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path: root/servers/physics_3d/body_3d_sw.cpp
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2021-09-30Use range iterators for `Map`Lightning_A
2021-09-28Merge pull request #52754 from nekomatata/dynamic-body-modesCamille Mohr-Daurat
Clarify RigidDynamicBody modes
2021-09-17Replace Vector3.to_diagonal_matrix with Basis.from_scaleAaron Franke
2021-09-16Clarify RigidDynamicBody modesPouleyKetchoupp
RigidDynamicBody modes are replaced with several properties to make their usage clearer: -lock_rotation: disable body's rotation (instead of MODE_LOCKED) -freeze: no gravity or forces (instead of MODE_STATIC and MODE_KINEMATIC) -freeze_mode: Static (can be only teleported) or Kinematic (can be animated) Also renamed MODE_DYNAMIC_LOCKED to MODE_DYNAMIC_LINEAR in the physics servers.
2021-09-06Proper support for custom mass properties in 2D/3D physics bodiesPouleyKetchoupp
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
2021-08-31Add AnimatableBody inherited from StaticBody for moving platformsPouleyKetchoupp
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.
2021-08-31Merge pull request #49471 from nekomatata/body-state-sync-callbackJuan Linietsky
Clean physics direct body state usage in 2D and 3D physics
2021-08-25Clean physics direct body state usage in 2D and 3D physicsPouleyKetchoupp
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.
2021-08-24Fix point gravity calculationPouleyKetchoupp
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>
2021-08-16Epsilon check for angular velocity in Body3DSWLoipesMas
2021-06-04Safe margin cleanupPouleyKetchoupp
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.
2021-06-04More explanatory names for RigidBody modesPouleyKetchoupp
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).
2021-06-03Rename Transform to Transform3D in coreAaron Franke
2021-05-29Avoid division by zero when calculating inertias for bodies with colliders ↵Arkadiusz Marcin Kołek
without areas.
2021-04-26Godot Physics collisions and solver processed on threadsPouleyKetchoupp
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)
2021-04-22Unexpose _direct_state_changed in PhysicsBodyrafallus
Removed _direct_state_changed bindings Affects 2D and 3D nodes Callbacks now use Callable Tests were changed accordingly
2021-04-12Godot Physics solver optimizationPouleyKetchoupp
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
2021-03-20Fix some angular velocity calculationse344fde6bf
The angular velocity estimate for kinematic bodies was calculated incorrectly. Also, fixes its use in some kinematic/rigid collision calculations. This fixes #47029.
2021-03-08Fixes division by zero when 3d body does not have valid shapeKyle
Fixes #46738 by setting the default inertia to a valid value when there are no valid shapes for a 3d body. Changed the comment style for the update_inertias method as well.
2021-01-01Update copyright statements to 2021Rémi Verschelde
Happy new year to the wonderful Godot community! 2020 has been a tough year for most of us personally, but a good year for Godot development nonetheless with a huge amount of work done towards Godot 4.0 and great improvements backported to the long-lived 3.2 branch. We've had close to 400 contributors to engine code this year, authoring near 7,000 commit! (And that's only for the `master` branch and for the engine code, there's a lot more when counting docs, demos and other first-party repos.) Here's to a great year 2021 for all Godot users 🎆
2020-11-16Remove empty lines around braces with the formatting scriptAaron Franke
2020-07-14Properly pass safe margin on initialization.Juan Linietsky
Fixes jitter.
2020-05-14Style: Enforce braces around if blocks and loopsRémi Verschelde
Using clang-tidy's `readability-braces-around-statements`. https://clang.llvm.org/extra/clang-tidy/checks/readability-braces-around-statements.html
2020-05-14Style: Enforce separation line between function definitionsRémi Verschelde
I couldn't find a tool that enforces it, so I went the manual route: ``` find -name "thirdparty" -prune \ -o -name "*.cpp" -o -name "*.h" -o -name "*.m" -o -name "*.mm" \ -o -name "*.glsl" > files perl -0777 -pi -e 's/\n}\n([^#])/\n}\n\n\1/g' $(cat files) misc/scripts/fix_style.sh -c ``` This adds a newline after all `}` on the first column, unless they are followed by `#` (typically `#endif`). This leads to having lots of places with two lines between function/class definitions, but clang-format then fixes it as we enforce max one line of separation. This doesn't fix potential occurrences of function definitions which are indented (e.g. for a helper class defined in a .cpp), but it's better than nothing. Also can't be made to run easily on CI/hooks so we'll have to be careful with new code. Part of #33027.
2020-05-14Style: clang-format: Disable KeepEmptyLinesAtTheStartOfBlocksRémi Verschelde
Which means that reduz' beloved style which we all became used to will now be changed automatically to remove the first empty line. This makes us lean closer to 1TBS (the one true brace style) instead of hybridating it with some Allman-inspired spacing. There's still the case of braces around single-statement blocks that needs to be addressed (but clang-format can't help with that, but clang-tidy may if we agree about it). Part of #33027.
2020-05-14Port member initialization from constructor to declaration (C++11)Rémi Verschelde
Using `clang-tidy`'s `modernize-use-default-member-init` check and manual review of the changes, and some extra manual changes that `clang-tidy` failed to do. Also went manually through all of `core` to find occurrences that `clang-tidy` couldn't handle, especially all initializations done in a constructor without using initializer lists.
2020-04-02Replace NULL with nullptrlupoDharkael
2020-03-28More server renames for consistency after #37361Rémi Verschelde
2020-03-27Renaming of servers for coherency.Juan Linietsky
VisualServer -> RenderingServer PhysicsServer -> PhysicsServer3D Physics2DServer -> PhysicsServer2D NavigationServer -> NavigationServer3D Navigation2DServer -> NavigationServer2D Also renamed corresponding files.