6a9ed72185
Use a C++ callback instead of Callable for synchronizing physics nodes' state with physics servers. Remove usage of PhysicsDirectBodyState in physics nodes when not necessary. Store PhysicsDirectBodyState for bodies individually instead of a singleton to avoid issues when accessing direct body state for multiple bodies. PhysicsDirectBodyState is initialized only when needed, so it doesn't have to be created when using the physics server directly. Move PhysicsDirectBodyState2D and PhysicsDirectBodyState3D to separate cpp files.
422 lines
14 KiB
C++
422 lines
14 KiB
C++
/*************************************************************************/
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/* step_3d_sw.cpp */
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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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#include "step_3d_sw.h"
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#include "joints_3d_sw.h"
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#include "core/os/os.h"
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#define BODY_ISLAND_COUNT_RESERVE 128
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#define BODY_ISLAND_SIZE_RESERVE 512
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#define ISLAND_COUNT_RESERVE 128
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#define ISLAND_SIZE_RESERVE 512
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#define CONSTRAINT_COUNT_RESERVE 1024
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void Step3DSW::_populate_island(Body3DSW *p_body, LocalVector<Body3DSW *> &p_body_island, LocalVector<Constraint3DSW *> &p_constraint_island) {
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p_body->set_island_step(_step);
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if (p_body->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC) {
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// Only dynamic bodies are tested for activation.
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p_body_island.push_back(p_body);
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}
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for (Map<Constraint3DSW *, int>::Element *E = p_body->get_constraint_map().front(); E; E = E->next()) {
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Constraint3DSW *constraint = (Constraint3DSW *)E->key();
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if (constraint->get_island_step() == _step) {
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continue; // Already processed.
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}
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constraint->set_island_step(_step);
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p_constraint_island.push_back(constraint);
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all_constraints.push_back(constraint);
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// Find connected rigid bodies.
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for (int i = 0; i < constraint->get_body_count(); i++) {
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if (i == E->get()) {
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continue;
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}
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Body3DSW *other_body = constraint->get_body_ptr()[i];
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if (other_body->get_island_step() == _step) {
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continue; // Already processed.
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}
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if (other_body->get_mode() == PhysicsServer3D::BODY_MODE_STATIC) {
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continue; // Static bodies don't connect islands.
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}
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_populate_island(other_body, p_body_island, p_constraint_island);
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}
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// Find connected soft bodies.
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for (int i = 0; i < constraint->get_soft_body_count(); i++) {
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SoftBody3DSW *soft_body = constraint->get_soft_body_ptr(i);
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if (soft_body->get_island_step() == _step) {
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continue; // Already processed.
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}
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_populate_island_soft_body(soft_body, p_body_island, p_constraint_island);
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}
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}
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}
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void Step3DSW::_populate_island_soft_body(SoftBody3DSW *p_soft_body, LocalVector<Body3DSW *> &p_body_island, LocalVector<Constraint3DSW *> &p_constraint_island) {
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p_soft_body->set_island_step(_step);
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for (Set<Constraint3DSW *>::Element *E = p_soft_body->get_constraints().front(); E; E = E->next()) {
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Constraint3DSW *constraint = (Constraint3DSW *)E->get();
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if (constraint->get_island_step() == _step) {
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continue; // Already processed.
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}
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constraint->set_island_step(_step);
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p_constraint_island.push_back(constraint);
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all_constraints.push_back(constraint);
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// Find connected rigid bodies.
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for (int i = 0; i < constraint->get_body_count(); i++) {
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Body3DSW *body = constraint->get_body_ptr()[i];
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if (body->get_island_step() == _step) {
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continue; // Already processed.
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}
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if (body->get_mode() == PhysicsServer3D::BODY_MODE_STATIC) {
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continue; // Static bodies don't connect islands.
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}
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_populate_island(body, p_body_island, p_constraint_island);
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}
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}
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}
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void Step3DSW::_setup_contraint(uint32_t p_constraint_index, void *p_userdata) {
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Constraint3DSW *constraint = all_constraints[p_constraint_index];
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constraint->setup(delta);
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}
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void Step3DSW::_pre_solve_island(LocalVector<Constraint3DSW *> &p_constraint_island) const {
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uint32_t constraint_count = p_constraint_island.size();
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uint32_t valid_constraint_count = 0;
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for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
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Constraint3DSW *constraint = p_constraint_island[constraint_index];
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if (p_constraint_island[constraint_index]->pre_solve(delta)) {
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// Keep this constraint for solving.
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p_constraint_island[valid_constraint_count++] = constraint;
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}
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}
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p_constraint_island.resize(valid_constraint_count);
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}
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void Step3DSW::_solve_island(uint32_t p_island_index, void *p_userdata) {
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LocalVector<Constraint3DSW *> &constraint_island = constraint_islands[p_island_index];
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int current_priority = 1;
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uint32_t constraint_count = constraint_island.size();
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while (constraint_count > 0) {
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for (int i = 0; i < iterations; i++) {
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// Go through all iterations.
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for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
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constraint_island[constraint_index]->solve(delta);
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}
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}
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// Check priority to keep only higher priority constraints.
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uint32_t priority_constraint_count = 0;
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++current_priority;
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for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
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Constraint3DSW *constraint = constraint_island[constraint_index];
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if (constraint->get_priority() >= current_priority) {
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// Keep this constraint for the next iteration.
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constraint_island[priority_constraint_count++] = constraint;
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}
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}
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constraint_count = priority_constraint_count;
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}
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}
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void Step3DSW::_check_suspend(const LocalVector<Body3DSW *> &p_body_island) const {
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bool can_sleep = true;
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uint32_t body_count = p_body_island.size();
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for (uint32_t body_index = 0; body_index < body_count; ++body_index) {
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Body3DSW *body = p_body_island[body_index];
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if (!body->sleep_test(delta)) {
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can_sleep = false;
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}
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}
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// Put all to sleep or wake up everyone.
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for (uint32_t body_index = 0; body_index < body_count; ++body_index) {
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Body3DSW *body = p_body_island[body_index];
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bool active = body->is_active();
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if (active == can_sleep) {
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body->set_active(!can_sleep);
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}
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}
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}
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void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
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p_space->lock(); // can't access space during this
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p_space->setup(); //update inertias, etc
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p_space->set_last_step(p_delta);
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iterations = p_iterations;
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delta = p_delta;
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const SelfList<Body3DSW>::List *body_list = &p_space->get_active_body_list();
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const SelfList<SoftBody3DSW>::List *soft_body_list = &p_space->get_active_soft_body_list();
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/* INTEGRATE FORCES */
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uint64_t profile_begtime = OS::get_singleton()->get_ticks_usec();
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uint64_t profile_endtime = 0;
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int active_count = 0;
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const SelfList<Body3DSW> *b = body_list->first();
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while (b) {
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b->self()->integrate_forces(p_delta);
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b = b->next();
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active_count++;
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}
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/* UPDATE SOFT BODY MOTION */
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const SelfList<SoftBody3DSW> *sb = soft_body_list->first();
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while (sb) {
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sb->self()->predict_motion(p_delta);
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sb = sb->next();
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active_count++;
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}
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p_space->set_active_objects(active_count);
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{ //profile
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profile_endtime = OS::get_singleton()->get_ticks_usec();
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p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_INTEGRATE_FORCES, profile_endtime - profile_begtime);
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profile_begtime = profile_endtime;
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}
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/* GENERATE CONSTRAINT ISLANDS FOR MOVING AREAS */
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uint32_t island_count = 0;
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const SelfList<Area3DSW>::List &aml = p_space->get_moved_area_list();
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while (aml.first()) {
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for (const Set<Constraint3DSW *>::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) {
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Constraint3DSW *constraint = E->get();
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if (constraint->get_island_step() == _step) {
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continue;
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}
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constraint->set_island_step(_step);
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// Each constraint can be on a separate island for areas as there's no solving phase.
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++island_count;
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if (constraint_islands.size() < island_count) {
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constraint_islands.resize(island_count);
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}
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LocalVector<Constraint3DSW *> &constraint_island = constraint_islands[island_count - 1];
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constraint_island.clear();
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all_constraints.push_back(constraint);
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constraint_island.push_back(constraint);
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}
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p_space->area_remove_from_moved_list((SelfList<Area3DSW> *)aml.first()); //faster to remove here
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}
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/* GENERATE CONSTRAINT ISLANDS FOR ACTIVE RIGID BODIES */
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b = body_list->first();
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uint32_t body_island_count = 0;
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while (b) {
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Body3DSW *body = b->self();
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if (body->get_island_step() != _step) {
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++body_island_count;
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if (body_islands.size() < body_island_count) {
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body_islands.resize(body_island_count);
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}
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LocalVector<Body3DSW *> &body_island = body_islands[body_island_count - 1];
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body_island.clear();
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body_island.reserve(BODY_ISLAND_SIZE_RESERVE);
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++island_count;
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if (constraint_islands.size() < island_count) {
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constraint_islands.resize(island_count);
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}
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LocalVector<Constraint3DSW *> &constraint_island = constraint_islands[island_count - 1];
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constraint_island.clear();
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constraint_island.reserve(ISLAND_SIZE_RESERVE);
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_populate_island(body, body_island, constraint_island);
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if (body_island.is_empty()) {
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--body_island_count;
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}
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if (constraint_island.is_empty()) {
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--island_count;
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}
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}
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b = b->next();
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}
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/* GENERATE CONSTRAINT ISLANDS FOR ACTIVE SOFT BODIES */
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sb = soft_body_list->first();
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while (sb) {
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SoftBody3DSW *soft_body = sb->self();
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if (soft_body->get_island_step() != _step) {
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++body_island_count;
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if (body_islands.size() < body_island_count) {
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body_islands.resize(body_island_count);
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}
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LocalVector<Body3DSW *> &body_island = body_islands[body_island_count - 1];
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body_island.clear();
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body_island.reserve(BODY_ISLAND_SIZE_RESERVE);
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++island_count;
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if (constraint_islands.size() < island_count) {
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constraint_islands.resize(island_count);
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}
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LocalVector<Constraint3DSW *> &constraint_island = constraint_islands[island_count - 1];
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constraint_island.clear();
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constraint_island.reserve(ISLAND_SIZE_RESERVE);
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_populate_island_soft_body(soft_body, body_island, constraint_island);
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if (body_island.is_empty()) {
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--body_island_count;
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}
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if (constraint_island.is_empty()) {
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--island_count;
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}
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}
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sb = sb->next();
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}
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p_space->set_island_count((int)island_count);
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{ //profile
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profile_endtime = OS::get_singleton()->get_ticks_usec();
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p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime);
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profile_begtime = profile_endtime;
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}
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/* SETUP CONSTRAINTS / PROCESS COLLISIONS */
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uint32_t total_contraint_count = all_constraints.size();
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work_pool.do_work(total_contraint_count, this, &Step3DSW::_setup_contraint, nullptr);
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{ //profile
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profile_endtime = OS::get_singleton()->get_ticks_usec();
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p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_SETUP_CONSTRAINTS, profile_endtime - profile_begtime);
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profile_begtime = profile_endtime;
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}
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/* PRE-SOLVE CONSTRAINT ISLANDS */
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// Warning: This doesn't run on threads, because it involves thread-unsafe processing.
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for (uint32_t island_index = 0; island_index < island_count; ++island_index) {
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_pre_solve_island(constraint_islands[island_index]);
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}
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/* SOLVE CONSTRAINT ISLANDS */
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// Warning: _solve_island modifies the constraint islands for optimization purpose,
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// their content is not reliable after these calls and shouldn't be used anymore.
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if (island_count > 1) {
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work_pool.do_work(island_count, this, &Step3DSW::_solve_island, nullptr);
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} else if (island_count > 0) {
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_solve_island(0);
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}
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{ //profile
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profile_endtime = OS::get_singleton()->get_ticks_usec();
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p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_SOLVE_CONSTRAINTS, profile_endtime - profile_begtime);
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profile_begtime = profile_endtime;
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}
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/* INTEGRATE VELOCITIES */
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b = body_list->first();
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while (b) {
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const SelfList<Body3DSW> *n = b->next();
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b->self()->integrate_velocities(p_delta);
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b = n;
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}
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/* SLEEP / WAKE UP ISLANDS */
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for (uint32_t island_index = 0; island_index < body_island_count; ++island_index) {
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_check_suspend(body_islands[island_index]);
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}
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/* UPDATE SOFT BODY CONSTRAINTS */
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sb = soft_body_list->first();
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while (sb) {
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sb->self()->solve_constraints(p_delta);
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sb = sb->next();
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}
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{ //profile
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profile_endtime = OS::get_singleton()->get_ticks_usec();
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p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_INTEGRATE_VELOCITIES, profile_endtime - profile_begtime);
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profile_begtime = profile_endtime;
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}
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all_constraints.clear();
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p_space->update();
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p_space->unlock();
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_step++;
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}
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Step3DSW::Step3DSW() {
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_step = 1;
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body_islands.reserve(BODY_ISLAND_COUNT_RESERVE);
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constraint_islands.reserve(ISLAND_COUNT_RESERVE);
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all_constraints.reserve(CONSTRAINT_COUNT_RESERVE);
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work_pool.init();
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}
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Step3DSW::~Step3DSW() {
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work_pool.finish();
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}
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