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Port raycast accelerator from Bullet's btHeightfieldTerrainShape.
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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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Created an area-specific wind force that interacts with soft bodies
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Same thing that was already done for rigid body and character body
collision detection.
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API improvement on the physics (CharacterBody and related classes)
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gravity for soft bodies.
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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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Also changed CapsuleMesh to make settings consistent between render and
physics.
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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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Fix 3D moving platform logic
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Same thing that was already done in 2D, applies moving platform motion
by using a call to move_and_collide that excludes the platform itself,
instead of making it part of the body motion.
Helps with handling walls and slopes correctly when the character walks
on the moving platform.
Also made some minor adjustments to the 2D version and documentation.
Co-authored-by: fabriceci <fabricecipolla@gmail.com>
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Fix applied rotation from moving platforms in move_and_slide
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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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The Transform::xform and xform_inv are made safe for Planes when using non-uniform scaling.
Optimization of calling sites to prevent loss of performance from the changes to xform(Plane).
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One-directional collision layer check for rigid bodies and soft bodies
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Found via `codespell -q 3 -S ./thirdparty,*.po,./DONORS.md -L ackward,ang,ans,ba,beng,cas,childs,childrens,dof,doubleclick,fave,findn,hist,inout,leapyear,lod,nd,numer,ois,ony,paket,seeked,sinc,switchs,te,uint`
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Use the standard C `INFINITY` and `NAN` constants directly
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The `Math_INF` and `Math_NAN` defines were just aliases for those
constants, so we might as well use them directly.
Some portions of the code were already using `INFINITY` directly.
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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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Add a method to set the number of physics solver iterations in 3D
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Make move_and_slide collision detection more accurate
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This is only for GodotPhysics, and adds a 3D counterpart to the 2D
method that was recently added.
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Disabled backface collision is only applied on face separation axes,
because applying it also on edges and vertices was causing some contacts
to be wrongly disabled and contact points to be off.
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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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