Physics (#3485)

* 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

* Fix dupe pulling

* Zumzum's based fix

* Don't run tile friction for non-predicted bodies

* Experimental pulling improvement

* Everything's a poly now

* Optimise AI region debugging a bit

Could still be better but should improve default performance a LOT

* Mover no updater

* Crazy kinematic body idea

* Good collisions

* KinematicController

* Fix aghost

* Throwing refactor

* Pushing cleanup

* Fix throwing and footstep sounds

* Frametime in ICollideBehavior

* Fix stuff

* Actually fix weightlessness

* Optimise collision behaviors a lot

* Make open lockers still collide with walls

* powwweeerrrrr

* Merge master proper

* AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA

* AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA

* AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA

* Ch ch ch changesss

* SHIP IT

* Fix #if DEBUG

* Fix vaulting and item locker collision

* Fix throwing

* Editing yaml by hand what can go wrong

* on

* Last yaml fixes

* Okay now it's fixed

* Linter

Co-authored-by: Metal Gear Sloth <metalgearsloth@gmail.com>
Co-authored-by: Vera Aguilera Puerto <zddm@outlook.es>

Content.Server/GameObjects/Components/Doors/ServerDoorComponent.cs

@@ -1,4 +1,4 @@
-#nullable enable
+#nullable enable
 using System;
 using System.Linq;
 using System.Threading;
@@ -26,6 +26,9 @@ using Robust.Shared.Maths;
 using Robust.Shared.Physics;
 using Robust.Shared.Players;
 using Robust.Shared.Serialization.Manager.Attributes;
+using Robust.Shared.Physics.Broadphase;
+using Robust.Shared.Physics.Collision;
+using Robust.Shared.Serialization;
 using Robust.Shared.ViewVariables;
 using Timer = Robust.Shared.Timing.Timer;
 
@@ -34,7 +37,7 @@ namespace Content.Server.GameObjects.Components.Doors
     [RegisterComponent]
     [ComponentReference(typeof(IActivate))]
     [ComponentReference(typeof(SharedDoorComponent))]
-    public class ServerDoorComponent : SharedDoorComponent, IActivate, ICollideBehavior, IInteractUsing, IMapInit
+    public class ServerDoorComponent : SharedDoorComponent, IActivate, IStartCollide, IInteractUsing, IMapInit
     {
         [ComponentDependency]
         private readonly IDoorCheck? _doorCheck = null;
@@ -200,7 +203,7 @@ namespace Content.Server.GameObjects.Components.Doors
             }
         }
 
-        void ICollideBehavior.CollideWith(IEntity entity)
+        void IStartCollide.CollideWith(IPhysBody ourBody, IPhysBody otherBody, in Manifold manifold)
         {
             if (State != DoorState.Closed)
             {
@@ -214,9 +217,9 @@ namespace Content.Server.GameObjects.Components.Doors
 
             // Disabled because it makes it suck hard to walk through double doors.
 
-            if (entity.HasComponent<IBody>())
+            if (otherBody.Entity.HasComponent<IBody>())
             {
-                if (!entity.TryGetComponent<IMoverComponent>(out var mover)) return;
+                if (!otherBody.Entity.TryGetComponent<IMoverComponent>(out var mover)) return;
 
                 /*
                 // TODO: temporary hack to fix the physics system raising collision events akwardly.
@@ -229,7 +232,7 @@ namespace Content.Server.GameObjects.Components.Doors
                     TryOpen(entity);
                 */
 
-                TryOpen(entity);
+                TryOpen(otherBody.Entity);
             }
         }
 
@@ -410,18 +413,14 @@ namespace Content.Server.GameObjects.Components.Doors
         {
             var safety = SafetyCheck();
 
-            if (safety && PhysicsComponent != null)
+            if (safety && Owner.TryGetComponent(out PhysicsComponent? physicsComponent))
             {
-                var physics = IoCManager.Resolve<IPhysicsManager>();
+                var broadPhaseSystem = EntitySystem.Get<SharedBroadPhaseSystem>();
 
-                foreach(var e in physics.GetCollidingEntities(Owner.Transform.MapID, PhysicsComponent.WorldAABB))
+                // Use this version so we can ignore the CanCollide being false
+                foreach(var e in broadPhaseSystem.GetCollidingEntities(physicsComponent.Entity.Transform.MapID, physicsComponent.GetWorldAABB()))
                 {
-                    if (e.CanCollide &&
-                       ((PhysicsComponent.CollisionMask & e.CollisionLayer) != 0x0 ||
-                        (PhysicsComponent.CollisionLayer & e.CollisionMask) != 0x0))
-                    {
-                        return true;
-                    }
+                    if ((physicsComponent.CollisionMask & e.CollisionLayer) != 0 && broadPhaseSystem.IntersectionPercent(physicsComponent, e) > 0.01f) return true;
                 }
             }
             return false;
@@ -493,26 +492,25 @@ namespace Content.Server.GameObjects.Components.Doors
                 return false;
             }
 
-            var doorAABB = PhysicsComponent.WorldAABB;
+            var doorAABB = PhysicsComponent.GetWorldAABB();
             var hitsomebody = false;
 
             // Crush
             foreach (var e in collidingentities)
             {
-                if (!e.TryGetComponent(out StunnableComponent? stun)
-                    || !e.TryGetComponent(out IDamageableComponent? damage)
-                    || !e.TryGetComponent(out IPhysicsComponent? otherBody))
+                if (!e.Entity.TryGetComponent(out StunnableComponent? stun)
+                    || !e.Entity.TryGetComponent(out IDamageableComponent? damage))
                 {
                     continue;
                 }
 
-                var percentage = otherBody.WorldAABB.IntersectPercentage(doorAABB);
+                var percentage = e.GetWorldAABB().IntersectPercentage(doorAABB);
 
                 if (percentage < 0.1f)
                     continue;
 
                 hitsomebody = true;
-                CurrentlyCrushing.Add(e.Uid);
+                CurrentlyCrushing.Add(e.Entity.Uid);
 
                 damage.ChangeDamage(DamageType.Blunt, DoorCrushDamage, false, Owner);
                 stun.Paralyze(DoorStunTime);