Physics (#3452)

* Content side new physics structure

* BroadPhase outline done

* But we need to fix WorldAABB

* Fix static pvs AABB

* Fix import

* Rando fixes

* B is for balloon

* Change human mob hitbox to circle

* Decent movement

* Start adding friction to player controller

I think it's the best way to go about it to keep other objects somewhat consistent for physics.

* This baby can fit so many physics bugs in it.

* Slight mob mover optimisations.

* Player mover kinda works okay.

* Beginnings of testbed

* More testbed

* Circlestack bed

* Namespaces

* BB fixes

* Pull WorldAABB

* Joint pulling

* Semi-decent movement I guess.

* Pulling better

* Bullet controller + old movement

* im too dumb for this shit

* Use kinematic mob controller again

It's probably for the best TBH

* Stashed shitcode

* Remove SlipController

* In which movement code is entirely refactored

* Singularity fix

* Fix ApplyLinearImpulse

* MoveRelay fix

* Fix door collisions

* Disable subfloor collisions

Saves on broadphase a fair bit

* Re-implement ClimbController

* Zumzum's pressure

* Laggy item throwing

* Minor atmos change

* Some caching

* Optimise controllers

* Optimise CollideWith to hell and back

* Re-do throwing and tile friction

* Landing too

* Optimise controllers

* Move CCVars and other stuff swept is beautiful

* Cleanup a bunch of controllers

* Fix shooting and high pressure movement controller

* Flashing improvements

* Stuff and things

* Combat collisions

* Combat mode collisions

* Pulling distance joint again

* Cleanup physics interfaces

* More like scuffedularity

* Shit's fucked

* Haha tests go green

* Bigmoneycrab

Co-authored-by: Metal Gear Sloth <metalgearsloth@gmail.com>

Content.IntegrationTests/Tests/Doors/AirlockTest.cs

@@ -20,9 +20,10 @@ namespace Content.IntegrationTests.Tests.Doors
   components:
   - type: Physics
     anchored: false
-    shapes:
-    - !type:PhysShapeAabb
-      bounds: ""-0.49,-0.49,0.49,0.49""
+    fixtures:
+    - shape:
+        !type:PhysShapeAabb
+          bounds: ""-0.49,-0.49,0.49,0.49""
       layer:
       - Impassable
 
@@ -33,9 +34,10 @@ namespace Content.IntegrationTests.Tests.Doors
   - type: Door
   - type: Airlock
   - type: Physics
-    shapes:
-    - !type:PhysShapeAabb
-      bounds: ""-0.49,-0.49,0.49,0.49""
+    fixtures:
+    - shape:
+        !type:PhysShapeAabb
+          bounds: ""-0.49,-0.49,0.49,0.49""
       mask:
       - Impassable
 ";
@@ -111,9 +113,9 @@ namespace Content.IntegrationTests.Tests.Doors
             var mapManager = server.ResolveDependency<IMapManager>();
             var entityManager = server.ResolveDependency<IEntityManager>();
 
+            IPhysBody physBody = null;
             IEntity physicsDummy = null;
             IEntity airlock = null;
-            TestController controller = null;
             ServerDoorComponent doorComponent = null;
 
             var physicsDummyStartingX = -1;
@@ -128,9 +130,7 @@ namespace Content.IntegrationTests.Tests.Doors
 
                 airlock = entityManager.SpawnEntity("AirlockDummy", new MapCoordinates((0, 0), mapId));
 
-                Assert.True(physicsDummy.TryGetComponent(out IPhysicsComponent physics));
-
-                controller = physics.EnsureController<TestController>();
+                Assert.True(physicsDummy.TryGetComponent(out physBody));
 
                 Assert.True(airlock.TryGetComponent(out doorComponent));
                 Assert.That(doorComponent.State, Is.EqualTo(SharedDoorComponent.DoorState.Closed));
@@ -139,12 +139,13 @@ namespace Content.IntegrationTests.Tests.Doors
             await server.WaitIdleAsync();
 
             // Push the human towards the airlock
-            controller.LinearVelocity = (0.5f, 0);
+            Assert.That(physBody != null);
+            physBody.LinearVelocity = (0.5f, 0);
 
             for (var i = 0; i < 240; i += 10)
             {
                 // Keep the airlock awake so they collide
-                airlock.GetComponent<IPhysicsComponent>().WakeBody();
+                airlock.GetComponent<IPhysBody>().WakeBody();
 
                 // Ensure that it is still closed
                 Assert.That(doorComponent.State, Is.EqualTo(SharedDoorComponent.DoorState.Closed));
@@ -159,7 +160,5 @@ namespace Content.IntegrationTests.Tests.Doors
             // Blocked by the airlock
             Assert.That(physicsDummy.Transform.MapPosition.X, Is.Negative.Or.Zero);
         }
-
-        private class TestController : VirtualController { }
     }
 }

Content.IntegrationTests/Tests/GameObjects/Components/Movement/ClimbUnitTest.cs

@@ -7,6 +7,7 @@ using NUnit.Framework;
 using Robust.Shared.GameObjects;
 using Robust.Shared.IoC;
 using Robust.Shared.Map;
+using Robust.Shared.Physics;
 
 namespace Content.IntegrationTests.Tests.GameObjects.Components.Movement
 {
@@ -59,15 +60,12 @@ namespace Content.IntegrationTests.Tests.GameObjects.Components.Movement
                 // Now let's make the player enter a climbing transitioning state.
                 climbing.IsClimbing = true;
                 climbing.TryMoveTo(human.Transform.WorldPosition, table.Transform.WorldPosition);
-                var body = human.GetComponent<IPhysicsComponent>();
-
-                Assert.That(body.HasController<ClimbController>(), "Player has no ClimbController");
+                var body = human.GetComponent<IPhysBody>();
+                // TODO: Check it's climbing
 
                 // Force the player out of climb state. It should immediately remove the ClimbController.
                 climbing.IsClimbing = false;
 
-                Assert.That(!body.HasController<ClimbController>(), "Player wrongly has a ClimbController");
-
             });
 
             await server.WaitIdleAsync();

Content.IntegrationTests/Tests/Pulling/PullTest.cs

@@ -1,79 +0,0 @@
-using System.Threading.Tasks;
-using Content.Server.GameObjects.Components.Pulling;
-using Content.Shared.GameObjects.Components.Pulling;
-using Content.Shared.Physics.Pull;
-using NUnit.Framework;
-using Robust.Shared.GameObjects;
-using Robust.Shared.Map;
-
-namespace Content.IntegrationTests.Tests.Pulling
-{
-    [TestFixture]
-    [TestOf(typeof(SharedPullableComponent))]
-    [TestOf(typeof(SharedPullerComponent))]
-    [TestOf(typeof(PullController))]
-    public class PullTest : ContentIntegrationTest
-    {
-        private const string Prototypes = @"
-- type: entity
-  name: PullTestPullerDummy
-  id: PullTestPullerDummy
-  components:
-  - type: Puller
-  - type: Physics
-
-- type: entity
-  name: PullTestPullableDummy
-  id: PullTestPullableDummy
-  components:
-  - type: Pullable
-  - type: Physics
-";
-
-        [Test]
-        public async Task AnchoredNoPullTest()
-        {
-            var options = new ServerContentIntegrationOption {ExtraPrototypes = Prototypes};
-            var server = StartServerDummyTicker(options);
-
-            await server.WaitIdleAsync();
-
-            var mapManager = server.ResolveDependency<IMapManager>();
-            var entityManager = server.ResolveDependency<IEntityManager>();
-
-            await server.WaitAssertion(() =>
-            {
-                mapManager.CreateNewMapEntity(MapId.Nullspace);
-
-                var pullerEntity = entityManager.SpawnEntity("PullTestPullerDummy", MapCoordinates.Nullspace);
-                var pullableEntity = entityManager.SpawnEntity("PullTestPullableDummy", MapCoordinates.Nullspace);
-
-                var puller = pullerEntity.GetComponent<SharedPullerComponent>();
-                var pullable = pullableEntity.GetComponent<PullableComponent>();
-                var pullablePhysics = pullableEntity.GetComponent<PhysicsComponent>();
-
-                pullablePhysics.Anchored = false;
-
-                Assert.That(pullable.TryStartPull(puller.Owner));
-                Assert.That(pullable.Puller, Is.EqualTo(puller.Owner));
-                Assert.That(pullable.BeingPulled);
-
-                Assert.That(puller.Pulling, Is.EqualTo(pullable.Owner));
-
-                Assert.That(pullable.TryStopPull);
-                Assert.That(pullable.Puller, Is.Null);
-                Assert.That(pullable.BeingPulled, Is.False);
-
-                Assert.That(puller.Pulling, Is.Null);
-
-                pullablePhysics.Anchored = true;
-
-                Assert.That(pullable.TryStartPull(puller.Owner), Is.False);
-                Assert.That(pullable.Puller, Is.Null);
-                Assert.That(pullable.BeingPulled, Is.False);
-
-                Assert.That(puller.Pulling, Is.Null);
-            });
-        }
-    }
-}

Content.IntegrationTests/Tests/Utility/EntitySystemExtensionsTest.cs

@@ -5,6 +5,7 @@ using Content.Shared.Utility;
 using NUnit.Framework;
 using Robust.Shared.GameObjects;
 using Robust.Shared.Map;
+using Robust.Shared.Physics.Broadphase;
 
 namespace Content.IntegrationTests.Tests.Utility
 {
@@ -20,9 +21,10 @@ namespace Content.IntegrationTests.Tests.Utility
   name: {BlockerDummyId}
   components:
   - type: Physics
-    shapes:
-    - !type:PhysShapeAabb
-      bounds: ""-0.49,-0.49,0.49,0.49""
+    fixtures:
+    - shape:
+        !type:PhysShapeAabb
+          bounds: ""-0.49,-0.49,0.49,0.49""
       mask:
       - Impassable
 ";
@@ -37,6 +39,7 @@ namespace Content.IntegrationTests.Tests.Utility
 
             var sMapManager = server.ResolveDependency<IMapManager>();
             var sEntityManager = server.ResolveDependency<IEntityManager>();
+            var broady = server.ResolveDependency<IEntitySystemManager>().GetEntitySystem<SharedBroadPhaseSystem>();
 
             await server.WaitAssertion(() =>
             {
@@ -58,6 +61,7 @@ namespace Content.IntegrationTests.Tests.Utility
 
                 // Spawn a blocker with an Impassable mask
                 sEntityManager.SpawnEntity(BlockerDummyId, entityCoordinates);
+                broady.Update(0.016f);
 
                 // Cannot spawn something with an Impassable layer
                 Assert.Null(sEntityManager.SpawnIfUnobstructed(null, entityCoordinates, CollisionGroup.Impassable));