448c41a3e4
Use ThreadWorkPool to process physics step tasks in multiple threads. Collisions are all processed in parallel and solving impulses is processed in parallel for rigid body islands. Additional changes: - Proper islands for soft bodies linked to active bodies - All moving areas are on separate islands (can be parallelized) - Fix inconsistencies with body islands (Kinematic bodies could link bodies together or not depending on the processing order) - Completely prevent static bodies to be active (it could cause islands to be wrongly created and cause dangerous multi-threading operations as well as inconsistencies in created islands) - Apply impulses only on dynamic bodies to avoid unsafe multi-threaded operations (static bodies can be on multiple islands) - Removed inverted iterations when populating body islands, it's now faster in regular order (maybe after fixing inconsistencies)
420 lines
14 KiB
C++
420 lines
14 KiB
C++
/*************************************************************************/
|
|
/* step_3d_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_3d_sw.h"
|
|
#include "joints_3d_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 Step3DSW::_populate_island(Body3DSW *p_body, LocalVector<Body3DSW *> &p_body_island, LocalVector<Constraint3DSW *> &p_constraint_island) {
|
|
p_body->set_island_step(_step);
|
|
|
|
if (p_body->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC) {
|
|
// Only dynamic bodies are tested for activation.
|
|
p_body_island.push_back(p_body);
|
|
}
|
|
|
|
for (Map<Constraint3DSW *, int>::Element *E = p_body->get_constraint_map().front(); E; E = E->next()) {
|
|
Constraint3DSW *constraint = (Constraint3DSW *)E->key();
|
|
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);
|
|
|
|
// Find connected rigid bodies.
|
|
for (int i = 0; i < constraint->get_body_count(); i++) {
|
|
if (i == E->get()) {
|
|
continue;
|
|
}
|
|
Body3DSW *other_body = constraint->get_body_ptr()[i];
|
|
if (other_body->get_island_step() == _step) {
|
|
continue; // Already processed.
|
|
}
|
|
if (other_body->get_mode() == PhysicsServer3D::BODY_MODE_STATIC) {
|
|
continue; // Static bodies don't connect islands.
|
|
}
|
|
_populate_island(other_body, p_body_island, p_constraint_island);
|
|
}
|
|
|
|
// Find connected soft bodies.
|
|
for (int i = 0; i < constraint->get_soft_body_count(); i++) {
|
|
SoftBody3DSW *soft_body = constraint->get_soft_body_ptr(i);
|
|
if (soft_body->get_island_step() == _step) {
|
|
continue; // Already processed.
|
|
}
|
|
_populate_island_soft_body(soft_body, p_body_island, p_constraint_island);
|
|
}
|
|
}
|
|
}
|
|
|
|
void Step3DSW::_populate_island_soft_body(SoftBody3DSW *p_soft_body, LocalVector<Body3DSW *> &p_body_island, LocalVector<Constraint3DSW *> &p_constraint_island) {
|
|
p_soft_body->set_island_step(_step);
|
|
|
|
for (Set<Constraint3DSW *>::Element *E = p_soft_body->get_constraints().front(); E; E = E->next()) {
|
|
Constraint3DSW *constraint = (Constraint3DSW *)E->get();
|
|
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);
|
|
|
|
// Find connected rigid bodies.
|
|
for (int i = 0; i < constraint->get_body_count(); i++) {
|
|
Body3DSW *body = constraint->get_body_ptr()[i];
|
|
if (body->get_island_step() == _step) {
|
|
continue; // Already processed.
|
|
}
|
|
if (body->get_mode() == PhysicsServer3D::BODY_MODE_STATIC) {
|
|
continue; // Static bodies don't connect islands.
|
|
}
|
|
_populate_island(body, p_body_island, p_constraint_island);
|
|
}
|
|
}
|
|
}
|
|
|
|
void Step3DSW::_setup_contraint(uint32_t p_constraint_index, void *p_userdata) {
|
|
Constraint3DSW *constraint = all_constraints[p_constraint_index];
|
|
constraint->setup(delta);
|
|
}
|
|
|
|
void Step3DSW::_pre_solve_island(LocalVector<Constraint3DSW *> &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) {
|
|
Constraint3DSW *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 Step3DSW::_solve_island(uint32_t p_island_index, void *p_userdata) {
|
|
LocalVector<Constraint3DSW *> &constraint_island = constraint_islands[p_island_index];
|
|
|
|
int current_priority = 1;
|
|
|
|
uint32_t constraint_count = constraint_island.size();
|
|
while (constraint_count > 0) {
|
|
for (int i = 0; i < iterations; i++) {
|
|
// Go through all iterations.
|
|
for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
|
|
constraint_island[constraint_index]->solve(delta);
|
|
}
|
|
}
|
|
|
|
// Check priority to keep only higher priority constraints.
|
|
uint32_t priority_constraint_count = 0;
|
|
++current_priority;
|
|
for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
|
|
Constraint3DSW *constraint = constraint_island[constraint_index];
|
|
if (constraint->get_priority() >= current_priority) {
|
|
// Keep this constraint for the next iteration.
|
|
constraint_island[priority_constraint_count++] = constraint;
|
|
}
|
|
}
|
|
constraint_count = priority_constraint_count;
|
|
}
|
|
}
|
|
|
|
void Step3DSW::_check_suspend(const LocalVector<Body3DSW *> &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) {
|
|
Body3DSW *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) {
|
|
Body3DSW *body = p_body_island[body_index];
|
|
|
|
bool active = body->is_active();
|
|
|
|
if (active == can_sleep) {
|
|
body->set_active(!can_sleep);
|
|
}
|
|
}
|
|
}
|
|
|
|
void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
|
|
p_space->lock(); // can't access space during this
|
|
|
|
p_space->setup(); //update inertias, etc
|
|
|
|
iterations = p_iterations;
|
|
delta = p_delta;
|
|
|
|
const SelfList<Body3DSW>::List *body_list = &p_space->get_active_body_list();
|
|
|
|
const SelfList<SoftBody3DSW>::List *soft_body_list = &p_space->get_active_soft_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<Body3DSW> *b = body_list->first();
|
|
while (b) {
|
|
b->self()->integrate_forces(p_delta);
|
|
b = b->next();
|
|
active_count++;
|
|
}
|
|
|
|
/* UPDATE SOFT BODY MOTION */
|
|
|
|
const SelfList<SoftBody3DSW> *sb = soft_body_list->first();
|
|
while (sb) {
|
|
sb->self()->predict_motion(p_delta);
|
|
sb = sb->next();
|
|
active_count++;
|
|
}
|
|
|
|
p_space->set_active_objects(active_count);
|
|
|
|
{ //profile
|
|
profile_endtime = OS::get_singleton()->get_ticks_usec();
|
|
p_space->set_elapsed_time(Space3DSW::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<Area3DSW>::List &aml = p_space->get_moved_area_list();
|
|
|
|
while (aml.first()) {
|
|
for (const Set<Constraint3DSW *>::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) {
|
|
Constraint3DSW *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<Constraint3DSW *> &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<Area3DSW> *)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) {
|
|
Body3DSW *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<Body3DSW *> &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<Constraint3DSW *> &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();
|
|
}
|
|
|
|
/* GENERATE CONSTRAINT ISLANDS FOR ACTIVE SOFT BODIES */
|
|
|
|
sb = soft_body_list->first();
|
|
while (sb) {
|
|
SoftBody3DSW *soft_body = sb->self();
|
|
|
|
if (soft_body->get_island_step() != _step) {
|
|
++body_island_count;
|
|
if (body_islands.size() < body_island_count) {
|
|
body_islands.resize(body_island_count);
|
|
}
|
|
LocalVector<Body3DSW *> &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<Constraint3DSW *> &constraint_island = constraint_islands[island_count - 1];
|
|
constraint_island.clear();
|
|
constraint_island.reserve(ISLAND_SIZE_RESERVE);
|
|
|
|
_populate_island_soft_body(soft_body, body_island, constraint_island);
|
|
|
|
if (body_island.is_empty()) {
|
|
--body_island_count;
|
|
}
|
|
|
|
if (constraint_island.is_empty()) {
|
|
--island_count;
|
|
}
|
|
}
|
|
sb = sb->next();
|
|
}
|
|
|
|
p_space->set_island_count((int)island_count);
|
|
|
|
{ //profile
|
|
profile_endtime = OS::get_singleton()->get_ticks_usec();
|
|
p_space->set_elapsed_time(Space3DSW::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, &Step3DSW::_setup_contraint, nullptr);
|
|
|
|
{ //profile
|
|
profile_endtime = OS::get_singleton()->get_ticks_usec();
|
|
p_space->set_elapsed_time(Space3DSW::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, &Step3DSW::_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(Space3DSW::ELAPSED_TIME_SOLVE_CONSTRAINTS, profile_endtime - profile_begtime);
|
|
profile_begtime = profile_endtime;
|
|
}
|
|
|
|
/* INTEGRATE VELOCITIES */
|
|
|
|
b = body_list->first();
|
|
while (b) {
|
|
const SelfList<Body3DSW> *n = b->next();
|
|
b->self()->integrate_velocities(p_delta);
|
|
b = n;
|
|
}
|
|
|
|
/* SLEEP / WAKE UP ISLANDS */
|
|
|
|
for (uint32_t island_index = 0; island_index < body_island_count; ++island_index) {
|
|
_check_suspend(body_islands[island_index]);
|
|
}
|
|
|
|
/* UPDATE SOFT BODY CONSTRAINTS */
|
|
|
|
sb = soft_body_list->first();
|
|
while (sb) {
|
|
sb->self()->solve_constraints(p_delta);
|
|
sb = sb->next();
|
|
}
|
|
|
|
{ //profile
|
|
profile_endtime = OS::get_singleton()->get_ticks_usec();
|
|
p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_INTEGRATE_VELOCITIES, profile_endtime - profile_begtime);
|
|
profile_begtime = profile_endtime;
|
|
}
|
|
|
|
all_constraints.clear();
|
|
|
|
p_space->update();
|
|
p_space->unlock();
|
|
_step++;
|
|
}
|
|
|
|
Step3DSW::Step3DSW() {
|
|
_step = 1;
|
|
|
|
body_islands.reserve(BODY_ISLAND_COUNT_RESERVE);
|
|
constraint_islands.reserve(ISLAND_COUNT_RESERVE);
|
|
all_constraints.reserve(CONSTRAINT_COUNT_RESERVE);
|
|
|
|
work_pool.init();
|
|
}
|
|
|
|
Step3DSW::~Step3DSW() {
|
|
work_pool.finish();
|
|
}
|