godot/servers/physics/step_sw.cpp
Rémi Verschelde a627cdafc5
Update copyright statements to 2022
Happy new year to the wonderful Godot community!
2022-01-13 15:54:13 +01:00

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/*************************************************************************/
/* step_sw.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2022 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 "core/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, real_t p_delta) {
ConstraintSW *ci = p_island;
while (ci) {
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, real_t 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 = nullptr;
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, real_t 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, real_t p_delta, int p_iterations) {
p_space->lock(); // can't access space during this
p_space->set_step(p_delta);
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);
// Update the broadphase to register collision pairs.
p_space->update();
{ //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 = nullptr;
ConstraintSW *constraint_island_list = nullptr;
b = body_list->first();
int island_count = 0;
while (b) {
BodySW *body = b->self();
if (body->get_island_step() != _step) {
BodySW *island = nullptr;
ConstraintSW *constraint_island = nullptr;
_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(nullptr);
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;
}
/* 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->unlock();
_step++;
}
StepSW::StepSW() {
_step = 1;
}