Move Godot Physics 3D into a module; add dummy 3D physics server

If the module is enabled (default), 3D physics works as it did before.

If the module is disabled and no other 3D physics server is registered
(via a module or GDExtension), then we fall back to a dummy
implementation which effectively disables 3D physics functionality (and
a warning is printed).

The dummy 3D physics server can also be selected explicitly, in which
case no warning is printed.

COPYRIGHT.txt

@@ -63,6 +63,39 @@ Copyright: 2011, Ole Kniemeyer, MAXON, www.maxon.net
  2007-2014, Juan Linietsky, Ariel Manzur
 License: Expat and Zlib
 
+Files: ./modules/godot_physics_3d/gjk_epa.cpp
+ ./modules/godot_physics_3d/joints/godot_generic_6dof_joint_3d.cpp
+ ./modules/godot_physics_3d/joints/godot_generic_6dof_joint_3d.h
+ ./modules/godot_physics_3d/joints/godot_hinge_joint_3d.cpp
+ ./modules/godot_physics_3d/joints/godot_hinge_joint_3d_sw.h
+ ./modules/godot_physics_3d/joints/godot_jacobian_entry_3d_sw.h
+ ./modules/godot_physics_3d/joints/godot_pin_joint_3d.cpp
+ ./modules/godot_physics_3d/joints/godot_pin_joint_3d.h
+ ./modules/godot_physics_3d/joints/godot_slider_joint_3d.cpp
+ ./modules/godot_physics_3d/joints/godot_slider_joint_3d.h
+ ./modules/godot_physics_3d/godot_soft_body_3d.cpp
+ ./modules/godot_physics_3d/godot_soft_body_3d.h
+ ./modules/godot_physics_3d/godot_shape_3d.cpp
+ ./modules/godot_physics_3d/godot_shape_3d.h
+Comment: Bullet Continuous Collision Detection and Physics Library
+Copyright: 2003-2008, Erwin Coumans
+ 2014-present, Godot Engine contributors
+ 2007-2014, Juan Linietsky, Ariel Manzur
+License: Expat and Zlib
+
+Files: ./modules/godot_physics_3d/godot_collision_solver_3d_sat.cpp
+Comment: Open Dynamics Engine
+Copyright: 2001-2003, Russell L. Smith, Alen Ladavac, Nguyen Binh
+License: BSD-3-clause
+
+Files: ./modules/godot_physics_3d/joints/godot_cone_twist_joint_3d.cpp
+ ./modules/godot_physics_3d/joints/godot_cone_twist_joint_3d.h
+Comment: Bullet Continuous Collision Detection and Physics Library
+Copyright: 2007, Starbreeze Studios
+ 2014-present, Godot Engine contributors
+ 2007-2014, Juan Linietsky, Ariel Manzur
+License: Expat and Zlib
+
 Files: ./modules/lightmapper_rd/lm_compute.glsl
 Comment: Joint Non-Local Means (JNLM) denoiser
 Copyright: 2020, Manuel Prandini
@@ -98,39 +131,6 @@ Comment: Chipmunk2D Joint Constraints
 Copyright: 2007, Scott Lembcke
 License: Expat
 
-Files: ./servers/physics_3d/collision_solver_3d_sat.cpp
-Comment: Open Dynamics Engine
-Copyright: 2001-2003, Russell L. Smith, Alen Ladavac, Nguyen Binh
-License: BSD-3-clause
-
-Files: ./servers/physics_3d/gjk_epa.cpp
- ./servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp
- ./servers/physics_3d/joints/generic_6dof_joint_3d_sw.h
- ./servers/physics_3d/joints/hinge_joint_3d_sw.cpp
- ./servers/physics_3d/joints/hinge_joint_3d_sw.h
- ./servers/physics_3d/joints/jacobian_entry_3d_sw.h
- ./servers/physics_3d/joints/pin_joint_3d_sw.cpp
- ./servers/physics_3d/joints/pin_joint_3d_sw.h
- ./servers/physics_3d/joints/slider_joint_3d_sw.cpp
- ./servers/physics_3d/joints/slider_joint_3d_sw.h
- ./servers/physics_3d/soft_body_3d_sw.cpp
- ./servers/physics_3d/soft_body_3d_sw.h
- ./servers/physics_3d/shape_3d_sw.cpp
- ./servers/physics_3d/shape_3d_sw.h
-Comment: Bullet Continuous Collision Detection and Physics Library
-Copyright: 2003-2008, Erwin Coumans
- 2014-present, Godot Engine contributors
- 2007-2014, Juan Linietsky, Ariel Manzur
-License: Expat and Zlib
-
-Files: ./servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp
- ./servers/physics_3d/joints/cone_twist_joint_3d_sw.h
-Comment: Bullet Continuous Collision Detection and Physics Library
-Copyright: 2007, Starbreeze Studios
- 2014-present, Godot Engine contributors
- 2007-2014, Juan Linietsky, Ariel Manzur
-License: Expat and Zlib
-
 Files: ./servers/rendering/renderer_rd/shaders/ss_effects_downsample.glsl
  ./servers/rendering/renderer_rd/shaders/ssao_blur.glsl
  ./servers/rendering/renderer_rd/shaders/ssao_importance_map.glsl

doc/classes/ProjectSettings.xml

@@ -2293,6 +2293,7 @@
 		<member name="physics/3d/physics_engine" type="String" setter="" getter="" default="&quot;DEFAULT&quot;">
 			Sets which physics engine to use for 3D physics.
 			"DEFAULT" and "GodotPhysics3D" are the same, as there is currently no alternative 3D physics server implemented.
+			"Dummy" is a 3D physics server that does nothing and returns only dummy values, effectively disabling all 3D physics functionality.
 		</member>
 		<member name="physics/3d/run_on_separate_thread" type="bool" setter="" getter="" default="false">
 			If [code]true[/code], the 3D physics server runs on a separate thread, making better use of multi-core CPUs. If [code]false[/code], the 3D physics server runs on the main thread. Running the physics server on a separate thread can increase performance, but restricts API access to only physics process.

main/main.cpp

@@ -83,6 +83,7 @@
 
 #ifndef _3D_DISABLED
 #include "servers/physics_server_3d.h"
+#include "servers/physics_server_3d_dummy.h"
 #include "servers/xr_server.h"
 #endif // _3D_DISABLED
 
@@ -320,7 +321,15 @@ void initialize_physics() {
 		// Physics server not found, Use the default physics
 		physics_server_3d = PhysicsServer3DManager::get_singleton()->new_default_server();
 	}
-	ERR_FAIL_NULL(physics_server_3d);
+
+	// Fall back to dummy if no default server has been registered.
+	if (!physics_server_3d) {
+		WARN_PRINT(vformat("Falling back to dummy PhysicsServer3D; 3D physics functionality will be disabled. If this is intended, set the %s project setting to Dummy.", PhysicsServer3DManager::setting_property_name));
+		physics_server_3d = memnew(PhysicsServer3DDummy);
+	}
+
+	// Should be impossible, but make sure it's not null.
+	ERR_FAIL_NULL_MSG(physics_server_3d, "Failed to initialize PhysicsServer3D.");
 	physics_server_3d->init();
 #endif // _3D_DISABLED
 

modules/godot_physics_3d/SCsub

@@ -0,0 +1,7 @@
+#!/usr/bin/env python
+
+Import('env')
+
+env.add_source_files(env.modules_sources, "*.cpp")
+
+SConscript("joints/SCsub")

modules/godot_physics_3d/config.py

@@ -0,0 +1,6 @@
+def can_build(env, platform):
+    return not env["disable_3d"]
+
+
+def configure(env):
+    pass

modules/godot_physics_3d/godot_physics_server_3d.cpp

@@ -1629,8 +1629,6 @@ void GodotPhysicsServer3D::init() {
 }
 
 void GodotPhysicsServer3D::step(real_t p_step) {
-#ifndef _3D_DISABLED
-
 	if (!active) {
 		return;
 	}
@@ -1646,7 +1644,6 @@ void GodotPhysicsServer3D::step(real_t p_step) {
 		active_objects += E->get_active_objects();
 		collision_pairs += E->get_collision_pairs();
 	}
-#endif
 }
 
 void GodotPhysicsServer3D::sync() {
@@ -1654,8 +1651,6 @@ void GodotPhysicsServer3D::sync() {
 }
 
 void GodotPhysicsServer3D::flush_queries() {
-#ifndef _3D_DISABLED
-
 	if (!active) {
 		return;
 	}
@@ -1703,7 +1698,6 @@ void GodotPhysicsServer3D::flush_queries() {
 		values.push_front("physics_3d");
 		EngineDebugger::profiler_add_frame_data("servers", values);
 	}
-#endif
 }
 
 void GodotPhysicsServer3D::end_sync() {

modules/godot_physics_3d/joints/SCsub

@@ -0,0 +1,5 @@
+#!/usr/bin/env python
+
+Import('env')
+
+env.add_source_files(env.modules_sources, "*.cpp")

modules/godot_physics_3d/joints/godot_cone_twist_joint_3d.h

@@ -52,8 +52,8 @@ subject to the following restrictions:
 Written by: Marcus Hennix
 */
 
-#include "servers/physics_3d/godot_joint_3d.h"
+#include "../godot_joint_3d.h"
-#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h"
+#include "godot_jacobian_entry_3d.h"
 
 // GodotConeTwistJoint3D can be used to simulate ragdoll joints (upper arm, leg etc).
 class GodotConeTwistJoint3D : public GodotJoint3D {

modules/godot_physics_3d/joints/godot_generic_6dof_joint_3d.h

@@ -35,8 +35,8 @@
 Adapted to Godot from the Bullet library.
 */
 
-#include "servers/physics_3d/godot_joint_3d.h"
+#include "../godot_joint_3d.h"
-#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h"
+#include "godot_jacobian_entry_3d.h"
 
 /*
 Bullet Continuous Collision Detection and Physics Library

modules/godot_physics_3d/joints/godot_hinge_joint_3d.h

@@ -35,8 +35,8 @@
 Adapted to Godot from the Bullet library.
 */
 
-#include "servers/physics_3d/godot_joint_3d.h"
+#include "../godot_joint_3d.h"
-#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h"
+#include "godot_jacobian_entry_3d.h"
 
 /*
 Bullet Continuous Collision Detection and Physics Library

modules/godot_physics_3d/joints/godot_pin_joint_3d.h

@@ -35,8 +35,8 @@
 Adapted to Godot from the Bullet library.
 */
 
-#include "servers/physics_3d/godot_joint_3d.h"
+#include "../godot_joint_3d.h"
-#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h"
+#include "godot_jacobian_entry_3d.h"
 
 /*
 Bullet Continuous Collision Detection and Physics Library

modules/godot_physics_3d/joints/godot_slider_joint_3d.h

@@ -35,8 +35,8 @@
 Adapted to Godot from the Bullet library.
 */
 
-#include "servers/physics_3d/godot_joint_3d.h"
+#include "../godot_joint_3d.h"
-#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h"
+#include "godot_jacobian_entry_3d.h"
 
 /*
 Bullet Continuous Collision Detection and Physics Library

modules/godot_physics_3d/register_types.cpp

@@ -0,0 +1,61 @@
+/**************************************************************************/
+/*  register_types.cpp                                                    */
+/**************************************************************************/
+/*                         This file is part of:                          */
+/*                             GODOT ENGINE                               */
+/*                        https://godotengine.org                         */
+/**************************************************************************/
+/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
+/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
+/*                                                                        */
+/* Permission is hereby granted, free of charge, to any person obtaining  */
+/* a copy of this software and associated documentation files (the        */
+/* "Software"), to deal in the Software without restriction, including    */
+/* without limitation the rights to use, copy, modify, merge, publish,    */
+/* distribute, sublicense, and/or sell copies of the Software, and to     */
+/* permit persons to whom the Software is furnished to do so, subject to  */
+/* the following conditions:                                              */
+/*                                                                        */
+/* The above copyright notice and this permission notice shall be         */
+/* included in all copies or substantial portions of the Software.        */
+/*                                                                        */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
+/**************************************************************************/
+
+#include "register_types.h"
+
+#include "godot_physics_server_3d.h"
+#include "servers/physics_server_3d.h"
+#include "servers/physics_server_3d_wrap_mt.h"
+
+static PhysicsServer3D *_createGodotPhysics3DCallback() {
+#ifdef THREADS_ENABLED
+	bool using_threads = GLOBAL_GET("physics/3d/run_on_separate_thread");
+#else
+	bool using_threads = false;
+#endif
+
+	PhysicsServer3D *physics_server_3d = memnew(GodotPhysicsServer3D(using_threads));
+
+	return memnew(PhysicsServer3DWrapMT(physics_server_3d, using_threads));
+}
+
+void initialize_godot_physics_3d_module(ModuleInitializationLevel p_level) {
+	if (p_level != MODULE_INITIALIZATION_LEVEL_SERVERS) {
+		return;
+	}
+	PhysicsServer3DManager::get_singleton()->register_server("GodotPhysics3D", callable_mp_static(_createGodotPhysics3DCallback));
+	PhysicsServer3DManager::get_singleton()->set_default_server("GodotPhysics3D");
+}
+
+void uninitialize_godot_physics_3d_module(ModuleInitializationLevel p_level) {
+	if (p_level != MODULE_INITIALIZATION_LEVEL_SERVERS) {
+		return;
+	}
+}

modules/godot_physics_3d/register_types.h

@@ -0,0 +1,39 @@
+/**************************************************************************/
+/*  register_types.h                                                      */
+/**************************************************************************/
+/*                         This file is part of:                          */
+/*                             GODOT ENGINE                               */
+/*                        https://godotengine.org                         */
+/**************************************************************************/
+/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
+/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
+/*                                                                        */
+/* Permission is hereby granted, free of charge, to any person obtaining  */
+/* a copy of this software and associated documentation files (the        */
+/* "Software"), to deal in the Software without restriction, including    */
+/* without limitation the rights to use, copy, modify, merge, publish,    */
+/* distribute, sublicense, and/or sell copies of the Software, and to     */
+/* permit persons to whom the Software is furnished to do so, subject to  */
+/* the following conditions:                                              */
+/*                                                                        */
+/* The above copyright notice and this permission notice shall be         */
+/* included in all copies or substantial portions of the Software.        */
+/*                                                                        */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
+/**************************************************************************/
+
+#ifndef GODOT_PHYSICS_3D_REGISTER_TYPES_H
+#define GODOT_PHYSICS_3D_REGISTER_TYPES_H
+
+#include "modules/register_module_types.h"
+
+void initialize_godot_physics_3d_module(ModuleInitializationLevel p_level);
+void uninitialize_godot_physics_3d_module(ModuleInitializationLevel p_level);
+
+#endif // GODOT_PHYSICS_3D_REGISTER_TYPES_H

scu_builders.py

@@ -322,6 +322,8 @@ def generate_scu_files(max_includes_per_scu):
     process_folder(["modules/openxr"], ["register_types"])
     process_folder(["modules/openxr/action_map"])
     process_folder(["modules/openxr/editor"])
+    process_folder(["modules/godot_physics_3d"])
+    process_folder(["modules/godot_physics_3d/joints"])
 
     process_folder(["modules/csg"])
     process_folder(["modules/gdscript"])
@@ -349,8 +351,6 @@ def generate_scu_files(max_includes_per_scu):
     process_folder(["servers/rendering/renderer_rd/environment"])
     process_folder(["servers/rendering/renderer_rd/storage_rd"])
     process_folder(["servers/physics_2d"])
-    process_folder(["servers/physics_3d"])
-    process_folder(["servers/physics_3d/joints"])
     process_folder(["servers/audio"])
     process_folder(["servers/audio/effects"])
 

servers/SCsub

@@ -28,7 +28,6 @@ SConscript("text/SCsub")
 SConscript("physics_2d/SCsub")
 
 if not env["disable_3d"]:
-    SConscript("physics_3d/SCsub")
     env.add_source_files(env.servers_sources, "physics_server_3d.cpp")
     env.add_source_files(env.servers_sources, "physics_server_3d_wrap_mt.cpp")
     SConscript("xr/SCsub")

servers/physics_3d/SCsub

@@ -1,7 +0,0 @@
-#!/usr/bin/env python
-
-Import("env")
-
-env.add_source_files(env.servers_sources, "*.cpp")
-
-SConscript("joints/SCsub")

servers/physics_3d/joints/SCsub

@@ -1,5 +0,0 @@
-#!/usr/bin/env python
-
-Import("env")
-
-env.add_source_files(env.servers_sources, "*.cpp")

servers/physics_server_3d.cpp

@@ -1201,7 +1201,9 @@ String PhysicsServer3DManager::get_server_name(int p_id) {
 }
 
 PhysicsServer3D *PhysicsServer3DManager::new_default_server() {
-	ERR_FAIL_COND_V(default_server_id == -1, nullptr);
+	if (default_server_id == -1) {
+		return nullptr;
+	}
 	Variant ret;
 	Callable::CallError ce;
 	physics_servers[default_server_id].create_callback.callp(nullptr, 0, ret, ce);

servers/physics_server_3d_dummy.h

@@ -0,0 +1,436 @@
+/**************************************************************************/
+/*  physics_server_3d_dummy.h                                             */
+/**************************************************************************/
+/*                         This file is part of:                          */
+/*                             GODOT ENGINE                               */
+/*                        https://godotengine.org                         */
+/**************************************************************************/
+/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
+/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
+/*                                                                        */
+/* Permission is hereby granted, free of charge, to any person obtaining  */
+/* a copy of this software and associated documentation files (the        */
+/* "Software"), to deal in the Software without restriction, including    */
+/* without limitation the rights to use, copy, modify, merge, publish,    */
+/* distribute, sublicense, and/or sell copies of the Software, and to     */
+/* permit persons to whom the Software is furnished to do so, subject to  */
+/* the following conditions:                                              */
+/*                                                                        */
+/* The above copyright notice and this permission notice shall be         */
+/* included in all copies or substantial portions of the Software.        */
+/*                                                                        */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
+/**************************************************************************/
+
+#ifndef PHYSICS_SERVER_3D_DUMMY_H
+#define PHYSICS_SERVER_3D_DUMMY_H
+
+#include "servers/physics_server_3d.h"
+
+class PhysicsDirectBodyState3DDummy : public PhysicsDirectBodyState3D {
+	GDCLASS(PhysicsDirectBodyState3DDummy, PhysicsDirectBodyState3D);
+
+	PhysicsDirectSpaceState3D *space_state_dummy = nullptr;
+
+public:
+	virtual Vector3 get_total_gravity() const override { return Vector3(); }
+	virtual real_t get_total_angular_damp() const override { return 0; }
+	virtual real_t get_total_linear_damp() const override { return 0; }
+
+	virtual Vector3 get_center_of_mass() const override { return Vector3(); }
+	virtual Vector3 get_center_of_mass_local() const override { return Vector3(); }
+	virtual Basis get_principal_inertia_axes() const override { return Basis(); }
+	virtual real_t get_inverse_mass() const override { return 0; }
+	virtual Vector3 get_inverse_inertia() const override { return Vector3(); }
+	virtual Basis get_inverse_inertia_tensor() const override { return Basis(); }
+
+	virtual void set_linear_velocity(const Vector3 &p_velocity) override {}
+	virtual Vector3 get_linear_velocity() const override { return Vector3(); }
+
+	virtual void set_angular_velocity(const Vector3 &p_velocity) override {}
+	virtual Vector3 get_angular_velocity() const override { return Vector3(); }
+
+	virtual void set_transform(const Transform3D &p_transform) override {}
+	virtual Transform3D get_transform() const override { return Transform3D(); }
+
+	virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const override { return Vector3(); }
+
+	virtual void apply_central_impulse(const Vector3 &p_impulse) override {}
+	virtual void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) override {}
+	virtual void apply_torque_impulse(const Vector3 &p_impulse) override {}
+
+	virtual void apply_central_force(const Vector3 &p_force) override {}
+	virtual void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) override {}
+	virtual void apply_torque(const Vector3 &p_torque) override {}
+
+	virtual void add_constant_central_force(const Vector3 &p_force) override {}
+	virtual void add_constant_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) override {}
+	virtual void add_constant_torque(const Vector3 &p_torque) override {}
+
+	virtual void set_constant_force(const Vector3 &p_force) override {}
+	virtual Vector3 get_constant_force() const override { return Vector3(); }
+
+	virtual void set_constant_torque(const Vector3 &p_torque) override {}
+	virtual Vector3 get_constant_torque() const override { return Vector3(); }
+
+	virtual void set_sleep_state(bool p_sleep) override {}
+	virtual bool is_sleeping() const override { return false; }
+
+	virtual int get_contact_count() const override { return 0; }
+
+	virtual Vector3 get_contact_local_position(int p_contact_idx) const override { return Vector3(); }
+	virtual Vector3 get_contact_local_normal(int p_contact_idx) const override { return Vector3(); }
+	virtual Vector3 get_contact_impulse(int p_contact_idx) const override { return Vector3(); }
+	virtual int get_contact_local_shape(int p_contact_idx) const override { return 0; }
+	virtual Vector3 get_contact_local_velocity_at_position(int p_contact_idx) const override { return Vector3(); }
+
+	virtual RID get_contact_collider(int p_contact_idx) const override { return RID(); }
+	virtual Vector3 get_contact_collider_position(int p_contact_idx) const override { return Vector3(); }
+	virtual ObjectID get_contact_collider_id(int p_contact_idx) const override { return ObjectID(); }
+	virtual Object *get_contact_collider_object(int p_contact_idx) const override { return nullptr; }
+	virtual int get_contact_collider_shape(int p_contact_idx) const override { return 0; }
+	virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const override { return Vector3(); }
+
+	virtual real_t get_step() const override { return 0; }
+	virtual void integrate_forces() override {}
+
+	virtual PhysicsDirectSpaceState3D *get_space_state() override { return space_state_dummy; }
+
+	PhysicsDirectBodyState3DDummy(PhysicsDirectSpaceState3D *p_space_state_dummy) {
+		space_state_dummy = p_space_state_dummy;
+	}
+};
+
+class PhysicsDirectSpaceState3DDummy : public PhysicsDirectSpaceState3D {
+	GDCLASS(PhysicsDirectSpaceState3DDummy, PhysicsDirectSpaceState3D);
+
+public:
+	virtual bool intersect_ray(const RayParameters &p_parameters, RayResult &r_result) override { return false; }
+
+	virtual int intersect_point(const PointParameters &p_parameters, ShapeResult *r_results, int p_result_max) override { return 0; }
+
+	virtual int intersect_shape(const ShapeParameters &p_parameters, ShapeResult *r_results, int p_result_max) override { return 0; }
+	virtual bool cast_motion(const ShapeParameters &p_parameters, real_t &p_closest_safe, real_t &p_closest_unsafe, ShapeRestInfo *r_info = nullptr) override { return false; }
+	virtual bool collide_shape(const ShapeParameters &p_parameters, Vector3 *r_results, int p_result_max, int &r_result_count) override { return false; }
+	virtual bool rest_info(const ShapeParameters &p_parameters, ShapeRestInfo *r_info) override { return false; }
+
+	virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const override { return Vector3(); }
+};
+
+class PhysicsServer3DDummy : public PhysicsServer3D {
+	GDCLASS(PhysicsServer3DDummy, PhysicsServer3D);
+
+	PhysicsDirectBodyState3DDummy *body_state_dummy = nullptr;
+	PhysicsDirectSpaceState3DDummy *space_state_dummy = nullptr;
+
+public:
+	virtual RID world_boundary_shape_create() override { return RID(); }
+	virtual RID separation_ray_shape_create() override { return RID(); }
+	virtual RID sphere_shape_create() override { return RID(); }
+	virtual RID box_shape_create() override { return RID(); }
+	virtual RID capsule_shape_create() override { return RID(); }
+	virtual RID cylinder_shape_create() override { return RID(); }
+	virtual RID convex_polygon_shape_create() override { return RID(); }
+	virtual RID concave_polygon_shape_create() override { return RID(); }
+	virtual RID heightmap_shape_create() override { return RID(); }
+	virtual RID custom_shape_create() override { return RID(); }
+
+	virtual void shape_set_data(RID p_shape, const Variant &p_data) override {}
+	virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias) override {}
+
+	virtual ShapeType shape_get_type(RID p_shape) const override { return SHAPE_SPHERE; }
+	virtual Variant shape_get_data(RID p_shape) const override { return Variant(); }
+
+	virtual void shape_set_margin(RID p_shape, real_t p_margin) override {}
+	virtual real_t shape_get_margin(RID p_shape) const override { return 0; }
+
+	virtual real_t shape_get_custom_solver_bias(RID p_shape) const override { return 0; }
+
+	/* SPACE API */
+
+	virtual RID space_create() override { return RID(); }
+	virtual void space_set_active(RID p_space, bool p_active) override {}
+	virtual bool space_is_active(RID p_space) const override { return false; }
+
+	virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) override {}
+	virtual real_t space_get_param(RID p_space, SpaceParameter p_param) const override { return 0; }
+
+	virtual PhysicsDirectSpaceState3D *space_get_direct_state(RID p_space) override { return space_state_dummy; }
+
+	virtual void space_set_debug_contacts(RID p_space, int p_max_contacts) override {}
+	virtual Vector<Vector3> space_get_contacts(RID p_space) const override { return Vector<Vector3>(); }
+	virtual int space_get_contact_count(RID p_space) const override { return 0; }
+
+	/* AREA API */
+
+	virtual RID area_create() override { return RID(); }
+
+	virtual void area_set_space(RID p_area, RID p_space) override {}
+	virtual RID area_get_space(RID p_area) const override { return RID(); }
+
+	virtual void area_add_shape(RID p_area, RID p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false) override {}
+	virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape) override {}
+	virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform3D &p_transform) override {}
+
+	virtual int area_get_shape_count(RID p_area) const override { return 0; }
+	virtual RID area_get_shape(RID p_area, int p_shape_idx) const override { return RID(); }
+	virtual Transform3D area_get_shape_transform(RID p_area, int p_shape_idx) const override { return Transform3D(); }
+
+	virtual void area_remove_shape(RID p_area, int p_shape_idx) override {}
+	virtual void area_clear_shapes(RID p_area) override {}
+
+	virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) override {}
+
+	virtual void area_attach_object_instance_id(RID p_area, ObjectID p_id) override {}
+	virtual ObjectID area_get_object_instance_id(RID p_area) const override { return ObjectID(); }
+
+	virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) override {}
+	virtual void area_set_transform(RID p_area, const Transform3D &p_transform) override {}
+
+	virtual Variant area_get_param(RID p_parea, AreaParameter p_param) const override { return Variant(); }
+	virtual Transform3D area_get_transform(RID p_area) const override { return Transform3D(); }
+
+	virtual void area_set_collision_layer(RID p_area, uint32_t p_layer) override {}
+	virtual uint32_t area_get_collision_layer(RID p_area) const override { return 0; }
+
+	virtual void area_set_collision_mask(RID p_area, uint32_t p_mask) override {}
+	virtual uint32_t area_get_collision_mask(RID p_area) const override { return 0; }
+
+	virtual void area_set_monitorable(RID p_area, bool p_monitorable) override {}
+
+	virtual void area_set_monitor_callback(RID p_area, const Callable &p_callback) override {}
+	virtual void area_set_area_monitor_callback(RID p_area, const Callable &p_callback) override {}
+
+	virtual void area_set_ray_pickable(RID p_area, bool p_enable) override {}
+
+	/* BODY API */
+
+	virtual RID body_create() override { return RID(); }
+
+	virtual void body_set_space(RID p_body, RID p_space) override {}
+	virtual RID body_get_space(RID p_body) const override { return RID(); }
+
+	virtual void body_set_mode(RID p_body, BodyMode p_mode) override {}
+	virtual BodyMode body_get_mode(RID p_body) const override { return BodyMode::BODY_MODE_STATIC; }
+
+	virtual void body_add_shape(RID p_body, RID p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false) override {}
+	virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape) override {}
+	virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform3D &p_transform) override {}
+
+	virtual int body_get_shape_count(RID p_body) const override { return 0; }
+	virtual RID body_get_shape(RID p_body, int p_shape_idx) const override { return RID(); }
+	virtual Transform3D body_get_shape_transform(RID p_body, int p_shape_idx) const override { return Transform3D(); }
+
+	virtual void body_remove_shape(RID p_body, int p_shape_idx) override {}
+	virtual void body_clear_shapes(RID p_body) override {}
+
+	virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) override {}
+
+	virtual void body_attach_object_instance_id(RID p_body, ObjectID p_id) override {}
+	virtual ObjectID body_get_object_instance_id(RID p_body) const override { return ObjectID(); }
+
+	virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) override {}
+	virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const override { return false; }
+
+	virtual void body_set_collision_layer(RID p_body, uint32_t p_layer) override {}
+	virtual uint32_t body_get_collision_layer(RID p_body) const override { return 0; }
+
+	virtual void body_set_collision_mask(RID p_body, uint32_t p_mask) override {}
+	virtual uint32_t body_get_collision_mask(RID p_body) const override { return 0; }
+
+	virtual void body_set_collision_priority(RID p_body, real_t p_priority) override {}
+	virtual real_t body_get_collision_priority(RID p_body) const override { return 0; }
+
+	virtual void body_set_user_flags(RID p_body, uint32_t p_flags) override {}
+	virtual uint32_t body_get_user_flags(RID p_body) const override { return 0; }
+
+	virtual void body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) override {}
+	virtual Variant body_get_param(RID p_body, BodyParameter p_param) const override { return Variant(); }
+
+	virtual void body_reset_mass_properties(RID p_body) override {}
+
+	virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) override {}
+	virtual Variant body_get_state(RID p_body, BodyState p_state) const override { return Variant(); }
+
+	virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) override {}
+	virtual void body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) override {}
+	virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) override {}
+
+	virtual void body_apply_central_force(RID p_body, const Vector3 &p_force) override {}
+	virtual void body_apply_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()) override {}
+	virtual void body_apply_torque(RID p_body, const Vector3 &p_torque) override {}
+
+	virtual void body_add_constant_central_force(RID p_body, const Vector3 &p_force) override {}
+	virtual void body_add_constant_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()) override {}
+	virtual void body_add_constant_torque(RID p_body, const Vector3 &p_torque) override {}
+
+	virtual void body_set_constant_force(RID p_body, const Vector3 &p_force) override {}
+	virtual Vector3 body_get_constant_force(RID p_body) const override { return Vector3(); }
+
+	virtual void body_set_constant_torque(RID p_body, const Vector3 &p_torque) override {}
+	virtual Vector3 body_get_constant_torque(RID p_body) const override { return Vector3(); }
+
+	virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) override {}
+
+	virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) override {}
+	virtual bool body_is_axis_locked(RID p_body, BodyAxis p_axis) const override { return false; }
+
+	virtual void body_add_collision_exception(RID p_body, RID p_body_b) override {}
+	virtual void body_remove_collision_exception(RID p_body, RID p_body_b) override {}
+	virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) override {}
+
+	virtual void body_set_max_contacts_reported(RID p_body, int p_contacts) override {}
+	virtual int body_get_max_contacts_reported(RID p_body) const override { return 0; }
+
+	virtual void body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) override {}
+	virtual real_t body_get_contacts_reported_depth_threshold(RID p_body) const override { return 0; }
+
+	virtual void body_set_omit_force_integration(RID p_body, bool p_omit) override {}
+	virtual bool body_is_omitting_force_integration(RID p_body) const override { return false; }
+
+	virtual void body_set_state_sync_callback(RID p_body, const Callable &p_callable) override {}
+	virtual void body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata = Variant()) override {}
+
+	virtual void body_set_ray_pickable(RID p_body, bool p_enable) override {}
+
+	virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) override { return body_state_dummy; }
+
+	virtual bool body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result = nullptr) override { return false; }
+
+	/* SOFT BODY */
+
+	virtual RID soft_body_create() override { return RID(); }
+
+	virtual void soft_body_update_rendering_server(RID p_body, PhysicsServer3DRenderingServerHandler *p_rendering_server_handler) override {}
+
+	virtual void soft_body_set_space(RID p_body, RID p_space) override {}
+	virtual RID soft_body_get_space(RID p_body) const override { return RID(); }
+
+	virtual void soft_body_set_mesh(RID p_body, RID p_mesh) override {}
+
+	virtual AABB soft_body_get_bounds(RID p_body) const override { return AABB(); }
+
+	virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer) override {}
+	virtual uint32_t soft_body_get_collision_layer(RID p_body) const override { return 0; }
+
+	virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask) override {}
+	virtual uint32_t soft_body_get_collision_mask(RID p_body) const override { return 0; }
+
+	virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b) override {}
+	virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b) override {}
+	virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) override {}
+
+	virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) override {}
+	virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const override { return Variant(); }
+
+	virtual void soft_body_set_transform(RID p_body, const Transform3D &p_transform) override {}
+
+	virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) override {}
+
+	virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) override {}
+	virtual int soft_body_get_simulation_precision(RID p_body) const override { return 0; }
+
+	virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass) override {}
+	virtual real_t soft_body_get_total_mass(RID p_body) const override { return 0; }
+
+	virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) override {}
+	virtual real_t soft_body_get_linear_stiffness(RID p_body) const override { return 0; }
+
+	virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) override {}
+	virtual real_t soft_body_get_pressure_coefficient(RID p_body) const override { return 0; }
+
+	virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) override {}
+	virtual real_t soft_body_get_damping_coefficient(RID p_body) const override { return 0; }
+
+	virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) override {}
+	virtual real_t soft_body_get_drag_coefficient(RID p_body) const override { return 0; }
+
+	virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) override {}
+	virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index) const override { return Vector3(); }
+
+	virtual void soft_body_remove_all_pinned_points(RID p_body) override {}
+	virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) override {}
+	virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) const override { return false; }
+
+	/* JOINT API */
+
+	virtual RID joint_create() override { return RID(); }
+
+	virtual void joint_clear(RID p_joint) override {}
+
+	virtual JointType joint_get_type(RID p_joint) const override { return JointType::JOINT_TYPE_PIN; }
+
+	virtual void joint_set_solver_priority(RID p_joint, int p_priority) override {}
+	virtual int joint_get_solver_priority(RID p_joint) const override { return 0; }
+
+	virtual void joint_disable_collisions_between_bodies(RID p_joint, bool p_disable) override {}
+	virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const override { return false; }
+
+	virtual void joint_make_pin(RID p_joint, RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) override {}
+
+	virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) override {}
+	virtual real_t pin_joint_get_param(RID p_joint, PinJointParam p_param) const override { return 0; }
+
+	virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) override {}
+	virtual Vector3 pin_joint_get_local_a(RID p_joint) const override { return Vector3(); }
+
+	virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) override {}
+	virtual Vector3 pin_joint_get_local_b(RID p_joint) const override { return Vector3(); }
+
+	virtual void joint_make_hinge(RID p_joint, RID p_body_A, const Transform3D &p_hinge_A, RID p_body_B, const Transform3D &p_hinge_B) override {}
+	virtual void joint_make_hinge_simple(RID p_joint, RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) override {}
+
+	virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) override {}
+	virtual real_t hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const override { return 0; }
+
+	virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_enabled) override {}
+	virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const override { return false; }
+
+	virtual void joint_make_slider(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) override {}
+
+	virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) override {}
+	virtual real_t slider_joint_get_param(RID p_joint, SliderJointParam p_param) const override { return 0; }
+
+	virtual void joint_make_cone_twist(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) override {}
+
+	virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) override {}
+	virtual real_t cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const override { return 0; }
+
+	virtual void joint_make_generic_6dof(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) override {}
+
+	virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param, real_t p_value) override {}
+	virtual real_t generic_6dof_joint_get_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param) const override { return 0; }
+
+	virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag, bool p_enable) override {}
+	virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag) const override { return false; }
+
+	/* MISC */
+
+	virtual void free(RID p_rid) override {}
+
+	virtual void set_active(bool p_active) override {}
+	virtual void init() override {
+		space_state_dummy = memnew(PhysicsDirectSpaceState3DDummy);
+		body_state_dummy = memnew(PhysicsDirectBodyState3DDummy(space_state_dummy));
+	}
+	virtual void step(real_t p_step) override {}
+	virtual void sync() override {}
+	virtual void flush_queries() override {}
+	virtual void end_sync() override {}
+	virtual void finish() override {
+		memdelete(body_state_dummy);
+		memdelete(space_state_dummy);
+	}
+
+	virtual bool is_flushing_queries() const override { return false; }
+
+	virtual int get_process_info(ProcessInfo p_info) override { return 0; }
+};
+
+#endif // PHYSICS_SERVER_3D_DUMMY_H

servers/register_server_types.cpp

@@ -89,8 +89,8 @@
 // 3D physics and navigation (3D navigation is needed for 2D).
 #include "navigation_server_3d.h"
 #ifndef _3D_DISABLED
-#include "physics_3d/godot_physics_server_3d.h"
 #include "physics_server_3d.h"
+#include "physics_server_3d_dummy.h"
 #include "physics_server_3d_wrap_mt.h"
 #include "servers/extensions/physics_server_3d_extension.h"
 #include "xr/xr_body_tracker.h"
@@ -106,16 +106,8 @@
 ShaderTypes *shader_types = nullptr;
 
 #ifndef _3D_DISABLED
-static PhysicsServer3D *_createGodotPhysics3DCallback() {
+static PhysicsServer3D *_create_dummy_physics_server_3d() {
-#ifdef THREADS_ENABLED
+	return memnew(PhysicsServer3DDummy);
-	bool using_threads = GLOBAL_GET("physics/3d/run_on_separate_thread");
-#else
-	bool using_threads = false;
-#endif
-
-	PhysicsServer3D *physics_server_3d = memnew(GodotPhysicsServer3D(using_threads));
-
-	return memnew(PhysicsServer3DWrapMT(physics_server_3d, using_threads));
 }
 #endif // _3D_DISABLED
 
@@ -323,8 +315,7 @@ void register_server_types() {
 
 	GLOBAL_DEF(PropertyInfo(Variant::STRING, PhysicsServer3DManager::setting_property_name, PROPERTY_HINT_ENUM, "DEFAULT"), "DEFAULT");
 
-	PhysicsServer3DManager::get_singleton()->register_server("GodotPhysics3D", callable_mp_static(_createGodotPhysics3DCallback));
+	PhysicsServer3DManager::get_singleton()->register_server("Dummy", callable_mp_static(_create_dummy_physics_server_3d));
-	PhysicsServer3DManager::get_singleton()->set_default_server("GodotPhysics3D");
 
 	GDREGISTER_ABSTRACT_CLASS(XRInterface);
 	GDREGISTER_CLASS(XRVRS);

tests/test_main.cpp

@@ -176,6 +176,7 @@
 #include "servers/physics_server_2d.h"
 #ifndef _3D_DISABLED
 #include "servers/physics_server_3d.h"
+#include "servers/physics_server_3d_dummy.h"
 #endif // _3D_DISABLED
 #include "servers/rendering/rendering_server_default.h"
 
@@ -290,6 +291,9 @@ struct GodotTestCaseListener : public doctest::IReporter {
 
 #ifndef _3D_DISABLED
 			physics_server_3d = PhysicsServer3DManager::get_singleton()->new_default_server();
+			if (!physics_server_3d) {
+				physics_server_3d = memnew(PhysicsServer3DDummy);
+			}
 			physics_server_3d->init();
 #endif // _3D_DISABLED