Migrate to latest gdext. Also fix body notification issue.

Cargo.toml

@@ -16,7 +16,7 @@ dim3 = []
 single = []
 double = []
 # TODO add feature for "glam/libm"
-enhanced-determinism = ["rapier2d/enhanced-determinism", "rapier2d-f64/enhanced-determinism", "rapier3d/enhanced-determinism", "rapier3d-f64/enhanced-determinism", "godot/enchanced-determinism"]
+enhanced-determinism = ["rapier2d/enhanced-determinism", "rapier2d-f64/enhanced-determinism", "rapier3d/enhanced-determinism", "rapier3d-f64/enhanced-determinism"]
 serde-serialize = ["serde", "hashbrown/serde", "bincode", "serde_json", "typetag", "godot/serde", "rapier2d/serde-serialize", "rapier2d-f64/serde-serialize", "rapier3d/serde-serialize", "rapier3d-f64/serde-serialize" ]
 simd-stable = ["rapier2d/simd-stable", "rapier2d-f64/simd-stable", "rapier3d/simd-stable", "rapier3d-f64/simd-stable"]
 simd-nightly = ["rapier2d/simd-nightly", "rapier2d-f64/simd-nightly", "rapier3d/simd-nightly", "rapier3d-f64/simd-nightly"]
@@ -33,8 +33,7 @@ double-dim3 = ["double", "dim3", "rapier3d-f64", "salva3d"]
 bincode = { version = "1", optional = true }
 hashbrown = { version = "0.14" }
 
-godot = { git = "https://github.com/ughuuu/gdext", branch = "make-stuff-serializable", features=["api-4-2"] }
-#godot = { git = "https://github.com/godot-rust/gdext", branch = "master", features=["api-4-2"] }
+godot = { git = "https://github.com/godot-rust/gdext", branch = "master", features=["api-4-2"] }
 
 rapier2d = { git = "https://github.com/ughuuu/rapier", branch = "custom-changes", optional = true }
 rapier2d-f64 = { git = "https://github.com/ughuuu/rapier", branch = "custom-changes", optional = true}

scripts/build-mac-dev-2d.sh

@@ -1,5 +1,6 @@
 cargo fmt -- --config-path rustfmt.toml
 cargo clippy --fix --allow-dirty
+#cargo build --features="single-dim2,parallel,simd-stable,serde-serialize" --no-default-features
 cargo build --features="single-dim2,parallel,simd-stable,serde-serialize" --no-default-features
 rm bin2d/addons/godot-rapier2d/bin/libgodot_rapier.macos.framework/libgodot_rapier.macos.dylib
 rm /Users/dragosdaian/Documents/Godot-Physics-Tests/addons/godot-rapier2d/bin/libgodot_rapier.macos.framework/libgodot_rapier.macos.dylib

src/bodies/rapier_area.rs

@@ -23,6 +23,7 @@ use crate::*;
     derive(serde::Serialize, serde::Deserialize)
 )]
 struct MonitorInfo {
+    #[cfg_attr(feature = "serde-serialize", serde(skip, default = "invalid_rid"))]
     pub rid: Rid,
     pub instance_id: u64,
     pub object_shape_index: u32,
@@ -58,6 +59,7 @@ pub struct RapierArea {
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
     area_monitor_callback: Option<Callable>,
     monitored_objects: HashMap<(ColliderHandle, ColliderHandle), MonitorInfo>,
+    #[cfg_attr(feature = "serde-serialize", serde(skip))]
     detected_bodies: HashMap<Rid, u32>,
     base: RapierCollisionObject,
 }

src/bodies/rapier_body.rs

@@ -34,6 +34,7 @@ pub struct Contact {
     pub collider_pos: Vector,
     pub collider_shape: i32,
     pub collider_instance_id: u64,
+    #[cfg_attr(feature = "serde-serialize", serde(skip, default = "invalid_rid"))]
     pub collider: Rid,
     pub local_velocity_at_pos: Vector,
     pub collider_velocity_at_pos: Vector,
@@ -78,6 +79,7 @@ pub struct ForceIntegrationCallbackData {
 #[derive(Clone, Copy)]
 #[cfg_attr(feature = "serde-serialize", derive(serde::Serialize))]
 pub struct RidWithPriority {
+    #[cfg_attr(feature = "serde-serialize", serde(skip, default = "invalid_rid"))]
     pub rid: Rid,
     pub priority: i32,
 }
@@ -125,6 +127,7 @@ pub struct RapierBody {
     using_area_gravity: bool,
     using_area_linear_damping: bool,
     using_area_angular_damping: bool,
+    #[cfg_attr(feature = "serde-serialize", serde(skip))]
     exceptions: HashSet<Rid>,
     ccd_enabled: bool,
     omit_force_integration: bool,
@@ -133,6 +136,7 @@ pub struct RapierBody {
     can_sleep: bool,
     constant_force: Vector,
     linear_velocity: Vector,
+    previous_linear_velocity: Vector,
     impulse: Vector,
     torque: Angle,
     angular_velocity: Angle,
@@ -188,6 +192,7 @@ impl RapierBody {
             can_sleep: true,
             constant_force: Vector::default(),
             linear_velocity: Vector::default(),
+            previous_linear_velocity: Vector::default(),
             impulse: Vector::default(),
             torque: ANGLE_ZERO,
             angular_velocity: ANGLE_ZERO,
@@ -360,8 +365,8 @@ impl RapierBody {
         );
         // if we are a conveyer belt, we need to modify contacts
         // also if any shape is one-way
-        let modify_contacts_enabled = self.get_static_angular_velocity() != ANGLE_ZERO
-            || self.get_static_linear_velocity() != Vector::ZERO
+        let modify_contacts_enabled = self.base.mode == BodyMode::STATIC
+            || self.base.mode == BodyMode::KINEMATIC
             || override_modify_contacts;
         physics_engine.collider_set_modify_contacts_enabled(
             space_handle,
@@ -1147,6 +1152,14 @@ impl RapierBody {
         }
     }
 
+    pub fn set_previous_linear_velocity(&mut self, p_velocity: Vector) {
+        self.previous_linear_velocity = p_velocity;
+    }
+
+    pub fn get_previous_linear_velocity(&self) -> Vector {
+        self.previous_linear_velocity
+    }
+
     pub fn on_update_active(
         &mut self,
         space: &mut RapierSpace,

src/bodies/rapier_collision_object.rs

@@ -8,6 +8,7 @@ use rapier::dynamics::RigidBodyHandle;
 use rapier::geometry::ColliderHandle;
 use servers::rapier_physics_singleton::PhysicsShapes;
 use servers::rapier_physics_singleton::PhysicsSpaces;
+use servers::rapier_project_settings::RapierProjectSettings;
 
 use super::rapier_area::RapierArea;
 use super::rapier_body::RapierBody;
@@ -131,6 +132,7 @@ pub enum CollisionObjectType {
 )]
 pub struct CollisionObjectShape {
     pub xform: Transform,
+    #[cfg_attr(feature = "serde-serialize", serde(skip, default = "invalid_rid"))]
     pub shape: Rid,
     pub disabled: bool,
     pub one_way_collision: bool,
@@ -140,7 +142,7 @@ pub struct CollisionObjectShape {
 impl Default for CollisionObjectShape {
     fn default() -> Self {
         Self {
-            xform: Transform::default(),
+            xform: Transform::IDENTITY,
             shape: Rid::Invalid,
             disabled: false,
             one_way_collision: false,
@@ -153,11 +155,13 @@ impl Default for CollisionObjectShape {
 #[cfg_attr(feature = "serde-serialize", derive(serde::Serialize))]
 pub struct RapierCollisionObject {
     collision_object_type: CollisionObjectType,
+    #[cfg_attr(feature = "serde-serialize", serde(skip, default = "invalid_rid"))]
     rid: Rid,
     instance_id: u64,
     canvas_instance_id: u64,
     pickable: bool,
     pub(crate) shapes: Vec<CollisionObjectShape>,
+    #[cfg_attr(feature = "serde-serialize", serde(skip, default = "invalid_rid"))]
     space: Rid,
     transform: Transform,
     inv_transform: Transform,
@@ -190,10 +194,12 @@ impl RapierCollisionObject {
             .get_setting_with_override(SLEEP_THRESHOLD_ANGULAR.into())
             .try_to()
             .unwrap_or_default();
-        let activation_linear_threshold = project_settings
+        let length_unit = RapierProjectSettings::get_length_unit();
+        let mut activation_linear_threshold = project_settings
             .get_setting_with_override(SLEEP_THRESHOLD_LINEAR.into())
             .try_to()
             .unwrap_or_default();
+        activation_linear_threshold /= length_unit;
         let activation_time_until_sleep = project_settings
             .get_setting_with_override(TIME_BEFORE_SLEEP.into())
             .try_to()
@@ -206,8 +212,8 @@ impl RapierCollisionObject {
             pickable: true,
             shapes: Vec::new(),
             space: Rid::Invalid,
-            transform: Transform::default(),
-            inv_transform: Transform::default(),
+            transform: Transform::IDENTITY,
+            inv_transform: Transform::IDENTITY,
             collision_mask: 1,
             collision_layer: 1,
             is_debugging_contacts: false,
@@ -512,7 +518,7 @@ impl RapierCollisionObject {
         if let Some(shape) = self.shapes.get(idx) {
             return shape.xform;
         }
-        Transform::default()
+        Transform::IDENTITY
     }
 
     pub fn set_transform(
@@ -521,6 +527,7 @@ impl RapierCollisionObject {
         wake_up: bool,
         physics_engine: &mut PhysicsEngine,
     ) {
+        let teleport = self.transform == Transform::IDENTITY;
         self.transform = p_transform;
         self.inv_transform = transform_inverse(&self.transform);
         if !self.is_valid() {
@@ -534,6 +541,7 @@ impl RapierCollisionObject {
             self.body_handle,
             position,
             rotation,
+            teleport,
             wake_up,
         );
     }

src/bodies/rapier_direct_body_state_impl.rs

@@ -186,7 +186,7 @@ impl RapierDirectBodyStateImpl {
                 return body.get_base().get_transform();
             }
         }
-        Transform::default()
+        Transform::IDENTITY
     }
 
     pub(super) fn get_velocity_at_local_position(&self, local_position: Vector) -> Vector {

src/joints/rapier_damped_spring_joint_2d.rs

@@ -21,8 +21,8 @@ impl RapierDampedSpringJoint2D {
     pub fn new(
         p_anchor_a: Vector,
         p_anchor_b: Vector,
-        body_a: &Box<dyn IRapierCollisionObject>,
-        body_b: &Box<dyn IRapierCollisionObject>,
+        body_a: &dyn IRapierCollisionObject,
+        body_b: &dyn IRapierCollisionObject,
         physics_engine: &mut PhysicsEngine,
     ) -> Self {
         let invalid_joint = Self {

src/joints/rapier_groove_joint_2d.rs

@@ -20,8 +20,8 @@ impl RapierGrooveJoint2D {
         p_a_groove1: Vector,
         p_a_groove2: Vector,
         p_b_anchor: Vector,
-        body_a: &Box<dyn IRapierCollisionObject>,
-        body_b: &Box<dyn IRapierCollisionObject>,
+        body_a: &dyn IRapierCollisionObject,
+        body_b: &dyn IRapierCollisionObject,
         physics_engine: &mut PhysicsEngine,
     ) -> Self {
         let invalid_joint = Self {

src/joints/rapier_joint.rs

@@ -10,6 +10,7 @@ use super::rapier_revolute_joint::RapierRevoluteJoint;
 #[cfg(feature = "dim3")]
 use super::rapier_spherical_joint_3d::RapierSphericalJoint3D;
 use crate::rapier_wrapper::prelude::*;
+use crate::types::invalid_rid;
 use crate::*;
 #[cfg_attr(feature = "serde-serialize", typetag::serde(tag = "type"))]
 pub trait IRapierJoint {
@@ -35,6 +36,7 @@ pub struct RapierJointBase {
     max_force: f32,
     handle: JointHandle,
     space_handle: WorldHandle,
+    #[cfg_attr(feature = "serde-serialize", serde(skip, default = "invalid_rid"))]
     space_rid: Rid,
     disabled_collisions_between_bodies: bool,
 }

src/joints/rapier_revolute_joint.rs

@@ -29,8 +29,8 @@ impl RapierRevoluteJoint {
     pub fn new(
         anchor_a: Vector,
         anchor_b: Vector,
-        body_a: &Box<dyn IRapierCollisionObject>,
-        body_b: &Box<dyn IRapierCollisionObject>,
+        body_a: &dyn IRapierCollisionObject,
+        body_b: &dyn IRapierCollisionObject,
         physics_engine: &mut PhysicsEngine,
     ) -> Self {
         let invalid_joint = Self {

src/rapier_wrapper/body.rs

@@ -43,6 +43,7 @@ impl PhysicsEngine {
         }
     }
 
+    #[allow(clippy::too_many_arguments)]
     pub fn body_create(
         &mut self,
         world_handle: WorldHandle,
@@ -161,6 +162,7 @@ impl PhysicsEngine {
         body_handle: RigidBodyHandle,
         pixel_pos: Vector<Real>,
         rot: Rotation<Real>,
+        teleport: bool,
         wake_up: bool,
     ) {
         if let Some(physics_world) = self.get_mut_world(world_handle)
@@ -173,7 +175,7 @@ impl PhysicsEngine {
                 body,
                 Translation::from(pixel_pos),
                 rot,
-                false,
+                teleport,
                 wake_up,
             );
         }