300 lines
8.4 KiB
C++
300 lines
8.4 KiB
C++
/*************************************************************************/
|
|
/* step_sw.cpp */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
|
|
/* */
|
|
/* 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 "step_sw.h"
|
|
#include "joints_sw.h"
|
|
|
|
#include "os/os.h"
|
|
|
|
void StepSW::_populate_island(BodySW *p_body, BodySW **p_island, ConstraintSW **p_constraint_island) {
|
|
|
|
p_body->set_island_step(_step);
|
|
p_body->set_island_next(*p_island);
|
|
*p_island = p_body;
|
|
|
|
for (Map<ConstraintSW *, int>::Element *E = p_body->get_constraint_map().front(); E; E = E->next()) {
|
|
|
|
ConstraintSW *c = (ConstraintSW *)E->key();
|
|
if (c->get_island_step() == _step)
|
|
continue; //already processed
|
|
c->set_island_step(_step);
|
|
c->set_island_next(*p_constraint_island);
|
|
*p_constraint_island = c;
|
|
|
|
for (int i = 0; i < c->get_body_count(); i++) {
|
|
if (i == E->get())
|
|
continue;
|
|
BodySW *b = c->get_body_ptr()[i];
|
|
if (b->get_island_step() == _step || b->get_mode() == PhysicsServer::BODY_MODE_STATIC || b->get_mode() == PhysicsServer::BODY_MODE_KINEMATIC)
|
|
continue; //no go
|
|
_populate_island(c->get_body_ptr()[i], p_island, p_constraint_island);
|
|
}
|
|
}
|
|
}
|
|
|
|
void StepSW::_setup_island(ConstraintSW *p_island, float p_delta) {
|
|
|
|
ConstraintSW *ci = p_island;
|
|
while (ci) {
|
|
bool process = ci->setup(p_delta);
|
|
//todo remove from island if process fails
|
|
ci = ci->get_island_next();
|
|
}
|
|
}
|
|
|
|
void StepSW::_solve_island(ConstraintSW *p_island, int p_iterations, float p_delta) {
|
|
|
|
int at_priority = 1;
|
|
|
|
while (p_island) {
|
|
|
|
for (int i = 0; i < p_iterations; i++) {
|
|
|
|
ConstraintSW *ci = p_island;
|
|
while (ci) {
|
|
ci->solve(p_delta);
|
|
ci = ci->get_island_next();
|
|
}
|
|
}
|
|
|
|
at_priority++;
|
|
|
|
{
|
|
ConstraintSW *ci = p_island;
|
|
ConstraintSW *prev = NULL;
|
|
while (ci) {
|
|
if (ci->get_priority() < at_priority) {
|
|
if (prev) {
|
|
prev->set_island_next(ci->get_island_next()); //remove
|
|
} else {
|
|
p_island = ci->get_island_next();
|
|
}
|
|
} else {
|
|
|
|
prev = ci;
|
|
}
|
|
|
|
ci = ci->get_island_next();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void StepSW::_check_suspend(BodySW *p_island, float p_delta) {
|
|
|
|
bool can_sleep = true;
|
|
|
|
BodySW *b = p_island;
|
|
while (b) {
|
|
|
|
if (b->get_mode() == PhysicsServer::BODY_MODE_STATIC || b->get_mode() == PhysicsServer::BODY_MODE_KINEMATIC) {
|
|
b = b->get_island_next();
|
|
continue; //ignore for static
|
|
}
|
|
|
|
if (!b->sleep_test(p_delta))
|
|
can_sleep = false;
|
|
|
|
b = b->get_island_next();
|
|
}
|
|
|
|
//put all to sleep or wake up everyoen
|
|
|
|
b = p_island;
|
|
while (b) {
|
|
|
|
if (b->get_mode() == PhysicsServer::BODY_MODE_STATIC || b->get_mode() == PhysicsServer::BODY_MODE_KINEMATIC) {
|
|
b = b->get_island_next();
|
|
continue; //ignore for static
|
|
}
|
|
|
|
bool active = b->is_active();
|
|
|
|
if (active == can_sleep)
|
|
b->set_active(!can_sleep);
|
|
|
|
b = b->get_island_next();
|
|
}
|
|
}
|
|
|
|
void StepSW::step(SpaceSW *p_space, float p_delta, int p_iterations) {
|
|
|
|
p_space->lock(); // can't access space during this
|
|
|
|
p_space->setup(); //update inertias, etc
|
|
|
|
const SelfList<BodySW>::List *body_list = &p_space->get_active_body_list();
|
|
|
|
/* INTEGRATE FORCES */
|
|
|
|
uint64_t profile_begtime = OS::get_singleton()->get_ticks_usec();
|
|
uint64_t profile_endtime = 0;
|
|
|
|
int active_count = 0;
|
|
|
|
const SelfList<BodySW> *b = body_list->first();
|
|
while (b) {
|
|
|
|
b->self()->integrate_forces(p_delta);
|
|
b = b->next();
|
|
active_count++;
|
|
}
|
|
|
|
p_space->set_active_objects(active_count);
|
|
|
|
{ //profile
|
|
profile_endtime = OS::get_singleton()->get_ticks_usec();
|
|
p_space->set_elapsed_time(SpaceSW::ELAPSED_TIME_INTEGRATE_FORCES, profile_endtime - profile_begtime);
|
|
profile_begtime = profile_endtime;
|
|
}
|
|
|
|
/* GENERATE CONSTRAINT ISLANDS */
|
|
|
|
BodySW *island_list = NULL;
|
|
ConstraintSW *constraint_island_list = NULL;
|
|
b = body_list->first();
|
|
|
|
int island_count = 0;
|
|
|
|
while (b) {
|
|
BodySW *body = b->self();
|
|
|
|
if (body->get_island_step() != _step) {
|
|
|
|
BodySW *island = NULL;
|
|
ConstraintSW *constraint_island = NULL;
|
|
_populate_island(body, &island, &constraint_island);
|
|
|
|
island->set_island_list_next(island_list);
|
|
island_list = island;
|
|
|
|
if (constraint_island) {
|
|
constraint_island->set_island_list_next(constraint_island_list);
|
|
constraint_island_list = constraint_island;
|
|
island_count++;
|
|
}
|
|
}
|
|
b = b->next();
|
|
}
|
|
|
|
p_space->set_island_count(island_count);
|
|
|
|
const SelfList<AreaSW>::List &aml = p_space->get_moved_area_list();
|
|
|
|
while (aml.first()) {
|
|
for (const Set<ConstraintSW *>::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) {
|
|
|
|
ConstraintSW *c = E->get();
|
|
if (c->get_island_step() == _step)
|
|
continue;
|
|
c->set_island_step(_step);
|
|
c->set_island_next(NULL);
|
|
c->set_island_list_next(constraint_island_list);
|
|
constraint_island_list = c;
|
|
}
|
|
p_space->area_remove_from_moved_list((SelfList<AreaSW> *)aml.first()); //faster to remove here
|
|
}
|
|
|
|
{ //profile
|
|
profile_endtime = OS::get_singleton()->get_ticks_usec();
|
|
p_space->set_elapsed_time(SpaceSW::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime);
|
|
profile_begtime = profile_endtime;
|
|
}
|
|
|
|
// print_line("island count: "+itos(island_count)+" active count: "+itos(active_count));
|
|
/* SETUP CONSTRAINT ISLANDS */
|
|
|
|
{
|
|
ConstraintSW *ci = constraint_island_list;
|
|
while (ci) {
|
|
|
|
_setup_island(ci, p_delta);
|
|
ci = ci->get_island_list_next();
|
|
}
|
|
}
|
|
|
|
{ //profile
|
|
profile_endtime = OS::get_singleton()->get_ticks_usec();
|
|
p_space->set_elapsed_time(SpaceSW::ELAPSED_TIME_SETUP_CONSTRAINTS, profile_endtime - profile_begtime);
|
|
profile_begtime = profile_endtime;
|
|
}
|
|
|
|
/* SOLVE CONSTRAINT ISLANDS */
|
|
|
|
{
|
|
ConstraintSW *ci = constraint_island_list;
|
|
while (ci) {
|
|
//iterating each island separatedly improves cache efficiency
|
|
_solve_island(ci, p_iterations, p_delta);
|
|
ci = ci->get_island_list_next();
|
|
}
|
|
}
|
|
|
|
{ //profile
|
|
profile_endtime = OS::get_singleton()->get_ticks_usec();
|
|
p_space->set_elapsed_time(SpaceSW::ELAPSED_TIME_SOLVE_CONSTRAINTS, profile_endtime - profile_begtime);
|
|
profile_begtime = profile_endtime;
|
|
}
|
|
|
|
/* INTEGRATE VELOCITIES */
|
|
|
|
b = body_list->first();
|
|
while (b) {
|
|
const SelfList<BodySW> *n = b->next();
|
|
b->self()->integrate_velocities(p_delta);
|
|
b = n;
|
|
}
|
|
|
|
/* SLEEP / WAKE UP ISLANDS */
|
|
|
|
{
|
|
BodySW *bi = island_list;
|
|
while (bi) {
|
|
|
|
_check_suspend(bi, p_delta);
|
|
bi = bi->get_island_list_next();
|
|
}
|
|
}
|
|
|
|
{ //profile
|
|
profile_endtime = OS::get_singleton()->get_ticks_usec();
|
|
p_space->set_elapsed_time(SpaceSW::ELAPSED_TIME_INTEGRATE_VELOCITIES, profile_endtime - profile_begtime);
|
|
profile_begtime = profile_endtime;
|
|
}
|
|
|
|
p_space->update();
|
|
p_space->unlock();
|
|
_step++;
|
|
}
|
|
|
|
StepSW::StepSW() {
|
|
|
|
_step = 1;
|
|
}
|