Commit graph

308 commits

Author SHA1 Message Date
PouleyKetchoupp
bb6760a09f Optimize raycast with large Heightmap shape data
Port raycast accelerator from Bullet's btHeightfieldTerrainShape.
2021-09-06 15:59:47 -07:00
Camille Mohr-Daurat
095dea7b71
Merge pull request #48551 from nekomatata/concave-shape-optimization-3.x
[3.x] Optimize area detection and intersect_shape queries with concave shapes
2021-09-06 09:36:27 -07:00
LoipesMas
32965aa0ab Epsilon check for angular velocity in BodySW 2021-08-16 20:11:46 +02:00
PouleyKetchoupp
da159cd258 Fix 3D moving platform logic
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>
2021-08-09 18:55:49 -07:00
Rémi Verschelde
0403cb8ad5
Merge pull request #51447 from nekomatata/fix-moving-platform-rotation-3.x
[3.x] Fix applied rotation from moving platforms in move_and_slide
2021-08-09 23:20:35 +02:00
PouleyKetchoupp
f101349225 Fix applied rotation from moving platforms in move_and_slide
When synchronizing KinematicBody 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.
2021-08-09 12:04:57 -07:00
lawnjelly
37f20e1d78 Fix Transform::xform(Plane) functions, add Transform unit tests
The Transform::xform and xform_inv are made safe for Planes when using non-uniform scaling.

Basic unit tests for Transform.

Optimization of calling sites to prevent loss of performance from the changes to xform(Plane).
2021-08-07 08:05:39 +01:00
PouleyKetchoupp
6fdffacb4e Fix GodotPhysics solver with kinematic body set to report contacts
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.
2021-08-04 10:41:58 -07:00
Rémi Verschelde
801205b2c1
Merge pull request #48892 from lawnjelly/bvh_robust
BVH - thread safety option
2021-07-22 12:41:42 +02:00
PouleyKetchoupp
beeebb4c2f 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>
2021-07-19 08:09:17 -07:00
PouleyKetchoupp
2fbb6fff4e Fix move_and_collide causing sliding on slopes
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>
2021-07-19 08:09:16 -07:00
Hugo Locurcio
9259b4adc4
Add a method to set the number of physics solver iterations in 3D
This is only for GodotPhysics, and adds a 3D counterpart to the 2D
method that was recently added.
2021-07-10 16:29:41 +02:00
PouleyKetchoupp
10fdd196b7 Fix and clean disabled shapes handling in godot physics servers
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.
2021-06-22 16:48:24 -07:00
PouleyKetchoupp
c3107349a4 Ignore disabled shapes for mass property calculations 2021-06-17 17:17:05 -07:00
Marcel Admiraal
01dd6b0593 Apply infinite inertia checks to Godot physics 3D 2021-06-11 09:24:58 +01:00
Rémi Verschelde
80e1585a6e
Style: Cleanup uses of double spaces between words
Or after punctuation. Tried to leave third-party stuff alone, unless it has
been heavily modified for Godot.

(cherry picked from commit c1c76850cb)
2021-06-07 12:06:59 +02:00
Arkadiusz Marcin Kołek
7f14210a4c
Avoid division by zero when calculating inertias for bodies with colliders without areas.
(cherry picked from commit e347baddf3)
2021-06-01 12:53:31 +02:00
lawnjelly
14ce176f10 BVH - thread safety option
Added optional thread safe version through template argument and runtime switch, that wraps access with a mutex.
2021-05-25 10:47:32 +01:00
Morris Tabor
ba396caefc Replace QuickHull with Bullet's convex hull computer.
The code is based on the current version of thirdparty/vhacd and modified to use Godot's types and code style.

Additional changes:
- backported and extended PagedAllocator to allow leaked objects
- applied patch from https://github.com/bulletphysics/bullet3/pull/3037
2021-05-22 08:16:43 +02:00
Rémi Verschelde
eb78f80f03
Fix typos with codespell
Using codespell 2.0.0.

Method:
```
$ cat > ../godot-word-whitelist.txt << EOF
ang
curvelinear
dof
doubleclick
fave
findn
GIRD
leapyear
lod
merchantibility
nd
numer
ois
ony
que
seeked
synching
te
uint
unselect
webp
EOF

$ codespell -w -q 3 -I ../godot-word-whitelist.txt --skip="./thirdparty,*.po"
$ git diff // undo unwanted changes
```
2021-05-20 12:56:56 +02:00
PouleyKetchoupp
ea0015a8a6 Optimize area detection and intersect_shape queries with concave shapes
Whenever contact points are not needed, collision checks with concave
shapes (triangle mesh and heightmap) stop at the first colliding
triangle.
2021-05-07 19:19:41 -07:00
Rémi Verschelde
140350d767
Style: Enforce braces around if blocks and loops
Using clang-tidy's `readability-braces-around-statements`.
https://clang.llvm.org/extra/clang-tidy/checks/readability-braces-around-statements.html
2021-05-05 15:02:01 +02:00
PouleyKetchoupp
0dacc681b6 Fixed unnecessary bvh tree updates when calling set_pairable
Dynamic BVH doesn't update the tree anymore when calling set_pairable
with no parameter change.

Also modified Godot Physics broadphase to create objects directly with
pairable (static) set correctly to make use of this optimization for the
BVH broadphase.

Note: Octree broadphase doesn't use this optimization because it forces
an update on move, so passing the proper AABB and static parameters on
creation would cause the tree to update twice.
2021-05-04 12:24:31 -07:00
Rémi Verschelde
0c8b5b5c4d
Style: Remove redundant void argument lists
Using clang-tidy's `modernize-redundant-void-arg`.
https://clang.llvm.org/extra/clang-tidy/checks/modernize-redundant-void-arg.html
2021-05-04 16:40:33 +02:00
Rémi Verschelde
b4af1eba0a
Style: Enforce use of bool literals instead of integers
Using clang-tidy's `modernize-use-bool-literals`.
https://clang.llvm.org/extra/clang-tidy/checks/modernize-use-bool-literals.html
2021-05-04 16:39:13 +02:00
Rémi Verschelde
a828398655
Style: Replaces uses of 0/NULL by nullptr (C++11)
Using clang-tidy's `modernize-use-nullptr`.
https://clang.llvm.org/extra/clang-tidy/checks/modernize-use-nullptr.html
2021-05-04 16:30:23 +02:00
Rémi Verschelde
b5e1e05ef2
Style: clang-format: Disable KeepEmptyLinesAtTheStartOfBlocks 2021-05-04 14:45:16 +02:00
Rémi Verschelde
64a63e0861
Style: clang-format: Disable AllowShortCaseLabelsOnASingleLine 2021-05-04 14:45:15 +02:00
Rémi Verschelde
3d15f04668
Style: clang-format: Disable AllowShortIfStatementsOnASingleLine 2021-05-04 14:45:15 +02:00
Rémi Verschelde
a706fb11e5
Merge pull request #47943 from nekomatata/joint-check-body-types-3.x
[3.x] Fix errors related to joints setup with two non-dynamic bodies
2021-04-28 16:58:23 +02:00
Rémi Verschelde
f85d59c97f
Merge pull request #47349 from nekomatata/heightmap-support-3.x
[3.x] Heightmap collision shape support in Godot Physics
2021-04-28 16:57:29 +02:00
PouleyKetchoupp
64b11b6126 Fix errors related to joints setup with two non-dynamic bodies 2021-04-15 17:53:15 -07:00
Marcel Admiraal
28c7b3a17d Ensure ConvexPolygonShape support count variable is initialised 2021-04-06 16:46:04 +01:00
Rémi Verschelde
ab4c73604d
Merge pull request #44696 from madmiraal/fix-44632-3.2
[3.x] Remove all elements from monitored_bodies and monitored_areas when processed
2021-03-26 16:34:27 +01:00
PouleyKetchoupp
3ea72b273d Heightmap collision shape support in Godot Physics 2021-03-25 16:52:20 -07:00
Josh Jones
9327052bed [Godot Physics]: Correct typo in moment of inertia calculations.
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.
2021-03-22 20:23:39 -07:00
e344fde6bf
9671f8ff4b [3.3] Fix some angular velocity calculations
The angular velocity estimate for kinematic bodies was calculated
incorrectly. Also, fixes its use in some kinematic/rigid collision
calculations.

3.3 version of #47130
2021-03-20 16:58:04 +10:00
Rémi Verschelde
dae319355f
Merge pull request #47068 from nekomatata/cylinder-fix-margins-3.2
[3.3] Fix Cylinder shape collision with margins when using GJK-EPA
2021-03-17 11:05:46 +01:00
PouleyKetchoupp
27a01d054d Fix capsule-cylinder collision in godot physics
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.
2021-03-16 19:14:51 -07:00
PouleyKetchoupp
abb5660925 Fix Cylinder shape collision with margins when using GJK-EPA
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.
2021-03-16 10:20:19 -07:00
Kyle
1c208d6baa Fixes division by zero when 3d body does not have valid shape (3.2 only)
Fixes #46738 by setting the default inertia to a valid value when there are no valid shapes for a 3d body.
2021-03-08 20:32:16 -05:00
Rémi Verschelde
7af8da32b1
Merge pull request #45933 from nekomatata/cylinder-support-3.2
[3.2] Cylinder support in Godot Physics 3D
2021-02-18 19:36:42 +01:00
PouleyKetchoupp
c6fbd55ca9 Cylinder support in Godot Physics 3D
Backport of cylinder support from Master.
2021-02-18 08:44:23 -07:00
PouleyKetchoupp
9cefab24e0 Fix test_body_motion recovery
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.
2021-02-17 18:27:38 -07:00
lawnjelly
00bd087d82 BVH add support for visibility (activation)
A major feature lacking in the octree was proper support for setting visibility / activation. This meant that invisible objects were still causing lots of processing in the tree unnecessarily.

This PR adds proper support for activation, items are temporarily removed from the tree and collision detection when inactive.
2021-01-30 13:21:40 +00:00
PouleyKetchoupp
10868e76e6 BVH broadphase creates objects with updated AABB to avoid extra checks
When set_static is called on a newly added object, the forced collision
check in BVH set_pairable was using an empty AABB, which caused
unnecessary collision checks at the origin, then a call to move was
checking again at the right position.

These changes ensure broadphase objects are added to the BVH tree with
proper AABB so collision checks are correctly done right away.

Octree & Basic broadphase trees are not affected by these changes.
2021-01-19 12:22:33 -07:00
Rémi Verschelde
152415a006
Merge pull request #43924 from madmiraal/fix-43588-3.2
[3.2] Fix cast_motion sometimes failing
2021-01-14 20:44:40 +01:00
lawnjelly
7b33050b3d BVH - fix physics expecting plus one based IDs.
Godot physics relies on ID zero being invalid, whereas BVH 0 is a valid ID.
2021-01-14 13:26:44 +00:00
Rémi Verschelde
b9c5e2f9eb
doc: Sync classref with current source
And fix copyright headers in new code.
2021-01-13 16:55:27 +01:00
Rémi Verschelde
49646383f1
Update copyright statements to 2021
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 🎆

(cherry picked from commit b5334d14f7)
2021-01-13 16:17:06 +01:00