (p_callable.get_object()) { + if (!fi_callback_data) { + fi_callback_data = memnew(ForceIntegrationCallbackData); + } + fi_callback_data->callable = p_callable; + fi_callback_data->udata = p_udata; + } else if (fi_callback_data) { + memdelete(fi_callback_data); + fi_callback_data = nullptr; } +} - if (p_callable.get_object()) { - fi_callback = memnew(ForceIntegrationCallback); - fi_callback->callable = p_callable; - fi_callback->callback_udata = p_udata; +PhysicsDirectBodyState2DSW *Body2DSW::get_direct_state() { + if (!direct_state) { + direct_state = memnew(PhysicsDirectBodyState2DSW); + direct_state->body = this; } + return direct_state; } Body2DSW::Body2DSW() : CollisionObject2DSW(TYPE_BODY), active_list(this), - inertia_update_list(this), + mass_properties_update_list(this), direct_state_query_list(this) { - mode = PhysicsServer2D::BODY_MODE_DYNAMIC; - active = true; - angular_velocity = 0; - biased_angular_velocity = 0; - mass = 1; - inertia = 0; - user_inertia = false; - _inv_inertia = 0; - _inv_mass = 1; - bounce = 0; - friction = 1; - omit_force_integration = false; - applied_torque = 0; - island_step = 0; _set_static(false); - first_time_kinematic = false; - linear_damp = -1; - angular_damp = -1; - area_angular_damp = 0; - area_linear_damp = 0; - contact_count = 0; - gravity_scale = 1.0; - first_integration = false; - - still_time = 0; - continuous_cd_mode = PhysicsServer2D::CCD_MODE_DISABLED; - can_sleep = true; - fi_callback = nullptr; } Body2DSW::~Body2DSW() { - if (fi_callback) { - memdelete(fi_callback); + if (fi_callback_data) { + memdelete(fi_callback_data); } -} - -PhysicsDirectBodyState2DSW *PhysicsDirectBodyState2DSW::singleton = nullptr; - -PhysicsDirectSpaceState2D *PhysicsDirectBodyState2DSW::get_space_state() { - return body->get_space()->get_direct_state(); -} - -Variant PhysicsDirectBodyState2DSW::get_contact_collider_shape_metadata(int p_contact_idx) const { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Variant()); - - if (!PhysicsServer2DSW::singletonsw->body_owner.owns(body->contacts[p_contact_idx].collider)) { - return Variant(); + if (direct_state) { + memdelete(direct_state); } - Body2DSW *other = PhysicsServer2DSW::singletonsw->body_owner.getornull(body->contacts[p_contact_idx].collider); - - int sidx = body->contacts[p_contact_idx].collider_shape; - if (sidx < 0 || sidx >= other->get_shape_count()) { - return Variant(); - } - - return other->get_shape_metadata(sidx); } diff --git a/servers/physics_2d/body_2d_sw.h b/servers/physics_2d/body_2d_sw.h index 30e14eb9c7..822ff76fae 100644 --- a/servers/physics_2d/body_2d_sw.h +++ b/servers/physics_2d/body_2d_sw.h @@ -38,58 +38,66 @@ #include "core/templates/vset.h" class Constraint2DSW; +class PhysicsDirectBodyState2DSW; class Body2DSW : public CollisionObject2DSW { - PhysicsServer2D::BodyMode mode; + PhysicsServer2D::BodyMode mode = PhysicsServer2D::BODY_MODE_DYNAMIC; Vector2 biased_linear_velocity; - real_t biased_angular_velocity; + real_t biased_angular_velocity = 0.0; Vector2 linear_velocity; - real_t angular_velocity; + real_t angular_velocity = 0.0; - real_t linear_damp; - real_t angular_damp; - real_t gravity_scale; + Vector2 constant_linear_velocity; + real_t constant_angular_velocity = 0.0; - real_t mass; - real_t inertia; - real_t bounce; - real_t friction; + real_t linear_damp = -1.0; + real_t angular_damp = -1.0; + real_t gravity_scale = 1.0; - real_t _inv_mass; - real_t _inv_inertia; - bool user_inertia; + real_t bounce = 0.0; + real_t friction = 1.0; + + real_t mass = 1.0; + real_t _inv_mass = 1.0; + + real_t inertia = 0.0; + real_t _inv_inertia = 0.0; + + Vector2 center_of_mass; + + bool calculate_inertia = true; + bool calculate_center_of_mass = true; Vector2 gravity; - real_t area_linear_damp; - real_t area_angular_damp; + real_t area_linear_damp = 0.0; + real_t area_angular_damp = 0.0; - real_t still_time; + real_t still_time = 0.0; Vector2 applied_force; - real_t applied_torque; + real_t applied_torque = 0.0; SelfList<Body2DSW> active_list; - SelfList<Body2DSW> inertia_update_list; + SelfList<Body2DSW> mass_properties_update_list; SelfList<Body2DSW> direct_state_query_list; VSet<RID> exceptions; - PhysicsServer2D::CCDMode continuous_cd_mode; - bool omit_force_integration; - bool active; - bool can_sleep; - bool first_time_kinematic; - bool first_integration; - void _update_inertia(); + PhysicsServer2D::CCDMode continuous_cd_mode = PhysicsServer2D::CCD_MODE_DISABLED; + bool omit_force_integration = false; + bool active = true; + bool can_sleep = true; + bool first_time_kinematic = false; + void _mass_properties_changed(); virtual void _shapes_changed(); Transform2D new_transform; List<Pair<Constraint2DSW *, int>> constraint_list; struct AreaCMP { - Area2DSW *area; - int refCount; + Area2DSW *area = nullptr; + int refCount = 0; _FORCE_INLINE_ bool operator==(const AreaCMP &p_cmp) const { return area->get_self() == p_cmp.area->get_self(); } _FORCE_INLINE_ bool operator<(const AreaCMP &p_cmp) const { return area->get_priority() < p_cmp.area->get_priority(); } _FORCE_INLINE_ AreaCMP() {} @@ -104,34 +112,42 @@ class Body2DSW : public CollisionObject2DSW { struct Contact { Vector2 local_pos; Vector2 local_normal; - real_t depth; - int local_shape; + real_t depth = 0.0; + int local_shape = 0; Vector2 collider_pos; - int collider_shape; + int collider_shape = 0; ObjectID collider_instance_id; RID collider; Vector2 collider_velocity_at_pos; }; Vector<Contact> contacts; //no contacts by default - int contact_count; + int contact_count = 0; + + void *body_state_callback_instance = nullptr; + PhysicsServer2D::BodyStateCallback body_state_callback = nullptr; - struct ForceIntegrationCallback { + struct ForceIntegrationCallbackData { Callable callable; - Variant callback_udata; + Variant udata; }; - ForceIntegrationCallback *fi_callback; + ForceIntegrationCallbackData *fi_callback_data = nullptr; - uint64_t island_step; + PhysicsDirectBodyState2DSW *direct_state = nullptr; + + uint64_t island_step = 0; _FORCE_INLINE_ void _compute_area_gravity_and_damping(const Area2DSW *p_area); friend class PhysicsDirectBodyState2DSW; // i give up, too many functions to expose public: + void set_state_sync_callback(void *p_instance, PhysicsServer2D::BodyStateCallback p_callback); void set_force_integration_callback(const Callable &p_callable, const Variant &p_udata = Variant()); + PhysicsDirectBodyState2DSW *get_direct_state(); + _FORCE_INLINE_ void add_area(Area2DSW *p_area) { int index = areas.find(AreaCMP(p_area)); if (index > -1) { @@ -198,7 +214,7 @@ public: _FORCE_INLINE_ void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) { linear_velocity += p_impulse * _inv_mass; - angular_velocity += _inv_inertia * p_position.cross(p_impulse); + angular_velocity += _inv_inertia * (p_position - center_of_mass).cross(p_impulse); } _FORCE_INLINE_ void apply_torque_impulse(real_t p_torque) { @@ -207,7 +223,7 @@ public: _FORCE_INLINE_ void apply_bias_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) { biased_linear_velocity += p_impulse * _inv_mass; - biased_angular_velocity += _inv_inertia * p_position.cross(p_impulse); + biased_angular_velocity += _inv_inertia * (p_position - center_of_mass).cross(p_impulse); } void set_active(bool p_active); @@ -220,8 +236,8 @@ public: set_active(true); } - void set_param(PhysicsServer2D::BodyParameter p_param, real_t); - real_t get_param(PhysicsServer2D::BodyParameter p_param) const; + void set_param(PhysicsServer2D::BodyParameter p_param, const Variant &p_value); + Variant get_param(PhysicsServer2D::BodyParameter p_param) const; void set_mode(PhysicsServer2D::BodyMode p_mode); PhysicsServer2D::BodyMode get_mode() const; @@ -241,7 +257,7 @@ public: _FORCE_INLINE_ void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) { applied_force += p_force; - applied_torque += p_position.cross(p_force); + applied_torque += (p_position - center_of_mass).cross(p_force); } _FORCE_INLINE_ void add_torque(real_t p_torque) { @@ -253,8 +269,10 @@ public: void set_space(Space2DSW *p_space); - void update_inertias(); + void update_mass_properties(); + void reset_mass_properties(); + _FORCE_INLINE_ Vector2 get_center_of_mass() const { return center_of_mass; } _FORCE_INLINE_ real_t get_inv_mass() const { return _inv_mass; } _FORCE_INLINE_ real_t get_inv_inertia() const { return _inv_inertia; } _FORCE_INLINE_ real_t get_friction() const { return friction; } @@ -332,87 +350,4 @@ void Body2DSW::add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_no c[idx].collider_velocity_at_pos = p_collider_velocity_at_pos; } -class PhysicsDirectBodyState2DSW : public PhysicsDirectBodyState2D { - GDCLASS(PhysicsDirectBodyState2DSW, PhysicsDirectBodyState2D); - -public: - static PhysicsDirectBodyState2DSW *singleton; - Body2DSW *body; - real_t step; - - virtual Vector2 get_total_gravity() const override { return body->gravity; } // get gravity vector working on this body space/area - virtual real_t get_total_angular_damp() const override { return body->area_angular_damp; } // get density of this body space/area - virtual real_t get_total_linear_damp() const override { return body->area_linear_damp; } // get density of this body space/area - - virtual real_t get_inverse_mass() const override { return body->get_inv_mass(); } // get the mass - virtual real_t get_inverse_inertia() const override { return body->get_inv_inertia(); } // get density of this body space - - virtual void set_linear_velocity(const Vector2 &p_velocity) override { body->set_linear_velocity(p_velocity); } - virtual Vector2 get_linear_velocity() const override { return body->get_linear_velocity(); } - - virtual void set_angular_velocity(real_t p_velocity) override { body->set_angular_velocity(p_velocity); } - virtual real_t get_angular_velocity() const override { return body->get_angular_velocity(); } - - virtual void set_transform(const Transform2D &p_transform) override { body->set_state(PhysicsServer2D::BODY_STATE_TRANSFORM, p_transform); } - virtual Transform2D get_transform() const override { return body->get_transform(); } - - virtual Vector2 get_velocity_at_local_position(const Vector2 &p_position) const override { return body->get_velocity_in_local_point(p_position); } - - virtual void add_central_force(const Vector2 &p_force) override { body->add_central_force(p_force); } - virtual void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) override { body->add_force(p_force, p_position); } - virtual void add_torque(real_t p_torque) override { body->add_torque(p_torque); } - virtual void apply_central_impulse(const Vector2 &p_impulse) override { body->apply_central_impulse(p_impulse); } - virtual void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) override { body->apply_impulse(p_impulse, p_position); } - virtual void apply_torque_impulse(real_t p_torque) override { body->apply_torque_impulse(p_torque); } - - virtual void set_sleep_state(bool p_enable) override { body->set_active(!p_enable); } - virtual bool is_sleeping() const override { return !body->is_active(); } - - virtual int get_contact_count() const override { return body->contact_count; } - - virtual Vector2 get_contact_local_position(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2()); - return body->contacts[p_contact_idx].local_pos; - } - virtual Vector2 get_contact_local_normal(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2()); - return body->contacts[p_contact_idx].local_normal; - } - virtual int get_contact_local_shape(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, -1); - return body->contacts[p_contact_idx].local_shape; - } - - virtual RID get_contact_collider(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, RID()); - return body->contacts[p_contact_idx].collider; - } - virtual Vector2 get_contact_collider_position(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2()); - return body->contacts[p_contact_idx].collider_pos; - } - virtual ObjectID get_contact_collider_id(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, ObjectID()); - return body->contacts[p_contact_idx].collider_instance_id; - } - virtual int get_contact_collider_shape(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, 0); - return body->contacts[p_contact_idx].collider_shape; - } - virtual Variant get_contact_collider_shape_metadata(int p_contact_idx) const override; - - virtual Vector2 get_contact_collider_velocity_at_position(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2()); - return body->contacts[p_contact_idx].collider_velocity_at_pos; - } - - virtual PhysicsDirectSpaceState2D *get_space_state() override; - - virtual real_t get_step() const override { return step; } - PhysicsDirectBodyState2DSW() { - singleton = this; - body = nullptr; - } -}; - #endif // BODY_2D_SW_H diff --git a/servers/physics_2d/body_direct_state_2d_sw.cpp b/servers/physics_2d/body_direct_state_2d_sw.cpp new file mode 100644 index 0000000000..58250c3077 --- /dev/null +++ b/servers/physics_2d/body_direct_state_2d_sw.cpp @@ -0,0 +1,186 @@ +/*************************************************************************/ +/* body_direct_state_2d_sw.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 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 */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#include "body_direct_state_2d_sw.h" + +#include "body_2d_sw.h" +#include "physics_server_2d_sw.h" +#include "space_2d_sw.h" + +Vector2 PhysicsDirectBodyState2DSW::get_total_gravity() const { + return body->gravity; +} + +real_t PhysicsDirectBodyState2DSW::get_total_angular_damp() const { + return body->area_angular_damp; +} + +real_t PhysicsDirectBodyState2DSW::get_total_linear_damp() const { + return body->area_linear_damp; +} + +Vector2 PhysicsDirectBodyState2DSW::get_center_of_mass() const { + return body->get_center_of_mass(); +} + +real_t PhysicsDirectBodyState2DSW::get_inverse_mass() const { + return body->get_inv_mass(); +} + +real_t PhysicsDirectBodyState2DSW::get_inverse_inertia() const { + return body->get_inv_inertia(); +} + +void PhysicsDirectBodyState2DSW::set_linear_velocity(const Vector2 &p_velocity) { + body->set_linear_velocity(p_velocity); +} + +Vector2 PhysicsDirectBodyState2DSW::get_linear_velocity() const { + return body->get_linear_velocity(); +} + +void PhysicsDirectBodyState2DSW::set_angular_velocity(real_t p_velocity) { + body->set_angular_velocity(p_velocity); +} + +real_t PhysicsDirectBodyState2DSW::get_angular_velocity() const { + return body->get_angular_velocity(); +} + +void PhysicsDirectBodyState2DSW::set_transform(const Transform2D &p_transform) { + body->set_state(PhysicsServer2D::BODY_STATE_TRANSFORM, p_transform); +} + +Transform2D PhysicsDirectBodyState2DSW::get_transform() const { + return body->get_transform(); +} + +Vector2 PhysicsDirectBodyState2DSW::get_velocity_at_local_position(const Vector2 &p_position) const { + return body->get_velocity_in_local_point(p_position); +} + +void PhysicsDirectBodyState2DSW::add_central_force(const Vector2 &p_force) { + body->add_central_force(p_force); +} + +void PhysicsDirectBodyState2DSW::add_force(const Vector2 &p_force, const Vector2 &p_position) { + body->add_force(p_force, p_position); +} + +void PhysicsDirectBodyState2DSW::add_torque(real_t p_torque) { + body->add_torque(p_torque); +} + +void PhysicsDirectBodyState2DSW::apply_central_impulse(const Vector2 &p_impulse) { + body->apply_central_impulse(p_impulse); +} + +void PhysicsDirectBodyState2DSW::apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position) { + body->apply_impulse(p_impulse, p_position); +} + +void PhysicsDirectBodyState2DSW::apply_torque_impulse(real_t p_torque) { + body->apply_torque_impulse(p_torque); +} + +void PhysicsDirectBodyState2DSW::set_sleep_state(bool p_enable) { + body->set_active(!p_enable); +} + +bool PhysicsDirectBodyState2DSW::is_sleeping() const { + return !body->is_active(); +} + +int PhysicsDirectBodyState2DSW::get_contact_count() const { + return body->contact_count; +} + +Vector2 PhysicsDirectBodyState2DSW::get_contact_local_position(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2()); + return body->contacts[p_contact_idx].local_pos; +} + +Vector2 PhysicsDirectBodyState2DSW::get_contact_local_normal(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2()); + return body->contacts[p_contact_idx].local_normal; +} + +int PhysicsDirectBodyState2DSW::get_contact_local_shape(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, -1); + return body->contacts[p_contact_idx].local_shape; +} + +RID PhysicsDirectBodyState2DSW::get_contact_collider(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, RID()); + return body->contacts[p_contact_idx].collider; +} +Vector2 PhysicsDirectBodyState2DSW::get_contact_collider_position(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2()); + return body->contacts[p_contact_idx].collider_pos; +} + +ObjectID PhysicsDirectBodyState2DSW::get_contact_collider_id(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, ObjectID()); + return body->contacts[p_contact_idx].collider_instance_id; +} + +int PhysicsDirectBodyState2DSW::get_contact_collider_shape(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, 0); + return body->contacts[p_contact_idx].collider_shape; +} + +Vector2 PhysicsDirectBodyState2DSW::get_contact_collider_velocity_at_position(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2()); + return body->contacts[p_contact_idx].collider_velocity_at_pos; +} + +Variant PhysicsDirectBodyState2DSW::get_contact_collider_shape_metadata(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Variant()); + + if (!PhysicsServer2DSW::singletonsw->body_owner.owns(body->contacts[p_contact_idx].collider)) { + return Variant(); + } + Body2DSW *other = PhysicsServer2DSW::singletonsw->body_owner.getornull(body->contacts[p_contact_idx].collider); + + int sidx = body->contacts[p_contact_idx].collider_shape; + if (sidx < 0 || sidx >= other->get_shape_count()) { + return Variant(); + } + + return other->get_shape_metadata(sidx); +} + +PhysicsDirectSpaceState2D *PhysicsDirectBodyState2DSW::get_space_state() { + return body->get_space()->get_direct_state(); +} + +real_t PhysicsDirectBodyState2DSW::get_step() const { + return body->get_space()->get_last_step(); +} diff --git a/servers/physics_2d/body_direct_state_2d_sw.h b/servers/physics_2d/body_direct_state_2d_sw.h new file mode 100644 index 0000000000..34faa174d8 --- /dev/null +++ b/servers/physics_2d/body_direct_state_2d_sw.h @@ -0,0 +1,92 @@ +/*************************************************************************/ +/* body_direct_state_2d_sw.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 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 */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#ifndef BODY_DIRECT_STATE_2D_SW_H +#define BODY_DIRECT_STATE_2D_SW_H + +#include "servers/physics_server_2d.h" + +class Body2DSW; + +class PhysicsDirectBodyState2DSW : public PhysicsDirectBodyState2D { + GDCLASS(PhysicsDirectBodyState2DSW, PhysicsDirectBodyState2D); + +public: + Body2DSW *body = nullptr; + + virtual Vector2 get_total_gravity() const override; + virtual real_t get_total_angular_damp() const override; + virtual real_t get_total_linear_damp() const override; + + virtual Vector2 get_center_of_mass() const override; + virtual real_t get_inverse_mass() const override; + virtual real_t get_inverse_inertia() const override; + + virtual void set_linear_velocity(const Vector2 &p_velocity) override; + virtual Vector2 get_linear_velocity() const override; + + virtual void set_angular_velocity(real_t p_velocity) override; + virtual real_t get_angular_velocity() const override; + + virtual void set_transform(const Transform2D &p_transform) override; + virtual Transform2D get_transform() const override; + + virtual Vector2 get_velocity_at_local_position(const Vector2 &p_position) const override; + + virtual void add_central_force(const Vector2 &p_force) override; + virtual void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) override; + virtual void add_torque(real_t p_torque) override; + virtual void apply_central_impulse(const Vector2 &p_impulse) override; + virtual void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) override; + virtual void apply_torque_impulse(real_t p_torque) override; + + virtual void set_sleep_state(bool p_enable) override; + virtual bool is_sleeping() const override; + + virtual int get_contact_count() const override; + + virtual Vector2 get_contact_local_position(int p_contact_idx) const override; + virtual Vector2 get_contact_local_normal(int p_contact_idx) const override; + virtual int get_contact_local_shape(int p_contact_idx) const override; + + virtual RID get_contact_collider(int p_contact_idx) const override; + virtual Vector2 get_contact_collider_position(int p_contact_idx) const override; + virtual ObjectID get_contact_collider_id(int p_contact_idx) const override; + virtual int get_contact_collider_shape(int p_contact_idx) const override; + virtual Variant get_contact_collider_shape_metadata(int p_contact_idx) const override; + + virtual Vector2 get_contact_collider_velocity_at_position(int p_contact_idx) const override; + + virtual PhysicsDirectSpaceState2D *get_space_state() override; + + virtual real_t get_step() const override; +}; + +#endif // BODY_2D_SW_H diff --git a/servers/physics_2d/body_pair_2d_sw.h b/servers/physics_2d/body_pair_2d_sw.h index 849a7e2430..db4f3eba69 100644 --- a/servers/physics_2d/body_pair_2d_sw.h +++ b/servers/physics_2d/body_pair_2d_sw.h @@ -59,17 +59,17 @@ class BodyPair2DSW : public Constraint2DSW { Vector2 position; Vector2 normal; Vector2 local_A, local_B; - real_t acc_normal_impulse; // accumulated normal impulse (Pn) - real_t acc_tangent_impulse; // accumulated tangent impulse (Pt) - real_t acc_bias_impulse; // accumulated normal impulse for position bias (Pnb) - real_t mass_normal, mass_tangent; - real_t bias; + real_t acc_normal_impulse = 0.0; // accumulated normal impulse (Pn) + real_t acc_tangent_impulse = 0.0; // accumulated tangent impulse (Pt) + real_t acc_bias_impulse = 0.0; // accumulated normal impulse for position bias (Pnb) + real_t mass_normal, mass_tangent = 0.0; + real_t bias = 0.0; - real_t depth; - bool active; + real_t depth = 0.0; + bool active = false; Vector2 rA, rB; - bool reused; - real_t bounce; + bool reused = false; + real_t bounce = 0.0; }; Vector2 offset_B; //use local A coordinates to avoid numerical issues on collision detection diff --git a/servers/physics_2d/broad_phase_2d_bvh.cpp b/servers/physics_2d/broad_phase_2d_bvh.cpp index 5f53f4a012..0df7086c5a 100644 --- a/servers/physics_2d/broad_phase_2d_bvh.cpp +++ b/servers/physics_2d/broad_phase_2d_bvh.cpp @@ -110,7 +110,4 @@ BroadPhase2DSW *BroadPhase2DBVH::_create() { BroadPhase2DBVH::BroadPhase2DBVH() { bvh.set_pair_callback(_pair_callback, this); bvh.set_unpair_callback(_unpair_callback, this); - pair_callback = nullptr; - pair_userdata = nullptr; - unpair_userdata = nullptr; } diff --git a/servers/physics_2d/broad_phase_2d_bvh.h b/servers/physics_2d/broad_phase_2d_bvh.h index 6c11d2561b..ea02a98417 100644 --- a/servers/physics_2d/broad_phase_2d_bvh.h +++ b/servers/physics_2d/broad_phase_2d_bvh.h @@ -42,10 +42,10 @@ class BroadPhase2DBVH : public BroadPhase2DSW { static void *_pair_callback(void *, uint32_t, CollisionObject2DSW *, int, uint32_t, CollisionObject2DSW *, int); static void _unpair_callback(void *, uint32_t, CollisionObject2DSW *, int, uint32_t, CollisionObject2DSW *, int, void *); - PairCallback pair_callback; - void *pair_userdata; - UnpairCallback unpair_callback; - void *unpair_userdata; + PairCallback pair_callback = nullptr; + void *pair_userdata = nullptr; + UnpairCallback unpair_callback = nullptr; + void *unpair_userdata = nullptr; public: // 0 is an invalid ID diff --git a/servers/physics_2d/collision_object_2d_sw.cpp b/servers/physics_2d/collision_object_2d_sw.cpp index 5d1ef83165..c92f01d120 100644 --- a/servers/physics_2d/collision_object_2d_sw.cpp +++ b/servers/physics_2d/collision_object_2d_sw.cpp @@ -244,10 +244,5 @@ void CollisionObject2DSW::_shape_changed() { CollisionObject2DSW::CollisionObject2DSW(Type p_type) : pending_shape_update_list(this) { - _static = true; type = p_type; - space = nullptr; - collision_mask = 1; - collision_layer = 1; - pickable = true; } diff --git a/servers/physics_2d/collision_object_2d_sw.h b/servers/physics_2d/collision_object_2d_sw.h index 55ffa9b1b8..69487631a6 100644 --- a/servers/physics_2d/collision_object_2d_sw.h +++ b/servers/physics_2d/collision_object_2d_sw.h @@ -50,32 +50,27 @@ private: RID self; ObjectID instance_id; ObjectID canvas_instance_id; - bool pickable; + bool pickable = true; struct Shape { Transform2D xform; Transform2D xform_inv; - BroadPhase2DSW::ID bpid; + BroadPhase2DSW::ID bpid = 0; Rect2 aabb_cache; //for rayqueries - Shape2DSW *shape; + Shape2DSW *shape = nullptr; Variant metadata; - bool disabled; - bool one_way_collision; - real_t one_way_collision_margin; - Shape() { - disabled = false; - one_way_collision = false; - one_way_collision_margin = 0; - } + bool disabled = false; + bool one_way_collision = false; + real_t one_way_collision_margin = 0.0; }; Vector<Shape> shapes; - Space2DSW *space; + Space2DSW *space = nullptr; Transform2D transform; Transform2D inv_transform; - uint32_t collision_mask; - uint32_t collision_layer; - bool _static; + uint32_t collision_mask = 1; + uint32_t collision_layer = 1; + bool _static = true; SelfList<CollisionObject2DSW> pending_shape_update_list; diff --git a/servers/physics_2d/collision_solver_2d_sat.cpp b/servers/physics_2d/collision_solver_2d_sat.cpp index b1aee01bde..2e67cc6520 100644 --- a/servers/physics_2d/collision_solver_2d_sat.cpp +++ b/servers/physics_2d/collision_solver_2d_sat.cpp @@ -34,11 +34,11 @@ struct _CollectorCallback2D { CollisionSolver2DSW::CallbackResult callback; - void *userdata; - bool swap; - bool collided; + void *userdata = nullptr; + bool swap = false; + bool collided = false; Vector2 normal; - Vector2 *sep_axis; + Vector2 *sep_axis = nullptr; _FORCE_INLINE_ void call(const Vector2 &p_point_A, const Vector2 &p_point_B) { /* @@ -75,9 +75,9 @@ _FORCE_INLINE_ static void _generate_contacts_point_edge(const Vector2 *p_points } struct _generate_contacts_Pair { - bool a; - int idx; - real_t d; + bool a = false; + int idx = 0; + real_t d = 0.0; _FORCE_INLINE_ bool operator<(const _generate_contacts_Pair &l) const { return d < l.d; } }; @@ -146,10 +146,10 @@ static void _generate_contacts_from_supports(const Vector2 *p_points_A, int p_po } }; - int pointcount_B; - int pointcount_A; - const Vector2 *points_A; - const Vector2 *points_B; + int pointcount_B = 0; + int pointcount_A = 0; + const Vector2 *points_A = nullptr; + const Vector2 *points_B = nullptr; if (p_point_count_A > p_point_count_B) { //swap @@ -177,18 +177,20 @@ static void _generate_contacts_from_supports(const Vector2 *p_points_A, int p_po template <class ShapeA, class ShapeB, bool castA = false, bool castB = false, bool withMargin = false> class SeparatorAxisTest2D { - const ShapeA *shape_A; - const ShapeB *shape_B; - const Transform2D *transform_A; - const Transform2D *transform_B; - real_t best_depth; + const ShapeA *shape_A = nullptr; + const ShapeB *shape_B = nullptr; + const Transform2D *transform_A = nullptr; + const Transform2D *transform_B = nullptr; + real_t best_depth = 1e15; Vector2 best_axis; - int best_axis_count; - int best_axis_index; +#ifdef DEBUG_ENABLED + int best_axis_count = 0; + int best_axis_index = -1; +#endif Vector2 motion_A; Vector2 motion_B; - real_t margin_A; - real_t margin_B; + real_t margin_A = 0.0; + real_t margin_B = 0.0; _CollectorCallback2D *callback; public: @@ -364,19 +366,13 @@ public: _FORCE_INLINE_ SeparatorAxisTest2D(const ShapeA *p_shape_A, const Transform2D &p_transform_a, const ShapeB *p_shape_B, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_A = Vector2(), const Vector2 &p_motion_B = Vector2(), real_t p_margin_A = 0, real_t p_margin_B = 0) { margin_A = p_margin_A; margin_B = p_margin_B; - best_depth = 1e15; shape_A = p_shape_A; shape_B = p_shape_B; transform_A = &p_transform_a; transform_B = &p_transform_b; motion_A = p_motion_A; motion_B = p_motion_B; - callback = p_collector; -#ifdef DEBUG_ENABLED - best_axis_count = 0; - best_axis_index = -1; -#endif } }; @@ -1114,13 +1110,13 @@ static void _collision_convex_polygon_convex_polygon(const Shape2DSW *p_a, const bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CollisionSolver2DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap, Vector2 *sep_axis, real_t p_margin_A, real_t p_margin_B) { PhysicsServer2D::ShapeType type_A = p_shape_A->get_type(); - ERR_FAIL_COND_V(type_A == PhysicsServer2D::SHAPE_WORLD_MARGIN, false); + ERR_FAIL_COND_V(type_A == PhysicsServer2D::SHAPE_WORLD_BOUNDARY, false); ERR_FAIL_COND_V(type_A == PhysicsServer2D::SHAPE_SEPARATION_RAY, false); ERR_FAIL_COND_V(p_shape_A->is_concave(), false); PhysicsServer2D::ShapeType type_B = p_shape_B->get_type(); - ERR_FAIL_COND_V(type_B == PhysicsServer2D::SHAPE_WORLD_MARGIN, false); + ERR_FAIL_COND_V(type_B == PhysicsServer2D::SHAPE_WORLD_BOUNDARY, false); ERR_FAIL_COND_V(type_B == PhysicsServer2D::SHAPE_SEPARATION_RAY, false); ERR_FAIL_COND_V(p_shape_B->is_concave(), false); diff --git a/servers/physics_2d/collision_solver_2d_sw.cpp b/servers/physics_2d/collision_solver_2d_sw.cpp index ae50615953..527bb1b0b2 100644 --- a/servers/physics_2d/collision_solver_2d_sw.cpp +++ b/servers/physics_2d/collision_solver_2d_sw.cpp @@ -34,14 +34,14 @@ #define collision_solver sat_2d_calculate_penetration //#define collision_solver gjk_epa_calculate_penetration -bool CollisionSolver2DSW::solve_static_world_margin(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) { - const WorldMarginShape2DSW *world_margin = static_cast<const WorldMarginShape2DSW *>(p_shape_A); - if (p_shape_B->get_type() == PhysicsServer2D::SHAPE_WORLD_MARGIN) { +bool CollisionSolver2DSW::solve_static_world_boundary(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) { + const WorldBoundaryShape2DSW *world_boundary = static_cast<const WorldBoundaryShape2DSW *>(p_shape_A); + if (p_shape_B->get_type() == PhysicsServer2D::SHAPE_WORLD_BOUNDARY) { return false; } - Vector2 n = p_transform_A.basis_xform(world_margin->get_normal()).normalized(); - Vector2 p = p_transform_A.xform(world_margin->get_normal() * world_margin->get_d()); + Vector2 n = p_transform_A.basis_xform(world_boundary->get_normal()).normalized(); + Vector2 p = p_transform_A.xform(world_boundary->get_normal() * world_boundary->get_d()); real_t d = n.dot(p); Vector2 supports[2]; @@ -133,20 +133,20 @@ bool CollisionSolver2DSW::solve_separation_ray(const Shape2DSW *p_shape_A, const } struct _ConcaveCollisionInfo2D { - const Transform2D *transform_A; - const Shape2DSW *shape_A; - const Transform2D *transform_B; + const Transform2D *transform_A = nullptr; + const Shape2DSW *shape_A = nullptr; + const Transform2D *transform_B = nullptr; Vector2 motion_A; Vector2 motion_B; - real_t margin_A; - real_t margin_B; + real_t margin_A = 0.0; + real_t margin_B = 0.0; CollisionSolver2DSW::CallbackResult result_callback; - void *userdata; - bool swap_result; - bool collided; - int aabb_tests; - int collisions; - Vector2 *sep_axis; + void *userdata = nullptr; + bool swap_result = false; + bool collided = false; + int aabb_tests = 0; + int collisions = 0; + Vector2 *sep_axis = nullptr; }; bool CollisionSolver2DSW::concave_callback(void *p_userdata, Shape2DSW *p_convex) { @@ -225,15 +225,15 @@ bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A, const Transform2D &p swap = true; } - if (type_A == PhysicsServer2D::SHAPE_WORLD_MARGIN) { - if (type_B == PhysicsServer2D::SHAPE_WORLD_MARGIN) { + if (type_A == PhysicsServer2D::SHAPE_WORLD_BOUNDARY) { + if (type_B == PhysicsServer2D::SHAPE_WORLD_BOUNDARY) { return false; } if (swap) { - return solve_static_world_margin(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true); + return solve_static_world_boundary(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true); } else { - return solve_static_world_margin(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false); + return solve_static_world_boundary(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false); } } else if (type_A == PhysicsServer2D::SHAPE_SEPARATION_RAY) { diff --git a/servers/physics_2d/collision_solver_2d_sw.h b/servers/physics_2d/collision_solver_2d_sw.h index 62fccc4ff3..b87247b89a 100644 --- a/servers/physics_2d/collision_solver_2d_sw.h +++ b/servers/physics_2d/collision_solver_2d_sw.h @@ -38,7 +38,7 @@ public: typedef void (*CallbackResult)(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata); private: - static bool solve_static_world_margin(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result); + static bool solve_static_world_boundary(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result); static bool concave_callback(void *p_userdata, Shape2DSW *p_convex); static bool solve_concave(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0); static bool solve_separation_ray(const Shape2DSW *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin = 0); diff --git a/servers/physics_2d/constraint_2d_sw.h b/servers/physics_2d/constraint_2d_sw.h index 5e8dfbe570..df300d666d 100644 --- a/servers/physics_2d/constraint_2d_sw.h +++ b/servers/physics_2d/constraint_2d_sw.h @@ -36,8 +36,8 @@ class Constraint2DSW { Body2DSW **_body_ptr; int _body_count; - uint64_t island_step; - bool disabled_collisions_between_bodies; + uint64_t island_step = 0; + bool disabled_collisions_between_bodies = true; RID self; @@ -45,8 +45,6 @@ protected: Constraint2DSW(Body2DSW **p_body_ptr = nullptr, int p_body_count = 0) { _body_ptr = p_body_ptr; _body_count = p_body_count; - island_step = 0; - disabled_collisions_between_bodies = true; } public: diff --git a/servers/physics_2d/joints_2d_sw.cpp b/servers/physics_2d/joints_2d_sw.cpp index 5a0a628fbc..b46397b8e6 100644 --- a/servers/physics_2d/joints_2d_sw.cpp +++ b/servers/physics_2d/joints_2d_sw.cpp @@ -64,17 +64,17 @@ void Joint2DSW::copy_settings_from(Joint2DSW *p_joint) { } static inline real_t k_scalar(Body2DSW *a, Body2DSW *b, const Vector2 &rA, const Vector2 &rB, const Vector2 &n) { - real_t value = 0; + real_t value = 0.0; { value += a->get_inv_mass(); - real_t rcn = rA.cross(n); + real_t rcn = (rA - a->get_center_of_mass()).cross(n); value += a->get_inv_inertia() * rcn * rcn; } if (b) { value += b->get_inv_mass(); - real_t rcn = rB.cross(n); + real_t rcn = (rB - b->get_center_of_mass()).cross(n); value += b->get_inv_inertia() * rcn * rcn; } @@ -83,9 +83,9 @@ static inline real_t k_scalar(Body2DSW *a, Body2DSW *b, const Vector2 &rA, const static inline Vector2 relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB) { - Vector2 sum = a->get_linear_velocity() - rA.orthogonal() * a->get_angular_velocity(); + Vector2 sum = a->get_linear_velocity() - (rA - a->get_center_of_mass()).orthogonal() * a->get_angular_velocity(); if (b) { - return (b->get_linear_velocity() - rB.orthogonal() * b->get_angular_velocity()) - sum; + return (b->get_linear_velocity() - (rB - b->get_center_of_mass()).orthogonal() * b->get_angular_velocity()) - sum; } else { return -sum; } @@ -172,11 +172,11 @@ bool PinJoint2DSW::pre_solve(real_t p_step) { void PinJoint2DSW::solve(real_t p_step) { // compute relative velocity - Vector2 vA = A->get_linear_velocity() - custom_cross(rA, A->get_angular_velocity()); + Vector2 vA = A->get_linear_velocity() - custom_cross(rA - A->get_center_of_mass(), A->get_angular_velocity()); Vector2 rel_vel; if (B) { - rel_vel = B->get_linear_velocity() - custom_cross(rB, B->get_angular_velocity()) - vA; + rel_vel = B->get_linear_velocity() - custom_cross(rB - B->get_center_of_mass(), B->get_angular_velocity()) - vA; } else { rel_vel = -vA; } @@ -213,8 +213,6 @@ PinJoint2DSW::PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p anchor_A = p_body_a->get_inv_transform().xform(p_pos); anchor_B = p_body_b ? p_body_b->get_inv_transform().xform(p_pos) : p_pos; - softness = 0; - p_body_a->add_constraint(this, 0); if (p_body_b) { p_body_b->add_constraint(this, 1); @@ -238,6 +236,9 @@ k_tensor(Body2DSW *a, Body2DSW *b, Vector2 r1, Vector2 r2, Vector2 *k1, Vector2 k21 = 0.0f; k22 = m_sum; + r1 -= a->get_center_of_mass(); + r2 -= b->get_center_of_mass(); + // add the influence from r1 real_t a_i_inv = a->get_inv_inertia(); real_t r1xsq = r1.x * r1.x * a_i_inv; @@ -479,8 +480,6 @@ DampedSpringJoint2DSW::DampedSpringJoint2DSW(const Vector2 &p_anchor_a, const Ve anchor_B = B->get_inv_transform().xform(p_anchor_b); rest_length = p_anchor_a.distance_to(p_anchor_b); - stiffness = 20; - damping = 1.5; A->add_constraint(this, 0); B->add_constraint(this, 1); diff --git a/servers/physics_2d/joints_2d_sw.h b/servers/physics_2d/joints_2d_sw.h index ccc5c585a0..e2a7c0c91e 100644 --- a/servers/physics_2d/joints_2d_sw.h +++ b/servers/physics_2d/joints_2d_sw.h @@ -35,9 +35,9 @@ #include "constraint_2d_sw.h" class Joint2DSW : public Constraint2DSW { - real_t max_force; - real_t bias; - real_t max_bias; + real_t bias = 0; + real_t max_bias = 3.40282e+38; + real_t max_force = 3.40282e+38; protected: bool dynamic_A = false; @@ -61,10 +61,7 @@ public: virtual PhysicsServer2D::JointType get_type() const { return PhysicsServer2D::JOINT_TYPE_MAX; } Joint2DSW(Body2DSW **p_body_ptr = nullptr, int p_body_count = 0) : - Constraint2DSW(p_body_ptr, p_body_count) { - bias = 0; - max_force = max_bias = 3.40282e+38; - }; + Constraint2DSW(p_body_ptr, p_body_count) {} virtual ~Joint2DSW() { for (int i = 0; i < get_body_count(); i++) { @@ -83,7 +80,7 @@ class PinJoint2DSW : public Joint2DSW { Body2DSW *B; }; - Body2DSW *_arr[2]; + Body2DSW *_arr[2] = { nullptr, nullptr }; }; Transform2D M; @@ -92,7 +89,7 @@ class PinJoint2DSW : public Joint2DSW { Vector2 anchor_B; Vector2 bias; Vector2 P; - real_t softness; + real_t softness = 0.0; public: virtual PhysicsServer2D::JointType get_type() const override { return PhysicsServer2D::JOINT_TYPE_PIN; } @@ -114,7 +111,7 @@ class GrooveJoint2DSW : public Joint2DSW { Body2DSW *B; }; - Body2DSW *_arr[2]; + Body2DSW *_arr[2] = { nullptr, nullptr }; }; Vector2 A_groove_1; @@ -123,13 +120,13 @@ class GrooveJoint2DSW : public Joint2DSW { Vector2 B_anchor; Vector2 jn_acc; Vector2 gbias; - real_t jn_max; - real_t clamp; + real_t jn_max = 0.0; + real_t clamp = 0.0; Vector2 xf_normal; Vector2 rA, rB; Vector2 k1, k2; - bool correct; + bool correct = false; public: virtual PhysicsServer2D::JointType get_type() const override { return PhysicsServer2D::JOINT_TYPE_GROOVE; } @@ -148,22 +145,22 @@ class DampedSpringJoint2DSW : public Joint2DSW { Body2DSW *B; }; - Body2DSW *_arr[2]; + Body2DSW *_arr[2] = { nullptr, nullptr }; }; Vector2 anchor_A; Vector2 anchor_B; - real_t rest_length; - real_t damping; - real_t stiffness; + real_t rest_length = 0.0; + real_t damping = 1.5; + real_t stiffness = 20.0; Vector2 rA, rB; Vector2 n; Vector2 j; - real_t n_mass; - real_t target_vrn; - real_t v_coef; + real_t n_mass = 0.0; + real_t target_vrn = 0.0; + real_t v_coef = 0.0; public: virtual PhysicsServer2D::JointType get_type() const override { return PhysicsServer2D::JOINT_TYPE_DAMPED_SPRING; } diff --git a/servers/physics_2d/physics_server_2d_sw.cpp b/servers/physics_2d/physics_server_2d_sw.cpp index 813e5ddc17..e052258a92 100644 --- a/servers/physics_2d/physics_server_2d_sw.cpp +++ b/servers/physics_2d/physics_server_2d_sw.cpp @@ -30,6 +30,7 @@ #include "physics_server_2d_sw.h" +#include "body_direct_state_2d_sw.h" #include "broad_phase_2d_bvh.h" #include "collision_solver_2d_sw.h" #include "core/config/project_settings.h" @@ -42,8 +43,8 @@ RID PhysicsServer2DSW::_shape_create(ShapeType p_shape) { Shape2DSW *shape = nullptr; switch (p_shape) { - case SHAPE_WORLD_MARGIN: { - shape = memnew(WorldMarginShape2DSW); + case SHAPE_WORLD_BOUNDARY: { + shape = memnew(WorldBoundaryShape2DSW); } break; case SHAPE_SEPARATION_RAY: { shape = memnew(SeparationRayShape2DSW); @@ -78,8 +79,8 @@ RID PhysicsServer2DSW::_shape_create(ShapeType p_shape) { return id; } -RID PhysicsServer2DSW::world_margin_shape_create() { - return _shape_create(SHAPE_WORLD_MARGIN); +RID PhysicsServer2DSW::world_boundary_shape_create() { + return _shape_create(SHAPE_WORLD_BOUNDARY); } RID PhysicsServer2DSW::separation_ray_shape_create() { @@ -742,20 +743,27 @@ uint32_t PhysicsServer2DSW::body_get_collision_mask(RID p_body) const { return body->get_collision_mask(); }; -void PhysicsServer2DSW::body_set_param(RID p_body, BodyParameter p_param, real_t p_value) { +void PhysicsServer2DSW::body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) { Body2DSW *body = body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_param(p_param, p_value); }; -real_t PhysicsServer2DSW::body_get_param(RID p_body, BodyParameter p_param) const { +Variant PhysicsServer2DSW::body_get_param(RID p_body, BodyParameter p_param) const { Body2DSW *body = body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0); return body->get_param(p_param); }; +void PhysicsServer2DSW::body_reset_mass_properties(RID p_body) { + Body2DSW *body = body_owner.getornull(p_body); + ERR_FAIL_COND(!body); + + return body->reset_mass_properties(); +} + void PhysicsServer2DSW::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) { Body2DSW *body = body_owner.getornull(p_body); ERR_FAIL_COND(!body); @@ -926,6 +934,12 @@ int PhysicsServer2DSW::body_get_max_contacts_reported(RID p_body) const { return body->get_max_contacts_reported(); } +void PhysicsServer2DSW::body_set_state_sync_callback(RID p_body, void *p_instance, BodyStateCallback p_callback) { + Body2DSW *body = body_owner.getornull(p_body); + ERR_FAIL_COND(!body); + body->set_state_sync_callback(p_instance, p_callback); +} + void PhysicsServer2DSW::body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata) { Body2DSW *body = body_owner.getornull(p_body); ERR_FAIL_COND(!body); @@ -960,17 +974,13 @@ bool PhysicsServer2DSW::body_test_motion(RID p_body, const Transform2D &p_from, PhysicsDirectBodyState2D *PhysicsServer2DSW::body_get_direct_state(RID p_body) { ERR_FAIL_COND_V_MSG((using_threads && !doing_sync), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification."); - if (!body_owner.owns(p_body)) { - return nullptr; - } - Body2DSW *body = body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, nullptr); + ERR_FAIL_COND_V(!body->get_space(), nullptr); ERR_FAIL_COND_V_MSG(body->get_space()->is_locked(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification."); - direct_state->body = body; - return direct_state; + return body->get_direct_state(); } /* JOINT API */ @@ -1234,10 +1244,8 @@ void PhysicsServer2DSW::set_collision_iterations(int p_iterations) { void PhysicsServer2DSW::init() { doing_sync = false; - last_step = 0.001; iterations = 8; // 8? stepper = memnew(Step2DSW); - direct_state = memnew(PhysicsDirectBodyState2DSW); }; void PhysicsServer2DSW::step(real_t p_step) { @@ -1247,8 +1255,6 @@ void PhysicsServer2DSW::step(real_t p_step) { _update_shapes(); - last_step = p_step; - PhysicsDirectBodyState2DSW::singleton->step = p_step; island_count = 0; active_objects = 0; collision_pairs = 0; @@ -1320,7 +1326,6 @@ void PhysicsServer2DSW::end_sync() { void PhysicsServer2DSW::finish() { memdelete(stepper); - memdelete(direct_state); }; void PhysicsServer2DSW::_update_shapes() { @@ -1352,10 +1357,5 @@ PhysicsServer2DSW::PhysicsServer2DSW(bool p_using_threads) { singletonsw = this; BroadPhase2DSW::create_func = BroadPhase2DBVH::_create; - active = true; - island_count = 0; - active_objects = 0; - collision_pairs = 0; using_threads = p_using_threads; - flushing_queries = false; }; diff --git a/servers/physics_2d/physics_server_2d_sw.h b/servers/physics_2d/physics_server_2d_sw.h index c5b6d550d7..1db4dd8343 100644 --- a/servers/physics_2d/physics_server_2d_sw.h +++ b/servers/physics_2d/physics_server_2d_sw.h @@ -43,24 +43,21 @@ class PhysicsServer2DSW : public PhysicsServer2D { friend class PhysicsDirectSpaceState2DSW; friend class PhysicsDirectBodyState2DSW; - bool active; - int iterations; - bool doing_sync; - real_t last_step; + bool active = true; + int iterations = 0; + bool doing_sync = false; - int island_count; - int active_objects; - int collision_pairs; + int island_count = 0; + int active_objects = 0; + int collision_pairs = 0; - bool using_threads; + bool using_threads = false; - bool flushing_queries; + bool flushing_queries = false; - Step2DSW *stepper; + Step2DSW *stepper = nullptr; Set<const Space2DSW *> active_spaces; - PhysicsDirectBodyState2DSW *direct_state; - mutable RID_PtrOwner<Shape2DSW, true> shape_owner; mutable RID_PtrOwner<Space2DSW, true> space_owner; mutable RID_PtrOwner<Area2DSW, true> area_owner; @@ -79,15 +76,15 @@ class PhysicsServer2DSW : public PhysicsServer2D { public: struct CollCbkData { Vector2 valid_dir; - real_t valid_depth; - int max; - int amount; - int passed; - int invalid_by_dir; - Vector2 *ptr; + real_t valid_depth = 0.0; + int max = 0; + int amount = 0; + int passed = 0; + int invalid_by_dir = 0; + Vector2 *ptr = nullptr; }; - virtual RID world_margin_shape_create() override; + virtual RID world_boundary_shape_create() override; virtual RID separation_ray_shape_create() override; virtual RID segment_shape_create() override; virtual RID circle_shape_create() override; @@ -208,8 +205,10 @@ public: virtual void body_set_collision_mask(RID p_body, uint32_t p_mask) override; virtual uint32_t body_get_collision_mask(RID p_body) const override; - virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value) override; - virtual real_t body_get_param(RID p_body, BodyParameter p_param) const override; + virtual void body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) override; + virtual Variant body_get_param(RID p_body, BodyParameter p_param) const override; + + virtual void body_reset_mass_properties(RID p_body) override; 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; @@ -242,7 +241,9 @@ public: virtual void body_set_max_contacts_reported(RID p_body, int p_contacts) override; virtual int body_get_max_contacts_reported(RID p_body) const override; + virtual void body_set_state_sync_callback(RID p_body, void *p_instance, BodyStateCallback p_callback) override; virtual void body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata = Variant()) override; + virtual bool body_collide_shape(RID p_body, int p_body_shape, RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, Vector2 *r_results, int p_result_max, int &r_result_count) override; virtual void body_set_pickable(RID p_body, bool p_pickable) override; diff --git a/servers/physics_2d/physics_server_2d_wrap_mt.cpp b/servers/physics_2d/physics_server_2d_wrap_mt.cpp index 930b19c2cb..33070bf42d 100644 --- a/servers/physics_2d/physics_server_2d_wrap_mt.cpp +++ b/servers/physics_2d/physics_server_2d_wrap_mt.cpp @@ -119,7 +119,6 @@ PhysicsServer2DWrapMT::PhysicsServer2DWrapMT(PhysicsServer2D *p_contained, bool command_queue(p_create_thread) { physics_2d_server = p_contained; create_thread = p_create_thread; - step_pending = 0; pool_max_size = GLOBAL_GET("memory/limits/multithreaded_server/rid_pool_prealloc"); @@ -130,7 +129,6 @@ PhysicsServer2DWrapMT::PhysicsServer2DWrapMT(PhysicsServer2D *p_contained, bool } main_thread = Thread::get_caller_id(); - first_frame = true; } PhysicsServer2DWrapMT::~PhysicsServer2DWrapMT() { diff --git a/servers/physics_2d/physics_server_2d_wrap_mt.h b/servers/physics_2d/physics_server_2d_wrap_mt.h index 05d4ac64b0..f8733863aa 100644 --- a/servers/physics_2d/physics_server_2d_wrap_mt.h +++ b/servers/physics_2d/physics_server_2d_wrap_mt.h @@ -56,19 +56,19 @@ class PhysicsServer2DWrapMT : public PhysicsServer2D { SafeFlag exit; Thread thread; SafeFlag step_thread_up; - bool create_thread; + bool create_thread = false; Semaphore step_sem; - int step_pending; + int step_pending = 0; void thread_step(real_t p_delta); void thread_flush(); void thread_exit(); - bool first_frame; + bool first_frame = true; Mutex alloc_mutex; - int pool_max_size; + int pool_max_size = 0; public: #define ServerName PhysicsServer2D @@ -79,7 +79,7 @@ public: #include "servers/server_wrap_mt_common.h" //FUNC1RID(shape,ShapeType); todo fix - FUNCRID(world_margin_shape) + FUNCRID(world_boundary_shape) FUNCRID(separation_ray_shape) FUNCRID(segment_shape) FUNCRID(circle_shape) @@ -212,8 +212,10 @@ public: FUNC2(body_set_collision_mask, RID, uint32_t); FUNC1RC(uint32_t, body_get_collision_mask, RID); - FUNC3(body_set_param, RID, BodyParameter, real_t); - FUNC2RC(real_t, body_get_param, RID, BodyParameter); + FUNC3(body_set_param, RID, BodyParameter, const Variant &); + FUNC2RC(Variant, body_get_param, RID, BodyParameter); + + FUNC1(body_reset_mass_properties, RID); FUNC3(body_set_state, RID, BodyState, const Variant &); FUNC2RC(Variant, body_get_state, RID, BodyState); @@ -245,6 +247,7 @@ public: FUNC2(body_set_omit_force_integration, RID, bool); FUNC1RC(bool, body_is_omitting_force_integration, RID); + FUNC3(body_set_state_sync_callback, RID, void *, BodyStateCallback); FUNC3(body_set_force_integration_callback, RID, const Callable &, const Variant &); bool body_collide_shape(RID p_body, int p_body_shape, RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, Vector2 *r_results, int p_result_max, int &r_result_count) override { diff --git a/servers/physics_2d/shape_2d_sw.cpp b/servers/physics_2d/shape_2d_sw.cpp index 064c4afe52..b5953bfdaf 100644 --- a/servers/physics_2d/shape_2d_sw.cpp +++ b/servers/physics_2d/shape_2d_sw.cpp @@ -75,11 +75,6 @@ const Map<ShapeOwner2DSW *, int> &Shape2DSW::get_owners() const { return owners; } -Shape2DSW::Shape2DSW() { - custom_bias = 0; - configured = false; -} - Shape2DSW::~Shape2DSW() { ERR_FAIL_COND(owners.size()); } @@ -88,15 +83,15 @@ Shape2DSW::~Shape2DSW() { /*********************************************************/ /*********************************************************/ -void WorldMarginShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { +void WorldBoundaryShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { r_amount = 0; } -bool WorldMarginShape2DSW::contains_point(const Vector2 &p_point) const { +bool WorldBoundaryShape2DSW::contains_point(const Vector2 &p_point) const { return normal.dot(p_point) < d; } -bool WorldMarginShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { +bool WorldBoundaryShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { Vector2 segment = p_begin - p_end; real_t den = normal.dot(segment); @@ -118,11 +113,11 @@ bool WorldMarginShape2DSW::intersect_segment(const Vector2 &p_begin, const Vecto return true; } -real_t WorldMarginShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { +real_t WorldBoundaryShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { return 0; } -void WorldMarginShape2DSW::set_data(const Variant &p_data) { +void WorldBoundaryShape2DSW::set_data(const Variant &p_data) { ERR_FAIL_COND(p_data.get_type() != Variant::ARRAY); Array arr = p_data; ERR_FAIL_COND(arr.size() != 2); @@ -131,7 +126,7 @@ void WorldMarginShape2DSW::set_data(const Variant &p_data) { configure(Rect2(Vector2(-1e4, -1e4), Vector2(1e4 * 2, 1e4 * 2))); } -Variant WorldMarginShape2DSW::get_data() const { +Variant WorldBoundaryShape2DSW::get_data() const { Array arr; arr.resize(2); arr[0] = normal; @@ -652,11 +647,6 @@ Variant ConvexPolygonShape2DSW::get_data() const { return dvr; } -ConvexPolygonShape2DSW::ConvexPolygonShape2DSW() { - points = nullptr; - point_count = 0; -} - ConvexPolygonShape2DSW::~ConvexPolygonShape2DSW() { if (points) { memdelete_arr(points); diff --git a/servers/physics_2d/shape_2d_sw.h b/servers/physics_2d/shape_2d_sw.h index 1185d343ee..c118826284 100644 --- a/servers/physics_2d/shape_2d_sw.h +++ b/servers/physics_2d/shape_2d_sw.h @@ -47,8 +47,8 @@ public: class Shape2DSW { RID self; Rect2 aabb; - bool configured; - real_t custom_bias; + bool configured = false; + real_t custom_bias = 0.0; Map<ShapeOwner2DSW *, int> owners; @@ -121,8 +121,7 @@ public: } } } - - Shape2DSW(); + Shape2DSW() {} virtual ~Shape2DSW(); }; @@ -142,15 +141,15 @@ public: r_max = MAX(maxa, maxb); \ } -class WorldMarginShape2DSW : public Shape2DSW { +class WorldBoundaryShape2DSW : public Shape2DSW { Vector2 normal; - real_t d; + real_t d = 0.0; public: _FORCE_INLINE_ Vector2 get_normal() const { return normal; } _FORCE_INLINE_ real_t get_d() const { return d; } - virtual PhysicsServer2D::ShapeType get_type() const override { return PhysicsServer2D::SHAPE_WORLD_MARGIN; } + virtual PhysicsServer2D::ShapeType get_type() const override { return PhysicsServer2D::SHAPE_WORLD_BOUNDARY; } virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override { project_range(p_normal, p_transform, r_min, r_max); } virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const override; @@ -180,8 +179,8 @@ public: }; class SeparationRayShape2DSW : public Shape2DSW { - real_t length; - bool slide_on_slope; + real_t length = 0.0; + bool slide_on_slope = false; public: _FORCE_INLINE_ real_t get_length() const { return length; } @@ -366,8 +365,8 @@ public: }; class CapsuleShape2DSW : public Shape2DSW { - real_t radius; - real_t height; + real_t radius = 0.0; + real_t height = 0.0; public: _FORCE_INLINE_ const real_t &get_radius() const { return radius; } @@ -412,8 +411,8 @@ class ConvexPolygonShape2DSW : public Shape2DSW { Vector2 normal; //normal to next segment }; - Point *points; - int point_count; + Point *points = nullptr; + int point_count = 0; public: _FORCE_INLINE_ int get_point_count() const { return point_count; } @@ -458,7 +457,7 @@ public: DEFAULT_PROJECT_RANGE_CAST - ConvexPolygonShape2DSW(); + ConvexPolygonShape2DSW() {} ~ConvexPolygonShape2DSW(); }; @@ -474,7 +473,7 @@ public: class ConcavePolygonShape2DSW : public ConcaveShape2DSW { struct Segment { - int points[2]; + int points[2] = {}; }; Vector<Segment> segments; @@ -482,11 +481,11 @@ class ConcavePolygonShape2DSW : public ConcaveShape2DSW { struct BVH { Rect2 aabb; - int left, right; + int left = 0, right = 0; }; Vector<BVH> bvh; - int bvh_depth; + int bvh_depth = 0; struct BVH_CompareX { _FORCE_INLINE_ bool operator()(const BVH &a, const BVH &b) const { diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp index c0493749e0..b9b26eb21d 100644 --- a/servers/physics_2d/space_2d_sw.cpp +++ b/servers/physics_2d/space_2d_sw.cpp @@ -383,18 +383,18 @@ bool PhysicsDirectSpaceState2DSW::collide_shape(RID p_shape, const Transform2D & } struct _RestCallbackData2D { - const CollisionObject2DSW *object; - const CollisionObject2DSW *best_object; - int local_shape; - int best_local_shape; - int shape; - int best_shape; + const CollisionObject2DSW *object = nullptr; + const CollisionObject2DSW *best_object = nullptr; + int local_shape = 0; + int best_local_shape = 0; + int shape = 0; + int best_shape = 0; Vector2 best_contact; Vector2 best_normal; - real_t best_len; + real_t best_len = 0.0; Vector2 valid_dir; - real_t valid_depth; - real_t min_allowed_depth; + real_t valid_depth = 0.0; + real_t min_allowed_depth = 0.0; }; static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata) { @@ -482,7 +482,7 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh r_info->metadata = rcd.best_object->get_shape_metadata(rcd.best_shape); if (rcd.best_object->get_type() == CollisionObject2DSW::TYPE_BODY) { const Body2DSW *body = static_cast<const Body2DSW *>(rcd.best_object); - Vector2 rel_vec = r_info->point - body->get_transform().get_origin(); + Vector2 rel_vec = r_info->point - (body->get_transform().get_origin() + body->get_center_of_mass()); r_info->linear_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity(); } else { @@ -492,10 +492,6 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh return true; } -PhysicsDirectSpaceState2DSW::PhysicsDirectSpaceState2DSW() { - space = nullptr; -} - //////////////////////////////////////////////////////////////////////////////////////////////////////////// int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) { @@ -634,7 +630,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co //fix for moving platforms (kinematic and dynamic), margin is increased by how much it moved in the given direction Vector2 lv = b->get_linear_velocity(); //compute displacement from linear velocity - Vector2 motion = lv * PhysicsDirectBodyState2DSW::singleton->step; + Vector2 motion = lv * last_step; real_t motion_len = motion.length(); motion.normalize(); cbk.valid_depth += motion_len * MAX(motion.dot(-cbk.valid_dir), 0.0); @@ -926,7 +922,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co //fix for moving platforms (kinematic and dynamic), margin is increased by how much it moved in the given direction Vector2 lv = b->get_linear_velocity(); //compute displacement from linear velocity - Vector2 motion = lv * PhysicsDirectBodyState2DSW::singleton->step; + Vector2 motion = lv * last_step; real_t motion_len = motion.length(); motion.normalize(); rcd.valid_depth += motion_len * MAX(motion.dot(-rcd.valid_dir), 0.0); @@ -961,7 +957,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape); const Body2DSW *body = static_cast<const Body2DSW *>(rcd.best_object); - Vector2 rel_vec = r_result->collision_point - body->get_transform().get_origin(); + Vector2 rel_vec = r_result->collision_point - (body->get_transform().get_origin() + body->get_center_of_mass()); r_result->collider_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity(); r_result->travel = safe * p_motion; @@ -1041,12 +1037,12 @@ void Space2DSW::body_remove_from_active_list(SelfList<Body2DSW> *p_body) { active_list.remove(p_body); } -void Space2DSW::body_add_to_inertia_update_list(SelfList<Body2DSW> *p_body) { - inertia_update_list.add(p_body); +void Space2DSW::body_add_to_mass_properties_update_list(SelfList<Body2DSW> *p_body) { + mass_properties_update_list.add(p_body); } -void Space2DSW::body_remove_from_inertia_update_list(SelfList<Body2DSW> *p_body) { - inertia_update_list.remove(p_body); +void Space2DSW::body_remove_from_mass_properties_update_list(SelfList<Body2DSW> *p_body) { + mass_properties_update_list.remove(p_body); } BroadPhase2DSW *Space2DSW::get_broadphase() { @@ -1112,9 +1108,9 @@ void Space2DSW::call_queries() { void Space2DSW::setup() { contact_debug_count = 0; - while (inertia_update_list.first()) { - inertia_update_list.first()->self()->update_inertias(); - inertia_update_list.remove(inertia_update_list.first()); + while (mass_properties_update_list.first()) { + mass_properties_update_list.first()->self()->update_mass_properties(); + mass_properties_update_list.remove(mass_properties_update_list.first()); } } @@ -1190,19 +1186,6 @@ PhysicsDirectSpaceState2DSW *Space2DSW::get_direct_state() { } Space2DSW::Space2DSW() { - collision_pairs = 0; - active_objects = 0; - island_count = 0; - - contact_debug_count = 0; - - locked = false; - contact_recycle_radius = 1.0; - contact_max_separation = 1.5; - contact_max_allowed_penetration = 0.3; - test_motion_min_contact_depth = 0.005; - - constraint_bias = 0.2; body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_linear", 2.0); body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_angular", Math::deg2rad(8.0)); body_time_to_sleep = GLOBAL_DEF("physics/2d/time_before_sleep", 0.5); @@ -1211,14 +1194,9 @@ Space2DSW::Space2DSW() { broadphase = BroadPhase2DSW::create_func(); broadphase->set_pair_callback(_broadphase_pair, this); broadphase->set_unpair_callback(_broadphase_unpair, this); - area = nullptr; direct_access = memnew(PhysicsDirectSpaceState2DSW); direct_access->space = this; - - for (int i = 0; i < ELAPSED_TIME_MAX; i++) { - elapsed_time[i] = 0; - } } Space2DSW::~Space2DSW() { diff --git a/servers/physics_2d/space_2d_sw.h b/servers/physics_2d/space_2d_sw.h index 392df9b025..30c6b4cf55 100644 --- a/servers/physics_2d/space_2d_sw.h +++ b/servers/physics_2d/space_2d_sw.h @@ -47,17 +47,17 @@ class PhysicsDirectSpaceState2DSW : public PhysicsDirectSpaceState2D { int _intersect_point_impl(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point, bool p_filter_by_canvas = false, ObjectID p_canvas_instance_id = ObjectID()); public: - Space2DSW *space; + Space2DSW *space = nullptr; - virtual int intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_point = false) override; - virtual int intersect_point_on_canvas(const Vector2 &p_point, ObjectID p_canvas_instance_id, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_point = false) override; - virtual bool intersect_ray(const Vector2 &p_from, const Vector2 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - virtual int intersect_shape(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - virtual bool cast_motion(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - virtual bool collide_shape(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - virtual bool rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual int intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_point = false) override; + virtual int intersect_point_on_canvas(const Vector2 &p_point, ObjectID p_canvas_instance_id, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_point = false) override; + virtual bool intersect_ray(const Vector2 &p_from, const Vector2 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual int intersect_shape(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool cast_motion(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool collide_shape(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - PhysicsDirectSpaceState2DSW(); + PhysicsDirectSpaceState2DSW() {} }; class Space2DSW { @@ -74,19 +74,19 @@ public: private: struct ExcludedShapeSW { - Shape2DSW *local_shape; - const CollisionObject2DSW *against_object; - int against_shape_index; + Shape2DSW *local_shape = nullptr; + const CollisionObject2DSW *against_object = nullptr; + int against_shape_index = 0; }; - uint64_t elapsed_time[ELAPSED_TIME_MAX]; + uint64_t elapsed_time[ELAPSED_TIME_MAX] = {}; - PhysicsDirectSpaceState2DSW *direct_access; + PhysicsDirectSpaceState2DSW *direct_access = nullptr; RID self; BroadPhase2DSW *broadphase; SelfList<Body2DSW>::List active_list; - SelfList<Body2DSW>::List inertia_update_list; + SelfList<Body2DSW>::List mass_properties_update_list; SelfList<Body2DSW>::List state_query_list; SelfList<Area2DSW>::List monitor_query_list; SelfList<Area2DSW>::List area_moved_list; @@ -96,13 +96,13 @@ private: Set<CollisionObject2DSW *> objects; - Area2DSW *area; + Area2DSW *area = nullptr; - real_t contact_recycle_radius; - real_t contact_max_separation; - real_t contact_max_allowed_penetration; - real_t constraint_bias; - real_t test_motion_min_contact_depth; + real_t contact_recycle_radius = 1.0; + real_t contact_max_separation = 1.5; + real_t contact_max_allowed_penetration = 0.3; + real_t constraint_bias = 0.2; + real_t test_motion_min_contact_depth = 0.005; enum { INTERSECTION_QUERY_MAX = 2048 @@ -111,20 +111,22 @@ private: CollisionObject2DSW *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_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; + bool locked = false; - int island_count; - int active_objects; - int collision_pairs; + real_t last_step = 0.001; + + int island_count = 0; + int active_objects = 0; + int collision_pairs = 0; int _cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb); Vector<Vector2> contact_debug; - int contact_debug_count; + int contact_debug_count = 0; friend class PhysicsDirectSpaceState2DSW; @@ -138,8 +140,8 @@ public: const SelfList<Body2DSW>::List &get_active_body_list() const; void body_add_to_active_list(SelfList<Body2DSW> *p_body); void body_remove_from_active_list(SelfList<Body2DSW> *p_body); - void body_add_to_inertia_update_list(SelfList<Body2DSW> *p_body); - void body_remove_from_inertia_update_list(SelfList<Body2DSW> *p_body); + void body_add_to_mass_properties_update_list(SelfList<Body2DSW> *p_body); + void body_remove_from_mass_properties_update_list(SelfList<Body2DSW> *p_body); void area_add_to_moved_list(SelfList<Area2DSW> *p_area); void area_remove_from_moved_list(SelfList<Area2DSW> *p_area); const SelfList<Area2DSW>::List &get_moved_area_list() const; @@ -172,6 +174,9 @@ public: void lock(); void unlock(); + real_t get_last_step() const { return last_step; } + void set_last_step(real_t p_step) { last_step = p_step; } + void set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_value); real_t get_param(PhysicsServer2D::SpaceParameter p_param) const; diff --git a/servers/physics_2d/step_2d_sw.cpp b/servers/physics_2d/step_2d_sw.cpp index 8b30160cc1..a03e30f850 100644 --- a/servers/physics_2d/step_2d_sw.cpp +++ b/servers/physics_2d/step_2d_sw.cpp @@ -129,6 +129,8 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) { p_space->setup(); //update inertias, etc + p_space->set_last_step(p_delta); + iterations = p_iterations; delta = p_delta; @@ -294,8 +296,6 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) { } Step2DSW::Step2DSW() { - _step = 1; - body_islands.reserve(BODY_ISLAND_COUNT_RESERVE); constraint_islands.reserve(ISLAND_COUNT_RESERVE); all_constraints.reserve(CONSTRAINT_COUNT_RESERVE); diff --git a/servers/physics_2d/step_2d_sw.h b/servers/physics_2d/step_2d_sw.h index c51fd73a79..de8e76cc99 100644 --- a/servers/physics_2d/step_2d_sw.h +++ b/servers/physics_2d/step_2d_sw.h @@ -37,7 +37,7 @@ #include "core/templates/thread_work_pool.h" class Step2DSW { - uint64_t _step; + uint64_t _step = 1; int iterations = 0; real_t delta = 0.0; diff --git a/servers/physics_3d/area_3d_sw.cpp b/servers/physics_3d/area_3d_sw.cpp index c9e8bcb8ca..630ab7e229 100644 --- a/servers/physics_3d/area_3d_sw.cpp +++ b/servers/physics_3d/area_3d_sw.cpp @@ -329,17 +329,7 @@ Area3DSW::Area3DSW() : monitor_query_list(this), moved_list(this) { _set_static(true); //areas are never active - space_override_mode = PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED; - gravity = 9.80665; - gravity_vector = Vector3(0, -1, 0); - gravity_is_point = false; - gravity_distance_scale = 0; - point_attenuation = 1; - angular_damp = 0.1; - linear_damp = 0.1; - priority = 0; set_ray_pickable(false); - monitorable = false; } Area3DSW::~Area3DSW() { diff --git a/servers/physics_3d/area_3d_sw.h b/servers/physics_3d/area_3d_sw.h index d5f1e60119..af5c23949c 100644 --- a/servers/physics_3d/area_3d_sw.h +++ b/servers/physics_3d/area_3d_sw.h @@ -41,20 +41,20 @@ class SoftBody3DSW; class Constraint3DSW; class Area3DSW : public CollisionObject3DSW { - PhysicsServer3D::AreaSpaceOverrideMode space_override_mode; - real_t gravity; - Vector3 gravity_vector; - bool gravity_is_point; - real_t gravity_distance_scale; - real_t point_attenuation; - real_t linear_damp; - real_t angular_damp; + PhysicsServer3D::AreaSpaceOverrideMode space_override_mode = PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED; + real_t gravity = 9.80665; + Vector3 gravity_vector = Vector3(0, -1, 0); + bool gravity_is_point = false; + real_t gravity_distance_scale = 0.0; + real_t point_attenuation = 1.0; + real_t linear_damp = 0.1; + real_t angular_damp = 0.1; real_t wind_force_magnitude = 0.0; real_t wind_attenuation_factor = 0.0; Vector3 wind_source; Vector3 wind_direction; - int priority; - bool monitorable; + int priority = 0; + bool monitorable = false; ObjectID monitor_callback_id; StringName monitor_callback_method; @@ -68,8 +68,8 @@ class Area3DSW : public CollisionObject3DSW { struct BodyKey { RID rid; ObjectID instance_id; - uint32_t body_shape; - uint32_t area_shape; + uint32_t body_shape = 0; + uint32_t area_shape = 0; _FORCE_INLINE_ bool operator<(const BodyKey &p_key) const { if (rid == p_key.rid) { @@ -90,10 +90,9 @@ class Area3DSW : public CollisionObject3DSW { }; struct BodyState { - int state; + int state = 0; _FORCE_INLINE_ void inc() { state++; } _FORCE_INLINE_ void dec() { state--; } - _FORCE_INLINE_ BodyState() { state = 0; } }; Map<BodyKey, BodyState> monitored_soft_bodies; @@ -232,8 +231,8 @@ void Area3DSW::remove_area_from_query(Area3DSW *p_area, uint32_t p_area_shape, u } struct AreaCMP { - Area3DSW *area; - int refCount; + Area3DSW *area = nullptr; + int refCount = 0; _FORCE_INLINE_ bool operator==(const AreaCMP &p_cmp) const { return area->get_self() == p_cmp.area->get_self(); } _FORCE_INLINE_ bool operator<(const AreaCMP &p_cmp) const { return area->get_priority() < p_cmp.area->get_priority(); } _FORCE_INLINE_ AreaCMP() {} diff --git a/servers/physics_3d/body_3d_sw.cpp b/servers/physics_3d/body_3d_sw.cpp index 397a38079b..41745545d8 100644 --- a/servers/physics_3d/body_3d_sw.cpp +++ b/servers/physics_3d/body_3d_sw.cpp @@ -29,12 +29,14 @@ /*************************************************************************/ #include "body_3d_sw.h" + #include "area_3d_sw.h" +#include "body_direct_state_3d_sw.h" #include "space_3d_sw.h" -void Body3DSW::_update_inertia() { - if (get_space() && !inertia_update_list.in_list()) { - get_space()->body_add_to_inertia_update_list(&inertia_update_list); +void Body3DSW::_mass_properties_changed() { + if (get_space() && !mass_properties_update_list.in_list() && (calculate_inertia || calculate_center_of_mass)) { + get_space()->body_add_to_mass_properties_update_list(&mass_properties_update_list); } } @@ -42,7 +44,7 @@ void Body3DSW::_update_transform_dependant() { center_of_mass = get_transform().basis.xform(center_of_mass_local); principal_inertia_axes = get_transform().basis * principal_inertia_axes_local; - // update inertia tensor + // Update inertia tensor. Basis tb = principal_inertia_axes; Basis tbt = tb.transposed(); Basis diag; @@ -50,74 +52,95 @@ void Body3DSW::_update_transform_dependant() { _inv_inertia_tensor = tb * diag * tbt; } -void Body3DSW::update_inertias() { +void Body3DSW::update_mass_properties() { // Update shapes and motions. switch (mode) { case PhysicsServer3D::BODY_MODE_DYNAMIC: { - // Update tensor for all shapes, not the best way but should be somehow OK. (inspired from bullet) real_t total_area = 0; - for (int i = 0; i < get_shape_count(); i++) { + if (is_shape_disabled(i)) { + continue; + } + total_area += get_shape_area(i); } - // We have to recompute the center of mass. - center_of_mass_local.zero(); + if (calculate_center_of_mass) { + // We have to recompute the center of mass. + center_of_mass_local.zero(); - if (total_area != 0.0) { - for (int i = 0; i < get_shape_count(); i++) { - real_t area = get_shape_area(i); + if (total_area != 0.0) { + for (int i = 0; i < get_shape_count(); i++) { + if (is_shape_disabled(i)) { + continue; + } - real_t mass = area * this->mass / total_area; + real_t area = get_shape_area(i); - // NOTE: we assume that the shape origin is also its center of mass. - center_of_mass_local += mass * get_shape_transform(i).origin; - } + real_t mass = area * this->mass / total_area; - center_of_mass_local /= mass; + // NOTE: we assume that the shape origin is also its center of mass. + center_of_mass_local += mass * get_shape_transform(i).origin; + } + + center_of_mass_local /= mass; + } } - // Recompute the inertia tensor. - Basis inertia_tensor; - inertia_tensor.set_zero(); - bool inertia_set = false; + if (calculate_inertia) { + // Recompute the inertia tensor. + Basis inertia_tensor; + inertia_tensor.set_zero(); + bool inertia_set = false; - for (int i = 0; i < get_shape_count(); i++) { - if (is_shape_disabled(i)) { - continue; - } + for (int i = 0; i < get_shape_count(); i++) { + if (is_shape_disabled(i)) { + continue; + } - real_t area = get_shape_area(i); - if (area == 0.0) { - continue; - } + real_t area = get_shape_area(i); + if (area == 0.0) { + continue; + } - inertia_set = true; + inertia_set = true; - const Shape3DSW *shape = get_shape(i); + const Shape3DSW *shape = get_shape(i); - real_t mass = area * this->mass / total_area; + real_t mass = area * this->mass / total_area; - Basis shape_inertia_tensor = shape->get_moment_of_inertia(mass).to_diagonal_matrix(); - Transform3D shape_transform = get_shape_transform(i); - Basis shape_basis = shape_transform.basis.orthonormalized(); + Basis shape_inertia_tensor = shape->get_moment_of_inertia(mass).to_diagonal_matrix(); + Transform3D shape_transform = get_shape_transform(i); + Basis shape_basis = shape_transform.basis.orthonormalized(); - // NOTE: we don't take the scale of collision shapes into account when computing the inertia tensor! - shape_inertia_tensor = shape_basis * shape_inertia_tensor * shape_basis.transposed(); + // NOTE: we don't take the scale of collision shapes into account when computing the inertia tensor! + shape_inertia_tensor = shape_basis * shape_inertia_tensor * shape_basis.transposed(); - Vector3 shape_origin = shape_transform.origin - center_of_mass_local; - inertia_tensor += shape_inertia_tensor + (Basis() * shape_origin.dot(shape_origin) - shape_origin.outer(shape_origin)) * mass; - } + Vector3 shape_origin = shape_transform.origin - center_of_mass_local; + inertia_tensor += shape_inertia_tensor + (Basis() * shape_origin.dot(shape_origin) - shape_origin.outer(shape_origin)) * mass; + } - // Set the inertia to a valid value when there are no valid shapes. - if (!inertia_set) { - inertia_tensor.set_diagonal(Vector3(1.0, 1.0, 1.0)); - } + // Set the inertia to a valid value when there are no valid shapes. + if (!inertia_set) { + inertia_tensor.set_diagonal(Vector3(1.0, 1.0, 1.0)); + } - // Compute the principal axes of inertia. - principal_inertia_axes_local = inertia_tensor.diagonalize().transposed(); - _inv_inertia = inertia_tensor.get_main_diagonal().inverse(); + // Handle partial custom inertia. + if (inertia.x > 0.0) { + inertia_tensor[0][0] = inertia.x; + } + if (inertia.y > 0.0) { + inertia_tensor[1][1] = inertia.y; + } + if (inertia.z > 0.0) { + inertia_tensor[2][2] = inertia.z; + } + + // Compute the principal axes of inertia. + principal_inertia_axes_local = inertia_tensor.diagonalize().transposed(); + _inv_inertia = inertia_tensor.get_main_diagonal().inverse(); + } if (mass) { _inv_mass = 1.0 / mass; @@ -126,10 +149,9 @@ void Body3DSW::update_inertias() { } } break; - case PhysicsServer3D::BODY_MODE_KINEMATIC: case PhysicsServer3D::BODY_MODE_STATIC: { - _inv_inertia_tensor.set_zero(); + _inv_inertia = Vector3(); _inv_mass = 0; } break; case PhysicsServer3D::BODY_MODE_DYNAMIC_LOCKED: { @@ -139,11 +161,15 @@ void Body3DSW::update_inertias() { } break; } - //_update_shapes(); - _update_transform_dependant(); } +void Body3DSW::reset_mass_properties() { + calculate_inertia = true; + calculate_center_of_mass = true; + _mass_properties_changed(); +} + void Body3DSW::set_active(bool p_active) { if (active == p_active) { return; @@ -163,7 +189,7 @@ void Body3DSW::set_active(bool p_active) { } } -void Body3DSW::set_param(PhysicsServer3D::BodyParameter p_param, real_t p_value) { +void Body3DSW::set_param(PhysicsServer3D::BodyParameter p_param, const Variant &p_value) { switch (p_param) { case PhysicsServer3D::BODY_PARAM_BOUNCE: { bounce = p_value; @@ -172,10 +198,33 @@ void Body3DSW::set_param(PhysicsServer3D::BodyParameter p_param, real_t p_value) friction = p_value; } break; case PhysicsServer3D::BODY_PARAM_MASS: { - ERR_FAIL_COND(p_value <= 0); - mass = p_value; - _update_inertia(); - + real_t mass_value = p_value; + ERR_FAIL_COND(mass_value <= 0); + mass = mass_value; + if (mode >= PhysicsServer3D::BODY_MODE_DYNAMIC) { + _mass_properties_changed(); + } + } break; + case PhysicsServer3D::BODY_PARAM_INERTIA: { + inertia = p_value; + if ((inertia.x <= 0.0) || (inertia.y <= 0.0) || (inertia.z <= 0.0)) { + calculate_inertia = true; + if (mode == PhysicsServer3D::BODY_MODE_DYNAMIC) { + _mass_properties_changed(); + } + } else { + calculate_inertia = false; + if (mode == PhysicsServer3D::BODY_MODE_DYNAMIC) { + principal_inertia_axes_local.set_diagonal(Vector3(1.0, 1.0, 1.0)); + _inv_inertia = inertia.inverse(); + _update_transform_dependant(); + } + } + } break; + case PhysicsServer3D::BODY_PARAM_CENTER_OF_MASS: { + calculate_center_of_mass = false; + center_of_mass_local = p_value; + _update_transform_dependant(); } break; case PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE: { gravity_scale = p_value; @@ -191,7 +240,7 @@ void Body3DSW::set_param(PhysicsServer3D::BodyParameter p_param, real_t p_value) } } -real_t Body3DSW::get_param(PhysicsServer3D::BodyParameter p_param) const { +Variant Body3DSW::get_param(PhysicsServer3D::BodyParameter p_param) const { switch (p_param) { case PhysicsServer3D::BODY_PARAM_BOUNCE: { return bounce; @@ -202,6 +251,16 @@ real_t Body3DSW::get_param(PhysicsServer3D::BodyParameter p_param) const { case PhysicsServer3D::BODY_PARAM_MASS: { return mass; } break; + case PhysicsServer3D::BODY_PARAM_INERTIA: { + if (mode == PhysicsServer3D::BODY_MODE_DYNAMIC) { + return _inv_inertia.inverse(); + } else { + return Vector3(); + } + } break; + case PhysicsServer3D::BODY_PARAM_CENTER_OF_MASS: { + return center_of_mass; + } break; case PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE: { return gravity_scale; } break; @@ -224,40 +283,42 @@ void Body3DSW::set_mode(PhysicsServer3D::BodyMode p_mode) { mode = p_mode; switch (p_mode) { - //CLEAR UP EVERYTHING IN CASE IT NOT WORKS! case PhysicsServer3D::BODY_MODE_STATIC: case PhysicsServer3D::BODY_MODE_KINEMATIC: { _set_inv_transform(get_transform().affine_inverse()); _inv_mass = 0; + _inv_inertia = Vector3(); _set_static(p_mode == PhysicsServer3D::BODY_MODE_STATIC); - //set_active(p_mode==PhysicsServer3D::BODY_MODE_KINEMATIC); set_active(p_mode == PhysicsServer3D::BODY_MODE_KINEMATIC && contacts.size()); linear_velocity = Vector3(); angular_velocity = Vector3(); if (mode == PhysicsServer3D::BODY_MODE_KINEMATIC && prev != mode) { first_time_kinematic = true; } + _update_transform_dependant(); } break; case PhysicsServer3D::BODY_MODE_DYNAMIC: { _inv_mass = mass > 0 ? (1.0 / mass) : 0; + if (!calculate_inertia) { + principal_inertia_axes_local.set_diagonal(Vector3(1.0, 1.0, 1.0)); + _inv_inertia = inertia.inverse(); + _update_transform_dependant(); + } + _mass_properties_changed(); _set_static(false); set_active(true); } break; case PhysicsServer3D::BODY_MODE_DYNAMIC_LOCKED: { _inv_mass = mass > 0 ? (1.0 / mass) : 0; + _inv_inertia = Vector3(); + angular_velocity = Vector3(); + _update_transform_dependant(); _set_static(false); set_active(true); - angular_velocity = Vector3(); - } break; + } } - - _update_inertia(); - /* - if (get_space()) - _update_queries(); - */ } PhysicsServer3D::BodyMode Body3DSW::get_mode() const { @@ -265,7 +326,7 @@ PhysicsServer3D::BodyMode Body3DSW::get_mode() const { } void Body3DSW::_shapes_changed() { - _update_inertia(); + _mass_properties_changed(); } void Body3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant) { @@ -300,10 +361,12 @@ void Body3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_va } break; case PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY: { linear_velocity = p_variant; + constant_linear_velocity = linear_velocity; wakeup(); } break; case PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY: { angular_velocity = p_variant; + constant_angular_velocity = angular_velocity; wakeup(); } break; @@ -324,7 +387,7 @@ void Body3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_va } break; case PhysicsServer3D::BODY_STATE_CAN_SLEEP: { can_sleep = p_variant; - if (mode == PhysicsServer3D::BODY_MODE_DYNAMIC && !active && !can_sleep) { + if (mode >= PhysicsServer3D::BODY_MODE_DYNAMIC && !active && !can_sleep) { set_active(true); } @@ -356,8 +419,8 @@ Variant Body3DSW::get_state(PhysicsServer3D::BodyState p_state) const { void Body3DSW::set_space(Space3DSW *p_space) { if (get_space()) { - if (inertia_update_list.in_list()) { - get_space()->body_remove_from_inertia_update_list(&inertia_update_list); + if (mass_properties_update_list.in_list()) { + get_space()->body_remove_from_mass_properties_update_list(&mass_properties_update_list); } if (active_list.in_list()) { get_space()->body_remove_from_active_list(&active_list); @@ -370,13 +433,11 @@ void Body3DSW::set_space(Space3DSW *p_space) { _set_space(p_space); if (get_space()) { - _update_inertia(); + _mass_properties_changed(); if (active) { get_space()->body_add_to_active_list(&active_list); } } - - first_integration = true; } void Body3DSW::_compute_area_gravity_and_damping(const Area3DSW *p_area) { @@ -471,7 +532,7 @@ void Body3DSW::integrate_forces(real_t p_step) { //compute motion, angular and etc. velocities from prev transform motion = new_transform.origin - get_transform().origin; do_motion = true; - linear_velocity = motion / p_step; + linear_velocity = constant_linear_velocity + motion / p_step; //compute a FAKE angular velocity, not so easy Basis rot = new_transform.basis.orthonormalized() * get_transform().basis.orthonormalized().transposed(); @@ -480,9 +541,9 @@ void Body3DSW::integrate_forces(real_t p_step) { rot.get_axis_angle(axis, angle); axis.normalize(); - angular_velocity = axis * (angle / p_step); + angular_velocity = constant_angular_velocity + axis * (angle / p_step); } else { - if (!omit_force_integration && !first_integration) { + if (!omit_force_integration) { //overridden by direct state query Vector3 force = gravity * mass; @@ -516,7 +577,6 @@ void Body3DSW::integrate_forces(real_t p_step) { applied_force = Vector3(); applied_torque = Vector3(); - first_integration = false; //motion=linear_velocity*p_step; @@ -536,7 +596,7 @@ void Body3DSW::integrate_velocities(real_t p_step) { return; } - if (fi_callback) { + if (fi_callback_data || body_state_callback) { get_space()->body_add_to_state_query_list(&direct_state_query_list); } @@ -593,11 +653,6 @@ void Body3DSW::integrate_velocities(real_t p_step) { _set_inv_transform(get_transform().inverse()); _update_transform_dependant(); - - /* - if (fi_callback) { - get_space()->body_add_to_state_query_list(&direct_state_query_list); - */ } /* @@ -643,7 +698,7 @@ void Body3DSW::wakeup_neighbours() { continue; } Body3DSW *b = n[i]; - if (b->mode != PhysicsServer3D::BODY_MODE_DYNAMIC) { + if (b->mode < PhysicsServer3D::BODY_MODE_DYNAMIC) { continue; } @@ -655,24 +710,23 @@ void Body3DSW::wakeup_neighbours() { } void Body3DSW::call_queries() { - if (fi_callback) { - PhysicsDirectBodyState3DSW *dbs = PhysicsDirectBodyState3DSW::singleton; - dbs->body = this; - - Variant v = dbs; - - Object *obj = fi_callback->callable.get_object(); - if (!obj) { + if (fi_callback_data) { + if (!fi_callback_data->callable.get_object()) { set_force_integration_callback(Callable()); } else { - const Variant *vp[2] = { &v, &fi_callback->udata }; + Variant direct_state_variant = get_direct_state(); + const Variant *vp[2] = { &direct_state_variant, &fi_callback_data->udata }; Callable::CallError ce; - int argc = (fi_callback->udata.get_type() == Variant::NIL) ? 1 : 2; + int argc = (fi_callback_data->udata.get_type() == Variant::NIL) ? 1 : 2; Variant rv; - fi_callback->callable.call(vp, argc, rv, ce); + fi_callback_data->callable.call(vp, argc, rv, ce); } } + + if (body_state_callback_instance) { + (body_state_callback)(body_state_callback_instance, get_direct_state()); + } } bool Body3DSW::sleep_test(real_t p_step) { @@ -692,60 +746,45 @@ bool Body3DSW::sleep_test(real_t p_step) { } } +void Body3DSW::set_state_sync_callback(void *p_instance, PhysicsServer3D::BodyStateCallback p_callback) { + body_state_callback_instance = p_instance; + body_state_callback = p_callback; +} + void Body3DSW::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) { - if (fi_callback) { - memdelete(fi_callback); - fi_callback = nullptr; + if (p_callable.get_object()) { + if (!fi_callback_data) { + fi_callback_data = memnew(ForceIntegrationCallbackData); + } + fi_callback_data->callable = p_callable; + fi_callback_data->udata = p_udata; + } else if (fi_callback_data) { + memdelete(fi_callback_data); + fi_callback_data = nullptr; } +} - if (p_callable.get_object()) { - fi_callback = memnew(ForceIntegrationCallback); - fi_callback->callable = p_callable; - fi_callback->udata = p_udata; +PhysicsDirectBodyState3DSW *Body3DSW::get_direct_state() { + if (!direct_state) { + direct_state = memnew(PhysicsDirectBodyState3DSW); + direct_state->body = this; } + return direct_state; } Body3DSW::Body3DSW() : CollisionObject3DSW(TYPE_BODY), - active_list(this), - inertia_update_list(this), + mass_properties_update_list(this), direct_state_query_list(this) { - mode = PhysicsServer3D::BODY_MODE_DYNAMIC; - active = true; - - mass = 1; - _inv_mass = 1; - bounce = 0; - friction = 1; - omit_force_integration = false; - //applied_torque=0; - island_step = 0; - first_time_kinematic = false; - first_integration = false; _set_static(false); - - contact_count = 0; - gravity_scale = 1.0; - linear_damp = -1; - angular_damp = -1; - area_angular_damp = 0; - area_linear_damp = 0; - - still_time = 0; - continuous_cd = false; - can_sleep = true; - fi_callback = nullptr; } Body3DSW::~Body3DSW() { - if (fi_callback) { - memdelete(fi_callback); + if (fi_callback_data) { + memdelete(fi_callback_data); + } + if (direct_state) { + memdelete(direct_state); } -} - -PhysicsDirectBodyState3DSW *PhysicsDirectBodyState3DSW::singleton = nullptr; - -PhysicsDirectSpaceState3D *PhysicsDirectBodyState3DSW::get_space_state() { - return body->get_space()->get_direct_state(); } diff --git a/servers/physics_3d/body_3d_sw.h b/servers/physics_3d/body_3d_sw.h index 130be2d42f..fc47040389 100644 --- a/servers/physics_3d/body_3d_sw.h +++ b/servers/physics_3d/body_3d_sw.h @@ -28,34 +28,39 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef BODY_SW_H -#define BODY_SW_H +#ifndef BODY_3D_SW_H +#define BODY_3D_SW_H #include "area_3d_sw.h" #include "collision_object_3d_sw.h" #include "core/templates/vset.h" class Constraint3DSW; +class PhysicsDirectBodyState3DSW; class Body3DSW : public CollisionObject3DSW { - PhysicsServer3D::BodyMode mode; + PhysicsServer3D::BodyMode mode = PhysicsServer3D::BODY_MODE_DYNAMIC; Vector3 linear_velocity; Vector3 angular_velocity; + Vector3 constant_linear_velocity; + Vector3 constant_angular_velocity; + Vector3 biased_linear_velocity; Vector3 biased_angular_velocity; - real_t mass; - real_t bounce; - real_t friction; + real_t mass = 1.0; + real_t bounce = 0.0; + real_t friction = 1.0; + Vector3 inertia; - real_t linear_damp; - real_t angular_damp; - real_t gravity_scale; + real_t linear_damp = -1.0; + real_t angular_damp = -1.0; + real_t gravity_scale = 1.0; uint16_t locked_axis = 0; - real_t _inv_mass; + real_t _inv_mass = 1.0; Vector3 _inv_inertia; // Relative to the principal axes of inertia // Relative to the local frame of reference @@ -67,30 +72,32 @@ class Body3DSW : public CollisionObject3DSW { Basis principal_inertia_axes; Vector3 center_of_mass; + bool calculate_inertia = true; + bool calculate_center_of_mass = true; + Vector3 gravity; - real_t still_time; + real_t still_time = 0.0; Vector3 applied_force; Vector3 applied_torque; - real_t area_angular_damp; - real_t area_linear_damp; + real_t area_angular_damp = 0.0; + real_t area_linear_damp = 0.0; SelfList<Body3DSW> active_list; - SelfList<Body3DSW> inertia_update_list; + SelfList<Body3DSW> mass_properties_update_list; SelfList<Body3DSW> direct_state_query_list; VSet<RID> exceptions; - bool omit_force_integration; - bool active; + bool omit_force_integration = false; + bool active = true; - bool first_integration; + bool continuous_cd = false; + bool can_sleep = true; + bool first_time_kinematic = false; - bool continuous_cd; - bool can_sleep; - bool first_time_kinematic; - void _update_inertia(); + void _mass_properties_changed(); virtual void _shapes_changed(); Transform3D new_transform; @@ -101,26 +108,31 @@ class Body3DSW : public CollisionObject3DSW { struct Contact { Vector3 local_pos; Vector3 local_normal; - real_t depth; - int local_shape; + real_t depth = 0.0; + int local_shape = 0; Vector3 collider_pos; - int collider_shape; + int collider_shape = 0; ObjectID collider_instance_id; RID collider; Vector3 collider_velocity_at_pos; }; Vector<Contact> contacts; //no contacts by default - int contact_count; + int contact_count = 0; + + void *body_state_callback_instance = nullptr; + PhysicsServer3D::BodyStateCallback body_state_callback = nullptr; - struct ForceIntegrationCallback { + struct ForceIntegrationCallbackData { Callable callable; Variant udata; }; - ForceIntegrationCallback *fi_callback; + ForceIntegrationCallbackData *fi_callback_data = nullptr; - uint64_t island_step; + PhysicsDirectBodyState3DSW *direct_state = nullptr; + + uint64_t island_step = 0; _FORCE_INLINE_ void _compute_area_gravity_and_damping(const Area3DSW *p_area); @@ -129,8 +141,11 @@ class Body3DSW : public CollisionObject3DSW { friend class PhysicsDirectBodyState3DSW; // i give up, too many functions to expose public: + void set_state_sync_callback(void *p_instance, PhysicsServer3D::BodyStateCallback p_callback); void set_force_integration_callback(const Callable &p_callable, const Variant &p_udata = Variant()); + PhysicsDirectBodyState3DSW *get_direct_state(); + _FORCE_INLINE_ void add_area(Area3DSW *p_area) { int index = areas.find(AreaCMP(p_area)); if (index > -1) { @@ -242,8 +257,8 @@ public: set_active(true); } - void set_param(PhysicsServer3D::BodyParameter p_param, real_t); - real_t get_param(PhysicsServer3D::BodyParameter p_param) const; + void set_param(PhysicsServer3D::BodyParameter p_param, const Variant &p_value); + Variant get_param(PhysicsServer3D::BodyParameter p_param) const; void set_mode(PhysicsServer3D::BodyMode p_mode); PhysicsServer3D::BodyMode get_mode() const; @@ -262,7 +277,8 @@ public: void set_space(Space3DSW *p_space); - void update_inertias(); + void update_mass_properties(); + void reset_mass_properties(); _FORCE_INLINE_ real_t get_inv_mass() const { return _inv_mass; } _FORCE_INLINE_ const Vector3 &get_inv_inertia() const { return _inv_inertia; } @@ -349,96 +365,4 @@ void Body3DSW::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_no c[idx].collider_velocity_at_pos = p_collider_velocity_at_pos; } -class PhysicsDirectBodyState3DSW : public PhysicsDirectBodyState3D { - GDCLASS(PhysicsDirectBodyState3DSW, PhysicsDirectBodyState3D); - -public: - static PhysicsDirectBodyState3DSW *singleton; - Body3DSW *body; - real_t step; - - virtual Vector3 get_total_gravity() const override { return body->gravity; } // get gravity vector working on this body space/area - virtual real_t get_total_angular_damp() const override { return body->area_angular_damp; } // get density of this body space/area - virtual real_t get_total_linear_damp() const override { return body->area_linear_damp; } // get density of this body space/area - - virtual Vector3 get_center_of_mass() const override { return body->get_center_of_mass(); } - virtual Basis get_principal_inertia_axes() const override { return body->get_principal_inertia_axes(); } - - virtual real_t get_inverse_mass() const override { return body->get_inv_mass(); } // get the mass - virtual Vector3 get_inverse_inertia() const override { return body->get_inv_inertia(); } // get density of this body space - virtual Basis get_inverse_inertia_tensor() const override { return body->get_inv_inertia_tensor(); } // get density of this body space - - virtual void set_linear_velocity(const Vector3 &p_velocity) override { body->set_linear_velocity(p_velocity); } - virtual Vector3 get_linear_velocity() const override { return body->get_linear_velocity(); } - - virtual void set_angular_velocity(const Vector3 &p_velocity) override { body->set_angular_velocity(p_velocity); } - virtual Vector3 get_angular_velocity() const override { return body->get_angular_velocity(); } - - virtual void set_transform(const Transform3D &p_transform) override { body->set_state(PhysicsServer3D::BODY_STATE_TRANSFORM, p_transform); } - virtual Transform3D get_transform() const override { return body->get_transform(); } - - virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const override { return body->get_velocity_in_local_point(p_position); } - - virtual void add_central_force(const Vector3 &p_force) override { body->add_central_force(p_force); } - virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) override { - body->add_force(p_force, p_position); - } - virtual void add_torque(const Vector3 &p_torque) override { body->add_torque(p_torque); } - virtual void apply_central_impulse(const Vector3 &p_impulse) override { body->apply_central_impulse(p_impulse); } - virtual void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) override { - body->apply_impulse(p_impulse, p_position); - } - virtual void apply_torque_impulse(const Vector3 &p_impulse) override { body->apply_torque_impulse(p_impulse); } - - virtual void set_sleep_state(bool p_sleep) override { body->set_active(!p_sleep); } - virtual bool is_sleeping() const override { return !body->is_active(); } - - virtual int get_contact_count() const override { return body->contact_count; } - - virtual Vector3 get_contact_local_position(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3()); - return body->contacts[p_contact_idx].local_pos; - } - virtual Vector3 get_contact_local_normal(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3()); - return body->contacts[p_contact_idx].local_normal; - } - virtual real_t get_contact_impulse(int p_contact_idx) const override { - return 0.0f; // Only implemented for bullet - } - virtual int get_contact_local_shape(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, -1); - return body->contacts[p_contact_idx].local_shape; - } - - virtual RID get_contact_collider(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, RID()); - return body->contacts[p_contact_idx].collider; - } - virtual Vector3 get_contact_collider_position(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3()); - return body->contacts[p_contact_idx].collider_pos; - } - virtual ObjectID get_contact_collider_id(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, ObjectID()); - return body->contacts[p_contact_idx].collider_instance_id; - } - virtual int get_contact_collider_shape(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, 0); - return body->contacts[p_contact_idx].collider_shape; - } - virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3()); - return body->contacts[p_contact_idx].collider_velocity_at_pos; - } - - virtual PhysicsDirectSpaceState3D *get_space_state() override; - - virtual real_t get_step() const override { return step; } - PhysicsDirectBodyState3DSW() { - singleton = this; - body = nullptr; - } -}; - -#endif // BODY__SW_H +#endif // BODY_3D_SW_H diff --git a/servers/physics_3d/body_direct_state_3d_sw.cpp b/servers/physics_3d/body_direct_state_3d_sw.cpp new file mode 100644 index 0000000000..d197dd288d --- /dev/null +++ b/servers/physics_3d/body_direct_state_3d_sw.cpp @@ -0,0 +1,182 @@ +/*************************************************************************/ +/* body_direct_state_3d_sw.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 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 */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#include "body_direct_state_3d_sw.h" + +#include "body_3d_sw.h" +#include "space_3d_sw.h" + +Vector3 PhysicsDirectBodyState3DSW::get_total_gravity() const { + return body->gravity; +} + +real_t PhysicsDirectBodyState3DSW::get_total_angular_damp() const { + return body->area_angular_damp; +} + +real_t PhysicsDirectBodyState3DSW::get_total_linear_damp() const { + return body->area_linear_damp; +} + +Vector3 PhysicsDirectBodyState3DSW::get_center_of_mass() const { + return body->get_center_of_mass(); +} + +Basis PhysicsDirectBodyState3DSW::get_principal_inertia_axes() const { + return body->get_principal_inertia_axes(); +} + +real_t PhysicsDirectBodyState3DSW::get_inverse_mass() const { + return body->get_inv_mass(); +} + +Vector3 PhysicsDirectBodyState3DSW::get_inverse_inertia() const { + return body->get_inv_inertia(); +} + +Basis PhysicsDirectBodyState3DSW::get_inverse_inertia_tensor() const { + return body->get_inv_inertia_tensor(); +} + +void PhysicsDirectBodyState3DSW::set_linear_velocity(const Vector3 &p_velocity) { + body->set_linear_velocity(p_velocity); +} + +Vector3 PhysicsDirectBodyState3DSW::get_linear_velocity() const { + return body->get_linear_velocity(); +} + +void PhysicsDirectBodyState3DSW::set_angular_velocity(const Vector3 &p_velocity) { + body->set_angular_velocity(p_velocity); +} + +Vector3 PhysicsDirectBodyState3DSW::get_angular_velocity() const { + return body->get_angular_velocity(); +} + +void PhysicsDirectBodyState3DSW::set_transform(const Transform3D &p_transform) { + body->set_state(PhysicsServer3D::BODY_STATE_TRANSFORM, p_transform); +} + +Transform3D PhysicsDirectBodyState3DSW::get_transform() const { + return body->get_transform(); +} + +Vector3 PhysicsDirectBodyState3DSW::get_velocity_at_local_position(const Vector3 &p_position) const { + return body->get_velocity_in_local_point(p_position); +} + +void PhysicsDirectBodyState3DSW::add_central_force(const Vector3 &p_force) { + body->add_central_force(p_force); +} + +void PhysicsDirectBodyState3DSW::add_force(const Vector3 &p_force, const Vector3 &p_position) { + body->add_force(p_force, p_position); +} + +void PhysicsDirectBodyState3DSW::add_torque(const Vector3 &p_torque) { + body->add_torque(p_torque); +} + +void PhysicsDirectBodyState3DSW::apply_central_impulse(const Vector3 &p_impulse) { + body->apply_central_impulse(p_impulse); +} + +void PhysicsDirectBodyState3DSW::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) { + body->apply_impulse(p_impulse, p_position); +} + +void PhysicsDirectBodyState3DSW::apply_torque_impulse(const Vector3 &p_impulse) { + body->apply_torque_impulse(p_impulse); +} + +void PhysicsDirectBodyState3DSW::set_sleep_state(bool p_sleep) { + body->set_active(!p_sleep); +} + +bool PhysicsDirectBodyState3DSW::is_sleeping() const { + return !body->is_active(); +} + +int PhysicsDirectBodyState3DSW::get_contact_count() const { + return body->contact_count; +} + +Vector3 PhysicsDirectBodyState3DSW::get_contact_local_position(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3()); + return body->contacts[p_contact_idx].local_pos; +} + +Vector3 PhysicsDirectBodyState3DSW::get_contact_local_normal(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3()); + return body->contacts[p_contact_idx].local_normal; +} + +real_t PhysicsDirectBodyState3DSW::get_contact_impulse(int p_contact_idx) const { + return 0.0f; // Only implemented for bullet +} + +int PhysicsDirectBodyState3DSW::get_contact_local_shape(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, -1); + return body->contacts[p_contact_idx].local_shape; +} + +RID PhysicsDirectBodyState3DSW::get_contact_collider(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, RID()); + return body->contacts[p_contact_idx].collider; +} + +Vector3 PhysicsDirectBodyState3DSW::get_contact_collider_position(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3()); + return body->contacts[p_contact_idx].collider_pos; +} + +ObjectID PhysicsDirectBodyState3DSW::get_contact_collider_id(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, ObjectID()); + return body->contacts[p_contact_idx].collider_instance_id; +} + +int PhysicsDirectBodyState3DSW::get_contact_collider_shape(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, 0); + return body->contacts[p_contact_idx].collider_shape; +} + +Vector3 PhysicsDirectBodyState3DSW::get_contact_collider_velocity_at_position(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3()); + return body->contacts[p_contact_idx].collider_velocity_at_pos; +} + +PhysicsDirectSpaceState3D *PhysicsDirectBodyState3DSW::get_space_state() { + return body->get_space()->get_direct_state(); +} + +real_t PhysicsDirectBodyState3DSW::get_step() const { + return body->get_space()->get_last_step(); +} diff --git a/servers/physics_3d/body_direct_state_3d_sw.h b/servers/physics_3d/body_direct_state_3d_sw.h new file mode 100644 index 0000000000..5132376715 --- /dev/null +++ b/servers/physics_3d/body_direct_state_3d_sw.h @@ -0,0 +1,94 @@ +/*************************************************************************/ +/* body_direct_state_3d_sw.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 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 */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#ifndef BODY_DIRECT_STATE_3D_SW_H +#define BODY_DIRECT_STATE_3D_SW_H + +#include "servers/physics_server_3d.h" + +class Body3DSW; + +class PhysicsDirectBodyState3DSW : public PhysicsDirectBodyState3D { + GDCLASS(PhysicsDirectBodyState3DSW, PhysicsDirectBodyState3D); + +public: + Body3DSW *body = nullptr; + + virtual Vector3 get_total_gravity() const override; + virtual real_t get_total_angular_damp() const override; + virtual real_t get_total_linear_damp() const override; + + virtual Vector3 get_center_of_mass() const override; + virtual Basis get_principal_inertia_axes() const override; + + virtual real_t get_inverse_mass() const override; + virtual Vector3 get_inverse_inertia() const override; + virtual Basis get_inverse_inertia_tensor() const override; + + virtual void set_linear_velocity(const Vector3 &p_velocity) override; + virtual Vector3 get_linear_velocity() const override; + + virtual void set_angular_velocity(const Vector3 &p_velocity) override; + virtual Vector3 get_angular_velocity() const override; + + virtual void set_transform(const Transform3D &p_transform) override; + virtual Transform3D get_transform() const override; + + 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 set_sleep_state(bool p_sleep) override; + virtual bool is_sleeping() const override; + + virtual int get_contact_count() const override; + + virtual Vector3 get_contact_local_position(int p_contact_idx) const override; + virtual Vector3 get_contact_local_normal(int p_contact_idx) const override; + virtual real_t get_contact_impulse(int p_contact_idx) const override; + virtual int get_contact_local_shape(int p_contact_idx) const override; + + virtual RID get_contact_collider(int p_contact_idx) const override; + virtual Vector3 get_contact_collider_position(int p_contact_idx) const override; + virtual ObjectID get_contact_collider_id(int p_contact_idx) const override; + virtual int get_contact_collider_shape(int p_contact_idx) const override; + virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const override; + + virtual PhysicsDirectSpaceState3D *get_space_state() override; + + virtual real_t get_step() const override; +}; + +#endif // BODY_DIRECT_STATE_3D_SW_H diff --git a/servers/physics_3d/body_pair_3d_sw.h b/servers/physics_3d/body_pair_3d_sw.h index 19d6a46880..01afb07e13 100644 --- a/servers/physics_3d/body_pair_3d_sw.h +++ b/servers/physics_3d/body_pair_3d_sw.h @@ -41,18 +41,18 @@ protected: struct Contact { Vector3 position; Vector3 normal; - int index_A, index_B; + int index_A = 0, index_B = 0; Vector3 local_A, local_B; - real_t acc_normal_impulse; // accumulated normal impulse (Pn) + real_t acc_normal_impulse = 0.0; // accumulated normal impulse (Pn) Vector3 acc_tangent_impulse; // accumulated tangent impulse (Pt) - real_t acc_bias_impulse; // accumulated normal impulse for position bias (Pnb) - real_t acc_bias_impulse_center_of_mass; // accumulated normal impulse for position bias applied to com - real_t mass_normal; - real_t bias; - real_t bounce; - - real_t depth; - bool active; + real_t acc_bias_impulse = 0.0; // accumulated normal impulse for position bias (Pnb) + real_t acc_bias_impulse_center_of_mass = 0.0; // accumulated normal impulse for position bias applied to com + real_t mass_normal = 0.0; + real_t bias = 0.0; + real_t bounce = 0.0; + + real_t depth = 0.0; + bool active = false; Vector3 rA, rB; // Offset in world orientation with respect to center of mass }; diff --git a/servers/physics_3d/broad_phase_3d_bvh.cpp b/servers/physics_3d/broad_phase_3d_bvh.cpp index f9f64f786d..d89e0e1f6d 100644 --- a/servers/physics_3d/broad_phase_3d_bvh.cpp +++ b/servers/physics_3d/broad_phase_3d_bvh.cpp @@ -114,7 +114,4 @@ BroadPhase3DSW *BroadPhase3DBVH::_create() { BroadPhase3DBVH::BroadPhase3DBVH() { bvh.set_pair_callback(_pair_callback, this); bvh.set_unpair_callback(_unpair_callback, this); - pair_callback = nullptr; - pair_userdata = nullptr; - unpair_userdata = nullptr; } diff --git a/servers/physics_3d/broad_phase_3d_bvh.h b/servers/physics_3d/broad_phase_3d_bvh.h index 30b8b7f2aa..03131c9db2 100644 --- a/servers/physics_3d/broad_phase_3d_bvh.h +++ b/servers/physics_3d/broad_phase_3d_bvh.h @@ -40,10 +40,10 @@ class BroadPhase3DBVH : public BroadPhase3DSW { static void *_pair_callback(void *, uint32_t, CollisionObject3DSW *, int, uint32_t, CollisionObject3DSW *, int); static void _unpair_callback(void *, uint32_t, CollisionObject3DSW *, int, uint32_t, CollisionObject3DSW *, int, void *); - PairCallback pair_callback; - void *pair_userdata; - UnpairCallback unpair_callback; - void *unpair_userdata; + PairCallback pair_callback = nullptr; + void *pair_userdata = nullptr; + UnpairCallback unpair_callback = nullptr; + void *unpair_userdata = nullptr; public: // 0 is an invalid ID diff --git a/servers/physics_3d/collision_object_3d_sw.cpp b/servers/physics_3d/collision_object_3d_sw.cpp index 24c7d7b85c..098f627d11 100644 --- a/servers/physics_3d/collision_object_3d_sw.cpp +++ b/servers/physics_3d/collision_object_3d_sw.cpp @@ -236,11 +236,5 @@ void CollisionObject3DSW::_shape_changed() { CollisionObject3DSW::CollisionObject3DSW(Type p_type) : pending_shape_update_list(this) { - _static = true; type = p_type; - space = nullptr; - - collision_layer = 1; - collision_mask = 1; - ray_pickable = true; } diff --git a/servers/physics_3d/collision_object_3d_sw.h b/servers/physics_3d/collision_object_3d_sw.h index 6ffab54645..3aa48946b7 100644 --- a/servers/physics_3d/collision_object_3d_sw.h +++ b/servers/physics_3d/collision_object_3d_sw.h @@ -56,26 +56,24 @@ private: Type type; RID self; ObjectID instance_id; - uint32_t collision_layer; - uint32_t collision_mask; + uint32_t collision_layer = 1; + uint32_t collision_mask = 1; struct Shape { Transform3D xform; Transform3D xform_inv; BroadPhase3DSW::ID bpid; AABB aabb_cache; //for rayqueries - real_t area_cache; - Shape3DSW *shape; - bool disabled; - - Shape() { disabled = false; } + real_t area_cache = 0.0; + Shape3DSW *shape = nullptr; + bool disabled = false; }; Vector<Shape> shapes; - Space3DSW *space; + Space3DSW *space = nullptr; Transform3D transform; Transform3D inv_transform; - bool _static; + bool _static = true; SelfList<CollisionObject3DSW> pending_shape_update_list; @@ -102,7 +100,7 @@ protected: virtual void _shapes_changed() = 0; void _set_space(Space3DSW *p_space); - bool ray_pickable; + bool ray_pickable = true; CollisionObject3DSW(Type p_type); diff --git a/servers/physics_3d/collision_solver_3d_sat.cpp b/servers/physics_3d/collision_solver_3d_sat.cpp index de81348b4e..76738bb746 100644 --- a/servers/physics_3d/collision_solver_3d_sat.cpp +++ b/servers/physics_3d/collision_solver_3d_sat.cpp @@ -66,11 +66,11 @@ struct _CollectorCallback { CollisionSolver3DSW::CallbackResult callback; - void *userdata; - bool swap; - bool collided; + void *userdata = nullptr; + bool swap = false; + bool collided = false; Vector3 normal; - Vector3 *prev_axis; + Vector3 *prev_axis = nullptr; _FORCE_INLINE_ void call(const Vector3 &p_point_A, const Vector3 &p_point_B) { if (swap) { @@ -606,15 +606,15 @@ static void _generate_contacts_from_supports(const Vector3 *p_points_A, int p_po template <class ShapeA, class ShapeB, bool withMargin = false> class SeparatorAxisTest { - const ShapeA *shape_A; - const ShapeB *shape_B; - const Transform3D *transform_A; - const Transform3D *transform_B; - real_t best_depth; + const ShapeA *shape_A = nullptr; + const ShapeB *shape_B = nullptr; + const Transform3D *transform_A = nullptr; + const Transform3D *transform_B = nullptr; + real_t best_depth = 1e15; Vector3 best_axis; - _CollectorCallback *callback; - real_t margin_A; - real_t margin_B; + _CollectorCallback *callback = nullptr; + real_t margin_A = 0.0; + real_t margin_B = 0.0; Vector3 separator_axis; public: @@ -749,7 +749,6 @@ public: } _FORCE_INLINE_ SeparatorAxisTest(const ShapeA *p_shape_A, const Transform3D &p_transform_A, const ShapeB *p_shape_B, const Transform3D &p_transform_B, _CollectorCallback *p_callback, real_t p_margin_A = 0, real_t p_margin_B = 0) { - best_depth = 1e15; shape_A = p_shape_A; shape_B = p_shape_B; transform_A = &p_transform_A; @@ -2272,13 +2271,13 @@ static void _collision_convex_polygon_face(const Shape3DSW *p_a, const Transform bool sat_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CollisionSolver3DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap, Vector3 *r_prev_axis, real_t p_margin_a, real_t p_margin_b) { PhysicsServer3D::ShapeType type_A = p_shape_A->get_type(); - ERR_FAIL_COND_V(type_A == PhysicsServer3D::SHAPE_PLANE, false); + ERR_FAIL_COND_V(type_A == PhysicsServer3D::SHAPE_WORLD_BOUNDARY, false); ERR_FAIL_COND_V(type_A == PhysicsServer3D::SHAPE_SEPARATION_RAY, false); ERR_FAIL_COND_V(p_shape_A->is_concave(), false); PhysicsServer3D::ShapeType type_B = p_shape_B->get_type(); - ERR_FAIL_COND_V(type_B == PhysicsServer3D::SHAPE_PLANE, false); + ERR_FAIL_COND_V(type_B == PhysicsServer3D::SHAPE_WORLD_BOUNDARY, false); ERR_FAIL_COND_V(type_B == PhysicsServer3D::SHAPE_SEPARATION_RAY, false); ERR_FAIL_COND_V(p_shape_B->is_concave(), false); diff --git a/servers/physics_3d/collision_solver_3d_sw.cpp b/servers/physics_3d/collision_solver_3d_sw.cpp index 4a4a8164d3..dcc363638e 100644 --- a/servers/physics_3d/collision_solver_3d_sw.cpp +++ b/servers/physics_3d/collision_solver_3d_sw.cpp @@ -37,12 +37,12 @@ #define collision_solver sat_calculate_penetration //#define collision_solver gjk_epa_calculate_penetration -bool CollisionSolver3DSW::solve_static_plane(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) { - const PlaneShape3DSW *plane = static_cast<const PlaneShape3DSW *>(p_shape_A); - if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_PLANE) { +bool CollisionSolver3DSW::solve_static_world_boundary(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) { + const WorldBoundaryShape3DSW *world_boundary = static_cast<const WorldBoundaryShape3DSW *>(p_shape_A); + if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_WORLD_BOUNDARY) { return false; } - Plane p = p_transform_A.xform(plane->get_plane()); + Plane p = p_transform_A.xform(world_boundary->get_plane()); static const int max_supports = 16; Vector3 supports[max_supports]; @@ -365,8 +365,8 @@ bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transfo swap = true; } - if (type_A == PhysicsServer3D::SHAPE_PLANE) { - if (type_B == PhysicsServer3D::SHAPE_PLANE) { + if (type_A == PhysicsServer3D::SHAPE_WORLD_BOUNDARY) { + if (type_B == PhysicsServer3D::SHAPE_WORLD_BOUNDARY) { return false; } if (type_B == PhysicsServer3D::SHAPE_SEPARATION_RAY) { @@ -377,9 +377,9 @@ bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transfo } if (swap) { - return solve_static_plane(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true); + return solve_static_world_boundary(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true); } else { - return solve_static_plane(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false); + return solve_static_world_boundary(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false); } } else if (type_A == PhysicsServer3D::SHAPE_SEPARATION_RAY) { @@ -443,12 +443,12 @@ bool CollisionSolver3DSW::concave_distance_callback(void *p_userdata, Shape3DSW return false; } -bool CollisionSolver3DSW::solve_distance_plane(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B) { - const PlaneShape3DSW *plane = static_cast<const PlaneShape3DSW *>(p_shape_A); - if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_PLANE) { +bool CollisionSolver3DSW::solve_distance_world_boundary(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B) { + const WorldBoundaryShape3DSW *world_boundary = static_cast<const WorldBoundaryShape3DSW *>(p_shape_A); + if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_WORLD_BOUNDARY) { return false; } - Plane p = p_transform_A.xform(plane->get_plane()); + Plane p = p_transform_A.xform(world_boundary->get_plane()); static const int max_supports = 16; Vector3 supports[max_supports]; @@ -500,9 +500,9 @@ bool CollisionSolver3DSW::solve_distance(const Shape3DSW *p_shape_A, const Trans return false; } - if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_PLANE) { + if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_WORLD_BOUNDARY) { Vector3 a, b; - bool col = solve_distance_plane(p_shape_B, p_transform_B, p_shape_A, p_transform_A, a, b); + bool col = solve_distance_world_boundary(p_shape_B, p_transform_B, p_shape_A, p_transform_A, a, b); r_point_A = b; r_point_B = a; return !col; diff --git a/servers/physics_3d/collision_solver_3d_sw.h b/servers/physics_3d/collision_solver_3d_sw.h index c13614ab3e..0a9ea7c0eb 100644 --- a/servers/physics_3d/collision_solver_3d_sw.h +++ b/servers/physics_3d/collision_solver_3d_sw.h @@ -42,12 +42,12 @@ private: static void soft_body_contact_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata); static bool soft_body_concave_callback(void *p_userdata, Shape3DSW *p_convex); static bool concave_callback(void *p_userdata, Shape3DSW *p_convex); - static bool solve_static_plane(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result); + static bool solve_static_world_boundary(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result); static bool solve_separation_ray(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin = 0); static bool solve_soft_body(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result); static bool solve_concave(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A = 0, real_t p_margin_B = 0); static bool concave_distance_callback(void *p_userdata, Shape3DSW *p_convex); - static bool solve_distance_plane(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B); + static bool solve_distance_world_boundary(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B); public: static bool solve_static(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0); diff --git a/servers/physics_3d/gjk_epa.cpp b/servers/physics_3d/gjk_epa.cpp index f2f712193a..a1dbdd0a70 100644 --- a/servers/physics_3d/gjk_epa.cpp +++ b/servers/physics_3d/gjk_epa.cpp @@ -37,7 +37,7 @@ /* Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2008 Erwin Coumans https://bulletphysics.org +Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/ This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the @@ -96,7 +96,7 @@ struct sResults { Vector3 witnesses[2]; Vector3 normal; - real_t distance; + real_t distance = 0.0; }; // Shorthands diff --git a/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp b/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp index 7315e9c709..bb9cc1bf67 100644 --- a/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp @@ -92,20 +92,8 @@ ConeTwistJoint3DSW::ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Trans m_rbAFrame = rbAFrame; m_rbBFrame = rbBFrame; - m_swingSpan1 = Math_TAU / 8.0; - m_swingSpan2 = Math_TAU / 8.0; - m_twistSpan = Math_TAU; - m_biasFactor = 0.3f; - m_relaxationFactor = 1.0f; - - m_angularOnly = false; - m_solveTwistLimit = false; - m_solveSwingLimit = false; - A->add_constraint(this, 0); B->add_constraint(this, 1); - - m_appliedImpulse = 0; } bool ConeTwistJoint3DSW::setup(real_t p_timestep) { diff --git a/servers/physics_3d/joints/cone_twist_joint_3d_sw.h b/servers/physics_3d/joints/cone_twist_joint_3d_sw.h index 608847352c..bf7e593820 100644 --- a/servers/physics_3d/joints/cone_twist_joint_3d_sw.h +++ b/servers/physics_3d/joints/cone_twist_joint_3d_sw.h @@ -67,39 +67,39 @@ public: Body3DSW *B; }; - Body3DSW *_arr[2]; + Body3DSW *_arr[2] = { nullptr, nullptr }; }; - JacobianEntry3DSW m_jac[3]; //3 orthogonal linear constraints + JacobianEntry3DSW m_jac[3] = {}; //3 orthogonal linear constraints - real_t m_appliedImpulse; + real_t m_appliedImpulse = 0.0; Transform3D m_rbAFrame; Transform3D m_rbBFrame; - real_t m_limitSoftness; - real_t m_biasFactor; - real_t m_relaxationFactor; + real_t m_limitSoftness = 0.0; + real_t m_biasFactor = 0.3; + real_t m_relaxationFactor = 1.0; - real_t m_swingSpan1; - real_t m_swingSpan2; - real_t m_twistSpan; + real_t m_swingSpan1 = Math_TAU / 8.0; + real_t m_swingSpan2 = 0.0; + real_t m_twistSpan = 0.0; Vector3 m_swingAxis; Vector3 m_twistAxis; - real_t m_kSwing; - real_t m_kTwist; + real_t m_kSwing = 0.0; + real_t m_kTwist = 0.0; - real_t m_twistLimitSign; - real_t m_swingCorrection; - real_t m_twistCorrection; + real_t m_twistLimitSign = 0.0; + real_t m_swingCorrection = 0.0; + real_t m_twistCorrection = 0.0; - real_t m_accSwingLimitImpulse; - real_t m_accTwistLimitImpulse; + real_t m_accSwingLimitImpulse = 0.0; + real_t m_accTwistLimitImpulse = 0.0; - bool m_angularOnly; - bool m_solveTwistLimit; - bool m_solveSwingLimit; + bool m_angularOnly = false; + bool m_solveTwistLimit = false; + bool m_solveSwingLimit = false; public: virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_CONE_TWIST; } diff --git a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp index d2b64ce6e3..56aba24b42 100644 --- a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp @@ -34,7 +34,7 @@ Adapted to Godot from the Bullet library. /* Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. diff --git a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h index c2a0443aff..6492e40393 100644 --- a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h +++ b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h @@ -40,7 +40,7 @@ Adapted to Godot from the Bullet library. /* Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. @@ -65,43 +65,28 @@ class G6DOFRotationalLimitMotor3DSW { public: //! limit_parameters //!@{ - real_t m_loLimit; //!< joint limit - real_t m_hiLimit; //!< joint limit - real_t m_targetVelocity; //!< target motor velocity - real_t m_maxMotorForce; //!< max force on motor - real_t m_maxLimitForce; //!< max force on limit - real_t m_damping; //!< Damping. - real_t m_limitSoftness; //! Relaxation factor - real_t m_ERP; //!< Error tolerance factor when joint is at limit - real_t m_bounce; //!< restitution factor - bool m_enableMotor; - bool m_enableLimit; + real_t m_loLimit = -1e30; //!< joint limit + real_t m_hiLimit = 1e30; //!< joint limit + real_t m_targetVelocity = 0.0; //!< target motor velocity + real_t m_maxMotorForce = 0.1; //!< max force on motor + real_t m_maxLimitForce = 300.0; //!< max force on limit + real_t m_damping = 1.0; //!< Damping. + real_t m_limitSoftness = 0.5; //! Relaxation factor + real_t m_ERP = 0.5; //!< Error tolerance factor when joint is at limit + real_t m_bounce = 0.0; //!< restitution factor + bool m_enableMotor = false; + bool m_enableLimit = false; //!@} //! temp_variables //!@{ - real_t m_currentLimitError; //!< How much is violated this limit - int m_currentLimit; //!< 0=free, 1=at lo limit, 2=at hi limit - real_t m_accumulatedImpulse; + real_t m_currentLimitError = 0.0; //!< How much is violated this limit + int m_currentLimit = 0; //!< 0=free, 1=at lo limit, 2=at hi limit + real_t m_accumulatedImpulse = 0.0; //!@} - G6DOFRotationalLimitMotor3DSW() { - m_accumulatedImpulse = 0.f; - m_targetVelocity = 0; - m_maxMotorForce = 0.1f; - m_maxLimitForce = 300.0f; - m_loLimit = -1e30; - m_hiLimit = 1e30; - m_ERP = 0.5f; - m_bounce = 0.0f; - m_damping = 1.0f; - m_limitSoftness = 0.5f; - m_currentLimit = 0; - m_currentLimitError = 0; - m_enableMotor = false; - m_enableLimit = false; - } + G6DOFRotationalLimitMotor3DSW() {} //! Is limited bool isLimited() { @@ -125,30 +110,16 @@ public: class G6DOFTranslationalLimitMotor3DSW { public: - Vector3 m_lowerLimit; //!< the constraint lower limits - Vector3 m_upperLimit; //!< the constraint upper limits - Vector3 m_accumulatedImpulse; + Vector3 m_lowerLimit = Vector3(0.0, 0.0, 0.0); //!< the constraint lower limits + Vector3 m_upperLimit = Vector3(0.0, 0.0, 0.0); //!< the constraint upper limits + Vector3 m_accumulatedImpulse = Vector3(0.0, 0.0, 0.0); //! Linear_Limit_parameters //!@{ - Vector3 m_limitSoftness; //!< Softness for linear limit - Vector3 m_damping; //!< Damping for linear limit - Vector3 m_restitution; //! Bounce parameter for linear limit + Vector3 m_limitSoftness = Vector3(0.7, 0.7, 0.7); //!< Softness for linear limit + Vector3 m_damping = Vector3(1.0, 1.0, 1.0); //!< Damping for linear limit + Vector3 m_restitution = Vector3(0.5, 0.5, 0.5); //! Bounce parameter for linear limit //!@} - bool enable_limit[3]; - - G6DOFTranslationalLimitMotor3DSW() { - m_lowerLimit = Vector3(0.f, 0.f, 0.f); - m_upperLimit = Vector3(0.f, 0.f, 0.f); - m_accumulatedImpulse = Vector3(0.f, 0.f, 0.f); - - m_limitSoftness = Vector3(1, 1, 1) * 0.7f; - m_damping = Vector3(1, 1, 1) * real_t(1.0f); - m_restitution = Vector3(1, 1, 1) * real_t(0.5f); - - enable_limit[0] = true; - enable_limit[1] = true; - enable_limit[2] = true; - } + bool enable_limit[3] = { true, true, true }; //! Test limit /*! @@ -180,7 +151,7 @@ protected: Body3DSW *B; }; - Body3DSW *_arr[2]; + Body3DSW *_arr[2] = { nullptr, nullptr }; }; //! relative_frames @@ -208,7 +179,7 @@ protected: protected: //! temporal variables //!@{ - real_t m_timeStep; + real_t m_timeStep = 0.0; Transform3D m_calculatedTransformA; Transform3D m_calculatedTransformB; Vector3 m_calculatedAxisAngleDiff; @@ -216,7 +187,7 @@ protected: Vector3 m_AnchorPos; // point between pivots of bodies A and B to solve linear axes - bool m_useLinearReferenceFrameA; + bool m_useLinearReferenceFrameA = false; //!@} diff --git a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp b/servers/physics_3d/joints/hinge_joint_3d_sw.cpp index e2bf2845fe..a45fcf7eb5 100644 --- a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/hinge_joint_3d_sw.cpp @@ -34,7 +34,7 @@ Adapted to Godot from the Bullet library. /* Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. @@ -79,21 +79,6 @@ HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D & m_rbBFrame.basis[1][2] *= real_t(-1.); m_rbBFrame.basis[2][2] *= real_t(-1.); - //start with free - m_lowerLimit = Math_PI; - m_upperLimit = -Math_PI; - - m_useLimit = false; - m_biasFactor = 0.3f; - m_relaxationFactor = 1.0f; - m_limitSoftness = 0.9f; - m_solveLimit = false; - - tau = 0.3; - - m_angularOnly = false; - m_enableAngularMotor = false; - A->add_constraint(this, 0); B->add_constraint(this, 1); } @@ -135,21 +120,6 @@ HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Vector3 &pivo rbAxisB1.y, rbAxisB2.y, -axisInB.y, rbAxisB1.z, rbAxisB2.z, -axisInB.z); - //start with free - m_lowerLimit = Math_PI; - m_upperLimit = -Math_PI; - - m_useLimit = false; - m_biasFactor = 0.3f; - m_relaxationFactor = 1.0f; - m_limitSoftness = 0.9f; - m_solveLimit = false; - - tau = 0.3; - - m_angularOnly = false; - m_enableAngularMotor = false; - A->add_constraint(this, 0); B->add_constraint(this, 1); } diff --git a/servers/physics_3d/joints/hinge_joint_3d_sw.h b/servers/physics_3d/joints/hinge_joint_3d_sw.h index 572c35266f..a4ceff9ffe 100644 --- a/servers/physics_3d/joints/hinge_joint_3d_sw.h +++ b/servers/physics_3d/joints/hinge_joint_3d_sw.h @@ -40,7 +40,7 @@ Adapted to Godot from the Bullet library. /* Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. @@ -60,7 +60,7 @@ class HingeJoint3DSW : public Joint3DSW { Body3DSW *B; }; - Body3DSW *_arr[2]; + Body3DSW *_arr[2] = {}; }; JacobianEntry3DSW m_jac[3]; //3 orthogonal linear constraints @@ -69,31 +69,31 @@ class HingeJoint3DSW : public Joint3DSW { Transform3D m_rbAFrame; // constraint axii. Assumes z is hinge axis. Transform3D m_rbBFrame; - real_t m_motorTargetVelocity; - real_t m_maxMotorImpulse; + real_t m_motorTargetVelocity = 0.0; + real_t m_maxMotorImpulse = 0.0; - real_t m_limitSoftness; - real_t m_biasFactor; - real_t m_relaxationFactor; + real_t m_limitSoftness = 0.9; + real_t m_biasFactor = 0.3; + real_t m_relaxationFactor = 1.0; - real_t m_lowerLimit; - real_t m_upperLimit; + real_t m_lowerLimit = Math_PI; + real_t m_upperLimit = -Math_PI; - real_t m_kHinge; + real_t m_kHinge = 0.0; - real_t m_limitSign; - real_t m_correction; + real_t m_limitSign = 0.0; + real_t m_correction = 0.0; - real_t m_accLimitImpulse; + real_t m_accLimitImpulse = 0.0; - real_t tau; + real_t tau = 0.3; - bool m_useLimit; - bool m_angularOnly; - bool m_enableAngularMotor; - bool m_solveLimit; + bool m_useLimit = false; + bool m_angularOnly = false; + bool m_enableAngularMotor = false; + bool m_solveLimit = false; - real_t m_appliedImpulse; + real_t m_appliedImpulse = 0.0; public: virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_HINGE; } diff --git a/servers/physics_3d/joints/jacobian_entry_3d_sw.h b/servers/physics_3d/joints/jacobian_entry_3d_sw.h index 30c80db23f..7294ff78e3 100644 --- a/servers/physics_3d/joints/jacobian_entry_3d_sw.h +++ b/servers/physics_3d/joints/jacobian_entry_3d_sw.h @@ -37,7 +37,7 @@ Adapted to Godot from the Bullet library. /* Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. @@ -163,7 +163,7 @@ public: Vector3 m_0MinvJt; Vector3 m_1MinvJt; //Optimization: can be stored in the w/last component of one of the vectors - real_t m_Adiag; + real_t m_Adiag = 1.0; }; #endif // JACOBIAN_ENTRY_SW_H diff --git a/servers/physics_3d/joints/pin_joint_3d_sw.cpp b/servers/physics_3d/joints/pin_joint_3d_sw.cpp index 7a713c1161..f41151ec0e 100644 --- a/servers/physics_3d/joints/pin_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/pin_joint_3d_sw.cpp @@ -34,7 +34,7 @@ Adapted to Godot from the Bullet library. /* Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. @@ -171,11 +171,6 @@ PinJoint3DSW::PinJoint3DSW(Body3DSW *p_body_a, const Vector3 &p_pos_a, Body3DSW m_pivotInA = p_pos_a; m_pivotInB = p_pos_b; - m_tau = 0.3; - m_damping = 1; - m_impulseClamp = 0; - m_appliedImpulse = 0; - A->add_constraint(this, 0); B->add_constraint(this, 1); } diff --git a/servers/physics_3d/joints/pin_joint_3d_sw.h b/servers/physics_3d/joints/pin_joint_3d_sw.h index 09deefc5c4..79af48f2a5 100644 --- a/servers/physics_3d/joints/pin_joint_3d_sw.h +++ b/servers/physics_3d/joints/pin_joint_3d_sw.h @@ -40,7 +40,7 @@ Adapted to Godot from the Bullet library. /* Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. @@ -60,15 +60,15 @@ class PinJoint3DSW : public Joint3DSW { Body3DSW *B; }; - Body3DSW *_arr[2]; + Body3DSW *_arr[2] = {}; }; - real_t m_tau; //bias - real_t m_damping; - real_t m_impulseClamp; - real_t m_appliedImpulse; + real_t m_tau = 0.3; //bias + real_t m_damping = 1.0; + real_t m_impulseClamp = 0.0; + real_t m_appliedImpulse = 0.0; - JacobianEntry3DSW m_jac[3]; //3 orthogonal linear constraints + JacobianEntry3DSW m_jac[3] = {}; //3 orthogonal linear constraints Vector3 m_pivotInA; Vector3 m_pivotInB; diff --git a/servers/physics_3d/joints/slider_joint_3d_sw.cpp b/servers/physics_3d/joints/slider_joint_3d_sw.cpp index 9f01196c30..e10ed436d5 100644 --- a/servers/physics_3d/joints/slider_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/slider_joint_3d_sw.cpp @@ -34,7 +34,7 @@ Adapted to Godot from the Bullet library. /* Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. @@ -72,41 +72,6 @@ static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) { return (y < 0.0f) ? -angle : angle; } -void SliderJoint3DSW::initParams() { - m_lowerLinLimit = real_t(1.0); - m_upperLinLimit = real_t(-1.0); - m_lowerAngLimit = real_t(0.); - m_upperAngLimit = real_t(0.); - m_softnessDirLin = SLIDER_CONSTRAINT_DEF_SOFTNESS; - m_restitutionDirLin = SLIDER_CONSTRAINT_DEF_RESTITUTION; - m_dampingDirLin = real_t(0.); - m_softnessDirAng = SLIDER_CONSTRAINT_DEF_SOFTNESS; - m_restitutionDirAng = SLIDER_CONSTRAINT_DEF_RESTITUTION; - m_dampingDirAng = real_t(0.); - m_softnessOrthoLin = SLIDER_CONSTRAINT_DEF_SOFTNESS; - m_restitutionOrthoLin = SLIDER_CONSTRAINT_DEF_RESTITUTION; - m_dampingOrthoLin = SLIDER_CONSTRAINT_DEF_DAMPING; - m_softnessOrthoAng = SLIDER_CONSTRAINT_DEF_SOFTNESS; - m_restitutionOrthoAng = SLIDER_CONSTRAINT_DEF_RESTITUTION; - m_dampingOrthoAng = SLIDER_CONSTRAINT_DEF_DAMPING; - m_softnessLimLin = SLIDER_CONSTRAINT_DEF_SOFTNESS; - m_restitutionLimLin = SLIDER_CONSTRAINT_DEF_RESTITUTION; - m_dampingLimLin = SLIDER_CONSTRAINT_DEF_DAMPING; - m_softnessLimAng = SLIDER_CONSTRAINT_DEF_SOFTNESS; - m_restitutionLimAng = SLIDER_CONSTRAINT_DEF_RESTITUTION; - m_dampingLimAng = SLIDER_CONSTRAINT_DEF_DAMPING; - - m_poweredLinMotor = false; - m_targetLinMotorVelocity = real_t(0.); - m_maxLinMotorForce = real_t(0.); - m_accumulatedLinMotorImpulse = real_t(0.0); - - m_poweredAngMotor = false; - m_targetAngMotorVelocity = real_t(0.); - m_maxAngMotorForce = real_t(0.); - m_accumulatedAngMotorImpulse = real_t(0.0); -} // SliderJointSW::initParams() - //----------------------------------------------------------------------------- //----------------------------------------------------------------------------- @@ -120,8 +85,6 @@ SliderJoint3DSW::SliderJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D A->add_constraint(this, 0); B->add_constraint(this, 1); - - initParams(); } // SliderJointSW::SliderJointSW() //----------------------------------------------------------------------------- diff --git a/servers/physics_3d/joints/slider_joint_3d_sw.h b/servers/physics_3d/joints/slider_joint_3d_sw.h index f09476f570..d32ad9469e 100644 --- a/servers/physics_3d/joints/slider_joint_3d_sw.h +++ b/servers/physics_3d/joints/slider_joint_3d_sw.h @@ -40,7 +40,7 @@ Adapted to Godot from the Bullet library. /* Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. @@ -73,53 +73,53 @@ protected: Body3DSW *B; }; - Body3DSW *_arr[2]; + Body3DSW *_arr[2] = { nullptr, nullptr }; }; Transform3D m_frameInA; Transform3D m_frameInB; // linear limits - real_t m_lowerLinLimit; - real_t m_upperLinLimit; + real_t m_lowerLinLimit = 1.0; + real_t m_upperLinLimit = -1.0; // angular limits - real_t m_lowerAngLimit; - real_t m_upperAngLimit; + real_t m_lowerAngLimit = 0.0; + real_t m_upperAngLimit = 0.0; // softness, restitution and damping for different cases // DirLin - moving inside linear limits // LimLin - hitting linear limit // DirAng - moving inside angular limits // LimAng - hitting angular limit // OrthoLin, OrthoAng - against constraint axis - real_t m_softnessDirLin; - real_t m_restitutionDirLin; - real_t m_dampingDirLin; - real_t m_softnessDirAng; - real_t m_restitutionDirAng; - real_t m_dampingDirAng; - real_t m_softnessLimLin; - real_t m_restitutionLimLin; - real_t m_dampingLimLin; - real_t m_softnessLimAng; - real_t m_restitutionLimAng; - real_t m_dampingLimAng; - real_t m_softnessOrthoLin; - real_t m_restitutionOrthoLin; - real_t m_dampingOrthoLin; - real_t m_softnessOrthoAng; - real_t m_restitutionOrthoAng; - real_t m_dampingOrthoAng; + real_t m_softnessDirLin = SLIDER_CONSTRAINT_DEF_SOFTNESS; + real_t m_restitutionDirLin = SLIDER_CONSTRAINT_DEF_RESTITUTION; + real_t m_dampingDirLin = 0.0; + real_t m_softnessDirAng = SLIDER_CONSTRAINT_DEF_SOFTNESS; + real_t m_restitutionDirAng = SLIDER_CONSTRAINT_DEF_RESTITUTION; + real_t m_dampingDirAng = 0.0; + real_t m_softnessLimLin = SLIDER_CONSTRAINT_DEF_SOFTNESS; + real_t m_restitutionLimLin = SLIDER_CONSTRAINT_DEF_RESTITUTION; + real_t m_dampingLimLin = SLIDER_CONSTRAINT_DEF_DAMPING; + real_t m_softnessLimAng = SLIDER_CONSTRAINT_DEF_SOFTNESS; + real_t m_restitutionLimAng = SLIDER_CONSTRAINT_DEF_RESTITUTION; + real_t m_dampingLimAng = SLIDER_CONSTRAINT_DEF_DAMPING; + real_t m_softnessOrthoLin = SLIDER_CONSTRAINT_DEF_SOFTNESS; + real_t m_restitutionOrthoLin = SLIDER_CONSTRAINT_DEF_RESTITUTION; + real_t m_dampingOrthoLin = SLIDER_CONSTRAINT_DEF_DAMPING; + real_t m_softnessOrthoAng = SLIDER_CONSTRAINT_DEF_SOFTNESS; + real_t m_restitutionOrthoAng = SLIDER_CONSTRAINT_DEF_RESTITUTION; + real_t m_dampingOrthoAng = SLIDER_CONSTRAINT_DEF_DAMPING; // for interlal use - bool m_solveLinLim; - bool m_solveAngLim; + bool m_solveLinLim = false; + bool m_solveAngLim = false; - JacobianEntry3DSW m_jacLin[3]; - real_t m_jacLinDiagABInv[3]; + JacobianEntry3DSW m_jacLin[3] = {}; + real_t m_jacLinDiagABInv[3] = {}; - JacobianEntry3DSW m_jacAng[3]; + JacobianEntry3DSW m_jacAng[3] = {}; - real_t m_timeStep; + real_t m_timeStep = 0.0; Transform3D m_calculatedTransformA; Transform3D m_calculatedTransformB; @@ -132,23 +132,20 @@ protected: Vector3 m_relPosA; Vector3 m_relPosB; - real_t m_linPos; + real_t m_linPos = 0.0; - real_t m_angDepth; - real_t m_kAngle; + real_t m_angDepth = 0.0; + real_t m_kAngle = 0.0; - bool m_poweredLinMotor; - real_t m_targetLinMotorVelocity; - real_t m_maxLinMotorForce; - real_t m_accumulatedLinMotorImpulse; + bool m_poweredLinMotor = false; + real_t m_targetLinMotorVelocity = 0.0; + real_t m_maxLinMotorForce = 0.0; + real_t m_accumulatedLinMotorImpulse = 0.0; - bool m_poweredAngMotor; - real_t m_targetAngMotorVelocity; - real_t m_maxAngMotorForce; - real_t m_accumulatedAngMotorImpulse; - - //------------------------ - void initParams(); + bool m_poweredAngMotor = false; + real_t m_targetAngMotorVelocity = 0.0; + real_t m_maxAngMotorForce = 0.0; + real_t m_accumulatedAngMotorImpulse = 0.0; public: // constructors diff --git a/servers/physics_3d/physics_server_3d_sw.cpp b/servers/physics_3d/physics_server_3d_sw.cpp index fbc6f7eee8..8bfadeb356 100644 --- a/servers/physics_3d/physics_server_3d_sw.cpp +++ b/servers/physics_3d/physics_server_3d_sw.cpp @@ -30,6 +30,7 @@ #include "physics_server_3d_sw.h" +#include "body_direct_state_3d_sw.h" #include "broad_phase_3d_bvh.h" #include "core/debugger/engine_debugger.h" #include "core/os/os.h" @@ -42,8 +43,8 @@ #define FLUSH_QUERY_CHECK(m_object) \ ERR_FAIL_COND_MSG(m_object->get_space() && flushing_queries, "Can't change this state while flushing queries. Use call_deferred() or set_deferred() to change monitoring state instead."); -RID PhysicsServer3DSW::plane_shape_create() { - Shape3DSW *shape = memnew(PlaneShape3DSW); +RID PhysicsServer3DSW::world_boundary_shape_create() { + Shape3DSW *shape = memnew(WorldBoundaryShape3DSW); RID rid = shape_owner.make_rid(shape); shape->set_self(rid); return rid; @@ -642,20 +643,27 @@ uint32_t PhysicsServer3DSW::body_get_user_flags(RID p_body) const { return 0; }; -void PhysicsServer3DSW::body_set_param(RID p_body, BodyParameter p_param, real_t p_value) { +void PhysicsServer3DSW::body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) { Body3DSW *body = body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_param(p_param, p_value); }; -real_t PhysicsServer3DSW::body_get_param(RID p_body, BodyParameter p_param) const { +Variant PhysicsServer3DSW::body_get_param(RID p_body, BodyParameter p_param) const { Body3DSW *body = body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0); return body->get_param(p_param); }; +void PhysicsServer3DSW::body_reset_mass_properties(RID p_body) { + Body3DSW *body = body_owner.getornull(p_body); + ERR_FAIL_COND(!body); + + return body->reset_mass_properties(); +} + void PhysicsServer3DSW::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) { Body3DSW *body = body_owner.getornull(p_body); ERR_FAIL_COND(!body); @@ -842,6 +850,12 @@ int PhysicsServer3DSW::body_get_max_contacts_reported(RID p_body) const { return body->get_max_contacts_reported(); } +void PhysicsServer3DSW::body_set_state_sync_callback(RID p_body, void *p_instance, BodyStateCallback p_callback) { + Body3DSW *body = body_owner.getornull(p_body); + ERR_FAIL_COND(!body); + body->set_state_sync_callback(p_instance, p_callback); +} + void PhysicsServer3DSW::body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata) { Body3DSW *body = body_owner.getornull(p_body); ERR_FAIL_COND(!body); @@ -869,11 +883,12 @@ PhysicsDirectBodyState3D *PhysicsServer3DSW::body_get_direct_state(RID p_body) { ERR_FAIL_COND_V_MSG((using_threads && !doing_sync), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification."); Body3DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, nullptr); + ERR_FAIL_NULL_V(body, nullptr); + + ERR_FAIL_NULL_V(body->get_space(), nullptr); ERR_FAIL_COND_V_MSG(body->get_space()->is_locked(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification."); - direct_state->body = body; - return direct_state; + return body->get_direct_state(); } /* SOFT BODY */ @@ -1578,10 +1593,8 @@ void PhysicsServer3DSW::set_collision_iterations(int p_iterations) { }; void PhysicsServer3DSW::init() { - last_step = 0.001; iterations = 8; // 8? stepper = memnew(Step3DSW); - direct_state = memnew(PhysicsDirectBodyState3DSW); }; void PhysicsServer3DSW::step(real_t p_step) { @@ -1593,9 +1606,6 @@ void PhysicsServer3DSW::step(real_t p_step) { _update_shapes(); - last_step = p_step; - PhysicsDirectBodyState3DSW::singleton->step = p_step; - island_count = 0; active_objects = 0; collision_pairs = 0; @@ -1671,7 +1681,6 @@ void PhysicsServer3DSW::end_sync() { void PhysicsServer3DSW::finish() { memdelete(stepper); - memdelete(direct_state); }; int PhysicsServer3DSW::get_process_info(ProcessInfo p_info) { @@ -1735,11 +1744,5 @@ PhysicsServer3DSW::PhysicsServer3DSW(bool p_using_threads) { singletonsw = this; BroadPhase3DSW::create_func = BroadPhase3DBVH::_create; - island_count = 0; - active_objects = 0; - collision_pairs = 0; using_threads = p_using_threads; - active = true; - flushing_queries = false; - doing_sync = false; }; diff --git a/servers/physics_3d/physics_server_3d_sw.h b/servers/physics_3d/physics_server_3d_sw.h index a18593c90c..c34f8bff7a 100644 --- a/servers/physics_3d/physics_server_3d_sw.h +++ b/servers/physics_3d/physics_server_3d_sw.h @@ -42,23 +42,20 @@ class PhysicsServer3DSW : public PhysicsServer3D { GDCLASS(PhysicsServer3DSW, PhysicsServer3D); friend class PhysicsDirectSpaceState3DSW; - bool active; - int iterations; - real_t last_step; + bool active = true; + int iterations = 0; - int island_count; - int active_objects; - int collision_pairs; + int island_count = 0; + int active_objects = 0; + int collision_pairs = 0; - bool using_threads; - bool doing_sync; - bool flushing_queries; + bool using_threads = false; + bool doing_sync = false; + bool flushing_queries = false; - Step3DSW *stepper; + Step3DSW *stepper = nullptr; Set<const Space3DSW *> active_spaces; - PhysicsDirectBodyState3DSW *direct_state; - mutable RID_PtrOwner<Shape3DSW, true> shape_owner; mutable RID_PtrOwner<Space3DSW, true> space_owner; mutable RID_PtrOwner<Area3DSW, true> area_owner; @@ -82,7 +79,7 @@ public: static void _shape_col_cbk(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata); - virtual RID plane_shape_create() override; + virtual RID world_boundary_shape_create() override; virtual RID separation_ray_shape_create() override; virtual RID sphere_shape_create() override; virtual RID box_shape_create() override; @@ -201,8 +198,10 @@ public: virtual void body_set_user_flags(RID p_body, uint32_t p_flags) override; virtual uint32_t body_get_user_flags(RID p_body) const override; - virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value) override; - virtual real_t body_get_param(RID p_body, BodyParameter p_param) const override; + virtual void body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) override; + virtual Variant body_get_param(RID p_body, BodyParameter p_param) const override; + + virtual void body_reset_mass_properties(RID p_body) override; 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; @@ -238,6 +237,7 @@ public: virtual void body_set_max_contacts_reported(RID p_body, int p_contacts) override; virtual int body_get_max_contacts_reported(RID p_body) const override; + virtual void body_set_state_sync_callback(RID p_body, void *p_instance, BodyStateCallback p_callback) override; virtual void body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata = Variant()) override; virtual void body_set_ray_pickable(RID p_body, bool p_enable) override; diff --git a/servers/physics_3d/physics_server_3d_wrap_mt.cpp b/servers/physics_3d/physics_server_3d_wrap_mt.cpp index 0a89c1a9c9..c424100bba 100644 --- a/servers/physics_3d/physics_server_3d_wrap_mt.cpp +++ b/servers/physics_3d/physics_server_3d_wrap_mt.cpp @@ -119,8 +119,6 @@ PhysicsServer3DWrapMT::PhysicsServer3DWrapMT(PhysicsServer3D *p_contained, bool command_queue(p_create_thread) { physics_3d_server = p_contained; create_thread = p_create_thread; - step_pending = 0; - step_thread_up = false; pool_max_size = GLOBAL_GET("memory/limits/multithreaded_server/rid_pool_prealloc"); @@ -131,7 +129,6 @@ PhysicsServer3DWrapMT::PhysicsServer3DWrapMT(PhysicsServer3D *p_contained, bool } main_thread = Thread::get_caller_id(); - first_frame = true; } PhysicsServer3DWrapMT::~PhysicsServer3DWrapMT() { diff --git a/servers/physics_3d/physics_server_3d_wrap_mt.h b/servers/physics_3d/physics_server_3d_wrap_mt.h index 674c52d4a3..a5683b99c3 100644 --- a/servers/physics_3d/physics_server_3d_wrap_mt.h +++ b/servers/physics_3d/physics_server_3d_wrap_mt.h @@ -58,7 +58,7 @@ class PhysicsServer3DWrapMT : public PhysicsServer3D { bool create_thread = false; Semaphore step_sem; - int step_pending; + int step_pending = 0; void thread_step(real_t p_delta); void thread_flush(); @@ -78,7 +78,7 @@ public: #include "servers/server_wrap_mt_common.h" //FUNC1RID(shape,ShapeType); todo fix - FUNCRID(plane_shape) + FUNCRID(world_boundary_shape) FUNCRID(separation_ray_shape) FUNCRID(sphere_shape) FUNCRID(box_shape) @@ -210,8 +210,10 @@ public: FUNC2(body_set_user_flags, RID, uint32_t); FUNC1RC(uint32_t, body_get_user_flags, RID); - FUNC3(body_set_param, RID, BodyParameter, real_t); - FUNC2RC(real_t, body_get_param, RID, BodyParameter); + FUNC3(body_set_param, RID, BodyParameter, const Variant &); + FUNC2RC(Variant, body_get_param, RID, BodyParameter); + + FUNC1(body_reset_mass_properties, RID); FUNC3(body_set_state, RID, BodyState, const Variant &); FUNC2RC(Variant, body_get_state, RID, BodyState); @@ -246,6 +248,7 @@ public: FUNC2(body_set_omit_force_integration, RID, bool); FUNC1RC(bool, body_is_omitting_force_integration, RID); + FUNC3(body_set_state_sync_callback, RID, void *, BodyStateCallback); FUNC3(body_set_force_integration_callback, RID, const Callable &, const Variant &); FUNC2(body_set_ray_pickable, RID, bool); diff --git a/servers/physics_3d/shape_3d_sw.cpp b/servers/physics_3d/shape_3d_sw.cpp index b81d3272c3..1533d6e592 100644 --- a/servers/physics_3d/shape_3d_sw.cpp +++ b/servers/physics_3d/shape_3d_sw.cpp @@ -39,7 +39,7 @@ /* Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2009 Erwin Coumans https://bulletphysics.org +Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. @@ -101,30 +101,25 @@ const Map<ShapeOwner3DSW *, int> &Shape3DSW::get_owners() const { return owners; } -Shape3DSW::Shape3DSW() { - custom_bias = 0; - configured = false; -} - Shape3DSW::~Shape3DSW() { ERR_FAIL_COND(owners.size()); } -Plane PlaneShape3DSW::get_plane() const { +Plane WorldBoundaryShape3DSW::get_plane() const { return plane; } -void PlaneShape3DSW::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { +void WorldBoundaryShape3DSW::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { // gibberish, a plane is infinity r_min = -1e7; r_max = 1e7; } -Vector3 PlaneShape3DSW::get_support(const Vector3 &p_normal) const { +Vector3 WorldBoundaryShape3DSW::get_support(const Vector3 &p_normal) const { return p_normal * 1e15; } -bool PlaneShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { +bool WorldBoundaryShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { bool inters = plane.intersects_segment(p_begin, p_end, &r_result); if (inters) { r_normal = plane.normal; @@ -132,11 +127,11 @@ bool PlaneShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_ return inters; } -bool PlaneShape3DSW::intersect_point(const Vector3 &p_point) const { +bool WorldBoundaryShape3DSW::intersect_point(const Vector3 &p_point) const { return plane.distance_to(p_point) < 0; } -Vector3 PlaneShape3DSW::get_closest_point_to(const Vector3 &p_point) const { +Vector3 WorldBoundaryShape3DSW::get_closest_point_to(const Vector3 &p_point) const { if (plane.is_point_over(p_point)) { return plane.project(p_point); } else { @@ -144,24 +139,24 @@ Vector3 PlaneShape3DSW::get_closest_point_to(const Vector3 &p_point) const { } } -Vector3 PlaneShape3DSW::get_moment_of_inertia(real_t p_mass) const { - return Vector3(); //wtf +Vector3 WorldBoundaryShape3DSW::get_moment_of_inertia(real_t p_mass) const { + return Vector3(); // not applicable. } -void PlaneShape3DSW::_setup(const Plane &p_plane) { +void WorldBoundaryShape3DSW::_setup(const Plane &p_plane) { plane = p_plane; configure(AABB(Vector3(-1e4, -1e4, -1e4), Vector3(1e4 * 2, 1e4 * 2, 1e4 * 2))); } -void PlaneShape3DSW::set_data(const Variant &p_data) { +void WorldBoundaryShape3DSW::set_data(const Variant &p_data) { _setup(p_data); } -Variant PlaneShape3DSW::get_data() const { +Variant WorldBoundaryShape3DSW::get_data() const { return plane; } -PlaneShape3DSW::PlaneShape3DSW() { +WorldBoundaryShape3DSW::WorldBoundaryShape3DSW() { } // @@ -244,10 +239,7 @@ Variant SeparationRayShape3DSW::get_data() const { return d; } -SeparationRayShape3DSW::SeparationRayShape3DSW() { - length = 1; - slide_on_slope = false; -} +SeparationRayShape3DSW::SeparationRayShape3DSW() {} /********** SPHERE *************/ @@ -311,9 +303,7 @@ Variant SphereShape3DSW::get_data() const { return radius; } -SphereShape3DSW::SphereShape3DSW() { - radius = 0; -} +SphereShape3DSW::SphereShape3DSW() {} /********** BOX *************/ @@ -502,8 +492,7 @@ Variant BoxShape3DSW::get_data() const { return half_extents; } -BoxShape3DSW::BoxShape3DSW() { -} +BoxShape3DSW::BoxShape3DSW() {} /********** CAPSULE *************/ @@ -668,9 +657,7 @@ Variant CapsuleShape3DSW::get_data() const { return d; } -CapsuleShape3DSW::CapsuleShape3DSW() { - height = radius = 0; -} +CapsuleShape3DSW::CapsuleShape3DSW() {} /********** CYLINDER *************/ @@ -848,9 +835,7 @@ Variant CylinderShape3DSW::get_data() const { return d; } -CylinderShape3DSW::CylinderShape3DSW() { - height = radius = 0; -} +CylinderShape3DSW::CylinderShape3DSW() {} /********** CONVEX POLYGON *************/ @@ -1676,6 +1661,17 @@ struct _HeightmapSegmentCullParams { FaceShape3DSW *face = nullptr; }; +struct _HeightmapGridCullState { + real_t length = 0.0; + real_t length_flat = 0.0; + + real_t dist = 0.0; + real_t prev_dist = 0.0; + + int x = 0; + int z = 0; +}; + _FORCE_INLINE_ bool _heightmap_face_cull_segment(_HeightmapSegmentCullParams &p_params) { Vector3 res; Vector3 normal; @@ -1688,11 +1684,11 @@ _FORCE_INLINE_ bool _heightmap_face_cull_segment(_HeightmapSegmentCullParams &p_ return false; } -_FORCE_INLINE_ bool _heightmap_cell_cull_segment(_HeightmapSegmentCullParams &p_params, int p_x, int p_z) { +_FORCE_INLINE_ bool _heightmap_cell_cull_segment(_HeightmapSegmentCullParams &p_params, const _HeightmapGridCullState &p_state) { // First triangle. - p_params.heightmap->_get_point(p_x, p_z, p_params.face->vertex[0]); - p_params.heightmap->_get_point(p_x + 1, p_z, p_params.face->vertex[1]); - p_params.heightmap->_get_point(p_x, p_z + 1, p_params.face->vertex[2]); + p_params.heightmap->_get_point(p_state.x, p_state.z, p_params.face->vertex[0]); + p_params.heightmap->_get_point(p_state.x + 1, p_state.z, p_params.face->vertex[1]); + p_params.heightmap->_get_point(p_state.x, p_state.z + 1, p_params.face->vertex[2]); p_params.face->normal = Plane(p_params.face->vertex[0], p_params.face->vertex[1], p_params.face->vertex[2]).normal; if (_heightmap_face_cull_segment(p_params)) { return true; @@ -1700,7 +1696,7 @@ _FORCE_INLINE_ bool _heightmap_cell_cull_segment(_HeightmapSegmentCullParams &p_ // Second triangle. p_params.face->vertex[0] = p_params.face->vertex[1]; - p_params.heightmap->_get_point(p_x + 1, p_z + 1, p_params.face->vertex[1]); + p_params.heightmap->_get_point(p_state.x + 1, p_state.z + 1, p_params.face->vertex[1]); p_params.face->normal = Plane(p_params.face->vertex[0], p_params.face->vertex[1], p_params.face->vertex[2]).normal; if (_heightmap_face_cull_segment(p_params)) { return true; @@ -1709,13 +1705,51 @@ _FORCE_INLINE_ bool _heightmap_cell_cull_segment(_HeightmapSegmentCullParams &p_ return false; } -bool HeightMapShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal) const { - if (heights.is_empty()) { +_FORCE_INLINE_ bool _heightmap_chunk_cull_segment(_HeightmapSegmentCullParams &p_params, const _HeightmapGridCullState &p_state) { + const HeightMapShape3DSW::Range &chunk = p_params.heightmap->_get_bounds_chunk(p_state.x, p_state.z); + + Vector3 enter_pos; + Vector3 exit_pos; + + if (p_state.length_flat > CMP_EPSILON) { + real_t flat_to_3d = p_state.length / p_state.length_flat; + real_t enter_param = p_state.prev_dist * flat_to_3d; + real_t exit_param = p_state.dist * flat_to_3d; + enter_pos = p_params.from + p_params.dir * enter_param; + exit_pos = p_params.from + p_params.dir * exit_param; + } else { + // Consider the ray vertical. + // (though we shouldn't reach this often because there is an early check up-front) + enter_pos = p_params.from; + exit_pos = p_params.to; + } + + // Transform positions to heightmap space. + enter_pos *= HeightMapShape3DSW::BOUNDS_CHUNK_SIZE; + exit_pos *= HeightMapShape3DSW::BOUNDS_CHUNK_SIZE; + + // We did enter the flat projection of the AABB, + // but we have to check if we intersect it on the vertical axis. + if ((enter_pos.y > chunk.max) && (exit_pos.y > chunk.max)) { + return false; + } + if ((enter_pos.y < chunk.min) && (exit_pos.y < chunk.min)) { return false; } - Vector3 local_begin = p_begin + local_origin; - Vector3 local_end = p_end + local_origin; + return p_params.heightmap->_intersect_grid_segment(_heightmap_cell_cull_segment, enter_pos, exit_pos, p_params.heightmap->width, p_params.heightmap->depth, p_params.heightmap->local_origin, p_params.result, p_params.normal); +} + +template <typename ProcessFunction> +bool HeightMapShape3DSW::_intersect_grid_segment(ProcessFunction &p_process, const Vector3 &p_begin, const Vector3 &p_end, int p_width, int p_depth, const Vector3 &offset, Vector3 &r_point, Vector3 &r_normal) const { + Vector3 delta = (p_end - p_begin); + real_t length = delta.length(); + + if (length < CMP_EPSILON) { + return false; + } + + Vector3 local_begin = p_begin + offset; FaceShape3DSW face; face.backface_collision = false; @@ -1723,136 +1757,181 @@ bool HeightMapShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 _HeightmapSegmentCullParams params; params.from = p_begin; params.to = p_end; - params.dir = (p_end - p_begin).normalized(); + params.dir = delta / length; params.heightmap = this; params.face = &face; - // Quantize the ray begin/end. - int begin_x = floor(local_begin.x); - int begin_z = floor(local_begin.z); - int end_x = floor(local_end.x); - int end_z = floor(local_end.z); + _HeightmapGridCullState state; - if ((begin_x == end_x) && (begin_z == end_z)) { - // Simple case for rays that don't traverse the grid horizontally. - // Just perform a test on the given cell. - int x = CLAMP(begin_x, 0, width - 2); - int z = CLAMP(begin_z, 0, depth - 2); - if (_heightmap_cell_cull_segment(params, x, z)) { - r_point = params.result; - r_normal = params.normal; - return true; - } - } else { - // Perform grid query from projected ray. - Vector2 ray_dir_proj(local_end.x - local_begin.x, local_end.z - local_begin.z); - real_t ray_dist_proj = ray_dir_proj.length(); + // Perform grid query from projected ray. + Vector2 ray_dir_flat(delta.x, delta.z); + state.length = length; + state.length_flat = ray_dir_flat.length(); - if (ray_dist_proj < CMP_EPSILON) { - ray_dir_proj = Vector2(); - } else { - ray_dir_proj /= ray_dist_proj; - } + if (state.length_flat < CMP_EPSILON) { + ray_dir_flat = Vector2(); + } else { + ray_dir_flat /= state.length_flat; + } - const int x_step = (ray_dir_proj.x > CMP_EPSILON) ? 1 : ((ray_dir_proj.x < -CMP_EPSILON) ? -1 : 0); - const int z_step = (ray_dir_proj.y > CMP_EPSILON) ? 1 : ((ray_dir_proj.y < -CMP_EPSILON) ? -1 : 0); + const int x_step = (ray_dir_flat.x > CMP_EPSILON) ? 1 : ((ray_dir_flat.x < -CMP_EPSILON) ? -1 : 0); + const int z_step = (ray_dir_flat.y > CMP_EPSILON) ? 1 : ((ray_dir_flat.y < -CMP_EPSILON) ? -1 : 0); - const real_t infinite = 1e20; - const real_t delta_x = (x_step != 0) ? 1.f / Math::abs(ray_dir_proj.x) : infinite; - const real_t delta_z = (z_step != 0) ? 1.f / Math::abs(ray_dir_proj.y) : infinite; + const real_t infinite = 1e20; + const real_t delta_x = (x_step != 0) ? 1.f / Math::abs(ray_dir_flat.x) : infinite; + const real_t delta_z = (z_step != 0) ? 1.f / Math::abs(ray_dir_flat.y) : infinite; - real_t cross_x; // At which value of `param` we will cross a x-axis lane? - real_t cross_z; // At which value of `param` we will cross a z-axis lane? + real_t cross_x; // At which value of `param` we will cross a x-axis lane? + real_t cross_z; // At which value of `param` we will cross a z-axis lane? - // X initialization. - if (x_step != 0) { - if (x_step == 1) { - cross_x = (ceil(local_begin.x) - local_begin.x) * delta_x; - } else { - cross_x = (local_begin.x - floor(local_begin.x)) * delta_x; - } + // X initialization. + if (x_step != 0) { + if (x_step == 1) { + cross_x = (Math::ceil(local_begin.x) - local_begin.x) * delta_x; } else { - cross_x = infinite; // Will never cross on X. + cross_x = (local_begin.x - Math::floor(local_begin.x)) * delta_x; } + } else { + cross_x = infinite; // Will never cross on X. + } - // Z initialization. - if (z_step != 0) { - if (z_step == 1) { - cross_z = (ceil(local_begin.z) - local_begin.z) * delta_z; - } else { - cross_z = (local_begin.z - floor(local_begin.z)) * delta_z; - } + // Z initialization. + if (z_step != 0) { + if (z_step == 1) { + cross_z = (Math::ceil(local_begin.z) - local_begin.z) * delta_z; } else { - cross_z = infinite; // Will never cross on Z. + cross_z = (local_begin.z - Math::floor(local_begin.z)) * delta_z; } + } else { + cross_z = infinite; // Will never cross on Z. + } - int x = floor(local_begin.x); - int z = floor(local_begin.z); + int x = Math::floor(local_begin.x); + int z = Math::floor(local_begin.z); - // Workaround cases where the ray starts at an integer position. - if (Math::is_zero_approx(cross_x)) { - cross_x += delta_x; - // If going backwards, we should ignore the position we would get by the above flooring, - // because the ray is not heading in that direction. - if (x_step == -1) { - x -= 1; - } + // Workaround cases where the ray starts at an integer position. + if (Math::is_zero_approx(cross_x)) { + cross_x += delta_x; + // If going backwards, we should ignore the position we would get by the above flooring, + // because the ray is not heading in that direction. + if (x_step == -1) { + x -= 1; } + } - if (Math::is_zero_approx(cross_z)) { - cross_z += delta_z; - if (z_step == -1) { - z -= 1; - } + if (Math::is_zero_approx(cross_z)) { + cross_z += delta_z; + if (z_step == -1) { + z -= 1; } + } + + // Start inside the grid. + int x_start = MAX(MIN(x, p_width - 2), 0); + int z_start = MAX(MIN(z, p_depth - 2), 0); - // Start inside the grid. - int x_start = CLAMP(x, 0, width - 2); - int z_start = CLAMP(z, 0, depth - 2); + // Adjust initial cross values. + cross_x += delta_x * x_step * (x_start - x); + cross_z += delta_z * z_step * (z_start - z); - // Adjust initial cross values. - cross_x += delta_x * x_step * (x_start - x); - cross_z += delta_z * z_step * (z_start - z); + x = x_start; + z = z_start; + + while (true) { + state.prev_dist = state.dist; + state.x = x; + state.z = z; + + if (cross_x < cross_z) { + // X lane. + x += x_step; + // Assign before advancing the param, + // to be in sync with the initialization step. + state.dist = cross_x; + cross_x += delta_x; + } else { + // Z lane. + z += z_step; + state.dist = cross_z; + cross_z += delta_z; + } - x = x_start; - z = z_start; + if (state.dist > state.length_flat) { + state.dist = state.length_flat; + if (p_process(params, state)) { + r_point = params.result; + r_normal = params.normal; + return true; + } + break; + } - if (_heightmap_cell_cull_segment(params, x, z)) { + if (p_process(params, state)) { r_point = params.result; r_normal = params.normal; return true; } - real_t dist = 0.0; - while (true) { - if (cross_x < cross_z) { - // X lane. - x += x_step; - // Assign before advancing the param, - // to be in sync with the initialization step. - dist = cross_x; - cross_x += delta_x; - } else { - // Z lane. - z += z_step; - dist = cross_z; - cross_z += delta_z; - } + // Stop when outside the grid. + if ((x < 0) || (z < 0) || (x >= p_width - 1) || (z >= p_depth - 1)) { + break; + } + } - // Stop when outside the grid. - if ((x < 0) || (z < 0) || (x >= width - 1) || (z >= depth - 1)) { - break; - } + return false; +} - if (_heightmap_cell_cull_segment(params, x, z)) { - r_point = params.result; - r_normal = params.normal; - return true; - } +bool HeightMapShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal) const { + if (heights.is_empty()) { + return false; + } - if (dist > ray_dist_proj) { - break; - } + Vector3 local_begin = p_begin + local_origin; + Vector3 local_end = p_end + local_origin; + + // Quantize the ray begin/end. + int begin_x = Math::floor(local_begin.x); + int begin_z = Math::floor(local_begin.z); + int end_x = Math::floor(local_end.x); + int end_z = Math::floor(local_end.z); + + if ((begin_x == end_x) && (begin_z == end_z)) { + // Simple case for rays that don't traverse the grid horizontally. + // Just perform a test on the given cell. + FaceShape3DSW face; + face.backface_collision = false; + + _HeightmapSegmentCullParams params; + params.from = p_begin; + params.to = p_end; + params.dir = (p_end - p_begin).normalized(); + + params.heightmap = this; + params.face = &face; + + _HeightmapGridCullState state; + state.x = MAX(MIN(begin_x, width - 2), 0); + state.z = MAX(MIN(begin_z, depth - 2), 0); + if (_heightmap_cell_cull_segment(params, state)) { + r_point = params.result; + r_normal = params.normal; + return true; + } + } else if (bounds_grid.is_empty()) { + // Process all cells intersecting the flat projection of the ray. + return _intersect_grid_segment(_heightmap_cell_cull_segment, p_begin, p_end, width, depth, local_origin, r_point, r_normal); + } else { + Vector3 ray_diff = (p_end - p_begin); + real_t length_flat_sqr = ray_diff.x * ray_diff.x + ray_diff.z * ray_diff.z; + if (length_flat_sqr < BOUNDS_CHUNK_SIZE * BOUNDS_CHUNK_SIZE) { + // Don't use chunks, the ray is too short in the plane. + return _intersect_grid_segment(_heightmap_cell_cull_segment, p_begin, p_end, width, depth, local_origin, r_point, r_normal); + } else { + // The ray is long, run raycast on a higher-level grid. + Vector3 bounds_from = p_begin / BOUNDS_CHUNK_SIZE; + Vector3 bounds_to = p_end / BOUNDS_CHUNK_SIZE; + Vector3 bounds_offset = local_origin / BOUNDS_CHUNK_SIZE; + return _intersect_grid_segment(_heightmap_chunk_cull_segment, bounds_from, bounds_to, bounds_grid_width, bounds_grid_depth, bounds_offset, r_point, r_normal); } } @@ -1917,7 +1996,7 @@ void HeightMapShape3DSW::cull(const AABB &p_local_aabb, QueryCallback p_callback _get_point(x, z, face.vertex[0]); _get_point(x + 1, z, face.vertex[1]); _get_point(x, z + 1, face.vertex[2]); - face.normal = Plane(face.vertex[0], face.vertex[2], face.vertex[1]).normal; + face.normal = Plane(face.vertex[0], face.vertex[1], face.vertex[2]).normal; if (p_callback(p_userdata, &face)) { return; } @@ -1925,7 +2004,7 @@ void HeightMapShape3DSW::cull(const AABB &p_local_aabb, QueryCallback p_callback // Second triangle. face.vertex[0] = face.vertex[1]; _get_point(x + 1, z + 1, face.vertex[1]); - face.normal = Plane(face.vertex[0], face.vertex[2], face.vertex[1]).normal; + face.normal = Plane(face.vertex[0], face.vertex[1], face.vertex[2]).normal; if (p_callback(p_userdata, &face)) { return; } @@ -1943,6 +2022,75 @@ Vector3 HeightMapShape3DSW::get_moment_of_inertia(real_t p_mass) const { (p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y)); } +void HeightMapShape3DSW::_build_accelerator() { + bounds_grid.clear(); + + bounds_grid_width = width / BOUNDS_CHUNK_SIZE; + bounds_grid_depth = depth / BOUNDS_CHUNK_SIZE; + + if (width % BOUNDS_CHUNK_SIZE > 0) { + ++bounds_grid_width; // In case terrain size isn't dividable by chunk size. + } + + if (depth % BOUNDS_CHUNK_SIZE > 0) { + ++bounds_grid_depth; + } + + uint32_t bound_grid_size = (uint32_t)(bounds_grid_width * bounds_grid_depth); + + if (bound_grid_size < 2) { + // Grid is empty or just one chunk. + return; + } + + bounds_grid.resize(bound_grid_size); + + // Compute min and max height for all chunks. + for (int cz = 0; cz < bounds_grid_depth; ++cz) { + int z0 = cz * BOUNDS_CHUNK_SIZE; + + for (int cx = 0; cx < bounds_grid_width; ++cx) { + int x0 = cx * BOUNDS_CHUNK_SIZE; + + Range r; + + r.min = _get_height(x0, z0); + r.max = r.min; + + // Compute min and max height for this chunk. + // We have to include one extra cell to account for neighbors. + // Here is why: + // Say we have a flat terrain, and a plateau that fits a chunk perfectly. + // + // Left Right + // 0---0---0---1---1---1 + // | | | | | | + // 0---0---0---1---1---1 + // | | | | | | + // 0---0---0---1---1---1 + // x + // + // If the AABB for the Left chunk did not share vertices with the Right, + // then we would fail collision tests at x due to a gap. + // + int z_max = MIN(z0 + BOUNDS_CHUNK_SIZE + 1, depth); + int x_max = MIN(x0 + BOUNDS_CHUNK_SIZE + 1, width); + for (int z = z0; z < z_max; ++z) { + for (int x = x0; x < x_max; ++x) { + real_t height = _get_height(x, z); + if (height < r.min) { + r.min = height; + } else if (height > r.max) { + r.max = height; + } + } + } + + bounds_grid[cx + cz * bounds_grid_width] = r; + } + } +} + void HeightMapShape3DSW::_setup(const Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) { heights = p_heights; width = p_width; @@ -1959,6 +2107,8 @@ void HeightMapShape3DSW::_setup(const Vector<real_t> &p_heights, int p_width, in aabb.position -= local_origin; + _build_accelerator(); + configure(aabb); } @@ -2017,7 +2167,7 @@ void HeightMapShape3DSW::set_data(const Variant &p_data) { } else { int heights_size = heights.size(); for (int i = 0; i < heights_size; ++i) { - float h = heights[i]; + real_t h = heights[i]; if (h < min_height) { min_height = h; } else if (h > max_height) { diff --git a/servers/physics_3d/shape_3d_sw.h b/servers/physics_3d/shape_3d_sw.h index b05f65f268..061d66a085 100644 --- a/servers/physics_3d/shape_3d_sw.h +++ b/servers/physics_3d/shape_3d_sw.h @@ -32,6 +32,7 @@ #define SHAPE_SW_H #include "core/math/geometry_3d.h" +#include "core/templates/local_vector.h" #include "servers/physics_server_3d.h" class Shape3DSW; @@ -47,8 +48,8 @@ public: class Shape3DSW { RID self; AABB aabb; - bool configured; - real_t custom_bias; + bool configured = false; + real_t custom_bias = 0.0; Map<ShapeOwner3DSW *, int> owners; @@ -94,7 +95,7 @@ public: bool is_owner(ShapeOwner3DSW *p_owner) const; const Map<ShapeOwner3DSW *, int> &get_owners() const; - Shape3DSW(); + Shape3DSW() {} virtual ~Shape3DSW(); }; @@ -111,7 +112,7 @@ public: ConcaveShape3DSW() {} }; -class PlaneShape3DSW : public Shape3DSW { +class WorldBoundaryShape3DSW : public Shape3DSW { Plane plane; void _setup(const Plane &p_plane); @@ -120,7 +121,7 @@ public: Plane get_plane() const; virtual real_t get_area() const override { return INFINITY; } - virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_PLANE; } + virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_WORLD_BOUNDARY; } virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const override; virtual Vector3 get_support(const Vector3 &p_normal) const override; virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override { r_amount = 0; } @@ -133,12 +134,12 @@ public: virtual void set_data(const Variant &p_data) override; virtual Variant get_data() const override; - PlaneShape3DSW(); + WorldBoundaryShape3DSW(); }; class SeparationRayShape3DSW : public Shape3DSW { - real_t length; - bool slide_on_slope; + real_t length = 1.0; + bool slide_on_slope = false; void _setup(real_t p_length, bool p_slide_on_slope); @@ -165,7 +166,7 @@ public: }; class SphereShape3DSW : public Shape3DSW { - real_t radius; + real_t radius = 0.0; void _setup(real_t p_radius); @@ -217,8 +218,8 @@ public: }; class CapsuleShape3DSW : public Shape3DSW { - real_t height; - real_t radius; + real_t height = 0.0; + real_t radius = 0.0; void _setup(real_t p_height, real_t p_radius); @@ -246,8 +247,8 @@ public: }; class CylinderShape3DSW : public Shape3DSW { - real_t height; - real_t radius; + real_t height = 0.0; + real_t radius = 0.0; void _setup(real_t p_height, real_t p_radius); @@ -307,7 +308,7 @@ struct ConcavePolygonShape3DSW : public ConcaveShape3DSW { struct Face { Vector3 normal; - int indices[3]; + int indices[3] = {}; }; Vector<Face> faces; @@ -315,10 +316,10 @@ struct ConcavePolygonShape3DSW : public ConcaveShape3DSW { struct BVH { AABB aabb; - int left; - int right; + int left = 0; + int right = 0; - int face_index; + int face_index = 0; }; Vector<BVH> bvh; @@ -385,6 +386,21 @@ struct HeightMapShape3DSW : public ConcaveShape3DSW { int depth = 0; Vector3 local_origin; + // Accelerator. + struct Range { + real_t min = 0.0; + real_t max = 0.0; + }; + LocalVector<Range> bounds_grid; + int bounds_grid_width = 0; + int bounds_grid_depth = 0; + + static const int BOUNDS_CHUNK_SIZE = 16; + + _FORCE_INLINE_ const Range &_get_bounds_chunk(int p_x, int p_z) const { + return bounds_grid[(p_z * bounds_grid_width) + p_x]; + } + _FORCE_INLINE_ real_t _get_height(int p_x, int p_z) const { return heights[(p_z * width) + p_x]; } @@ -397,6 +413,11 @@ struct HeightMapShape3DSW : public ConcaveShape3DSW { void _get_cell(const Vector3 &p_point, int &r_x, int &r_y, int &r_z) const; + void _build_accelerator(); + + template <typename ProcessFunction> + bool _intersect_grid_segment(ProcessFunction &p_process, const Vector3 &p_begin, const Vector3 &p_end, int p_width, int p_depth, const Vector3 &offset, Vector3 &r_point, Vector3 &r_normal) const; + void _setup(const Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height); public: @@ -448,7 +469,7 @@ struct FaceShape3DSW : public Shape3DSW { }; struct MotionShape3DSW : public Shape3DSW { - Shape3DSW *shape; + Shape3DSW *shape = nullptr; Vector3 motion; virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CONVEX_POLYGON; } diff --git a/servers/physics_3d/soft_body_3d_sw.cpp b/servers/physics_3d/soft_body_3d_sw.cpp index d7e13867bf..5f6e202c73 100644 --- a/servers/physics_3d/soft_body_3d_sw.cpp +++ b/servers/physics_3d/soft_body_3d_sw.cpp @@ -38,7 +38,7 @@ /* Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/space_3d_sw.cpp index 37dee436df..bf72e90932 100644 --- a/servers/physics_3d/space_3d_sw.cpp +++ b/servers/physics_3d/space_3d_sw.cpp @@ -977,12 +977,12 @@ void Space3DSW::body_remove_from_active_list(SelfList<Body3DSW> *p_body) { active_list.remove(p_body); } -void Space3DSW::body_add_to_inertia_update_list(SelfList<Body3DSW> *p_body) { - inertia_update_list.add(p_body); +void Space3DSW::body_add_to_mass_properties_update_list(SelfList<Body3DSW> *p_body) { + mass_properties_update_list.add(p_body); } -void Space3DSW::body_remove_from_inertia_update_list(SelfList<Body3DSW> *p_body) { - inertia_update_list.remove(p_body); +void Space3DSW::body_remove_from_mass_properties_update_list(SelfList<Body3DSW> *p_body) { + mass_properties_update_list.remove(p_body); } BroadPhase3DSW *Space3DSW::get_broadphase() { @@ -1059,9 +1059,9 @@ void Space3DSW::call_queries() { void Space3DSW::setup() { contact_debug_count = 0; - while (inertia_update_list.first()) { - inertia_update_list.first()->self()->update_inertias(); - inertia_update_list.remove(inertia_update_list.first()); + while (mass_properties_update_list.first()) { + mass_properties_update_list.first()->self()->update_mass_properties(); + mass_properties_update_list.remove(mass_properties_update_list.first()); } } @@ -1142,18 +1142,6 @@ PhysicsDirectSpaceState3DSW *Space3DSW::get_direct_state() { } Space3DSW::Space3DSW() { - collision_pairs = 0; - active_objects = 0; - island_count = 0; - contact_debug_count = 0; - - locked = false; - contact_recycle_radius = 0.01; - contact_max_separation = 0.05; - contact_max_allowed_penetration = 0.01; - test_motion_min_contact_depth = 0.00001; - - constraint_bias = 0.01; body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_linear", 0.1); 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); @@ -1163,14 +1151,9 @@ Space3DSW::Space3DSW() { broadphase = BroadPhase3DSW::create_func(); broadphase->set_pair_callback(_broadphase_pair, this); broadphase->set_unpair_callback(_broadphase_unpair, this); - area = nullptr; direct_access = memnew(PhysicsDirectSpaceState3DSW); direct_access->space = this; - - for (int i = 0; i < ELAPSED_TIME_MAX; i++) { - elapsed_time[i] = 0; - } } Space3DSW::~Space3DSW() { diff --git a/servers/physics_3d/space_3d_sw.h b/servers/physics_3d/space_3d_sw.h index 1c3d1cf9f6..aa4557d136 100644 --- a/servers/physics_3d/space_3d_sw.h +++ b/servers/physics_3d/space_3d_sw.h @@ -48,12 +48,12 @@ class PhysicsDirectSpaceState3DSW : public PhysicsDirectSpaceState3D { public: Space3DSW *space; - virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) override; - virtual int intersect_shape(const RID &p_shape, const Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - virtual bool cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) override; - virtual bool collide_shape(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - virtual bool rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) override; + virtual int intersect_shape(const RID &p_shape, const Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) override; + virtual bool collide_shape(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const override; PhysicsDirectSpaceState3DSW(); @@ -72,14 +72,14 @@ public: }; private: - uint64_t elapsed_time[ELAPSED_TIME_MAX]; + uint64_t elapsed_time[ELAPSED_TIME_MAX] = {}; PhysicsDirectSpaceState3DSW *direct_access; RID self; BroadPhase3DSW *broadphase; SelfList<Body3DSW>::List active_list; - SelfList<Body3DSW>::List inertia_update_list; + SelfList<Body3DSW>::List mass_properties_update_list; SelfList<Body3DSW>::List state_query_list; SelfList<Area3DSW>::List monitor_query_list; SelfList<Area3DSW>::List area_moved_list; @@ -90,13 +90,13 @@ private: Set<CollisionObject3DSW *> objects; - Area3DSW *area; + Area3DSW *area = nullptr; - real_t contact_recycle_radius; - real_t contact_max_separation; - real_t contact_max_allowed_penetration; - real_t constraint_bias; - real_t test_motion_min_contact_depth; + 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; + real_t test_motion_min_contact_depth = 0.00001; enum { INTERSECTION_QUERY_MAX = 2048 @@ -110,16 +110,18 @@ private: real_t body_time_to_sleep; real_t body_angular_velocity_damp_ratio; - bool locked; + bool locked = false; - int island_count; - int active_objects; - int collision_pairs; + real_t last_step = 0.001; + + int island_count = 0; + int active_objects = 0; + int collision_pairs = 0; RID static_global_body; Vector<Vector3> contact_debug; - int contact_debug_count; + int contact_debug_count = 0; friend class PhysicsDirectSpaceState3DSW; @@ -135,8 +137,8 @@ public: const SelfList<Body3DSW>::List &get_active_body_list() const; void body_add_to_active_list(SelfList<Body3DSW> *p_body); void body_remove_from_active_list(SelfList<Body3DSW> *p_body); - void body_add_to_inertia_update_list(SelfList<Body3DSW> *p_body); - void body_remove_from_inertia_update_list(SelfList<Body3DSW> *p_body); + void body_add_to_mass_properties_update_list(SelfList<Body3DSW> *p_body); + void body_remove_from_mass_properties_update_list(SelfList<Body3DSW> *p_body); void body_add_to_state_query_list(SelfList<Body3DSW> *p_body); void body_remove_from_state_query_list(SelfList<Body3DSW> *p_body); @@ -174,6 +176,9 @@ public: void lock(); void unlock(); + real_t get_last_step() const { return last_step; } + void set_last_step(real_t p_step) { last_step = p_step; } + void set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_value); real_t get_param(PhysicsServer3D::SpaceParameter p_param) const; diff --git a/servers/physics_3d/step_3d_sw.cpp b/servers/physics_3d/step_3d_sw.cpp index ba18bac611..7c18944b4d 100644 --- a/servers/physics_3d/step_3d_sw.cpp +++ b/servers/physics_3d/step_3d_sw.cpp @@ -185,6 +185,8 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { p_space->setup(); //update inertias, etc + p_space->set_last_step(p_delta); + iterations = p_iterations; delta = p_delta; @@ -405,8 +407,6 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { } Step3DSW::Step3DSW() { - _step = 1; - body_islands.reserve(BODY_ISLAND_COUNT_RESERVE); constraint_islands.reserve(ISLAND_COUNT_RESERVE); all_constraints.reserve(CONSTRAINT_COUNT_RESERVE); diff --git a/servers/physics_3d/step_3d_sw.h b/servers/physics_3d/step_3d_sw.h index 9c60004b24..f2f879104a 100644 --- a/servers/physics_3d/step_3d_sw.h +++ b/servers/physics_3d/step_3d_sw.h @@ -37,7 +37,7 @@ #include "core/templates/thread_work_pool.h" class Step3DSW { - uint64_t _step; + uint64_t _step = 1; int iterations = 0; real_t delta = 0.0; diff --git a/servers/physics_server_2d.cpp b/servers/physics_server_2d.cpp index 4660b83f4d..8d5367e735 100644 --- a/servers/physics_server_2d.cpp +++ b/servers/physics_server_2d.cpp @@ -77,6 +77,7 @@ void PhysicsDirectBodyState2D::_bind_methods() { ClassDB::bind_method(D_METHOD("get_total_linear_damp"), &PhysicsDirectBodyState2D::get_total_linear_damp); ClassDB::bind_method(D_METHOD("get_total_angular_damp"), &PhysicsDirectBodyState2D::get_total_angular_damp); + ClassDB::bind_method(D_METHOD("get_center_of_mass"), &PhysicsDirectBodyState2D::get_center_of_mass); ClassDB::bind_method(D_METHOD("get_inverse_mass"), &PhysicsDirectBodyState2D::get_inverse_mass); ClassDB::bind_method(D_METHOD("get_inverse_inertia"), &PhysicsDirectBodyState2D::get_inverse_inertia); @@ -123,6 +124,7 @@ void PhysicsDirectBodyState2D::_bind_methods() { ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "total_angular_damp"), "", "get_total_angular_damp"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "total_linear_damp"), "", "get_total_linear_damp"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "total_gravity"), "", "get_total_gravity"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "center_of_mass"), "", "get_center_of_mass"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_velocity"), "set_angular_velocity", "get_angular_velocity"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "linear_velocity"), "set_linear_velocity", "get_linear_velocity"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sleeping"), "set_sleep_state", "is_sleeping"); @@ -257,13 +259,6 @@ void PhysicsShapeQueryParameters2D::_bind_methods() { ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with_areas"), "set_collide_with_areas", "is_collide_with_areas_enabled"); } -PhysicsShapeQueryParameters2D::PhysicsShapeQueryParameters2D() { - margin = 0; - collision_mask = 0x7FFFFFFF; - collide_with_bodies = true; - collide_with_areas = false; -} - Dictionary PhysicsDirectSpaceState2D::_intersect_ray(const Vector2 &p_from, const Vector2 &p_to, const Vector<RID> &p_exclude, uint32_t p_layers, bool p_collide_with_bodies, bool p_collide_with_areas) { RayResult inters; Set<RID> exclude; @@ -411,9 +406,9 @@ PhysicsDirectSpaceState2D::PhysicsDirectSpaceState2D() { } void PhysicsDirectSpaceState2D::_bind_methods() { - ClassDB::bind_method(D_METHOD("intersect_point", "point", "max_results", "exclude", "collision_mask", "collide_with_bodies", "collide_with_areas"), &PhysicsDirectSpaceState2D::_intersect_point, DEFVAL(32), DEFVAL(Array()), DEFVAL(0x7FFFFFFF), DEFVAL(true), DEFVAL(false)); - ClassDB::bind_method(D_METHOD("intersect_point_on_canvas", "point", "canvas_instance_id", "max_results", "exclude", "collision_mask", "collide_with_bodies", "collide_with_areas"), &PhysicsDirectSpaceState2D::_intersect_point_on_canvas, DEFVAL(32), DEFVAL(Array()), DEFVAL(0x7FFFFFFF), DEFVAL(true), DEFVAL(false)); - ClassDB::bind_method(D_METHOD("intersect_ray", "from", "to", "exclude", "collision_mask", "collide_with_bodies", "collide_with_areas"), &PhysicsDirectSpaceState2D::_intersect_ray, DEFVAL(Array()), DEFVAL(0x7FFFFFFF), DEFVAL(true), DEFVAL(false)); + ClassDB::bind_method(D_METHOD("intersect_point", "point", "max_results", "exclude", "collision_mask", "collide_with_bodies", "collide_with_areas"), &PhysicsDirectSpaceState2D::_intersect_point, DEFVAL(32), DEFVAL(Array()), DEFVAL(UINT32_MAX), DEFVAL(true), DEFVAL(false)); + ClassDB::bind_method(D_METHOD("intersect_point_on_canvas", "point", "canvas_instance_id", "max_results", "exclude", "collision_mask", "collide_with_bodies", "collide_with_areas"), &PhysicsDirectSpaceState2D::_intersect_point_on_canvas, DEFVAL(32), DEFVAL(Array()), DEFVAL(UINT32_MAX), DEFVAL(true), DEFVAL(false)); + ClassDB::bind_method(D_METHOD("intersect_ray", "from", "to", "exclude", "collision_mask", "collide_with_bodies", "collide_with_areas"), &PhysicsDirectSpaceState2D::_intersect_ray, DEFVAL(Array()), DEFVAL(UINT32_MAX), DEFVAL(true), DEFVAL(false)); ClassDB::bind_method(D_METHOD("intersect_shape", "shape", "max_results"), &PhysicsDirectSpaceState2D::_intersect_shape, DEFVAL(32)); ClassDB::bind_method(D_METHOD("cast_motion", "shape"), &PhysicsDirectSpaceState2D::_cast_motion); ClassDB::bind_method(D_METHOD("collide_shape", "shape", "max_results"), &PhysicsDirectSpaceState2D::_collide_shape, DEFVAL(32)); @@ -513,7 +508,7 @@ bool PhysicsServer2D::_body_test_motion(RID p_body, const Transform2D &p_from, c } void PhysicsServer2D::_bind_methods() { - ClassDB::bind_method(D_METHOD("world_margin_shape_create"), &PhysicsServer2D::world_margin_shape_create); + ClassDB::bind_method(D_METHOD("world_boundary_shape_create"), &PhysicsServer2D::world_boundary_shape_create); ClassDB::bind_method(D_METHOD("separation_ray_shape_create"), &PhysicsServer2D::separation_ray_shape_create); ClassDB::bind_method(D_METHOD("segment_shape_create"), &PhysicsServer2D::segment_shape_create); ClassDB::bind_method(D_METHOD("circle_shape_create"), &PhysicsServer2D::circle_shape_create); @@ -614,6 +609,8 @@ void PhysicsServer2D::_bind_methods() { ClassDB::bind_method(D_METHOD("body_set_param", "body", "param", "value"), &PhysicsServer2D::body_set_param); ClassDB::bind_method(D_METHOD("body_get_param", "body", "param"), &PhysicsServer2D::body_get_param); + ClassDB::bind_method(D_METHOD("body_reset_mass_properties", "body"), &PhysicsServer2D::body_reset_mass_properties); + ClassDB::bind_method(D_METHOD("body_set_state", "body", "state", "value"), &PhysicsServer2D::body_set_state); ClassDB::bind_method(D_METHOD("body_get_state", "body", "state"), &PhysicsServer2D::body_get_state); @@ -675,7 +672,7 @@ void PhysicsServer2D::_bind_methods() { BIND_ENUM_CONSTANT(SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS); BIND_ENUM_CONSTANT(SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH); - BIND_ENUM_CONSTANT(SHAPE_WORLD_MARGIN); + BIND_ENUM_CONSTANT(SHAPE_WORLD_BOUNDARY); BIND_ENUM_CONSTANT(SHAPE_SEPARATION_RAY); BIND_ENUM_CONSTANT(SHAPE_SEGMENT); BIND_ENUM_CONSTANT(SHAPE_CIRCLE); @@ -709,6 +706,7 @@ void PhysicsServer2D::_bind_methods() { BIND_ENUM_CONSTANT(BODY_PARAM_FRICTION); BIND_ENUM_CONSTANT(BODY_PARAM_MASS); BIND_ENUM_CONSTANT(BODY_PARAM_INERTIA); + BIND_ENUM_CONSTANT(BODY_PARAM_CENTER_OF_MASS); BIND_ENUM_CONSTANT(BODY_PARAM_GRAVITY_SCALE); BIND_ENUM_CONSTANT(BODY_PARAM_LINEAR_DAMP); BIND_ENUM_CONSTANT(BODY_PARAM_ANGULAR_DAMP); diff --git a/servers/physics_server_2d.h b/servers/physics_server_2d.h index 9afac0cbd1..30d3c47051 100644 --- a/servers/physics_server_2d.h +++ b/servers/physics_server_2d.h @@ -48,6 +48,7 @@ public: virtual real_t get_total_linear_damp() const = 0; // get density of this body space/area virtual real_t get_total_angular_damp() const = 0; // get density of this body space/area + virtual Vector2 get_center_of_mass() const = 0; virtual real_t get_inverse_mass() const = 0; // get the mass virtual real_t get_inverse_inertia() const = 0; // get density of this body space @@ -103,12 +104,12 @@ class PhysicsShapeQueryParameters2D : public RefCounted { RID shape; Transform2D transform; Vector2 motion; - real_t margin; + real_t margin = 0.0; Set<RID> exclude; - uint32_t collision_mask; + uint32_t collision_mask = UINT32_MAX; - bool collide_with_bodies; - bool collide_with_areas; + bool collide_with_bodies = true; + bool collide_with_areas = false; protected: static void _bind_methods(); @@ -139,8 +140,6 @@ public: void set_exclude(const Vector<RID> &p_exclude); Vector<RID> get_exclude() const; - - PhysicsShapeQueryParameters2D(); }; class PhysicsDirectSpaceState2D : public Object { @@ -169,7 +168,7 @@ public: Variant metadata; }; - virtual bool intersect_ray(const Vector2 &p_from, const Vector2 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; + virtual bool intersect_ray(const Vector2 &p_from, const Vector2 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; struct ShapeResult { RID rid; @@ -179,14 +178,14 @@ public: Variant metadata; }; - virtual int intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_point = false) = 0; - virtual int intersect_point_on_canvas(const Vector2 &p_point, ObjectID p_canvas_instance_id, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_point = false) = 0; + virtual int intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_point = false) = 0; + virtual int intersect_point_on_canvas(const Vector2 &p_point, ObjectID p_canvas_instance_id, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_point = false) = 0; - virtual int intersect_shape(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; + virtual int intersect_shape(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; - virtual bool cast_motion(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; + virtual bool cast_motion(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; - virtual bool collide_shape(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; + virtual bool collide_shape(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; struct ShapeRestInfo { Vector2 point; @@ -198,7 +197,7 @@ public: Variant metadata; }; - virtual bool rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; + virtual bool rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; PhysicsDirectSpaceState2D(); }; @@ -219,7 +218,7 @@ public: static PhysicsServer2D *get_singleton(); enum ShapeType { - SHAPE_WORLD_MARGIN, ///< plane:"plane" + SHAPE_WORLD_BOUNDARY, ///< plane:"plane" SHAPE_SEPARATION_RAY, ///< float:"length" SHAPE_SEGMENT, ///< float:"length" SHAPE_CIRCLE, ///< float:"radius" @@ -230,7 +229,7 @@ public: SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error }; - virtual RID world_margin_shape_create() = 0; + virtual RID world_boundary_shape_create() = 0; virtual RID separation_ray_shape_create() = 0; virtual RID segment_shape_create() = 0; virtual RID circle_shape_create() = 0; @@ -404,15 +403,18 @@ public: BODY_PARAM_BOUNCE, BODY_PARAM_FRICTION, BODY_PARAM_MASS, ///< unused for static, always infinite - BODY_PARAM_INERTIA, // read-only: computed from mass & shapes + BODY_PARAM_INERTIA, + BODY_PARAM_CENTER_OF_MASS, BODY_PARAM_GRAVITY_SCALE, BODY_PARAM_LINEAR_DAMP, BODY_PARAM_ANGULAR_DAMP, BODY_PARAM_MAX, }; - virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value) = 0; - virtual real_t body_get_param(RID p_body, BodyParameter p_param) const = 0; + virtual void body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) = 0; + virtual Variant body_get_param(RID p_body, BodyParameter p_param) const = 0; + + virtual void body_reset_mass_properties(RID p_body) = 0; //state enum BodyState { @@ -457,6 +459,10 @@ public: virtual void body_set_omit_force_integration(RID p_body, bool p_omit) = 0; virtual bool body_is_omitting_force_integration(RID p_body) const = 0; + // Callback for C++ use only. + typedef void (*BodyStateCallback)(void *p_instance, PhysicsDirectBodyState2D *p_state); + virtual void body_set_state_sync_callback(RID p_body, void *p_instance, BodyStateCallback p_callback) = 0; + virtual void body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata = Variant()) = 0; virtual bool body_collide_shape(RID p_body, int p_body_shape, RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, Vector2 *r_results, int p_result_max, int &r_result_count) = 0; diff --git a/servers/physics_server_3d.cpp b/servers/physics_server_3d.cpp index 6cde4977f4..0ff29394e5 100644 --- a/servers/physics_server_3d.cpp +++ b/servers/physics_server_3d.cpp @@ -249,13 +249,6 @@ void PhysicsShapeQueryParameters3D::_bind_methods() { ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with_areas"), "set_collide_with_areas", "is_collide_with_areas_enabled"); } -PhysicsShapeQueryParameters3D::PhysicsShapeQueryParameters3D() { - margin = 0; - collision_mask = 0x7FFFFFFF; - collide_with_bodies = true; - collide_with_areas = false; -} - ///////////////////////////////////// Dictionary PhysicsDirectSpaceState3D::_intersect_ray(const Vector3 &p_from, const Vector3 &p_to, const Vector<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { @@ -360,7 +353,7 @@ PhysicsDirectSpaceState3D::PhysicsDirectSpaceState3D() { } void PhysicsDirectSpaceState3D::_bind_methods() { - ClassDB::bind_method(D_METHOD("intersect_ray", "from", "to", "exclude", "collision_mask", "collide_with_bodies", "collide_with_areas"), &PhysicsDirectSpaceState3D::_intersect_ray, DEFVAL(Array()), DEFVAL(0x7FFFFFFF), DEFVAL(true), DEFVAL(false)); + ClassDB::bind_method(D_METHOD("intersect_ray", "from", "to", "exclude", "collision_mask", "collide_with_bodies", "collide_with_areas"), &PhysicsDirectSpaceState3D::_intersect_ray, DEFVAL(Array()), DEFVAL(UINT32_MAX), DEFVAL(true), DEFVAL(false)); ClassDB::bind_method(D_METHOD("intersect_shape", "shape", "max_results"), &PhysicsDirectSpaceState3D::_intersect_shape, DEFVAL(32)); ClassDB::bind_method(D_METHOD("cast_motion", "shape", "motion"), &PhysicsDirectSpaceState3D::_cast_motion); ClassDB::bind_method(D_METHOD("collide_shape", "shape", "max_results"), &PhysicsDirectSpaceState3D::_collide_shape, DEFVAL(32)); @@ -461,8 +454,8 @@ bool PhysicsServer3D::_body_test_motion(RID p_body, const Transform3D &p_from, c RID PhysicsServer3D::shape_create(ShapeType p_shape) { switch (p_shape) { - case SHAPE_PLANE: - return plane_shape_create(); + case SHAPE_WORLD_BOUNDARY: + return world_boundary_shape_create(); case SHAPE_SEPARATION_RAY: return separation_ray_shape_create(); case SHAPE_SPHERE: @@ -489,7 +482,7 @@ RID PhysicsServer3D::shape_create(ShapeType p_shape) { void PhysicsServer3D::_bind_methods() { #ifndef _3D_DISABLED - ClassDB::bind_method(D_METHOD("plane_shape_create"), &PhysicsServer3D::plane_shape_create); + ClassDB::bind_method(D_METHOD("world_boundary_shape_create"), &PhysicsServer3D::world_boundary_shape_create); ClassDB::bind_method(D_METHOD("separation_ray_shape_create"), &PhysicsServer3D::separation_ray_shape_create); ClassDB::bind_method(D_METHOD("sphere_shape_create"), &PhysicsServer3D::sphere_shape_create); ClassDB::bind_method(D_METHOD("box_shape_create"), &PhysicsServer3D::box_shape_create); @@ -584,6 +577,8 @@ void PhysicsServer3D::_bind_methods() { ClassDB::bind_method(D_METHOD("body_set_param", "body", "param", "value"), &PhysicsServer3D::body_set_param); ClassDB::bind_method(D_METHOD("body_get_param", "body", "param"), &PhysicsServer3D::body_get_param); + ClassDB::bind_method(D_METHOD("body_reset_mass_properties", "body"), &PhysicsServer3D::body_reset_mass_properties); + ClassDB::bind_method(D_METHOD("body_set_state", "body", "state", "value"), &PhysicsServer3D::body_set_state); ClassDB::bind_method(D_METHOD("body_get_state", "body", "state"), &PhysicsServer3D::body_get_state); @@ -750,7 +745,7 @@ void PhysicsServer3D::_bind_methods() { ClassDB::bind_method(D_METHOD("get_process_info", "process_info"), &PhysicsServer3D::get_process_info); - BIND_ENUM_CONSTANT(SHAPE_PLANE); + BIND_ENUM_CONSTANT(SHAPE_WORLD_BOUNDARY); BIND_ENUM_CONSTANT(SHAPE_SEPARATION_RAY); BIND_ENUM_CONSTANT(SHAPE_SPHERE); BIND_ENUM_CONSTANT(SHAPE_BOX); @@ -789,6 +784,8 @@ void PhysicsServer3D::_bind_methods() { BIND_ENUM_CONSTANT(BODY_PARAM_BOUNCE); BIND_ENUM_CONSTANT(BODY_PARAM_FRICTION); BIND_ENUM_CONSTANT(BODY_PARAM_MASS); + BIND_ENUM_CONSTANT(BODY_PARAM_INERTIA); + BIND_ENUM_CONSTANT(BODY_PARAM_CENTER_OF_MASS); BIND_ENUM_CONSTANT(BODY_PARAM_GRAVITY_SCALE); BIND_ENUM_CONSTANT(BODY_PARAM_LINEAR_DAMP); BIND_ENUM_CONSTANT(BODY_PARAM_ANGULAR_DAMP); diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h index 8f83e360f2..590b0929b1 100644 --- a/servers/physics_server_3d.h +++ b/servers/physics_server_3d.h @@ -103,12 +103,12 @@ class PhysicsShapeQueryParameters3D : public RefCounted { RES shape_ref; RID shape; Transform3D transform; - real_t margin; + real_t margin = 0.0; Set<RID> exclude; - uint32_t collision_mask; + uint32_t collision_mask = UINT32_MAX; - bool collide_with_bodies; - bool collide_with_areas; + bool collide_with_bodies = true; + bool collide_with_areas = false; protected: static void _bind_methods(); @@ -136,15 +136,13 @@ public: void set_collide_with_areas(bool p_enable); bool is_collide_with_areas_enabled() const; - - PhysicsShapeQueryParameters3D(); }; class PhysicsDirectSpaceState3D : public Object { GDCLASS(PhysicsDirectSpaceState3D, Object); private: - Dictionary _intersect_ray(const Vector3 &p_from, const Vector3 &p_to, const Vector<RID> &p_exclude = Vector<RID>(), uint32_t p_collision_mask = 0, bool p_collide_with_bodies = true, bool p_collide_with_areas = false); + Dictionary _intersect_ray(const Vector3 &p_from, const Vector3 &p_to, const Vector<RID> &p_exclude = Vector<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false); Array _intersect_shape(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query, int p_max_results = 32); Array _cast_motion(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query, const Vector3 &p_motion); Array _collide_shape(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query, int p_max_results = 32); @@ -161,7 +159,7 @@ public: int shape = 0; }; - virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; + virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; struct RayResult { Vector3 position; @@ -172,9 +170,9 @@ public: int shape = 0; }; - virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) = 0; + virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) = 0; - virtual int intersect_shape(const RID &p_shape, const Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; + virtual int intersect_shape(const RID &p_shape, const Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; struct ShapeRestInfo { Vector3 point; @@ -185,11 +183,11 @@ public: Vector3 linear_velocity; //velocity at contact point }; - virtual bool cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) = 0; + virtual bool cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) = 0; - virtual bool collide_shape(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; + virtual bool collide_shape(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; - virtual bool rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; + virtual bool rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const = 0; @@ -221,7 +219,7 @@ public: static PhysicsServer3D *get_singleton(); enum ShapeType { - SHAPE_PLANE, ///< plane:"plane" + SHAPE_WORLD_BOUNDARY, ///< plane:"plane" SHAPE_SEPARATION_RAY, ///< float:"length" SHAPE_SPHERE, ///< float:"radius" SHAPE_BOX, ///< vec3:"extents" @@ -236,7 +234,7 @@ public: RID shape_create(ShapeType p_shape); - virtual RID plane_shape_create() = 0; + virtual RID world_boundary_shape_create() = 0; virtual RID separation_ray_shape_create() = 0; virtual RID sphere_shape_create() = 0; virtual RID box_shape_create() = 0; @@ -407,14 +405,18 @@ public: BODY_PARAM_BOUNCE, BODY_PARAM_FRICTION, BODY_PARAM_MASS, ///< unused for static, always infinite + BODY_PARAM_INERTIA, + BODY_PARAM_CENTER_OF_MASS, BODY_PARAM_GRAVITY_SCALE, BODY_PARAM_LINEAR_DAMP, BODY_PARAM_ANGULAR_DAMP, BODY_PARAM_MAX, }; - virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value) = 0; - virtual real_t body_get_param(RID p_body, BodyParameter p_param) const = 0; + virtual void body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) = 0; + virtual Variant body_get_param(RID p_body, BodyParameter p_param) const = 0; + + virtual void body_reset_mass_properties(RID p_body) = 0; //state enum BodyState { @@ -471,6 +473,10 @@ public: virtual void body_set_omit_force_integration(RID p_body, bool p_omit) = 0; virtual bool body_is_omitting_force_integration(RID p_body) const = 0; + // Callback for C++ use only. + typedef void (*BodyStateCallback)(void *p_instance, PhysicsDirectBodyState3D *p_state); + virtual void body_set_state_sync_callback(RID p_body, void *p_instance, BodyStateCallback p_callback) = 0; + virtual void body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata = Variant()) = 0; virtual void body_set_ray_pickable(RID p_body, bool p_enable) = 0; diff --git a/servers/rendering/rasterizer_dummy.h b/servers/rendering/rasterizer_dummy.h index f58d124140..35bb7722e7 100644 --- a/servers/rendering/rasterizer_dummy.h +++ b/servers/rendering/rasterizer_dummy.h @@ -197,7 +197,7 @@ public: TypedArray<Image> bake_render_uv2(RID p_base, const Vector<RID> &p_material_overrides, const Size2i &p_image_size) override { return TypedArray<Image>(); } - bool free(RID p_rid) override { return true; } + bool free(RID p_rid) override { return false; } void update() override {} void sdfgi_set_debug_probe_select(const Vector3 &p_position, const Vector3 &p_dir) override {} @@ -664,8 +664,9 @@ public: DummyTexture *texture = texture_owner.getornull(p_rid); texture_owner.free(p_rid); memdelete(texture); + return true; } - return true; + return false; } virtual void update_memory_info() override {} diff --git a/servers/rendering/renderer_compositor.h b/servers/rendering/renderer_compositor.h index 6206849b66..1971c3e781 100644 --- a/servers/rendering/renderer_compositor.h +++ b/servers/rendering/renderer_compositor.h @@ -41,7 +41,8 @@ class RendererSceneRender; struct BlitToScreen { RID render_target; - Rect2i rect; + Rect2 src_rect = Rect2(0.0, 0.0, 1.0, 1.0); + Rect2i dst_rect; struct { bool use_layer = false; diff --git a/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.cpp b/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.cpp index 611f7c6494..fa3741c077 100644 --- a/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.cpp +++ b/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.cpp @@ -223,7 +223,6 @@ void RenderForwardClustered::RenderBufferDataForwardClustered::configure(RID p_c RD::TEXTURE_SAMPLES_2, RD::TEXTURE_SAMPLES_4, RD::TEXTURE_SAMPLES_8, - RD::TEXTURE_SAMPLES_16 }; texture_samples = ts[p_msaa]; @@ -484,7 +483,7 @@ void RenderForwardClustered::_render_list_template(RenderingDevice::DrawListID p if (material_uniform_set != prev_material_uniform_set) { // Update uniform set. - if (RD::get_singleton()->uniform_set_is_valid(material_uniform_set)) { // Material may not have a uniform set. + if (material_uniform_set.is_valid() && RD::get_singleton()->uniform_set_is_valid(material_uniform_set)) { // Material may not have a uniform set. RD::get_singleton()->draw_list_bind_uniform_set(draw_list, material_uniform_set, MATERIAL_UNIFORM_SET); } @@ -1163,7 +1162,7 @@ void RenderForwardClustered::_render_scene(RenderDataRD *p_render_data, const Co render_buffer = (RenderBufferDataForwardClustered *)render_buffers_get_data(p_render_data->render_buffers); } RendererSceneEnvironmentRD *env = get_environment(p_render_data->environment); - static const int texture_multisamples[RS::VIEWPORT_MSAA_MAX] = { 1, 2, 4, 8, 16 }; + static const int texture_multisamples[RS::VIEWPORT_MSAA_MAX] = { 1, 2, 4, 8 }; //first of all, make a new render pass //fill up ubo @@ -2552,7 +2551,7 @@ void RenderForwardClustered::_geometry_instance_add_surface_with_material(Geomet SceneShaderForwardClustered::MaterialData *material_shadow = nullptr; void *surface_shadow = nullptr; - if (!p_material->shader_data->uses_particle_trails && !p_material->shader_data->writes_modelview_or_projection && !p_material->shader_data->uses_vertex && !p_material->shader_data->uses_discard && !p_material->shader_data->uses_depth_pre_pass) { + if (!p_material->shader_data->uses_particle_trails && !p_material->shader_data->writes_modelview_or_projection && !p_material->shader_data->uses_vertex && !p_material->shader_data->uses_position && !p_material->shader_data->uses_discard && !p_material->shader_data->uses_depth_pre_pass) { flags |= GeometryInstanceSurfaceDataCache::FLAG_USES_SHARED_SHADOW_MATERIAL; material_shadow = (SceneShaderForwardClustered::MaterialData *)storage->material_get_data(scene_shader.default_material, RendererStorageRD::SHADER_TYPE_3D); diff --git a/servers/rendering/renderer_rd/forward_clustered/scene_shader_forward_clustered.cpp b/servers/rendering/renderer_rd/forward_clustered/scene_shader_forward_clustered.cpp index a24860996c..1947680a7a 100644 --- a/servers/rendering/renderer_rd/forward_clustered/scene_shader_forward_clustered.cpp +++ b/servers/rendering/renderer_rd/forward_clustered/scene_shader_forward_clustered.cpp @@ -66,6 +66,7 @@ void SceneShaderForwardClustered::ShaderData::set_code(const String &p_code) { unshaded = false; uses_vertex = false; + uses_position = false; uses_sss = false; uses_transmittance = false; uses_screen_texture = false; @@ -126,6 +127,7 @@ void SceneShaderForwardClustered::ShaderData::set_code(const String &p_code) { actions.write_flag_pointers["MODELVIEW_MATRIX"] = &writes_modelview_or_projection; actions.write_flag_pointers["PROJECTION_MATRIX"] = &writes_modelview_or_projection; actions.write_flag_pointers["VERTEX"] = &uses_vertex; + actions.write_flag_pointers["POSITION"] = &uses_position; actions.uniforms = &uniforms; @@ -601,10 +603,10 @@ void SceneShaderForwardClustered::init(RendererStorageRD *p_storage, const Strin actions.usage_defines["UV2"] = "#define UV2_USED\n"; actions.usage_defines["BONE_INDICES"] = "#define BONES_USED\n"; actions.usage_defines["BONE_WEIGHTS"] = "#define WEIGHTS_USED\n"; - actions.usage_defines["CUSTOM0"] = "#define CUSTOM0\n"; - actions.usage_defines["CUSTOM1"] = "#define CUSTOM1\n"; - actions.usage_defines["CUSTOM2"] = "#define CUSTOM2\n"; - actions.usage_defines["CUSTOM3"] = "#define CUSTOM3\n"; + actions.usage_defines["CUSTOM0"] = "#define CUSTOM0_USED\n"; + actions.usage_defines["CUSTOM1"] = "#define CUSTOM1_USED\n"; + actions.usage_defines["CUSTOM2"] = "#define CUSTOM2_USED\n"; + actions.usage_defines["CUSTOM3"] = "#define CUSTOM3_USED\n"; actions.usage_defines["NORMAL_MAP"] = "#define NORMAL_MAP_USED\n"; actions.usage_defines["NORMAL_MAP_DEPTH"] = "@NORMAL_MAP"; actions.usage_defines["COLOR"] = "#define COLOR_USED\n"; diff --git a/servers/rendering/renderer_rd/forward_clustered/scene_shader_forward_clustered.h b/servers/rendering/renderer_rd/forward_clustered/scene_shader_forward_clustered.h index 8d75f30a20..09ef425e2e 100644 --- a/servers/rendering/renderer_rd/forward_clustered/scene_shader_forward_clustered.h +++ b/servers/rendering/renderer_rd/forward_clustered/scene_shader_forward_clustered.h @@ -137,6 +137,7 @@ public: bool unshaded; bool uses_vertex; + bool uses_position; bool uses_sss; bool uses_transmittance; bool uses_screen_texture; diff --git a/servers/rendering/renderer_rd/forward_mobile/render_forward_mobile.cpp b/servers/rendering/renderer_rd/forward_mobile/render_forward_mobile.cpp index 1b4052b622..a5cc2db48f 100644 --- a/servers/rendering/renderer_rd/forward_mobile/render_forward_mobile.cpp +++ b/servers/rendering/renderer_rd/forward_mobile/render_forward_mobile.cpp @@ -159,7 +159,6 @@ void RenderForwardMobile::RenderBufferDataForwardMobile::configure(RID p_color_b RD::TEXTURE_SAMPLES_2, RD::TEXTURE_SAMPLES_4, RD::TEXTURE_SAMPLES_8, - RD::TEXTURE_SAMPLES_16 }; texture_samples = ts[p_msaa]; @@ -1982,7 +1981,7 @@ void RenderForwardMobile::_render_list_template(RenderingDevice::DrawListID p_dr if (material_uniform_set != prev_material_uniform_set) { // Update uniform set. - if (RD::get_singleton()->uniform_set_is_valid(material_uniform_set)) { // Material may not have a uniform set. + if (material_uniform_set.is_valid() && RD::get_singleton()->uniform_set_is_valid(material_uniform_set)) { // Material may not have a uniform set. RD::get_singleton()->draw_list_bind_uniform_set(draw_list, material_uniform_set, MATERIAL_UNIFORM_SET); } diff --git a/servers/rendering/renderer_rd/forward_mobile/scene_shader_forward_mobile.cpp b/servers/rendering/renderer_rd/forward_mobile/scene_shader_forward_mobile.cpp index 14b3b6d9aa..cd314d8c56 100644 --- a/servers/rendering/renderer_rd/forward_mobile/scene_shader_forward_mobile.cpp +++ b/servers/rendering/renderer_rd/forward_mobile/scene_shader_forward_mobile.cpp @@ -593,10 +593,10 @@ void SceneShaderForwardMobile::init(RendererStorageRD *p_storage, const String p actions.usage_defines["UV2"] = "#define UV2_USED\n"; actions.usage_defines["BONE_INDICES"] = "#define BONES_USED\n"; actions.usage_defines["BONE_WEIGHTS"] = "#define WEIGHTS_USED\n"; - actions.usage_defines["CUSTOM0"] = "#define CUSTOM0\n"; - actions.usage_defines["CUSTOM1"] = "#define CUSTOM1\n"; - actions.usage_defines["CUSTOM2"] = "#define CUSTOM2\n"; - actions.usage_defines["CUSTOM3"] = "#define CUSTOM3\n"; + actions.usage_defines["CUSTOM0"] = "#define CUSTOM0_USED\n"; + actions.usage_defines["CUSTOM1"] = "#define CUSTOM1_USED\n"; + actions.usage_defines["CUSTOM2"] = "#define CUSTOM2_USED\n"; + actions.usage_defines["CUSTOM3"] = "#define CUSTOM3_USED\n"; actions.usage_defines["NORMAL_MAP"] = "#define NORMAL_MAP_USED\n"; actions.usage_defines["NORMAL_MAP_DEPTH"] = "@NORMAL_MAP"; actions.usage_defines["COLOR"] = "#define COLOR_USED\n"; diff --git a/servers/rendering/renderer_rd/renderer_canvas_render_rd.cpp b/servers/rendering/renderer_rd/renderer_canvas_render_rd.cpp index 6267f684e3..3c66fadbe9 100644 --- a/servers/rendering/renderer_rd/renderer_canvas_render_rd.cpp +++ b/servers/rendering/renderer_rd/renderer_canvas_render_rd.cpp @@ -1086,7 +1086,7 @@ void RendererCanvasRenderRD::_render_items(RID p_to_render_target, int p_item_co } } - RID material = ci->material; + RID material = ci->material_owner == nullptr ? ci->material : ci->material_owner->material; if (material.is_null() && ci->canvas_group != nullptr) { material = default_canvas_group_material; @@ -1102,7 +1102,7 @@ void RendererCanvasRenderRD::_render_items(RID p_to_render_target, int p_item_co if (material_data->shader_data->version.is_valid() && material_data->shader_data->valid) { pipeline_variants = &material_data->shader_data->pipeline_variants; // Update uniform set. - if (RD::get_singleton()->uniform_set_is_valid(material_data->uniform_set)) { // Material may not have a uniform set. + if (material_data->uniform_set.is_valid() && RD::get_singleton()->uniform_set_is_valid(material_data->uniform_set)) { // Material may not have a uniform set. RD::get_singleton()->draw_list_bind_uniform_set(draw_list, material_data->uniform_set, MATERIAL_UNIFORM_SET); } } else { @@ -1354,8 +1354,10 @@ void RendererCanvasRenderRD::canvas_render_items(RID p_to_render_target, Item *p } } - if (ci->material.is_valid()) { - MaterialData *md = (MaterialData *)storage->material_get_data(ci->material, RendererStorageRD::SHADER_TYPE_2D); + RID material = ci->material_owner == nullptr ? ci->material : ci->material_owner->material; + + if (material.is_valid()) { + MaterialData *md = (MaterialData *)storage->material_get_data(material, RendererStorageRD::SHADER_TYPE_2D); if (md && md->shader_data->valid) { if (md->shader_data->uses_screen_texture && canvas_group_owner == nullptr) { if (!material_screen_texture_found) { @@ -1375,7 +1377,7 @@ void RendererCanvasRenderRD::canvas_render_items(RID p_to_render_target, Item *p if (!RD::get_singleton()->uniform_set_is_valid(md->uniform_set)) { // uniform set may be gone because a dependency was erased. In this case, it will happen // if a texture is deleted, so just re-create it. - storage->material_force_update_textures(ci->material, RendererStorageRD::SHADER_TYPE_2D); + storage->material_force_update_textures(material, RendererStorageRD::SHADER_TYPE_2D); } } } diff --git a/servers/rendering/renderer_rd/renderer_compositor_rd.cpp b/servers/rendering/renderer_rd/renderer_compositor_rd.cpp index 62e9386f95..c53c202bab 100644 --- a/servers/rendering/renderer_rd/renderer_compositor_rd.cpp +++ b/servers/rendering/renderer_rd/renderer_compositor_rd.cpp @@ -46,6 +46,8 @@ void RendererCompositorRD::blit_render_targets_to_screen(DisplayServer::WindowID RID rd_texture = storage->texture_get_rd_texture(texture); ERR_CONTINUE(rd_texture.is_null()); + // TODO if keep_3d_linear was set when rendering to this render target we need to add a linear->sRGB conversion in. + if (!render_target_descriptors.has(rd_texture) || !RD::get_singleton()->uniform_set_is_valid(render_target_descriptors[rd_texture])) { Vector<RD::Uniform> uniforms; RD::Uniform u; @@ -65,10 +67,14 @@ void RendererCompositorRD::blit_render_targets_to_screen(DisplayServer::WindowID RD::get_singleton()->draw_list_bind_index_array(draw_list, blit.array); RD::get_singleton()->draw_list_bind_uniform_set(draw_list, render_target_descriptors[rd_texture], 0); - blit.push_constant.rect[0] = p_render_targets[i].rect.position.x / screen_size.width; - blit.push_constant.rect[1] = p_render_targets[i].rect.position.y / screen_size.height; - blit.push_constant.rect[2] = p_render_targets[i].rect.size.width / screen_size.width; - blit.push_constant.rect[3] = p_render_targets[i].rect.size.height / screen_size.height; + blit.push_constant.src_rect[0] = p_render_targets[i].src_rect.position.x; + blit.push_constant.src_rect[1] = p_render_targets[i].src_rect.position.y; + blit.push_constant.src_rect[2] = p_render_targets[i].src_rect.size.width; + blit.push_constant.src_rect[3] = p_render_targets[i].src_rect.size.height; + blit.push_constant.dst_rect[0] = p_render_targets[i].dst_rect.position.x / screen_size.width; + blit.push_constant.dst_rect[1] = p_render_targets[i].dst_rect.position.y / screen_size.height; + blit.push_constant.dst_rect[2] = p_render_targets[i].dst_rect.size.width / screen_size.width; + blit.push_constant.dst_rect[3] = p_render_targets[i].dst_rect.size.height / screen_size.height; blit.push_constant.layer = p_render_targets[i].multi_view.layer; blit.push_constant.eye_center[0] = p_render_targets[i].lens_distortion.eye_center.x; blit.push_constant.eye_center[1] = p_render_targets[i].lens_distortion.eye_center.y; @@ -203,10 +209,14 @@ void RendererCompositorRD::set_boot_image(const Ref<Image> &p_image, const Color RD::get_singleton()->draw_list_bind_index_array(draw_list, blit.array); RD::get_singleton()->draw_list_bind_uniform_set(draw_list, uset, 0); - blit.push_constant.rect[0] = screenrect.position.x; - blit.push_constant.rect[1] = screenrect.position.y; - blit.push_constant.rect[2] = screenrect.size.width; - blit.push_constant.rect[3] = screenrect.size.height; + blit.push_constant.src_rect[0] = 0.0; + blit.push_constant.src_rect[1] = 0.0; + blit.push_constant.src_rect[2] = 1.0; + blit.push_constant.src_rect[3] = 1.0; + blit.push_constant.dst_rect[0] = screenrect.position.x; + blit.push_constant.dst_rect[1] = screenrect.position.y; + blit.push_constant.dst_rect[2] = screenrect.size.width; + blit.push_constant.dst_rect[3] = screenrect.size.height; blit.push_constant.layer = 0; blit.push_constant.eye_center[0] = 0; blit.push_constant.eye_center[1] = 0; diff --git a/servers/rendering/renderer_rd/renderer_compositor_rd.h b/servers/rendering/renderer_rd/renderer_compositor_rd.h index 8639362da9..0230c46800 100644 --- a/servers/rendering/renderer_rd/renderer_compositor_rd.h +++ b/servers/rendering/renderer_rd/renderer_compositor_rd.h @@ -55,7 +55,8 @@ protected: }; struct BlitPushConstant { - float rect[4]; + float src_rect[4]; + float dst_rect[4]; float eye_center[2]; float k1; diff --git a/servers/rendering/renderer_rd/renderer_scene_gi_rd.cpp b/servers/rendering/renderer_rd/renderer_scene_gi_rd.cpp index 098e2a5c87..36943c5e5c 100644 --- a/servers/rendering/renderer_rd/renderer_scene_gi_rd.cpp +++ b/servers/rendering/renderer_rd/renderer_scene_gi_rd.cpp @@ -1469,7 +1469,7 @@ void RendererSceneGIRD::SDFGI::pre_process_gi(const Transform3D &p_transform, Re lights[idx].color[1] = color.g; lights[idx].color[2] = color.b; lights[idx].type = RS::LIGHT_DIRECTIONAL; - lights[idx].energy = storage->light_get_param(li->light, RS::LIGHT_PARAM_ENERGY); + lights[idx].energy = storage->light_get_param(li->light, RS::LIGHT_PARAM_ENERGY) * storage->light_get_param(li->light, RS::LIGHT_PARAM_INDIRECT_ENERGY); lights[idx].has_shadow = storage->light_has_shadow(li->light); idx++; @@ -1514,7 +1514,7 @@ void RendererSceneGIRD::SDFGI::pre_process_gi(const Transform3D &p_transform, Re lights[idx].color[1] = color.g; lights[idx].color[2] = color.b; lights[idx].type = storage->light_get_type(li->light); - lights[idx].energy = storage->light_get_param(li->light, RS::LIGHT_PARAM_ENERGY); + lights[idx].energy = storage->light_get_param(li->light, RS::LIGHT_PARAM_ENERGY) * storage->light_get_param(li->light, RS::LIGHT_PARAM_INDIRECT_ENERGY); lights[idx].has_shadow = storage->light_has_shadow(li->light); lights[idx].attenuation = storage->light_get_param(li->light, RS::LIGHT_PARAM_ATTENUATION); lights[idx].radius = storage->light_get_param(li->light, RS::LIGHT_PARAM_RANGE); @@ -1953,7 +1953,7 @@ void RendererSceneGIRD::SDFGI::render_static_lights(RID p_render_buffers, uint32 lights[idx].color[0] = color.r; lights[idx].color[1] = color.g; lights[idx].color[2] = color.b; - lights[idx].energy = storage->light_get_param(li->light, RS::LIGHT_PARAM_ENERGY); + lights[idx].energy = storage->light_get_param(li->light, RS::LIGHT_PARAM_ENERGY) * storage->light_get_param(li->light, RS::LIGHT_PARAM_INDIRECT_ENERGY); lights[idx].has_shadow = storage->light_has_shadow(li->light); lights[idx].attenuation = storage->light_get_param(li->light, RS::LIGHT_PARAM_ATTENUATION); lights[idx].radius = storage->light_get_param(li->light, RS::LIGHT_PARAM_RANGE); diff --git a/servers/rendering/renderer_rd/renderer_scene_sky_rd.cpp b/servers/rendering/renderer_rd/renderer_scene_sky_rd.cpp index da84f615b2..c388da755c 100644 --- a/servers/rendering/renderer_rd/renderer_scene_sky_rd.cpp +++ b/servers/rendering/renderer_rd/renderer_scene_sky_rd.cpp @@ -288,7 +288,7 @@ void RendererSceneSkyRD::_render_sky(RD::DrawListID p_list, float p_time, RID p_ // Update uniform sets. { RD::get_singleton()->draw_list_bind_uniform_set(draw_list, sky_scene_state.uniform_set, 0); - if (RD::get_singleton()->uniform_set_is_valid(p_uniform_set)) { // Material may not have a uniform set. + if (p_uniform_set.is_valid() && RD::get_singleton()->uniform_set_is_valid(p_uniform_set)) { // Material may not have a uniform set. RD::get_singleton()->draw_list_bind_uniform_set(draw_list, p_uniform_set, 1); } RD::get_singleton()->draw_list_bind_uniform_set(draw_list, p_texture_set, 2); diff --git a/servers/rendering/renderer_rd/renderer_storage_rd.cpp b/servers/rendering/renderer_rd/renderer_storage_rd.cpp index 14a5a01054..ec0d25376f 100644 --- a/servers/rendering/renderer_rd/renderer_storage_rd.cpp +++ b/servers/rendering/renderer_rd/renderer_storage_rd.cpp @@ -4848,7 +4848,7 @@ void RendererStorageRD::_particles_process(Particles *p_particles, double p_delt RD::get_singleton()->compute_list_bind_uniform_set(compute_list, p_particles->particles_material_uniform_set, 1); RD::get_singleton()->compute_list_bind_uniform_set(compute_list, p_particles->collision_textures_uniform_set, 2); - if (m->uniform_set.is_valid()) { + if (m->uniform_set.is_valid() && RD::get_singleton()->uniform_set_is_valid(m->uniform_set)) { RD::get_singleton()->compute_list_bind_uniform_set(compute_list, m->uniform_set, 3); } diff --git a/servers/rendering/renderer_rd/shaders/blit.glsl b/servers/rendering/renderer_rd/shaders/blit.glsl index 967da1e6e4..8051f96738 100644 --- a/servers/rendering/renderer_rd/shaders/blit.glsl +++ b/servers/rendering/renderer_rd/shaders/blit.glsl @@ -5,6 +5,7 @@ #VERSION_DEFINES layout(push_constant, binding = 0, std140) uniform Pos { + vec4 src_rect; vec4 dst_rect; vec2 eye_center; @@ -22,8 +23,8 @@ layout(location = 0) out vec2 uv; void main() { vec2 base_arr[4] = vec2[](vec2(0.0, 0.0), vec2(0.0, 1.0), vec2(1.0, 1.0), vec2(1.0, 0.0)); - uv = base_arr[gl_VertexIndex]; - vec2 vtx = data.dst_rect.xy + uv * data.dst_rect.zw; + uv = data.src_rect.xy + base_arr[gl_VertexIndex] * data.src_rect.zw; + vec2 vtx = data.dst_rect.xy + base_arr[gl_VertexIndex] * data.dst_rect.zw; gl_Position = vec4(vtx * 2.0 - 1.0, 0.0, 1.0); } @@ -34,6 +35,7 @@ void main() { #VERSION_DEFINES layout(push_constant, binding = 0, std140) uniform Pos { + vec4 src_rect; vec4 dst_rect; vec2 eye_center; diff --git a/servers/rendering/renderer_rd/shaders/scene_forward_clustered.glsl b/servers/rendering/renderer_rd/shaders/scene_forward_clustered.glsl index edbe1031b7..8cb56fbc83 100644 --- a/servers/rendering/renderer_rd/shaders/scene_forward_clustered.glsl +++ b/servers/rendering/renderer_rd/shaders/scene_forward_clustered.glsl @@ -903,6 +903,7 @@ void main() { if (scene_data.use_reflection_cubemap) { vec3 ref_vec = reflect(-view, normal); + float horizon = min(1.0 + dot(ref_vec, normal), 1.0); ref_vec = scene_data.radiance_inverse_xform * ref_vec; #ifdef USE_RADIANCE_CUBEMAP_ARRAY @@ -915,7 +916,6 @@ void main() { specular_light = textureLod(samplerCube(radiance_cubemap, material_samplers[SAMPLER_LINEAR_WITH_MIPMAPS_CLAMP]), ref_vec, roughness * MAX_ROUGHNESS_LOD).rgb; #endif //USE_RADIANCE_CUBEMAP_ARRAY - float horizon = min(1.0 + dot(ref_vec, normal), 1.0); specular_light *= horizon * horizon; specular_light *= scene_data.ambient_light_color_energy.a; } diff --git a/servers/rendering/renderer_rd/shaders/scene_forward_mobile.glsl b/servers/rendering/renderer_rd/shaders/scene_forward_mobile.glsl index 518b0a6c7f..c3c4139450 100644 --- a/servers/rendering/renderer_rd/shaders/scene_forward_mobile.glsl +++ b/servers/rendering/renderer_rd/shaders/scene_forward_mobile.glsl @@ -868,6 +868,7 @@ void main() { if (scene_data.use_reflection_cubemap) { vec3 ref_vec = reflect(-view, normal); + float horizon = min(1.0 + dot(ref_vec, normal), 1.0); ref_vec = scene_data.radiance_inverse_xform * ref_vec; #ifdef USE_RADIANCE_CUBEMAP_ARRAY @@ -880,7 +881,6 @@ void main() { specular_light = textureLod(samplerCube(radiance_cubemap, material_samplers[SAMPLER_LINEAR_WITH_MIPMAPS_CLAMP]), ref_vec, roughness * MAX_ROUGHNESS_LOD).rgb; #endif //USE_RADIANCE_CUBEMAP_ARRAY - float horizon = min(1.0 + dot(ref_vec, normal), 1.0); specular_light *= horizon * horizon; specular_light *= scene_data.ambient_light_color_energy.a; } diff --git a/servers/rendering/renderer_rd/shaders/tonemap.glsl b/servers/rendering/renderer_rd/shaders/tonemap.glsl index 4411587116..1ce3e04421 100644 --- a/servers/rendering/renderer_rd/shaders/tonemap.glsl +++ b/servers/rendering/renderer_rd/shaders/tonemap.glsl @@ -169,16 +169,33 @@ vec3 tonemap_filmic(vec3 color, float white) { return color_tonemapped / white_tonemapped; } +// Adapted from https://github.com/TheRealMJP/BakingLab/blob/master/BakingLab/ACES.hlsl +// (MIT License). vec3 tonemap_aces(vec3 color, float white) { - const float exposure_bias = 0.85f; - const float A = 2.51f * exposure_bias * exposure_bias; - const float B = 0.03f * exposure_bias; - const float C = 2.43f * exposure_bias * exposure_bias; - const float D = 0.59f * exposure_bias; - const float E = 0.14f; - - vec3 color_tonemapped = (color * (A * color + B)) / (color * (C * color + D) + E); - float white_tonemapped = (white * (A * white + B)) / (white * (C * white + D) + E); + const float exposure_bias = 1.8f; + const float A = 0.0245786f; + const float B = 0.000090537f; + const float C = 0.983729f; + const float D = 0.432951f; + const float E = 0.238081f; + + // Exposure bias baked into transform to save shader instructions. Equivalent to `color *= exposure_bias` + const mat3 rgb_to_rrt = mat3( + vec3(0.59719f * exposure_bias, 0.35458f * exposure_bias, 0.04823f * exposure_bias), + vec3(0.07600f * exposure_bias, 0.90834f * exposure_bias, 0.01566f * exposure_bias), + vec3(0.02840f * exposure_bias, 0.13383f * exposure_bias, 0.83777f * exposure_bias)); + + const mat3 odt_to_rgb = mat3( + vec3(1.60475f, -0.53108f, -0.07367f), + vec3(-0.10208f, 1.10813f, -0.00605f), + vec3(-0.00327f, -0.07276f, 1.07602f)); + + color *= rgb_to_rrt; + vec3 color_tonemapped = (color * (color + A) - B) / (color * (C * color + D) + E); + color_tonemapped *= odt_to_rgb; + + white *= exposure_bias; + float white_tonemapped = (white * (white + A) - B) / (white * (C * white + D) + E); return color_tonemapped / white_tonemapped; } @@ -200,15 +217,16 @@ vec3 linear_to_srgb(vec3 color) { #define TONEMAPPER_ACES 3 vec3 apply_tonemapping(vec3 color, float white) { // inputs are LINEAR, always outputs clamped [0;1] color - + // Ensure color values passed to tonemappers are positive. + // They can be negative in the case of negative lights, which leads to undesired behavior. if (params.tonemapper == TONEMAPPER_LINEAR) { return color; } else if (params.tonemapper == TONEMAPPER_REINHARD) { - return tonemap_reinhard(color, white); + return tonemap_reinhard(max(vec3(0.0f), color), white); } else if (params.tonemapper == TONEMAPPER_FILMIC) { - return tonemap_filmic(color, white); + return tonemap_filmic(max(vec3(0.0f), color), white); } else { // TONEMAPPER_ACES - return tonemap_aces(color, white); + return tonemap_aces(max(vec3(0.0f), color), white); } } @@ -401,9 +419,7 @@ void main() { color += screen_space_dither(gl_FragCoord.xy); } - // Ensure color values passed to tonemappers are positive. - // They can be negative in the case of negative lights, which leads to undesired behavior. - color = apply_tonemapping(max(vec3(0.0), color), params.white); + color = apply_tonemapping(color, params.white); color = linear_to_srgb(color); // regular linear -> SRGB conversion diff --git a/servers/rendering/renderer_viewport.cpp b/servers/rendering/renderer_viewport.cpp index 3ede9fed2d..8af2049ab3 100644 --- a/servers/rendering/renderer_viewport.cpp +++ b/servers/rendering/renderer_viewport.cpp @@ -626,10 +626,10 @@ void RendererViewport::draw_viewports() { BlitToScreen blit; blit.render_target = vp->render_target; if (vp->viewport_to_screen_rect != Rect2()) { - blit.rect = vp->viewport_to_screen_rect; + blit.dst_rect = vp->viewport_to_screen_rect; } else { - blit.rect.position = Vector2(); - blit.rect.size = vp->size; + blit.dst_rect.position = Vector2(); + blit.dst_rect.size = vp->size; } if (!blit_to_screen_list.has(vp->viewport_to_screen)) { diff --git a/servers/rendering/rendering_device.cpp b/servers/rendering/rendering_device.cpp index b302c6b793..70f676e5ac 100644 --- a/servers/rendering/rendering_device.cpp +++ b/servers/rendering/rendering_device.cpp @@ -478,12 +478,28 @@ void RenderingDevice::_bind_methods() { ClassDB::bind_method(D_METHOD("get_memory_usage"), &RenderingDevice::get_memory_usage); + ClassDB::bind_method(D_METHOD("get_driver_resource", "resource", "rid", "index"), &RenderingDevice::get_driver_resource); + BIND_CONSTANT(BARRIER_MASK_RASTER); BIND_CONSTANT(BARRIER_MASK_COMPUTE); BIND_CONSTANT(BARRIER_MASK_TRANSFER); BIND_CONSTANT(BARRIER_MASK_ALL); BIND_CONSTANT(BARRIER_MASK_NO_BARRIER); + BIND_ENUM_CONSTANT(DRIVER_RESOURCE_VULKAN_DEVICE); + BIND_ENUM_CONSTANT(DRIVER_RESOURCE_VULKAN_PHYSICAL_DEVICE); + BIND_ENUM_CONSTANT(DRIVER_RESOURCE_VULKAN_INSTANCE); + BIND_ENUM_CONSTANT(DRIVER_RESOURCE_VULKAN_QUEUE); + BIND_ENUM_CONSTANT(DRIVER_RESOURCE_VULKAN_QUEUE_FAMILY_INDEX); + BIND_ENUM_CONSTANT(DRIVER_RESOURCE_VULKAN_IMAGE); + BIND_ENUM_CONSTANT(DRIVER_RESOURCE_VULKAN_IMAGE_VIEW); + BIND_ENUM_CONSTANT(DRIVER_RESOURCE_VULKAN_IMAGE_NATIVE_TEXTURE_FORMAT); + BIND_ENUM_CONSTANT(DRIVER_RESOURCE_VULKAN_SAMPLER); + BIND_ENUM_CONSTANT(DRIVER_RESOURCE_VULKAN_DESCRIPTOR_SET); + BIND_ENUM_CONSTANT(DRIVER_RESOURCE_VULKAN_BUFFER); + BIND_ENUM_CONSTANT(DRIVER_RESOURCE_VULKAN_COMPUTE_PIPELINE); + BIND_ENUM_CONSTANT(DRIVER_RESOURCE_VULKAN_RENDER_PIPELINE); + BIND_ENUM_CONSTANT(DATA_FORMAT_R4G4_UNORM_PACK8); BIND_ENUM_CONSTANT(DATA_FORMAT_R4G4B4A4_UNORM_PACK16); BIND_ENUM_CONSTANT(DATA_FORMAT_B4G4R4A4_UNORM_PACK16); diff --git a/servers/rendering/rendering_device.h b/servers/rendering/rendering_device.h index 2cf1f165dd..5eb8f1cead 100644 --- a/servers/rendering/rendering_device.h +++ b/servers/rendering/rendering_device.h @@ -60,6 +60,23 @@ public: DEVICE_DIRECTX }; + enum DriverResource { + DRIVER_RESOURCE_VULKAN_DEVICE = 0, + DRIVER_RESOURCE_VULKAN_PHYSICAL_DEVICE, + DRIVER_RESOURCE_VULKAN_INSTANCE, + DRIVER_RESOURCE_VULKAN_QUEUE, + DRIVER_RESOURCE_VULKAN_QUEUE_FAMILY_INDEX, + DRIVER_RESOURCE_VULKAN_IMAGE, + DRIVER_RESOURCE_VULKAN_IMAGE_VIEW, + DRIVER_RESOURCE_VULKAN_IMAGE_NATIVE_TEXTURE_FORMAT, + DRIVER_RESOURCE_VULKAN_SAMPLER, + DRIVER_RESOURCE_VULKAN_DESCRIPTOR_SET, + DRIVER_RESOURCE_VULKAN_BUFFER, + DRIVER_RESOURCE_VULKAN_COMPUTE_PIPELINE, + DRIVER_RESOURCE_VULKAN_RENDER_PIPELINE, + //next driver continue enum from 1000 to keep order + }; + enum ShaderStage { SHADER_STAGE_VERTEX, SHADER_STAGE_FRAGMENT, @@ -1183,6 +1200,8 @@ public: virtual String get_device_name() const = 0; virtual String get_device_pipeline_cache_uuid() const = 0; + virtual uint64_t get_driver_resource(DriverResource p_resource, RID p_rid = RID(), uint64_t p_index = 0) = 0; + static RenderingDevice *get_singleton(); RenderingDevice(); @@ -1217,6 +1236,7 @@ protected: Vector<int64_t> _draw_list_switch_to_next_pass_split(uint32_t p_splits); }; +VARIANT_ENUM_CAST(RenderingDevice::DriverResource) VARIANT_ENUM_CAST(RenderingDevice::ShaderStage) VARIANT_ENUM_CAST(RenderingDevice::ShaderLanguage) VARIANT_ENUM_CAST(RenderingDevice::CompareOperator) diff --git a/servers/rendering_server.cpp b/servers/rendering_server.cpp index 78604dfe8c..1b10e4dcbe 100644 --- a/servers/rendering_server.cpp +++ b/servers/rendering_server.cpp @@ -500,7 +500,7 @@ Error RenderingServer::_surface_set_data(Array p_arrays, uint32_t p_format, uint case RS::ARRAY_CUSTOM1: case RS::ARRAY_CUSTOM2: case RS::ARRAY_CUSTOM3: { - uint32_t type = (p_format >> (ARRAY_FORMAT_CUSTOM_BASE + ARRAY_FORMAT_CUSTOM_BITS * (RS::ARRAY_CUSTOM0 - ai))) & ARRAY_FORMAT_CUSTOM_MASK; + uint32_t type = (p_format >> (ARRAY_FORMAT_CUSTOM_BASE + ARRAY_FORMAT_CUSTOM_BITS * (ai - RS::ARRAY_CUSTOM0))) & ARRAY_FORMAT_CUSTOM_MASK; switch (type) { case ARRAY_CUSTOM_RGBA8_UNORM: case ARRAY_CUSTOM_RGBA8_SNORM: @@ -541,14 +541,14 @@ Error RenderingServer::_surface_set_data(Array p_arrays, uint32_t p_format, uint ERR_FAIL_COND_V(p_arrays[ai].get_type() != Variant::PACKED_FLOAT32_ARRAY, ERR_INVALID_PARAMETER); Vector<float> array = p_arrays[ai]; - int32_t s = ARRAY_CUSTOM_R_FLOAT - ai + 1; + int32_t s = type - ARRAY_CUSTOM_R_FLOAT + 1; ERR_FAIL_COND_V(array.size() != p_vertex_array_len * s, ERR_INVALID_PARAMETER); const float *src = array.ptr(); for (int i = 0; i < p_vertex_array_len; i++) { - memcpy(&aw[p_offsets[ai] + i * p_attrib_stride], &src[i * s], 4 * s); + memcpy(&aw[p_offsets[ai] + i * p_attrib_stride], &src[i * s], sizeof(float) * s); } } break; default: { @@ -938,6 +938,13 @@ Error RenderingServer::mesh_create_surface_data_from_arrays(SurfaceData *r_surfa } } + for (uint32_t i = 0; i < RS::ARRAY_CUSTOM_COUNT; ++i) { + // include custom array format type. + if (format & (1 << (ARRAY_CUSTOM0 + i))) { + format |= (RS::ARRAY_FORMAT_CUSTOM_MASK << (RS::ARRAY_FORMAT_CUSTOM_BASE + i * RS::ARRAY_FORMAT_CUSTOM_BITS)) & p_compress_format; + } + } + uint32_t offsets[RS::ARRAY_MAX]; uint32_t vertex_element_size; @@ -1191,7 +1198,7 @@ Array RenderingServer::_get_array_from_surface(uint32_t p_format, Vector<uint8_t case RS::ARRAY_CUSTOM1: case RS::ARRAY_CUSTOM2: case RS::ARRAY_CUSTOM3: { - uint32_t type = (p_format >> (ARRAY_FORMAT_CUSTOM_BASE + ARRAY_FORMAT_CUSTOM_BITS * (RS::ARRAY_CUSTOM0 - i))) & ARRAY_FORMAT_CUSTOM_MASK; + uint32_t type = (p_format >> (ARRAY_FORMAT_CUSTOM_BASE + ARRAY_FORMAT_CUSTOM_BITS * (i - RS::ARRAY_CUSTOM0))) & ARRAY_FORMAT_CUSTOM_MASK; switch (type) { case ARRAY_CUSTOM_RGBA8_UNORM: case ARRAY_CUSTOM_RGBA8_SNORM: @@ -1219,6 +1226,8 @@ Array RenderingServer::_get_array_from_surface(uint32_t p_format, Vector<uint8_t uint32_t s = type - ARRAY_CUSTOM_R_FLOAT + 1; Vector<float> arr; + arr.resize(s * p_vertex_len); + float *w = arr.ptrw(); for (int j = 0; j < p_vertex_len; j++) { @@ -1467,6 +1476,11 @@ ShaderLanguage::DataType RenderingServer::global_variable_type_get_shader_dataty } } +RenderingDevice *RenderingServer::get_rendering_device() const { + // return the rendering device we're using globally + return RenderingDevice::get_singleton(); +} + RenderingDevice *RenderingServer::create_local_rendering_device() const { return RenderingDevice::get_singleton()->create_local_device(); } @@ -2211,7 +2225,6 @@ void RenderingServer::_bind_methods() { BIND_ENUM_CONSTANT(VIEWPORT_MSAA_2X); BIND_ENUM_CONSTANT(VIEWPORT_MSAA_4X); BIND_ENUM_CONSTANT(VIEWPORT_MSAA_8X); - BIND_ENUM_CONSTANT(VIEWPORT_MSAA_16X); BIND_ENUM_CONSTANT(VIEWPORT_MSAA_MAX); BIND_ENUM_CONSTANT(VIEWPORT_SCREEN_SPACE_AA_DISABLED); @@ -2714,6 +2727,7 @@ void RenderingServer::_bind_methods() { ClassDB::bind_method(D_METHOD("force_sync"), &RenderingServer::sync); ClassDB::bind_method(D_METHOD("force_draw", "swap_buffers", "frame_step"), &RenderingServer::draw, DEFVAL(true), DEFVAL(0.0)); + ClassDB::bind_method(D_METHOD("get_rendering_device"), &RenderingServer::get_rendering_device); ClassDB::bind_method(D_METHOD("create_local_rendering_device"), &RenderingServer::create_local_rendering_device); } diff --git a/servers/rendering_server.h b/servers/rendering_server.h index 8fbf231d9b..1b04a6e5e2 100644 --- a/servers/rendering_server.h +++ b/servers/rendering_server.h @@ -836,7 +836,6 @@ public: VIEWPORT_MSAA_2X, VIEWPORT_MSAA_4X, VIEWPORT_MSAA_8X, - VIEWPORT_MSAA_16X, VIEWPORT_MSAA_MAX, }; @@ -1493,6 +1492,7 @@ public: virtual void set_print_gpu_profile(bool p_enable) = 0; + RenderingDevice *get_rendering_device() const; RenderingDevice *create_local_rendering_device() const; bool is_render_loop_enabled() const; diff --git a/servers/xr/xr_interface.cpp b/servers/xr/xr_interface.cpp index fc1d82a964..bf54158905 100644 --- a/servers/xr/xr_interface.cpp +++ b/servers/xr/xr_interface.cpp @@ -29,7 +29,7 @@ /*************************************************************************/ #include "xr_interface.h" -#include "servers/rendering/renderer_compositor.h" +// #include "servers/rendering/renderer_compositor.h" void XRInterface::_bind_methods() { ClassDB::bind_method(D_METHOD("get_name"), &XRInterface::get_name); diff --git a/servers/xr/xr_interface_extension.cpp b/servers/xr/xr_interface_extension.cpp index e1519d1463..6340485bde 100644 --- a/servers/xr/xr_interface_extension.cpp +++ b/servers/xr/xr_interface_extension.cpp @@ -29,7 +29,8 @@ /*************************************************************************/ #include "xr_interface_extension.h" -#include "servers/rendering/renderer_compositor.h" +#include "servers/rendering/renderer_storage.h" +#include "servers/rendering/rendering_server_globals.h" void XRInterfaceExtension::_bind_methods() { GDVIRTUAL_BIND(_get_name); @@ -41,15 +42,13 @@ void XRInterfaceExtension::_bind_methods() { GDVIRTUAL_BIND(_get_tracking_status); - ClassDB::bind_method(D_METHOD("add_blit", "render_target", "rect", "use_layer", "layer", "apply_lens_distortion", "eye_center", "k1", "k2", "upscale", "aspect_ratio"), &XRInterfaceExtension::add_blit); - GDVIRTUAL_BIND(_get_render_target_size); GDVIRTUAL_BIND(_get_view_count); GDVIRTUAL_BIND(_get_camera_transform); GDVIRTUAL_BIND(_get_transform_for_view, "view", "cam_transform"); GDVIRTUAL_BIND(_get_projection_for_view, "view", "aspect", "z_near", "z_far"); - GDVIRTUAL_BIND(_commit_views); + GDVIRTUAL_BIND(_commit_views, "render_target", "screen_rect"); GDVIRTUAL_BIND(_process); GDVIRTUAL_BIND(_notification, "what"); @@ -60,6 +59,11 @@ void XRInterfaceExtension::_bind_methods() { GDVIRTUAL_BIND(_get_anchor_detection_is_enabled); GDVIRTUAL_BIND(_set_anchor_detection_is_enabled, "enabled"); GDVIRTUAL_BIND(_get_camera_feed_id); + + // helper methods + ClassDB::bind_method(D_METHOD("add_blit", "render_target", "src_rect", "dst_rect", "use_layer", "layer", "apply_lens_distortion", "eye_center", "k1", "k2", "upscale", "aspect_ratio"), &XRInterfaceExtension::add_blit); + ClassDB::bind_method(D_METHOD("get_render_target_texture", "render_target"), &XRInterfaceExtension::get_render_target_texture); + // ClassDB::bind_method(D_METHOD("get_render_target_depth", "render_target"), &XRInterfaceExtension::get_render_target_depth); } StringName XRInterfaceExtension::get_name() const { @@ -198,13 +202,14 @@ CameraMatrix XRInterfaceExtension::get_projection_for_view(uint32_t p_view, real return CameraMatrix(); } -void XRInterfaceExtension::add_blit(RID p_render_target, Rect2i p_rect, bool p_use_layer, uint32_t p_layer, bool p_apply_lens_distortion, Vector2 p_eye_center, float p_k1, float p_k2, float p_upscale, float p_aspect_ratio) { +void XRInterfaceExtension::add_blit(RID p_render_target, Rect2 p_src_rect, Rect2i p_dst_rect, bool p_use_layer, uint32_t p_layer, bool p_apply_lens_distortion, Vector2 p_eye_center, float p_k1, float p_k2, float p_upscale, float p_aspect_ratio) { BlitToScreen blit; ERR_FAIL_COND_MSG(!can_add_blits, "add_blit can only be called from an XR plugin from within _commit_views!"); blit.render_target = p_render_target; - blit.rect = p_rect; + blit.src_rect = p_src_rect; + blit.dst_rect = p_dst_rect; blit.multi_view.use_layer = p_use_layer; blit.multi_view.layer = p_layer; @@ -239,3 +244,19 @@ void XRInterfaceExtension::process() { void XRInterfaceExtension::notification(int p_what) { GDVIRTUAL_CALL(_notification, p_what); } + +RID XRInterfaceExtension::get_render_target_texture(RID p_render_target) { + RendererStorage *storage = RSG::storage; + ERR_FAIL_NULL_V_MSG(storage, RID(), "Renderer storage not setup"); + + return storage->render_target_get_texture(p_render_target); +} + +/* +RID XRInterfaceExtension::get_render_target_depth(RID p_render_target) { + RendererStorage *storage = RSG::storage; + ERR_FAIL_NULL_V_MSG(storage, RID(), "Renderer storage not setup"); + + return storage->render_target_get_depth(p_render_target); +} +*/ diff --git a/servers/xr/xr_interface_extension.h b/servers/xr/xr_interface_extension.h index ab4d90bfe6..94914a7b3f 100644 --- a/servers/xr/xr_interface_extension.h +++ b/servers/xr/xr_interface_extension.h @@ -91,7 +91,7 @@ public: GDVIRTUAL2R(Transform3D, _get_transform_for_view, uint32_t, const Transform3D &); GDVIRTUAL4R(PackedFloat64Array, _get_projection_for_view, uint32_t, real_t, real_t, real_t); - void add_blit(RID p_render_target, Rect2i p_rect, bool p_use_layer = false, uint32_t p_layer = 0, bool p_apply_lens_distortion = false, Vector2 p_eye_center = Vector2(), float p_k1 = 0.0, float p_k2 = 0.0, float p_upscale = 1.0, float p_aspect_ratio = 1.0); + void add_blit(RID p_render_target, Rect2 p_src_rect, Rect2i p_dst_rect, bool p_use_layer = false, uint32_t p_layer = 0, bool p_apply_lens_distortion = false, Vector2 p_eye_center = Vector2(), float p_k1 = 0.0, float p_k2 = 0.0, float p_upscale = 1.0, float p_aspect_ratio = 1.0); virtual Vector<BlitToScreen> commit_views(RID p_render_target, const Rect2 &p_screen_rect) override; GDVIRTUAL2(_commit_views, RID, const Rect2 &); @@ -100,6 +100,10 @@ public: GDVIRTUAL0(_process); GDVIRTUAL1(_notification, int); + + /* access to some internals we need */ + RID get_render_target_texture(RID p_render_target); + // RID get_render_target_depth(RID p_render_target); }; #endif // !XR_INTERFACE_EXTENSION_H |