Add missing delete points method (#79)

src/fluids/fluid_2d.cpp

@@ -215,6 +215,7 @@ void Fluid2D::_bind_methods() {
 
 	ClassDB::bind_method(D_METHOD("set_debug_draw", "debug_draw"), &Fluid2D::set_debug_draw);
 	ClassDB::bind_method(D_METHOD("get_debug_draw"), &Fluid2D::get_debug_draw);
+	ClassDB::bind_method(D_METHOD("delete_points", "indices"), &Fluid2D::delete_points);
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_draw"), "set_debug_draw", "get_debug_draw");
 }
 

src/rapier2d-wrapper/Cargo.toml

@@ -20,13 +20,15 @@ serde-serialize = ["rapier2d/serde-serialize", "rapier2d-f64/serde-serialize"]
 parallel = ["rapier2d/parallel", "rapier2d-f64/parallel"]
 
 [dependencies]
-rapier2d = {git = "https://github.com/dimforge/rapier", branch = "master"}
-rapier2d-f64 = {git = "https://github.com/dimforge/rapier", branch = "master"}
+rapier2d = {git = "https://github.com/dimforge/rapier", branch = "stability-improvements"}
+rapier2d-f64 = {git = "https://github.com/dimforge/rapier", branch = "stability-improvements"}
 salva2d = { git = "https://github.com/dimforge/salva", branch = "master", features = ["rapier"] }
 
 [patch.crates-io]
-rapier2d = {git = "https://github.com/dimforge/rapier", branch = "master"}
-rapier2d-f64 = {git = "https://github.com/dimforge/rapier", branch = "master"}
+rapier2d = {git = "https://github.com/dimforge/rapier", branch = "stability-improvements"}
+rapier2d-f64 = {git = "https://github.com/dimforge/rapier", branch = "stability-improvements"}
+parry2d = {git = "https://github.com/dimforge/parry", branch = "internal-edges-rework"}
+parry2d-f64 = {git = "https://github.com/dimforge/parry", branch = "internal-edges-rework"}
 
 [profile.release]
 codegen-units = 1

src/rapier2d-wrapper/includes/rapier2d_wrapper.h

@@ -11,16 +11,6 @@ enum class BodyType {
 	Static,
 };
 
-#if !defined(DEFINE_SPIN_NO_STD)
-template <typename T = void>
-struct Lazy;
-#endif
-
-#if defined(DEFINE_SPIN_NO_STD)
-template <typename T = void>
-struct Lazy;
-#endif
-
 /// A feature id where the feature type is packed into the same value as the feature index.
 struct PackedFeatureId;
 
@@ -92,10 +82,6 @@ struct QueryExcludedInfo {
 };
 
 struct WorldSettings {
-	Real sleep_linear_threshold;
-	Real sleep_angular_threshold;
-	Real sleep_time_until_sleep;
-	Real solver_prediction_distance;
 	size_t max_ccd_substeps;
 	Real particle_radius;
 	Real smoothing_factor;
@@ -205,26 +191,6 @@ using CollisionModifyContactsCallback = OneWayDirection (*)(Handle world_handle,
 struct SimulationSettings {
 	/// The timestep length (default: `1.0 / 60.0`)
 	Real 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`).
-	Real erp;
-	/// 0-1: the damping ratio used by the springs for Baumgarte constraints stabilization.
-	/// Lower values make the constraints more compliant (more "springy", allowing more visible penetrations
-	/// before stabilization).
-	/// (default `0.25`).
-	Real damping_ratio;
-	/// 0-1: multiplier for how much of the joint violation
-	/// will be compensated for during the velocity solve.
-	/// (default `1.0`).
-	Real joint_erp;
-	/// The fraction of critical damping applied to the joint for constraints regularization.
-	/// (default `0.25`).
-	Real joint_damping_ratio;
-	/// Amount of penetration the engine wont attempt to correct (default: `0.001m`).
-	Real allowed_linear_error;
-	/// The maximal distance separating two objects that will generate predictive contacts (default: `0.002`).
-	Real prediction_distance;
 	/// 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`).

src/rapier2d-wrapper/src/body.rs

@@ -42,9 +42,6 @@ pub extern "C" fn body_create(world_handle : Handle, pixel_pos : &Vector, rot :
     }
 	// let default values better
     let activation = rigid_body.activation_mut();
-	activation.time_until_sleep = physics_world.sleep_time_until_sleep;
-    activation.linear_threshold = pixels_to_meters(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);
@@ -216,8 +213,6 @@ pub extern "C" fn body_set_can_sleep(world_handle : Handle, body_handle : Handle
 
     if can_sleep && body.activation().angular_threshold == -1.0 {
 		let activation = body.activation_mut();
-        activation.angular_threshold = physics_world.sleep_angular_threshold;
-        activation.linear_threshold = physics_world.sleep_linear_threshold;
     } else if !can_sleep && body.activation().angular_threshold != -1.0 {
 		let activation = body.activation_mut();
         activation.angular_threshold = -1.0;

src/rapier2d-wrapper/src/convert.rs

@@ -1,9 +1,10 @@
 use rapier2d::prelude::*;
 use crate::vector::Vector;
 
-const PIXELS_PER_METER : Real = 100.0;
+const PIXELS_PER_METER : Real = 1.0;
 
 pub fn pixels_to_meters(x : Real) -> Real {
+    return x;
     if x == 0.0 { 0.0 } else { x / PIXELS_PER_METER }
 }
 
@@ -12,6 +13,7 @@ pub fn vector_pixels_to_meters(v : &Vector) -> Vector {
 }
 
 pub fn meters_to_pixels(x : Real) -> Real {
+    return x;
     x * PIXELS_PER_METER
 }
 

src/rapier2d-wrapper/src/fluid.rs

@@ -113,16 +113,39 @@ pub extern "C" fn fluid_delete_points(world_handle : Handle, fluid_handle: Handl
     let fluid = fluid.unwrap();
     unsafe {
         let indexes_raw = std::slice::from_raw_parts(indexes, indexes_count);
-        for i in 0..indexes_raw.len() {
-            let index_raw = indexes_raw[i];
-            if fluid.positions.len() <= index_raw {
+        // create mask from array of indexes
+        let mut mask = vec![false; fluid.positions.len()];
+        for i in 0..indexes_count {
+            if fluid.positions.len() <= indexes_raw[i] {
                 continue;
             }
-            fluid.positions.remove(index_raw);
-            fluid.velocities.remove(index_raw);
-            fluid.accelerations.remove(index_raw);
-            fluid.volumes.remove(index_raw);
+            mask[indexes_raw[i]] = true;
         }
+        let mut i = 0;
+        // remove all points that are not in the mask
+        fluid.positions.retain(|_| {
+            let delete = mask[i];
+            i += 1;
+            !delete
+        });
+        let mut i = 0;
+        fluid.velocities.retain(|_| {
+            let delete = mask[i];
+            i += 1;
+            !delete
+        });
+        let mut i = 0;
+        fluid.accelerations.retain(|_| {
+            let delete = mask[i];
+            i += 1;
+            !delete
+        });
+        let mut i = 0;
+        fluid.volumes.retain(|_| {
+            let delete = mask[i];
+            i += 1;
+            !delete
+        });
     }
 }
 

src/rapier2d-wrapper/src/physics_world.rs

@@ -123,11 +123,6 @@ pub struct PhysicsWorld {
     pub multibody_joint_set : MultibodyJointSet,
     pub ccd_solver : CCDSolver,
 
-	pub sleep_linear_threshold: Real,
-	pub sleep_angular_threshold: Real,
-	pub sleep_time_until_sleep: Real,
-    pub solver_prediction_distance : Real,
-
 	pub active_body_callback : ActiveBodyCallback,
 	pub collision_filter_body_callback : CollisionFilterCallback,
 	pub collision_filter_sensor_callback : CollisionFilterCallback,
@@ -159,11 +154,6 @@ impl PhysicsWorld {
 	        multibody_joint_set : MultibodyJointSet::new(),
 	        ccd_solver : CCDSolver::new(),
 
-			sleep_linear_threshold : settings.sleep_linear_threshold,
-			sleep_angular_threshold : settings.sleep_angular_threshold,
-			sleep_time_until_sleep : settings.sleep_time_until_sleep,
-            solver_prediction_distance :settings.solver_prediction_distance,
-
 			active_body_callback : None,
 			collision_filter_body_callback : None,
 			collision_filter_sensor_callback : None,
@@ -187,13 +177,7 @@ impl PhysicsWorld {
         let mut integration_parameters = IntegrationParameters::default();
 
         integration_parameters.dt = settings.dt;
-        integration_parameters.erp = settings.erp;
         integration_parameters.max_ccd_substeps = settings.max_ccd_substeps;
-        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.prediction_distance = settings.prediction_distance;
 		if settings.num_solver_iterations > 0 {
 			integration_parameters.num_solver_iterations = NonZeroUsize::new(settings.num_solver_iterations).unwrap();
 		}
@@ -331,7 +315,7 @@ impl PhysicsWorld {
 							}
 							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);
+							contact_info.pixel_tangent_impulse = meters_to_pixels(contact_point.data.tangent_impulse.x);
 
 							send_contact_points = contact_callback(self.handle, &contact_info, &event_info);
 							if !send_contact_points {

src/rapier2d-wrapper/src/query.rs

@@ -432,10 +432,8 @@ pub extern "C" fn shapes_contact(world_handle : Handle, shape_info1 : ShapeInfo,
     let margin = pixels_to_meters(pixel_margin);
 
     let mut physics_engine = singleton().lock().unwrap();
-
-    let physics_world = physics_engine.get_world(world_handle);
 
-    let prediction = Real::max(physics_world.solver_prediction_distance, margin);
+    let prediction = Real::max(0.002, margin);
 
     let raw_shared_shape1 = physics_engine.get_shape(shape_info1.handle).clone();
     let skewed_shape1 = skew_shape(&raw_shared_shape1, shape_info1.skew);

src/rapier2d-wrapper/src/settings.rs

@@ -3,10 +3,6 @@ use crate::vector::Vector;
 
 #[repr(C)]
 pub struct WorldSettings {
-	pub sleep_linear_threshold: Real,
-	pub sleep_angular_threshold: Real,
-	pub sleep_time_until_sleep: Real,
-    pub solver_prediction_distance : Real,
     pub max_ccd_substeps: usize,
     pub particle_radius: Real,
     pub smoothing_factor: Real,
@@ -15,10 +11,6 @@ pub struct WorldSettings {
 #[no_mangle]
 pub extern "C" fn default_world_settings() -> WorldSettings {
     WorldSettings {
-		sleep_linear_threshold : 0.1,
-		sleep_angular_threshold : 0.1,
-		sleep_time_until_sleep : 1.0,
-        solver_prediction_distance : 0.002,
         max_ccd_substeps: 1,
         particle_radius: 0.1,
         smoothing_factor: 2.0,
@@ -30,29 +22,6 @@ pub struct SimulationSettings {
     /// The timestep length (default: `1.0 / 60.0`)
     pub dt: Real,
 
-    /// 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`).
-    pub erp: Real,
-    /// 0-1: the damping ratio used by the springs for Baumgarte constraints stabilization.
-    /// Lower values make the constraints more compliant (more "springy", allowing more visible penetrations
-    /// before stabilization).
-    /// (default `0.25`).
-    pub damping_ratio: Real,
-
-    /// 0-1: multiplier for how much of the joint violation
-    /// will be compensated for during the velocity solve.
-    /// (default `1.0`).
-    pub joint_erp: Real,
-
-    /// The fraction of critical damping applied to the joint for constraints regularization.
-    /// (default `0.25`).
-    pub joint_damping_ratio: Real,
-
-    /// Amount of penetration the engine wont attempt to correct (default: `0.001m`).
-    pub allowed_linear_error: Real,
-    /// The maximal distance separating two objects that will generate predictive contacts (default: `0.002`).
-    pub prediction_distance: Real,
     /// 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`).

src/servers/rapier_project_settings.cpp

@@ -6,12 +6,6 @@ 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_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_PREDICTION_DISTANCE[] = "physics/rapier_2d/solver/prediction_distance";
 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";
@@ -76,12 +70,6 @@ void register_setting_ranged(
 }
 
 void RapierProjectSettings::register_settings() {
-	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, 1.0, U"0.0001,1,0.00001,suffix:%");
-	register_setting_ranged(SOLVER_ALLOWED_LINEAR_ERROR, 0.001, U"0,1,0.00001");
-	register_setting_ranged(SOLVER_PREDICTION_DISTANCE, 0.002, U"0,1,0.00001");
 	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");
@@ -111,27 +99,9 @@ bool RapierProjectSettings::should_run_on_separate_thread() {
 int RapierProjectSettings::get_max_threads() {
 	return get_setting<int>(MAX_THREADS);
 }
-double RapierProjectSettings::get_solver_erp() {
-	return get_setting<double>(SOLVER_ERP);
-}
-double RapierProjectSettings::get_solver_damping_ratio() {
-	return get_setting<double>(SOLVER_DAMPING_RATIO);
-}
-double RapierProjectSettings::get_solver_joint_erp() {
-	return get_setting<double>(SOLVER_JOINT_ERP);
-}
-double RapierProjectSettings::get_solver_joint_damping_ratio() {
-	return get_setting<double>(SOLVER_JOINT_DAMPING_RATIO);
-}
-double RapierProjectSettings::get_solver_allowed_linear_error() {
-	return get_setting<double>(SOLVER_ALLOWED_LINEAR_ERROR);
-}
 int RapierProjectSettings::get_solver_max_ccd_substeps() {
 	return get_setting<int>(SOLVER_MAX_CCD_SUBSTEPS);
 }
-double RapierProjectSettings::get_solver_prediction_distance() {
-	return get_setting<double>(SOLVER_PREDICTION_DISTANCE);
-}
 int RapierProjectSettings::get_solver_num_solver_iterations() {
 	return get_setting<int>(SOLVER_NUM_ITERATIONS);
 }

src/servers/rapier_project_settings.h

@@ -12,13 +12,6 @@ class RapierProjectSettings {
 
 	static bool should_run_on_separate_thread();
 	static int get_max_threads();
-	static double get_solver_erp();
-	static double get_solver_damping_ratio();
-	static double get_solver_joint_erp();
-	static double get_solver_joint_damping_ratio();
-	static double get_solver_allowed_linear_error();
-	static double get_solver_max_penetration_correction();
-	static double get_solver_prediction_distance();
 	static int get_solver_num_solver_iterations();
 	static int get_solver_num_additional_friction_iterations();
 	static int get_solver_num_internal_pgs_iterations();