Physics (#1605)

* Physics worlds

* Paul's a good boy

* Build working

* Ingame and not lagging to hell

* Why didn't you commit ahhhhh

* Hard collisions working

* Solver parity

* Decent broadphase work done

* BroadPhase outline done

* BroadPhase working

* waiting for pvs

* Fix static PVS AABB

* Stop static bodies from awakening

* Optimise a bunch of stuff

* Even more broadphase stuff

* I'm fucking stupid

* Optimise fixture updates

* Collision solver start

* Building

* A is for Argumentative

* Fix contact caching island flags

* Circle shapes actually workeded

* Damping

* DS2 consumables only

* Slightly more stable

* Even slightlier more stablier

* VV your heart out

* Initial joint support

* 90% of joints I just wanted to push as I'd scream if I lost progress

* JOINT PURGATORY

* Joints barely functional lmao

* Okay these joints slightly more functional

* Remove station FrictionJoint

* Also that

* Some Box2D ports

* Cleanup mass

* Edge shape

* Active contacts

* Fix active contacts

* Optimise active contacts even more

* Boxes be stacking

* I would die for smug oh my fucking god

* In which everything is fixed

* Distance joints working LETS GO

* Remove frequency on distancejoint

* Fix some stuff and break joints

* Crashing fixed mehbeh

* ICollideSpecial and more resilience

* auto-clear

* showbb vera

* Slap that TODO in there

* Fix restartround crash

* Random fixes

* Fix fixture networking

* Add intersection method for broadphase

* Fix contacts

* Licenses done

* Optimisations

* Fix wall clips

* Config caching for island

* allocations optimisations

* Optimise casts

* Optimise events queue for physics

* Contact manager optimisations

* Optimise controllers

* Sloth joint or something idk

* Controller graph

* Remove content cvar

* Random cleanup

* Finally remove VirtualController

* Manifold structs again

* Optimise this absolute retardation

* Optimise

* fix license

* Cleanup physics interface

* AHHHHHHHHHHHHH

* Fix collisions again

* snivybus

* Fix potential nasty manifold bug

* Tests go snivy

* Disable prediction for now

* Spans

* Fix ShapeTypes

* fixes

* ch ch changeesss

* Kinematic idea

* Prevent static bodies from waking

* Pass WorldAABB to MoveEvent

* Fix collisions

* manifold structs fucking WOOORRKKKINNGGG

* Better pushing

* Fix merge ickies

* Optimise MoveEvents

* Use event for collisions performance

* Fix content tests

* Do not research tests

* Fix most conflicts

* Paul's trying to kill me

* Maybe collisions work idk

* Make us whole again

* Smug is also trying to kill me

* nani

* shitty collisions

* Settling

* Do not research collisions

* SHIP IT

* Fix joints

* PVS moment

* Fix other assert

* Fix locker collisions

* serializable sleeptime

* Aether2D contacts

* Physics is no longer crashing (and burning)

* Add to the TODO list

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

Robust.Server/GameObjects/ServerEntityManager.cs

@@ -10,6 +10,7 @@ using Robust.Shared.Containers;
 using Robust.Shared.GameObjects;
 using Robust.Shared.Map;
 using Robust.Shared.Maths;
+using Robust.Shared.Physics;
 using Robust.Shared.Prototypes;
 using Robust.Shared.Timing;
 using Robust.Shared.Utility;
@@ -368,7 +369,7 @@ namespace Robust.Server.GameObjects
                     continue;
                 }
 
-                if (entity.TryGetComponent(out IPhysicsComponent? body))
+                if (entity.TryGetComponent(out IPhysBody? body))
                 {
                     if (body.LinearVelocity.EqualsApprox(Vector2.Zero, MinimumMotionForMovers))
                     {
@@ -535,7 +536,7 @@ namespace Robust.Server.GameObjects
                     continue;
                 }
 
-                if (!entity.TryGetComponent(out IPhysicsComponent? body))
+                if (!entity.TryGetComponent(out IPhysBody? body))
                 {
                     // can't be a mover w/o physics
                     continue;
@@ -721,10 +722,10 @@ namespace Robust.Server.GameObjects
             _deletionHistory.RemoveAll(hist => hist.tick <= toTick);
         }
 
-        public override bool UpdateEntityTree(IEntity entity)
+        public override bool UpdateEntityTree(IEntity entity, Box2? worldAABB = null)
         {
             var currentTick = CurrentTick;
-            var updated = base.UpdateEntityTree(entity);
+            var updated = base.UpdateEntityTree(entity, worldAABB);
 
             if (entity.Deleted
                 || !entity.Initialized
@@ -736,6 +737,7 @@ namespace Robust.Server.GameObjects
             DebugTools.Assert(entity.Transform.Initialized);
 
             // note: updated can be false even if something moved a bit
+            worldAABB ??= GetWorldAabbFromEntity(entity);
 
             foreach (var (player, lastSeen) in _playerLastSeen)
             {
@@ -782,14 +784,14 @@ namespace Robust.Server.GameObjects
                 // saw it previously
 
                 // player can't see it now
-                if (!viewbox.Intersects(GetWorldAabbFromEntity(entity)))
+                if (!viewbox.Intersects(worldAABB.Value))
                 {
                     var addToMovers = false;
                     if (entity.Transform.LastModifiedTick >= currentTick)
                     {
                         addToMovers = true;
                     }
-                    else if (entity.TryGetComponent(out IPhysicsComponent? physics)
+                    else if (entity.TryGetComponent(out IPhysBody? physics)
                              && physics.LastModifiedTick >= currentTick)
                     {
                         addToMovers = true;