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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
2021-04-20Merge pull request #47347 from nekomatata/heightmap-supportRémi Verschelde
Heightmap collision shape support in Godot Physics
2021-04-15Fix errors related to joints setup with two non-dynamic bodiesPouleyKetchoupp
2021-04-14Merge pull request #47846 from nekomatata/solver-optimizationRémi Verschelde
Godot Physics solver optimization
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
2021-04-12Fix SoftBody contact impulses applied on rigid bodiesPouleyKetchoupp
Parameters were inverted in `apply_impulse` and `apply_bias_impulse` due to a modification on master.
2021-04-06Ensure ConvexPolygonShape3D support count variable is initialisedMarcel Admiraal
2021-04-05Style: Apply clang-tidy's `readability-braces-around-statements`Rémi Verschelde
2021-04-05Style: Apply clang-tidy's `modernize-use-nullptr`Rémi Verschelde
2021-03-26Merge pull request #44695 from madmiraal/fix-44632Rémi Verschelde
Remove all elements from monitored_bodies and monitored_areas when processed
2021-03-25Heightmap collision shape support in Godot PhysicsPouleyKetchoupp
2021-03-22[Godot Physics]: Correct typo in moment of inertia calculations.Josh Jones
The moment of inertia calculation for BoxShape is: ``` Vector3( (p_mass / 3.0) * (ly * ly + lz * lz), (p_mass / 3.0) * (lx * lx + lz * lz), (p_mass / 3.0) * (lx * lx + ly * ly)); ``` where the final line includes both the x and y extents. However, for CapsuleShape3D, CylinderShape3D, ConvexPolygonShape3D, ConcavePolygonShape3D, and HeightMapShape3D, the final line read `(p_mass / 3.0) * (extents.y * extents.y + extents.y * extents.y)`. I believe this is a mistake, considering the comment in each case mentions using an AABB approximation, which should follow the same approach as BoxShape. This change corrects the final line to include both the x and y components of the shape's extent.
2021-03-20Merge pull request #46917 from nekomatata/solver-kinematic-bug-fixRémi Verschelde
Fix GodotPhysics solver with kinematic body set to report contacts
2021-03-20Merge pull request #47130 from e344fde6bf/fix-angular-velocity-calculationRémi Verschelde
Fix kinematic angular velocity calculations
2021-03-20Merge pull request #46937 from nekomatata/soft-body-supportRémi Verschelde
SoftBody support in GodotPhysics 3D
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.
2021-03-18Disable backface collision with ConcavePolygonShape by defaultPouleyKetchoupp
Helps a lot with soft bodies and generally useful to avoid shapes to go through the ground in certain cases. Added an option in ConcavePolygonShape to re-enable backface collision on specific bodies if needed.
2021-03-18SoftBody support in GodotPhysics 3DPouleyKetchoupp
- 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
2021-03-17Merge pull request #47067 from nekomatata/cylinder-fix-marginsRémi Verschelde
Fix Cylinder shape collision with margins when using GJK-EPA
2021-03-16Fix capsule-cylinder collision in godot physicsPouleyKetchoupp
Test specific axes before falling back to GJK-EPA algorithm to get more accurate separation axes for common cases, the same way it's done for cylinder-cylinder collision.
2021-03-16Fix Cylinder shape collision with margins when using GJK-EPAPouleyKetchoupp
In the case of falling back to GJK-EPA algorithm to generate cylinder contact points, margins were never taken into account. This fixes the depenetration phase for kinematic bodies and allows consistent floor detection for cylinder shapes.
2021-03-11Fix GodotPhysics solver with kinematic body set to report contactsPouleyKetchoupp
In 3D, collision is disabled between kinematic/static bodies when contacts are generated only to report them. In 2D, this case was already fixed but the code is cleaned to make it easier to follow.
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.
2021-03-02Merge pull request #46581 from Riteo/fix-capsule-shapeRémi Verschelde
Change CapsuleShape3D's collision detection axis to vertical
2021-03-02Change CapsuleShape3D's collision detection axis to verticalRiteo Siuga
This fixes an issue where its collision detection would actually work as if it had the old default orientation.
2021-02-27Move removal of the constraints from bodies to Joint3DSW destructorEryk Dwornicki
Joint3DSW instances are also destroyed without explicitly calling free() for example when changing constrainted bodies at runtime using set_node method.
2021-02-24Merge pull request #45863 from nekomatata/physics-queries-disabled-shapesRémi Verschelde
Fix physics queries not filtering out disabled collision shapes
2021-02-17Fix test_body_motion recoveryPouleyKetchoupp
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.
2021-02-12Revised cylinder contact point generationPouleyKetchoupp
Cylinder contact points generation is adjusted to make it more stable when standing on triangle meshes. Point-Circle: Switched to simpler plane projection as it's done for Point-Face contact points. It solves some cases where discrepancies between the two points caused the cylinder to jump. Edge-Circle: Same as before, the case for edge has just been moved from Face-Circle to a specific method. Face-Circle: The previous method was clipping edges against the circle, and then tried to add contact points when there wasn't enough support and failed in some cases. Now using a different algorithm which adds proper contact points around the circle more consistently. First, by clipping edges against circle segments using Face-Face algorithm. Second, by clipping edges against the circle plane.
2021-02-10Cylinder support in Godot Physics 3DPouleyKetchoupp
Cylinder collision detection uses a mix of SAT and GJKEPA. GJKEPA is used to find the best separation axis in cases where finding it analytically is too complex. Changes in SAT solver: Added support for generating separation axes for cylinder shape. Added support for generating contact points with circle feature. Changes in GJKEPA solver: Updated from latest Bullet version which includes EPA fixes in some scenarios. Setting a lower EPA_ACCURACY to fix accuracy problems with cylinder vs. cylinder in some cases.
2021-02-10Make Servers truly Thread Safereduz
-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).
2021-02-09Fix physics queries not filtering out disabled collision shapesPouleyKetchoupp
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.
2021-02-01Merge pull request #37547 from aaronfranke/tauRémi Verschelde
Use Math_TAU and deg2rad/etc in more places and optimize code
2021-01-28Use real_t in physics codeAaron Franke
2021-01-14Merge pull request #43923 from madmiraal/fix-43588Rémi Verschelde
Fix cast_motion sometimes failing
2021-01-12CI: Update to clang-format 11 and apply ternary operator changesRémi Verschelde
2021-01-09Use Math_TAU and deg2rad/rad2deg in more places and optimize codeAaron Franke
2021-01-07Fix multiple issues with one-way collisionsMarcel Admiraal
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>
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 🎆
2020-12-28Rename empty() to is_empty()Marcel Admiraal
2020-12-26Remove all elements from monitored_bodies and monitored_areas when processedMarcel Admiraal
2020-12-19Fixes collisions in Godot 3D physicsExxion
2020-12-15Remove Generic6DOFJoint precision propertyMarcel Admiraal
2020-12-07Fix inconsistent Joint3DSW copy constructor and assignment declarationsMarcel Admiraal
2020-11-27Fix cast_motion sometimes failingMarcel Admiraal
- 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.
2020-11-16Remove empty lines around braces with the formatting scriptAaron Franke
2020-11-16Merge pull request #42167 from madmiraal/fix-42108Rémi Verschelde
Remove the unnecessary sync() and the restrictions it imposes on 3D Physics.
2020-11-07Reorganized core/ directory, it was too fatty alreadyreduz
-Removed FuncRef, since Callable makes it obsolete -Removed int_types.h as its obsolete in c++11+ -Changed color names code
2020-09-18Remove the unnecessary sync() and the restrictions it imposes on 3D Physics.Marcel Admiraal
2020-07-27Revert "Allow Area2D and 3D mouse events without a collision layer"Rémi Verschelde
This reverts commit 7eebb06b5571437828d8c5099558c303c72cd1f4.