Commit Graph

23 Commits

Author SHA1 Message Date
lawnjelly dd0f54a368 Fix Transform::xform(Plane) functions
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).
2021-08-07 11:10:50 +01:00
Aaron Franke 78b0a7da03
Use is_equal_approx in more places 2021-07-21 00:32:37 -04:00
PouleyKetchoupp 72087b8158 Fix concave collision with backface collision disabled
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.
2021-07-06 18:53:29 -07:00
Aaron Franke de3f6699a5
Rename Transform to Transform3D in core 2021-06-03 07:30:01 -04:00
Rémi Verschelde 4219a4cb6f
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 12:38:56 +02:00
Rémi Verschelde fa681d04b7
Merge pull request #46937 from nekomatata/soft-body-support
SoftBody support in GodotPhysics 3D
2021-03-20 21:45:20 +01:00
PouleyKetchoupp 7bbd545432 Disable backface collision with ConcavePolygonShape by default
Helps a lot with soft bodies and generally useful to avoid shapes to go
through the ground in certain cases.

Added an option in ConcavePolygonShape to re-enable backface collision
on specific bodies if needed.
2021-03-18 11:30:22 -07:00
PouleyKetchoupp d5ea4acd2d SoftBody support in GodotPhysics 3D
- Fixed SoftBody surface update with new rendering system
- Added GodotPhysics implementation for SoftBody
- Added support to get SoftBody rid to interact with the physics server
- Added support to get SoftBody bounds from the physics server
- Removed support for unused get_vertex_position and get_point_offset
from the physics server
- Removed SoftBody properties that are unused in both Bullet and
GodotPhysics (angular and volume stiffness, pose matching)
- Added RenderingServerHandler interface to PhysicsServer3D so the physics servers don't need to reference the class from SoftBody node directly
2021-03-18 09:04:17 -07:00
Rémi Verschelde af0806722f
Merge pull request #47067 from nekomatata/cylinder-fix-margins
Fix Cylinder shape collision with margins when using GJK-EPA
2021-03-17 11:05:13 +01:00
PouleyKetchoupp 380f04fa0d 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 19:22:59 -07:00
PouleyKetchoupp 93076ef117 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 10:19:26 -07:00
Riteo Siuga b24bba95d0 Change CapsuleShape3D's collision detection axis to vertical
This fixes an issue where its collision detection would actually work as if it had the old default orientation.
2021-03-02 08:33:44 +01:00
PouleyKetchoupp 6d0898bf4c Revised cylinder contact point generation
Cylinder contact points generation is adjusted to make it more stable
when standing on triangle meshes.

Point-Circle:
Switched to simpler plane projection as it's done for Point-Face contact
points. It solves some cases where discrepancies between the two points
caused the cylinder to jump.

Edge-Circle:
Same as before, the case for edge has just been moved from Face-Circle
to a specific method.

Face-Circle:
The previous method was clipping edges against the circle, and then
tried to add contact points when there wasn't enough support and failed
in some cases.
Now using a different algorithm which adds proper contact points around
the circle more consistently.
First, by clipping edges against circle segments using Face-Face
algorithm.
Second, by clipping edges against the circle plane.
2021-02-12 12:25:58 -07:00
PouleyKetchoupp 333f184734 Cylinder support in Godot Physics 3D
Cylinder collision detection uses a mix of SAT and GJKEPA.
GJKEPA is used to find the best separation axis in cases where finding
it analytically is too complex.

Changes in SAT solver:
Added support for generating separation axes for cylinder shape.
Added support for generating contact points with circle feature.

Changes in GJKEPA solver:
Updated from latest Bullet version which includes EPA fixes in some
scenarios.
Setting a lower EPA_ACCURACY to fix accuracy problems with cylinder vs.
cylinder in some cases.
2021-02-10 10:00:53 -07:00
Rémi Verschelde b5334d14f7
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 🎆
2021-01-01 20:19:21 +01:00
Andrii Doroshenko (Xrayez) 69d5de632e Split `Geometry` singleton into `Geometry2D` and `Geometry3D`
Extra `_2d` suffixes are removed from 2D methods accoringly.
2020-05-27 14:28:34 +03:00
Rémi Verschelde 0ee0fa42e6 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
2020-05-14 21:57:34 +02:00
Rémi Verschelde 0be6d925dc Style: clang-format: Disable KeepEmptyLinesAtTheStartOfBlocks
Which means that reduz' beloved style which we all became used to
will now be changed automatically to remove the first empty line.

This makes us lean closer to 1TBS (the one true brace style) instead
of hybridating it with some Allman-inspired spacing.

There's still the case of braces around single-statement blocks that
needs to be addressed (but clang-format can't help with that, but
clang-tidy may if we agree about it).

Part of #33027.
2020-05-14 16:54:55 +02:00
Rémi Verschelde 94721f5ab8 Revert "Renamed plane's d to distance"
This reverts commit ec7b481170.

This was wrong, `d` is not a distance but the `d` constant in the
parametric equation `ax + by + cz = d` describing the plane.
2020-05-10 16:47:11 +02:00
Marcus Elg ec7b481170 Renamed plane's d to distance 2020-05-10 12:12:51 +02:00
lupoDharkael 95a1400a2a Replace NULL with nullptr 2020-04-02 13:38:00 +02:00
Rémi Verschelde 0c320a6bf3 More server renames for consistency after #37361 2020-03-28 13:20:48 +01:00
Juan Linietsky a6f3bc7c69 Renaming of servers for coherency.
VisualServer -> RenderingServer
PhysicsServer -> PhysicsServer3D
Physics2DServer -> PhysicsServer2D
NavigationServer -> NavigationServer3D
Navigation2DServer -> NavigationServer2D

Also renamed corresponding files.
2020-03-27 15:21:27 -03:00