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Remove Jolt Physics project setting "Areas Detect Static Bodies" #105746

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Remove Jolt Physics project setting "Areas Detect Static Bodies" #105746

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6 changes: 0 additions & 6 deletions doc/classes/ProjectSettings.xml
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Expand Up @@ -2620,12 +2620,6 @@
<member name="physics/jolt_physics_3d/simulation/allow_sleep" type="bool" setter="" getter="" default="true">
If [code]true[/code], [RigidBody3D] nodes are allowed to go to sleep if their velocity is below the threshold defined in [member physics/jolt_physics_3d/simulation/sleep_velocity_threshold] for the duration set in [member physics/jolt_physics_3d/simulation/sleep_time_threshold]. This can improve physics simulation performance when there are non-moving [RigidBody3D] nodes, at the cost of some nodes possibly failing to wake up in certain scenarios. Consider disabling this temporarily to troubleshoot [RigidBody3D] nodes not moving when they should.
</member>
<member name="physics/jolt_physics_3d/simulation/areas_detect_static_bodies" type="bool" setter="" getter="" default="false">
If [code]true[/code], [Area3D] nodes are able to detect overlaps with [StaticBody3D] nodes.
[b]Note:[/b] Enabling this setting can come at a heavy CPU and memory cost if you allow many/large [Area3D] to overlap with complex static geometry, such as [ConcavePolygonShape3D] or [HeightMapShape3D]. It is strongly recommended that you set up your collision layers and masks in such a way that only a few small [Area3D] nodes can detect [StaticBody3D] nodes.
[b]Note:[/b] This also applies to overlaps with a [RigidBody3D] frozen with [constant RigidBody3D.FREEZE_MODE_STATIC].
[b]Note:[/b] This is not needed to detect overlaps with [AnimatableBody3D], as it is a kinematic body, despite inheriting from [StaticBody3D].
</member>
<member name="physics/jolt_physics_3d/simulation/baumgarte_stabilization_factor" type="float" setter="" getter="" default="0.2">
How much of the position error of a [RigidBody3D] to fix during a physics step, where [code]0.0[/code] is none and [code]1.0[/code] is the full amount. This affects things like how quickly bodies depenetrate.
[b]Note:[/b] Setting this value too high can make [RigidBody3D] nodes unstable.
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2 changes: 0 additions & 2 deletions modules/jolt_physics/jolt_project_settings.cpp
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Expand Up @@ -36,7 +36,6 @@ void JoltProjectSettings::register_settings() {
GLOBAL_DEF(PropertyInfo(Variant::INT, "physics/jolt_physics_3d/simulation/velocity_steps", PROPERTY_HINT_RANGE, U"2,16,or_greater"), 10);
GLOBAL_DEF(PropertyInfo(Variant::INT, "physics/jolt_physics_3d/simulation/position_steps", PROPERTY_HINT_RANGE, U"1,16,or_greater"), 2);
GLOBAL_DEF(PropertyInfo(Variant::BOOL, "physics/jolt_physics_3d/simulation/use_enhanced_internal_edge_removal"), true);
GLOBAL_DEF(PropertyInfo(Variant::BOOL, "physics/jolt_physics_3d/simulation/areas_detect_static_bodies"), false);
GLOBAL_DEF(PropertyInfo(Variant::BOOL, "physics/jolt_physics_3d/simulation/generate_all_kinematic_contacts"), false);
GLOBAL_DEF(PropertyInfo(Variant::FLOAT, "physics/jolt_physics_3d/simulation/penetration_slop", PROPERTY_HINT_RANGE, U"0,1,0.00001,or_greater,suffix:m"), 0.02f);
GLOBAL_DEF(PropertyInfo(Variant::FLOAT, "physics/jolt_physics_3d/simulation/speculative_contact_distance", PROPERTY_HINT_RANGE, U"0,1,0.00001,or_greater,suffix:m"), 0.02f);
Expand Down Expand Up @@ -81,7 +80,6 @@ void JoltProjectSettings::read_settings() {
simulation_velocity_steps = GLOBAL_GET("physics/jolt_physics_3d/simulation/velocity_steps");
simulation_position_steps = GLOBAL_GET("physics/jolt_physics_3d/simulation/position_steps");
use_enhanced_internal_edge_removal_for_bodies = GLOBAL_GET("physics/jolt_physics_3d/simulation/use_enhanced_internal_edge_removal");
areas_detect_static_bodies = GLOBAL_GET("physics/jolt_physics_3d/simulation/areas_detect_static_bodies");
generate_all_kinematic_contacts = GLOBAL_GET("physics/jolt_physics_3d/simulation/generate_all_kinematic_contacts");
penetration_slop = GLOBAL_GET("physics/jolt_physics_3d/simulation/penetration_slop");
speculative_contact_distance = GLOBAL_GET("physics/jolt_physics_3d/simulation/speculative_contact_distance");
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1 change: 0 additions & 1 deletion modules/jolt_physics/jolt_project_settings.h
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Expand Up @@ -42,7 +42,6 @@ class JoltProjectSettings {
inline static int simulation_velocity_steps;
inline static int simulation_position_steps;
inline static bool use_enhanced_internal_edge_removal_for_bodies;
inline static bool areas_detect_static_bodies;
inline static bool generate_all_kinematic_contacts;
inline static float penetration_slop;
inline static float speculative_contact_distance;
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5 changes: 1 addition & 4 deletions modules/jolt_physics/objects/jolt_area_3d.cpp
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Expand Up @@ -72,15 +72,12 @@ void JoltArea3D::_add_to_space() {
jolt_settings->mCollisionGroup = JPH::CollisionGroup(nullptr, group_id, sub_group_id);
jolt_settings->mMotionType = _get_motion_type();
jolt_settings->mIsSensor = true;
jolt_settings->mCollideKinematicVsNonDynamic = true;
jolt_settings->mUseManifoldReduction = false;
jolt_settings->mOverrideMassProperties = JPH::EOverrideMassProperties::MassAndInertiaProvided;
jolt_settings->mMassPropertiesOverride.mMass = 1.0f;
jolt_settings->mMassPropertiesOverride.mInertia = JPH::Mat44::sIdentity();

if (JoltProjectSettings::areas_detect_static_bodies) {
jolt_settings->mCollideKinematicVsNonDynamic = true;
}

jolt_settings->SetShape(jolt_shape);

JPH::Body *new_jolt_body = space->add_rigid_body(*this, *jolt_settings, _should_sleep());
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19 changes: 8 additions & 11 deletions modules/jolt_physics/spaces/jolt_layers.cpp
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Expand Up @@ -52,28 +52,25 @@ class JoltBroadPhaseMatrix {
using namespace JoltBroadPhaseLayer;

allow_collision(BODY_STATIC, BODY_DYNAMIC);
allow_collision(BODY_STATIC, AREA_DETECTABLE);
allow_collision(BODY_STATIC, AREA_UNDETECTABLE);
allow_collision(BODY_STATIC_BIG, BODY_DYNAMIC);
allow_collision(BODY_STATIC_BIG, AREA_DETECTABLE);
allow_collision(BODY_STATIC_BIG, AREA_UNDETECTABLE);
allow_collision(BODY_DYNAMIC, BODY_STATIC);
allow_collision(BODY_DYNAMIC, BODY_STATIC_BIG);
allow_collision(BODY_DYNAMIC, BODY_DYNAMIC);
allow_collision(BODY_DYNAMIC, AREA_DETECTABLE);
allow_collision(BODY_DYNAMIC, AREA_UNDETECTABLE);
allow_collision(AREA_DETECTABLE, BODY_DYNAMIC);
allow_collision(AREA_DETECTABLE, BODY_STATIC);
allow_collision(AREA_DETECTABLE, BODY_STATIC_BIG);
allow_collision(AREA_DETECTABLE, AREA_DETECTABLE);
allow_collision(AREA_DETECTABLE, AREA_UNDETECTABLE);
allow_collision(AREA_UNDETECTABLE, BODY_DYNAMIC);
allow_collision(AREA_UNDETECTABLE, BODY_STATIC);
allow_collision(AREA_UNDETECTABLE, BODY_STATIC_BIG);
allow_collision(AREA_UNDETECTABLE, AREA_DETECTABLE);

if (JoltProjectSettings::areas_detect_static_bodies) {
allow_collision(BODY_STATIC, AREA_DETECTABLE);
allow_collision(BODY_STATIC, AREA_UNDETECTABLE);
allow_collision(BODY_STATIC_BIG, AREA_DETECTABLE);
allow_collision(BODY_STATIC_BIG, AREA_UNDETECTABLE);
allow_collision(AREA_DETECTABLE, BODY_STATIC);
allow_collision(AREA_DETECTABLE, BODY_STATIC_BIG);
allow_collision(AREA_UNDETECTABLE, BODY_STATIC);
allow_collision(AREA_UNDETECTABLE, BODY_STATIC_BIG);
}
}

void allow_collision(UnderlyingType p_layer1, UnderlyingType p_layer2) { masks[p_layer1] |= uint8_t(1U << p_layer2); }
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14 changes: 14 additions & 0 deletions modules/jolt_physics/spaces/jolt_space_3d.cpp
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Expand Up @@ -48,6 +48,8 @@
#include "core/string/print_string.h"
#include "core/variant/variant_utility.h"

#include "Jolt/Physics/Collision/CollideShapeVsShapePerLeaf.h"
#include "Jolt/Physics/Collision/CollisionCollectorImpl.h"
#include "Jolt/Physics/PhysicsScene.h"

namespace {
Expand Down Expand Up @@ -121,6 +123,18 @@ JoltSpace3D::JoltSpace3D(JPH::JobSystem *p_job_system) :
physics_system->SetContactListener(contact_listener);
physics_system->SetSoftBodyContactListener(contact_listener);

physics_system->SetSimCollideBodyVsBody([](const JPH::Body &p_body1, const JPH::Body &p_body2, JPH::Mat44Arg p_transform_com1, JPH::Mat44Arg p_transform_com2, JPH::CollideShapeSettings &p_collide_shape_settings, JPH::CollideShapeCollector &p_collector, const JPH::ShapeFilter &p_shape_filter) {
if (p_body1.IsSensor() || p_body2.IsSensor()) {
JPH::CollideShapeSettings new_collide_shape_settings = p_collide_shape_settings;
// Since we're breaking the sensor down into leaf shapes we'll end up stripping away our `JoltCustomDoubleSidedShape` decorator shape and thus any back-face collision, so we simply force-enable it like this rather than going through the trouble of reapplying the decorator.
new_collide_shape_settings.mBackFaceMode = JPH::EBackFaceMode::CollideWithBackFaces;
JPH::SubShapeIDCreator part1, part2;
JPH::CollideShapeVsShapePerLeaf<JPH::AnyHitCollisionCollector<JPH::CollideShapeCollector>>(p_body1.GetShape(), p_body2.GetShape(), JPH::Vec3::sOne(), JPH::Vec3::sOne(), p_transform_com1, p_transform_com2, part1, part2, new_collide_shape_settings, p_collector, p_shape_filter);
} else {
JPH::PhysicsSystem::sDefaultSimCollideBodyVsBody(p_body1, p_body2, p_transform_com1, p_transform_com2, p_collide_shape_settings, p_collector, p_shape_filter);
}
});

physics_system->SetCombineFriction([](const JPH::Body &p_body1, const JPH::SubShapeID &p_sub_shape_id1, const JPH::Body &p_body2, const JPH::SubShapeID &p_sub_shape_id2) {
return Math::abs(MIN(p_body1.GetFriction(), p_body2.GetFriction()));
});
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