Add physics solver settings to project settings

Helps with discovery and setup of physics solver settings, in a specific
project settings section for both 2D and 3D.

Other changes for cleanup:
-Removed unused space parameters in 3D
SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO
SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS
-Added custom solver bias for Shape3D (same as Shape2D)
-Improved documentation for solver settings

doc/classes/Joint2D.xml

@@ -11,6 +11,7 @@
 	<members>
 		<member name="bias" type="float" setter="set_bias" getter="get_bias" default="0.0">
 			When [member node_a] and [member node_b] move in different directions the [code]bias[/code] controls how fast the joint pulls them back to their original position. The lower the [code]bias[/code] the more the two bodies can pull on the joint.
+			When set to [code]0[/code], the default value from [member ProjectSettings.physics/2d/solver/default_constraint_bias] is used.
 		</member>
 		<member name="disable_collision" type="bool" setter="set_exclude_nodes_from_collision" getter="get_exclude_nodes_from_collision" default="true">
 			If [code]true[/code], [member node_a] and [member node_b] can not collide.

doc/classes/PhysicsServer2D.xml

@@ -789,7 +789,7 @@
 			Constant to set/get the maximum distance a pair of bodies has to move before their collision status has to be recalculated.
 		</constant>
 		<constant name="SPACE_PARAM_CONTACT_MAX_SEPARATION" value="1" enum="SpaceParameter">
-			Constant to set/get the maximum distance a shape can be from another before they are considered separated.
+			Constant to set/get the maximum distance a shape can be from another before they are considered separated and the contact is discarded.
 		</constant>
 		<constant name="SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION" value="2" enum="SpaceParameter">
 			Constant to set/get the maximum distance a shape can penetrate another shape before it is considered a collision.

doc/classes/PhysicsServer3D.xml

@@ -1333,7 +1333,7 @@
 			Constant to set/get the maximum distance a pair of bodies has to move before their collision status has to be recalculated.
 		</constant>
 		<constant name="SPACE_PARAM_CONTACT_MAX_SEPARATION" value="1" enum="SpaceParameter">
-			Constant to set/get the maximum distance a shape can be from another before they are considered separated.
+			Constant to set/get the maximum distance a shape can be from another before they are considered separated and the contact is discarded.
 		</constant>
 		<constant name="SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION" value="2" enum="SpaceParameter">
 			Constant to set/get the maximum distance a shape can penetrate another shape before it is considered a collision.
@@ -1350,12 +1350,7 @@
 		<constant name="SPACE_PARAM_BODY_TIME_TO_SLEEP" value="6" enum="SpaceParameter">
 			Constant to set/get the maximum time of activity. A body marked as potentially inactive for both linear and angular velocity will be put to sleep after this time.
 		</constant>
-		<constant name="SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO" value="7" enum="SpaceParameter">
-		</constant>
-		<constant name="SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS" value="8" enum="SpaceParameter">
-			Constant to set/get the default solver bias for all physics constraints. A solver bias is a factor controlling how much two objects "rebound", after violating a constraint, to avoid leaving them in that state because of numerical imprecision.
-		</constant>
-		<constant name="SPACE_PARAM_SOLVER_ITERATIONS" value="9" enum="SpaceParameter">
+		<constant name="SPACE_PARAM_SOLVER_ITERATIONS" value="7" enum="SpaceParameter">
 			Constant to set/get the number of solver iterations for contacts and constraints. The greater the amount of iterations, the more accurate the collisions and constraints will be. However, a greater amount of iterations requires more CPU power, which can decrease performance.
 		</constant>
 		<constant name="BODY_AXIS_LINEAR_X" value="1" enum="BodyAxis">

doc/classes/ProjectSettings.xml

@@ -1420,6 +1420,26 @@
 		<member name="physics/2d/sleep_threshold_linear" type="float" setter="" getter="" default="2.0">
 			Threshold linear velocity under which a 2D physics body will be considered inactive. See [constant PhysicsServer2D.SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD].
 		</member>
+		<member name="physics/2d/solver/contact_max_allowed_penetration" type="float" setter="" getter="" default="0.3">
+			Maximum distance a shape can penetrate another shape before it is considered a collision. See [constant PhysicsServer2D.SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION].
+		</member>
+		<member name="physics/2d/solver/contact_max_separation" type="float" setter="" getter="" default="1.5">
+			Maximum distance a shape can be from another before they are considered separated and the contact is discarded. See [constant PhysicsServer2D.SPACE_PARAM_CONTACT_MAX_SEPARATION].
+		</member>
+		<member name="physics/2d/solver/contact_recycle_radius" type="float" setter="" getter="" default="1.0">
+			Maximum distance a pair of bodies has to move before their collision status has to be recalculated. See [constant PhysicsServer2D.SPACE_PARAM_CONTACT_RECYCLE_RADIUS].
+		</member>
+		<member name="physics/2d/solver/default_constraint_bias" type="float" setter="" getter="" default="0.2">
+			Default solver bias for all physics constraints. Defines how much bodies react to enforce constraints. See [constant PhysicsServer2D.SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS].
+			Individual constraints can have a specific bias value (see [member Joint2D.bias]).
+		</member>
+		<member name="physics/2d/solver/default_contact_bias" type="float" setter="" getter="" default="0.8">
+			Default solver bias for all physics contacts. Defines how much bodies react to enforce contact separation. See [constant PhysicsServer2D.SPACE_PARAM_CONTACT_DEFAULT_BIAS].
+			Individual shapes can have a specific bias value (see [member Shape2D.custom_solver_bias]).
+		</member>
+		<member name="physics/2d/solver/solver_iterations" type="int" setter="" getter="" default="16">
+			Number of solver iterations for all contacts and constraints. The greater the amount of iterations, the more accurate the collisions will be. However, a greater amount of iterations requires more CPU power, which can decrease performance. See [constant PhysicsServer2D.SPACE_PARAM_SOLVER_ITERATIONS].
+		</member>
 		<member name="physics/2d/time_before_sleep" type="float" setter="" getter="" default="0.5">
 			Time (in seconds) of inactivity before which a 2D physics body will put to sleep. See [constant PhysicsServer2D.SPACE_PARAM_BODY_TIME_TO_SLEEP].
 		</member>
@@ -1467,10 +1487,29 @@
 			Sets whether 3D physics is run on the main thread or a separate one. Running the server on a thread increases performance, but restricts API access to only physics process.
 		</member>
 		<member name="physics/3d/sleep_threshold_angular" type="float" setter="" getter="" default="0.139626">
+			Threshold angular velocity under which a 3D physics body will be considered inactive. See [constant PhysicsServer3D.SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD].
 		</member>
 		<member name="physics/3d/sleep_threshold_linear" type="float" setter="" getter="" default="0.1">
+			Threshold linear velocity under which a 3D physics body will be considered inactive. See [constant PhysicsServer3D.SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD].
+		</member>
+		<member name="physics/3d/solver/contact_max_allowed_penetration" type="float" setter="" getter="" default="0.01">
+			Maximum distance a shape can penetrate another shape before it is considered a collision. See [constant PhysicsServer3D.SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION].
+		</member>
+		<member name="physics/3d/solver/contact_max_separation" type="float" setter="" getter="" default="0.05">
+			Maximum distance a shape can be from another before they are considered separated and the contact is discarded. See [constant PhysicsServer3D.SPACE_PARAM_CONTACT_MAX_SEPARATION].
+		</member>
+		<member name="physics/3d/solver/contact_recycle_radius" type="float" setter="" getter="" default="0.01">
+			Maximum distance a pair of bodies has to move before their collision status has to be recalculated. See [constant PhysicsServer3D.SPACE_PARAM_CONTACT_RECYCLE_RADIUS].
+		</member>
+		<member name="physics/3d/solver/default_contact_bias" type="float" setter="" getter="" default="0.8">
+			Default solver bias for all physics contacts. Defines how much bodies react to enforce contact separation. See [constant PhysicsServer3D.SPACE_PARAM_CONTACT_DEFAULT_BIAS].
+			Individual shapes can have a specific bias value (see [member Shape3D.custom_solver_bias]).
+		</member>
+		<member name="physics/3d/solver/solver_iterations" type="int" setter="" getter="" default="16">
+			Number of solver iterations for all contacts and constraints. The greater the amount of iterations, the more accurate the collisions will be. However, a greater amount of iterations requires more CPU power, which can decrease performance. See [constant PhysicsServer3D.SPACE_PARAM_SOLVER_ITERATIONS].
 		</member>
 		<member name="physics/3d/time_before_sleep" type="float" setter="" getter="" default="0.5">
+			Time (in seconds) of inactivity before which a 3D physics body will put to sleep. See [constant PhysicsServer3D.SPACE_PARAM_BODY_TIME_TO_SLEEP].
 		</member>
 		<member name="physics/common/enable_object_picking" type="bool" setter="" getter="" default="true">
 			Enables [member Viewport.physics_object_picking] on the root viewport.

doc/classes/Shape2D.xml

@@ -65,7 +65,8 @@
 	</methods>
 	<members>
 		<member name="custom_solver_bias" type="float" setter="set_custom_solver_bias" getter="get_custom_solver_bias" default="0.0">
-			The shape's custom solver bias.
+			The shape's custom solver bias. Defines how much bodies react to enforce contact separation when this shape is involved.
+			When set to [code]0[/code], the default value from [member ProjectSettings.physics/2d/solver/default_contact_bias] is used.
 		</member>
 	</members>
 </class>

doc/classes/Shape3D.xml

@@ -18,6 +18,10 @@
 		</method>
 	</methods>
 	<members>
+		<member name="custom_solver_bias" type="float" setter="set_custom_solver_bias" getter="get_custom_solver_bias" default="0.0">
+			The shape's custom solver bias. Defines how much bodies react to enforce contact separation when this shape is involved.
+			When set to [code]0[/code], the default value from [member ProjectSettings.physics/3d/solver/default_contact_bias] is used.
+		</member>
 		<member name="margin" type="float" setter="set_margin" getter="get_margin" default="0.04">
 			The collision margin for the shape. Used in Bullet Physics only.
 			Collision margins allow collision detection to be more efficient by adding an extra shell around shapes. Collision algorithms are more expensive when objects overlap by more than their margin, so a higher value for margins is better for performance, at the cost of accuracy around edges as it makes them less sharp.

modules/bullet/space_bullet.cpp

@@ -426,8 +426,6 @@ void SpaceBullet::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_va
 		case PhysicsServer3D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD:
 		case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD:
 		case PhysicsServer3D::SPACE_PARAM_BODY_TIME_TO_SLEEP:
-		case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO:
-		case PhysicsServer3D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
 		default:
 			WARN_PRINT("This set parameter (" + itos(p_param) + ") is ignored, the SpaceBullet doesn't support it.");
 			break;
@@ -442,8 +440,6 @@ real_t SpaceBullet::get_param(PhysicsServer3D::SpaceParameter p_param) {
 		case PhysicsServer3D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD:
 		case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD:
 		case PhysicsServer3D::SPACE_PARAM_BODY_TIME_TO_SLEEP:
-		case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO:
-		case PhysicsServer3D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
 		default:
 			WARN_PRINT("The SpaceBullet doesn't support this get parameter (" + itos(p_param) + "), 0 is returned.");
 			return 0.f;

scene/resources/shape_3d.cpp

@@ -48,6 +48,15 @@ void Shape3D::add_vertices_to_array(Vector<Vector3> &array, const Transform3D &p
 	}
 }
 
+void Shape3D::set_custom_solver_bias(real_t p_bias) {
+	custom_bias = p_bias;
+	PhysicsServer3D::get_singleton()->shape_set_custom_solver_bias(shape, custom_bias);
+}
+
+real_t Shape3D::get_custom_solver_bias() const {
+	return custom_bias;
+}
+
 real_t Shape3D::get_margin() const {
 	return margin;
 }
@@ -99,11 +108,15 @@ void Shape3D::_update_shape() {
 }
 
 void Shape3D::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("set_custom_solver_bias", "bias"), &Shape3D::set_custom_solver_bias);
+	ClassDB::bind_method(D_METHOD("get_custom_solver_bias"), &Shape3D::get_custom_solver_bias);
+
 	ClassDB::bind_method(D_METHOD("set_margin", "margin"), &Shape3D::set_margin);
 	ClassDB::bind_method(D_METHOD("get_margin"), &Shape3D::get_margin);
 
 	ClassDB::bind_method(D_METHOD("get_debug_mesh"), &Shape3D::get_debug_mesh);
 
+	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "custom_solver_bias", PROPERTY_HINT_RANGE, "0,1,0.001"), "set_custom_solver_bias", "get_custom_solver_bias");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "margin", PROPERTY_HINT_RANGE, "0.001,10,0.001"), "set_margin", "get_margin");
 }
 

scene/resources/shape_3d.h

@@ -40,6 +40,7 @@ class Shape3D : public Resource {
 	OBJ_SAVE_TYPE(Shape3D);
 	RES_BASE_EXTENSION("shape");
 	RID shape;
+	real_t custom_bias = 0.0;
 	real_t margin = 0.04;
 
 	Ref<ArrayMesh> debug_mesh_cache;
@@ -62,6 +63,9 @@ public:
 
 	void add_vertices_to_array(Vector<Vector3> &array, const Transform3D &p_xform);
 
+	void set_custom_solver_bias(real_t p_bias);
+	real_t get_custom_solver_bias() const;
+
 	real_t get_margin() const;
 	void set_margin(real_t p_margin);
 

servers/physics_2d/godot_space_2d.cpp

@@ -1208,6 +1208,24 @@ GodotSpace2D::GodotSpace2D() {
 	body_time_to_sleep = GLOBAL_DEF("physics/2d/time_before_sleep", 0.5);
 	ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/time_before_sleep", PropertyInfo(Variant::FLOAT, "physics/2d/time_before_sleep", PROPERTY_HINT_RANGE, "0,5,0.01,or_greater"));
 
+	solver_iterations = GLOBAL_DEF("physics/2d/solver/solver_iterations", 16);
+	ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/solver/solver_iterations", PropertyInfo(Variant::INT, "physics/2d/solver/solver_iterations", PROPERTY_HINT_RANGE, "1,32,1,or_greater"));
+
+	contact_recycle_radius = GLOBAL_DEF("physics/2d/solver/contact_recycle_radius", 1.0);
+	ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/solver/contact_recycle_radius", PropertyInfo(Variant::FLOAT, "physics/2d/solver/contact_max_separation", PROPERTY_HINT_RANGE, "0,10,0.01,or_greater"));
+
+	contact_max_separation = GLOBAL_DEF("physics/2d/solver/contact_max_separation", 1.5);
+	ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/solver/contact_max_separation", PropertyInfo(Variant::FLOAT, "physics/2d/solver/contact_max_separation", PROPERTY_HINT_RANGE, "0,10,0.01,or_greater"));
+
+	contact_max_allowed_penetration = GLOBAL_DEF("physics/2d/solver/contact_max_allowed_penetration", 0.3);
+	ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/solver/contact_max_allowed_penetration", PropertyInfo(Variant::FLOAT, "physics/2d/solver/contact_max_allowed_penetration", PROPERTY_HINT_RANGE, "0,10,0.01,or_greater"));
+
+	contact_bias = GLOBAL_DEF("physics/2d/solver/default_contact_bias", 0.8);
+	ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/solver/default_contact_bias", PropertyInfo(Variant::FLOAT, "physics/2d/solver/default_contact_bias", PROPERTY_HINT_RANGE, "0,1,0.01"));
+
+	constraint_bias = GLOBAL_DEF("physics/2d/solver/default_constraint_bias", 0.2);
+	ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/solver/default_constraint_bias", PropertyInfo(Variant::FLOAT, "physics/2d/solver/default_constraint_bias", PROPERTY_HINT_RANGE, "0,1,0.01"));
+
 	broadphase = GodotBroadPhase2D::create_func();
 	broadphase->set_pair_callback(_broadphase_pair, this);
 	broadphase->set_unpair_callback(_broadphase_unpair, this);

servers/physics_2d/godot_space_2d.h

@@ -82,7 +82,7 @@ private:
 	GodotPhysicsDirectSpaceState2D *direct_access = nullptr;
 	RID self;
 
-	GodotBroadPhase2D *broadphase;
+	GodotBroadPhase2D *broadphase = nullptr;
 	SelfList<GodotBody2D>::List active_list;
 	SelfList<GodotBody2D>::List mass_properties_update_list;
 	SelfList<GodotBody2D>::List state_query_list;
@@ -96,13 +96,13 @@ private:
 
 	GodotArea2D *area = nullptr;
 
-	int solver_iterations = 16;
+	int solver_iterations = 0;
 
-	real_t contact_recycle_radius = 1.0;
-	real_t contact_max_separation = 1.5;
-	real_t contact_max_allowed_penetration = 0.3;
-	real_t contact_bias = 0.8;
-	real_t constraint_bias = 0.2;
+	real_t contact_recycle_radius = 0.0;
+	real_t contact_max_separation = 0.0;
+	real_t contact_max_allowed_penetration = 0.0;
+	real_t contact_bias = 0.0;
+	real_t constraint_bias = 0.0;
 
 	enum {
 		INTERSECTION_QUERY_MAX = 2048

servers/physics_3d/godot_space_3d.cpp

@@ -1188,12 +1188,6 @@ void GodotSpace3D::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_v
 		case PhysicsServer3D::SPACE_PARAM_BODY_TIME_TO_SLEEP:
 			body_time_to_sleep = p_value;
 			break;
-		case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO:
-			body_angular_velocity_damp_ratio = p_value;
-			break;
-		case PhysicsServer3D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
-			constraint_bias = p_value;
-			break;
 		case PhysicsServer3D::SPACE_PARAM_SOLVER_ITERATIONS:
 			solver_iterations = p_value;
 			break;
@@ -1216,10 +1210,6 @@ real_t GodotSpace3D::get_param(PhysicsServer3D::SpaceParameter p_param) const {
 			return body_angular_velocity_sleep_threshold;
 		case PhysicsServer3D::SPACE_PARAM_BODY_TIME_TO_SLEEP:
 			return body_time_to_sleep;
-		case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO:
-			return body_angular_velocity_damp_ratio;
-		case PhysicsServer3D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
-			return constraint_bias;
 		case PhysicsServer3D::SPACE_PARAM_SOLVER_ITERATIONS:
 			return solver_iterations;
 	}
@@ -1247,7 +1237,21 @@ GodotSpace3D::GodotSpace3D() {
 	body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_angular", Math::deg2rad(8.0));
 	body_time_to_sleep = GLOBAL_DEF("physics/3d/time_before_sleep", 0.5);
 	ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/time_before_sleep", PropertyInfo(Variant::FLOAT, "physics/3d/time_before_sleep", PROPERTY_HINT_RANGE, "0,5,0.01,or_greater"));
-	body_angular_velocity_damp_ratio = 10;
+
+	solver_iterations = GLOBAL_DEF("physics/3d/solver/solver_iterations", 16);
+	ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/solver/solver_iterations", PropertyInfo(Variant::INT, "physics/3d/solver/solver_iterations", PROPERTY_HINT_RANGE, "1,32,1,or_greater"));
+
+	contact_recycle_radius = GLOBAL_DEF("physics/3d/solver/contact_recycle_radius", 0.01);
+	ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/solver/contact_recycle_radius", PropertyInfo(Variant::FLOAT, "physics/3d/solver/contact_max_separation", PROPERTY_HINT_RANGE, "0,0.1,0.01,or_greater"));
+
+	contact_max_separation = GLOBAL_DEF("physics/3d/solver/contact_max_separation", 0.05);
+	ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/solver/contact_max_separation", PropertyInfo(Variant::FLOAT, "physics/3d/solver/contact_max_separation", PROPERTY_HINT_RANGE, "0,0.1,0.01,or_greater"));
+
+	contact_max_allowed_penetration = GLOBAL_DEF("physics/3d/solver/contact_max_allowed_penetration", 0.01);
+	ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/solver/contact_max_allowed_penetration", PropertyInfo(Variant::FLOAT, "physics/3d/solver/contact_max_allowed_penetration", PROPERTY_HINT_RANGE, "0,0.1,0.01,or_greater"));
+
+	contact_bias = GLOBAL_DEF("physics/3d/solver/default_contact_bias", 0.8);
+	ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/solver/default_contact_bias", PropertyInfo(Variant::FLOAT, "physics/3d/solver/default_contact_bias", PROPERTY_HINT_RANGE, "0,1,0.01"));
 
 	broadphase = GodotBroadPhase3D::create_func();
 	broadphase->set_pair_callback(_broadphase_pair, this);

servers/physics_3d/godot_space_3d.h

@@ -75,10 +75,10 @@ public:
 private:
 	uint64_t elapsed_time[ELAPSED_TIME_MAX] = {};
 
-	GodotPhysicsDirectSpaceState3D *direct_access;
+	GodotPhysicsDirectSpaceState3D *direct_access = nullptr;
 	RID self;
 
-	GodotBroadPhase3D *broadphase;
+	GodotBroadPhase3D *broadphase = nullptr;
 	SelfList<GodotBody3D>::List active_list;
 	SelfList<GodotBody3D>::List mass_properties_update_list;
 	SelfList<GodotBody3D>::List state_query_list;
@@ -93,13 +93,12 @@ private:
 
 	GodotArea3D *area = nullptr;
 
-	int solver_iterations = 16;
+	int solver_iterations = 0;
 
-	real_t contact_recycle_radius = 0.01;
-	real_t contact_max_separation = 0.05;
-	real_t contact_max_allowed_penetration = 0.01;
-	real_t contact_bias = 0.8;
-	real_t constraint_bias = 0.01;
+	real_t contact_recycle_radius = 0.0;
+	real_t contact_max_separation = 0.0;
+	real_t contact_max_allowed_penetration = 0.0;
+	real_t contact_bias = 0.0;
 
 	enum {
 		INTERSECTION_QUERY_MAX = 2048
@@ -108,10 +107,9 @@ private:
 	GodotCollisionObject3D *intersection_query_results[INTERSECTION_QUERY_MAX];
 	int intersection_query_subindex_results[INTERSECTION_QUERY_MAX];
 
-	real_t body_linear_velocity_sleep_threshold;
-	real_t body_angular_velocity_sleep_threshold;
-	real_t body_time_to_sleep;
-	real_t body_angular_velocity_damp_ratio;
+	real_t body_linear_velocity_sleep_threshold = 0.0;
+	real_t body_angular_velocity_sleep_threshold = 0.0;
+	real_t body_time_to_sleep = 0.0;
 
 	bool locked = false;
 
@@ -167,11 +165,9 @@ public:
 	_FORCE_INLINE_ real_t get_contact_max_separation() const { return contact_max_separation; }
 	_FORCE_INLINE_ real_t get_contact_max_allowed_penetration() const { return contact_max_allowed_penetration; }
 	_FORCE_INLINE_ real_t get_contact_bias() const { return contact_bias; }
-	_FORCE_INLINE_ real_t get_constraint_bias() const { return constraint_bias; }
 	_FORCE_INLINE_ real_t get_body_linear_velocity_sleep_threshold() const { return body_linear_velocity_sleep_threshold; }
 	_FORCE_INLINE_ real_t get_body_angular_velocity_sleep_threshold() const { return body_angular_velocity_sleep_threshold; }
 	_FORCE_INLINE_ real_t get_body_time_to_sleep() const { return body_time_to_sleep; }
-	_FORCE_INLINE_ real_t get_body_angular_velocity_damp_ratio() const { return body_angular_velocity_damp_ratio; }
 
 	void update();
 	void setup();

servers/physics_server_3d.cpp

@@ -966,8 +966,6 @@ void PhysicsServer3D::_bind_methods() {
 	BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD);
 	BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD);
 	BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_TIME_TO_SLEEP);
-	BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO);
-	BIND_ENUM_CONSTANT(SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS);
 	BIND_ENUM_CONSTANT(SPACE_PARAM_SOLVER_ITERATIONS);
 
 	BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_X);

servers/physics_server_3d.h

@@ -268,8 +268,6 @@ public:
 		SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD,
 		SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD,
 		SPACE_PARAM_BODY_TIME_TO_SLEEP,
-		SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO,
-		SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS,
 		SPACE_PARAM_SOLVER_ITERATIONS,
 	};