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godot/servers/physics_3d/godot_step_3d.h

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One Copyright Update to rule them all As many open source projects have started doing it, we're removing the current year from the copyright notice, so that we don't need to bump it every year. It seems like only the first year of publication is technically relevant for copyright notices, and even that seems to be something that many companies stopped listing altogether (in a version controlled codebase, the commits are a much better source of date of publication than a hardcoded copyright statement). We also now list Godot Engine contributors first as we're collectively the current maintainers of the project, and we clarify that the "exclusive" copyright of the co-founders covers the timespan before opensourcing (their further contributions are included as part of Godot Engine contributors). Also fixed "cf." Frenchism - it's meant as "refer to / see".
2023-01-05 12:25:55 +00:00
/**************************************************************************/
/* godot_step_3d.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. */
/**************************************************************************/
Add missing copyright headers and fix formatting Using `misc/scripts/fix_headers.py` on all Godot files. Some missing header guards were added, and the header inclusion order was fixed in the Bullet module.
2018-01-04 23:50:27 +00:00
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 19:24:30 +00:00
#ifndef GODOT_STEP_3D_H
#define GODOT_STEP_3D_H
GODOT IS OPEN SOURCE
2014-02-10 01:10:30 +00:00
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
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#include "godot_space_3d.h"
GODOT IS OPEN SOURCE
2014-02-10 01:10:30 +00:00
Remove ThreadWorkPool, replace by WorkerThreadPool The former needs to be allocated once per usage. The later is shared for all threads, which is more efficient. It can also be better debugged.
2022-07-23 17:12:41 +00:00
#include "core/object/worker_thread_pool.h"
Godot Physics solver optimization Several optimizations in the way solver islands are processed in both 2D and 3D physics: - Use LocalVector instead of linked list to avoid cache misses (with persistent storage based on worst case scenario) - Remove pairs when setup fails (no valid contact) to avoid unnecessary solving of non-colliding rigid bodies just to return immediately
2021-04-12 23:22:06 +00:00
#include "core/templates/local_vector.h"
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 19:24:30 +00:00
class GodotStep3D {
Initialize variables in servers/physics
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uint64_t _step = 1;
GODOT IS OPEN SOURCE
2014-02-10 01:10:30 +00:00
Godot Physics collisions and solver processed on threads Use ThreadWorkPool to process physics step tasks in multiple threads. Collisions are all processed in parallel and solving impulses is processed in parallel for rigid body islands. Additional changes: - Proper islands for soft bodies linked to active bodies - All moving areas are on separate islands (can be parallelized) - Fix inconsistencies with body islands (Kinematic bodies could link bodies together or not depending on the processing order) - Completely prevent static bodies to be active (it could cause islands to be wrongly created and cause dangerous multi-threading operations as well as inconsistencies in created islands) - Apply impulses only on dynamic bodies to avoid unsafe multi-threaded operations (static bodies can be on multiple islands) - Removed inverted iterations when populating body islands, it's now faster in regular order (maybe after fixing inconsistencies)
2021-04-20 01:38:11 +00:00
int iterations = 0;
real_t delta = 0.0;
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 19:24:30 +00:00
LocalVector<LocalVector<GodotBody3D *>> body_islands;
LocalVector<LocalVector<GodotConstraint3D *>> constraint_islands;
LocalVector<GodotConstraint3D *> all_constraints;
Godot Physics solver optimization Several optimizations in the way solver islands are processed in both 2D and 3D physics: - Use LocalVector instead of linked list to avoid cache misses (with persistent storage based on worst case scenario) - Remove pairs when setup fails (no valid contact) to avoid unnecessary solving of non-colliding rigid bodies just to return immediately
2021-04-12 23:22:06 +00:00
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 19:24:30 +00:00
void _populate_island(GodotBody3D *p_body, LocalVector<GodotBody3D *> &p_body_island, LocalVector<GodotConstraint3D *> &p_constraint_island);
void _populate_island_soft_body(GodotSoftBody3D *p_soft_body, LocalVector<GodotBody3D *> &p_body_island, LocalVector<GodotConstraint3D *> &p_constraint_island);
Fix typo in physics step: contraint -> constraint
2022-12-06 16:32:45 +00:00
void _setup_constraint(uint32_t p_constraint_index, void *p_userdata = nullptr);
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 19:24:30 +00:00
void _pre_solve_island(LocalVector<GodotConstraint3D *> &p_constraint_island) const;
Godot Physics collisions and solver processed on threads Use ThreadWorkPool to process physics step tasks in multiple threads. Collisions are all processed in parallel and solving impulses is processed in parallel for rigid body islands. Additional changes: - Proper islands for soft bodies linked to active bodies - All moving areas are on separate islands (can be parallelized) - Fix inconsistencies with body islands (Kinematic bodies could link bodies together or not depending on the processing order) - Completely prevent static bodies to be active (it could cause islands to be wrongly created and cause dangerous multi-threading operations as well as inconsistencies in created islands) - Apply impulses only on dynamic bodies to avoid unsafe multi-threaded operations (static bodies can be on multiple islands) - Removed inverted iterations when populating body islands, it's now faster in regular order (maybe after fixing inconsistencies)
2021-04-20 01:38:11 +00:00
void _solve_island(uint32_t p_island_index, void *p_userdata = nullptr);
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 19:24:30 +00:00
void _check_suspend(const LocalVector<GodotBody3D *> &p_body_island) const;
GODOT IS OPEN SOURCE
2014-02-10 01:10:30 +00:00
Use real_t as floating point type in physics code. This is a continuation of an on-going work for 64-bit floating point builds, started in PR #7528. Covers physics, physics/joints and physics_2d code. Also removed matrixToEulerXYZ function in favor of Basis::get_euler.
2017-02-13 23:25:05 +00:00
public:
Update space parameters in 2D and 3D Clarified space parameters for contacts and added missing ones. List of changes: -Add contact bias to space parameters -Add solver iterations to space parameters, instead of a specific physics server function -Renamed BODY_MAX_ALLOWED_PENETRATION to CONTACT_MAX_ALLOWED_PENETRATION to make it consistent with other contact parameters
2021-12-03 17:38:40 +00:00
void step(GodotSpace3D *p_space, real_t p_delta);
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 19:24:30 +00:00
GodotStep3D();
~GodotStep3D();
GODOT IS OPEN SOURCE
2014-02-10 01:10:30 +00:00
};
Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific.
2021-10-18 19:24:30 +00:00
#endif // GODOT_STEP_3D_H