Commit Graph

19 Commits

Author SHA1 Message Date
Tim Gift fffc6aba58 Resolved issues with script PhysicsDirectBodyState3d contacts
Resolved a problem with PhysicsDirectBodyState3D sometimes returning incorrect contact positions and added a new get_contact_local_velocity_at_position method to compliment the existing one for the collider.
2023-04-12 11:40:34 -07:00
Ricardo Buring bec1182093 Revert attempted fix of trimesh CCD 2023-03-13 13:54:10 +01:00
Ricardo Buring 2290f3b6a4 Fix CCD in case of multiple supports in motion direction
For example, an axis-aligned box under the influence of gravity landing
on a horizontal triangle could previously tunnel, because only one of
the supports of the box was considered to be the candidate point that
would collide first. Now all supports are considered as candidates.

Also fix CCD always pushing the fast body into the other body, which
works well for convex shapes but not for trimesh/concave shapes.
2023-02-10 09:55:16 +01:00
Peter Eastman 31c2a24893 Analytic collision normals 2023-01-18 18:24:57 -08:00
Rémi Verschelde 1e32a286f3
Merge pull request #70281 from CherrySodaPop/get-impulse-3d
Implement collision impulse in Godot Physics 3D
2023-01-08 22:40:06 +01:00
Lily Garcia 8ee6264cc9 Implement collision impulse in Godot Physics 3D 2023-01-07 22:34:28 -05:00
Rémi Verschelde d95794ec8a
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".
2023-01-05 13:25:55 +01:00
Geekotron ae55229618 Fix regression 70154 caused by my prior CCD fix.
At high velocities `from - motion *.1` is *behind the RB* - not within its collider as the comment suggested - so it could not be used for determining movement length
2022-12-16 11:39:19 -07:00
Geekotron 57710897d6 Fix Physics3D and Physics2D CCD sometimes adjusting velocity too much (preventing collision) or not enough (allowing tunneling) 2022-12-13 18:01:21 -07:00
Rafał Mikrut 2233624152 Remove usage of unitialized variables 2022-10-01 21:09:22 +02:00
bruvzg f851c4aa33
Fix some issues found by cppcheck. 2022-04-06 14:34:37 +03:00
Rémi Verschelde fe52458154
Update copyright statements to 2022
Happy new year to the wonderful Godot community!
2022-01-03 21:27:34 +01:00
PouleyKetchoupp 30a608b7b9 Fix rigid body ray cast CCD in 2D and 3D Godot Physics
For 2D:
Raycast CCD now works the same as in 3D, it changes the body's velocity
to place it at the impact position instead of generating a contact point
that causes a wrong push back.

For both 2D and 3D:
The raycast CCD process reads and modifies body velocities, so it needs
to be moved to pre_solve() instead of setup() to be processed linearly
on the main thread, otherwise multithreading can cause some CCD results
to be randomly lost when multiple collisions occur.
2021-12-10 16:25:14 -07:00
PouleyKetchoupp 2273a78af1 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
2021-12-03 12:01:38 -07:00
PouleyKetchoupp 5cbc7149a1 Improve RigidDynamicBody contacts in 2D and 3D
Changed the algorithm for solving contacts to keep previous contacts as
long as they are under the max separation threshold to keep contact
impulses more consistent and contacts more stable.

Also made 2D consistent with 3D and changed some default parameters:
-Contact bias is now 0.8 instead of 0.3 to avoid springy contacts
-Solver iterations are 16 instead of 8 by default for better stability

Performance considerations:
Tested with stress tests that include lots of contacts from overlapping
bodies.
3D: There's no measurable difference in performance.
2D: Performance is a bit lower (close to 10% slower in extreme cases)
The benefit for 2D physics to be much more stable outweighs the slight
decrease in performance, and this could be alleviated by changing the
algorithm to use jacobians for contact solving to help with cache
efficiency and memory allocations.
2021-12-03 10:40:15 -07:00
PouleyKetchoupp 7032cf0637 Fix RigidDynamicBody gaining momentum with bounce
Bounce calculation now uses the previous frame's velocity, so it's
consistent with the actual motion of the bodies involved and not the
yet-to-be-applied forces.

When bounce is 1, using the current velocity was causing the new forces
(including gravity) to be taken into account, which lead to the bounce
velocity to be higher than the falling velocity at the moment of impact,
adding more and more energy over time.
2021-11-25 09:51:57 -07:00
PouleyKetchoupp c3ae7ddedd Add raycast options to hit when starting inside / hit back faces
Makes the results consistent for all shape types with options to set
the desired behavior.
2021-11-10 17:43:35 -07:00
Rémi Verschelde 3b11e33a09
clang-format: Disable alignment of operands, too unreliable
Sets `AlignOperands` to `DontAlign`.

`clang-format` developers seem to mostly care about space-based indentation and
every other version of clang-format breaks the bad mismatch of tabs and spaces
that it seems to use for operand alignment. So it's better without, so that it
respects our two-tabs `ContinuationIndentWidth`.
2021-10-28 15:19:35 +02:00
PouleyKetchoupp cc39dca9f7 Rename Godot Physics classes from *SW to Godot*
Also moved MT physics server wrappers to the main servers folder, since
they don't have to be implementation specific.
2021-10-18 17:01:10 -07:00