448c41a3e4
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)
253 lines
9.7 KiB
C++
253 lines
9.7 KiB
C++
/*************************************************************************/
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/* soft_body_3d_sw.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef SOFT_BODY_3D_SW_H
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#define SOFT_BODY_3D_SW_H
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#include "collision_object_3d_sw.h"
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#include "core/math/aabb.h"
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#include "core/math/dynamic_bvh.h"
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#include "core/math/vector3.h"
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#include "core/templates/local_vector.h"
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#include "core/templates/set.h"
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#include "core/templates/vset.h"
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#include "scene/resources/mesh.h"
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class Constraint3DSW;
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class SoftBody3DSW : public CollisionObject3DSW {
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Ref<Mesh> soft_mesh;
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struct Node {
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Vector3 s; // Source position
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Vector3 x; // Position
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Vector3 q; // Previous step position/Test position
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Vector3 f; // Force accumulator
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Vector3 v; // Velocity
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Vector3 bv; // Biased Velocity
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Vector3 n; // Normal
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real_t area = 0.0; // Area
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real_t im = 0.0; // 1/mass
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DynamicBVH::ID leaf; // Leaf data
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uint32_t index = 0;
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};
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struct Link {
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Vector3 c3; // gradient
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Node *n[2] = { nullptr, nullptr }; // Node pointers
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real_t rl = 0.0; // Rest length
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real_t c0 = 0.0; // (ima+imb)*kLST
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real_t c1 = 0.0; // rl^2
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real_t c2 = 0.0; // |gradient|^2/c0
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};
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struct Face {
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Node *n[3] = { nullptr, nullptr, nullptr }; // Node pointers
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Vector3 normal; // Normal
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real_t ra = 0.0; // Rest area
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DynamicBVH::ID leaf; // Leaf data
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uint32_t index = 0;
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};
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LocalVector<Node> nodes;
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LocalVector<Link> links;
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LocalVector<Face> faces;
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DynamicBVH node_tree;
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DynamicBVH face_tree;
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LocalVector<uint32_t> map_visual_to_physics;
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AABB bounds;
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real_t collision_margin = 0.05;
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real_t total_mass = 1.0;
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real_t inv_total_mass = 1.0;
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int iteration_count = 5;
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real_t linear_stiffness = 0.5; // [0,1]
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real_t pressure_coefficient = 0.0; // [-inf,+inf]
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real_t damping_coefficient = 0.01; // [0,1]
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real_t drag_coefficient = 0.0; // [0,1]
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LocalVector<int> pinned_vertices;
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SelfList<SoftBody3DSW> active_list;
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Set<Constraint3DSW *> constraints;
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VSet<RID> exceptions;
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uint64_t island_step = 0;
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public:
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SoftBody3DSW();
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const AABB &get_bounds() const { return bounds; }
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void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant);
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Variant get_state(PhysicsServer3D::BodyState p_state) const;
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_FORCE_INLINE_ void add_constraint(Constraint3DSW *p_constraint) { constraints.insert(p_constraint); }
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_FORCE_INLINE_ void remove_constraint(Constraint3DSW *p_constraint) { constraints.erase(p_constraint); }
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_FORCE_INLINE_ const Set<Constraint3DSW *> &get_constraints() const { return constraints; }
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_FORCE_INLINE_ void clear_constraints() { constraints.clear(); }
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_FORCE_INLINE_ void add_exception(const RID &p_exception) { exceptions.insert(p_exception); }
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_FORCE_INLINE_ void remove_exception(const RID &p_exception) { exceptions.erase(p_exception); }
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_FORCE_INLINE_ bool has_exception(const RID &p_exception) const { return exceptions.has(p_exception); }
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_FORCE_INLINE_ const VSet<RID> &get_exceptions() const { return exceptions; }
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_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
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_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }
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virtual void set_space(Space3DSW *p_space);
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void set_mesh(const Ref<Mesh> &p_mesh);
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void update_rendering_server(RenderingServerHandler *p_rendering_server_handler);
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Vector3 get_vertex_position(int p_index) const;
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void set_vertex_position(int p_index, const Vector3 &p_position);
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void pin_vertex(int p_index);
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void unpin_vertex(int p_index);
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void unpin_all_vertices();
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bool is_vertex_pinned(int p_index) const;
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uint32_t get_node_count() const;
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real_t get_node_inv_mass(uint32_t p_node_index) const;
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Vector3 get_node_position(uint32_t p_node_index) const;
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Vector3 get_node_velocity(uint32_t p_node_index) const;
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Vector3 get_node_biased_velocity(uint32_t p_node_index) const;
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void apply_node_impulse(uint32_t p_node_index, const Vector3 &p_impulse);
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void apply_node_bias_impulse(uint32_t p_node_index, const Vector3 &p_impulse);
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uint32_t get_face_count() const;
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void get_face_points(uint32_t p_face_index, Vector3 &r_point_1, Vector3 &r_point_2, Vector3 &r_point_3) const;
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Vector3 get_face_normal(uint32_t p_face_index) const;
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void set_iteration_count(int p_val);
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_FORCE_INLINE_ real_t get_iteration_count() const { return iteration_count; }
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void set_total_mass(real_t p_val);
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_FORCE_INLINE_ real_t get_total_mass() const { return total_mass; }
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_FORCE_INLINE_ real_t get_total_inv_mass() const { return inv_total_mass; }
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void set_collision_margin(real_t p_val);
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_FORCE_INLINE_ real_t get_collision_margin() const { return collision_margin; }
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void set_linear_stiffness(real_t p_val);
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_FORCE_INLINE_ real_t get_linear_stiffness() const { return linear_stiffness; }
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void set_pressure_coefficient(real_t p_val);
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_FORCE_INLINE_ real_t get_pressure_coefficient() const { return pressure_coefficient; }
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void set_damping_coefficient(real_t p_val);
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_FORCE_INLINE_ real_t get_damping_coefficient() const { return damping_coefficient; }
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void set_drag_coefficient(real_t p_val);
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_FORCE_INLINE_ real_t get_drag_coefficient() const { return drag_coefficient; }
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void predict_motion(real_t p_delta);
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void solve_constraints(real_t p_delta);
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_FORCE_INLINE_ uint32_t get_node_index(void *p_node) const { return ((Node *)p_node)->index; }
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_FORCE_INLINE_ uint32_t get_face_index(void *p_face) const { return ((Face *)p_face)->index; }
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// Return true to stop the query.
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// p_index is the node index for AABB query, face index for Ray query.
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typedef bool (*QueryResultCallback)(uint32_t p_index, void *p_userdata);
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void query_aabb(const AABB &p_aabb, QueryResultCallback p_result_callback, void *p_userdata);
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void query_ray(const Vector3 &p_from, const Vector3 &p_to, QueryResultCallback p_result_callback, void *p_userdata);
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protected:
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virtual void _shapes_changed();
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private:
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void update_normals();
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void update_bounds();
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void update_constants();
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void update_area();
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void reset_link_rest_lengths();
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void update_link_constants();
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void apply_nodes_transform(const Transform &p_transform);
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void add_velocity(const Vector3 &p_velocity);
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void apply_forces();
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bool create_from_trimesh(const Vector<int> &p_indices, const Vector<Vector3> &p_vertices);
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void generate_bending_constraints(int p_distance);
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void reoptimize_link_order();
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void append_link(uint32_t p_node1, uint32_t p_node2);
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void append_face(uint32_t p_node1, uint32_t p_node2, uint32_t p_node3);
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void solve_links(real_t kst, real_t ti);
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void initialize_face_tree();
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void update_face_tree(real_t p_delta);
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void initialize_shape(bool p_force_move = true);
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void deinitialize_shape();
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void destroy();
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};
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class SoftBodyShape3DSW : public Shape3DSW {
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SoftBody3DSW *soft_body = nullptr;
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public:
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SoftBody3DSW *get_soft_body() const { return soft_body; }
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virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_SOFT_BODY; }
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virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const { r_min = r_max = 0.0; }
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virtual Vector3 get_support(const Vector3 &p_normal) const { return Vector3(); }
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virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { r_amount = 0; }
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virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
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virtual bool intersect_point(const Vector3 &p_point) const;
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virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
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virtual Vector3 get_moment_of_inertia(real_t p_mass) const { return Vector3(); }
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virtual void set_data(const Variant &p_data) {}
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virtual Variant get_data() const { return Variant(); }
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void update_bounds();
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SoftBodyShape3DSW(SoftBody3DSW *p_soft_body);
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~SoftBodyShape3DSW() {}
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};
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#endif // SOFT_BODY_3D_SW_H
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