update to latest rapier version, 0.18. Add spring joint, fix disable collision of joints, polygon issue and world boundary, wrong area callback

.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:

README.md

@@ -3,17 +3,17 @@
 </div>
 
 <p align="center">
-	<a href="https://github.com/appsinacup/godot-rapier2d/actions/workflows/runner.yml">
-        <img src="https://github.com/appsinacup/godot-rapier2d/actions/workflows/runner.yml/badge.svg?branch=main"
+	<a href="https://github.com/appsinacup/godot-rapier-2d/actions/workflows/runner.yml">
+        <img src="https://github.com/appsinacup/godot-rapier-2d/actions/workflows/runner.yml/badge.svg?branch=main"
             alt="Godot Rapier2D Build"></a>
-    <a href="https://github.com/dimforge/rapier/releases/tag/v0.17.2" alt="Rapier2D Version">
-        <img src="https://img.shields.io/badge/Rapier2D-v0.17.2-%23478cbf?logoColor=white" /></a>
+    <a href="https://github.com/dimforge/rapier/releases/tag/v0.18.0" alt="Rapier2D Version">
+        <img src="https://img.shields.io/badge/Rapier2D-v0.18.0-%23478cbf?logoColor=white" /></a>
     <a href="https://github.com/godotengine/godot-cpp" alt="Godot Version">
         <img src="https://img.shields.io/badge/Godot-v4.2-%23478cbf?logo=godot-engine&logoColor=white" /></a>
-    <a href="https://github.com/appsinacup/godot-rapier2d/graphs/contributors" alt="Contributors">
-        <img src="https://img.shields.io/github/contributors/appsinacup/godot-rapier2d" /></a>
-    <a href="https://github.com/appsinacup/godot-rapier2d/pulse" alt="Activity">
-        <img src="https://img.shields.io/github/commit-activity/m/appsinacup/godot-rapier2d" /></a>
+    <a href="https://github.com/appsinacup/godot-rapier-2d/graphs/contributors" alt="Contributors">
+        <img src="https://img.shields.io/github/contributors/appsinacup/godot-rapier-2d" /></a>
+    <a href="https://github.com/appsinacup/godot-rapier-2d/pulse" alt="Activity">
+        <img src="https://img.shields.io/github/commit-activity/m/appsinacup/godot-rapier-2d" /></a>
     <a href="https://discord.gg/56dMud8HYn">
         <img src="https://img.shields.io/discord/1138836561102897172?logo=discord"
             alt="Chat on Discord"></a>
@@ -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
 

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
 

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;
 				}
 

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);

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));
 }

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);

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));

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; }

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));
 }

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"
 
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