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godot/servers/physics_2d/step_2d_sw.cpp

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/*************************************************************************/
/* step_2d_sw.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 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_2d_sw.h"
#include "core/os/os.h"
#define BODY_ISLAND_COUNT_RESERVE 128
#define BODY_ISLAND_SIZE_RESERVE 512
#define ISLAND_COUNT_RESERVE 128
#define ISLAND_SIZE_RESERVE 512
#define CONSTRAINT_COUNT_RESERVE 1024
void Step2DSW::_populate_island(Body2DSW *p_body, LocalVector<Body2DSW *> &p_body_island, LocalVector<Constraint2DSW *> &p_constraint_island) {
p_body->set_island_step(_step);
if (p_body->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC) {
// Only dynamic bodies are tested for activation.
p_body_island.push_back(p_body);
}
for (const Pair<Constraint2DSW *, int> &E : p_body->get_constraint_list()) {
Constraint2DSW *constraint = (Constraint2DSW *)E.first;
if (constraint->get_island_step() == _step) {
continue; // Already processed.
}
constraint->set_island_step(_step);
p_constraint_island.push_back(constraint);
all_constraints.push_back(constraint);
for (int i = 0; i < constraint->get_body_count(); i++) {
if (i == E.second) {
continue;
}
Body2DSW *other_body = constraint->get_body_ptr()[i];
if (other_body->get_island_step() == _step) {
continue; // Already processed.
}
if (other_body->get_mode() == PhysicsServer2D::BODY_MODE_STATIC) {
continue; // Static bodies don't connect islands.
}
_populate_island(other_body, p_body_island, p_constraint_island);
}
}
}
void Step2DSW::_setup_contraint(uint32_t p_constraint_index, void *p_userdata) {
Constraint2DSW *constraint = all_constraints[p_constraint_index];
constraint->setup(delta);
}
void Step2DSW::_pre_solve_island(LocalVector<Constraint2DSW *> &p_constraint_island) const {
uint32_t constraint_count = p_constraint_island.size();
uint32_t valid_constraint_count = 0;
for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
Constraint2DSW *constraint = p_constraint_island[constraint_index];
if (p_constraint_island[constraint_index]->pre_solve(delta)) {
// Keep this constraint for solving.
p_constraint_island[valid_constraint_count++] = constraint;
}
}
p_constraint_island.resize(valid_constraint_count);
}
void Step2DSW::_solve_island(uint32_t p_island_index, void *p_userdata) const {
const LocalVector<Constraint2DSW *> &constraint_island = constraint_islands[p_island_index];
for (int i = 0; i < iterations; i++) {
uint32_t constraint_count = constraint_island.size();
for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
constraint_island[constraint_index]->solve(delta);
}
}
}
void Step2DSW::_check_suspend(LocalVector<Body2DSW *> &p_body_island) const {
bool can_sleep = true;
uint32_t body_count = p_body_island.size();
for (uint32_t body_index = 0; body_index < body_count; ++body_index) {
Body2DSW *body = p_body_island[body_index];
if (!body->sleep_test(delta)) {
can_sleep = false;
}
}
// Put all to sleep or wake up everyone.
for (uint32_t body_index = 0; body_index < body_count; ++body_index) {
Body2DSW *body = p_body_island[body_index];
bool active = body->is_active();
if (active == can_sleep) {
body->set_active(!can_sleep);
}
}
}
void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
p_space->lock(); // can't access space during this
p_space->setup(); //update inertias, etc
p_space->set_last_step(p_delta);
iterations = p_iterations;
delta = p_delta;
const SelfList<Body2DSW>::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<Body2DSW> *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(Space2DSW::ELAPSED_TIME_INTEGRATE_FORCES, profile_endtime - profile_begtime);
profile_begtime = profile_endtime;
}
/* GENERATE CONSTRAINT ISLANDS FOR MOVING AREAS */
uint32_t island_count = 0;
const SelfList<Area2DSW>::List &aml = p_space->get_moved_area_list();
while (aml.first()) {
for (const Set<Constraint2DSW *>::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) {
Constraint2DSW *constraint = E->get();
if (constraint->get_island_step() == _step) {
continue;
}
constraint->set_island_step(_step);
// Each constraint can be on a separate island for areas as there's no solving phase.
++island_count;
if (constraint_islands.size() < island_count) {
constraint_islands.resize(island_count);
}
LocalVector<Constraint2DSW *> &constraint_island = constraint_islands[island_count - 1];
constraint_island.clear();
all_constraints.push_back(constraint);
constraint_island.push_back(constraint);
}
p_space->area_remove_from_moved_list((SelfList<Area2DSW> *)aml.first()); //faster to remove here
}
/* GENERATE CONSTRAINT ISLANDS FOR ACTIVE RIGID BODIES */
b = body_list->first();
uint32_t body_island_count = 0;
while (b) {
Body2DSW *body = b->self();
if (body->get_island_step() != _step) {
++body_island_count;
if (body_islands.size() < body_island_count) {
body_islands.resize(body_island_count);
}
LocalVector<Body2DSW *> &body_island = body_islands[body_island_count - 1];
body_island.clear();
body_island.reserve(BODY_ISLAND_SIZE_RESERVE);
++island_count;
if (constraint_islands.size() < island_count) {
constraint_islands.resize(island_count);
}
LocalVector<Constraint2DSW *> &constraint_island = constraint_islands[island_count - 1];
constraint_island.clear();
constraint_island.reserve(ISLAND_SIZE_RESERVE);
_populate_island(body, body_island, constraint_island);
if (body_island.is_empty()) {
--body_island_count;
}
if (constraint_island.is_empty()) {
--island_count;
}
}
b = b->next();
}
p_space->set_island_count((int)island_count);
{ //profile
profile_endtime = OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime);
profile_begtime = profile_endtime;
}
/* SETUP CONSTRAINTS / PROCESS COLLISIONS */
uint32_t total_contraint_count = all_constraints.size();
work_pool.do_work(total_contraint_count, this, &Step2DSW::_setup_contraint, nullptr);
{ //profile
profile_endtime = OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_SETUP_CONSTRAINTS, profile_endtime - profile_begtime);
profile_begtime = profile_endtime;
}
/* PRE-SOLVE CONSTRAINT ISLANDS */
// Warning: This doesn't run on threads, because it involves thread-unsafe processing.
for (uint32_t island_index = 0; island_index < island_count; ++island_index) {
_pre_solve_island(constraint_islands[island_index]);
}
/* SOLVE CONSTRAINT ISLANDS */
// Warning: _solve_island modifies the constraint islands for optimization purpose,
// their content is not reliable after these calls and shouldn't be used anymore.
if (island_count > 1) {
work_pool.do_work(island_count, this, &Step2DSW::_solve_island, nullptr);
} else if (island_count > 0) {
_solve_island(0);
}
{ //profile
profile_endtime = OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_SOLVE_CONSTRAINTS, profile_endtime - profile_begtime);
profile_begtime = profile_endtime;
}
/* INTEGRATE VELOCITIES */
b = body_list->first();
while (b) {
const SelfList<Body2DSW> *n = b->next();
b->self()->integrate_velocities(p_delta);
b = n; // in case it shuts itself down
}
/* SLEEP / WAKE UP ISLANDS */
for (uint32_t island_index = 0; island_index < body_island_count; ++island_index) {
_check_suspend(body_islands[island_index]);
}
{ //profile
profile_endtime = OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_INTEGRATE_VELOCITIES, profile_endtime - profile_begtime);
//profile_begtime=profile_endtime;
}
all_constraints.clear();
p_space->update();
p_space->unlock();
_step++;
}
Step2DSW::Step2DSW() {
_step = 1;
body_islands.reserve(BODY_ISLAND_COUNT_RESERVE);
constraint_islands.reserve(ISLAND_COUNT_RESERVE);
all_constraints.reserve(CONSTRAINT_COUNT_RESERVE);
work_pool.init();
}
Step2DSW::~Step2DSW() {
work_pool.finish();
}
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