diff --git a/.github/actions/build/action.yml b/.github/actions/build/action.yml index 4945ee83..db00aa7d 100644 --- a/.github/actions/build/action.yml +++ b/.github/actions/build/action.yml @@ -16,7 +16,7 @@ inputs: rust_env_flags: required: false default: '' - descriptio: RUSTFLAGS env var. + description: RUSTFLAGS env var. arch: default: '' description: Target architecture. @@ -49,11 +49,6 @@ runs: echo v${{ steps.version.outputs.version }} > bin/addons/godot-rapier2d/VERSION.txt - name: Setup python and scons uses: ./.github/actions/deps - - name: Lint - shell: sh - run: - ./scripts/clang-format.sh - ./scripts/clang-tidy.sh - name: Build Godot Cpp shell: sh env: diff --git a/README.md b/README.md index 3effaa51..f0c25d01 100644 --- a/README.md +++ b/README.md @@ -3,17 +3,17 @@

- - + Godot Rapier2D Build - - + + - - - - + + + + Chat on Discord @@ -40,8 +40,8 @@ A 2d [rapier](https://github.com/dimforge/rapier) physics server for [Godot Engi # Limitations - SeparationRay2D missing. -- DampedSpringJoint2D missing. - Shape skew missing. +- Web exports not working [issues/23](https://github.com/appsinacup/godot-rapier-2d/issues/23) # Supported Platforms @@ -50,7 +50,7 @@ A 2d [rapier](https://github.com/dimforge/rapier) physics server for [Godot Engi - Linux (x86_64) - Android (x86_64, arm64) - iOS (arm64) -- Web (wasm32) +- Web (wasm32) * Not working # Installation diff --git a/scripts/build.sh b/scripts/build.sh index d37f9898..0f514713 100755 --- a/scripts/build.sh +++ b/scripts/build.sh @@ -1,4 +1,4 @@ -scons arch=arm64 +scons arch=arm64 target=template_debug rm -rf Godot-Physics-Tests/addons cp -rf bin/addons Godot-Physics-Tests/addons diff --git a/src/bodies/rapier_body_2d.cpp b/src/bodies/rapier_body_2d.cpp index 12e496ea..11437966 100644 --- a/src/bodies/rapier_body_2d.cpp +++ b/src/bodies/rapier_body_2d.cpp @@ -41,8 +41,9 @@ void RapierBody2D::_apply_mass_properties(bool force_update) { void RapierBody2D::update_mass_properties(bool force_update) { mass_properties_update_list.remove_from_list(); - - ERR_FAIL_COND(mode < PhysicsServer2D::BODY_MODE_RIGID); + if (mode < PhysicsServer2D::BODY_MODE_RIGID) { + return; + } real_t total_area = 0; for (int i = 0; i < get_shape_count(); i++) { @@ -64,7 +65,7 @@ void RapierBody2D::update_mass_properties(bool force_update) { const RapierShape2D *shape = get_shape(i); real_t shape_area = shape->get_aabb().get_area(); - if (shape_area == 0.0) { + if (shape_area == 0.0 || mass == 0.0) { continue; } @@ -90,7 +91,7 @@ void RapierBody2D::update_mass_properties(bool force_update) { const RapierShape2D *shape = get_shape(i); real_t shape_area = shape->get_aabb().get_area(); - if (shape_area == 0.0) { + if (shape_area == 0.0 || mass == 0.0) { continue; } diff --git a/src/bodies/rapier_body_2d.h b/src/bodies/rapier_body_2d.h index 78390bc5..c04f16c3 100644 --- a/src/bodies/rapier_body_2d.h +++ b/src/bodies/rapier_body_2d.h @@ -152,6 +152,9 @@ class RapierBody2D : public RapierCollisionObject2D { contacts.resize(p_size); contact_count = 0; } + _FORCE_INLINE_ void reset_contact_count() { + contact_count = 0; + } _FORCE_INLINE_ int get_max_contacts_reported() const { return contacts.size(); } _FORCE_INLINE_ bool can_report_contacts() const { return !contacts.is_empty(); } _FORCE_INLINE_ void add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos, const Vector2 &p_impulse); diff --git a/src/joints/rapier_damped_spring_joint_2d.cpp b/src/joints/rapier_damped_spring_joint_2d.cpp index df9c239e..9d74609a 100644 --- a/src/joints/rapier_damped_spring_joint_2d.cpp +++ b/src/joints/rapier_damped_spring_joint_2d.cpp @@ -1,4 +1,5 @@ #include "rapier_damped_spring_joint_2d.h" +#include "../spaces/rapier_space_2d.h" void RapierDampedSpringJoint2D::set_param(PhysicsServer2D::DampedSpringParam p_param, real_t p_value) { switch (p_param) { @@ -12,6 +13,7 @@ void RapierDampedSpringJoint2D::set_param(PhysicsServer2D::DampedSpringParam p_p stiffness = p_value; } break; } + rapier2d::joint_change_sprint_params(space_handle, handle, rest_length, damping, stiffness); } real_t RapierDampedSpringJoint2D::get_param(PhysicsServer2D::DampedSpringParam p_param) const { @@ -37,10 +39,14 @@ RapierDampedSpringJoint2D::RapierDampedSpringJoint2D(const Vector2 &p_anchor_a, rest_length = p_anchor_a.distance_to(p_anchor_b); - // TODO: create rapier joint when available - // See https://github.com/dimforge/rapier/issues/241 - ERR_FAIL_MSG("Spring joints not supported for now"); + rapier2d::Vector rapier_anchor_A = { anchor_A.x, anchor_A.y }; + rapier2d::Vector rapier_anchor_B = { anchor_B.x, anchor_B.y }; - //A->add_constraint(this, 0); - //B->add_constraint(this, 1); + ERR_FAIL_COND(!p_body_a->get_space()); + ERR_FAIL_COND(p_body_a->get_space() != p_body_b->get_space()); + space_handle = p_body_a->get_space()->get_handle(); + ERR_FAIL_COND(!rapier2d::is_handle_valid(space_handle)); + + handle = rapier2d::joint_create_spring(space_handle, p_body_a->get_body_handle(), p_body_b->get_body_handle(), &rapier_anchor_A, &rapier_anchor_B, stiffness, damping, rest_length, is_disabled_collisions_between_bodies()); + ERR_FAIL_COND(!rapier2d::is_handle_valid(handle)); } diff --git a/src/joints/rapier_groove_joint_2d.cpp b/src/joints/rapier_groove_joint_2d.cpp index a8520b7c..daa9d682 100644 --- a/src/joints/rapier_groove_joint_2d.cpp +++ b/src/joints/rapier_groove_joint_2d.cpp @@ -22,7 +22,7 @@ RapierGrooveJoint2D::RapierGrooveJoint2D(const Vector2 &p_a_groove1, const Vecto space_handle = p_body_a->get_space()->get_handle(); ERR_FAIL_COND(!rapier2d::is_handle_valid(space_handle)); - handle = rapier2d::joint_create_prismatic(space_handle, p_body_a->get_body_handle(), p_body_b->get_body_handle(), &rapier_axis, &rapier_anchor_A, &rapier_anchor_B, &rapier_limits); + handle = rapier2d::joint_create_prismatic(space_handle, p_body_a->get_body_handle(), p_body_b->get_body_handle(), &rapier_axis, &rapier_anchor_A, &rapier_anchor_B, &rapier_limits, is_disabled_collisions_between_bodies()); ERR_FAIL_COND(!rapier2d::is_handle_valid(handle)); //A->add_constraint(this, 0); diff --git a/src/joints/rapier_joint_2d.cpp b/src/joints/rapier_joint_2d.cpp index 696a7dab..e0e5f53d 100644 --- a/src/joints/rapier_joint_2d.cpp +++ b/src/joints/rapier_joint_2d.cpp @@ -14,6 +14,14 @@ void RapierJoint2D::copy_settings_from(RapierJoint2D *p_joint) { disable_collisions_between_bodies(p_joint->is_disabled_collisions_between_bodies()); } +void RapierJoint2D::disable_collisions_between_bodies(const bool p_disabled) { + disabled_collisions_between_bodies = p_disabled; + if (rapier2d::is_handle_valid(handle)) { + // Joint not yet created, when it will be created it will have disable collision flag set + rapier2d::joint_change_disable_collision(space_handle, handle, is_disabled_collisions_between_bodies()); + } +} + RapierJoint2D::~RapierJoint2D() { if (rapier2d::is_handle_valid(handle)) { ERR_FAIL_COND(!rapier2d::is_handle_valid(space_handle)); diff --git a/src/joints/rapier_joint_2d.h b/src/joints/rapier_joint_2d.h index d3b62c2e..b37db0a9 100644 --- a/src/joints/rapier_joint_2d.h +++ b/src/joints/rapier_joint_2d.h @@ -24,7 +24,7 @@ class RapierJoint2D { _FORCE_INLINE_ void set_rid(const RID &p_rid) { rid = p_rid; } _FORCE_INLINE_ RID get_rid() const { return rid; } - _FORCE_INLINE_ void disable_collisions_between_bodies(const bool p_disabled) { disabled_collisions_between_bodies = p_disabled; } + void disable_collisions_between_bodies(const bool p_disabled); _FORCE_INLINE_ bool is_disabled_collisions_between_bodies() const { return disabled_collisions_between_bodies; } _FORCE_INLINE_ void set_max_force(real_t p_force) { max_force = p_force; } diff --git a/src/joints/rapier_pin_joint_2d.cpp b/src/joints/rapier_pin_joint_2d.cpp index e5eaca6a..b8d7c527 100644 --- a/src/joints/rapier_pin_joint_2d.cpp +++ b/src/joints/rapier_pin_joint_2d.cpp @@ -79,6 +79,6 @@ RapierPinJoint2D::RapierPinJoint2D(const Vector2 &p_pos, RapierBody2D *p_body_a, ERR_FAIL_COND(p_body_a->get_space() != p_body_b->get_space()); space_handle = p_body_a->get_space()->get_handle(); ERR_FAIL_COND(!rapier2d::is_handle_valid(space_handle)); - handle = rapier2d::joint_create_revolute(space_handle, p_body_a->get_body_handle(), p_body_b->get_body_handle(), &rapier_anchor_A, &rapier_anchor_B, angular_limit_lower, angular_limit_upper, angular_limit_enabled, motor_target_velocity, motor_enabled); + handle = rapier2d::joint_create_revolute(space_handle, p_body_a->get_body_handle(), p_body_b->get_body_handle(), &rapier_anchor_A, &rapier_anchor_B, angular_limit_lower, angular_limit_upper, angular_limit_enabled, motor_target_velocity, motor_enabled, is_disabled_collisions_between_bodies()); ERR_FAIL_COND(!rapier2d::is_handle_valid(handle)); } diff --git a/src/rapier2d-wrapper/Cargo.toml b/src/rapier2d-wrapper/Cargo.toml index 4f594b74..0caf1980 100644 --- a/src/rapier2d-wrapper/Cargo.toml +++ b/src/rapier2d-wrapper/Cargo.toml @@ -23,8 +23,8 @@ parallel = ["rapier2d/parallel", "rapier2d-f64/parallel"] # rapier2d = { features = [ "simd-stable"] } # This changes the parry contacts to work even in some weird cases where in main branch it would return None -rapier2d = {git = "https://github.com/appsinacup/rapier", branch = "possible-fix-for-contacts"} -rapier2d-f64 = {git = "https://github.com/appsinacup/rapier", branch = "possible-fix-for-contacts"} +rapier2d = {git = "https://github.com/appsinacup/rapier", branch = "master"} +rapier2d-f64 = {git = "https://github.com/appsinacup/rapier", branch = "master"} lazy_static = "1.4.0" [profile.release] diff --git a/src/rapier2d-wrapper/includes/rapier2d_wrapper.h b/src/rapier2d-wrapper/includes/rapier2d_wrapper.h index 41e27b67..301c4f3f 100644 --- a/src/rapier2d-wrapper/includes/rapier2d_wrapper.h +++ b/src/rapier2d-wrapper/includes/rapier2d_wrapper.h @@ -66,7 +66,7 @@ struct Material { struct ShapeInfo { Handle handle; - Vector position; + Vector pixel_position; Real rotation; Vector scale; }; @@ -97,7 +97,7 @@ using QueryHandleExcludedCallback = bool (*)(Handle world_handle, const QueryExcludedInfo *handle_excluded_info); struct RayHitInfo { - Vector position; + Vector pixel_position; Vector normal; Handle collider; UserData user_data; @@ -106,8 +106,8 @@ struct RayHitInfo { struct ShapeCastResult { bool collided; Real toi; - Vector witness1; - Vector witness2; + Vector pixel_witness1; + Vector pixel_witness2; Vector normal1; Vector normal2; Handle collider; @@ -117,9 +117,9 @@ struct ShapeCastResult { struct ContactResult { bool collided; bool within_margin; - Real distance; - Vector point1; - Vector point2; + Real pixel_distance; + Vector pixel_point1; + Vector pixel_point2; Vector normal1; Vector normal2; }; @@ -161,14 +161,14 @@ using ContactForceEventCallback = bool (*)(Handle world_handle, const ContactForceEventInfo *event_info); struct ContactPointInfo { - Vector local_pos_1; - Vector local_pos_2; - Vector velocity_pos_1; - Vector velocity_pos_2; + Vector pixel_local_pos_1; + Vector pixel_local_pos_2; + Vector pixel_velocity_pos_1; + Vector pixel_velocity_pos_2; Vector normal; - Real distance; - Real impulse; - Real tangent_impulse; + Real pixel_distance; + Real pixel_impulse; + Real pixel_tangent_impulse; }; using ContactPointCallback = bool (*)(Handle world_handle, @@ -178,8 +178,8 @@ using ContactPointCallback = bool (*)(Handle world_handle, struct OneWayDirection { bool body1; bool body2; - Real body1_margin; - Real body2_margin; + Real pixel_body1_margin; + Real pixel_body2_margin; Real last_timestep; }; @@ -189,17 +189,6 @@ using CollisionModifyContactsCallback = OneWayDirection (*)(Handle world_handle, struct SimulationSettings { /// The timestep length (default: `1.0 / 60.0`) Real dt; - /// Minimum timestep size when using CCD with multiple substeps (default `1.0 / 60.0 / 100.0`) - /// - /// When CCD with multiple substeps is enabled, the timestep is subdivided - /// into smaller pieces. This timestep subdivision won't generate timestep - /// lengths smaller than `min_ccd_dt`. - /// - /// Setting this to a large value will reduce the opportunity to performing - /// CCD substepping, resulting in potentially more time dropped by the - /// motion-clamping mechanism. Setting this to an very small value may lead - /// to numerical instabilities. - Real min_ccd_dt; /// 0-1: multiplier for how much of the constraint violation (e.g. contact penetration) /// will be compensated for during the velocity solve. /// (default `0.8`). @@ -218,52 +207,43 @@ struct SimulationSettings { Real joint_damping_ratio; /// Amount of penetration the engine wont attempt to correct (default: `0.001m`). Real allowed_linear_error; - /// Maximum amount of penetration the solver will attempt to resolve in one timestep. - Real max_penetration_correction; /// The maximal distance separating two objects that will generate predictive contacts (default: `0.002`). Real prediction_distance; - /// Maximum number of iterations performed to solve non-penetration and joint constraints (default: `4`). - size_t max_velocity_iterations; - /// Maximum number of iterations performed to solve friction constraints (default: `8`). - size_t max_velocity_friction_iterations; - /// Maximum number of iterations performed to remove the energy introduced by penetration corrections (default: `1`). - size_t max_stabilization_iterations; - /// If `false`, friction and non-penetration constraints will be solved in the same loop. Otherwise, - /// non-penetration constraints are solved first, and friction constraints are solved after (default: `true`). - bool interleave_restitution_and_friction_resolution; - /// Minimum number of dynamic bodies in each active island (default: `128`). - size_t min_island_size; - /// Maximum number of substeps performed by the solver (default: `1`). - size_t max_ccd_substeps; - Vector gravity; + /// The number of solver iterations run by the constraints solver for calculating forces (default: `4`). + size_t num_solver_iterations; + /// Number of addition friction resolution iteration run during the last solver sub-step (default: `4`). + size_t num_additional_friction_iterations; + /// Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`). + size_t num_internal_pgs_iterations; + Vector pixel_gravity; }; extern "C" { bool are_handles_equal(Handle handle1, Handle handle2); -void body_add_force(Handle world_handle, Handle body_handle, const Vector *force); +void body_add_force(Handle world_handle, Handle body_handle, const Vector *pixel_force); void body_add_force_at_point(Handle world_handle, Handle body_handle, - const Vector *force, - const Vector *point); + const Vector *pixel_force, + const Vector *pixel_point); void body_add_torque(Handle world_handle, Handle body_handle, Real torque); -void body_apply_impulse(Handle world_handle, Handle body_handle, const Vector *impulse); +void body_apply_impulse(Handle world_handle, Handle body_handle, const Vector *pixel_impulse); void body_apply_impulse_at_point(Handle world_handle, Handle body_handle, - const Vector *impulse, - const Vector *point); + const Vector *pixel_impulse, + const Vector *pixel_point); void body_apply_torque_impulse(Handle world_handle, Handle body_handle, Real torque_impulse); void body_change_mode(Handle world_handle, Handle body_handle, BodyType body_type, bool wakeup); Handle body_create(Handle world_handle, - const Vector *pos, + const Vector *pixel_pos, Real rot, const UserData *user_data, BodyType body_type); @@ -305,19 +285,19 @@ void body_set_gravity_scale(Handle world_handle, void body_set_linear_damping(Handle world_handle, Handle body_handle, Real linear_damping); -void body_set_linear_velocity(Handle world_handle, Handle body_handle, const Vector *vel); +void body_set_linear_velocity(Handle world_handle, Handle body_handle, const Vector *pixel_vel); void body_set_mass_properties(Handle world_handle, Handle body_handle, Real mass, - Real inertia, - const Vector *local_com, + Real pixel_inertia, + const Vector *pixel_local_com, bool wake_up, bool force_update); void body_set_transform(Handle world_handle, Handle body_handle, - const Vector *pos, + const Vector *pixel_pos, Real rot, bool wake_up); @@ -355,8 +335,8 @@ QueryExcludedInfo default_query_excluded_info(); WorldSettings default_world_settings(); size_t intersect_aabb(Handle world_handle, - const Vector *aabb_min, - const Vector *aabb_max, + const Vector *pixel_aabb_min, + const Vector *pixel_aabb_max, bool collide_with_body, bool collide_with_area, PointHitInfo *hit_info_array, @@ -365,7 +345,7 @@ size_t intersect_aabb(Handle world_handle, const QueryExcludedInfo *handle_excluded_info); size_t intersect_point(Handle world_handle, - const Vector *position, + const Vector *pixel_position, bool collide_with_body, bool collide_with_area, PointHitInfo *hit_info_array, @@ -374,9 +354,9 @@ size_t intersect_point(Handle world_handle, const QueryExcludedInfo *handle_excluded_info); bool intersect_ray(Handle world_handle, - const Vector *from, + const Vector *pixel_from, const Vector *dir, - Real length, + Real pixel_length, bool collide_with_body, bool collide_with_area, bool hit_from_inside, @@ -401,66 +381,88 @@ bool is_handle_valid(Handle handle); bool is_user_data_valid(UserData user_data); +void joint_change_disable_collision(Handle world_handle, + Handle joint_handle, + bool disable_collision); + void joint_change_revolute_params(Handle world_handle, Handle joint_handle, Real angular_limit_lower, Real angular_limit_upper, bool angular_limit_enabled, - Real motor_target_velocity, + Real pixel_motor_target_velocity, bool motor_enabled); +void joint_change_sprint_params(Handle world_handle, + Handle joint_handle, + Real stiffness, + Real damping, + Real pixel_rest_length); + Handle joint_create_prismatic(Handle world_handle, Handle body_handle_1, Handle body_handle_2, const Vector *axis, - const Vector *anchor_1, - const Vector *anchor_2, - const Vector *limits); + const Vector *pixel_anchor_1, + const Vector *pixel_anchor_2, + const Vector *pixel_limits, + bool disable_collision); Handle joint_create_revolute(Handle world_handle, Handle body_handle_1, Handle body_handle_2, - const Vector *anchor_1, - const Vector *anchor_2, + const Vector *pixel_anchor_1, + const Vector *pixel_anchor_2, Real angular_limit_lower, Real angular_limit_upper, bool angular_limit_enabled, - Real motor_target_velocity, - bool motor_enabled); + Real pixel_motor_target_velocity, + bool motor_enabled, + bool disable_collision); + +Handle joint_create_spring(Handle world_handle, + Handle body_handle_1, + Handle body_handle_2, + const Vector *pixel_anchor_1, + const Vector *pixel_anchor_2, + Real stiffness, + Real damping, + Real pixel_rest_length, + bool disable_collision); void joint_destroy(Handle world_handle, Handle joint_handle); ShapeCastResult shape_casting(Handle world_handle, - const Vector *motion, + const Vector *pixel_motion, ShapeInfo shape_info, bool collide_with_body, bool collide_with_area, QueryHandleExcludedCallback handle_excluded_callback, const QueryExcludedInfo *handle_excluded_info); -ShapeCastResult shape_collide(const Vector *motion1, +ShapeCastResult shape_collide(const Vector *pixel_motion1, ShapeInfo shape_info1, - const Vector *motion2, + const Vector *pixel_motion2, ShapeInfo shape_info2); -Handle shape_create_box(const Vector *size); +Handle shape_create_box(const Vector *pixel_size); -Handle shape_create_capsule(Real half_height, Real radius); +Handle shape_create_capsule(Real pixel_half_height, Real pixel_radius); -Handle shape_create_circle(Real radius); +Handle shape_create_circle(Real pixel_radius); -Handle shape_create_convave_polyline(const Vector *points, size_t point_count); +Handle shape_create_convave_polyline(const Vector *pixel_points, size_t point_count); -Handle shape_create_convex_polyline(const Vector *points, size_t point_count); +Handle shape_create_convex_polyline(const Vector *pixel_points, size_t point_count); -Handle shape_create_halfspace(const Vector *normal); +Handle shape_create_halfspace(const Vector *normal, Real pixel_distance); void shape_destroy(Handle shape_handle); ContactResult shapes_contact(Handle world_handle, ShapeInfo shape_info1, ShapeInfo shape_info2, - Real margin); + Real pixel_margin); Handle world_create(const WorldSettings *settings); diff --git a/src/rapier2d-wrapper/src/body.rs b/src/rapier2d-wrapper/src/body.rs index 2d1fa6d3..47c88652 100644 --- a/src/rapier2d-wrapper/src/body.rs +++ b/src/rapier2d-wrapper/src/body.rs @@ -1,4 +1,5 @@ use rapier2d::prelude::*; +use crate::convert::*; use crate::handle::*; use crate::vector::Vector; use crate::user_data::UserData; @@ -12,7 +13,9 @@ pub enum BodyType { Static, } -fn set_rigid_body_properties_internal(rigid_body : &mut RigidBody, pos : &Vector, rot : Real, wake_up : bool) { +fn set_rigid_body_properties_internal(rigid_body : &mut RigidBody, pixel_pos : &Vector, rot : Real, wake_up : bool) { + let pos = &vector_pixels_to_meters(pixel_pos); + if !rigid_body.is_kinematic() { rigid_body.set_position(Isometry::new(vector![pos.x, pos.y], rot), wake_up); } else { @@ -21,7 +24,7 @@ fn set_rigid_body_properties_internal(rigid_body : &mut RigidBody, pos : &Vector } #[no_mangle] -pub extern "C" fn body_create(world_handle : Handle, pos : &Vector, rot : Real, user_data : &UserData, body_type: BodyType) -> Handle { +pub extern "C" fn body_create(world_handle : Handle, pixel_pos : &Vector, rot : Real, user_data : &UserData, body_type: BodyType) -> Handle { let mut physics_engine = SINGLETON.lock().unwrap(); let physics_world = physics_engine.get_world(world_handle); let mut rigid_body : RigidBody; @@ -36,11 +39,12 @@ pub extern "C" fn body_create(world_handle : Handle, pos : &Vector, rot : Real, rigid_body = RigidBodyBuilder::fixed().build(); } } - let activation = rigid_body.activation_mut(); - activation.time_until_sleep = physics_world.sleep_time_until_sleep; - activation.linear_threshold = physics_world.sleep_linear_threshold; - activation.angular_threshold = physics_world.sleep_angular_threshold; - set_rigid_body_properties_internal(&mut rigid_body, pos, rot, true); + // let default values better + //let activation = rigid_body.activation_mut(); + //activation.time_until_sleep = physics_world.sleep_time_until_sleep; + //activation.linear_threshold = physics_world.sleep_linear_threshold; + //activation.angular_threshold = physics_world.sleep_angular_threshold; + set_rigid_body_properties_internal(&mut rigid_body, pixel_pos, rot, true); rigid_body.user_data = user_data.get_data(); let body_handle = physics_world.rigid_body_set.insert(rigid_body); return rigid_body_handle_to_handle(body_handle); @@ -82,7 +86,7 @@ pub extern "C" fn body_get_position(world_handle : Handle, body_handle : Handle) let body = physics_world.rigid_body_set.get(rigid_body_handle); assert!(body.is_some()); let body_vector = body.unwrap().translation(); - return Vector { x : body_vector.x, y : body_vector.y }; + return vector_meters_to_pixels(&Vector { x : body_vector.x, y : body_vector.y }); } #[no_mangle] @@ -96,14 +100,14 @@ pub extern "C" fn body_get_angle(world_handle : Handle, body_handle : Handle) -> } #[no_mangle] -pub extern "C" fn body_set_transform(world_handle : Handle, body_handle : Handle, pos : &Vector, rot : Real, wake_up : bool) { +pub extern "C" fn body_set_transform(world_handle : Handle, body_handle : Handle, pixel_pos : &Vector, rot : Real, wake_up : bool) { let mut physics_engine = SINGLETON.lock().unwrap(); let physics_world = physics_engine.get_world(world_handle); let rigid_body_handle = handle_to_rigid_body_handle(body_handle); let body = physics_world.rigid_body_set.get_mut(rigid_body_handle); assert!(body.is_some()); let body = body.unwrap(); - set_rigid_body_properties_internal(body, pos, rot, wake_up); + set_rigid_body_properties_internal(body, pixel_pos, rot, wake_up); } #[no_mangle] @@ -115,11 +119,13 @@ pub extern "C" fn body_get_linear_velocity(world_handle : Handle, body_handle : assert!(body.is_some()); let body = body.unwrap(); let body_vel = body.linvel(); - return Vector { x : body_vel.x, y : body_vel.y }; + return vector_meters_to_pixels(&Vector { x : body_vel.x, y : body_vel.y }); } #[no_mangle] -pub extern "C" fn body_set_linear_velocity(world_handle : Handle, body_handle : Handle, vel : &Vector) { +pub extern "C" fn body_set_linear_velocity(world_handle : Handle, body_handle : Handle, pixel_vel : &Vector) { + let vel = &vector_pixels_to_meters(pixel_vel); + let mut physics_engine = SINGLETON.lock().unwrap(); let physics_world = physics_engine.get_world(world_handle); let rigid_body_handle = handle_to_rigid_body_handle(body_handle); @@ -138,7 +144,7 @@ pub extern "C" fn body_update_material(world_handle : Handle, body_handle : Hand for collider in body.unwrap().colliders() { if let Some(col) = physics_world.collider_set.get_mut(*collider) { col.set_friction(mat.friction); - col.set_restitution(mat.restitution) + col.set_restitution(mat.restitution); } } } @@ -239,7 +245,14 @@ pub extern "C" fn body_set_ccd_enabled(world_handle : Handle, body_handle : Hand } #[no_mangle] -pub extern "C" fn body_set_mass_properties(world_handle : Handle, body_handle : Handle, mass : Real, inertia : Real, local_com : &Vector, wake_up : bool, force_update : bool) { +pub extern "C" fn body_set_mass_properties(world_handle : Handle, body_handle : Handle, mass : Real, pixel_inertia : Real, pixel_local_com : &Vector, wake_up : bool, force_update : bool) { + let local_com = &vector_pixels_to_meters(pixel_local_com); + let inertia = pixels_to_meters(pixels_to_meters(pixel_inertia)); + let mass = mass; + if inertia == 0.0 || mass == 0.0{ + return + } + let mut physics_engine = SINGLETON.lock().unwrap(); let physics_world = physics_engine.get_world(world_handle); let rigid_body_handle = handle_to_rigid_body_handle(body_handle); @@ -253,7 +266,9 @@ pub extern "C" fn body_set_mass_properties(world_handle : Handle, body_handle : } #[no_mangle] -pub extern "C" fn body_add_force(world_handle : Handle, body_handle : Handle, force : &Vector) { +pub extern "C" fn body_add_force(world_handle : Handle, body_handle : Handle, pixel_force : &Vector) { + let force = &vector_pixels_to_meters(pixel_force); + let mut physics_engine = SINGLETON.lock().unwrap(); let physics_world = physics_engine.get_world(world_handle); let rigid_body_handle = handle_to_rigid_body_handle(body_handle); @@ -263,7 +278,10 @@ pub extern "C" fn body_add_force(world_handle : Handle, body_handle : Handle, fo } #[no_mangle] -pub extern "C" fn body_add_force_at_point(world_handle : Handle, body_handle : Handle, force : &Vector, point : &Vector) { +pub extern "C" fn body_add_force_at_point(world_handle : Handle, body_handle : Handle, pixel_force : &Vector, pixel_point : &Vector) { + let force = &vector_pixels_to_meters(pixel_force); + let point = &vector_pixels_to_meters(pixel_point); + let mut physics_engine = SINGLETON.lock().unwrap(); let physics_world = physics_engine.get_world(world_handle); let rigid_body_handle = handle_to_rigid_body_handle(body_handle); @@ -276,7 +294,8 @@ pub extern "C" fn body_add_force_at_point(world_handle : Handle, body_handle : H } #[no_mangle] -pub extern "C" fn body_add_torque(world_handle : Handle, body_handle : Handle, torque: Real) { +pub extern "C" fn body_add_torque(world_handle : Handle, body_handle : Handle, pixel_torque: Real) { + let torque = pixels_to_meters(pixels_to_meters(pixel_torque)); let mut physics_engine = SINGLETON.lock().unwrap(); let physics_world = physics_engine.get_world(world_handle); let rigid_body_handle = handle_to_rigid_body_handle(body_handle); @@ -286,7 +305,9 @@ pub extern "C" fn body_add_torque(world_handle : Handle, body_handle : Handle, t } #[no_mangle] -pub extern "C" fn body_apply_impulse(world_handle : Handle, body_handle : Handle, impulse : &Vector) { +pub extern "C" fn body_apply_impulse(world_handle : Handle, body_handle : Handle, pixel_impulse : &Vector) { + let impulse = &vector_pixels_to_meters(pixel_impulse); + let mut physics_engine = SINGLETON.lock().unwrap(); let physics_world = physics_engine.get_world(world_handle); let rigid_body_handle = handle_to_rigid_body_handle(body_handle); @@ -296,7 +317,10 @@ pub extern "C" fn body_apply_impulse(world_handle : Handle, body_handle : Handle } #[no_mangle] -pub extern "C" fn body_apply_impulse_at_point(world_handle : Handle, body_handle : Handle, impulse : &Vector, point : &Vector) { +pub extern "C" fn body_apply_impulse_at_point(world_handle : Handle, body_handle : Handle, pixel_impulse : &Vector, pixel_point : &Vector) { + let impulse = &vector_pixels_to_meters(pixel_impulse); + let point = &vector_pixels_to_meters(pixel_point); + let mut physics_engine = SINGLETON.lock().unwrap(); let physics_world = physics_engine.get_world(world_handle); let rigid_body_handle = handle_to_rigid_body_handle(body_handle); @@ -316,7 +340,7 @@ pub extern "C" fn body_get_constant_force(world_handle : Handle, body_handle : H let body = physics_world.rigid_body_set.get_mut(rigid_body_handle); assert!(body.is_some()); let constant_force = body.unwrap().user_force(); - return Vector { x : constant_force.x, y : constant_force.y }; + return vector_meters_to_pixels(&Vector { x : constant_force.x, y : constant_force.y }); } #[no_mangle] @@ -326,11 +350,13 @@ pub extern "C" fn body_get_constant_torque(world_handle : Handle, body_handle : let rigid_body_handle = handle_to_rigid_body_handle(body_handle); let body = physics_world.rigid_body_set.get_mut(rigid_body_handle); assert!(body.is_some()); - body.unwrap().user_torque() + meters_to_pixels(meters_to_pixels(body.unwrap().user_torque())) } #[no_mangle] -pub extern "C" fn body_apply_torque_impulse(world_handle : Handle, body_handle : Handle, torque_impulse : Real) { +pub extern "C" fn body_apply_torque_impulse(world_handle : Handle, body_handle : Handle, pixel_torque_impulse : Real) { + let torque_impulse = pixels_to_meters(pixels_to_meters(pixel_torque_impulse)); + let mut physics_engine = SINGLETON.lock().unwrap(); let physics_world = physics_engine.get_world(world_handle); let rigid_body_handle = handle_to_rigid_body_handle(body_handle); diff --git a/src/rapier2d-wrapper/src/collider.rs b/src/rapier2d-wrapper/src/collider.rs index 6504df29..2c910e7b 100644 --- a/src/rapier2d-wrapper/src/collider.rs +++ b/src/rapier2d-wrapper/src/collider.rs @@ -5,6 +5,7 @@ use crate::shape::ShapeInfo; use crate::user_data::*; use crate::vector::Vector; use crate::physics_world::*; +use crate::convert::*; pub fn scale_shape(shape: &SharedShape, scale: &Vector) -> Option { let shape_type = shape.shape_type(); @@ -112,7 +113,7 @@ pub extern "C" fn collider_get_position(world_handle : Handle, handle : Handle) let collider = physics_world.collider_set.get(collider_handle); assert!(collider.is_some()); let collider_vector = collider.unwrap().translation(); - return Vector { x : collider_vector.x, y : collider_vector.y }; + return vector_meters_to_pixels(&Vector { x : collider_vector.x, y : collider_vector.y }); } #[no_mangle] @@ -127,14 +128,16 @@ pub extern "C" fn collider_get_angle(world_handle : Handle, handle : Handle) -> #[no_mangle] pub extern "C" fn collider_set_transform(world_handle : Handle, handle : Handle, shape_info: ShapeInfo) { - { + { + let position = &vector_pixels_to_meters(&shape_info.pixel_position); + let mut physics_engine = SINGLETON.lock().unwrap(); let physics_world = physics_engine.get_world(world_handle); let collider_handle = handle_to_collider_handle(handle); let collider = physics_world.collider_set.get_mut(collider_handle); assert!(collider.is_some()); let collider = collider.unwrap(); - collider.set_position_wrt_parent(Isometry::new(vector![shape_info.position.x, shape_info.position.y], shape_info.rotation)); + collider.set_position_wrt_parent(Isometry::new(vector![position.x, position.y], shape_info.rotation)); } { let new_shape:SharedShape; @@ -144,6 +147,7 @@ pub extern "C" fn collider_set_transform(world_handle : Handle, handle : Handle, if let Some(extracted_shape) = scale_shape(shape, &shape_info.scale) { new_shape = extracted_shape; } else { + //assert!(false); // investigate why it failed return; } diff --git a/src/rapier2d-wrapper/src/convert.rs b/src/rapier2d-wrapper/src/convert.rs new file mode 100644 index 00000000..8f85ee40 --- /dev/null +++ b/src/rapier2d-wrapper/src/convert.rs @@ -0,0 +1,20 @@ +use rapier2d::prelude::*; +use crate::vector::Vector; + +const PIXELS_PER_METER : Real = 100.0; + +pub fn pixels_to_meters(x : Real) -> Real { + if x == 0.0 { 0.0 } else { x / PIXELS_PER_METER } +} + +pub fn vector_pixels_to_meters(v : &Vector) -> Vector { + Vector{x: pixels_to_meters(v.x), y: pixels_to_meters(v.y)} +} + +pub fn meters_to_pixels(x : Real) -> Real { + x * PIXELS_PER_METER +} + +pub fn vector_meters_to_pixels(v : &Vector) -> Vector { + Vector{x: meters_to_pixels(v.x), y: meters_to_pixels(v.y)} +} diff --git a/src/rapier2d-wrapper/src/joint.rs b/src/rapier2d-wrapper/src/joint.rs index 15714352..dbd34c31 100644 --- a/src/rapier2d-wrapper/src/joint.rs +++ b/src/rapier2d-wrapper/src/joint.rs @@ -1,17 +1,24 @@ use rapier2d::prelude::*; +use crate::convert::*; use crate::handle::*; use crate::physics_world::*; use crate::vector::Vector; #[no_mangle] -pub extern "C" fn joint_create_revolute(world_handle : Handle, body_handle_1 : Handle, body_handle_2 : Handle, anchor_1 : &Vector, anchor_2 : &Vector, angular_limit_lower: Real, angular_limit_upper: Real, angular_limit_enabled: bool, motor_target_velocity: Real, motor_enabled: bool) -> Handle { +pub extern "C" fn joint_create_revolute(world_handle : Handle, body_handle_1 : Handle, body_handle_2 : Handle, pixel_anchor_1 : &Vector, pixel_anchor_2 : &Vector, angular_limit_lower: Real, angular_limit_upper: Real, angular_limit_enabled: bool, pixel_motor_target_velocity: Real, motor_enabled: bool, disable_collision: bool) -> Handle { + let anchor_1 = &vector_pixels_to_meters(pixel_anchor_1); + let anchor_2 = &vector_pixels_to_meters(pixel_anchor_2); + + let motor_target_velocity = pixels_to_meters(pixel_motor_target_velocity); + let mut physics_engine = SINGLETON.lock().unwrap(); let physics_world = physics_engine.get_world(world_handle); let mut joint = RevoluteJointBuilder::new() .local_anchor1(point!(anchor_1.x, anchor_1.y)) .local_anchor2(point!(anchor_2.x, anchor_2.y)) - .motor_model(MotorModel::AccelerationBased); + .motor_model(MotorModel::AccelerationBased) + .contacts_enabled(!disable_collision); if angular_limit_enabled { joint = joint.limits([angular_limit_lower, angular_limit_upper]); } @@ -24,7 +31,9 @@ pub extern "C" fn joint_create_revolute(world_handle : Handle, body_handle_1 : H #[no_mangle] -pub extern "C" fn joint_change_revolute_params(world_handle : Handle, joint_handle: Handle , angular_limit_lower: Real, angular_limit_upper: Real, angular_limit_enabled: bool, motor_target_velocity: Real, motor_enabled: bool){ +pub extern "C" fn joint_change_revolute_params(world_handle : Handle, joint_handle: Handle , angular_limit_lower: Real, angular_limit_upper: Real, angular_limit_enabled: bool, pixel_motor_target_velocity: Real, motor_enabled: bool){ + let motor_target_velocity = pixels_to_meters(pixel_motor_target_velocity); + let mut physics_engine = SINGLETON.lock().unwrap(); let physics_world = physics_engine.get_world(world_handle); @@ -42,18 +51,53 @@ pub extern "C" fn joint_change_revolute_params(world_handle : Handle, joint_hand } #[no_mangle] -pub extern "C" fn joint_create_prismatic(world_handle : Handle, body_handle_1 : Handle, body_handle_2 : Handle, axis : &Vector, anchor_1 : &Vector, anchor_2 : &Vector, limits : &Vector) -> Handle { +pub extern "C" fn joint_create_prismatic(world_handle : Handle, body_handle_1 : Handle, body_handle_2 : Handle, axis : &Vector, pixel_anchor_1 : &Vector, pixel_anchor_2 : &Vector, pixel_limits : &Vector, disable_collision: bool) -> Handle { + let anchor_1 = &vector_pixels_to_meters(pixel_anchor_1); + let anchor_2 = &vector_pixels_to_meters(pixel_anchor_2); + let limits = &vector_pixels_to_meters(pixel_limits); + let mut physics_engine = SINGLETON.lock().unwrap(); let physics_world = physics_engine.get_world(world_handle); let joint = PrismaticJointBuilder::new(UnitVector::new_normalize(vector![axis.x, axis.y])) .local_anchor1(point!(anchor_1.x, anchor_1.y)) .local_anchor2(point!(anchor_2.x, anchor_2.y)) - .limits([limits.x, limits.y]); + .limits([limits.x, limits.y]) + .contacts_enabled(!disable_collision); + + return physics_world.insert_joint(body_handle_1, body_handle_2, joint); +} + +#[no_mangle] +pub extern "C" fn joint_create_spring(world_handle : Handle, body_handle_1 : Handle, body_handle_2 : Handle, pixel_anchor_1 : &Vector, pixel_anchor_2 : &Vector, stiffness: Real, damping: Real, pixel_rest_length: Real, disable_collision: bool) -> Handle { + let anchor_1 = &vector_pixels_to_meters(pixel_anchor_1); + let anchor_2 = &vector_pixels_to_meters(pixel_anchor_2); + let rest_length = pixels_to_meters(pixel_rest_length); + + let mut physics_engine = SINGLETON.lock().unwrap(); + let physics_world = physics_engine.get_world(world_handle); + + let joint = SpringJointBuilder::new(rest_length, stiffness, damping) + .local_anchor1(point!(anchor_1.x, anchor_1.y)) + .local_anchor2(point!(anchor_2.x, anchor_2.y)) + .contacts_enabled(!disable_collision); return physics_world.insert_joint(body_handle_1, body_handle_2, joint); } +#[no_mangle] +pub extern "C" fn joint_change_sprint_params(world_handle : Handle, joint_handle: Handle , stiffness: Real, damping: Real, pixel_rest_length: Real){ + let rest_length = pixels_to_meters(pixel_rest_length); + + let mut physics_engine = SINGLETON.lock().unwrap(); + let physics_world = physics_engine.get_world(world_handle); + + let joint = physics_world.impulse_joint_set.get_mut(handle_to_joint_handle(joint_handle)); + assert!(joint.is_some()); + let mut joint = joint.unwrap().data; + joint.set_motor_position(JointAxis::X, rest_length, stiffness, damping); +} + #[no_mangle] pub extern "C" fn joint_destroy(world_handle : Handle, joint_handle : Handle) { let mut physics_engine = SINGLETON.lock().unwrap(); @@ -61,3 +105,13 @@ pub extern "C" fn joint_destroy(world_handle : Handle, joint_handle : Handle) { return physics_world.remove_joint(joint_handle); } + +#[no_mangle] +pub extern "C" fn joint_change_disable_collision(world_handle : Handle, joint_handle: Handle , disable_collision: bool){ + let mut physics_engine = SINGLETON.lock().unwrap(); + let physics_world = physics_engine.get_world(world_handle); + + let joint = physics_world.impulse_joint_set.get_mut(handle_to_joint_handle(joint_handle)); + assert!(joint.is_some()); + joint.unwrap().data.set_contacts_enabled(!disable_collision); +} \ No newline at end of file diff --git a/src/rapier2d-wrapper/src/lib.rs b/src/rapier2d-wrapper/src/lib.rs index 17c57f6e..9b99f19f 100644 --- a/src/rapier2d-wrapper/src/lib.rs +++ b/src/rapier2d-wrapper/src/lib.rs @@ -2,6 +2,7 @@ extern crate rapier2d_f64 as rapier2d; mod body; mod collider; +mod convert; mod handle; mod joint; mod physics_hooks; diff --git a/src/rapier2d-wrapper/src/physics_hooks.rs b/src/rapier2d-wrapper/src/physics_hooks.rs index 3cd0933b..4b352cb7 100644 --- a/src/rapier2d-wrapper/src/physics_hooks.rs +++ b/src/rapier2d-wrapper/src/physics_hooks.rs @@ -1,6 +1,5 @@ -use std::borrow::BorrowMut; - use rapier2d::prelude::*; +use crate::convert::*; use crate::handle::*; use crate::user_data::*; @@ -8,8 +7,8 @@ use crate::user_data::*; pub struct OneWayDirection { pub body1 : bool, pub body2 : bool, - pub body1_margin : Real, - pub body2_margin : Real, + pub pixel_body1_margin : Real, + pub pixel_body2_margin : Real, pub last_timestep: Real, } @@ -99,11 +98,13 @@ impl<'a> PhysicsHooks for PhysicsHooksCollisionFilter<'a> { if one_way_direction.body1 { let motion_len = body2.linvel().magnitude(); - let max_allowed = motion_len * Real::max(body2.linvel().normalize().dot(&allowed_local_n1), 0.0) + one_way_direction.body1_margin; + let body_margin1 = pixels_to_meters(one_way_direction.pixel_body1_margin); + let max_allowed = motion_len * Real::max(body2.linvel().normalize().dot(&allowed_local_n1), 0.0) + body_margin1; contact_is_pass_through = body2.linvel().dot(&allowed_local_n1) <= DEFAULT_EPSILON * 10.0 || dist < -max_allowed; } else if one_way_direction.body2 { let motion_len = body1.linvel().magnitude(); - let max_allowed = motion_len * Real::max(body1.linvel().normalize().dot(&allowed_local_n2), 0.0) + one_way_direction.body2_margin; + let body_margin2 = pixels_to_meters(one_way_direction.pixel_body2_margin); + let max_allowed = motion_len * Real::max(body1.linvel().normalize().dot(&allowed_local_n2), 0.0) + body_margin2; contact_is_pass_through = body1.linvel().dot(&allowed_local_n2) <= DEFAULT_EPSILON * 10.0 || dist < -max_allowed; } if contact_is_pass_through { diff --git a/src/rapier2d-wrapper/src/physics_world.rs b/src/rapier2d-wrapper/src/physics_world.rs index 3baabb24..75f45626 100644 --- a/src/rapier2d-wrapper/src/physics_world.rs +++ b/src/rapier2d-wrapper/src/physics_world.rs @@ -2,7 +2,11 @@ use rapier2d::crossbeam; use rapier2d::data::Arena; use rapier2d::prelude::*; use std::sync::Mutex; +use std::num::NonZeroUsize; use lazy_static::lazy_static; +use crate::convert::meters_to_pixels; +use crate::convert::vector_meters_to_pixels; +use crate::convert::vector_pixels_to_meters; use crate::handle::*; use crate::user_data::*; use crate::settings::*; @@ -27,27 +31,27 @@ impl ActiveBodyInfo { #[repr(C)] pub struct ContactPointInfo { - local_pos_1: Vector, - local_pos_2: Vector, - velocity_pos_1: Vector, - velocity_pos_2: Vector, + pixel_local_pos_1: Vector, + pixel_local_pos_2: Vector, + pixel_velocity_pos_1: Vector, + pixel_velocity_pos_2: Vector, normal: Vector, - distance: Real, - impulse: Real, - tangent_impulse: Real, + pixel_distance: Real, + pixel_impulse: Real, + pixel_tangent_impulse: Real, } impl ContactPointInfo { fn new() -> ContactPointInfo { ContactPointInfo { - local_pos_1: Vector { x : 0.0, y : 0.0 }, - local_pos_2: Vector { x : 0.0, y : 0.0 }, - velocity_pos_1: Vector { x : 0.0, y : 0.0 }, - velocity_pos_2: Vector { x : 0.0, y : 0.0 }, + pixel_local_pos_1: Vector { x : 0.0, y : 0.0 }, + pixel_local_pos_2: Vector { x : 0.0, y : 0.0 }, + pixel_velocity_pos_1: Vector { x : 0.0, y : 0.0 }, + pixel_velocity_pos_2: Vector { x : 0.0, y : 0.0 }, normal: Vector { x : 0.0, y : 0.0 }, - distance: 0.0, - impulse: 0.0, - tangent_impulse: 0.0, + pixel_distance: 0.0, + pixel_impulse: 0.0, + pixel_tangent_impulse: 0.0, } } } @@ -107,7 +111,7 @@ pub struct PhysicsWorld { pub query_pipeline: QueryPipeline, pub physics_pipeline : PhysicsPipeline, pub island_manager : IslandManager, - pub broad_phase : BroadPhase, + pub broad_phase : BroadPhaseMultiSap, pub narrow_phase : NarrowPhase, pub impulse_joint_set : ImpulseJointSet, pub multibody_joint_set : MultibodyJointSet, @@ -140,7 +144,7 @@ impl PhysicsWorld { query_pipeline : QueryPipeline::new(), physics_pipeline : PhysicsPipeline::new(), island_manager : IslandManager::new(), - broad_phase : BroadPhase::new(), + broad_phase : DefaultBroadPhase::new(), narrow_phase : NarrowPhase::new(), impulse_joint_set : ImpulseJointSet::new(), multibody_joint_set : MultibodyJointSet::new(), @@ -172,22 +176,19 @@ impl PhysicsWorld { let mut integration_parameters = IntegrationParameters::default(); integration_parameters.dt = settings.dt; - integration_parameters.min_ccd_dt = settings.min_ccd_dt; integration_parameters.erp = settings.erp; integration_parameters.damping_ratio = settings.damping_ratio; integration_parameters.joint_erp = settings.joint_erp; integration_parameters.joint_damping_ratio = settings.joint_damping_ratio; integration_parameters.allowed_linear_error = settings.allowed_linear_error; - integration_parameters.max_penetration_correction = settings.max_penetration_correction; integration_parameters.prediction_distance = settings.prediction_distance; - integration_parameters.max_velocity_iterations = settings.max_velocity_iterations; - integration_parameters.max_velocity_friction_iterations = settings.max_velocity_friction_iterations; - integration_parameters.max_stabilization_iterations = settings.max_stabilization_iterations; - integration_parameters.interleave_restitution_and_friction_resolution = settings.interleave_restitution_and_friction_resolution; - integration_parameters.min_island_size = settings.min_island_size; - integration_parameters.max_ccd_substeps = settings.max_ccd_substeps; - - let gravity = vector![settings.gravity.x, settings.gravity.y]; + if settings.num_solver_iterations > 0 { + integration_parameters.num_solver_iterations = NonZeroUsize::new(settings.num_solver_iterations).unwrap(); + } + integration_parameters.num_additional_friction_iterations = settings.num_additional_friction_iterations; + integration_parameters.num_internal_pgs_iterations = settings.num_internal_pgs_iterations; + let gravity_vector = vector_pixels_to_meters(&settings.pixel_gravity); + let gravity = vector![gravity_vector.x, gravity_vector.y]; let physics_hooks = PhysicsHooksCollisionFilter { world_handle : self.handle, @@ -304,19 +305,19 @@ impl PhysicsWorld { let point_velocity_2 = body2.velocity_at_point(&collider_pos_2); if swap { - contact_info.local_pos_1 = Vector { x : collider_pos_2.x, y : collider_pos_2.y }; - contact_info.local_pos_2 = Vector { x : collider_pos_1.x, y : collider_pos_1.y }; - contact_info.velocity_pos_1 = Vector { x : point_velocity_2.x, y : point_velocity_2.y }; - contact_info.velocity_pos_2 = Vector { x : point_velocity_1.x, y : point_velocity_1.y }; + contact_info.pixel_local_pos_1 = vector_meters_to_pixels(&Vector { x : collider_pos_2.x, y : collider_pos_2.y }); + contact_info.pixel_local_pos_2 = vector_meters_to_pixels(&Vector { x : collider_pos_1.x, y : collider_pos_1.y }); + contact_info.pixel_velocity_pos_1 = vector_meters_to_pixels(&Vector { x : point_velocity_2.x, y : point_velocity_2.y }); + contact_info.pixel_velocity_pos_2 = vector_meters_to_pixels(&Vector { x : point_velocity_1.x, y : point_velocity_1.y }); } else { - contact_info.local_pos_1 = Vector { x : collider_pos_1.x, y : collider_pos_1.y }; - contact_info.local_pos_2 = Vector { x : collider_pos_2.x, y : collider_pos_2.y }; - contact_info.velocity_pos_1 = Vector { x : point_velocity_1.x, y : point_velocity_1.y }; - contact_info.velocity_pos_2 = Vector { x : point_velocity_2.x, y : point_velocity_2.y }; + contact_info.pixel_local_pos_1 = vector_meters_to_pixels(&Vector { x : collider_pos_1.x, y : collider_pos_1.y }); + contact_info.pixel_local_pos_2 = vector_meters_to_pixels(&Vector { x : collider_pos_2.x, y : collider_pos_2.y }); + contact_info.pixel_velocity_pos_1 = vector_meters_to_pixels(&Vector { x : point_velocity_1.x, y : point_velocity_1.y }); + contact_info.pixel_velocity_pos_2 = vector_meters_to_pixels(&Vector { x : point_velocity_2.x, y : point_velocity_2.y }); } - contact_info.distance = contact_point.dist; - contact_info.impulse = contact_point.data.impulse; - contact_info.tangent_impulse = contact_point.data.tangent_impulse; + contact_info.pixel_distance = meters_to_pixels(contact_point.dist); + contact_info.pixel_impulse = meters_to_pixels(contact_point.data.impulse); + contact_info.pixel_tangent_impulse = meters_to_pixels(contact_point.data.tangent_impulse); send_contact_points = contact_callback(self.handle, &contact_info, &event_info); if !send_contact_points { @@ -540,4 +541,4 @@ pub extern "C" fn world_get_active_objects_count(world_handle : Handle) -> usize let mut physics_engine = SINGLETON.lock().unwrap(); let physics_world = physics_engine.get_world(world_handle); return physics_world.island_manager.active_dynamic_bodies().len(); -} +} \ No newline at end of file diff --git a/src/rapier2d-wrapper/src/query.rs b/src/rapier2d-wrapper/src/query.rs index c0d1e54f..eab77afa 100644 --- a/src/rapier2d-wrapper/src/query.rs +++ b/src/rapier2d-wrapper/src/query.rs @@ -1,8 +1,12 @@ use rapier2d::parry; use rapier2d::parry::query::NonlinearRigidMotion; -use parry::query::{DefaultQueryDispatcher}; +use parry::query::DefaultQueryDispatcher; use rapier2d::parry::query::QueryDispatcher; use rapier2d::prelude::*; +use crate::convert::meters_to_pixels; +use crate::convert::pixels_to_meters; +use crate::convert::vector_meters_to_pixels; +use crate::convert::vector_pixels_to_meters; use crate::handle::*; use crate::user_data::*; use crate::physics_world::*; @@ -12,7 +16,7 @@ use crate::shape::*; #[repr(C)] pub struct RayHitInfo { - position: Vector, + pixel_position: Vector, normal: Vector, collider: Handle, user_data: UserData, @@ -28,8 +32,8 @@ pub struct PointHitInfo { pub struct ShapeCastResult { collided: bool, toi : Real, - witness1 : Vector, - witness2 : Vector, + pixel_witness1 : Vector, + pixel_witness2 : Vector, normal1 : Vector, normal2 : Vector, collider: Handle, @@ -42,8 +46,8 @@ impl ShapeCastResult { collided : false, toi : 1.0, collider : invalid_handle(), - witness1 : Vector{ x: 0.0, y: 0.0 }, - witness2 : Vector{ x: 0.0, y: 0.0 }, + pixel_witness1 : Vector{ x: 0.0, y: 0.0 }, + pixel_witness2 : Vector{ x: 0.0, y: 0.0 }, normal1 : Vector{ x: 0.0, y: 0.0 }, normal2 : Vector{ x: 0.0, y: 0.0 }, user_data: UserData { part1: 0, part2: 0 } @@ -55,9 +59,9 @@ impl ShapeCastResult { pub struct ContactResult { collided: bool, within_margin: bool, - distance: Real, - point1 : Vector, - point2 : Vector, + pixel_distance: Real, + pixel_point1 : Vector, + pixel_point2 : Vector, normal1 : Vector, normal2 : Vector } @@ -67,9 +71,9 @@ impl ContactResult { ContactResult { collided : false, within_margin: false, - distance : 0.0, - point1 : Vector{ x: 0.0, y: 0.0 }, - point2 : Vector{ x: 0.0, y: 0.0 }, + pixel_distance : 0.0, + pixel_point1 : Vector{ x: 0.0, y: 0.0 }, + pixel_point2 : Vector{ x: 0.0, y: 0.0 }, normal1 : Vector{ x: 0.0, y: 0.0 }, normal2 : Vector{ x: 0.0, y: 0.0 } } @@ -101,7 +105,10 @@ pub extern "C" fn default_query_excluded_info() -> QueryExcludedInfo { type QueryHandleExcludedCallback = Option bool>; #[no_mangle] -pub extern "C" fn intersect_ray(world_handle : Handle, from : &Vector, dir : &Vector, length: Real, collide_with_body: bool, collide_with_area: bool, hit_from_inside: bool, hit_info : &mut RayHitInfo, handle_excluded_callback: QueryHandleExcludedCallback, handle_excluded_info: &QueryExcludedInfo) -> bool { +pub extern "C" fn intersect_ray(world_handle : Handle, pixel_from : &Vector, dir : &Vector, pixel_length: Real, collide_with_body: bool, collide_with_area: bool, hit_from_inside: bool, hit_info : &mut RayHitInfo, handle_excluded_callback: QueryHandleExcludedCallback, handle_excluded_info: &QueryExcludedInfo) -> bool { + let from = vector_pixels_to_meters(&pixel_from); + let length = pixels_to_meters(pixel_length); + let mut physics_engine = SINGLETON.lock().unwrap(); let physics_world = physics_engine.get_world(world_handle); @@ -135,10 +142,10 @@ pub extern "C" fn intersect_ray(world_handle : Handle, from : &Vector, dir : &Ve let hit_point = ray.point_at(intersection.toi); let hit_normal = intersection.normal; - hit_info.position = Vector { + hit_info.pixel_position = vector_meters_to_pixels(&Vector { x: hit_point.x, y: hit_point.y, - }; + }); hit_info.normal = Vector { x: hit_normal.x, y: hit_normal.y, @@ -155,10 +162,10 @@ pub extern "C" fn intersect_ray(world_handle : Handle, from : &Vector, dir : &Ve } #[no_mangle] -pub extern "C" fn intersect_point(world_handle : Handle, position : &Vector, collide_with_body: bool, collide_with_area: bool, hit_info_array : *mut PointHitInfo, hit_info_length : usize, handle_excluded_callback: QueryHandleExcludedCallback, handle_excluded_info: &QueryExcludedInfo) -> usize { +pub extern "C" fn intersect_point(world_handle : Handle, pixel_position : &Vector, collide_with_body: bool, collide_with_area: bool, hit_info_array : *mut PointHitInfo, hit_info_length : usize, handle_excluded_callback: QueryHandleExcludedCallback, handle_excluded_info: &QueryExcludedInfo) -> usize { let mut physics_engine = SINGLETON.lock().unwrap(); let physics_world = physics_engine.get_world(world_handle); - + let position = vector_pixels_to_meters(&pixel_position); let point = Point::new(position.x, position.y); let mut filter = QueryFilter::new(); @@ -201,7 +208,12 @@ pub extern "C" fn intersect_point(world_handle : Handle, position : &Vector, co } #[no_mangle] -pub extern "C" fn shape_collide(motion1 : &Vector, shape_info1: ShapeInfo, motion2 : &Vector, shape_info2: ShapeInfo) -> ShapeCastResult { +pub extern "C" fn shape_collide(pixel_motion1 : &Vector, shape_info1: ShapeInfo, pixel_motion2 : &Vector, shape_info2: ShapeInfo) -> ShapeCastResult { + let motion1 = vector_pixels_to_meters(&pixel_motion1); + let motion2 = vector_pixels_to_meters(&pixel_motion2); + let position1 = vector_pixels_to_meters(&shape_info1.pixel_position); + let position2 = vector_pixels_to_meters(&shape_info2.pixel_position); + let mut physics_engine = SINGLETON.lock().unwrap(); let mut shared_shape1 = physics_engine.get_shape(shape_info1.handle).clone(); @@ -215,8 +227,8 @@ pub extern "C" fn shape_collide(motion1 : &Vector, shape_info1: ShapeInfo, motio let shape_vel1 = vector![motion1.x, motion1.y]; let shape_vel2 = vector![motion2.x, motion2.y]; - let shape_transform1 = Isometry::new(vector![shape_info1.position.x, shape_info1.position.y], shape_info1.rotation); - let shape_transform2 = Isometry::new(vector![shape_info2.position.x, shape_info2.position.y], shape_info2.rotation); + let shape_transform1 = Isometry::new(vector![position1.x, position1.y], shape_info1.rotation); + let shape_transform2 = Isometry::new(vector![position2.x, position2.y], shape_info2.rotation); let shape_nonlin1 = NonlinearRigidMotion::new(shape_transform1, Point::default(), shape_vel1, 0.0); let shape_nonlin2 = NonlinearRigidMotion::new(shape_transform2, Point::default(), shape_vel2, 0.0); let mut result = ShapeCastResult::new(); @@ -226,8 +238,8 @@ pub extern "C" fn shape_collide(motion1 : &Vector, shape_info1: ShapeInfo, motio if let Some(hit) = toi_result.unwrap() { result.collided = true; result.toi = hit.toi; - result.witness1 = Vector{ x: hit.witness1.x, y: hit.witness1.y }; - result.witness2 = Vector{ x: hit.witness2.x, y: hit.witness2.y }; + result.pixel_witness1 = vector_meters_to_pixels(&Vector{ x: hit.witness1.x, y: hit.witness1.y }); + result.pixel_witness2 = vector_meters_to_pixels(&Vector{ x: hit.witness2.x, y: hit.witness2.y }); result.normal1 = Vector{ x: hit.normal1.x, y: hit.normal1.y }; result.normal2 = Vector{ x: hit.normal2.x, y: hit.normal2.y }; return result; @@ -236,7 +248,10 @@ pub extern "C" fn shape_collide(motion1 : &Vector, shape_info1: ShapeInfo, motio } #[no_mangle] -pub extern "C" fn shape_casting(world_handle : Handle, motion : &Vector, shape_info: ShapeInfo, collide_with_body: bool, collide_with_area: bool, handle_excluded_callback: QueryHandleExcludedCallback, handle_excluded_info: &QueryExcludedInfo) -> ShapeCastResult { +pub extern "C" fn shape_casting(world_handle : Handle, pixel_motion : &Vector, shape_info: ShapeInfo, collide_with_body: bool, collide_with_area: bool, handle_excluded_callback: QueryHandleExcludedCallback, handle_excluded_info: &QueryExcludedInfo) -> ShapeCastResult { + let motion = vector_pixels_to_meters(&pixel_motion); + let position = vector_pixels_to_meters(&shape_info.pixel_position); + let mut physics_engine = SINGLETON.lock().unwrap(); let mut shared_shape = physics_engine.get_shape(shape_info.handle).clone(); @@ -247,7 +262,7 @@ pub extern "C" fn shape_casting(world_handle : Handle, motion : &Vector, shape_i let physics_world = physics_engine.get_world(world_handle); let shape_vel = vector![motion.x, motion.y]; - let shape_transform = Isometry::new(vector![shape_info.position.x, shape_info.position.y], shape_info.rotation); + let shape_transform = Isometry::new(vector![position.x, position.y], shape_info.rotation); let mut filter = QueryFilter::new(); @@ -274,8 +289,8 @@ pub extern "C" fn shape_casting(world_handle : Handle, motion : &Vector, shape_i ) { result.collided = true; result.toi = hit.toi; - result.witness1 = Vector{ x: hit.witness1.x, y: hit.witness1.y }; - result.witness2 = Vector{ x: hit.witness2.x, y: hit.witness2.y }; + result.pixel_witness1 = vector_meters_to_pixels(&Vector{ x: hit.witness1.x, y: hit.witness1.y }); + result.pixel_witness2 = vector_meters_to_pixels(&Vector{ x: hit.witness2.x, y: hit.witness2.y }); result.normal1 = Vector{ x: hit.normal1.x, y: hit.normal1.y }; result.normal2 = Vector{ x: hit.normal2.x, y: hit.normal2.y }; result.collider = collider_handle_to_handle(collider_handle); @@ -287,6 +302,7 @@ pub extern "C" fn shape_casting(world_handle : Handle, motion : &Vector, shape_i #[no_mangle] pub extern "C" fn intersect_shape(world_handle : Handle, shape_info: ShapeInfo, collide_with_body: bool, collide_with_area: bool, hit_info_array : *mut PointHitInfo, hit_info_length : usize, handle_excluded_callback: QueryHandleExcludedCallback, handle_excluded_info: &QueryExcludedInfo) -> usize { + let position = vector_pixels_to_meters(&shape_info.pixel_position); let mut physics_engine = SINGLETON.lock().unwrap(); let mut shared_shape = physics_engine.get_shape(shape_info.handle).clone(); @@ -295,7 +311,7 @@ pub extern "C" fn intersect_shape(world_handle : Handle, shape_info: ShapeInfo, } let physics_world = physics_engine.get_world(world_handle); - let shape_transform = Isometry::new(vector![shape_info.position.x, shape_info.position.y], shape_info.rotation); + let shape_transform = Isometry::new(vector![position.x, position.y], shape_info.rotation); let mut filter = QueryFilter::new(); @@ -340,7 +356,10 @@ pub extern "C" fn intersect_shape(world_handle : Handle, shape_info: ShapeInfo, } #[no_mangle] -pub extern "C" fn intersect_aabb(world_handle : Handle, aabb_min : &Vector, aabb_max : &Vector, collide_with_body: bool, collide_with_area: bool, hit_info_array : *mut PointHitInfo, hit_info_length : usize, handle_excluded_callback: QueryHandleExcludedCallback, handle_excluded_info: &QueryExcludedInfo) -> usize { +pub extern "C" fn intersect_aabb(world_handle : Handle, pixel_aabb_min : &Vector, pixel_aabb_max : &Vector, collide_with_body: bool, collide_with_area: bool, hit_info_array : *mut PointHitInfo, hit_info_length : usize, handle_excluded_callback: QueryHandleExcludedCallback, handle_excluded_info: &QueryExcludedInfo) -> usize { + let aabb_min = vector_pixels_to_meters(&pixel_aabb_min); + let aabb_max = vector_pixels_to_meters(&pixel_aabb_max); + let mut physics_engine = SINGLETON.lock().unwrap(); let physics_world = physics_engine.get_world(world_handle); @@ -400,7 +419,11 @@ pub extern "C" fn intersect_aabb(world_handle : Handle, aabb_min : &Vector, aabb } #[no_mangle] -pub extern "C" fn shapes_contact(world_handle : Handle, shape_info1 : ShapeInfo, shape_info2 : ShapeInfo, margin: Real) -> ContactResult { +pub extern "C" fn shapes_contact(world_handle : Handle, shape_info1 : ShapeInfo, shape_info2 : ShapeInfo, pixel_margin: Real) -> ContactResult { + let position1 = vector_pixels_to_meters(&shape_info1.pixel_position); + let position2 = vector_pixels_to_meters(&shape_info2.pixel_position); + let margin = pixels_to_meters(pixel_margin); + let mut physics_engine = SINGLETON.lock().unwrap(); let physics_world = physics_engine.get_world(world_handle); @@ -416,8 +439,8 @@ pub extern "C" fn shapes_contact(world_handle : Handle, shape_info1 : ShapeInfo, shared_shape2 = new_shape; } - let shape_transform1 = Isometry::new(vector![shape_info1.position.x, shape_info1.position.y], shape_info1.rotation); - let shape_transform2 = Isometry::new(vector![shape_info2.position.x, shape_info2.position.y], shape_info2.rotation); + let shape_transform1 = Isometry::new(vector![position1.x, position1.y], shape_info1.rotation); + let shape_transform2 = Isometry::new(vector![position2.x, position2.y], shape_info2.rotation); let mut result = ContactResult::new(); if let Ok(Some(contact)) = parry::query::contact( @@ -425,15 +448,15 @@ pub extern "C" fn shapes_contact(world_handle : Handle, shape_info1 : ShapeInfo, ) { // the distance is negative if there is intersection // and positive if the objects are separated by distance less than margin - result.distance = contact.dist; + result.pixel_distance = meters_to_pixels(contact.dist); if contact.dist <= 0.0 { result.within_margin = false; } else { result.within_margin = true; } result.collided = true; - result.point1 = Vector{ x: contact.point1.x + prediction * contact.normal1.x, y: contact.point1.y + prediction * contact.normal1.y }; - result.point2 = Vector{ x: contact.point2.x, y: contact.point2.y }; + result.pixel_point1 = vector_meters_to_pixels(&Vector{ x: contact.point1.x + prediction * contact.normal1.x, y: contact.point1.y + prediction * contact.normal1.y }); + result.pixel_point2 = vector_meters_to_pixels(&Vector{ x: contact.point2.x, y: contact.point2.y }); result.normal1 = Vector{ x: contact.normal1.x, y: contact.normal1.y }; result.normal2 = Vector{ x: contact.normal2.x, y: contact.normal2.y }; return result; diff --git a/src/rapier2d-wrapper/src/settings.rs b/src/rapier2d-wrapper/src/settings.rs index 57827826..1467d1c7 100644 --- a/src/rapier2d-wrapper/src/settings.rs +++ b/src/rapier2d-wrapper/src/settings.rs @@ -23,17 +23,6 @@ pub extern "C" fn default_world_settings() -> WorldSettings { pub struct SimulationSettings { /// The timestep length (default: `1.0 / 60.0`) pub dt: Real, - /// Minimum timestep size when using CCD with multiple substeps (default `1.0 / 60.0 / 100.0`) - /// - /// When CCD with multiple substeps is enabled, the timestep is subdivided - /// into smaller pieces. This timestep subdivision won't generate timestep - /// lengths smaller than `min_ccd_dt`. - /// - /// Setting this to a large value will reduce the opportunity to performing - /// CCD substepping, resulting in potentially more time dropped by the - /// motion-clamping mechanism. Setting this to an very small value may lead - /// to numerical instabilities. - pub min_ccd_dt: Real, /// 0-1: multiplier for how much of the constraint violation (e.g. contact penetration) /// will be compensated for during the velocity solve. @@ -56,23 +45,13 @@ pub struct SimulationSettings { /// Amount of penetration the engine wont attempt to correct (default: `0.001m`). pub allowed_linear_error: Real, - /// Maximum amount of penetration the solver will attempt to resolve in one timestep. - pub max_penetration_correction: Real, /// The maximal distance separating two objects that will generate predictive contacts (default: `0.002`). pub prediction_distance: Real, - /// Maximum number of iterations performed to solve non-penetration and joint constraints (default: `4`). - pub max_velocity_iterations: usize, - /// Maximum number of iterations performed to solve friction constraints (default: `8`). - pub max_velocity_friction_iterations: usize, - /// Maximum number of iterations performed to remove the energy introduced by penetration corrections (default: `1`). - pub max_stabilization_iterations: usize, - /// If `false`, friction and non-penetration constraints will be solved in the same loop. Otherwise, - /// non-penetration constraints are solved first, and friction constraints are solved after (default: `true`). - pub interleave_restitution_and_friction_resolution: bool, - /// Minimum number of dynamic bodies in each active island (default: `128`). - pub min_island_size: usize, - /// Maximum number of substeps performed by the solver (default: `1`). - pub max_ccd_substeps: usize, - - pub gravity : Vector, + /// The number of solver iterations run by the constraints solver for calculating forces (default: `4`). + pub num_solver_iterations: usize, + /// Number of addition friction resolution iteration run during the last solver sub-step (default: `4`). + pub num_additional_friction_iterations: usize, + /// Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`). + pub num_internal_pgs_iterations: usize, + pub pixel_gravity : Vector, } diff --git a/src/rapier2d-wrapper/src/shape.rs b/src/rapier2d-wrapper/src/shape.rs index 4c5afbed..18ed36a7 100644 --- a/src/rapier2d-wrapper/src/shape.rs +++ b/src/rapier2d-wrapper/src/shape.rs @@ -1,13 +1,15 @@ use rapier2d::prelude::*; +use crate::convert::*; use crate::handle::*; use crate::vector::Vector; use crate::physics_world::*; -pub fn point_array_to_vec(data : &Vector, data_count : usize) -> Vec::> { +fn pixel_point_array_to_vec(pixel_data : &Vector, data_count : usize) -> Vec::> { let mut vec = Vec::>::with_capacity(data_count); unsafe { - let data_raw = std::slice::from_raw_parts(data, data_count); - for point in data_raw { + let data_raw = std::slice::from_raw_parts(pixel_data, data_count); + for pixel_point in data_raw { + let point = &vector_pixels_to_meters(pixel_point); vec.push(Point:: { coords : vector![point.x, point.y] }); } } @@ -17,57 +19,69 @@ pub fn point_array_to_vec(data : &Vector, data_count : usize) -> Vec:: Handle { +pub extern "C" fn shape_create_box(pixel_size : &Vector) -> Handle { + let size = &vector_pixels_to_meters(pixel_size); let shape = SharedShape::cuboid(0.5 * size.x, 0.5 * size.y); let mut physics_engine = SINGLETON.lock().unwrap(); return physics_engine.insert_shape(shape); } #[no_mangle] -pub extern "C" fn shape_create_halfspace(normal : &Vector) -> Handle { - let shape = SharedShape::halfspace(UnitVector::new_normalize(vector![normal.x, normal.y])); +pub extern "C" fn shape_create_halfspace(normal : &Vector, pixel_distance: Real) -> Handle { + let distance = pixels_to_meters(pixel_distance); + + let shape = SharedShape::halfspace(UnitVector::new_normalize(vector![normal.x, -normal.y])); + let shape_position = Isometry::new(vector![normal.x * distance, normal.y * distance], 0.0); + let mut shapes_vec = Vec::<(Isometry, SharedShape)>::new(); + shapes_vec.push((shape_position, shape)); + let shape_compound = SharedShape::compound(shapes_vec); let mut physics_engine = SINGLETON.lock().unwrap(); - return physics_engine.insert_shape(shape); + return physics_engine.insert_shape(shape_compound); } #[no_mangle] -pub extern "C" fn shape_create_circle(radius : Real) -> Handle { +pub extern "C" fn shape_create_circle(pixel_radius : Real) -> Handle { + let radius = pixels_to_meters(pixel_radius); let shape = SharedShape::ball(radius); let mut physics_engine = SINGLETON.lock().unwrap(); return physics_engine.insert_shape(shape); } #[no_mangle] -pub extern "C" fn shape_create_capsule(half_height : Real, radius : Real) -> Handle { - let top_circle = SharedShape::ball(radius); - let top_circle_position = Isometry::new(vector![0.0, -half_height], 0.0); - let bottom_circle = SharedShape::ball(radius); - let bottom_circle_position = Isometry::new(vector![0.0, half_height], 0.0); - let square = SharedShape::cuboid(0.5 * radius, 0.5 * (half_height - radius)); - let square_pos = Isometry::new(vector![0.0, 0.0], 0.0); - let mut shapes_vec = Vec::<(Isometry, SharedShape)>::new(); - shapes_vec.push((top_circle_position, top_circle)); - shapes_vec.push((bottom_circle_position, bottom_circle)); - shapes_vec.push((square_pos, square)); - let shape = SharedShape::compound(shapes_vec); +pub extern "C" fn shape_create_capsule(pixel_half_height : Real, pixel_radius : Real) -> Handle { + let half_height = pixels_to_meters(pixel_half_height); + let radius = pixels_to_meters(pixel_radius); + + //let top_circle = SharedShape::ball(radius); + //let top_circle_position = Isometry::new(vector![0.0, -half_height], 0.0); + //let bottom_circle = SharedShape::ball(radius); + //let bottom_circle_position = Isometry::new(vector![0.0, half_height], 0.0); + //let square = SharedShape::cuboid(0.5 * radius, 0.5 * (half_height - radius)); + //let square_pos = Isometry::default(); + //let mut shapes_vec = Vec::<(Isometry, SharedShape)>::new(); + //shapes_vec.push((top_circle_position, top_circle)); + //shapes_vec.push((bottom_circle_position, bottom_circle)); + //shapes_vec.push((square_pos, square)); + //let shape = SharedShape::compound(shapes_vec); // For now create the shape using circles and squares as the default capsule is buggy // in case of distance checking(returns invalid distances when close to the ends) // overall results in a 1.33x decrease in performance // TODO only do this in case of static objects? - //let shape = SharedShape::capsule_y(half_height, radius); + let shape = SharedShape::capsule_y(half_height, radius); let mut physics_engine = SINGLETON.lock().unwrap(); return physics_engine.insert_shape(shape); } #[no_mangle] -pub extern "C" fn shape_create_convex_polyline(points : &Vector, point_count : usize) -> Handle { - let points_vec = point_array_to_vec(points, point_count); +pub extern "C" fn shape_create_convex_polyline(pixel_points : &Vector, point_count : usize) -> Handle { + + let points_vec = pixel_point_array_to_vec(pixel_points, point_count); let shape_data = SharedShape::convex_polyline(points_vec); if shape_data.is_none() { return Handle::default(); @@ -78,8 +92,8 @@ pub extern "C" fn shape_create_convex_polyline(points : &Vector, point_count : u } #[no_mangle] -pub extern "C" fn shape_create_convave_polyline(points : &Vector, point_count : usize) -> Handle { - let points_vec = point_array_to_vec(points, point_count); +pub extern "C" fn shape_create_convave_polyline(pixel_points : &Vector, point_count : usize) -> Handle { + let points_vec = pixel_point_array_to_vec(pixel_points, point_count); let shape = SharedShape::polyline(points_vec, None); let mut physics_engine = SINGLETON.lock().unwrap(); return physics_engine.insert_shape(shape); diff --git a/src/servers/rapier_body_utils_2d.cpp b/src/servers/rapier_body_utils_2d.cpp index e231c541..faa8bd61 100644 --- a/src/servers/rapier_body_utils_2d.cpp +++ b/src/servers/rapier_body_utils_2d.cpp @@ -9,7 +9,7 @@ #define BODY_MOTION_RECOVER_RATIO 0.4 bool should_skip_collision_one_dir(rapier2d::ContactResult contact, RapierShape2D *body_shape, RapierBody2D *collision_body, int shape_index, const Transform2D &col_shape_transform, real_t p_margin, real_t last_step, Vector2 p_motion) { - real_t dist = contact.distance; + real_t dist = contact.pixel_distance; if (!contact.within_margin && body_shape->allows_one_way_collision() && collision_body->is_shape_set_as_one_way_collision(shape_index)) { real_t valid_depth = 10e20; Vector2 valid_dir = col_shape_transform.columns[1].normalized(); @@ -33,7 +33,7 @@ bool should_skip_collision_one_dir(rapier2d::ContactResult contact, RapierShape2 Vector2 motion = p_motion; real_t motion_len = motion.length(); valid_depth += motion_len * MAX(motion.normalized().dot(valid_dir), 0.0); - if ((dist < -valid_depth) || (p_motion.normalized().dot(valid_dir) < CMP_EPSILON * 10.0)) { + if ((dist < -valid_depth) || (p_motion.normalized().dot(valid_dir) < CMP_EPSILON)) { return true; } } @@ -98,8 +98,8 @@ bool RapierBodyUtils2D::body_motion_recover( if (should_skip_collision_one_dir(contact, body_shape, collision_body, shape_index, col_shape_transform, p_margin, p_space.get_last_step(), p_motion)) { continue; } - Vector2 a(contact.point1.x, contact.point1.y); - Vector2 b(contact.point2.x, contact.point2.y); + Vector2 a(contact.pixel_point1.x, contact.pixel_point1.y); + Vector2 b(contact.pixel_point2.x, contact.pixel_point2.y); recovered = true; @@ -186,7 +186,7 @@ void RapierBodyUtils2D::cast_motion(const RapierSpace2D &p_space, RapierBody2D & Transform2D const &col_shape_transform = collision_body->get_transform() * collision_body->get_shape_transform(shape_index); rapier2d::ShapeInfo col_shape_info = rapier2d::shape_info_from_body_shape(col_shape->get_rapier_shape(), col_shape_transform); // stuck logic, check if body collides in place - body_shape_info.position = { (body_shape_transform.get_origin()).x, (body_shape_transform.get_origin()).y }; + body_shape_info.pixel_position = { (body_shape_transform.get_origin()).x, (body_shape_transform.get_origin()).y }; rapier2d::ContactResult step_contact = rapier2d::shapes_contact(p_space.get_handle(), body_shape_info, col_shape_info, 0.0); if (step_contact.collided && !step_contact.within_margin) { if (body_shape->allows_one_way_collision() && collision_body->is_shape_set_as_one_way_collision(shape_index)) { @@ -209,7 +209,7 @@ void RapierBodyUtils2D::cast_motion(const RapierSpace2D &p_space, RapierBody2D & for (int k = 0; k < 8; k++) { real_t fraction = low + (hi - low) * fraction_coeff; - body_shape_info.position = rapier2d::Vector{ (body_shape_transform.get_origin() + p_motion * fraction).x, + body_shape_info.pixel_position = rapier2d::Vector{ (body_shape_transform.get_origin() + p_motion * fraction).x, (body_shape_transform.get_origin() + p_motion * fraction).y }; rapier2d::ContactResult step_contact = rapier2d::shapes_contact(p_space.get_handle(), body_shape_info, col_shape_info, 0.0); if (step_contact.collided && !step_contact.within_margin) { @@ -236,7 +236,7 @@ void RapierBodyUtils2D::cast_motion(const RapierSpace2D &p_space, RapierBody2D & } } } - body_shape_info.position = + body_shape_info.pixel_position = rapier2d::Vector{ (body_shape_transform.get_origin() + p_motion * (hi + contact_max_allowed_penetration)).x, (body_shape_transform.get_origin() + p_motion * (hi + contact_max_allowed_penetration)).y }; rapier2d::ContactResult contact = rapier2d::shapes_contact(p_space.get_handle(), body_shape_info, col_shape_info, 0.0); @@ -318,14 +318,14 @@ bool RapierBodyUtils2D::body_motion_collide(const RapierSpace2D &p_space, Rapier continue; } - Vector2 a(contact.point1.x, contact.point1.y); - Vector2 b(contact.point2.x, contact.point2.y); + Vector2 a(contact.pixel_point1.x, contact.pixel_point1.y); + Vector2 b(contact.pixel_point2.x, contact.pixel_point2.y); if (should_skip_collision_one_dir(contact, body_shape, collision_body, shape_index, col_shape_transform, p_margin, p_space.get_last_step(), p_motion)) { continue; } - if (contact.distance < min_distance) { - min_distance = contact.distance; + if (contact.pixel_distance < min_distance) { + min_distance = contact.pixel_distance; best_collision_body = collision_body; best_collision_shape_index = shape_index; best_body_shape_index = body_shape_idx; @@ -344,11 +344,11 @@ bool RapierBodyUtils2D::body_motion_collide(const RapierSpace2D &p_space, Rapier p_result->collider_shape = best_collision_shape_index; p_result->collision_local_shape = best_body_shape_index; // World position from the moving body to get the contact point - p_result->collision_point = Vector2(best_contact.point1.x, best_contact.point1.y); + p_result->collision_point = Vector2(best_contact.pixel_point1.x, best_contact.pixel_point1.y); // Normal from the collided object to get the contact normal p_result->collision_normal = Vector2(best_contact.normal2.x, best_contact.normal2.y); // compute distance without sign - p_result->collision_depth = p_margin - best_contact.distance; + p_result->collision_depth = p_margin - best_contact.pixel_distance; Vector2 local_position = p_result->collision_point - best_collision_body->get_transform().get_origin(); p_result->collider_velocity = best_collision_body->get_velocity_at_local_point(local_position); diff --git a/src/servers/rapier_physics_server_2d.cpp b/src/servers/rapier_physics_server_2d.cpp index d1bd5aaa..e7aedc51 100644 --- a/src/servers/rapier_physics_server_2d.cpp +++ b/src/servers/rapier_physics_server_2d.cpp @@ -148,8 +148,8 @@ bool RapierPhysicsServer2D::_shape_collide(const RID &p_shape_A, const Transform } (*p_result_count)++; - results_out[array_idx++] = Vector2(result.witness1.x, result.witness1.y); - results_out[array_idx++] = Vector2(result.witness2.x, result.witness2.y); + results_out[array_idx++] = Vector2(result.pixel_witness1.x, result.pixel_witness1.y); + results_out[array_idx++] = Vector2(result.pixel_witness2.x, result.pixel_witness2.y); return array_idx > 0; } diff --git a/src/servers/rapier_project_settings.cpp b/src/servers/rapier_project_settings.cpp index a99b1927..68acba9f 100644 --- a/src/servers/rapier_project_settings.cpp +++ b/src/servers/rapier_project_settings.cpp @@ -6,20 +6,15 @@ using namespace godot; constexpr char RUN_ON_SEPARATE_THREAD[] = "physics/2d/run_on_separate_thread"; constexpr char MAX_THREADS[] = "threading/worker_pool/max_threads"; -constexpr char SOLVER_MIN_CCD_DT[] = "physics/rapier_2d/solver/min_ccd_dt"; constexpr char SOLVER_ERP[] = "physics/rapier_2d/solver/erp"; constexpr char SOLVER_DAMPING_RATIO[] = "physics/rapier_2d/solver/damping_ratio"; constexpr char SOLVER_JOINT_ERP[] = "physics/rapier_2d/solver/joint_erp"; constexpr char SOLVER_JOINT_DAMPING_RATIO[] = "physics/rapier_2d/solver/joint_damping_ratio"; constexpr char SOLVER_ALLOWED_LINEAR_ERROR[] = "physics/rapier_2d/solver/allowed_linear_error"; -constexpr char SOLVER_MAX_PENETRATION_CORRECTION[] = "physics/rapier_2d/solver/max_penetration_correction"; constexpr char SOLVER_PREDICTION_DISTANCE[] = "physics/rapier_2d/solver/prediction_distance"; -constexpr char SOLVER_MAX_VELOCITY_ITERATIONS[] = "physics/rapier_2d/solver/max_velocity_iterations"; -constexpr char SOLVER_MAX_VELOCITY_FRICTION_ITERATIONS[] = "physics/rapier_2d/solver/max_velocity_friction_iterations"; -constexpr char SOLVER_MAX_STABILIZATION_ITERATIONS[] = "physics/rapier_2d/solver/max_stabilization_iterations"; -constexpr char SOLVER_INTERLEAVE_RESTITUTION_AND_FRICTION_RESOLUTION[] = "physics/rapier_2d/solver/interleave_restitution_and_friction_resolution"; -constexpr char SOLVER_MIN_ISLAND_SIZE[] = "physics/rapier_2d/solver/min_island_size"; -constexpr char SOLVER_MAX_CCD_SUBSTEPS[] = "physics/rapier_2d/solver/max_ccd_substeps"; +constexpr char SOLVER_NUM_ITERATIONS[] = "physics/rapier_2d/solver/num_iterations"; +constexpr char SOLVER_NUM_ADDITIONAL_FRICTION_ITERATIONS[] = "physics/rapier_2d/solver/num_additional_friction_iterations"; +constexpr char SOLVER_NUM_INTERNAL_PGS_ITERATIONS[] = "physics/rapier_2d/solver/num_internal_pgs_iterations"; void register_setting( const String &p_name, @@ -76,20 +71,15 @@ void register_setting_ranged( } void RapierProjectSettings::register_settings() { - register_setting_ranged(SOLVER_MIN_CCD_DT, 1.0 / 60.0 / 100.0, U"0.0000001,1,0.0000001,suffix:1/s"); - register_setting_ranged(SOLVER_ERP, 0.85, U"0.00001,1,0.00001,suffix:%"); - register_setting_ranged(SOLVER_DAMPING_RATIO, 0.35, U"0.00001,1,0.00001,suffix:%"); + register_setting_ranged(SOLVER_ERP, 0.6, U"0.00001,1,0.00001,suffix:%"); + register_setting_ranged(SOLVER_DAMPING_RATIO, 1.0, U"0.00001,1,0.00001,suffix:%"); register_setting_ranged(SOLVER_JOINT_ERP, 1.0, U"0.00001,1,0.00001,suffix:%"); - register_setting_ranged(SOLVER_JOINT_DAMPING_RATIO, 0.25, U"0.0001,1,0.00001,suffix:%"); + register_setting_ranged(SOLVER_JOINT_DAMPING_RATIO, 1.0, U"0.0001,1,0.00001,suffix:%"); register_setting_ranged(SOLVER_ALLOWED_LINEAR_ERROR, 0.001, U"0,1,0.00001,suffix:m"); - register_setting_ranged(SOLVER_MAX_PENETRATION_CORRECTION, 3.40282e+38, U"0, 3.40282e+38f,1,suffix:m"); register_setting_ranged(SOLVER_PREDICTION_DISTANCE, 0.002, U"0,1,0.00001,suffix:m"); - register_setting_ranged(SOLVER_MAX_VELOCITY_ITERATIONS, 19, U"1,16,or_greater"); - register_setting_ranged(SOLVER_MAX_VELOCITY_FRICTION_ITERATIONS, 27, U"1,16,or_greater"); - register_setting_ranged(SOLVER_MAX_STABILIZATION_ITERATIONS, 1, U"1,16,or_greater"); - register_setting_plain(SOLVER_INTERLEAVE_RESTITUTION_AND_FRICTION_RESOLUTION, true); - register_setting_plain(SOLVER_MIN_ISLAND_SIZE, 128); - register_setting_plain(SOLVER_MAX_CCD_SUBSTEPS, 1); + register_setting_ranged(SOLVER_NUM_INTERNAL_PGS_ITERATIONS, 1, U"1,4,or_greater"); + register_setting_ranged(SOLVER_NUM_ADDITIONAL_FRICTION_ITERATIONS, 4, U"1,16,or_greater"); + register_setting_ranged(SOLVER_NUM_ITERATIONS, 4, U"1,16,or_greater"); } template @@ -111,10 +101,6 @@ bool RapierProjectSettings::should_run_on_separate_thread() { int RapierProjectSettings::get_max_threads() { return get_setting(MAX_THREADS); } - -double RapierProjectSettings::get_solver_min_ccd_dt() { - return get_setting(SOLVER_MIN_CCD_DT); -} double RapierProjectSettings::get_solver_erp() { return get_setting(SOLVER_ERP); } @@ -130,27 +116,15 @@ double RapierProjectSettings::get_solver_joint_damping_ratio() { double RapierProjectSettings::get_solver_allowed_linear_error() { return get_setting(SOLVER_ALLOWED_LINEAR_ERROR); } -double RapierProjectSettings::get_solver_max_penetration_correction() { - return get_setting(SOLVER_MAX_PENETRATION_CORRECTION); -} double RapierProjectSettings::get_solver_prediction_distance() { return get_setting(SOLVER_PREDICTION_DISTANCE); } -int RapierProjectSettings::get_solver_max_velocity_iterations() { - return get_setting(SOLVER_MAX_VELOCITY_ITERATIONS); -} -int RapierProjectSettings::get_solver_max_velocity_friction_iterations() { - return get_setting(SOLVER_MAX_VELOCITY_FRICTION_ITERATIONS); -} -int RapierProjectSettings::get_solver_max_stabilization_iterations() { - return get_setting(SOLVER_MAX_STABILIZATION_ITERATIONS); -} -bool RapierProjectSettings::get_solver_interleave_restitution_and_friction_resolution() { - return get_setting(SOLVER_INTERLEAVE_RESTITUTION_AND_FRICTION_RESOLUTION); -} -int RapierProjectSettings::get_solver_min_island_size() { - return get_setting(SOLVER_MIN_ISLAND_SIZE); +int RapierProjectSettings::get_solver_num_solver_iterations() { + return get_setting(SOLVER_NUM_ITERATIONS); } -int RapierProjectSettings::get_solver_max_ccd_substeps() { - return get_setting(SOLVER_MAX_CCD_SUBSTEPS); +int RapierProjectSettings::get_solver_num_additional_friction_iterations() { + return get_setting(SOLVER_NUM_ADDITIONAL_FRICTION_ITERATIONS); } +int RapierProjectSettings::get_solver_num_internal_pgs_iterations() { + return get_setting(SOLVER_NUM_INTERNAL_PGS_ITERATIONS); +} \ No newline at end of file diff --git a/src/servers/rapier_project_settings.h b/src/servers/rapier_project_settings.h index 28dc5abb..56bcdb1f 100644 --- a/src/servers/rapier_project_settings.h +++ b/src/servers/rapier_project_settings.h @@ -8,7 +8,6 @@ class RapierProjectSettings { static bool should_run_on_separate_thread(); static int get_max_threads(); - static double get_solver_min_ccd_dt(); static double get_solver_erp(); static double get_solver_damping_ratio(); static double get_solver_joint_erp(); @@ -16,12 +15,9 @@ class RapierProjectSettings { static double get_solver_allowed_linear_error(); static double get_solver_max_penetration_correction(); static double get_solver_prediction_distance(); - static int get_solver_max_velocity_iterations(); - static int get_solver_max_velocity_friction_iterations(); - static int get_solver_max_stabilization_iterations(); - static bool get_solver_interleave_restitution_and_friction_resolution(); - static int get_solver_min_island_size(); - static int get_solver_max_ccd_substeps(); + static int get_solver_num_solver_iterations(); + static int get_solver_num_additional_friction_iterations(); + static int get_solver_num_internal_pgs_iterations(); }; #endif // RAPIER_PROJECT_SETTINGS_H diff --git a/src/shapes/rapier_concave_polygon_shape_2d.cpp b/src/shapes/rapier_concave_polygon_shape_2d.cpp index 50edd7bf..5086309a 100644 --- a/src/shapes/rapier_concave_polygon_shape_2d.cpp +++ b/src/shapes/rapier_concave_polygon_shape_2d.cpp @@ -3,11 +3,13 @@ rapier2d::Handle RapierConcavePolygonShape2D::create_rapier_shape() const { int point_count = points.size(); ERR_FAIL_COND_V(point_count < 3, rapier2d::invalid_handle()); - rapier2d::Vector *rapier_points = (rapier2d::Vector *)alloca(point_count * sizeof(rapier2d::Vector)); + rapier2d::Vector *rapier_points = (rapier2d::Vector *)alloca((point_count + 1) * sizeof(rapier2d::Vector)); for (int i = 0; i < point_count; i++) { rapier_points[i] = rapier2d::Vector{ (points[i].x), (points[i].y) }; } - return rapier2d::shape_create_convave_polyline(rapier_points, point_count); + // In order to close the polyline shape + rapier_points[point_count] = rapier_points[0]; + return rapier2d::shape_create_convave_polyline(rapier_points, point_count + 1); } void RapierConcavePolygonShape2D::set_data(const Variant &p_data) { diff --git a/src/shapes/rapier_separation_ray_shape_2d.h b/src/shapes/rapier_separation_ray_shape_2d.h index bf602044..8a876916 100644 --- a/src/shapes/rapier_separation_ray_shape_2d.h +++ b/src/shapes/rapier_separation_ray_shape_2d.h @@ -13,8 +13,6 @@ class RapierSeparationRayShape2D : public RapierSegmentShape2D { public: virtual PhysicsServer2D::ShapeType get_type() const override { return PhysicsServer2D::SHAPE_SEPARATION_RAY; } - //virtual void apply_rapier_transform(rapier2d::Vector &position, real_t &angle) const override; - _FORCE_INLINE_ bool get_slide_on_slope() const { return slide_on_slope; } virtual bool allows_one_way_collision() const override { return false; } diff --git a/src/shapes/rapier_shape_2d.h b/src/shapes/rapier_shape_2d.h index d0a6aca3..54f1ea5b 100644 --- a/src/shapes/rapier_shape_2d.h +++ b/src/shapes/rapier_shape_2d.h @@ -40,8 +40,6 @@ class RapierShape2D { virtual PhysicsServer2D::ShapeType get_type() const = 0; - virtual void apply_rapier_transform(rapier2d::Vector &position, real_t &angle) const {} - virtual bool allows_one_way_collision() const { return true; } rapier2d::Handle get_rapier_shape(); diff --git a/src/shapes/rapier_world_boundary_shape_2d.cpp b/src/shapes/rapier_world_boundary_shape_2d.cpp index f1b35706..1e1d4383 100644 --- a/src/shapes/rapier_world_boundary_shape_2d.cpp +++ b/src/shapes/rapier_world_boundary_shape_2d.cpp @@ -1,13 +1,8 @@ #include "rapier_world_boundary_shape_2d.h" rapier2d::Handle RapierWorldBoundaryShape2D::create_rapier_shape() const { - rapier2d::Vector v = { normal.x, normal.y }; - return rapier2d::shape_create_halfspace(&v); -} - -void RapierWorldBoundaryShape2D::apply_rapier_transform(rapier2d::Vector &position, real_t &angle) const { - position.x += normal.x * d; - position.y += normal.y * d; + rapier2d::Vector v = { normal.x, -normal.y }; + return rapier2d::shape_create_halfspace(&v, -d); } void RapierWorldBoundaryShape2D::set_data(const Variant &p_data) { diff --git a/src/shapes/rapier_world_boundary_shape_2d.h b/src/shapes/rapier_world_boundary_shape_2d.h index 4441ae07..b7fd54e4 100644 --- a/src/shapes/rapier_world_boundary_shape_2d.h +++ b/src/shapes/rapier_world_boundary_shape_2d.h @@ -13,8 +13,6 @@ class RapierWorldBoundaryShape2D : public RapierShape2D { public: virtual PhysicsServer2D::ShapeType get_type() const override { return PhysicsServer2D::SHAPE_WORLD_BOUNDARY; } - virtual void apply_rapier_transform(rapier2d::Vector &position, real_t &angle) const override; - virtual void set_data(const Variant &p_data) override; virtual Variant get_data() const override; diff --git a/src/spaces/rapier_direct_space_state_2d.cpp b/src/spaces/rapier_direct_space_state_2d.cpp index c4293618..81dd3759 100644 --- a/src/spaces/rapier_direct_space_state_2d.cpp +++ b/src/spaces/rapier_direct_space_state_2d.cpp @@ -67,7 +67,7 @@ bool RapierDirectSpaceState2D::_intersect_ray(const Vector2 &from, const Vector2 &query_excluded_info); if (collide) { - r_result->position = Vector2(hit_info.position.x, hit_info.position.y); + r_result->position = Vector2(hit_info.pixel_position.x, hit_info.pixel_position.y); r_result->normal = Vector2(hit_info.normal.x, hit_info.normal.y); ERR_FAIL_COND_V(!rapier2d::is_user_data_valid(hit_info.user_data), false); @@ -131,8 +131,8 @@ bool RapierDirectSpaceState2D::_collide_shape(const RID &shape_rid, const Transf (*result_count)++; query_excluded_info.query_exclude[query_excluded_info.query_exclude_size++] = result.collider; - results_out[array_idx++] = Vector2(result.witness1.x, result.witness1.y); - results_out[array_idx++] = Vector2(result.witness2.x, result.witness2.y); + results_out[array_idx++] = Vector2(result.pixel_witness1.x, result.pixel_witness1.y); + results_out[array_idx++] = Vector2(result.pixel_witness2.x, result.pixel_witness2.y); cpt++; } while (cpt < max_results); diff --git a/src/spaces/rapier_space_2d.cpp b/src/spaces/rapier_space_2d.cpp index ccd4372f..abac92c2 100644 --- a/src/spaces/rapier_space_2d.cpp +++ b/src/spaces/rapier_space_2d.cpp @@ -138,9 +138,9 @@ rapier2d::OneWayDirection RapierSpace2D::collision_modify_contacts_callback(rapi ERR_FAIL_COND_V(collision_object_1->is_shape_disabled(shape1), result); ERR_FAIL_COND_V(collision_object_2->is_shape_disabled(shape2), result); result.body1 = collision_object_1->is_shape_set_as_one_way_collision(shape1); - result.body1_margin = collision_object_1->get_shape_one_way_collision_margin(shape1); + result.pixel_body1_margin = collision_object_1->get_shape_one_way_collision_margin(shape1); result.body2 = collision_object_2->is_shape_set_as_one_way_collision(shape2); - result.body2_margin = collision_object_2->get_shape_one_way_collision_margin(shape2); + result.pixel_body2_margin = collision_object_2->get_shape_one_way_collision_margin(shape2); if (collision_object_1->get_type() == RapierCollisionObject2D::TYPE_BODY && collision_object_2->get_type() == RapierCollisionObject2D::TYPE_BODY) { RapierBody2D *body1 = static_cast(collision_object_1); RapierBody2D *body2 = static_cast(collision_object_2); @@ -216,7 +216,7 @@ void RapierSpace2D::collision_event_callback(rapier2d::Handle world_handle, cons if (event_info->is_sensor) { if (!instanceId1.is_valid()) { - ERR_FAIL_COND_MSG(pObject2, "Should be able to get info about a removed object if the other one is still valid."); + ERR_FAIL_COND_MSG(pObject1, "Should be able to get info about a removed object if the other one is still valid."); return; } if (!instanceId2.is_valid()) { @@ -235,36 +235,32 @@ void RapierSpace2D::collision_event_callback(rapier2d::Handle world_handle, cons } RapierArea2D *pArea = static_cast(pObject1); - uint32_t area_shape = shape1; - uint32_t other_shape = shape2; - RID other_rid = rid2; - ObjectID other_instance_id = instanceId2; if (type2 == RapierCollisionObject2D::TYPE_AREA) { RapierArea2D *pArea2 = static_cast(pObject2); if (event_info->is_started) { ERR_FAIL_COND(!pArea); ERR_FAIL_COND(!pArea2); - pArea->on_area_enter(collider_handle2, pArea2, other_shape, other_rid, other_instance_id, collider_handle1, area_shape); - pArea2->on_area_enter(collider_handle1, pArea, area_shape, other_rid, other_instance_id, collider_handle2, other_shape); + pArea->on_area_enter(collider_handle2, pArea2, shape2, rid2, instanceId2, collider_handle1, shape1); + pArea2->on_area_enter(collider_handle1, pArea, shape1, rid1, instanceId1, collider_handle2, shape2); } else { if (pArea) { - pArea->on_area_exit(collider_handle2, pArea2, other_shape, other_rid, other_instance_id, collider_handle1, area_shape); + pArea->on_area_exit(collider_handle2, pArea2, shape2, rid2, instanceId2, collider_handle1, shape1); } else { // Try to retrieve area if not destroyed yet pArea = space->get_area_from_rid(rid1); if (pArea) { // Use invalid area case to keep counters consistent for already removed collider - pArea->on_area_exit(collider_handle2, nullptr, other_shape, other_rid, other_instance_id, collider_handle1, area_shape); + pArea->on_area_exit(collider_handle2, nullptr, shape2, rid2, instanceId2, collider_handle1, shape1); } } if (pArea2) { - pArea2->on_area_exit(collider_handle1, pArea, area_shape, other_rid, other_instance_id, collider_handle2, other_shape); + pArea2->on_area_exit(collider_handle1, pArea, shape1, rid1, instanceId1, collider_handle2, shape2); } else { // Try to retrieve area if not destroyed yet pArea2 = space->get_area_from_rid(rid2); if (pArea2) { // Use invalid area case to keep counters consistent for already removed collider - pArea2->on_area_exit(collider_handle1, nullptr, area_shape, other_rid, other_instance_id, collider_handle2, other_shape); + pArea2->on_area_exit(collider_handle1, nullptr, shape1, rid1, instanceId1, collider_handle2, shape2); } } } @@ -272,15 +268,15 @@ void RapierSpace2D::collision_event_callback(rapier2d::Handle world_handle, cons RapierBody2D *pBody = static_cast(pObject2); if (event_info->is_started) { ERR_FAIL_COND(!pArea); - pArea->on_body_enter(collider_handle2, pBody, other_shape, other_rid, other_instance_id, collider_handle1, area_shape); + pArea->on_body_enter(collider_handle2, pBody, shape2, rid2, instanceId2, collider_handle1, shape1); } else if (pArea) { - pArea->on_body_exit(collider_handle2, pBody, other_shape, other_rid, other_instance_id, collider_handle1, area_shape); + pArea->on_body_exit(collider_handle2, pBody, shape2, rid2, instanceId2, collider_handle1, shape1); } else { // Try to retrieve area if not destroyed yet pArea = space->get_area_from_rid(rid1); if (pArea) { // Use invalid body case to keep counters consistent for already removed collider - pArea->on_body_exit(collider_handle2, nullptr, other_shape, other_rid, other_instance_id, collider_handle1, area_shape, false); + pArea->on_body_exit(collider_handle2, nullptr, shape2, rid2, instanceId2, collider_handle1, shape1, false); } } } @@ -334,8 +330,8 @@ bool RapierSpace2D::contact_point_callback(rapier2d::Handle world_handle, const ERR_FAIL_COND_V(!space, false); ERR_FAIL_COND_V(space->get_handle().id != world_handle.id, false); - Vector2 pos1(contact_info->local_pos_1.x, contact_info->local_pos_1.y); - Vector2 pos2(contact_info->local_pos_2.x, contact_info->local_pos_2.y); + Vector2 pos1(contact_info->pixel_local_pos_1.x, contact_info->pixel_local_pos_1.y); + Vector2 pos2(contact_info->pixel_local_pos_2.x, contact_info->pixel_local_pos_2.y); bool keep_sending_contacts = false; @@ -354,7 +350,6 @@ bool RapierSpace2D::contact_point_callback(rapier2d::Handle world_handle, const } ERR_FAIL_COND_V(!pObject1, false); ERR_FAIL_COND_V(pObject1->get_type() != RapierCollisionObject2D::TYPE_BODY, false); - ERR_FAIL_COND_V(!pObject1, false); RapierBody2D *body1 = static_cast(pObject1); // body and shape 2 uint32_t shape2 = 0; @@ -364,24 +359,23 @@ bool RapierSpace2D::contact_point_callback(rapier2d::Handle world_handle, const } ERR_FAIL_COND_V(!pObject2, false); ERR_FAIL_COND_V(pObject2->get_type() != RapierCollisionObject2D::TYPE_BODY, false); - ERR_FAIL_COND_V(!pObject2, false); RapierBody2D *body2 = static_cast(pObject2); - real_t depth = MAX(0.0, -contact_info->distance); // negative distance means penetration + real_t depth = MAX(0.0, -contact_info->pixel_distance); // negative distance means penetration Vector2 normal(contact_info->normal.x, contact_info->normal.y); Vector2 tangent = normal.orthogonal(); - Vector2 impulse = contact_info->impulse * normal + contact_info->tangent_impulse * tangent; + Vector2 impulse = contact_info->pixel_impulse * normal + contact_info->pixel_tangent_impulse * tangent; if (body1->can_report_contacts()) { keep_sending_contacts = true; - Vector2 vel_pos2(contact_info->velocity_pos_2.x, contact_info->velocity_pos_2.y); + Vector2 vel_pos2(contact_info->pixel_velocity_pos_2.x, contact_info->pixel_velocity_pos_2.y); body1->add_contact(pos1, -normal, depth, (int)shape1, pos2, (int)shape2, body2->get_instance_id(), body2->get_rid(), vel_pos2, impulse); } if (body2->can_report_contacts()) { keep_sending_contacts = true; - Vector2 vel_pos1(contact_info->velocity_pos_1.x, contact_info->velocity_pos_1.y); + Vector2 vel_pos1(contact_info->pixel_velocity_pos_1.x, contact_info->pixel_velocity_pos_1.y); body2->add_contact(pos2, normal, depth, (int)shape2, pos1, (int)shape1, body1->get_instance_id(), body1->get_rid(), vel_pos1, impulse); } @@ -390,6 +384,11 @@ bool RapierSpace2D::contact_point_callback(rapier2d::Handle world_handle, const void RapierSpace2D::step(real_t p_step) { last_step = p_step; + for (SelfList *body_iterator = active_list.first(); body_iterator;) { + RapierBody2D *body = body_iterator->self(); + body_iterator = body_iterator->next(); + body->reset_contact_count(); + } contact_debug_count = 0; ProjectSettings *project_settings = ProjectSettings::get_singleton(); @@ -426,22 +425,17 @@ void RapierSpace2D::step(real_t p_step) { rapier2d::SimulationSettings settings; settings.dt = p_step; - settings.gravity.x = default_gravity_dir.x * default_gravity_value; - settings.gravity.y = default_gravity_dir.y * default_gravity_value; + settings.pixel_gravity.x = default_gravity_dir.x * default_gravity_value; + settings.pixel_gravity.y = default_gravity_dir.y * default_gravity_value; settings.allowed_linear_error = RapierProjectSettings::get_solver_allowed_linear_error(); settings.damping_ratio = RapierProjectSettings::get_solver_damping_ratio(); settings.erp = RapierProjectSettings::get_solver_erp(); - settings.interleave_restitution_and_friction_resolution = RapierProjectSettings::get_solver_interleave_restitution_and_friction_resolution(); settings.joint_damping_ratio = RapierProjectSettings::get_solver_joint_damping_ratio(); settings.joint_erp = RapierProjectSettings::get_solver_joint_erp(); - settings.max_ccd_substeps = RapierProjectSettings::get_solver_max_ccd_substeps(); - settings.max_penetration_correction = RapierProjectSettings::get_solver_max_penetration_correction(); - settings.max_stabilization_iterations = RapierProjectSettings::get_solver_max_stabilization_iterations(); - settings.max_velocity_friction_iterations = RapierProjectSettings::get_solver_max_velocity_friction_iterations(); - settings.max_velocity_iterations = RapierProjectSettings::get_solver_max_velocity_iterations(); - settings.min_ccd_dt = RapierProjectSettings::get_solver_min_ccd_dt(); - settings.min_island_size = RapierProjectSettings::get_solver_min_island_size(); settings.prediction_distance = RapierProjectSettings::get_solver_prediction_distance(); + settings.num_additional_friction_iterations = RapierProjectSettings::get_solver_num_additional_friction_iterations(); + settings.num_internal_pgs_iterations = RapierProjectSettings::get_solver_num_internal_pgs_iterations(); + settings.num_solver_iterations = RapierProjectSettings::get_solver_num_solver_iterations(); ERR_FAIL_COND(!is_handle_valid(handle)); rapier2d::world_step(handle, &settings);