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Fix kinematic angular velocity calculations
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The angular velocity estimate for kinematic bodies was calculated
incorrectly. Also, fixes its use in some kinematic/rigid collision
calculations.
This fixes #47029.
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- Fixed SoftBody surface update with new rendering system
- Added GodotPhysics implementation for SoftBody
- Added support to get SoftBody rid to interact with the physics server
- Added support to get SoftBody bounds from the physics server
- Removed support for unused get_vertex_position and get_point_offset
from the physics server
- Removed SoftBody properties that are unused in both Bullet and
GodotPhysics (angular and volume stiffness, pose matching)
- Added RenderingServerHandler interface to PhysicsServer3D so the physics servers don't need to reference the class from SoftBody node directly
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Fix physics queries not filtering out disabled collision shapes
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This change makes test_body_motion more reliable when the kinematic body
recovers from being stuck.
- When recovery occurs, the rest information is generated, in order to
make sure collision results from test_move, move_and_collide and
move_and_slide are consistent and return a collision in case of overlap.
- The new calculation for recovery vector makes sure the recovery is
never more than the overlap depth between shapes.
This can help with cases where the kinematic body overlaps with several
shapes.
Recovery is made iteratively, without forcing a full overlap at each
step. This helps with getting proper rest information when recovery
occurs.
- One Way Collision:
When attempting motion, contact direction is checked against motion
before skipping in order to solve cases where kinematic bodies can sink
into one-way collision shapes.
Rest info now sets max contact depth in order to properly handle one-way
collision.
- Low speed motion is now handled in the rest info, by never setting
min_allowed_depth lower than motion length.
Separation is always applied with full margin, otherwise contact is lost
when low speed motion occurs right after higher speed motion.
- Similar changes are applied to 3D in order to make 2D and 3D
consistent.
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-Rendering server now uses a split RID allocate/initialize internally, this allows generating RIDs immediately but initialization to happen later on the proper thread (as rendering APIs generally requiere to call on the right thread).
-RenderingServerWrapMT is no more, multithreading is done in RenderingServerDefault.
-Some functions like texture or mesh creation, when renderer supports it, can register and return immediately (so no waiting for server API to flush, and saving staging and command buffer memory).
-3D physics server changed to be made multithread friendly.
-Added PhysicsServer3DWrapMT to use 3D physics server from multiple threads.
-Disablet Bullet (too much effort to make multithread friendly, this needs to be fixed eventually).
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This change allows collide_shape, intersect_shape, cast_motion and
rest_info in both 2D and 3D to ignore disabled shapes and make them
consistent with the physics simulation.
In some other cases, _cull_aabb_for_body is used and filters shapes out
internally, but whenever a physics query uses the broadphase directly
without calling _cull_aabb_for_body, disabled shapes can be returned
and need to be filtered out.
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Use Math_TAU and deg2rad/etc in more places and optimize code
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Fix cast_motion sometimes failing
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For RigidBodies, uses the collision normal determined by relative motion
to determine whether or not a one-way collision has occurred.
For KinematicBodies, performs additional checks to ensure a one-way
collision has occurred, and averages the recovery step over all collision
shapes.
Co-authored-by: Sergej Gureev <sergej.gureev@relex.fi>
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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 🎆
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- Fixes Godot physics failing when the cast Shape is inside of, or
already colliding with another Shape.
- Fixes Bullet physics failing when there is no motion.
- Ensures Godot and Bullet physics behave the same.
- Updates the documentation to exclude the caveats for the failures and
differences.
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-Removed FuncRef, since Callable makes it obsolete
-Removed int_types.h as its obsolete in c++11+
-Changed color names code
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This reverts commit 7eebb06b5571437828d8c5099558c303c72cd1f4.
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Co-authored-by: madmiraal <madmiraal@users.noreply.github.com>
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broadphase 2D and 3D.
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Using clang-tidy's `readability-braces-around-statements`.
https://clang.llvm.org/extra/clang-tidy/checks/readability-braces-around-statements.html
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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.
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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.
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Using clang-tidy's `modernize-use-bool-literals`.
https://clang.llvm.org/extra/clang-tidy/checks/modernize-use-bool-literals.html
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Part of #33027.
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VisualServer -> RenderingServer
PhysicsServer -> PhysicsServer3D
Physics2DServer -> PhysicsServer2D
NavigationServer -> NavigationServer3D
Navigation2DServer -> NavigationServer2D
Also renamed corresponding files.
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