Update space parameters in 2D and 3D

Clarified space parameters for contacts and added missing ones.

List of changes:
-Add contact bias to space parameters
-Add solver iterations to space parameters, instead of a specific
physics server function
-Renamed BODY_MAX_ALLOWED_PENETRATION to CONTACT_MAX_ALLOWED_PENETRATION
to make it consistent with other contact parameters

doc/classes/PhysicsServer2D.xml

@@ -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>

doc/classes/PhysicsServer3D.xml

@@ -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">

servers/physics_2d/godot_body_pair_2d.cpp

@@ -341,7 +341,7 @@ bool GodotBodyPair2D::pre_solve(real_t p_step) {
 
 	real_t max_penetration = space->get_contact_max_allowed_penetration();
 
-	real_t bias = 0.8;
+	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);

servers/physics_2d/godot_physics_server_2d.cpp

@@ -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 = 16;
 	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;
-};
+}

servers/physics_2d/godot_physics_server_2d.h

@@ -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;

servers/physics_2d/godot_space_2d.cpp

@@ -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;
 }

servers/physics_2d/godot_space_2d.h

@@ -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; }

servers/physics_2d/godot_step_2d.cpp

@@ -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();

servers/physics_2d/godot_step_2d.h

@@ -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();
 };

servers/physics_3d/godot_body_pair_3d.cpp

@@ -658,7 +658,7 @@ bool GodotBodySoftBodyPair3D::pre_solve(real_t p_step) {
 
 	real_t max_penetration = space->get_contact_max_allowed_penetration();
 
-	real_t bias = 0.8;
+	real_t bias = space->get_contact_bias();
 
 	GodotShape3D *shape_A_ptr = body->get_shape(body_shape);
 

servers/physics_3d/godot_physics_server_3d.cpp

@@ -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 = 16;
 	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) {

servers/physics_3d/godot_physics_server_3d.h

@@ -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;

servers/physics_3d/godot_space_3d.cpp

@@ -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;
 }

servers/physics_3d/godot_space_3d.h

@@ -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; }

servers/physics_3d/godot_step_3d.cpp

@@ -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();

servers/physics_3d/godot_step_3d.h

@@ -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();
 };

servers/physics_server_2d.cpp

@@ -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);

servers/physics_server_2d.h

@@ -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,

servers/physics_server_2d_wrap_mt.h

@@ -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;

servers/physics_server_3d.cpp

@@ -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);

servers/physics_server_3d.h

@@ -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,

servers/physics_server_3d_wrap_mt.h

@@ -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;