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Merge pull request #55602 from nekomatata/improve-rigidbody-contacts

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Rémi Verschelde 2021-12-06 16:49:42 +01:00 committed by GitHub
parent 3ae8eda1ed 2273a78af1
commit 4bce5e302e
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25 changed files with 246 additions and 196 deletions
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23
doc/classes/PhysicsServer2D.xml
View file

@ -711,13 +711,6 @@
Activates or deactivates the 2D physics engine.
</description>
</method>
<method name="set_collision_iterations">
<return type="void" />
<argument index="0" name="iterations" type="int" />
<description>
Sets the amount of iterations for calculating velocities of colliding bodies. The greater the amount of iterations, the more accurate the collisions will be. However, a greater amount of iterations requires more CPU power, which can decrease performance. The default value is [code]8[/code].
</description>
</method>
<method name="shape_get_data" qualifiers="const">
<return type="Variant" />
<argument index="0" name="shape" type="RID" />
@ -798,21 +791,27 @@
<constant name="SPACE_PARAM_CONTACT_MAX_SEPARATION" value="1" enum="SpaceParameter">
Constant to set/get the maximum distance a shape can be from another before they are considered separated.
</constant>
<constant name="SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION" value="2" enum="SpaceParameter">
<constant name="SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION" value="2" enum="SpaceParameter">
Constant to set/get the maximum distance a shape can penetrate another shape before it is considered a collision.
</constant>
<constant name="SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD" value="3" enum="SpaceParameter">
<constant name="SPACE_PARAM_CONTACT_DEFAULT_BIAS" value="3" enum="SpaceParameter">
Constant to set/get the default solver bias for all physics contacts. A solver bias is a factor controlling how much two objects "rebound", after overlapping, to avoid leaving them in that state because of numerical imprecision.
</constant>
<constant name="SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD" value="4" enum="SpaceParameter">
Constant to set/get the threshold linear velocity of activity. A body marked as potentially inactive for both linear and angular velocity will be put to sleep after the time given.
</constant>
<constant name="SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD" value="4" enum="SpaceParameter">
<constant name="SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD" value="5" enum="SpaceParameter">
Constant to set/get the threshold angular velocity of activity. A body marked as potentially inactive for both linear and angular velocity will be put to sleep after the time given.
</constant>
<constant name="SPACE_PARAM_BODY_TIME_TO_SLEEP" value="5" enum="SpaceParameter">
<constant name="SPACE_PARAM_BODY_TIME_TO_SLEEP" value="6" enum="SpaceParameter">
Constant to set/get the maximum time of activity. A body marked as potentially inactive for both linear and angular velocity will be put to sleep after this time.
</constant>
<constant name="SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS" value="6" enum="SpaceParameter">
<constant name="SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS" value="7" enum="SpaceParameter">
Constant to set/get the default solver bias for all physics constraints. A solver bias is a factor controlling how much two objects "rebound", after violating a constraint, to avoid leaving them in that state because of numerical imprecision.
</constant>
<constant name="SPACE_PARAM_SOLVER_ITERATIONS" value="8" enum="SpaceParameter">
Constant to set/get the number of solver iterations for all contacts and constraints. The greater the amount of iterations, the more accurate the collisions will be. However, a greater amount of iterations requires more CPU power, which can decrease performance.
</constant>
<constant name="SHAPE_WORLD_BOUNDARY" value="0" enum="ShapeType">
This is the constant for creating world boundary shapes. A world boundary shape is an [i]infinite[/i] line with an origin point, and a normal. Thus, it can be used for front/behind checks.
</constant>

26
doc/classes/PhysicsServer3D.xml
View file

@ -846,14 +846,6 @@
Activates or deactivates the 3D physics engine.
</description>
</method>
<method name="set_collision_iterations">
<return type="void" />
<argument index="0" name="iterations" type="int" />
<description>
Sets the amount of iterations for calculating velocities of colliding bodies. The greater the amount of iterations, the more accurate the collisions will be. However, a greater amount of iterations requires more CPU power, which can decrease performance. The default value is [code]8[/code].
[b]Note:[/b] Only has an effect when using the default GodotPhysics engine, not the Bullet physics engine.
</description>
</method>
<method name="shape_get_data" qualifiers="const">
<return type="Variant" />
<argument index="0" name="shape" type="RID" />
@ -1343,23 +1335,29 @@
<constant name="SPACE_PARAM_CONTACT_MAX_SEPARATION" value="1" enum="SpaceParameter">
Constant to set/get the maximum distance a shape can be from another before they are considered separated.
</constant>
<constant name="SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION" value="2" enum="SpaceParameter">
<constant name="SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION" value="2" enum="SpaceParameter">
Constant to set/get the maximum distance a shape can penetrate another shape before it is considered a collision.
</constant>
<constant name="SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD" value="3" enum="SpaceParameter">
<constant name="SPACE_PARAM_CONTACT_DEFAULT_BIAS" value="3" enum="SpaceParameter">
Constant to set/get the default solver bias for all physics contacts. A solver bias is a factor controlling how much two objects "rebound", after overlapping, to avoid leaving them in that state because of numerical imprecision.
</constant>
<constant name="SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD" value="4" enum="SpaceParameter">
Constant to set/get the threshold linear velocity of activity. A body marked as potentially inactive for both linear and angular velocity will be put to sleep after the time given.
</constant>
<constant name="SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD" value="4" enum="SpaceParameter">
<constant name="SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD" value="5" enum="SpaceParameter">
Constant to set/get the threshold angular velocity of activity. A body marked as potentially inactive for both linear and angular velocity will be put to sleep after the time given.
</constant>
<constant name="SPACE_PARAM_BODY_TIME_TO_SLEEP" value="5" enum="SpaceParameter">
<constant name="SPACE_PARAM_BODY_TIME_TO_SLEEP" value="6" enum="SpaceParameter">
Constant to set/get the maximum time of activity. A body marked as potentially inactive for both linear and angular velocity will be put to sleep after this time.
</constant>
<constant name="SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO" value="6" enum="SpaceParameter">
<constant name="SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO" value="7" enum="SpaceParameter">
</constant>
<constant name="SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS" value="7" enum="SpaceParameter">
<constant name="SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS" value="8" enum="SpaceParameter">
Constant to set/get the default solver bias for all physics constraints. A solver bias is a factor controlling how much two objects "rebound", after violating a constraint, to avoid leaving them in that state because of numerical imprecision.
</constant>
<constant name="SPACE_PARAM_SOLVER_ITERATIONS" value="9" enum="SpaceParameter">
Constant to set/get the number of solver iterations for contacts and constraints. The greater the amount of iterations, the more accurate the collisions and constraints will be. However, a greater amount of iterations requires more CPU power, which can decrease performance.
</constant>
<constant name="BODY_AXIS_LINEAR_X" value="1" enum="BodyAxis">
</constant>
<constant name="BODY_AXIS_LINEAR_Y" value="2" enum="BodyAxis">

10
servers/physics_2d/godot_body_2d.h
View file

@ -234,9 +234,15 @@ public:
angular_velocity += _inv_inertia * p_torque;
}
_FORCE_INLINE_ void apply_bias_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) {
_FORCE_INLINE_ void apply_bias_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2(), real_t p_max_delta_av = -1.0) {
biased_linear_velocity += p_impulse * _inv_mass;
biased_angular_velocity += _inv_inertia * (p_position - center_of_mass).cross(p_impulse);
if (p_max_delta_av != 0.0) {
real_t delta_av = _inv_inertia * (p_position - center_of_mass).cross(p_impulse);
if (p_max_delta_av > 0 && delta_av > p_max_delta_av) {
delta_av = p_max_delta_av;
}
biased_angular_velocity += delta_av;
}
}
void set_active(bool p_active);

125
servers/physics_2d/godot_body_pair_2d.cpp
View file

@ -34,6 +34,9 @@
#define ACCUMULATE_IMPULSES
#define MIN_VELOCITY 0.001
#define MAX_BIAS_ROTATION (Math_PI / 8)
void GodotBodyPair2D::_add_contact(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_self) {
GodotBodyPair2D *self = (GodotBodyPair2D *)p_self;
@ -41,8 +44,6 @@ void GodotBodyPair2D::_add_contact(const Vector2 &p_point_A, const Vector2 &p_po
}
void GodotBodyPair2D::_contact_added_callback(const Vector2 &p_point_A, const Vector2 &p_point_B) {
// check if we already have the contact
Vector2 local_A = A->get_inv_transform().basis_xform(p_point_A);
Vector2 local_B = B->get_inv_transform().basis_xform(p_point_B - offset_B);
@ -51,46 +52,48 @@ void GodotBodyPair2D::_contact_added_callback(const Vector2 &p_point_A, const Ve
ERR_FAIL_COND(new_index >= (MAX_CONTACTS + 1));
Contact contact;
contact.acc_normal_impulse = 0;
contact.acc_bias_impulse = 0;
contact.acc_tangent_impulse = 0;
contact.local_A = local_A;
contact.local_B = local_B;
contact.reused = true;
contact.normal = (p_point_A - p_point_B).normalized();
contact.mass_normal = 0; // will be computed in setup()
// attempt to determine if the contact will be reused
contact.used = true;
// Attempt to determine if the contact will be reused.
real_t recycle_radius_2 = space->get_contact_recycle_radius() * space->get_contact_recycle_radius();
for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i];
if (
c.local_A.distance_squared_to(local_A) < (recycle_radius_2) &&
if (c.local_A.distance_squared_to(local_A) < (recycle_radius_2) &&
c.local_B.distance_squared_to(local_B) < (recycle_radius_2)) {
contact.acc_normal_impulse = c.acc_normal_impulse;
contact.acc_tangent_impulse = c.acc_tangent_impulse;
contact.acc_bias_impulse = c.acc_bias_impulse;
new_index = i;
break;
contact.acc_bias_impulse_center_of_mass = c.acc_bias_impulse_center_of_mass;
c = contact;
return;
}
}
// figure out if the contact amount must be reduced to fit the new contact
// Figure out if the contact amount must be reduced to fit the new contact.
if (new_index == MAX_CONTACTS) {
// remove the contact with the minimum depth
int least_deep = -1;
real_t min_depth = 1e10;
// Remove the contact with the minimum depth.
const Transform2D &transform_A = A->get_transform();
const Transform2D &transform_B = B->get_transform();
for (int i = 0; i <= contact_count; i++) {
Contact &c = (i == contact_count) ? contact : contacts[i];
int least_deep = -1;
real_t min_depth;
// Start with depth for new contact.
{
Vector2 global_A = transform_A.basis_xform(contact.local_A);
Vector2 global_B = transform_B.basis_xform(contact.local_B) + offset_B;
Vector2 axis = global_A - global_B;
min_depth = axis.dot(contact.normal);
}
for (int i = 0; i < contact_count; i++) {
const Contact &c = contacts[i];
Vector2 global_A = transform_A.basis_xform(c.local_A);
Vector2 global_B = transform_B.basis_xform(c.local_B) + offset_B;
@ -103,10 +106,8 @@ void GodotBodyPair2D::_contact_added_callback(const Vector2 &p_point_A, const Ve
}
}
ERR_FAIL_COND(least_deep == -1);
if (least_deep < contact_count) { //replace the last deep contact by the new one
if (least_deep > -1) {
// Replace the least deep contact by the new one.
contacts[least_deep] = contact;
}
@ -114,15 +115,11 @@ void GodotBodyPair2D::_contact_added_callback(const Vector2 &p_point_A, const Ve
}
contacts[new_index] = contact;
if (new_index == contact_count) {
contact_count++;
}
contact_count++;
}
void GodotBodyPair2D::_validate_contacts() {
//make sure to erase contacts that are no longer valid
// Make sure to erase contacts that are no longer valid.
real_t max_separation = space->get_contact_max_separation();
real_t max_separation2 = max_separation * max_separation;
@ -133,11 +130,11 @@ void GodotBodyPair2D::_validate_contacts() {
Contact &c = contacts[i];
bool erase = false;
if (!c.reused) {
//was left behind in previous frame
if (!c.used) {
// Was left behind in previous frame.
erase = true;
} else {
c.reused = false;
c.used = false;
Vector2 global_A = transform_A.basis_xform(c.local_A);
Vector2 global_B = transform_B.basis_xform(c.local_B) + offset_B;
@ -150,10 +147,10 @@ void GodotBodyPair2D::_validate_contacts() {
}
if (erase) {
// contact no longer needed, remove
// Contact no longer needed, remove.
if ((i + 1) < contact_count) {
// swap with the last one
// Swap with the last one.
SWAP(contacts[i], contacts[contact_count - 1]);
}
@ -302,9 +299,6 @@ bool GodotBodyPair2D::setup(real_t p_step) {
bool valid = false;
for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i];
if (!c.reused) {
continue;
}
if (c.normal.dot(direction) > -CMP_EPSILON) { //greater (normal inverted)
continue;
}
@ -323,9 +317,6 @@ bool GodotBodyPair2D::setup(real_t p_step) {
bool valid = false;
for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i];
if (!c.reused) {
continue;
}
if (c.normal.dot(direction) < CMP_EPSILON) { //less (normal ok)
continue;
}
@ -350,7 +341,7 @@ bool GodotBodyPair2D::pre_solve(real_t p_step) {
real_t max_penetration = space->get_contact_max_allowed_penetration();
real_t bias = 0.3;
real_t bias = space->get_contact_bias();
GodotShape2D *shape_A_ptr = A->get_shape(shape_A);
GodotShape2D *shape_B_ptr = B->get_shape(shape_B);
@ -389,7 +380,7 @@ bool GodotBodyPair2D::pre_solve(real_t p_step) {
Vector2 axis = global_A - global_B;
real_t depth = axis.dot(c.normal);
if (depth <= 0.0 || !c.reused) {
if (depth <= 0.0) {
continue;
}
@ -400,8 +391,8 @@ bool GodotBodyPair2D::pre_solve(real_t p_step) {
}
#endif
c.rA = global_A;
c.rB = global_B - offset_B;
c.rA = global_A - A->get_center_of_mass();
c.rB = global_B - B->get_center_of_mass() - offset_B;
if (A->can_report_contacts()) {
Vector2 crB(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x);
@ -434,7 +425,6 @@ bool GodotBodyPair2D::pre_solve(real_t p_step) {
c.bias = -bias * inv_dt * MIN(0.0f, -depth + max_penetration);
c.depth = depth;
//c.acc_bias_impulse=0;
#ifdef ACCUMULATE_IMPULSES
{
@ -442,10 +432,10 @@ bool GodotBodyPair2D::pre_solve(real_t p_step) {
Vector2 P = c.acc_normal_impulse * c.normal + c.acc_tangent_impulse * tangent;
if (collide_A) {
A->apply_impulse(-P, c.rA);
A->apply_impulse(-P, c.rA + A->get_center_of_mass());
}
if (collide_B) {
B->apply_impulse(P, c.rB);
B->apply_impulse(P, c.rB + B->get_center_of_mass());
}
}
#endif
@ -470,6 +460,11 @@ void GodotBodyPair2D::solve(real_t p_step) {
return;
}
const real_t max_bias_av = MAX_BIAS_ROTATION / p_step;
real_t inv_mass_A = collide_A ? A->get_inv_mass() : 0.0;
real_t inv_mass_B = collide_B ? B->get_inv_mass() : 0.0;
for (int i = 0; i < contact_count; ++i) {
Contact &c = contacts[i];
@ -489,6 +484,7 @@ void GodotBodyPair2D::solve(real_t p_step) {
real_t vn = dv.dot(c.normal);
real_t vbn = dbv.dot(c.normal);
Vector2 tangent = c.normal.orthogonal();
real_t vt = dv.dot(tangent);
@ -499,10 +495,31 @@ void GodotBodyPair2D::solve(real_t p_step) {
Vector2 jb = c.normal * (c.acc_bias_impulse - jbnOld);
if (collide_A) {
A->apply_bias_impulse(-jb, c.rA);
A->apply_bias_impulse(-jb, c.rA + A->get_center_of_mass(), max_bias_av);
}
if (collide_B) {
B->apply_bias_impulse(jb, c.rB);
B->apply_bias_impulse(jb, c.rB + B->get_center_of_mass(), max_bias_av);
}
crbA = Vector2(-A->get_biased_angular_velocity() * c.rA.y, A->get_biased_angular_velocity() * c.rA.x);
crbB = Vector2(-B->get_biased_angular_velocity() * c.rB.y, B->get_biased_angular_velocity() * c.rB.x);
dbv = B->get_biased_linear_velocity() + crbB - A->get_biased_linear_velocity() - crbA;
vbn = dbv.dot(c.normal);
if (Math::abs(-vbn + c.bias) > MIN_VELOCITY) {
real_t jbn_com = (-vbn + c.bias) / (inv_mass_A + inv_mass_B);
real_t jbnOld_com = c.acc_bias_impulse_center_of_mass;
c.acc_bias_impulse_center_of_mass = MAX(jbnOld_com + jbn_com, 0.0f);
Vector2 jb_com = c.normal * (c.acc_bias_impulse_center_of_mass - jbnOld_com);
if (collide_A) {
A->apply_bias_impulse(-jb_com, A->get_center_of_mass(), 0.0f);
}
if (collide_B) {
B->apply_bias_impulse(jb_com, B->get_center_of_mass(), 0.0f);
}
}
real_t jn = -(c.bounce + vn) * c.mass_normal;
@ -519,10 +536,10 @@ void GodotBodyPair2D::solve(real_t p_step) {
Vector2 j = c.normal * (c.acc_normal_impulse - jnOld) + tangent * (c.acc_tangent_impulse - jtOld);
if (collide_A) {
A->apply_impulse(-j, c.rA);
A->apply_impulse(-j, c.rA + A->get_center_of_mass());
}
if (collide_B) {
B->apply_impulse(j, c.rB);
B->apply_impulse(j, c.rB + B->get_center_of_mass());
}
}
}

3
servers/physics_2d/godot_body_pair_2d.h
View file

@ -62,13 +62,14 @@ class GodotBodyPair2D : public GodotConstraint2D {
real_t acc_normal_impulse = 0.0; // accumulated normal impulse (Pn)
real_t acc_tangent_impulse = 0.0; // accumulated tangent impulse (Pt)
real_t acc_bias_impulse = 0.0; // accumulated normal impulse for position bias (Pnb)
real_t acc_bias_impulse_center_of_mass = 0.0; // accumulated normal impulse for position bias applied to com
real_t mass_normal, mass_tangent = 0.0;
real_t bias = 0.0;
real_t depth = 0.0;
bool active = false;
bool used = false;
Vector2 rA, rB;
bool reused = false;
real_t bounce = 0.0;
};

21
servers/physics_2d/godot_physics_server_2d.cpp
View file

@ -1214,21 +1214,16 @@ void GodotPhysicsServer2D::free(RID p_rid) {
} else {
ERR_FAIL_MSG("Invalid ID.");
}
};
}
void GodotPhysicsServer2D::set_active(bool p_active) {
active = p_active;
};
void GodotPhysicsServer2D::set_collision_iterations(int p_iterations) {
iterations = p_iterations;
};
}
void GodotPhysicsServer2D::init() {
doing_sync = false;
iterations = 8; // 8?
stepper = memnew(GodotStep2D);
};
}
void GodotPhysicsServer2D::step(real_t p_step) {
if (!active) {
@ -1241,16 +1236,16 @@ void GodotPhysicsServer2D::step(real_t p_step) {
active_objects = 0;
collision_pairs = 0;
for (Set<const GodotSpace2D *>::Element *E = active_spaces.front(); E; E = E->next()) {
stepper->step((GodotSpace2D *)E->get(), p_step, iterations);
stepper->step((GodotSpace2D *)E->get(), p_step);
island_count += E->get()->get_island_count();
active_objects += E->get()->get_active_objects();
collision_pairs += E->get()->get_collision_pairs();
}
};
}
void GodotPhysicsServer2D::sync() {
doing_sync = true;
};
}
void GodotPhysicsServer2D::flush_queries() {
if (!active) {
@ -1308,7 +1303,7 @@ void GodotPhysicsServer2D::end_sync() {
void GodotPhysicsServer2D::finish() {
memdelete(stepper);
};
}
void GodotPhysicsServer2D::_update_shapes() {
while (pending_shape_update_list.first()) {
@ -1340,4 +1335,4 @@ GodotPhysicsServer2D::GodotPhysicsServer2D(bool p_using_threads) {
GodotBroadPhase2D::create_func = GodotBroadPhase2DBVH::_create;
using_threads = p_using_threads;
};
}

3
servers/physics_2d/godot_physics_server_2d.h
View file

@ -45,7 +45,6 @@ class GodotPhysicsServer2D : public PhysicsServer2D {
friend class GodotPhysicsDirectSpaceState2D;
friend class GodotPhysicsDirectBodyState2D;
bool active = true;
int iterations = 0;
bool doing_sync = false;
int island_count = 0;
@ -283,8 +282,6 @@ public:
virtual void end_sync() override;
virtual void finish() override;
virtual void set_collision_iterations(int p_iterations) override;
virtual bool is_flushing_queries() const override { return flushing_queries; }
int get_process_info(ProcessInfo p_info) override;

14
servers/physics_2d/godot_space_2d.cpp
View file

@ -1138,9 +1138,12 @@ void GodotSpace2D::set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_v
case PhysicsServer2D::SPACE_PARAM_CONTACT_MAX_SEPARATION:
contact_max_separation = p_value;
break;
case PhysicsServer2D::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION:
case PhysicsServer2D::SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION:
contact_max_allowed_penetration = p_value;
break;
case PhysicsServer2D::SPACE_PARAM_CONTACT_DEFAULT_BIAS:
contact_bias = p_value;
break;
case PhysicsServer2D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD:
body_linear_velocity_sleep_threshold = p_value;
break;
@ -1153,6 +1156,9 @@ void GodotSpace2D::set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_v
case PhysicsServer2D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
constraint_bias = p_value;
break;
case PhysicsServer2D::SPACE_PARAM_SOLVER_ITERATIONS:
solver_iterations = p_value;
break;
}
}
@ -1162,8 +1168,10 @@ real_t GodotSpace2D::get_param(PhysicsServer2D::SpaceParameter p_param) const {
return contact_recycle_radius;
case PhysicsServer2D::SPACE_PARAM_CONTACT_MAX_SEPARATION:
return contact_max_separation;
case PhysicsServer2D::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION:
case PhysicsServer2D::SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION:
return contact_max_allowed_penetration;
case PhysicsServer2D::SPACE_PARAM_CONTACT_DEFAULT_BIAS:
return contact_bias;
case PhysicsServer2D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD:
return body_linear_velocity_sleep_threshold;
case PhysicsServer2D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD:
@ -1172,6 +1180,8 @@ real_t GodotSpace2D::get_param(PhysicsServer2D::SpaceParameter p_param) const {
return body_time_to_sleep;
case PhysicsServer2D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
return constraint_bias;
case PhysicsServer2D::SPACE_PARAM_SOLVER_ITERATIONS:
return solver_iterations;
}
return 0;
}

5
servers/physics_2d/godot_space_2d.h
View file

@ -96,9 +96,12 @@ private:
GodotArea2D *area = nullptr;
int solver_iterations = 16;
real_t contact_recycle_radius = 1.0;
real_t contact_max_separation = 1.5;
real_t contact_max_allowed_penetration = 0.3;
real_t contact_bias = 0.8;
real_t constraint_bias = 0.2;
enum {
@ -155,9 +158,11 @@ public:
void remove_object(GodotCollisionObject2D *p_object);
const Set<GodotCollisionObject2D *> &get_objects() const;
_FORCE_INLINE_ int get_solver_iterations() const { return solver_iterations; }
_FORCE_INLINE_ real_t get_contact_recycle_radius() const { return contact_recycle_radius; }
_FORCE_INLINE_ real_t get_contact_max_separation() const { return contact_max_separation; }
_FORCE_INLINE_ real_t get_contact_max_allowed_penetration() const { return contact_max_allowed_penetration; }
_FORCE_INLINE_ real_t get_contact_bias() const { return contact_bias; }
_FORCE_INLINE_ real_t get_constraint_bias() const { return constraint_bias; }
_FORCE_INLINE_ real_t get_body_linear_velocity_sleep_threshold() const { return body_linear_velocity_sleep_threshold; }
_FORCE_INLINE_ real_t get_body_angular_velocity_sleep_threshold() const { return body_angular_velocity_sleep_threshold; }

4
servers/physics_2d/godot_step_2d.cpp
View file

@ -124,14 +124,14 @@ void GodotStep2D::_check_suspend(LocalVector<GodotBody2D *> &p_body_island) cons
}
}
void GodotStep2D::step(GodotSpace2D *p_space, real_t p_delta, int p_iterations) {
void GodotStep2D::step(GodotSpace2D *p_space, real_t p_delta) {
p_space->lock(); // can't access space during this
p_space->setup(); //update inertias, etc
p_space->set_last_step(p_delta);
iterations = p_iterations;
iterations = p_space->get_solver_iterations();
delta = p_delta;
const SelfList<GodotBody2D>::List *body_list = &p_space->get_active_body_list();

2
servers/physics_2d/godot_step_2d.h
View file

@ -55,7 +55,7 @@ class GodotStep2D {
void _check_suspend(LocalVector<GodotBody2D *> &p_body_island) const;
public:
void step(GodotSpace2D *p_space, real_t p_delta, int p_iterations);
void step(GodotSpace2D *p_space, real_t p_delta);
GodotStep2D();
~GodotStep2D();
};

130
servers/physics_3d/godot_body_pair_3d.cpp
View file

@ -44,11 +44,6 @@ void GodotBodyPair3D::_contact_added_callback(const Vector3 &p_point_A, int p_in
}
void GodotBodyPair3D::contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B) {
// check if we already have the contact
//Vector3 local_A = A->get_inv_transform().xform(p_point_A);
//Vector3 local_B = B->get_inv_transform().xform(p_point_B);
Vector3 local_A = A->get_inv_transform().basis.xform(p_point_A);
Vector3 local_B = B->get_inv_transform().basis.xform(p_point_B - offset_B);
@ -57,19 +52,14 @@ void GodotBodyPair3D::contact_added_callback(const Vector3 &p_point_A, int p_ind
ERR_FAIL_COND(new_index >= (MAX_CONTACTS + 1));
Contact contact;
contact.acc_normal_impulse = 0;
contact.acc_bias_impulse = 0;
contact.acc_bias_impulse_center_of_mass = 0;
contact.acc_tangent_impulse = Vector3();
contact.index_A = p_index_A;
contact.index_B = p_index_B;
contact.local_A = local_A;
contact.local_B = local_B;
contact.normal = (p_point_A - p_point_B).normalized();
contact.mass_normal = 0; // will be computed in setup()
contact.used = true;
// attempt to determine if the contact will be reused
// Attempt to determine if the contact will be reused.
real_t contact_recycle_radius = space->get_contact_recycle_radius();
for (int i = 0; i < contact_count; i++) {
@ -80,23 +70,34 @@ void GodotBodyPair3D::contact_added_callback(const Vector3 &p_point_A, int p_ind
contact.acc_bias_impulse = c.acc_bias_impulse;
contact.acc_bias_impulse_center_of_mass = c.acc_bias_impulse_center_of_mass;
contact.acc_tangent_impulse = c.acc_tangent_impulse;
new_index = i;
break;
c = contact;
return;
}
}
// figure out if the contact amount must be reduced to fit the new contact
// Figure out if the contact amount must be reduced to fit the new contact.
if (new_index == MAX_CONTACTS) {
// remove the contact with the minimum depth
// Remove the contact with the minimum depth.
const Basis &basis_A = A->get_transform().basis;
const Basis &basis_B = B->get_transform().basis;
int least_deep = -1;
real_t min_depth = 1e10;
real_t min_depth;
for (int i = 0; i <= contact_count; i++) {
Contact &c = (i == contact_count) ? contact : contacts[i];
Vector3 global_A = A->get_transform().basis.xform(c.local_A);
Vector3 global_B = B->get_transform().basis.xform(c.local_B) + offset_B;
// Start with depth for new contact.
{
Vector3 global_A = basis_A.xform(contact.local_A);
Vector3 global_B = basis_B.xform(contact.local_B) + offset_B;
Vector3 axis = global_A - global_B;
min_depth = axis.dot(contact.normal);
}
for (int i = 0; i < contact_count; i++) {
const Contact &c = contacts[i];
Vector3 global_A = basis_A.xform(c.local_A);
Vector3 global_B = basis_B.xform(c.local_B) + offset_B;
Vector3 axis = global_A - global_B;
real_t depth = axis.dot(c.normal);
@ -107,10 +108,8 @@ void GodotBodyPair3D::contact_added_callback(const Vector3 &p_point_A, int p_ind
}
}
ERR_FAIL_COND(least_deep == -1);
if (least_deep < contact_count) { //replace the last deep contact by the new one
if (least_deep > -1) {
// Replace the least deep contact by the new one.
contacts[least_deep] = contact;
}
@ -118,29 +117,41 @@ void GodotBodyPair3D::contact_added_callback(const Vector3 &p_point_A, int p_ind
}
contacts[new_index] = contact;
if (new_index == contact_count) {
contact_count++;
}
contact_count++;
}
void GodotBodyPair3D::validate_contacts() {
//make sure to erase contacts that are no longer valid
// Make sure to erase contacts that are no longer valid.
real_t max_separation = space->get_contact_max_separation();
real_t max_separation2 = max_separation * max_separation;
const Basis &basis_A = A->get_transform().basis;
const Basis &basis_B = B->get_transform().basis;
real_t contact_max_separation = space->get_contact_max_separation();
for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i];
Vector3 global_A = A->get_transform().basis.xform(c.local_A);
Vector3 global_B = B->get_transform().basis.xform(c.local_B) + offset_B;
Vector3 axis = global_A - global_B;
real_t depth = axis.dot(c.normal);
bool erase = false;
if (!c.used) {
// Was left behind in previous frame.
erase = true;
} else {
c.used = false;
if (depth < -contact_max_separation || (global_B + c.normal * depth - global_A).length() > contact_max_separation) {
// contact no longer needed, remove
Vector3 global_A = basis_A.xform(c.local_A);
Vector3 global_B = basis_B.xform(c.local_B) + offset_B;
Vector3 axis = global_A - global_B;
real_t depth = axis.dot(c.normal);
if (depth < -max_separation || (global_B + c.normal * depth - global_A).length_squared() > max_separation2) {
erase = true;
}
}
if (erase) {
// Contact no longer needed, remove.
if ((i + 1) < contact_count) {
// swap with the last one
// Swap with the last one.
SWAP(contacts[i], contacts[contact_count - 1]);
}
@ -260,7 +271,7 @@ bool GodotBodyPair3D::pre_solve(real_t p_step) {
real_t max_penetration = space->get_contact_max_allowed_penetration();
real_t bias = (real_t)0.3;
real_t bias = 0.8;
GodotShape3D *shape_A_ptr = A->get_shape(shape_A);
GodotShape3D *shape_B_ptr = B->get_shape(shape_B);
@ -353,8 +364,6 @@ bool GodotBodyPair3D::pre_solve(real_t p_step) {
if (collide_B) {
B->apply_impulse(j_vec, c.rB + B->get_center_of_mass());
}
c.acc_bias_impulse = 0;
c.acc_bias_impulse_center_of_mass = 0;
c.bounce = combine_bounce(A, B);
if (c.bounce) {
@ -538,14 +547,10 @@ void GodotBodySoftBodyPair3D::contact_added_callback(const Vector3 &p_point_A, i
Contact contact;
contact.index_A = p_index_A;
contact.index_B = p_index_B;
contact.acc_normal_impulse = 0;
contact.acc_bias_impulse = 0;
contact.acc_bias_impulse_center_of_mass = 0;
contact.acc_tangent_impulse = Vector3();
contact.local_A = local_A;
contact.local_B = local_B;
contact.normal = (p_point_A - p_point_B).normalized();
contact.mass_normal = 0;
contact.used = true;
// Attempt to determine if the contact will be reused.
real_t contact_recycle_radius = space->get_contact_recycle_radius();
@ -571,20 +576,33 @@ void GodotBodySoftBodyPair3D::contact_added_callback(const Vector3 &p_point_A, i
void GodotBodySoftBodyPair3D::validate_contacts() {
// Make sure to erase contacts that are no longer valid.
const Transform3D &transform_A = body->get_transform();
real_t max_separation = space->get_contact_max_separation();
real_t max_separation2 = max_separation * max_separation;
real_t contact_max_separation = space->get_contact_max_separation();
const Transform3D &transform_A = body->get_transform();
uint32_t contact_count = contacts.size();
for (uint32_t contact_index = 0; contact_index < contact_count; ++contact_index) {
Contact &c = contacts[contact_index];
Vector3 global_A = transform_A.xform(c.local_A);
Vector3 global_B = soft_body->get_node_position(c.index_B) + c.local_B;
Vector3 axis = global_A - global_B;
real_t depth = axis.dot(c.normal);
bool erase = false;
if (!c.used) {
// Was left behind in previous frame.
erase = true;
} else {
c.used = false;
if (depth < -contact_max_separation || (global_B + c.normal * depth - global_A).length() > contact_max_separation) {
Vector3 global_A = transform_A.xform(c.local_A);
Vector3 global_B = soft_body->get_node_position(c.index_B) + c.local_B;
Vector3 axis = global_A - global_B;
real_t depth = axis.dot(c.normal);
if (depth < -max_separation || (global_B + c.normal * depth - global_A).length_squared() > max_separation2) {
erase = true;
}
}
if (erase) {
// Contact no longer needed, remove.
if ((contact_index + 1) < contact_count) {
// Swap with the last one.
@ -640,7 +658,7 @@ bool GodotBodySoftBodyPair3D::pre_solve(real_t p_step) {
real_t max_penetration = space->get_contact_max_allowed_penetration();
real_t bias = (real_t)0.3;
real_t bias = space->get_contact_bias();
GodotShape3D *shape_A_ptr = body->get_shape(body_shape);
@ -723,8 +741,6 @@ bool GodotBodySoftBodyPair3D::pre_solve(real_t p_step) {
if (soft_body_collides) {
soft_body->apply_node_impulse(c.index_B, j_vec);
}
c.acc_bias_impulse = 0;
c.acc_bias_impulse_center_of_mass = 0;
c.bounce = body->get_bounce();

1
servers/physics_3d/godot_body_pair_3d.h
View file

@ -54,6 +54,7 @@ protected:
real_t depth = 0.0;
bool active = false;
bool used = false;
Vector3 rA, rB; // Offset in world orientation with respect to center of mass
};

21
servers/physics_3d/godot_physics_server_3d.cpp
View file

@ -1574,20 +1574,15 @@ void GodotPhysicsServer3D::free(RID p_rid) {
} else {
ERR_FAIL_MSG("Invalid ID.");
}
};
}
void GodotPhysicsServer3D::set_active(bool p_active) {
active = p_active;
};
void GodotPhysicsServer3D::set_collision_iterations(int p_iterations) {
iterations = p_iterations;
};
}
void GodotPhysicsServer3D::init() {
iterations = 8; // 8?
stepper = memnew(GodotStep3D);
};
}
void GodotPhysicsServer3D::step(real_t p_step) {
#ifndef _3D_DISABLED
@ -1602,7 +1597,7 @@ void GodotPhysicsServer3D::step(real_t p_step) {
active_objects = 0;
collision_pairs = 0;
for (Set<const GodotSpace3D *>::Element *E = active_spaces.front(); E; E = E->next()) {
stepper->step((GodotSpace3D *)E->get(), p_step, iterations);
stepper->step((GodotSpace3D *)E->get(), p_step);
island_count += E->get()->get_island_count();
active_objects += E->get()->get_active_objects();
collision_pairs += E->get()->get_collision_pairs();
@ -1612,7 +1607,7 @@ void GodotPhysicsServer3D::step(real_t p_step) {
void GodotPhysicsServer3D::sync() {
doing_sync = true;
};
}
void GodotPhysicsServer3D::flush_queries() {
#ifndef _3D_DISABLED
@ -1665,15 +1660,15 @@ void GodotPhysicsServer3D::flush_queries() {
EngineDebugger::profiler_add_frame_data("servers", values);
}
#endif
};
}
void GodotPhysicsServer3D::end_sync() {
doing_sync = false;
};
}
void GodotPhysicsServer3D::finish() {
memdelete(stepper);
};
}
int GodotPhysicsServer3D::get_process_info(ProcessInfo p_info) {
switch (p_info) {

3
servers/physics_3d/godot_physics_server_3d.h
View file

@ -44,7 +44,6 @@ class GodotPhysicsServer3D : public PhysicsServer3D {
friend class GodotPhysicsDirectSpaceState3D;
bool active = true;
int iterations = 0;
int island_count = 0;
int active_objects = 0;
@ -364,8 +363,6 @@ public:
virtual void end_sync() override;
virtual void finish() override;
virtual void set_collision_iterations(int p_iterations) override;
virtual bool is_flushing_queries() const override { return flushing_queries; }
int get_process_info(ProcessInfo p_info) override;

14
servers/physics_3d/godot_space_3d.cpp
View file

@ -1173,9 +1173,12 @@ void GodotSpace3D::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_v
case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_SEPARATION:
contact_max_separation = p_value;
break;
case PhysicsServer3D::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION:
case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION:
contact_max_allowed_penetration = p_value;
break;
case PhysicsServer3D::SPACE_PARAM_CONTACT_DEFAULT_BIAS:
contact_bias = p_value;
break;
case PhysicsServer3D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD:
body_linear_velocity_sleep_threshold = p_value;
break;
@ -1191,6 +1194,9 @@ void GodotSpace3D::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_v
case PhysicsServer3D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
constraint_bias = p_value;
break;
case PhysicsServer3D::SPACE_PARAM_SOLVER_ITERATIONS:
solver_iterations = p_value;
break;
}
}
@ -1200,8 +1206,10 @@ real_t GodotSpace3D::get_param(PhysicsServer3D::SpaceParameter p_param) const {
return contact_recycle_radius;
case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_SEPARATION:
return contact_max_separation;
case PhysicsServer3D::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION:
case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION:
return contact_max_allowed_penetration;
case PhysicsServer3D::SPACE_PARAM_CONTACT_DEFAULT_BIAS:
return contact_bias;
case PhysicsServer3D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD:
return body_linear_velocity_sleep_threshold;
case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD:
@ -1212,6 +1220,8 @@ real_t GodotSpace3D::get_param(PhysicsServer3D::SpaceParameter p_param) const {
return body_angular_velocity_damp_ratio;
case PhysicsServer3D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
return constraint_bias;
case PhysicsServer3D::SPACE_PARAM_SOLVER_ITERATIONS:
return solver_iterations;
}
return 0;
}

5
servers/physics_3d/godot_space_3d.h
View file

@ -93,9 +93,12 @@ private:
GodotArea3D *area = nullptr;
int solver_iterations = 16;
real_t contact_recycle_radius = 0.01;
real_t contact_max_separation = 0.05;
real_t contact_max_allowed_penetration = 0.01;
real_t contact_bias = 0.8;
real_t constraint_bias = 0.01;
enum {
@ -159,9 +162,11 @@ public:
void remove_object(GodotCollisionObject3D *p_object);
const Set<GodotCollisionObject3D *> &get_objects() const;
_FORCE_INLINE_ int get_solver_iterations() const { return solver_iterations; }
_FORCE_INLINE_ real_t get_contact_recycle_radius() const { return contact_recycle_radius; }
_FORCE_INLINE_ real_t get_contact_max_separation() const { return contact_max_separation; }
_FORCE_INLINE_ real_t get_contact_max_allowed_penetration() const { return contact_max_allowed_penetration; }
_FORCE_INLINE_ real_t get_contact_bias() const { return contact_bias; }
_FORCE_INLINE_ real_t get_constraint_bias() const { return constraint_bias; }
_FORCE_INLINE_ real_t get_body_linear_velocity_sleep_threshold() const { return body_linear_velocity_sleep_threshold; }
_FORCE_INLINE_ real_t get_body_angular_velocity_sleep_threshold() const { return body_angular_velocity_sleep_threshold; }

4
servers/physics_3d/godot_step_3d.cpp
View file

@ -181,14 +181,14 @@ void GodotStep3D::_check_suspend(const LocalVector<GodotBody3D *> &p_body_island
}
}
void GodotStep3D::step(GodotSpace3D *p_space, real_t p_delta, int p_iterations) {
void GodotStep3D::step(GodotSpace3D *p_space, real_t p_delta) {
p_space->lock(); // can't access space during this
p_space->setup(); //update inertias, etc
p_space->set_last_step(p_delta);
iterations = p_iterations;
iterations = p_space->get_solver_iterations();
delta = p_delta;
const SelfList<GodotBody3D>::List *body_list = &p_space->get_active_body_list();

2
servers/physics_3d/godot_step_3d.h
View file

@ -56,7 +56,7 @@ class GodotStep3D {
void _check_suspend(const LocalVector<GodotBody3D *> &p_body_island) const;
public:
void step(GodotSpace3D *p_space, real_t p_delta, int p_iterations);
void step(GodotSpace3D *p_space, real_t p_delta);
GodotStep3D();
~GodotStep3D();
};

6
servers/physics_server_2d.cpp
View file

@ -730,17 +730,17 @@ void PhysicsServer2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_active", "active"), &PhysicsServer2D::set_active);
ClassDB::bind_method(D_METHOD("set_collision_iterations", "iterations"), &PhysicsServer2D::set_collision_iterations);
ClassDB::bind_method(D_METHOD("get_process_info", "process_info"), &PhysicsServer2D::get_process_info);
BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_RECYCLE_RADIUS);
BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_MAX_SEPARATION);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION);
BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION);
BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_DEFAULT_BIAS);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_TIME_TO_SLEEP);
BIND_ENUM_CONSTANT(SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS);
BIND_ENUM_CONSTANT(SPACE_PARAM_SOLVER_ITERATIONS);
BIND_ENUM_CONSTANT(SHAPE_WORLD_BOUNDARY);
BIND_ENUM_CONSTANT(SHAPE_SEPARATION_RAY);

6
servers/physics_server_2d.h
View file

@ -242,11 +242,13 @@ public:
enum SpaceParameter {
SPACE_PARAM_CONTACT_RECYCLE_RADIUS,
SPACE_PARAM_CONTACT_MAX_SEPARATION,
SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION,
SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION,
SPACE_PARAM_CONTACT_DEFAULT_BIAS,
SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD,
SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD,
SPACE_PARAM_BODY_TIME_TO_SLEEP,
SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS,
SPACE_PARAM_SOLVER_ITERATIONS,
};
virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) = 0;
@ -566,8 +568,6 @@ public:
virtual bool is_flushing_queries() const = 0;
virtual void set_collision_iterations(int p_iterations) = 0;
enum ProcessInfo {
INFO_ACTIVE_OBJECTS,
INFO_COLLISION_PAIRS,

1
servers/physics_server_2d_wrap_mt.h
View file

@ -294,7 +294,6 @@ public:
FUNC1(free, RID);
FUNC1(set_active, bool);
FUNC1(set_collision_iterations, int);
virtual void init() override;
virtual void step(real_t p_step) override;

6
servers/physics_server_3d.cpp
View file

@ -890,8 +890,6 @@ void PhysicsServer3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_active", "active"), &PhysicsServer3D::set_active);
ClassDB::bind_method(D_METHOD("set_collision_iterations", "iterations"), &PhysicsServer3D::set_collision_iterations);
ClassDB::bind_method(D_METHOD("get_process_info", "process_info"), &PhysicsServer3D::get_process_info);
BIND_ENUM_CONSTANT(SHAPE_WORLD_BOUNDARY);
@ -963,12 +961,14 @@ void PhysicsServer3D::_bind_methods() {
BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_RECYCLE_RADIUS);
BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_MAX_SEPARATION);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION);
BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION);
BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_DEFAULT_BIAS);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_TIME_TO_SLEEP);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO);
BIND_ENUM_CONSTANT(SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS);
BIND_ENUM_CONSTANT(SPACE_PARAM_SOLVER_ITERATIONS);
BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_X);
BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_Y);

6
servers/physics_server_3d.h
View file

@ -263,12 +263,14 @@ public:
enum SpaceParameter {
SPACE_PARAM_CONTACT_RECYCLE_RADIUS,
SPACE_PARAM_CONTACT_MAX_SEPARATION,
SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION,
SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION,
SPACE_PARAM_CONTACT_DEFAULT_BIAS,
SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD,
SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD,
SPACE_PARAM_BODY_TIME_TO_SLEEP,
SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO,
SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS,
SPACE_PARAM_SOLVER_ITERATIONS,
};
virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) = 0;
@ -768,8 +770,6 @@ public:
virtual bool is_flushing_queries() const = 0;
virtual void set_collision_iterations(int p_iterations) = 0;
enum ProcessInfo {
INFO_ACTIVE_OBJECTS,
INFO_COLLISION_PAIRS,

1
servers/physics_server_3d_wrap_mt.h
View file

@ -370,7 +370,6 @@ public:
FUNC1(free, RID);
FUNC1(set_active, bool);
FUNC1(set_collision_iterations, int);
virtual void init() override;
virtual void step(real_t p_step) override;