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Changes:
-Added support for custom inertia and center of mass in 3D
-Added support for custom center of mass in 2D
-Calculated center of mass from shapes in 2D (same as in 3D)
-Fixed mass properties calculation with disabled shapes in 2D/3D
-Removed first_integration which is not used in 2D and doesn't seem to
make a lot of sense (prevents omit_force_integration to work during the
first frame)
-Support for custom inertia on different axes for RigidBody3D
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Harmonize default value for collision mask in ray/shape queries
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Instead of having a physics node named Static that can be either Static
or Kinematic, AnimatableBody is added again as a separate node:
-Inherited from StaticBody to make its usage clearer
-Still separated from CharacterBody to make its usage more focused
Properly implemented constant velocity for kinematic bodies in godot
physics servers (induced velocity without actually moving).
Also updated description for the different physics nodes to make their
usage clearer.
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Clean physics direct body state usage in 2D and 3D physics
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The default mask for queries was 0, 0x7FFFFFFF or 0xFFFFFFFF depending
on the cases.
Now always using 0xFFFFFFFF (in the form of UINT32_MAX to make it clear)
in order to use all layers by default.
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Fix point gravity calculation
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Whenever contact points are not needed, collision checks with concave
shapes (triangle mesh and heightmap) stop at the first colliding
triangle.
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Refactor RayShape and rename to SeparationRayShape
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One-directional layer check for Area vs. RigidBody/SoftBody/Area
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Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers.
Remove usage of PhysicsDirectBodyState in physics nodes when not
necessary.
Store PhysicsDirectBodyState for bodies individually instead of a
singleton to avoid issues when accessing direct body state for multiple
bodies.
PhysicsDirectBodyState is initialized only when needed, so it doesn't
have to be created when using the physics server directly.
Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate
cpp files.
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Makes it clearer that it's used for special cases when picking a
collision shape.
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Also added some precision to the documentation.
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Make separation ray shapes work properly in move_and_slide, wihtout the
specific code in CharacterBody like before.
Now most of the logic is handled inside the physics server. The only
thing that's needed is to use ray shapes only for recovery and ignore
them when performing the motion itself (unless we're snapping or slips
on slope is on).
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One-way collision is disabled for both rigid bodies and character
bodies.
Kinematic margin is now applied to ray shapes to help getting consistent
results in slopes and flat surfaces.
Convex shapes don't return inverted normals when a segment test starts
inside (raycasting will be made consistent in a separate patch).
Ray shapes also discard contacts when fully contained inside a shape
and when the contact direction is inverted, so the behavior is
consistent with all shape types. Now they always separate only when
intersecting the top of a shape (for downward rays).
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Partial revert from previously removing ray shapes completely, added
back as a shape type but without the specific character controller code.
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Removing the + 1 in point gravity formula when using distance scale to
make it more accurate for standard gravitation.
Fixes precession in orbits for games using gravitation.
Also moved gravity calculation to area to use it for both rigid bodies
and soft bodies in 3D (same change in 2D for consistency).
Co-authored-by: Ryan Peach <ryan.peach@keysight.com>
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Same thing that was already done for rigid body and character body
collision detection.
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Changes:
- Rename few methods/property and group them in the editor when it's possible
- Make MotionResult API consistency with KinematicCollision
- Return a boolean in move_and_slide if there was a collision
- New methods:
- get_floor_angle on CharacterBody to get the floor angle.
- get_angle on KinematicCollision to get the collision angle.
- get_last_slide_collision to quickly get the latest collision of move_and_slide.
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The new name makes it more obvious that it acts as an infinite plane,
and is consistent with its 3D counterpart (WorldMarginShape3D).
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Infinite inertia:
Not needed anymore, since it's now possible to set one-directional
collision layers in order for characters to ignore rigid bodies, while
rigid bodies still collide with characters.
Ray shapes:
They were introduced as a work around to allow constant speed on slopes,
which is now possible with the new property in CharacterBody instead.
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When synchronizing CharacterBody motion with moving the platform using
direct body state, only the linear velocity was taken into account.
This change exposes velocity at local point in direct body state and
uses it in move_and_slide to get the proper velocity that includes
rotations.
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One-directional collision layer check for rigid bodies and soft bodies
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Check for each body individually if it collides with the other one or
ignores it.
When a body is being ignored, the other body's mass is considered
infinite when applying impulses to avoid extra overlapping.
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Fixing by applying the movement in two steps, first the platform
movement, and then the body movement. Plus, add the platform movement
when we are on_wall.
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Make move_and_slide collision detection more accurate
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Results are exposed through PhysicsTestMotionResult3D, the same way it's
done for 2D.
Also cleaned a few things in the 2D version.
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More accurate unsafe motion calculation
* Safe and unsafe motion are calculated by dichotomy with a limited
number of steps. It's good for performance, but on long motions that
either collide near the beginning or near the end, the result can be
very imprecise.
* Now a factor 0.25 or 0.75 is used to converge faster when this case
happens, which allows longer motions to get more accurate collision
detection.
* Makes snap collision more precise, and helps with cases where diagonal collision on the border of a platform can lead to the character being stuck.
Additional improvements to move_and_slide:
* Handle slide canceling in move_and_collide with 0 velocity instead of
not applying it.
* Better handling of snap with custom logic to cancel sliding.
* Remove small jittering when using stop on slope, by canceling the
motion completely when the resulting motion is less than margin instead
of always projecting to the up direction (in both body motion and snap).
Co-authored-by: fabriceci <fabricecipolla@gmail.com>
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Fix and clean disabled shapes handling in godot physics servers
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Make sure the direction of the motion is preserved, unless the depth is
higher than the margin, which means the body needs depenetration in any
direction.
Also changed move_and_slide to avoid sliding on the first motion, in
order to avoid issues with unstable position on ground when jumping.
Co-authored-by: fabriceci <fabricecipolla@gmail.com>
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In 3D, disabled shapes are now not added to the broadphase anymore.
Since they are removed right away when disabled, no need to check for
disabled shapes for any query that comes from the broadphase.
Also Fixes raycast queries returning disabled shapes.
In 2D, disabled shapes where already not added to the broadphase.
Remove the same unnecessary checks as in 3D.
Overall harmonized API for disabled shapes in the physics servers and
removed duplicate method.
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* RingBuffer had no reason to be in this context
* A single buffer is used that can grow as much as the game needs.
This should make thread loading entirely reliable.
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Safe margin property on CharacterBody only, used as argument in
move_and_collide.
Removed kinematic_safe_margin in 3D physics server, not really useful
and now harmonized with 2D.
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MODE_DYNAMIC instead of MODE_RIGID
MODE_DYNAMIC_LOCKED instead of MODE_CHARACTER
No more special case for sleeping behavior for MODE_DYNAMIC_LOCKED
(MODE_CHARACTER was forcing the body not to sleep, which is redundant
with can_sleep and wasn't done in Bullet).
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This allows fine-tuning of collision iterations for more
accurate collision physics with a performance cost.
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Port lawnjelly's dynamic BVH implementation from 3.x to be used in
both 2D and 3D broadphases.
Removed alternative broadphase implementations which are not meant to be
used anymore since they are much slower.
Includes changes in Rect2, Vector2, Vector3 that help with the template
implementation of the dynamic BVH by uniformizing the interface between
2D and 3D math.
Co-authored-by: lawnjelly <lawnjelly@gmail.com>
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Use ThreadWorkPool to process physics step tasks in multiple threads. Collisions are all processed in parallel and solving impulses is
processed in parallel for rigid body islands.
Additional changes:
- Proper islands for soft bodies linked to active bodies
- All moving areas are on separate islands (can be parallelized)
- Fix inconsistencies with body islands (Kinematic bodies could link
bodies together or not depending on the processing order)
- Completely prevent static bodies to be active (it could cause islands
to be wrongly created and cause dangerous multi-threading operations as
well as inconsistencies in created islands)
- Apply impulses only on dynamic bodies to avoid unsafe multi-threaded
operations (static bodies can be on multiple islands)
- Removed inverted iterations when populating body islands, it's now
faster in regular order (maybe after fixing inconsistencies)
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Removed _direct_state_changed bindings
Affects 2D and 3D nodes
Callbacks now use Callable
Tests were changed accordingly
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Fix errors related to joints setup with two non-dynamic bodies
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Clean up logic in _check_motion
Closes 45824
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Several optimizations in the way solver islands are processed in both
2D and 3D physics:
- Use LocalVector instead of linked list to avoid cache misses (with
persistent storage based on worst case scenario)
- Remove pairs when setup fails (no valid contact) to avoid unnecessary
solving of non-colliding rigid bodies just to return immediately
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Check for empty ConcavePolygonShape2D before checking for intersection
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Check ConvexPolygonShape2D point count before calcuating moment of inertia
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