SoftBody support in GodotPhysics 3D

- Fixed SoftBody surface update with new rendering system
- Added GodotPhysics implementation for SoftBody
- Added support to get SoftBody rid to interact with the physics server
- Added support to get SoftBody bounds from the physics server
- Removed support for unused get_vertex_position and get_point_offset
from the physics server
- Removed SoftBody properties that are unused in both Bullet and
GodotPhysics (angular and volume stiffness, pose matching)
- Added RenderingServerHandler interface to PhysicsServer3D so the physics servers don't need to reference the class from SoftBody node directly

1 files changed, 33 insertions, 0 deletions

diff --git a/servers/physics_3d/step_3d_sw.cpp b/servers/physics_3d/step_3d_sw.cpp
index d9370de6a3..9a73e11562 100644
--- a/servers/physics_3d/step_3d_sw.cpp
+++ b/servers/physics_3d/step_3d_sw.cpp
@@ -146,6 +146,8 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
 
 	const SelfList<Body3DSW>::List *body_list = &p_space->get_active_body_list();
 
+	const SelfList<SoftBody3DSW>::List *soft_body_list = &p_space->get_active_soft_body_list();
+
 	/* INTEGRATE FORCES */
 
 	uint64_t profile_begtime = OS::get_singleton()->get_ticks_usec();
@@ -160,6 +162,15 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
 		active_count++;
 	}
 
+	/* UPDATE SOFT BODY MOTION */
+
+	const SelfList<SoftBody3DSW> *sb = soft_body_list->first();
+	while (sb) {
+		sb->self()->predict_motion(p_delta);
+		sb = sb->next();
+		active_count++;
+	}
+
 	p_space->set_active_objects(active_count);
 
 	{ //profile
@@ -214,6 +225,20 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
 		p_space->area_remove_from_moved_list((SelfList<Area3DSW> *)aml.first()); //faster to remove here
 	}
 
+	sb = soft_body_list->first();
+	while (sb) {
+		for (const Set<Constraint3DSW *>::Element *E = sb->self()->get_constraints().front(); E; E = E->next()) {
+			Constraint3DSW *c = E->get();
+			if (c->get_island_step() == _step)
+				continue;
+			c->set_island_step(_step);
+			c->set_island_next(NULL);
+			c->set_island_list_next(constraint_island_list);
+			constraint_island_list = c;
+		}
+		sb = sb->next();
+	}
+
 	{ //profile
 		profile_endtime = OS::get_singleton()->get_ticks_usec();
 		p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime);
@@ -272,6 +297,14 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
 		}
 	}
 
+	/* UPDATE SOFT BODY CONSTRAINTS */
+
+	sb = soft_body_list->first();
+	while (sb) {
+		sb->self()->solve_constraints(p_delta);
+		sb = sb->next();
+	}
+
 	{ //profile
 		profile_endtime = OS::get_singleton()->get_ticks_usec();
 		p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_INTEGRATE_VELOCITIES, profile_endtime - profile_begtime);