diff options
Diffstat (limited to 'servers')
| -rw-r--r-- | servers/display_server.cpp | 4 | ||||
| -rw-r--r-- | servers/display_server.h | 2 | ||||
| -rw-r--r-- | servers/extensions/physics_server_3d_extension.h | 2 | ||||
| -rw-r--r-- | servers/navigation_server_2d.cpp | 120 | ||||
| -rw-r--r-- | servers/navigation_server_2d.h | 75 | ||||
| -rw-r--r-- | servers/navigation_server_3d.cpp | 6 | ||||
| -rw-r--r-- | servers/navigation_server_3d.h | 81 | ||||
| -rw-r--r-- | servers/physics_3d/godot_body_3d.h | 6 | ||||
| -rw-r--r-- | servers/physics_3d/godot_body_direct_state_3d.cpp | 5 | ||||
| -rw-r--r-- | servers/physics_3d/godot_body_direct_state_3d.h | 2 | ||||
| -rw-r--r-- | servers/physics_3d/godot_body_pair_3d.cpp | 68 | ||||
| -rw-r--r-- | servers/physics_3d/godot_body_pair_3d.h | 1 | ||||
| -rw-r--r-- | servers/physics_server_3d.h | 2 | ||||
| -rw-r--r-- | servers/register_server_types.cpp | 4 | ||||
| -rw-r--r-- | servers/rendering_server.cpp | 76 | ||||
| -rw-r--r-- | servers/rendering_server.h | 12 |
16 files changed, 236 insertions, 230 deletions
diff --git a/servers/display_server.cpp b/servers/display_server.cpp index 07e0b8057e..6af4783fa5 100644 --- a/servers/display_server.cpp +++ b/servers/display_server.cpp @@ -331,8 +331,8 @@ Point2i DisplayServer::mouse_get_position() const { ERR_FAIL_V_MSG(Point2i(), "Mouse is not supported by this display server."); } -MouseButton DisplayServer::mouse_get_button_state() const { - ERR_FAIL_V_MSG(MouseButton::NONE, "Mouse is not supported by this display server."); +BitField<MouseButtonMask> DisplayServer::mouse_get_button_state() const { + ERR_FAIL_V_MSG(0, "Mouse is not supported by this display server."); } void DisplayServer::clipboard_set(const String &p_text) { diff --git a/servers/display_server.h b/servers/display_server.h index ee53ec1ca0..0e4c8aa172 100644 --- a/servers/display_server.h +++ b/servers/display_server.h @@ -230,7 +230,7 @@ public: virtual void warp_mouse(const Point2i &p_position); virtual Point2i mouse_get_position() const; - virtual MouseButton mouse_get_button_state() const; + virtual BitField<MouseButtonMask> mouse_get_button_state() const; virtual void clipboard_set(const String &p_text); virtual String clipboard_get() const; diff --git a/servers/extensions/physics_server_3d_extension.h b/servers/extensions/physics_server_3d_extension.h index 9394ff3949..bec403c0ec 100644 --- a/servers/extensions/physics_server_3d_extension.h +++ b/servers/extensions/physics_server_3d_extension.h @@ -94,7 +94,7 @@ public: EXBIND1RC(Vector3, get_contact_local_position, int) EXBIND1RC(Vector3, get_contact_local_normal, int) - EXBIND1RC(real_t, get_contact_impulse, int) + EXBIND1RC(Vector3, get_contact_impulse, int) EXBIND1RC(int, get_contact_local_shape, int) EXBIND1RC(RID, get_contact_collider, int) EXBIND1RC(Vector3, get_contact_collider_position, int) diff --git a/servers/navigation_server_2d.cpp b/servers/navigation_server_2d.cpp index 9b2755806b..943b2ae467 100644 --- a/servers/navigation_server_2d.cpp +++ b/servers/navigation_server_2d.cpp @@ -36,15 +36,20 @@ NavigationServer2D *NavigationServer2D::singleton = nullptr; +#define FORWARD_0(FUNC_NAME) \ + NavigationServer2D::FUNC_NAME() { \ + return NavigationServer3D::get_singleton()->FUNC_NAME(); \ + } + #define FORWARD_0_C(FUNC_NAME) \ NavigationServer2D::FUNC_NAME() \ const { \ return NavigationServer3D::get_singleton()->FUNC_NAME(); \ } -#define FORWARD_1(FUNC_NAME, T_0, D_0, CONV_0) \ - NavigationServer2D::FUNC_NAME(T_0 D_0) { \ - return NavigationServer3D::get_singleton_mut()->FUNC_NAME(CONV_0(D_0)); \ +#define FORWARD_1(FUNC_NAME, T_0, D_0, CONV_0) \ + NavigationServer2D::FUNC_NAME(T_0 D_0) { \ + return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0)); \ } #define FORWARD_1_C(FUNC_NAME, T_0, D_0, CONV_0) \ @@ -59,6 +64,11 @@ NavigationServer2D *NavigationServer2D::singleton = nullptr; return CONV_R(NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0))); \ } +#define FORWARD_2(FUNC_NAME, T_0, D_0, T_1, D_1, CONV_0, CONV_1) \ + NavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1) { \ + return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1)); \ + } + #define FORWARD_2_C(FUNC_NAME, T_0, D_0, T_1, D_1, CONV_0, CONV_1) \ NavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1) \ const { \ @@ -71,6 +81,11 @@ NavigationServer2D *NavigationServer2D::singleton = nullptr; return CONV_R(NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1))); \ } +#define FORWARD_4(FUNC_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, CONV_0, CONV_1, CONV_2, CONV_3) \ + NavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3) { \ + return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1), CONV_2(D_2), CONV_3(D_3)); \ + } + #define FORWARD_4_R_C(CONV_R, FUNC_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, CONV_0, CONV_1, CONV_2, CONV_3) \ NavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3) \ const { \ @@ -166,14 +181,14 @@ void NavigationServer2D::_emit_map_changed(RID p_map) { #ifdef DEBUG_ENABLED void NavigationServer2D::set_debug_enabled(bool p_enabled) { - NavigationServer3D::get_singleton_mut()->set_debug_enabled(p_enabled); + NavigationServer3D::get_singleton()->set_debug_enabled(p_enabled); } bool NavigationServer2D::get_debug_enabled() const { return NavigationServer3D::get_singleton()->get_debug_enabled(); } void NavigationServer2D::set_debug_navigation_edge_connection_color(const Color &p_color) { - NavigationServer3D::get_singleton_mut()->set_debug_navigation_edge_connection_color(p_color); + NavigationServer3D::get_singleton()->set_debug_navigation_edge_connection_color(p_color); } Color NavigationServer2D::get_debug_navigation_edge_connection_color() const { @@ -181,7 +196,7 @@ Color NavigationServer2D::get_debug_navigation_edge_connection_color() const { } void NavigationServer2D::set_debug_navigation_geometry_face_color(const Color &p_color) { - NavigationServer3D::get_singleton_mut()->set_debug_navigation_geometry_face_color(p_color); + NavigationServer3D::get_singleton()->set_debug_navigation_geometry_face_color(p_color); } Color NavigationServer2D::get_debug_navigation_geometry_face_color() const { @@ -189,7 +204,7 @@ Color NavigationServer2D::get_debug_navigation_geometry_face_color() const { } void NavigationServer2D::set_debug_navigation_geometry_face_disabled_color(const Color &p_color) { - NavigationServer3D::get_singleton_mut()->set_debug_navigation_geometry_face_disabled_color(p_color); + NavigationServer3D::get_singleton()->set_debug_navigation_geometry_face_disabled_color(p_color); } Color NavigationServer2D::get_debug_navigation_geometry_face_disabled_color() const { @@ -197,7 +212,7 @@ Color NavigationServer2D::get_debug_navigation_geometry_face_disabled_color() co } void NavigationServer2D::set_debug_navigation_link_connection_color(const Color &p_color) { - NavigationServer3D::get_singleton_mut()->set_debug_navigation_link_connection_color(p_color); + NavigationServer3D::get_singleton()->set_debug_navigation_link_connection_color(p_color); } Color NavigationServer2D::get_debug_navigation_link_connection_color() const { @@ -205,7 +220,7 @@ Color NavigationServer2D::get_debug_navigation_link_connection_color() const { } void NavigationServer2D::set_debug_navigation_link_connection_disabled_color(const Color &p_color) { - NavigationServer3D::get_singleton_mut()->set_debug_navigation_link_connection_disabled_color(p_color); + NavigationServer3D::get_singleton()->set_debug_navigation_link_connection_disabled_color(p_color); } Color NavigationServer2D::get_debug_navigation_link_connection_disabled_color() const { @@ -213,7 +228,7 @@ Color NavigationServer2D::get_debug_navigation_link_connection_disabled_color() } void NavigationServer2D::set_debug_navigation_enable_edge_connections(const bool p_value) { - NavigationServer3D::get_singleton_mut()->set_debug_navigation_enable_edge_connections(p_value); + NavigationServer3D::get_singleton()->set_debug_navigation_enable_edge_connections(p_value); } bool NavigationServer2D::get_debug_navigation_enable_edge_connections() const { @@ -303,7 +318,7 @@ void NavigationServer2D::_bind_methods() { NavigationServer2D::NavigationServer2D() { singleton = this; ERR_FAIL_COND_MSG(!NavigationServer3D::get_singleton(), "The Navigation3D singleton should be initialized before the 2D one."); - NavigationServer3D::get_singleton_mut()->connect("map_changed", callable_mp(this, &NavigationServer2D::_emit_map_changed)); + NavigationServer3D::get_singleton()->connect("map_changed", callable_mp(this, &NavigationServer2D::_emit_map_changed)); } NavigationServer2D::~NavigationServer2D() { @@ -322,23 +337,23 @@ RID FORWARD_1_C(region_get_map, RID, p_region, rid_to_rid); RID FORWARD_1_C(agent_get_map, RID, p_agent, rid_to_rid); -RID FORWARD_0_C(map_create); +RID FORWARD_0(map_create); -void FORWARD_2_C(map_set_active, RID, p_map, bool, p_active, rid_to_rid, bool_to_bool); +void FORWARD_2(map_set_active, RID, p_map, bool, p_active, rid_to_rid, bool_to_bool); bool FORWARD_1_C(map_is_active, RID, p_map, rid_to_rid); void NavigationServer2D::map_force_update(RID p_map) { - NavigationServer3D::get_singleton_mut()->map_force_update(p_map); + NavigationServer3D::get_singleton()->map_force_update(p_map); } -void FORWARD_2_C(map_set_cell_size, RID, p_map, real_t, p_cell_size, rid_to_rid, real_to_real); +void FORWARD_2(map_set_cell_size, RID, p_map, real_t, p_cell_size, rid_to_rid, real_to_real); real_t FORWARD_1_C(map_get_cell_size, RID, p_map, rid_to_rid); -void FORWARD_2_C(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin, rid_to_rid, real_to_real); +void FORWARD_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin, rid_to_rid, real_to_real); real_t FORWARD_1_C(map_get_edge_connection_margin, RID, p_map, rid_to_rid); -void FORWARD_2_C(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius, rid_to_rid, real_to_real); +void FORWARD_2(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius, rid_to_rid, real_to_real); real_t FORWARD_1_C(map_get_link_connection_radius, RID, p_map, rid_to_rid); Vector<Vector2> FORWARD_5_R_C(vector_v3_to_v2, map_get_path, RID, p_map, Vector2, p_origin, Vector2, p_destination, bool, p_optimize, uint32_t, p_layers, rid_to_rid, v2_to_v3, v2_to_v3, bool_to_bool, uint32_to_uint32); @@ -346,22 +361,22 @@ Vector<Vector2> FORWARD_5_R_C(vector_v3_to_v2, map_get_path, RID, p_map, Vector2 Vector2 FORWARD_2_R_C(v3_to_v2, map_get_closest_point, RID, p_map, const Vector2 &, p_point, rid_to_rid, v2_to_v3); RID FORWARD_2_C(map_get_closest_point_owner, RID, p_map, const Vector2 &, p_point, rid_to_rid, v2_to_v3); -RID FORWARD_0_C(region_create); +RID FORWARD_0(region_create); -void FORWARD_2_C(region_set_enter_cost, RID, p_region, real_t, p_enter_cost, rid_to_rid, real_to_real); +void FORWARD_2(region_set_enter_cost, RID, p_region, real_t, p_enter_cost, rid_to_rid, real_to_real); real_t FORWARD_1_C(region_get_enter_cost, RID, p_region, rid_to_rid); -void FORWARD_2_C(region_set_travel_cost, RID, p_region, real_t, p_travel_cost, rid_to_rid, real_to_real); +void FORWARD_2(region_set_travel_cost, RID, p_region, real_t, p_travel_cost, rid_to_rid, real_to_real); real_t FORWARD_1_C(region_get_travel_cost, RID, p_region, rid_to_rid); -void FORWARD_2_C(region_set_owner_id, RID, p_region, ObjectID, p_owner_id, rid_to_rid, id_to_id); +void FORWARD_2(region_set_owner_id, RID, p_region, ObjectID, p_owner_id, rid_to_rid, id_to_id); ObjectID FORWARD_1_C(region_get_owner_id, RID, p_region, rid_to_rid); bool FORWARD_2_C(region_owns_point, RID, p_region, const Vector2 &, p_point, rid_to_rid, v2_to_v3); -void FORWARD_2_C(region_set_map, RID, p_region, RID, p_map, rid_to_rid, rid_to_rid); -void FORWARD_2_C(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers, rid_to_rid, uint32_to_uint32); +void FORWARD_2(region_set_map, RID, p_region, RID, p_map, rid_to_rid, rid_to_rid); +void FORWARD_2(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers, rid_to_rid, uint32_to_uint32); uint32_t FORWARD_1_C(region_get_navigation_layers, RID, p_region, rid_to_rid); -void FORWARD_2_C(region_set_transform, RID, p_region, Transform2D, p_transform, rid_to_rid, trf2_to_trf3); +void FORWARD_2(region_set_transform, RID, p_region, Transform2D, p_transform, rid_to_rid, trf2_to_trf3); -void NavigationServer2D::region_set_navigation_polygon(RID p_region, Ref<NavigationPolygon> p_navigation_polygon) const { +void NavigationServer2D::region_set_navigation_polygon(RID p_region, Ref<NavigationPolygon> p_navigation_polygon) { NavigationServer3D::get_singleton()->region_set_navigation_mesh(p_region, poly_to_mesh(p_navigation_polygon)); } @@ -369,56 +384,45 @@ int FORWARD_1_C(region_get_connections_count, RID, p_region, rid_to_rid); Vector2 FORWARD_2_R_C(v3_to_v2, region_get_connection_pathway_start, RID, p_region, int, p_connection_id, rid_to_rid, int_to_int); Vector2 FORWARD_2_R_C(v3_to_v2, region_get_connection_pathway_end, RID, p_region, int, p_connection_id, rid_to_rid, int_to_int); -RID FORWARD_0_C(link_create); +RID FORWARD_0(link_create); -void FORWARD_2_C(link_set_map, RID, p_link, RID, p_map, rid_to_rid, rid_to_rid); +void FORWARD_2(link_set_map, RID, p_link, RID, p_map, rid_to_rid, rid_to_rid); RID FORWARD_1_C(link_get_map, RID, p_link, rid_to_rid); -void FORWARD_2_C(link_set_bidirectional, RID, p_link, bool, p_bidirectional, rid_to_rid, bool_to_bool); +void FORWARD_2(link_set_bidirectional, RID, p_link, bool, p_bidirectional, rid_to_rid, bool_to_bool); bool FORWARD_1_C(link_is_bidirectional, RID, p_link, rid_to_rid); -void FORWARD_2_C(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers, rid_to_rid, uint32_to_uint32); +void FORWARD_2(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers, rid_to_rid, uint32_to_uint32); uint32_t FORWARD_1_C(link_get_navigation_layers, RID, p_link, rid_to_rid); -void FORWARD_2_C(link_set_start_location, RID, p_link, Vector2, p_location, rid_to_rid, v2_to_v3); +void FORWARD_2(link_set_start_location, RID, p_link, Vector2, p_location, rid_to_rid, v2_to_v3); Vector2 FORWARD_1_R_C(v3_to_v2, link_get_start_location, RID, p_link, rid_to_rid); -void FORWARD_2_C(link_set_end_location, RID, p_link, Vector2, p_location, rid_to_rid, v2_to_v3); +void FORWARD_2(link_set_end_location, RID, p_link, Vector2, p_location, rid_to_rid, v2_to_v3); Vector2 FORWARD_1_R_C(v3_to_v2, link_get_end_location, RID, p_link, rid_to_rid); -void FORWARD_2_C(link_set_enter_cost, RID, p_link, real_t, p_enter_cost, rid_to_rid, real_to_real); +void FORWARD_2(link_set_enter_cost, RID, p_link, real_t, p_enter_cost, rid_to_rid, real_to_real); real_t FORWARD_1_C(link_get_enter_cost, RID, p_link, rid_to_rid); -void FORWARD_2_C(link_set_travel_cost, RID, p_link, real_t, p_travel_cost, rid_to_rid, real_to_real); +void FORWARD_2(link_set_travel_cost, RID, p_link, real_t, p_travel_cost, rid_to_rid, real_to_real); real_t FORWARD_1_C(link_get_travel_cost, RID, p_link, rid_to_rid); -void FORWARD_2_C(link_set_owner_id, RID, p_link, ObjectID, p_owner_id, rid_to_rid, id_to_id); +void FORWARD_2(link_set_owner_id, RID, p_link, ObjectID, p_owner_id, rid_to_rid, id_to_id); ObjectID FORWARD_1_C(link_get_owner_id, RID, p_link, rid_to_rid); -RID NavigationServer2D::agent_create() const { +RID NavigationServer2D::agent_create() { RID agent = NavigationServer3D::get_singleton()->agent_create(); NavigationServer3D::get_singleton()->agent_set_ignore_y(agent, true); return agent; } -void FORWARD_2_C(agent_set_map, RID, p_agent, RID, p_map, rid_to_rid, rid_to_rid); - -void FORWARD_2_C(agent_set_neighbor_distance, RID, p_agent, real_t, p_dist, rid_to_rid, real_to_real); - -void FORWARD_2_C(agent_set_max_neighbors, RID, p_agent, int, p_count, rid_to_rid, int_to_int); - -void FORWARD_2_C(agent_set_time_horizon, RID, p_agent, real_t, p_time, rid_to_rid, real_to_real); - -void FORWARD_2_C(agent_set_radius, RID, p_agent, real_t, p_radius, rid_to_rid, real_to_real); - -void FORWARD_2_C(agent_set_max_speed, RID, p_agent, real_t, p_max_speed, rid_to_rid, real_to_real); - -void FORWARD_2_C(agent_set_velocity, RID, p_agent, Vector2, p_velocity, rid_to_rid, v2_to_v3); - -void FORWARD_2_C(agent_set_target_velocity, RID, p_agent, Vector2, p_velocity, rid_to_rid, v2_to_v3); - -void FORWARD_2_C(agent_set_position, RID, p_agent, Vector2, p_position, rid_to_rid, v2_to_v3); - -void FORWARD_2_C(agent_set_ignore_y, RID, p_agent, bool, p_ignore, rid_to_rid, bool_to_bool); - +void FORWARD_2(agent_set_map, RID, p_agent, RID, p_map, rid_to_rid, rid_to_rid); +void FORWARD_2(agent_set_neighbor_distance, RID, p_agent, real_t, p_dist, rid_to_rid, real_to_real); +void FORWARD_2(agent_set_max_neighbors, RID, p_agent, int, p_count, rid_to_rid, int_to_int); +void FORWARD_2(agent_set_time_horizon, RID, p_agent, real_t, p_time, rid_to_rid, real_to_real); +void FORWARD_2(agent_set_radius, RID, p_agent, real_t, p_radius, rid_to_rid, real_to_real); +void FORWARD_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed, rid_to_rid, real_to_real); +void FORWARD_2(agent_set_velocity, RID, p_agent, Vector2, p_velocity, rid_to_rid, v2_to_v3); +void FORWARD_2(agent_set_target_velocity, RID, p_agent, Vector2, p_velocity, rid_to_rid, v2_to_v3); +void FORWARD_2(agent_set_position, RID, p_agent, Vector2, p_position, rid_to_rid, v2_to_v3); +void FORWARD_2(agent_set_ignore_y, RID, p_agent, bool, p_ignore, rid_to_rid, bool_to_bool); bool FORWARD_1_C(agent_is_map_changed, RID, p_agent, rid_to_rid); +void FORWARD_4(agent_set_callback, RID, p_agent, ObjectID, p_object_id, StringName, p_method, Variant, p_udata, rid_to_rid, id_to_id, sn_to_sn, var_to_var); -void FORWARD_4_C(agent_set_callback, RID, p_agent, ObjectID, p_object_id, StringName, p_method, Variant, p_udata, rid_to_rid, id_to_id, sn_to_sn, var_to_var); - -void FORWARD_1_C(free, RID, p_object, rid_to_rid); +void FORWARD_1(free, RID, p_object, rid_to_rid); void NavigationServer2D::query_path(const Ref<NavigationPathQueryParameters2D> &p_query_parameters, Ref<NavigationPathQueryResult2D> p_query_result) const { ERR_FAIL_COND(!p_query_parameters.is_valid()); diff --git a/servers/navigation_server_2d.h b/servers/navigation_server_2d.h index eabd506341..0adf736b2a 100644 --- a/servers/navigation_server_2d.h +++ b/servers/navigation_server_2d.h @@ -51,36 +51,33 @@ protected: public: /// Thread safe, can be used across many threads. - static const NavigationServer2D *get_singleton() { return singleton; } - - /// MUST be used in single thread! - static NavigationServer2D *get_singleton_mut() { return singleton; } + static NavigationServer2D *get_singleton() { return singleton; } virtual TypedArray<RID> get_maps() const; /// Create a new map. - virtual RID map_create() const; + virtual RID map_create(); /// Set map active. - virtual void map_set_active(RID p_map, bool p_active) const; + virtual void map_set_active(RID p_map, bool p_active); /// Returns true if the map is active. virtual bool map_is_active(RID p_map) const; /// Set the map cell size used to weld the navigation mesh polygons. - virtual void map_set_cell_size(RID p_map, real_t p_cell_size) const; + virtual void map_set_cell_size(RID p_map, real_t p_cell_size); /// Returns the map cell size. virtual real_t map_get_cell_size(RID p_map) const; /// Set the map edge connection margin used to weld the compatible region edges. - virtual void map_set_edge_connection_margin(RID p_map, real_t p_connection_margin) const; + virtual void map_set_edge_connection_margin(RID p_map, real_t p_connection_margin); /// Returns the edge connection margin of this map. virtual real_t map_get_edge_connection_margin(RID p_map) const; /// Set the map link connection radius used to attach links to the nav mesh. - virtual void map_set_link_connection_radius(RID p_map, real_t p_connection_radius) const; + virtual void map_set_link_connection_radius(RID p_map, real_t p_connection_radius); /// Returns the link connection radius of this map. virtual real_t map_get_link_connection_radius(RID p_map) const; @@ -98,35 +95,35 @@ public: virtual void map_force_update(RID p_map); /// Creates a new region. - virtual RID region_create() const; + virtual RID region_create(); /// Set the enter_cost of a region - virtual void region_set_enter_cost(RID p_region, real_t p_enter_cost) const; + virtual void region_set_enter_cost(RID p_region, real_t p_enter_cost); virtual real_t region_get_enter_cost(RID p_region) const; /// Set the travel_cost of a region - virtual void region_set_travel_cost(RID p_region, real_t p_travel_cost) const; + virtual void region_set_travel_cost(RID p_region, real_t p_travel_cost); virtual real_t region_get_travel_cost(RID p_region) const; /// Set the node which manages this region. - virtual void region_set_owner_id(RID p_region, ObjectID p_owner_id) const; + virtual void region_set_owner_id(RID p_region, ObjectID p_owner_id); virtual ObjectID region_get_owner_id(RID p_region) const; virtual bool region_owns_point(RID p_region, const Vector2 &p_point) const; /// Set the map of this region. - virtual void region_set_map(RID p_region, RID p_map) const; + virtual void region_set_map(RID p_region, RID p_map); virtual RID region_get_map(RID p_region) const; /// Set the region's layers - virtual void region_set_navigation_layers(RID p_region, uint32_t p_navigation_layers) const; + virtual void region_set_navigation_layers(RID p_region, uint32_t p_navigation_layers); virtual uint32_t region_get_navigation_layers(RID p_region) const; /// Set the global transformation of this region. - virtual void region_set_transform(RID p_region, Transform2D p_transform) const; + virtual void region_set_transform(RID p_region, Transform2D p_transform); /// Set the navigation poly of this region. - virtual void region_set_navigation_polygon(RID p_region, Ref<NavigationPolygon> p_navigation_polygon) const; + virtual void region_set_navigation_polygon(RID p_region, Ref<NavigationPolygon> p_navigation_polygon); /// Get a list of a region's connection to other regions. virtual int region_get_connections_count(RID p_region) const; @@ -134,45 +131,45 @@ public: virtual Vector2 region_get_connection_pathway_end(RID p_region, int p_connection_id) const; /// Creates a new link between locations in the nav map. - virtual RID link_create() const; + virtual RID link_create(); /// Set the map of this link. - virtual void link_set_map(RID p_link, RID p_map) const; + virtual void link_set_map(RID p_link, RID p_map); virtual RID link_get_map(RID p_link) const; /// Set whether this link travels in both directions. - virtual void link_set_bidirectional(RID p_link, bool p_bidirectional) const; + virtual void link_set_bidirectional(RID p_link, bool p_bidirectional); virtual bool link_is_bidirectional(RID p_link) const; /// Set the link's layers. - virtual void link_set_navigation_layers(RID p_link, uint32_t p_navigation_layers) const; + virtual void link_set_navigation_layers(RID p_link, uint32_t p_navigation_layers); virtual uint32_t link_get_navigation_layers(RID p_link) const; /// Set the start location of the link. - virtual void link_set_start_location(RID p_link, Vector2 p_location) const; + virtual void link_set_start_location(RID p_link, Vector2 p_location); virtual Vector2 link_get_start_location(RID p_link) const; /// Set the end location of the link. - virtual void link_set_end_location(RID p_link, Vector2 p_location) const; + virtual void link_set_end_location(RID p_link, Vector2 p_location); virtual Vector2 link_get_end_location(RID p_link) const; /// Set the enter cost of the link. - virtual void link_set_enter_cost(RID p_link, real_t p_enter_cost) const; + virtual void link_set_enter_cost(RID p_link, real_t p_enter_cost); virtual real_t link_get_enter_cost(RID p_link) const; /// Set the travel cost of the link. - virtual void link_set_travel_cost(RID p_link, real_t p_travel_cost) const; + virtual void link_set_travel_cost(RID p_link, real_t p_travel_cost); virtual real_t link_get_travel_cost(RID p_link) const; /// Set the node which manages this link. - virtual void link_set_owner_id(RID p_link, ObjectID p_owner_id) const; + virtual void link_set_owner_id(RID p_link, ObjectID p_owner_id); virtual ObjectID link_get_owner_id(RID p_link) const; /// Creates the agent. - virtual RID agent_create() const; + virtual RID agent_create(); /// Put the agent in the map. - virtual void agent_set_map(RID p_agent, RID p_map) const; + virtual void agent_set_map(RID p_agent, RID p_map); virtual RID agent_get_map(RID p_agent) const; /// The maximum distance (center point to @@ -182,7 +179,7 @@ public: /// time of the simulation. If the number is too /// low, the simulation will not be safe. /// Must be non-negative. - virtual void agent_set_neighbor_distance(RID p_agent, real_t p_distance) const; + virtual void agent_set_neighbor_distance(RID p_agent, real_t p_distance); /// The maximum number of other agents this /// agent takes into account in the navigation. @@ -190,7 +187,7 @@ public: /// running time of the simulation. If the /// number is too low, the simulation will not /// be safe. - virtual void agent_set_max_neighbors(RID p_agent, int p_count) const; + virtual void agent_set_max_neighbors(RID p_agent, int p_count); /// The minimal amount of time for which this /// agent's velocities that are computed by the @@ -200,38 +197,38 @@ public: /// other agents, but the less freedom this /// agent has in choosing its velocities. /// Must be positive. - virtual void agent_set_time_horizon(RID p_agent, real_t p_time) const; + virtual void agent_set_time_horizon(RID p_agent, real_t p_time); /// The radius of this agent. /// Must be non-negative. - virtual void agent_set_radius(RID p_agent, real_t p_radius) const; + virtual void agent_set_radius(RID p_agent, real_t p_radius); /// The maximum speed of this agent. /// Must be non-negative. - virtual void agent_set_max_speed(RID p_agent, real_t p_max_speed) const; + virtual void agent_set_max_speed(RID p_agent, real_t p_max_speed); /// Current velocity of the agent - virtual void agent_set_velocity(RID p_agent, Vector2 p_velocity) const; + virtual void agent_set_velocity(RID p_agent, Vector2 p_velocity); /// The new target velocity. - virtual void agent_set_target_velocity(RID p_agent, Vector2 p_velocity) const; + virtual void agent_set_target_velocity(RID p_agent, Vector2 p_velocity); /// Position of the agent in world space. - virtual void agent_set_position(RID p_agent, Vector2 p_position) const; + virtual void agent_set_position(RID p_agent, Vector2 p_position); /// Agent ignore the Y axis and avoid collisions by moving only on the horizontal plane - virtual void agent_set_ignore_y(RID p_agent, bool p_ignore) const; + virtual void agent_set_ignore_y(RID p_agent, bool p_ignore); /// Returns true if the map got changed the previous frame. virtual bool agent_is_map_changed(RID p_agent) const; /// Callback called at the end of the RVO process - virtual void agent_set_callback(RID p_agent, ObjectID p_object_id, StringName p_method, Variant p_udata = Variant()) const; + virtual void agent_set_callback(RID p_agent, ObjectID p_object_id, StringName p_method, Variant p_udata = Variant()); virtual void query_path(const Ref<NavigationPathQueryParameters2D> &p_query_parameters, Ref<NavigationPathQueryResult2D> p_query_result) const; /// Destroy the `RID` - virtual void free(RID p_object) const; + virtual void free(RID p_object); NavigationServer2D(); virtual ~NavigationServer2D(); diff --git a/servers/navigation_server_3d.cpp b/servers/navigation_server_3d.cpp index 35a965388d..97c0ae0d54 100644 --- a/servers/navigation_server_3d.cpp +++ b/servers/navigation_server_3d.cpp @@ -125,11 +125,7 @@ void NavigationServer3D::_bind_methods() { ADD_SIGNAL(MethodInfo("navigation_debug_changed")); } -const NavigationServer3D *NavigationServer3D::get_singleton() { - return singleton; -} - -NavigationServer3D *NavigationServer3D::get_singleton_mut() { +NavigationServer3D *NavigationServer3D::get_singleton() { return singleton; } diff --git a/servers/navigation_server_3d.h b/servers/navigation_server_3d.h index 0215ab3469..afd7216a43 100644 --- a/servers/navigation_server_3d.h +++ b/servers/navigation_server_3d.h @@ -55,42 +55,39 @@ protected: public: /// Thread safe, can be used across many threads. - static const NavigationServer3D *get_singleton(); - - /// MUST be used in single thread! - static NavigationServer3D *get_singleton_mut(); + static NavigationServer3D *get_singleton(); virtual TypedArray<RID> get_maps() const = 0; /// Create a new map. - virtual RID map_create() const = 0; + virtual RID map_create() = 0; /// Set map active. - virtual void map_set_active(RID p_map, bool p_active) const = 0; + virtual void map_set_active(RID p_map, bool p_active) = 0; /// Returns true if the map is active. virtual bool map_is_active(RID p_map) const = 0; /// Set the map UP direction. - virtual void map_set_up(RID p_map, Vector3 p_up) const = 0; + virtual void map_set_up(RID p_map, Vector3 p_up) = 0; /// Returns the map UP direction. virtual Vector3 map_get_up(RID p_map) const = 0; /// Set the map cell size used to weld the navigation mesh polygons. - virtual void map_set_cell_size(RID p_map, real_t p_cell_size) const = 0; + virtual void map_set_cell_size(RID p_map, real_t p_cell_size) = 0; /// Returns the map cell size. virtual real_t map_get_cell_size(RID p_map) const = 0; /// Set the map edge connection margin used to weld the compatible region edges. - virtual void map_set_edge_connection_margin(RID p_map, real_t p_connection_margin) const = 0; + virtual void map_set_edge_connection_margin(RID p_map, real_t p_connection_margin) = 0; /// Returns the edge connection margin of this map. virtual real_t map_get_edge_connection_margin(RID p_map) const = 0; /// Set the map link connection radius used to attach links to the nav mesh. - virtual void map_set_link_connection_radius(RID p_map, real_t p_connection_radius) const = 0; + virtual void map_set_link_connection_radius(RID p_map, real_t p_connection_radius) = 0; /// Returns the link connection radius of this map. virtual real_t map_get_link_connection_radius(RID p_map) const = 0; @@ -110,38 +107,38 @@ public: virtual void map_force_update(RID p_map) = 0; /// Creates a new region. - virtual RID region_create() const = 0; + virtual RID region_create() = 0; /// Set the enter_cost of a region - virtual void region_set_enter_cost(RID p_region, real_t p_enter_cost) const = 0; + virtual void region_set_enter_cost(RID p_region, real_t p_enter_cost) = 0; virtual real_t region_get_enter_cost(RID p_region) const = 0; /// Set the travel_cost of a region - virtual void region_set_travel_cost(RID p_region, real_t p_travel_cost) const = 0; + virtual void region_set_travel_cost(RID p_region, real_t p_travel_cost) = 0; virtual real_t region_get_travel_cost(RID p_region) const = 0; /// Set the node which manages this region. - virtual void region_set_owner_id(RID p_region, ObjectID p_owner_id) const = 0; + virtual void region_set_owner_id(RID p_region, ObjectID p_owner_id) = 0; virtual ObjectID region_get_owner_id(RID p_region) const = 0; virtual bool region_owns_point(RID p_region, const Vector3 &p_point) const = 0; /// Set the map of this region. - virtual void region_set_map(RID p_region, RID p_map) const = 0; + virtual void region_set_map(RID p_region, RID p_map) = 0; virtual RID region_get_map(RID p_region) const = 0; /// Set the region's layers - virtual void region_set_navigation_layers(RID p_region, uint32_t p_navigation_layers) const = 0; + virtual void region_set_navigation_layers(RID p_region, uint32_t p_navigation_layers) = 0; virtual uint32_t region_get_navigation_layers(RID p_region) const = 0; /// Set the global transformation of this region. - virtual void region_set_transform(RID p_region, Transform3D p_transform) const = 0; + virtual void region_set_transform(RID p_region, Transform3D p_transform) = 0; /// Set the navigation mesh of this region. - virtual void region_set_navigation_mesh(RID p_region, Ref<NavigationMesh> p_navigation_mesh) const = 0; + virtual void region_set_navigation_mesh(RID p_region, Ref<NavigationMesh> p_navigation_mesh) = 0; /// Bake the navigation mesh. - virtual void region_bake_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh, Node *p_root_node) const = 0; + virtual void region_bake_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh, Node *p_root_node) = 0; /// Get a list of a region's connection to other regions. virtual int region_get_connections_count(RID p_region) const = 0; @@ -149,45 +146,45 @@ public: virtual Vector3 region_get_connection_pathway_end(RID p_region, int p_connection_id) const = 0; /// Creates a new link between locations in the nav map. - virtual RID link_create() const = 0; + virtual RID link_create() = 0; /// Set the map of this link. - virtual void link_set_map(RID p_link, RID p_map) const = 0; + virtual void link_set_map(RID p_link, RID p_map) = 0; virtual RID link_get_map(RID p_link) const = 0; /// Set whether this link travels in both directions. - virtual void link_set_bidirectional(RID p_link, bool p_bidirectional) const = 0; + virtual void link_set_bidirectional(RID p_link, bool p_bidirectional) = 0; virtual bool link_is_bidirectional(RID p_link) const = 0; /// Set the link's layers. - virtual void link_set_navigation_layers(RID p_link, uint32_t p_navigation_layers) const = 0; + virtual void link_set_navigation_layers(RID p_link, uint32_t p_navigation_layers) = 0; virtual uint32_t link_get_navigation_layers(RID p_link) const = 0; /// Set the start location of the link. - virtual void link_set_start_location(RID p_link, Vector3 p_location) const = 0; + virtual void link_set_start_location(RID p_link, Vector3 p_location) = 0; virtual Vector3 link_get_start_location(RID p_link) const = 0; /// Set the end location of the link. - virtual void link_set_end_location(RID p_link, Vector3 p_location) const = 0; + virtual void link_set_end_location(RID p_link, Vector3 p_location) = 0; virtual Vector3 link_get_end_location(RID p_link) const = 0; /// Set the enter cost of the link. - virtual void link_set_enter_cost(RID p_link, real_t p_enter_cost) const = 0; + virtual void link_set_enter_cost(RID p_link, real_t p_enter_cost) = 0; virtual real_t link_get_enter_cost(RID p_link) const = 0; /// Set the travel cost of the link. - virtual void link_set_travel_cost(RID p_link, real_t p_travel_cost) const = 0; + virtual void link_set_travel_cost(RID p_link, real_t p_travel_cost) = 0; virtual real_t link_get_travel_cost(RID p_link) const = 0; /// Set the node which manages this link. - virtual void link_set_owner_id(RID p_link, ObjectID p_owner_id) const = 0; + virtual void link_set_owner_id(RID p_link, ObjectID p_owner_id) = 0; virtual ObjectID link_get_owner_id(RID p_link) const = 0; /// Creates the agent. - virtual RID agent_create() const = 0; + virtual RID agent_create() = 0; /// Put the agent in the map. - virtual void agent_set_map(RID p_agent, RID p_map) const = 0; + virtual void agent_set_map(RID p_agent, RID p_map) = 0; virtual RID agent_get_map(RID p_agent) const = 0; /// The maximum distance (center point to @@ -197,7 +194,7 @@ public: /// time of the simulation. If the number is too /// low, the simulation will not be safe. /// Must be non-negative. - virtual void agent_set_neighbor_distance(RID p_agent, real_t p_distance) const = 0; + virtual void agent_set_neighbor_distance(RID p_agent, real_t p_distance) = 0; /// The maximum number of other agents this /// agent takes into account in the navigation. @@ -205,7 +202,7 @@ public: /// running time of the simulation. If the /// number is too low, the simulation will not /// be safe. - virtual void agent_set_max_neighbors(RID p_agent, int p_count) const = 0; + virtual void agent_set_max_neighbors(RID p_agent, int p_count) = 0; /// The minimal amount of time for which this /// agent's velocities that are computed by the @@ -215,39 +212,39 @@ public: /// other agents, but the less freedom this /// agent has in choosing its velocities. /// Must be positive. - virtual void agent_set_time_horizon(RID p_agent, real_t p_time) const = 0; + virtual void agent_set_time_horizon(RID p_agent, real_t p_time) = 0; /// The radius of this agent. /// Must be non-negative. - virtual void agent_set_radius(RID p_agent, real_t p_radius) const = 0; + virtual void agent_set_radius(RID p_agent, real_t p_radius) = 0; /// The maximum speed of this agent. /// Must be non-negative. - virtual void agent_set_max_speed(RID p_agent, real_t p_max_speed) const = 0; + virtual void agent_set_max_speed(RID p_agent, real_t p_max_speed) = 0; /// Current velocity of the agent - virtual void agent_set_velocity(RID p_agent, Vector3 p_velocity) const = 0; + virtual void agent_set_velocity(RID p_agent, Vector3 p_velocity) = 0; /// The new target velocity. - virtual void agent_set_target_velocity(RID p_agent, Vector3 p_velocity) const = 0; + virtual void agent_set_target_velocity(RID p_agent, Vector3 p_velocity) = 0; /// Position of the agent in world space. - virtual void agent_set_position(RID p_agent, Vector3 p_position) const = 0; + virtual void agent_set_position(RID p_agent, Vector3 p_position) = 0; /// Agent ignore the Y axis and avoid collisions by moving only on the horizontal plane - virtual void agent_set_ignore_y(RID p_agent, bool p_ignore) const = 0; + virtual void agent_set_ignore_y(RID p_agent, bool p_ignore) = 0; /// Returns true if the map got changed the previous frame. virtual bool agent_is_map_changed(RID p_agent) const = 0; /// Callback called at the end of the RVO process - virtual void agent_set_callback(RID p_agent, ObjectID p_object_id, StringName p_method, Variant p_udata = Variant()) const = 0; + virtual void agent_set_callback(RID p_agent, ObjectID p_object_id, StringName p_method, Variant p_udata = Variant()) = 0; /// Destroy the `RID` - virtual void free(RID p_object) const = 0; + virtual void free(RID p_object) = 0; /// Control activation of this server. - virtual void set_active(bool p_active) const = 0; + virtual void set_active(bool p_active) = 0; /// Process the collision avoidance agents. /// The result of this process is needed by the physics server, diff --git a/servers/physics_3d/godot_body_3d.h b/servers/physics_3d/godot_body_3d.h index fbab27a176..51b360d705 100644 --- a/servers/physics_3d/godot_body_3d.h +++ b/servers/physics_3d/godot_body_3d.h @@ -126,6 +126,7 @@ class GodotBody3D : public GodotCollisionObject3D { ObjectID collider_instance_id; RID collider; Vector3 collider_velocity_at_pos; + Vector3 impulse; }; Vector<Contact> contacts; //no contacts by default @@ -183,7 +184,7 @@ public: _FORCE_INLINE_ int get_max_contacts_reported() const { return contacts.size(); } _FORCE_INLINE_ bool can_report_contacts() const { return !contacts.is_empty(); } - _FORCE_INLINE_ void add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos); + _FORCE_INLINE_ void add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos, const Vector3 &p_impulse); _FORCE_INLINE_ void add_exception(const RID &p_exception) { exceptions.insert(p_exception); } _FORCE_INLINE_ void remove_exception(const RID &p_exception) { exceptions.erase(p_exception); } @@ -347,7 +348,7 @@ public: //add contact inline -void GodotBody3D::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos) { +void GodotBody3D::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos, const Vector3 &p_impulse) { int c_max = contacts.size(); if (c_max == 0) { @@ -387,6 +388,7 @@ void GodotBody3D::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local c[idx].collider_instance_id = p_collider_instance_id; c[idx].collider = p_collider; c[idx].collider_velocity_at_pos = p_collider_velocity_at_pos; + c[idx].impulse = p_impulse; } #endif // GODOT_BODY_3D_H diff --git a/servers/physics_3d/godot_body_direct_state_3d.cpp b/servers/physics_3d/godot_body_direct_state_3d.cpp index 7d13fb0615..9f28f3809a 100644 --- a/servers/physics_3d/godot_body_direct_state_3d.cpp +++ b/servers/physics_3d/godot_body_direct_state_3d.cpp @@ -188,8 +188,9 @@ Vector3 GodotPhysicsDirectBodyState3D::get_contact_local_normal(int p_contact_id return body->contacts[p_contact_idx].local_normal; } -real_t GodotPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) const { - return 0.0f; // Only implemented for bullet +Vector3 GodotPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3()); + return body->contacts[p_contact_idx].impulse; } int GodotPhysicsDirectBodyState3D::get_contact_local_shape(int p_contact_idx) const { diff --git a/servers/physics_3d/godot_body_direct_state_3d.h b/servers/physics_3d/godot_body_direct_state_3d.h index 1ce535953d..be2e851b4d 100644 --- a/servers/physics_3d/godot_body_direct_state_3d.h +++ b/servers/physics_3d/godot_body_direct_state_3d.h @@ -89,7 +89,7 @@ public: 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 Vector3 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; diff --git a/servers/physics_3d/godot_body_pair_3d.cpp b/servers/physics_3d/godot_body_pair_3d.cpp index 78e3bed007..ce3da390cb 100644 --- a/servers/physics_3d/godot_body_pair_3d.cpp +++ b/servers/physics_3d/godot_body_pair_3d.cpp @@ -364,16 +364,30 @@ bool GodotBodyPair3D::pre_solve(real_t p_step) { c.rA = global_A - A->get_center_of_mass(); c.rB = global_B - B->get_center_of_mass() - offset_B; + // Precompute normal mass, tangent mass, and bias. + Vector3 inertia_A = inv_inertia_tensor_A.xform(c.rA.cross(c.normal)); + Vector3 inertia_B = inv_inertia_tensor_B.xform(c.rB.cross(c.normal)); + real_t kNormal = inv_mass_A + inv_mass_B; + kNormal += c.normal.dot(inertia_A.cross(c.rA)) + c.normal.dot(inertia_B.cross(c.rB)); + c.mass_normal = 1.0f / kNormal; + + c.bias = -bias * inv_dt * MIN(0.0f, -depth + max_penetration); + c.depth = depth; + + Vector3 j_vec = c.normal * c.acc_normal_impulse + c.acc_tangent_impulse; + + c.acc_impulse -= j_vec; + // contact query reporting... if (A->can_report_contacts()) { Vector3 crA = A->get_angular_velocity().cross(c.rA) + A->get_linear_velocity(); - A->add_contact(global_A, -c.normal, depth, shape_A, global_B, shape_B, B->get_instance_id(), B->get_self(), crA); + A->add_contact(global_A, -c.normal, depth, shape_A, global_B, shape_B, B->get_instance_id(), B->get_self(), crA, c.acc_impulse); } if (B->can_report_contacts()) { Vector3 crB = B->get_angular_velocity().cross(c.rB) + B->get_linear_velocity(); - B->add_contact(global_B, c.normal, depth, shape_B, global_A, shape_A, A->get_instance_id(), A->get_self(), crB); + B->add_contact(global_B, c.normal, depth, shape_B, global_A, shape_A, A->get_instance_id(), A->get_self(), crB, -c.acc_impulse); } if (report_contacts_only) { @@ -384,17 +398,6 @@ bool GodotBodyPair3D::pre_solve(real_t p_step) { c.active = true; do_process = true; - // Precompute normal mass, tangent mass, and bias. - Vector3 inertia_A = inv_inertia_tensor_A.xform(c.rA.cross(c.normal)); - Vector3 inertia_B = inv_inertia_tensor_B.xform(c.rB.cross(c.normal)); - real_t kNormal = inv_mass_A + inv_mass_B; - kNormal += c.normal.dot(inertia_A.cross(c.rA)) + c.normal.dot(inertia_B.cross(c.rB)); - c.mass_normal = 1.0f / kNormal; - - c.bias = -bias * inv_dt * MIN(0.0f, -depth + max_penetration); - c.depth = depth; - - Vector3 j_vec = c.normal * c.acc_normal_impulse + c.acc_tangent_impulse; if (collide_A) { A->apply_impulse(-j_vec, c.rA + A->get_center_of_mass()); } @@ -504,6 +507,7 @@ void GodotBodyPair3D::solve(real_t p_step) { if (collide_B) { B->apply_impulse(j, c.rB + B->get_center_of_mass()); } + c.acc_impulse -= j; c.active = true; } @@ -550,6 +554,7 @@ void GodotBodyPair3D::solve(real_t p_step) { if (collide_B) { B->apply_impulse(jt, c.rB + B->get_center_of_mass()); } + c.acc_impulse -= jt; c.active = true; } @@ -745,23 +750,6 @@ bool GodotBodySoftBodyPair3D::pre_solve(real_t p_step) { c.rA = global_A - transform_A.origin - body->get_center_of_mass(); c.rB = global_B; - if (body->can_report_contacts()) { - Vector3 crA = body->get_angular_velocity().cross(c.rA) + body->get_linear_velocity(); - body->add_contact(global_A, -c.normal, depth, body_shape, global_B, 0, soft_body->get_instance_id(), soft_body->get_self(), crA); - } - - if (report_contacts_only) { - collided = false; - continue; - } - - c.active = true; - do_process = true; - - if (body_collides) { - body->set_active(true); - } - // Precompute normal mass, tangent mass, and bias. Vector3 inertia_A = body_inv_inertia_tensor.xform(c.rA.cross(c.normal)); real_t kNormal = body_inv_mass + node_inv_mass; @@ -778,6 +766,24 @@ bool GodotBodySoftBodyPair3D::pre_solve(real_t p_step) { if (soft_body_collides) { soft_body->apply_node_impulse(c.index_B, j_vec); } + c.acc_impulse -= j_vec; + + if (body->can_report_contacts()) { + Vector3 crA = body->get_angular_velocity().cross(c.rA) + body->get_linear_velocity(); + body->add_contact(global_A, -c.normal, depth, body_shape, global_B, 0, soft_body->get_instance_id(), soft_body->get_self(), crA, c.acc_impulse); + } + + if (report_contacts_only) { + collided = false; + continue; + } + + c.active = true; + do_process = true; + + if (body_collides) { + body->set_active(true); + } c.bounce = body->get_bounce(); @@ -880,6 +886,7 @@ void GodotBodySoftBodyPair3D::solve(real_t p_step) { if (soft_body_collides) { soft_body->apply_node_impulse(c.index_B, j); } + c.acc_impulse -= j; c.active = true; } @@ -924,6 +931,7 @@ void GodotBodySoftBodyPair3D::solve(real_t p_step) { if (soft_body_collides) { soft_body->apply_node_impulse(c.index_B, jt); } + c.acc_impulse -= jt; c.active = true; } diff --git a/servers/physics_3d/godot_body_pair_3d.h b/servers/physics_3d/godot_body_pair_3d.h index d69215f145..c3165c7fcf 100644 --- a/servers/physics_3d/godot_body_pair_3d.h +++ b/servers/physics_3d/godot_body_pair_3d.h @@ -44,6 +44,7 @@ protected: Vector3 normal; int index_A = 0, index_B = 0; Vector3 local_A, local_B; + Vector3 acc_impulse; // accumulated impulse - only one of the object's impulse is needed as impulse_a == -impulse_b real_t acc_normal_impulse = 0.0; // accumulated normal impulse (Pn) Vector3 acc_tangent_impulse; // accumulated tangent impulse (Pt) real_t acc_bias_impulse = 0.0; // accumulated normal impulse for position bias (Pnb) diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h index f77ec06ccf..d1c644d51a 100644 --- a/servers/physics_server_3d.h +++ b/servers/physics_server_3d.h @@ -95,7 +95,7 @@ public: virtual Vector3 get_contact_local_position(int p_contact_idx) const = 0; virtual Vector3 get_contact_local_normal(int p_contact_idx) const = 0; - virtual real_t get_contact_impulse(int p_contact_idx) const = 0; + virtual Vector3 get_contact_impulse(int p_contact_idx) const = 0; virtual int get_contact_local_shape(int p_contact_idx) const = 0; virtual RID get_contact_collider(int p_contact_idx) const = 0; diff --git a/servers/register_server_types.cpp b/servers/register_server_types.cpp index e9ffac1faa..8cc2cc0756 100644 --- a/servers/register_server_types.cpp +++ b/servers/register_server_types.cpp @@ -301,8 +301,8 @@ void register_server_singletons() { Engine::get_singleton()->add_singleton(Engine::Singleton("AudioServer", AudioServer::get_singleton(), "AudioServer")); Engine::get_singleton()->add_singleton(Engine::Singleton("PhysicsServer2D", PhysicsServer2D::get_singleton(), "PhysicsServer2D")); Engine::get_singleton()->add_singleton(Engine::Singleton("PhysicsServer3D", PhysicsServer3D::get_singleton(), "PhysicsServer3D")); - Engine::get_singleton()->add_singleton(Engine::Singleton("NavigationServer2D", NavigationServer2D::get_singleton_mut(), "NavigationServer2D")); - Engine::get_singleton()->add_singleton(Engine::Singleton("NavigationServer3D", NavigationServer3D::get_singleton_mut(), "NavigationServer3D")); + Engine::get_singleton()->add_singleton(Engine::Singleton("NavigationServer2D", NavigationServer2D::get_singleton(), "NavigationServer2D")); + Engine::get_singleton()->add_singleton(Engine::Singleton("NavigationServer3D", NavigationServer3D::get_singleton(), "NavigationServer3D")); Engine::get_singleton()->add_singleton(Engine::Singleton("XRServer", XRServer::get_singleton(), "XRServer")); Engine::get_singleton()->add_singleton(Engine::Singleton("CameraServer", CameraServer::get_singleton(), "CameraServer")); } diff --git a/servers/rendering_server.cpp b/servers/rendering_server.cpp index 13891e59fb..658d683398 100644 --- a/servers/rendering_server.cpp +++ b/servers/rendering_server.cpp @@ -700,9 +700,9 @@ Error RenderingServer::_surface_set_data(Array p_arrays, uint32_t p_format, uint return OK; } -uint32_t RenderingServer::mesh_surface_get_format_offset(uint32_t p_format, int p_vertex_len, int p_array_index) const { +uint32_t RenderingServer::mesh_surface_get_format_offset(BitField<ArrayFormat> p_format, int p_vertex_len, int p_array_index) const { ERR_FAIL_INDEX_V(p_array_index, ARRAY_MAX, 0); - p_format &= ~ARRAY_FORMAT_INDEX; + p_format = int64_t(p_format) & ~ARRAY_FORMAT_INDEX; uint32_t offsets[ARRAY_MAX]; uint32_t vstr; uint32_t astr; @@ -711,8 +711,8 @@ uint32_t RenderingServer::mesh_surface_get_format_offset(uint32_t p_format, int return offsets[p_array_index]; } -uint32_t RenderingServer::mesh_surface_get_format_vertex_stride(uint32_t p_format, int p_vertex_len) const { - p_format &= ~ARRAY_FORMAT_INDEX; +uint32_t RenderingServer::mesh_surface_get_format_vertex_stride(BitField<ArrayFormat> p_format, int p_vertex_len) const { + p_format = int64_t(p_format) & ~ARRAY_FORMAT_INDEX; uint32_t offsets[ARRAY_MAX]; uint32_t vstr; uint32_t astr; @@ -720,8 +720,8 @@ uint32_t RenderingServer::mesh_surface_get_format_vertex_stride(uint32_t p_forma mesh_surface_make_offsets_from_format(p_format, p_vertex_len, 0, offsets, vstr, astr, sstr); return vstr; } -uint32_t RenderingServer::mesh_surface_get_format_attribute_stride(uint32_t p_format, int p_vertex_len) const { - p_format &= ~ARRAY_FORMAT_INDEX; +uint32_t RenderingServer::mesh_surface_get_format_attribute_stride(BitField<ArrayFormat> p_format, int p_vertex_len) const { + p_format = int64_t(p_format) & ~ARRAY_FORMAT_INDEX; uint32_t offsets[ARRAY_MAX]; uint32_t vstr; uint32_t astr; @@ -729,8 +729,8 @@ uint32_t RenderingServer::mesh_surface_get_format_attribute_stride(uint32_t p_fo mesh_surface_make_offsets_from_format(p_format, p_vertex_len, 0, offsets, vstr, astr, sstr); return astr; } -uint32_t RenderingServer::mesh_surface_get_format_skin_stride(uint32_t p_format, int p_vertex_len) const { - p_format &= ~ARRAY_FORMAT_INDEX; +uint32_t RenderingServer::mesh_surface_get_format_skin_stride(BitField<ArrayFormat> p_format, int p_vertex_len) const { + p_format = int64_t(p_format) & ~ARRAY_FORMAT_INDEX; uint32_t offsets[ARRAY_MAX]; uint32_t vstr; uint32_t astr; @@ -1049,7 +1049,7 @@ Error RenderingServer::mesh_create_surface_data_from_arrays(SurfaceData *r_surfa return OK; } -void RenderingServer::mesh_add_surface_from_arrays(RID p_mesh, PrimitiveType p_primitive, const Array &p_arrays, const Array &p_blend_shapes, const Dictionary &p_lods, uint32_t p_compress_format) { +void RenderingServer::mesh_add_surface_from_arrays(RID p_mesh, PrimitiveType p_primitive, const Array &p_arrays, const Array &p_blend_shapes, const Dictionary &p_lods, BitField<ArrayFormat> p_compress_format) { SurfaceData sd; Error err = mesh_create_surface_data_from_arrays(&sd, p_primitive, p_arrays, p_blend_shapes, p_lods, p_compress_format); if (err != OK) { @@ -1797,35 +1797,35 @@ void RenderingServer::_bind_methods() { BIND_ENUM_CONSTANT(ARRAY_CUSTOM_RGBA_FLOAT); BIND_ENUM_CONSTANT(ARRAY_CUSTOM_MAX); - BIND_ENUM_CONSTANT(ARRAY_FORMAT_VERTEX); - BIND_ENUM_CONSTANT(ARRAY_FORMAT_NORMAL); - BIND_ENUM_CONSTANT(ARRAY_FORMAT_TANGENT); - BIND_ENUM_CONSTANT(ARRAY_FORMAT_COLOR); - BIND_ENUM_CONSTANT(ARRAY_FORMAT_TEX_UV); - BIND_ENUM_CONSTANT(ARRAY_FORMAT_TEX_UV2); - BIND_ENUM_CONSTANT(ARRAY_FORMAT_CUSTOM0); - BIND_ENUM_CONSTANT(ARRAY_FORMAT_CUSTOM1); - BIND_ENUM_CONSTANT(ARRAY_FORMAT_CUSTOM2); - BIND_ENUM_CONSTANT(ARRAY_FORMAT_CUSTOM3); - BIND_ENUM_CONSTANT(ARRAY_FORMAT_BONES); - BIND_ENUM_CONSTANT(ARRAY_FORMAT_WEIGHTS); - BIND_ENUM_CONSTANT(ARRAY_FORMAT_INDEX); - - BIND_ENUM_CONSTANT(ARRAY_FORMAT_BLEND_SHAPE_MASK); - - BIND_ENUM_CONSTANT(ARRAY_FORMAT_CUSTOM_BASE); - BIND_ENUM_CONSTANT(ARRAY_FORMAT_CUSTOM_BITS); - BIND_ENUM_CONSTANT(ARRAY_FORMAT_CUSTOM0_SHIFT); - BIND_ENUM_CONSTANT(ARRAY_FORMAT_CUSTOM1_SHIFT); - BIND_ENUM_CONSTANT(ARRAY_FORMAT_CUSTOM2_SHIFT); - BIND_ENUM_CONSTANT(ARRAY_FORMAT_CUSTOM3_SHIFT); - - BIND_ENUM_CONSTANT(ARRAY_FORMAT_CUSTOM_MASK); - BIND_ENUM_CONSTANT(ARRAY_COMPRESS_FLAGS_BASE); - - BIND_ENUM_CONSTANT(ARRAY_FLAG_USE_2D_VERTICES); - BIND_ENUM_CONSTANT(ARRAY_FLAG_USE_DYNAMIC_UPDATE); - BIND_ENUM_CONSTANT(ARRAY_FLAG_USE_8_BONE_WEIGHTS); + BIND_BITFIELD_FLAG(ARRAY_FORMAT_VERTEX); + BIND_BITFIELD_FLAG(ARRAY_FORMAT_NORMAL); + BIND_BITFIELD_FLAG(ARRAY_FORMAT_TANGENT); + BIND_BITFIELD_FLAG(ARRAY_FORMAT_COLOR); + BIND_BITFIELD_FLAG(ARRAY_FORMAT_TEX_UV); + BIND_BITFIELD_FLAG(ARRAY_FORMAT_TEX_UV2); + BIND_BITFIELD_FLAG(ARRAY_FORMAT_CUSTOM0); + BIND_BITFIELD_FLAG(ARRAY_FORMAT_CUSTOM1); + BIND_BITFIELD_FLAG(ARRAY_FORMAT_CUSTOM2); + BIND_BITFIELD_FLAG(ARRAY_FORMAT_CUSTOM3); + BIND_BITFIELD_FLAG(ARRAY_FORMAT_BONES); + BIND_BITFIELD_FLAG(ARRAY_FORMAT_WEIGHTS); + BIND_BITFIELD_FLAG(ARRAY_FORMAT_INDEX); + + BIND_BITFIELD_FLAG(ARRAY_FORMAT_BLEND_SHAPE_MASK); + + BIND_BITFIELD_FLAG(ARRAY_FORMAT_CUSTOM_BASE); + BIND_BITFIELD_FLAG(ARRAY_FORMAT_CUSTOM_BITS); + BIND_BITFIELD_FLAG(ARRAY_FORMAT_CUSTOM0_SHIFT); + BIND_BITFIELD_FLAG(ARRAY_FORMAT_CUSTOM1_SHIFT); + BIND_BITFIELD_FLAG(ARRAY_FORMAT_CUSTOM2_SHIFT); + BIND_BITFIELD_FLAG(ARRAY_FORMAT_CUSTOM3_SHIFT); + + BIND_BITFIELD_FLAG(ARRAY_FORMAT_CUSTOM_MASK); + BIND_BITFIELD_FLAG(ARRAY_COMPRESS_FLAGS_BASE); + + BIND_BITFIELD_FLAG(ARRAY_FLAG_USE_2D_VERTICES); + BIND_BITFIELD_FLAG(ARRAY_FLAG_USE_DYNAMIC_UPDATE); + BIND_BITFIELD_FLAG(ARRAY_FLAG_USE_8_BONE_WEIGHTS); BIND_ENUM_CONSTANT(PRIMITIVE_POINTS); BIND_ENUM_CONSTANT(PRIMITIVE_LINES); diff --git a/servers/rendering_server.h b/servers/rendering_server.h index a5862b80cd..88144cfeeb 100644 --- a/servers/rendering_server.h +++ b/servers/rendering_server.h @@ -320,10 +320,10 @@ public: virtual void mesh_set_blend_shape_count(RID p_mesh, int p_blend_shape_count) = 0; - virtual uint32_t mesh_surface_get_format_offset(uint32_t p_format, int p_vertex_len, int p_array_index) const; - virtual uint32_t mesh_surface_get_format_vertex_stride(uint32_t p_format, int p_vertex_len) const; - virtual uint32_t mesh_surface_get_format_attribute_stride(uint32_t p_format, int p_vertex_len) const; - virtual uint32_t mesh_surface_get_format_skin_stride(uint32_t p_format, int p_vertex_len) const; + virtual uint32_t mesh_surface_get_format_offset(BitField<ArrayFormat> p_format, int p_vertex_len, int p_array_index) const; + virtual uint32_t mesh_surface_get_format_vertex_stride(BitField<ArrayFormat> p_format, int p_vertex_len) const; + virtual uint32_t mesh_surface_get_format_attribute_stride(BitField<ArrayFormat> p_format, int p_vertex_len) const; + virtual uint32_t mesh_surface_get_format_skin_stride(BitField<ArrayFormat> p_format, int p_vertex_len) const; /// Returns stride virtual void mesh_surface_make_offsets_from_format(uint32_t p_format, int p_vertex_len, int p_index_len, uint32_t *r_offsets, uint32_t &r_vertex_element_size, uint32_t &r_attrib_element_size, uint32_t &r_skin_element_size) const; @@ -333,7 +333,7 @@ public: TypedArray<Array> mesh_surface_get_blend_shape_arrays(RID p_mesh, int p_surface) const; Dictionary mesh_surface_get_lods(RID p_mesh, int p_surface) const; - virtual void mesh_add_surface_from_arrays(RID p_mesh, PrimitiveType p_primitive, const Array &p_arrays, const Array &p_blend_shapes = Array(), const Dictionary &p_lods = Dictionary(), uint32_t p_compress_format = 0); + virtual void mesh_add_surface_from_arrays(RID p_mesh, PrimitiveType p_primitive, const Array &p_arrays, const Array &p_blend_shapes = Array(), const Dictionary &p_lods = Dictionary(), BitField<ArrayFormat> p_compress_format = 0); virtual void mesh_add_surface(RID p_mesh, const SurfaceData &p_surface) = 0; virtual int mesh_get_blend_shape_count(RID p_mesh) const = 0; @@ -1610,7 +1610,7 @@ VARIANT_ENUM_CAST(RenderingServer::TextureLayeredType); VARIANT_ENUM_CAST(RenderingServer::CubeMapLayer); VARIANT_ENUM_CAST(RenderingServer::ShaderMode); VARIANT_ENUM_CAST(RenderingServer::ArrayType); -VARIANT_ENUM_CAST(RenderingServer::ArrayFormat); +VARIANT_BITFIELD_CAST(RenderingServer::ArrayFormat); VARIANT_ENUM_CAST(RenderingServer::ArrayCustomFormat); VARIANT_ENUM_CAST(RenderingServer::PrimitiveType); VARIANT_ENUM_CAST(RenderingServer::BlendShapeMode); |