Add deterministic base function. Fix freeze mode. Fix missing events/…

…collisions. (#258)

Adds some ComplexField functions for determinism. Follows
#226
- Fixes #242
- Fixes #250

.github/workflows/runner.yml

@@ -6,6 +6,10 @@ on:
     branches:
       - "main"
 
+concurrency:
+  group: ${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   static-checks:
     name: 📊 Static checks

.github/workflows/test_checks.yml

@@ -3,8 +3,28 @@ on:
   workflow_call:
 
 jobs:
-  run-tests-2d:
-    name: Run Tests
+  run-unit-tests-2d:
+    name: Run Unit Tests 2D
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Run Unit Tests for 2D Build
+        shell: sh
+        run: |
+          cargo test --all-targets --features="build2d,test" --no-default-features
+  run-unit-tests-3d:
+    name: Run Unit Tests 3D
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Run Unit Tests for 3D Build
+        shell: sh
+        run: |
+          cargo test --all-targets --features="build3d,test" --no-default-features
+  run-integration-tests-2d:
+    name: Run Integration Tests 2D
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
@@ -15,17 +35,12 @@ jobs:
           version: 4.3.0
           use-dotnet: false
           include-templates: true
-      - name: Run Unit Tests for 2D Build
-        shell: sh
-        run: |
-          cargo test --all-targets --features="build2d,test" --no-default-features
       - name: Run Integration Tests for 2D Build
         shell: sh
-        # Skip this for now
-        if: false
         run: |
           return
           ./scripts/build-dev-2d.sh
+          ls bin2d/addons/godot-rapier2d/bin
           godot --headless --path ./bin2d test.tscn --quit-after 1000 > output.log 2>&1
           echo "---------------------"
           grep "ERROR:" output.log
@@ -40,8 +55,8 @@ jobs:
             exit 1
           fi
 
-  run-tests-3d:
-    name: Run Tests
+  run-integration-tests-3d:
+    name: Run Integration Tests 3D
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
@@ -51,16 +66,12 @@ jobs:
           version: 4.3.0
           use-dotnet: false
           include-templates: true
-      - name: Run Unit Tests for 3D Build
-        shell: sh
-        run: |
-          cargo test --all-targets --features="build3d,test" --no-default-features
       - name: Run Integration Tests for 3D Build
-        # Skip this for now
-        if: false
         shell: sh
         run: |
+          return
           ./scripts/build-dev-3d.sh
+          ls bin3d/addons/godot-rapier3d/bin
           godot --headless --path ./bin3d test.tscn --quit-after 1000 > output.log 2>&1
           echo "---------------------"
           grep "ERROR:" output.log

bin2d/addons/godot-rapier2d/fluid_2d_renderer.gd

@@ -4,7 +4,7 @@ extends MultiMeshInstance2D
 
 @export var fluid: Fluid2D
 @export var color: Color = Color(0.8, 0.8, 0.8, 0.3)
-
+@export var mesh_scale: Vector2 = Vector2(5,5)
 
 func _ready():
 	if multimesh == null:
@@ -23,7 +23,7 @@ func _process(_delta):
 	var points = fluid.points
 	for i in points.size():
 		var point = points[i]
-		var new_transform: Transform2D = Transform2D(0, Vector2(5, 5), 0, point)
+		var new_transform: Transform2D = Transform2D(0, mesh_scale, 0, point)
 		multimesh.set_instance_transform_2d(index, new_transform)
 		multimesh.set_instance_color(index, color)
 		index += 1

bin2d/addons/godot-rapier2d/fluid_2d_shader_renderer.gd

@@ -8,6 +8,7 @@ extends CanvasLayer
 		update_configuration_warnings()
 @export var camera: Camera2D
 @export var water_material: Material = load("res://addons/godot-rapier2d/water_shader.tres")
+@export var mesh_scale: Vector2 = Vector2(5,5)
 var fluid_renderer: Fluid2DRenderer
 var inside_camera: Camera2D:
 	set(value):
@@ -46,6 +47,7 @@ func _create_fluid_renderer():
 	fluid_renderer = Fluid2DRenderer.new()
 	fluid_renderer.name = "Fluid2DRenderer"
 	fluid_renderer.color = Color(255,0,255)
+	fluid_renderer.mesh_scale = mesh_scale
 	fluid_renderer.fluid = fluid
 	sub_viewport.add_child(fluid_renderer)
 

bin2d/test.tscn

@@ -1,9 +1,12 @@
-[gd_scene load_steps=3 format=3 uid="uid://cn4jscixu2bmf"]
+[gd_scene load_steps=4 format=3 uid="uid://cn4jscixu2bmf"]
 
 [ext_resource type="Script" path="res://test.gd" id="1_fs1uw"]
 
 [sub_resource type="CircleShape2D" id="CircleShape2D_01opr"]
 
+[sub_resource type="RectangleShape2D" id="RectangleShape2D_vkitq"]
+size = Vector2(365, 37)
+
 [node name="Test2D" type="Node2D"]
 script = ExtResource("1_fs1uw")
 
@@ -12,3 +15,12 @@ position = Vector2(-18, -4)
 
 [node name="CollisionShape2D" type="CollisionShape2D" parent="RigidBody2D"]
 shape = SubResource("CircleShape2D_01opr")
+
+[node name="StaticBody2D" type="StaticBody2D" parent="."]
+
+[node name="CollisionShape2D" type="CollisionShape2D" parent="StaticBody2D"]
+position = Vector2(10.5, 96.5)
+shape = SubResource("RectangleShape2D_vkitq")
+
+[node name="Camera2D" type="Camera2D" parent="."]
+zoom = Vector2(4, 4)

bin3d/test.gd

@@ -14,40 +14,25 @@ func _ready() -> void:
 	get_tree().quit()
 
 func test_capsule_shape():
-	RapierCapsuleShapeTests.test_allows_one_way_collision()
 	RapierCapsuleShapeTests.test_create()
-	RapierCapsuleShapeTests.test_get_data()
-	RapierCapsuleShapeTests.test_get_type()
 	RapierCapsuleShapeTests.test_set_data_from_array()
 	RapierCapsuleShapeTests.test_set_data_from_dictionary()
 	RapierCapsuleShapeTests.test_set_data_from_vector2()
 
 func test_circle_shape():
-	RapierCircleShapeTests.test_allows_one_way_collision()
 	RapierCircleShapeTests.test_create()
-	RapierCircleShapeTests.test_get_data()
-	RapierCircleShapeTests.test_get_type()
 	RapierCircleShapeTests.test_set_data()
 
 func test_concave_polygon_shape():
-	RapierConcavePolygonShapeTests.test_allows_one_way_collision()
 	RapierConcavePolygonShapeTests.test_create()
-	RapierConcavePolygonShapeTests.test_get_data()
-	RapierConcavePolygonShapeTests.test_get_type()
 	RapierConcavePolygonShapeTests.test_set_data()
 
 func test_convex_polygon_shape():  # New function for convex polygon shape
-	RapierConvexPolygonShapeTests.test_allows_one_way_collision()
 	RapierConvexPolygonShapeTests.test_create()
-	RapierConvexPolygonShapeTests.test_get_data()
-	RapierConvexPolygonShapeTests.test_get_type()
 	RapierConvexPolygonShapeTests.test_set_data()
 
 func test_cylinder_shape():
 	RapierCylinderShape3DTests.test_create()
-	RapierCylinderShape3DTests.test_get_type()
-	RapierCylinderShape3DTests.test_allows_one_way_collision()
 	RapierCylinderShape3DTests.test_set_data_array()
 	RapierCylinderShape3DTests.test_set_data_vector2()
 	RapierCylinderShape3DTests.test_set_data_dictionary()
-	RapierCylinderShape3DTests.test_get_data()

src/bodies/rapier_body.rs

@@ -1574,6 +1574,7 @@ impl RapierBody {
         if p_mode.ord() >= BodyMode::RIGID.ord() {
             self.mass_properties_changed(physics_engine, physics_spaces, physics_rids);
         }
+        self.set_space_after(physics_engine, physics_spaces, physics_rids);
     }
 
     pub fn set_state(
@@ -1956,7 +1957,7 @@ impl RapierBody {
         &mut self,
         physics_engine: &mut PhysicsEngine,
         physics_spaces: &mut PhysicsSpaces,
-        physics_rids: &mut PhysicsRids,
+        physics_rids: &PhysicsRids,
     ) {
         if self.base.is_space_valid() && self.base.mode.ord() >= BodyMode::KINEMATIC.ord() {
             if self.get_force_integration_callback().is_some() {

src/rapier_wrapper/physics_world.rs

@@ -259,7 +259,8 @@ impl PhysicsWorld {
                                     + collider1.contact_skin()
                                     + collider2.contact_skin()
                             {
-                                continue;
+                                // TODO comment this out for now since it might miss out events
+                                //continue;
                             }
                             let collider_pos_1 = collider1.position() * contact_point.local_p1;
                             let collider_pos_2 = collider2.position() * contact_point.local_p2;

src/rapier_wrapper/query.rs

@@ -415,23 +415,30 @@ impl PhysicsEngine {
                 let shared_shape2 = scale_shape(raw_shared_shape2, shape_info2);
                 let shape_transform1 = shape_info1.transform;
                 let shape_transform2 = shape_info2.transform;
-                if let Ok(Some(contact)) = parry::query::contact(
+                match parry::query::contact(
                     &shape_transform1,
                     shared_shape1.as_ref(),
                     &shape_transform2,
                     shared_shape2.as_ref(),
                     prediction,
                 ) {
-                    // the distance is negative if there is intersection
-                    // and positive if the objects are separated by distance less than margin
-                    result.pixel_distance = contact.dist;
-                    result.within_margin = contact.dist > 0.0;
-                    result.collided = true;
-                    result.normal1 = contact.normal1.into_inner();
-                    result.normal2 = contact.normal2.into_inner();
-                    result.pixel_point1 = (contact.point1 + contact.normal1.mul(prediction)).coords;
-                    result.pixel_point2 = contact.point2.coords;
-                    return result;
+                    Ok(None) => {}
+                    Ok(Some(contact)) => {
+                        // the distance is negative if there is intersection
+                        // and positive if the objects are separated by distance less than margin
+                        result.pixel_distance = contact.dist;
+                        result.within_margin = contact.dist > 0.0;
+                        result.collided = true;
+                        result.normal1 = contact.normal1.into_inner();
+                        result.normal2 = contact.normal2.into_inner();
+                        result.pixel_point1 =
+                            (contact.point1 + contact.normal1.mul(prediction)).coords;
+                        result.pixel_point2 = contact.point2.coords;
+                        return result;
+                    }
+                    Err(err) => {
+                        godot_error!("Shape Contact Error: {:?}", err);
+                    }
                 }
             }
         }

src/servers/mod.rs

@@ -1,6 +1,7 @@
 use godot::prelude::*;
 
 use crate::servers::rapier_project_settings::RapierProjectSettings;
+pub mod rapier_math;
 #[cfg(feature = "dim2")]
 pub mod rapier_physics_server_2d;
 #[cfg(feature = "dim3")]

src/servers/rapier_math.rs

@@ -0,0 +1,97 @@
+use godot::prelude::*;
+use rapier::na::ComplexField;
+#[derive(GodotClass)]
+#[class(base=Object, init)]
+/// Contains Rapier Deterministic Math functions.
+pub struct RapierMath {
+    base: Base<Object>,
+}
+#[godot_api]
+impl RapierMath {
+    #[func]
+    /// Deterministically compute acos.
+    fn acos(x: real) -> real {
+        ComplexField::acos(x)
+    }
+
+    #[func]
+    /// Deterministically compute acosh.
+    fn acosh(x: real) -> real {
+        ComplexField::acosh(x)
+    }
+
+    #[func]
+    /// Deterministically compute asin.
+    fn asin(x: real) -> real {
+        ComplexField::asin(x)
+    }
+
+    #[func]
+    /// Deterministically compute asinh.
+    fn asinh(x: real) -> real {
+        ComplexField::asinh(x)
+    }
+
+    #[func]
+    /// Deterministically compute atan.
+    fn atan(x: real) -> real {
+        ComplexField::atan(x)
+    }
+
+    #[func]
+    /// Deterministically compute atanh.
+    fn atanh(x: real) -> real {
+        ComplexField::atanh(x)
+    }
+
+    #[func]
+    /// Deterministically compute cos.
+    fn cos(x: real) -> real {
+        ComplexField::cos(x)
+    }
+
+    #[func]
+    /// Deterministically compute cosh.
+    fn cosh(x: real) -> real {
+        ComplexField::cosh(x)
+    }
+
+    #[func]
+    /// Deterministically compute log.
+    fn log(x: real) -> real {
+        ComplexField::ln(x)
+    }
+
+    #[func]
+    /// Deterministically compute sin.
+    fn sin(x: real) -> real {
+        ComplexField::sin(x)
+    }
+
+    #[func]
+    /// Deterministically compute sinh.
+    fn sinh(x: real) -> real {
+        ComplexField::sinh(x)
+    }
+
+    #[func]
+    /// Deterministically compute tan.
+    fn tan(x: real) -> real {
+        ComplexField::tan(x)
+    }
+
+    #[func]
+    /// Deterministically compute tanh.
+    fn tanh(x: real) -> real {
+        ComplexField::tanh(x)
+    }
+
+    #[func]
+    /// Deterministically compute sqrt.
+    fn sqrt(x: real) -> real {
+        if let Some(result) = ComplexField::try_sqrt(x) {
+            return result;
+        }
+        real::NAN
+    }
+}