420 lines
14 KiB
C++
420 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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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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