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CHANGELOG.md

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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

Breaking changes are denoted with ⚠️.

Unreleased

Removed

  • ⚠️ Removed any JoltPhysicsServer3D.G6DOF_* enums that were previously (i.e. before Godot 4.3) not exposed by Godot itself. These can now be found as PhysicsServer3D.G6DOF_* instead.

Changed

  • ⚠️ Changed the way that the body_test_motion method of PhysicsServer3D discards contacts, which should fix issues related to jitter/ping-ponging. This affects move_and_slide, move_and_collide and test_move.
  • ⚠️ Changed the inertia of shapeless bodies to be (1, 1, 1), to match Godot Physics.
  • Changed SeparationRayShape3D to not treat other convex shapes as solid, meaning it will now only ever collide with the hull of other convex shapes, which better matches Godot Physics.
  • Mirrored the way in which angular limits are visualized for JoltHingeJoint3D, JoltConeTwistJoint3D and JoltGeneric6DOFJoint.

Added

  • Added support for SoftBody3D.
  • Added support for double-precision.
  • Added compatibility_maximum to godot-jolt.gdextension for controlling the maximum allowed Godot version. Note that changing this may expose you to subtle (or not so subtle) incompatibilities in the extension API. Change at your own risk.
  • ⚠️ Added new project setting, "Use Enhanced Internal Edge Detection", which can help alleviate collisions with internal edges of ConcavePolygonShape3D and HeightMapShape3D shapes, also known as ghost collisions. This setting is enabled by default and may change the behavior of character controllers relying things like move_and_slide or move_and_collide.
  • Added support for partial custom inertia, where leaving one or two components at zero will use the automatically calculated values for those specific components.
  • Added error-handling for invalid scaling of bodies/shapes.
  • Added project settings "Body Pair Cache Enabled", "Body Pair Cache Distance Threshold" and "Body Pair Cache Angle Threshold" to allow fine-tuning the scale by which collision results are reused inbetween physics ticks.
  • Added the appropriate floating-point precision feature tag to godot-jolt.gdextension to prevent accidentally loading a single-precision build of Godot Jolt in a double-precision build of Godot and vice versa.

Fixed

  • ⚠️ Fixed issue with shape queries not returning the full contact manifold. This applies to the collide_shape method of PhysicsDirectSpaceState3D as well as the body_test_motion method of PhysicsServer3D, which subsequently affects the test_move and move_and_collide methods of PhysicsBody3D as well as the move_and_slide method of CharacterBody3D.
  • ⚠️ Fixed issue with the body_get_direct_state method of PhysicsServer3D returning a non-null reference when the body has no space.
  • Fixed issue with not being able to pass a physics space RID to area_get_param, area_attach_object_instance_id and area_get_object_instance_id.
  • Fixed issue where the inverse_inertia property of PhysicsDirectBodyState3D would have some of its components swapped.
  • Fixed issue where shapeless bodies wouldn't have custom center-of-mass applied to them.
  • Fixed issue with high (>1) damping values producing different results across different update frequencies.
  • Fixed issue where physics queries performed within the editor (e.g. editor plugins or tool scripts) would end up ignoring potentially large swathes of bodies in scenes with many physics bodies.
  • Fixed crash when setting a negative max_contacts_reported on RigidBody3D.
  • Fixed issue with certain generic_6dof_joint_* methods on JoltPhysicsServer3D not having the correct parameter names.
  • Fixed issue where sleep timer would not reset when applying force/torque to a RigidBody3D.

0.12.0 - 2024-01-07

Changed

  • ⚠️ Changed so that single-body joints now implicitly sets node_a to be the "world node" rather than node_b. This diverges from how Godot Physics behaves, but matches how Bullet behaves in Godot 3, and yields more intuitive outcomes for the 6DOF joints.
  • ⚠️ Changed Generic6DOFJoint3D and ConeTwistJointImpl3D, as well as their substitute joints, to use pyramid-shaped angular limits instead of cone-shaped limits, to better match Godot Physics.
  • ⚠️ Reversed the direction of the equilibrium_point properties for Generic6DOFJoint3D and JoltGeneric6DOFJoint3D, to match the direction of the angular limits.
  • ⚠️ Changed the rotation order of the equilibrium_point properties for Generic6DOFJoint3D and JoltGeneric6DOFJoint3D, from ZXY to XYZ, to match the rotation order of the angular limits.
  • Mirrored the way in which linear limits are visualized for JoltSliderJoint3D and JoltGeneric6DOFJoint3D.

Added

  • Added new project setting, "World Node", for controlling which of the two nodes in a single-body joint becomes the "world node" when omitting one of the nodes. This allows for reverting back to the behavior of Godot Physics if needed, effectively undoing the breaking change mentioned above.
  • Added new project setting, "Report All Kinematic Contacts", for allowing RigidBody3D frozen with FREEZE_MODE_KINEMATIC to report contacts/collisions with other kinematic/static bodies, at a potentially heavy performance/memory cost.
  • Added support for using NaN to indicate holes in HeightMapShape3D.
  • Added support for holes in a non-square HeightMapShape3D.

Fixed

  • ⚠️ Fixed issue with non-square HeightMapShape3D not using back-face collision.
  • Fixed issue where contact shape indices would sometimes always be the same index across all contacts with a particular body.
  • Fixed runtime crash when setting the max_contacts_reported property to a lower value.
  • Fixed issue where Generic6DOFJoint3D and JoltGeneric6DOFJoint3D would yield odd limit shapes when using both linear and angular asymmetrical limits.
  • Fixed issue where the equilibrium point for Generic6DOFJoint3D and JoltGeneric6DOFJoint3D would be moved when using asymmetrical limits.
  • Fixed crash that could occur under rare circumstances when shutting down the editor after having added/removed collision shapes.
  • Fixed issue where a RigidBody3D with locked axes colliding with a StaticBody3D (or another frozen RigidBody3D using FREEZE_MODE_STATIC) would result in NaNs.
  • Fixed issue where HingeJoint3D and JoltHingeJoint3D would sometimes dull forces applied to either of its bodies when at either of its limits.
  • Fixed issue with iOS Info.plist missing the MinimumOSVersion key.

0.11.0 - 2023-12-01

Changed

  • ⚠️ Changed HeightMapShape3D to always use back-face collision, to match Godot Physics.

Fixed

  • Fixed issue with project randomly freezing up when having many active physics spaces.
  • Fixed issue with static and kinematic bodies not correctly incorporating surface velocities, also known as "constant velocities", as part of their reported velocities. This also makes it so move_and_slide will respect such velocities.
  • Fixed issue with global transform not being preserved when reparenting a RigidBody3D.
  • Fixed issue where the callback passed to body_set_force_integration_callback could be called even when the body is sleeping.

0.10.0 - 2023-11-12

Changed

  • ⚠️ Changed gravity_point_unit_distance for Area3D to result in a constant gravity when set to zero, rather than resulting in a zero gravity, to match Godot Physics.
  • ⚠️ Changed so that ray-casts using the hit_from_inside parameter report a zero normal when hitting a convex shape from inside, to match Godot Physics.
  • Changed the space_get_contacts method of PhysicsServer3D (and thus also the "Visible Collision Shapes" debug rendering) to no longer include contacts generated by overlaps with Area3D.

Added

  • Added support for Android (ARM64, ARM32, x86-64 and x86).
  • Added support for iOS.

Fixed

  • Fixed issue where an error saying Parameter "body" is null would be emitted after freeing certain bodies while they were in contact with a CharacterBody3D.
  • Fixed issue where a RigidBody3D could sometimes still be moved by another RigidBody3D despite the first body not having the second body in its collision mask.

0.9.0 - 2023-10-12

Changed

  • Changed ConvexPolygonShape3D to no longer emit errors about failing to build the shape when adding one to the scene tree with 0 points.

Added

  • Added new project setting, "Active Edge Threshold", for tuning the cut-off angle for Jolt's active edge detection, which can help balance trade-offs related to triangle edge collisions.

Fixed

  • ⚠️ Fixed issue where Generic6DOFJoint and JoltGeneric6DOFJoint would lock up any axis that used a spring stiffness/frequency of 0.
  • Greatly reduced creation/modification/loading times for ConcavePolygonShape3D.

0.8.0 - 2023-09-28

Changed

  • ⚠️ Changed apply_force and apply_impulse to be applied at an offset relative to the body's origin rather than at an offset relative to the body's center-of-mass, to match Godot Physics.
  • ⚠️ Changed collision layers and masks for Area3D to behave like they do in Godot Physics, allowing for asymmetrical setups, where overlaps are only reported if the mask of an Area3D contains the layer of the overlapping object.
  • ⚠️ Changed the body_set_force_integration_callback method of PhysicsServer3D to behave like it does with Godot Physics, where omitting the binding of userdata requires that the callback also doesn't take any userdata. It also will no longer be called when the body is sleeping.

Added

  • Added timings of Jolt's various jobs to the "Physics 3D" profiler category.
  • Added registering of JoltPhysicsServer3D as an actual singleton, which makes Jolt-specific server methods (e.g. pin_joint_get_applied_force) easier to deal with from dynamic scripting languages like GDScript.
  • Added space_dump_debug_snapshot to JoltPhysicsServer3D, for dumping a binary debug snapshot of a particular physics space.
  • Added dump_debug_snapshots to JoltPhysicsServer3D, for dumping binary debug snapshots of all currently active physics spaces.
  • Added a "Dump Debug Snapshots" menu option to "Project / Tools / Jolt Physics", for dumping binary debug snapshots of all the editor's physics spaces.

Fixed

  • Fixed issue with move_and_slide, where under certain conditions you could get stuck on internal edges of a ConcavePolygonShape3D if the floor was within 5-ish degrees of floor_max_angle.
  • Fixed issue with move_and_slide, where under certain conditions, while using a BoxShape3D or CylinderShape3D shape, you could get stuck on internal edges of a ConcavePolygonShape3D.
  • Fixed issue where collision with ConvexPolygonShape3D could yield a flipped contact normal.
  • Fixed issue where an Area3D with monitoring disabled wouldn't emit any entered events for already overlapping bodies once monitoring was enabled.
  • Fixed issue where changing the center-of-mass of a RigidBody3D attached to a joint would shift its transform relative to the joint.
  • Fixed issue where the total_gravity property on PhysicsDirectBodyState3D would always return a zero vector for kinematic bodies.
  • Fixed issue with Area3D detecting overlaps slightly outside of its collision shapes.

0.7.0 - 2023-08-29

Removed

  • ⚠️ Disabled the JoltDebugGeometry3D node for all distributed builds. If you still need it, build from source using the *-development or *-debug configurations.

Changed

  • ⚠️ Ray-casts will no longer hit the back-faces of ConcavePolygonShape3D if its hit_back_faces parameter is set to false, regardless of what the backface_collision property of the ConcavePolygonShape3D is set to.
  • ⚠️ Changed the triangulation of HeightMapShape3D to match Godot Physics.

Fixed

  • ⚠️ Fixed regression where a motored HingeJoint3D (or JoltHingeJoint3D) would rotate counter-clockwise instead of clockwise.
  • Fixed issue where ray-casting a ConcavePolygonShape3D that had backface_collision enabled, you would sometimes end up with a flipped normal.
  • Fixed issue where a CharacterBody3D using move_and_slide could sometimes get stuck when sliding along a wall.
  • Fixed issue where attaching a RigidBody3D with locked axes to a joint could result in NaN velocities/position and subsequently a lot of random errors being emitted from within Godot.

0.6.0 - 2023-08-17

Changed

  • Changed the editor gizmo for JoltPinJoint3D.
  • Changed the editor gizmo for JoltHingeJoint3D.
  • Changed the editor gizmo for JoltSliderJoint3D.
  • Changed the editor gizmo for JoltConeTwistJoint3D.
  • Changed the editor gizmo for JoltGeneric6DOFJoint3D.

Added

  • Added support for HeightMapShape3D with non-power-of-two dimensions.
  • Added support for HeightMapShape3D with non-square dimensions.
  • Added support for HeightMapShape3D with no heights.

Fixed

  • Fixed issue where bodies would catch on internal edges of ConcavePolygonShape3D.

0.5.0 - 2023-08-08

Removed

  • ⚠️ Removed the ability to lock all six axes of a RigidBody3D. Consider freezing the body as static instead.

Added

  • Added substitutes for all the joint nodes, to better align with the interface that Jolt offers, which consist of JoltPinJoint3D, JoltHingeJoint3D, JoltSliderJoint3D, JoltConeTwistJoint3D and JoltGeneric6DOFJoint3D. These differ in the following ways:
    • You can enable/disable the limits on all joints.
    • You can enable/disable the joint itself using its enabled property.
    • You can fetch the magnitude of the force/torque that was last applied to keep the joint together, using the get_applied_force and get_applied_torque methods. These coupled with the enabled property allows for creating breakable joints.
    • You can increase the joint's solver iterations, to improve stability, using its solver_velocity_iterations and solver_position_iterations properties.
    • Springs use frequency and damping instead of stiffness and damping.
    • Soft limits are achieved with limit springs.
    • JoltConeTwistJoint3D can be configured with a motor.
    • Angular motor velocities are set in radians per second, but displayed in degrees per second.
    • Any motion parameters like bias, damping and relaxation are omitted.
    • Any angular motion parameters for the slider joint are omitted.

Fixed

  • Fixed issue where linear axis locks could be budged a bit if enough force was applied.
  • Fixed issue where CharacterBody3D and other kinematic bodies wouldn't respect locked axes.
  • Fixed issue where passing null to the result parameter (or omitting it entirely) of the body_test_motion method in PhysicsServer3D would cause a crash.
  • Fixed issue where the body_is_omitting_force_integration method in PhysicsServer3D would always return false.

0.4.1 - 2023-07-08

Fixed

  • Fixed issue where colliding with certain types of degenerate triangles in ConcavePolygonShape3D would cause the application to hang or emit a vast amount of errors.

0.4.0 - 2023-07-08

Changed

  • ⚠️ Changed the cast_motion method in PhysicsDirectSpaceState3D to return [1.0, 1.0] instead of [] when no collision was detected, to match Godot Physics.
  • ⚠️ Changed contact positions to be absolute global positions instead of relative global positions, to match the new behavior in Godot Physics.

Added

  • Added support for springs in Generic6DOFJoint3D.

Fixed

  • Fixed issue where angular surface velocities (like constant_angular_velocity on StaticBody3D) wouldn't be applied as expected if the imparted upon body was placed across the imparting body's center of mass.
  • Fixed issue where going from CENTER_OF_MASS_MODE_CUSTOM to CENTER_OF_MASS_MODE_AUTO wouldn't actually reset the body's center-of-mass.
  • Fixed issue where any usage of PhysicsServer3D, PhysicsDirectBodyState3D or PhysicsDirectSpaceState3D in C# scripts would trigger an exception.
  • Fixed issue where the recovery_as_collision parameter in the move_and_collide and test_move methods on bodies would always be true.
  • Fixed issue where the input_ray_pickable property on bodies and areas would always be true.

0.3.0 - 2023-06-28

Changed

  • ⚠️ Changed collision layers and masks to behave as they do in Godot Physics, allowing for asymmetrical collisions, where the body whose mask does not contain the layer of the other body effectively gets infinite mass and inertia in the context of that collision.

Added

  • Added new project setting, "Use Shape Margins", which when disabled leads to all shape margins being ignored and instead set to 0, at a slight performance cost.
  • Added new project setting, "Areas Detect Static Bodies", to allow Area3D to detect overlaps with static bodies (including RigidBody3D using FREEZE_MODE_STATIC) at a potentially heavy performance/memory cost.

Fixed

  • Fixed issue where a RigidBody3D using FREEZE_MODE_KINEMATIC wouldn't have its _integrate_forces method called when monitoring contacts.
  • Fixed issue where scaling bodies/shapes with negative values would break them in various ways.
  • Fixed issue where CharacterBody3D platform velocities would always be zero.
  • Fixed issue where the velocity of kinematic colliders would always be zero in _physics_process.

0.2.3 - 2023-06-16

Fixed

  • Fixed issue where bodies would transform in unintuitive ways when attached to a rotated joint.
  • Fixed issue where bodies would sometimes transform in unintuitive ways when attached to a Generic6DOFJoint that used both linear and angular limits.
  • Fixed issue where setting the limits of a SliderJoint3D to the same value would make it free instead of fixed.
  • Fixed issue where you could still rotate a RigidBody3D slightly while using lock_rotation.
  • Fixed issue where friction would be applied more on one axis than the other.

0.2.2 - 2023-06-09

Fixed

  • Fixed issue where AnimatableBody3D would de-sync from its underlying body when moved.
  • Fixed issue where CharacterBody3D and other kinematic bodies would sometimes maintain a velocity after having moved.

0.2.1 - 2023-06-06

Fixed

  • Fixed issue where having scaled bodies attached to a joint would result in the bodies being displaced from their starting position.

0.2.0 - 2023-06-06

Changed

  • ⚠️ Changed friction values to be combined in the same way as in Godot Physics.
  • ⚠️ Changed bounce values to be combined in the same way as in Godot Physics.
  • ⚠️ Changed the direction of Generic6DOFJoint angular motors to match Godot Physics.
  • ⚠️ Changed how linear/angular velocities are applied to a frozen RigidBody3D, to better match Godot Physics. They now apply a surface velocity, also known as a "constant velocity", instead of actually moving the body.
  • ⚠️ Changed shape margins to be interpreted as an upper bound. They are now scaled according to the shape's extents, which removes the ability to have an incorrect margin, thereby removing any warnings about that.
  • Changed warning/error messages to provide more context, such as the names of any bodies related/connected to that particular thing.

Added

  • Added new project setting "Bounce Velocity Threshold".
  • Added support for the custom_integrator property on RigidBody3D and PhysicalBone3D.
  • Added support for the integrate_forces method on PhysicsDirectBodyState3D.
  • Added support for the rough and absorbent properties on PhysicsMaterial.
  • Added support for surface velocities, also known as "constant velocities", for both static and kinematic bodies.
  • Added support for more flexible limits for HingeJoint3D and SliderJoint3D.

Fixed

  • Fixed issue where CharacterBody3D and other kinematic bodies wouldn't elicit a proper collision response from dynamic bodies.
  • Fixed issue where setting friction on an already entered body would instead set bounce.
  • Fixed issue where disabling or removing a body connected to a joint would error or crash.
  • Fixed issue where RigidBody3D would de-sync from its underlying body after freezing with the "Static" freeze mode.
  • Fixed issue where bodies connected to a Generic6DOFJoint would lose their relative pose when changing any of the joint's limits

0.1.0 - 2023-05-24

Initial release.