Commit Graph

332 Commits

Author SHA1 Message Date
Rémi Verschelde e7b750b0f9
Fix various GCC 13 warnings
Fixes occurrences of `-Wtype-limits`, `-Wmaybe-uninitialized`,
`-Wduplicated-branches`.

(cherry picked from commit 02e4e208ef)
2024-01-30 15:03:19 +01:00
Rémi Verschelde 16f6a5b139
One Copyright Update to rule them all
As many open source projects have started doing it, we're removing the
current year from the copyright notice, so that we don't need to bump
it every year.

It seems like only the first year of publication is technically
relevant for copyright notices, and even that seems to be something
that many companies stopped listing altogether (in a version controlled
codebase, the commits are a much better source of date of publication
than a hardcoded copyright statement).

We also now list Godot Engine contributors first as we're collectively
the current maintainers of the project, and we clarify that the
"exclusive" copyright of the co-founders covers the timespan before
opensourcing (their further contributions are included as part of Godot
Engine contributors).

Also fixed "cf." Frenchism - it's meant as "refer to / see".

Backported from #70885.
2023-01-10 15:32:59 +01:00
BimDav e639cb40e9 Correctly compute inverse_mass when inertia is defined by user
(cherry picked from commit de40dfaac0)
2022-12-05 09:43:13 +08:00
Rémi Verschelde 818f1eed31 Code quality: Fix header guards consistency
Adds `header_guards.sh` bash script, used in CI to validate future
changes. Can be run locally to fix invalid header guards.
2022-07-25 14:53:37 +02:00
lawnjelly 036bace9e9 BVH - Fix area-area collision regression
Minimal approach to fixing regression whereby static areas where not detect dynamic areas.
2022-02-26 11:36:27 +00:00
Rémi Verschelde 6ca309e058
Merge pull request #58531 from rburing/area_call_queries_fix_premature_return
[3.x] Godot Physics `AreaSW` and `Area2DSW`: fix premature return in `call_queries`
2022-02-26 09:36:14 +01:00
Ricardo Buring 89ce63a84f AreaSW and Area2DSW: fix premature return in call_queries 2022-02-25 14:41:34 +01:00
Ricardo Buring e6f1a44b4d In final phase of test_body_motion, move and cull AABB for body once instead of for every shape 2022-02-21 15:03:09 +01:00
lawnjelly dc14636e68 BVH templated mask checks and generic NUM_TREES
Refactors the BVH to make it more generic and customizable. Instead of hard coding the system of pairable_mask and pairable_type into the BVH, this information is no longer stored internally, and instead the BVH uses callbacks both for determining whether pairs of objects can pair with each other, and for filtering cull / intersection tests.

In addition, instead of hard coding the number of trees, the BVH now supports up to 32 trees, and each object can supply a tree collision mask to determine which trees it can collide against.

This enables the BVH to scale to either the two or 3 trees needed in physics, and the single tree used without pairing in Godot 4 render tree.
2022-01-21 10:08:29 +00:00
Rémi Verschelde a627cdafc5
Update copyright statements to 2022
Happy new year to the wonderful Godot community!
2022-01-13 15:54:13 +01:00
PouleyKetchoupp e11662ad77
Handle test body motion with 0 margin
Margin needs to have a high enough value for test body motion to work
properly (separate using the margin, move without then gather rest info
with the margin again).

Fixes issues with test motion returning no collision in some cases with
margin equal to 0.

(cherry picked from commit 0c354047e1)
2021-12-10 11:16:35 +01:00
lawnjelly 3d981b8265 Add option to use handles to RID
Adds an option to compile an alternative implementation for RIDs, which allows checks for erroneous usage patterns as well as providing leak tests.
2021-12-06 14:43:34 +00:00
Aaron Franke 1d8cef8236
[3.x] Backport some APIs in math structs 2021-11-27 01:19:45 -06:00
Camille Mohr-Daurat 3970f28f67
Merge pull request #55096 from lawnjelly/bvh_expanded_leaf
BVH - add option for expanded AABBs in leaves
2021-11-22 09:37:16 -07:00
Rémi Verschelde 393c7959ef
Merge pull request #42929 from madmiraal/fix-42877-3.2 2021-11-20 10:23:06 +01:00
Marcel Admiraal 702529d63e Give each RigidBody its own DirectBodyState wrapper. 2021-11-20 08:17:04 +00:00
Marcel Admiraal e900bac80b Add area to moved list when changing monitorable,
and only remove area from query when deleting pair if it was monitorable.
2021-11-20 06:54:36 +00:00
lawnjelly 211dc8cd2d BVH - add option for expanded AABBs in leaves
This PR adds a define BVH_EXPAND_LEAF_AABBS which is set, which stores expanded AABBs in the tree instead of exact AABBs.

This makes the logic less error prone when considering reciprocal collisions in the pairing, as all collision detect is now taking place between expanded AABB against expanded AABB, rather than expanded AABB against exact AABB.

The flip side of this is that the intersection tests will now be less exact when expanded margins are set.

All margins are now user customizable via project settings, and take account of collision pairing density to adjust the margin dynamically.
2021-11-20 06:45:12 +00:00
Marcel Admiraal 4d3690eba5 Remove unimplemented methods 2021-11-18 12:47:36 +00:00
PouleyKetchoupp e9fdf3e61f Fix physics BVH pairing for teleported or fast moving objects
Updating the broadphase to find new collision pairs was done after
checking for collision islands, so it was working in most cases due to
the pairing margin used in the BVH, but in case of teleported objects
the narrowphase collision could be skipped.

Now it's done before checking for collision islands, so we can ensure
that broadphase pairing has been done at the same time as objects are
marked as moved so their collision can be checked properly.

This issue didn't happen in the Octree/HashGrid because they do nothing
on update and trigger pairs directly when objects move instead.
2021-11-16 12:01:57 -07:00
PouleyKetchoupp b93aeec4a2 Fix errors in KinematicBody when floor is destroyed or removed
In all physics servers, body_get_direct_state() now silently returns
nullptr when the body has been already freed or is removed from space,
so the client code can detect this state and invalidate the body rid.

In 2D, there is no change in behavior (just no more errors).

In 3D, the Bullet server returned a valid direct body state when the
body was removed from the physics space, but in this case it didn't
make sense to use the information from the body state.
2021-11-09 15:15:40 -07:00
Rémi Verschelde 6b7c841e1b
Merge pull request #54111 from nekomatata/fix-rigid-body-update-collision-layer-3.x 2021-11-08 23:58:47 +01:00
PouleyKetchoupp 160346f794 Add support for motion in 2D intersect_shape function
It was only missing extended rect for broadphase check, the solver was
already taking the motion from parameters into account.
2021-11-04 11:43:30 -07:00
Rémi Verschelde 1b65550ec7
clang-format: Various fixes to comments alignment from `clang-format` 13
All reviewed manually and occasionally rewritten to avoid bad auto formatting.
2021-10-28 14:50:32 +02:00
PouleyKetchoupp 562d9cef1b Fix RigidBody collision update after changing collision layer/mask
Changing the collision layer of a sleeping body was not triggering area
updates correctly.

Bodies need to be active for collision to be checked against already
overlapping bodies and areas.

Neighbors need to be activated too in order to handle the case where a
static body is modified (it can't be activated directly but paired
bodies need to check their collision again).

In 3D, moved the call to wakeup() from the physics server to
BodySW::_shapes_changed to make it consistent with 2D and also handle
the case where shapes are modified (_shapes_changed is called in both
this case and collision layer changes).
2021-10-21 17:22:47 -07:00
PouleyKetchoupp 48144ed40e Fix physics BVH broadphase update when changing collision layer/mask
The BVH implementation is not checking collision layers on existing
pairs on move like other physics broadphases do.

This is solved by adding a new call to trigger pair callbacks again so
the physics engine can check layers again (specific to the BVH version,
other broadphase implementations just trigger a move like before).
2021-10-21 16:53:41 -07:00
PouleyKetchoupp 11aeaaa2cf Make body_test_motion thread safe for multi-threaded physics
Needs proper synchro with the command buffer for thread safety, in case
physics is not running on the main thread.
2021-10-06 16:06:03 -07:00
Rémi Verschelde abb1413e0f
Merge pull request #53453 from nekomatata/fix-rayshape-snap-3.x 2021-10-06 08:37:57 +02:00
PouleyKetchoupp 255febefb2 Fix Rayshape recovery in test_body_ray_separation
These changes improve Rayshape behavior for Godot Physics 2D and 3D
when using move_and_slide with and without snapping.

Kinematic margin is now applied to ray shapes when handling snapping
collision tests and separation raycasts to help getting consistent
results in slopes and flat surfaces.

Recovery is calculated without the margin and a depth of 0 is still
considered a collision to stabilize results when on flat surface.

Recovery depth takes into account the current recovery vector (just like
test_body_motion) to fix jittering issues with multiple ray shapes due
to applying too much recovery.
2021-10-05 18:24:30 -07:00
PouleyKetchoupp 9bc1b4b90e Improved logic for KinematicBody collision recovery depth
Allows more flexible collision detection with different safe margin values.

Kinematic body motion changes in 2D and 3D:
-Recovery only for depth > min contact depth to help with collision
detection consistency (rest info could be lost if recovery was too much)
-Adaptive min contact depth (based on margin) instead of space parameter
2021-10-05 17:00:55 -07:00
Daniel 57b3b5108a Added wakeup() call to velocity, force and impulse functions. 2021-09-28 19:00:10 +13:00
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
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
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
fabriceci fba4c9d552 Fixing 2D moving platform logic
Fixing by applying the movement in two steps, first the platform
movement, and then the body movement. Plus, add the platform movement
when we are on_wall.
2021-07-15 11:57:58 +02:00
PouleyKetchoupp c89476ad41 Expose body_test_motion in 3D physics server
Results are exposed through PhysicsTestMotionResult, the same way it's
done for 2D.

Also cleaned a few things in the 2D version.
2021-07-02 18:04:39 -07:00
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
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
Rémi Verschelde cca2a9d2d5
Merge pull request #38387 from Rhathe/set_iterations
[3.x] Enable setting of collision iterations in Physics2DServer
2021-05-19 19:48:08 +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 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