diff options
273 files changed, 14599 insertions, 5170 deletions
diff --git a/COPYRIGHT.txt b/COPYRIGHT.txt index 4ba80941e0..49c602eb84 100644 --- a/COPYRIGHT.txt +++ b/COPYRIGHT.txt @@ -10,8 +10,9 @@ # all corresponding files (also recursively in subfolders), apart from those # with a more explicit copyright statement. # -# Licenses are given with their SPDX identifier, and are all included in -# plain text at the end of this file (in alphabetical order). +# Licenses are given with their debian/copyright short name (or SPDX identifier +# if no standard short name exists) and are all included in plain text at the +# end of this file (in alphabetical order). # # Disclaimer for thirdparty libraries: # ------------------------------------ @@ -139,7 +140,7 @@ Files: ./thirdparty/cvtt/ Comment: Convection Texture Tools Stand-Alone Kernels Copyright: 2018, Eric Lasota 2018, Microsoft Corp. -License: MIT +License: Expat Files: ./thirdparty/enet/ Comment: ENet @@ -373,7 +374,7 @@ Files: ./thirdparty/tinyexr/ Comment: TinyEXR Copyright: 2014-2017, Syoyo Fujita 2002, Industrial Light & Magic, a division of Lucas Digital Ltd. LLC -License: BSD-3-Clause +License: BSD-3-clause Files: ./thirdparty/zlib/ Comment: zlib @@ -383,7 +384,7 @@ License: Zlib Files: ./thirdparty/zstd/ Comment: Zstandard Copyright: 2016-2018, Facebook, Inc. -License: BSD-3-Clause +License: BSD-3-clause diff --git a/core/class_db.cpp b/core/class_db.cpp index 03b214aa41..eceefa1ee4 100644 --- a/core/class_db.cpp +++ b/core/class_db.cpp @@ -30,6 +30,7 @@ #include "class_db.h" +#include "engine.h" #include "os/mutex.h" #include "version.h" @@ -512,7 +513,12 @@ Object *ClassDB::instance(const StringName &p_class) { ERR_FAIL_COND_V(ti->disabled, NULL); ERR_FAIL_COND_V(!ti->creation_func, NULL); } - +#ifdef TOOLS_ENABLED + if (ti->api == API_EDITOR && !Engine::get_singleton()->is_editor_hint()) { + ERR_PRINTS("Class '" + String(p_class) + "' can only be instantiated by editor."); + return NULL; + } +#endif return ti->creation_func(); } bool ClassDB::can_instance(const StringName &p_class) { diff --git a/core/io/resource_loader.cpp b/core/io/resource_loader.cpp index c01aff9144..66dc9730c5 100644 --- a/core/io/resource_loader.cpp +++ b/core/io/resource_loader.cpp @@ -202,12 +202,32 @@ RES ResourceLoader::load(const String &p_path, const String &p_type_hint, bool p else local_path = ProjectSettings::get_singleton()->localize_path(p_path); - if (!p_no_cache && ResourceCache::has(local_path)) { + if (!p_no_cache) { + //lock first if possible + if (ResourceCache::lock) { + ResourceCache::lock->read_lock(); + } - print_verbose("Loading resource: " + local_path + " (cached)"); - if (r_error) - *r_error = OK; - return RES(ResourceCache::get(local_path)); + //get ptr + Resource **rptr = ResourceCache::resources.getptr(local_path); + + if (rptr) { + RES res(*rptr); + //it is possible this resource was just freed in a thread. If so, this referencing will not work and resource is considered not cached + if (res.is_valid()) { + //referencing is fine + if (r_error) + *r_error = OK; + if (ResourceCache::lock) { + ResourceCache::lock->read_unlock(); + } + print_verbose("Loading resource: " + local_path + " (cached)"); + return res; + } + } + if (ResourceCache::lock) { + ResourceCache::lock->read_unlock(); + } } bool xl_remapped = false; diff --git a/core/os/main_loop.cpp b/core/os/main_loop.cpp index c51801e3e2..6dba77ec9a 100644 --- a/core/os/main_loop.cpp +++ b/core/os/main_loop.cpp @@ -33,14 +33,14 @@ void MainLoop::_bind_methods() { - ClassDB::bind_method(D_METHOD("input_event", "ev"), &MainLoop::input_event); + ClassDB::bind_method(D_METHOD("input_event", "event"), &MainLoop::input_event); ClassDB::bind_method(D_METHOD("input_text", "text"), &MainLoop::input_text); ClassDB::bind_method(D_METHOD("init"), &MainLoop::init); ClassDB::bind_method(D_METHOD("iteration", "delta"), &MainLoop::iteration); ClassDB::bind_method(D_METHOD("idle", "delta"), &MainLoop::idle); ClassDB::bind_method(D_METHOD("finish"), &MainLoop::finish); - BIND_VMETHOD(MethodInfo("_input_event", PropertyInfo(Variant::OBJECT, "ev", PROPERTY_HINT_RESOURCE_TYPE, "InputEvent"))); + BIND_VMETHOD(MethodInfo("_input_event", PropertyInfo(Variant::OBJECT, "event", PROPERTY_HINT_RESOURCE_TYPE, "InputEvent"))); BIND_VMETHOD(MethodInfo("_input_text", PropertyInfo(Variant::STRING, "text"))); BIND_VMETHOD(MethodInfo("_initialize")); BIND_VMETHOD(MethodInfo("_iteration", PropertyInfo(Variant::REAL, "delta"))); diff --git a/core/os/os.cpp b/core/os/os.cpp index e90d714450..0e6251a4fb 100644 --- a/core/os/os.cpp +++ b/core/os/os.cpp @@ -632,10 +632,13 @@ void OS::center_window() { if (is_window_fullscreen()) return; + Point2 sp = get_screen_position(get_current_screen()); Size2 scr = get_screen_size(get_current_screen()); Size2 wnd = get_real_window_size(); - int x = scr.width / 2 - wnd.width / 2; - int y = scr.height / 2 - wnd.height / 2; + + int x = sp.width + (scr.width - wnd.width) / 2; + int y = sp.height + (scr.height - wnd.height) / 2; + set_window_position(Vector2(x, y)); } diff --git a/core/resource.cpp b/core/resource.cpp index 3078eb135a..f447f785b1 100644 --- a/core/resource.cpp +++ b/core/resource.cpp @@ -230,7 +230,7 @@ Ref<Resource> Resource::duplicate(bool p_subresources) const { Variant p = get(E->get().name); if ((p.get_type() == Variant::DICTIONARY || p.get_type() == Variant::ARRAY)) { - p = p.duplicate(p_subresources); //does not make a long of sense but should work? + r->set(E->get().name, p.duplicate(p_subresources)); } else if (p.get_type() == Variant::OBJECT && (p_subresources || (E->get().usage & PROPERTY_USAGE_DO_NOT_SHARE_ON_DUPLICATE))) { RES sr = p; diff --git a/doc/classes/@GlobalScope.xml b/doc/classes/@GlobalScope.xml index d2c6a853ad..5a53e7cb05 100644 --- a/doc/classes/@GlobalScope.xml +++ b/doc/classes/@GlobalScope.xml @@ -29,6 +29,8 @@ <member name="Geometry" type="Geometry" setter="" getter=""> [Geometry] singleton </member> + <member name="GodotSharp" type="GodotSharp" setter="" getter=""> + </member> <member name="IP" type="IP" setter="" getter=""> [IP] singleton </member> diff --git a/doc/classes/Area.xml b/doc/classes/Area.xml index 5c56b5e21b..970d09a2ac 100644 --- a/doc/classes/Area.xml +++ b/doc/classes/Area.xml @@ -142,14 +142,14 @@ </members> <signals> <signal name="area_entered"> - <argument index="0" name="area" type="Object"> + <argument index="0" name="area" type="Area"> </argument> <description> Emitted when another area enters. </description> </signal> <signal name="area_exited"> - <argument index="0" name="area" type="Object"> + <argument index="0" name="area" type="Area"> </argument> <description> Emitted when another area exits. @@ -158,7 +158,7 @@ <signal name="area_shape_entered"> <argument index="0" name="area_id" type="int"> </argument> - <argument index="1" name="area" type="Object"> + <argument index="1" name="area" type="Area"> </argument> <argument index="2" name="area_shape" type="int"> </argument> @@ -171,7 +171,7 @@ <signal name="area_shape_exited"> <argument index="0" name="area_id" type="int"> </argument> - <argument index="1" name="area" type="Object"> + <argument index="1" name="area" type="Area"> </argument> <argument index="2" name="area_shape" type="int"> </argument> @@ -182,14 +182,14 @@ </description> </signal> <signal name="body_entered"> - <argument index="0" name="body" type="Object"> + <argument index="0" name="body" type="Node"> </argument> <description> Emitted when a [PhysicsBody] object enters. </description> </signal> <signal name="body_exited"> - <argument index="0" name="body" type="Object"> + <argument index="0" name="body" type="Node"> </argument> <description> Emitted when a [PhysicsBody] object exits. @@ -198,7 +198,7 @@ <signal name="body_shape_entered"> <argument index="0" name="body_id" type="int"> </argument> - <argument index="1" name="body" type="Object"> + <argument index="1" name="body" type="Node"> </argument> <argument index="2" name="body_shape" type="int"> </argument> @@ -211,7 +211,7 @@ <signal name="body_shape_exited"> <argument index="0" name="body_id" type="int"> </argument> - <argument index="1" name="body" type="Object"> + <argument index="1" name="body" type="Node"> </argument> <argument index="2" name="body_shape" type="int"> </argument> diff --git a/doc/classes/Area2D.xml b/doc/classes/Area2D.xml index c50ccefc4c..b77a931201 100644 --- a/doc/classes/Area2D.xml +++ b/doc/classes/Area2D.xml @@ -130,14 +130,14 @@ </members> <signals> <signal name="area_entered"> - <argument index="0" name="area" type="Object"> + <argument index="0" name="area" type="Area2D"> </argument> <description> Emitted when another area enters. </description> </signal> <signal name="area_exited"> - <argument index="0" name="area" type="Object"> + <argument index="0" name="area" type="Area2D"> </argument> <description> Emitted when another area exits. @@ -146,7 +146,7 @@ <signal name="area_shape_entered"> <argument index="0" name="area_id" type="int"> </argument> - <argument index="1" name="area" type="Object"> + <argument index="1" name="area" type="Area2D"> </argument> <argument index="2" name="area_shape" type="int"> </argument> @@ -159,7 +159,7 @@ <signal name="area_shape_exited"> <argument index="0" name="area_id" type="int"> </argument> - <argument index="1" name="area" type="Object"> + <argument index="1" name="area" type="Area2D"> </argument> <argument index="2" name="area_shape" type="int"> </argument> @@ -170,14 +170,14 @@ </description> </signal> <signal name="body_entered"> - <argument index="0" name="body" type="Object"> + <argument index="0" name="body" type="PhysicsBody2D"> </argument> <description> Emitted when a [PhysicsBody2D] object enters. </description> </signal> <signal name="body_exited"> - <argument index="0" name="body" type="Object"> + <argument index="0" name="body" type="PhysicsBody2D"> </argument> <description> Emitted when a [PhysicsBody2D] object exits. @@ -186,7 +186,7 @@ <signal name="body_shape_entered"> <argument index="0" name="body_id" type="int"> </argument> - <argument index="1" name="body" type="Object"> + <argument index="1" name="body" type="PhysicsBody2D"> </argument> <argument index="2" name="body_shape" type="int"> </argument> @@ -199,7 +199,7 @@ <signal name="body_shape_exited"> <argument index="0" name="body_id" type="int"> </argument> - <argument index="1" name="body" type="Object"> + <argument index="1" name="body" type="PhysicsBody2D"> </argument> <argument index="2" name="body_shape" type="int"> </argument> diff --git a/doc/classes/Array.xml b/doc/classes/Array.xml index 162e2d3e05..3bd621799a 100644 --- a/doc/classes/Array.xml +++ b/doc/classes/Array.xml @@ -84,14 +84,14 @@ </description> </method> <method name="append"> - <argument index="0" name="value" type="var"> + <argument index="0" name="value" type="Variant"> </argument> <description> Append an element at the end of the array (alias of [method push_back]). </description> </method> <method name="back"> - <return type="var"> + <return type="Variant"> </return> <description> Returns the last element of the array if the array is not empty (size>0). @@ -100,7 +100,7 @@ <method name="bsearch"> <return type="int"> </return> - <argument index="0" name="value" type="var"> + <argument index="0" name="value" type="Variant"> </argument> <argument index="1" name="before" type="bool" default="True"> </argument> @@ -111,7 +111,7 @@ <method name="bsearch_custom"> <return type="int"> </return> - <argument index="0" name="value" type="var"> + <argument index="0" name="value" type="Variant"> </argument> <argument index="1" name="obj" type="Object"> </argument> @@ -131,7 +131,7 @@ <method name="count"> <return type="int"> </return> - <argument index="0" name="value" type="var"> + <argument index="0" name="value" type="Variant"> </argument> <description> Return the amount of times an element is in the array. @@ -155,7 +155,7 @@ </description> </method> <method name="erase"> - <argument index="0" name="value" type="var"> + <argument index="0" name="value" type="Variant"> </argument> <description> Remove the first occurrence of a value from the array. @@ -164,7 +164,7 @@ <method name="find"> <return type="int"> </return> - <argument index="0" name="what" type="var"> + <argument index="0" name="what" type="Variant"> </argument> <argument index="1" name="from" type="int" default="0"> </argument> @@ -175,14 +175,14 @@ <method name="find_last"> <return type="int"> </return> - <argument index="0" name="value" type="var"> + <argument index="0" name="value" type="Variant"> </argument> <description> Searches the array in reverse order for a value and returns its index or -1 if not found. </description> </method> <method name="front"> - <return type="var"> + <return type="Variant"> </return> <description> Returns the first element of the array if the array is not empty (size>0). @@ -191,7 +191,7 @@ <method name="has"> <return type="bool"> </return> - <argument index="0" name="value" type="var"> + <argument index="0" name="value" type="Variant"> </argument> <description> Return true if the array contains given value. @@ -213,7 +213,7 @@ <method name="insert"> <argument index="0" name="position" type="int"> </argument> - <argument index="1" name="value" type="var"> + <argument index="1" name="value" type="Variant"> </argument> <description> Insert a new element at a given position in the array. The position must be valid, or at the end of the array ([code]pos == size()[/code]). @@ -221,46 +221,46 @@ </method> <method name="invert"> <description> - Reverse the order of the elements in the array (so first element will now be the last) and return reference to the array. + Reverse the order of the elements in the array. </description> </method> <method name="max"> - <return type="var"> + <return type="Variant"> </return> <description> Return maximum value contained in the array if all elements are of comparable types. If the elements can't be compared, [code]null[/code] is returned. </description> </method> <method name="min"> - <return type="var"> + <return type="Variant"> </return> <description> Return minimum value contained in the array if all elements are of comparable types. If the elements can't be compared, [code]null[/code] is returned. </description> </method> <method name="pop_back"> - <return type="var"> + <return type="Variant"> </return> <description> Remove the last element of the array. </description> </method> <method name="pop_front"> - <return type="var"> + <return type="Variant"> </return> <description> Remove the first element of the array. </description> </method> <method name="push_back"> - <argument index="0" name="value" type="var"> + <argument index="0" name="value" type="Variant"> </argument> <description> Append an element at the end of the array. </description> </method> <method name="push_front"> - <argument index="0" name="value" type="var"> + <argument index="0" name="value" type="Variant"> </argument> <description> Add an element at the beginning of the array. @@ -283,7 +283,7 @@ <method name="rfind"> <return type="int"> </return> - <argument index="0" name="what" type="var"> + <argument index="0" name="what" type="Variant"> </argument> <argument index="1" name="from" type="int" default="-1"> </argument> diff --git a/doc/classes/CollisionObject.xml b/doc/classes/CollisionObject.xml index 22b9725121..5e4e740498 100644 --- a/doc/classes/CollisionObject.xml +++ b/doc/classes/CollisionObject.xml @@ -191,9 +191,9 @@ </members> <signals> <signal name="input_event"> - <argument index="0" name="camera" type="Object"> + <argument index="0" name="camera" type="Node"> </argument> - <argument index="1" name="event" type="Object"> + <argument index="1" name="event" type="InputEvent"> </argument> <argument index="2" name="click_position" type="Vector3"> </argument> diff --git a/doc/classes/CollisionObject2D.xml b/doc/classes/CollisionObject2D.xml index 1ef72c0ca2..b507204f0d 100644 --- a/doc/classes/CollisionObject2D.xml +++ b/doc/classes/CollisionObject2D.xml @@ -204,9 +204,9 @@ </members> <signals> <signal name="input_event"> - <argument index="0" name="viewport" type="Object"> + <argument index="0" name="viewport" type="Node"> </argument> - <argument index="1" name="event" type="Object"> + <argument index="1" name="event" type="InputEvent"> </argument> <argument index="2" name="shape_idx" type="int"> </argument> diff --git a/doc/classes/Control.xml b/doc/classes/Control.xml index 8575a1f498..bbd0441a0b 100644 --- a/doc/classes/Control.xml +++ b/doc/classes/Control.xml @@ -723,7 +723,7 @@ </description> </signal> <signal name="gui_input"> - <argument index="0" name="ev" type="Object"> + <argument index="0" name="ev" type="InputEvent"> </argument> <description> Emitted when the node receives an [InputEvent]. diff --git a/doc/classes/Dictionary.xml b/doc/classes/Dictionary.xml index 800a76ccf1..06c996e13e 100644 --- a/doc/classes/Dictionary.xml +++ b/doc/classes/Dictionary.xml @@ -35,7 +35,7 @@ <method name="erase"> <return type="bool"> </return> - <argument index="0" name="key" type="var"> + <argument index="0" name="key" type="Variant"> </argument> <description> Erase a dictionary key/value pair by key. @@ -44,7 +44,7 @@ <method name="has"> <return type="bool"> </return> - <argument index="0" name="key" type="var"> + <argument index="0" name="key" type="Variant"> </argument> <description> Return true if the dictionary has a given key. diff --git a/doc/classes/EditorPlugin.xml b/doc/classes/EditorPlugin.xml index 5d2407adce..208780547e 100644 --- a/doc/classes/EditorPlugin.xml +++ b/doc/classes/EditorPlugin.xml @@ -445,13 +445,13 @@ </description> </signal> <signal name="resource_saved"> - <argument index="0" name="resource" type="Object"> + <argument index="0" name="resource" type="Resource"> </argument> <description> </description> </signal> <signal name="scene_changed"> - <argument index="0" name="scene_root" type="Object"> + <argument index="0" name="scene_root" type="Node"> </argument> <description> Emitted when user change scene. The argument is a root node of freshly opened scene. diff --git a/doc/classes/EditorProperty.xml b/doc/classes/EditorProperty.xml index 32d3a2703d..7d09554330 100644 --- a/doc/classes/EditorProperty.xml +++ b/doc/classes/EditorProperty.xml @@ -98,7 +98,7 @@ <signal name="resource_selected"> <argument index="0" name="path" type="String"> </argument> - <argument index="1" name="resource" type="Object"> + <argument index="1" name="resource" type="Resource"> </argument> <description> </description> diff --git a/doc/classes/GraphEdit.xml b/doc/classes/GraphEdit.xml index 48e3c295f1..ce0b619d67 100644 --- a/doc/classes/GraphEdit.xml +++ b/doc/classes/GraphEdit.xml @@ -247,7 +247,7 @@ </description> </signal> <signal name="node_selected"> - <argument index="0" name="node" type="Object"> + <argument index="0" name="node" type="Node"> </argument> <description> Emitted when a GraphNode is selected. diff --git a/doc/classes/Input.xml b/doc/classes/Input.xml index a4346c1485..a0bb585583 100644 --- a/doc/classes/Input.xml +++ b/doc/classes/Input.xml @@ -46,6 +46,7 @@ </return> <description> If the device has an accelerometer, this will return the acceleration. Otherwise, it returns an empty [Vector3]. + Note this method returns an empty [Vector3] when running from the editor even when your device has an accelerometer. You must export your project to a supported device to read values from the accelerometer. </description> </method> <method name="get_action_strength" qualifiers="const"> @@ -293,6 +294,8 @@ </argument> <description> Set a custom mouse cursor image, which is only visible inside the game window. The hotspot can also be specified. Passing [code]null[/code] to the image parameter resets to the system cursor. See enum [code]CURSOR_*[/code] for the list of shapes. + [code]image[/code]'s size must be lower than 256x256. + [code]hotspot[/code] must be within [code]image[/code]'s size. </description> </method> <method name="set_default_cursor_shape"> diff --git a/doc/classes/ProjectSettings.xml b/doc/classes/ProjectSettings.xml index 0bda5909ed..ad8c5f68da 100644 --- a/doc/classes/ProjectSettings.xml +++ b/doc/classes/ProjectSettings.xml @@ -576,6 +576,14 @@ <member name="memory/limits/multithreaded_server/rid_pool_prealloc" type="int" setter="" getter=""> This is used by servers when used in multi threading mode (servers and visual). RIDs are preallocated to avoid stalling the server requesting them on threads. If servers get stalled too often when loading resources in a thread, increase this number. </member> + <member name="mono/debugger_agent/port" type="int" setter="" getter=""> + </member> + <member name="mono/debugger_agent/wait_for_debugger" type="bool" setter="" getter=""> + </member> + <member name="mono/debugger_agent/wait_timeout" type="int" setter="" getter=""> + </member> + <member name="mono/export/include_scripts_content" type="bool" setter="" getter=""> + </member> <member name="network/limits/debugger_stdout/max_chars_per_second" type="int" setter="" getter=""> Maximum amount of characters allowed to send as output from the debugger. Over this value, content is dropped. This helps not to stall the debugger connection. </member> diff --git a/doc/classes/RID.xml b/doc/classes/RID.xml index ee34560afd..9eb1462542 100644 --- a/doc/classes/RID.xml +++ b/doc/classes/RID.xml @@ -17,14 +17,14 @@ <argument index="0" name="from" type="Object"> </argument> <description> - Create a new RID instance with the ID of a given resource. When not handed a valid resource, silently stores the unused ID 0. + Creates a new RID instance with the ID of a given resource. When not handed a valid resource, silently stores the unused ID 0. </description> </method> <method name="get_id"> <return type="int"> </return> <description> - Retrieve the ID of the referenced resource. + Returns the ID of the referenced resource. </description> </method> </methods> diff --git a/doc/classes/RayCast.xml b/doc/classes/RayCast.xml index 910f5c8ad4..84c83d1282 100644 --- a/doc/classes/RayCast.xml +++ b/doc/classes/RayCast.xml @@ -6,6 +6,7 @@ <description> A RayCast represents a line from its origin to its destination position, [code]cast_to[/code]. It is used to query the 3D space in order to find the closest object along the path of the ray. RayCast can ignore some objects by adding them to the exception list via [code]add_exception[/code], by setting proper filtering with collision layers, or by filtering object types with type masks. + RayCast can be configured to report collisions with [Area]s ([member collide_with_areas]) and/or [PhysicsBody]s ([member collide_with_bodies]). Only enabled raycasts will be able to query the space and report collisions. RayCast calculates intersection every physics frame (see [Node]), and the result is cached so it can be used later until the next frame. If multiple queries are required between physics frames (or during the same frame) use [method force_raycast_update] after adjusting the raycast. </description> @@ -51,24 +52,14 @@ <return type="Object"> </return> <description> - Return the closest object the ray is pointing to. Note that this does not consider the length of the ray, so you must also use [method is_colliding] to check if the object returned is actually colliding with the ray. - Example: - [codeblock] - if RayCast.is_colliding(): - var collider = RayCast.get_collider() - [/codeblock] + Return the first object that the ray intersects, or [code]null[/code] if no object is intersecting the ray (i.e. [method is_colliding] returns [code]false[/code]). </description> </method> <method name="get_collider_shape" qualifiers="const"> <return type="int"> </return> <description> - Returns the collision shape of the closest object the ray is pointing to. Note that this does not consider the length of the ray, so you must also use [method is_colliding] to check if the object returned is actually colliding with the ray. - Example: - [codeblock] - if RayCast.is_colliding(): - var shape = RayCast.get_collider_shape() - [/codeblock] + Returns the shape ID of the first object that the ray intersects, or [code]0[/code] if no object is intersecting the ray (i.e. [method is_colliding] returns [code]false[/code]). </description> </method> <method name="get_collision_mask_bit" qualifiers="const"> @@ -98,7 +89,7 @@ <return type="bool"> </return> <description> - Return whether the closest object the ray is pointing to is colliding with the vector (considering the vector length). + Return whether any object is intersecting with the ray's vector (considering the vector length). </description> </method> <method name="remove_exception"> @@ -136,8 +127,10 @@ The ray's destination point, relative to the RayCast's [code]position[/code]. </member> <member name="collide_with_areas" type="bool" setter="set_collide_with_areas" getter="is_collide_with_areas_enabled"> + If [code]true[/code], collision with [Area]s will be reported. Default value: [code]false[/code]. </member> <member name="collide_with_bodies" type="bool" setter="set_collide_with_bodies" getter="is_collide_with_bodies_enabled"> + If [code]true[/code], collision with [PhysicsBody]s will be reported. Default value: [code]true[/code]. </member> <member name="collision_mask" type="int" setter="set_collision_mask" getter="get_collision_mask"> The ray's collision mask. Only objects in at least one collision layer enabled in the mask will be detected. diff --git a/doc/classes/RayCast2D.xml b/doc/classes/RayCast2D.xml index 8ba9ee2bcf..e4d1ecb7f8 100644 --- a/doc/classes/RayCast2D.xml +++ b/doc/classes/RayCast2D.xml @@ -6,6 +6,7 @@ <description> A RayCast represents a line from its origin to its destination position, [code]cast_to[/code]. It is used to query the 2D space in order to find the closest object along the path of the ray. RayCast2D can ignore some objects by adding them to the exception list via [code]add_exception[/code], by setting proper filtering with collision layers, or by filtering object types with type masks. + RayCast2D can be configured to report collisions with [Area2D]s ([member collide_with_areas]) and/or [PhysicsBody2D]s ([member collide_with_bodies]). Only enabled raycasts will be able to query the space and report collisions. RayCast2D calculates intersection every physics frame (see [Node]), and the result is cached so it can be used later until the next frame. If multiple queries are required between physics frames (or during the same frame) use [method force_raycast_update] after adjusting the raycast. </description> @@ -50,24 +51,14 @@ <return type="Object"> </return> <description> - Returns the closest object the ray is pointing to. Note that this does not consider the length of the ray, so you must also use [method is_colliding] to check if the object returned is actually colliding with the ray. - Example: - [codeblock] - if RayCast2D.is_colliding(): - var collider = RayCast2D.get_collider() - [/codeblock] + Return the first object that the ray intersects, or [code]null[/code] if no object is intersecting the ray (i.e. [method is_colliding] returns [code]false[/code]). </description> </method> <method name="get_collider_shape" qualifiers="const"> <return type="int"> </return> <description> - Returns the collision shape of the closest object the ray is pointing to. Note that this does not consider the length of the ray, so you must also use [method is_colliding] to check if the object returned is actually colliding with the ray. - Example: - [codeblock] - if RayCast2D.is_colliding(): - var shape = RayCast2D.get_collider_shape() - [/codeblock] + Returns the shape ID of the first object that the ray intersects, or [code]0[/code] if no object is intersecting the ray (i.e. [method is_colliding] returns [code]false[/code]). </description> </method> <method name="get_collision_mask_bit" qualifiers="const"> @@ -97,7 +88,7 @@ <return type="bool"> </return> <description> - Return whether the closest object the ray is pointing to is colliding with the vector (considering the vector length). + Return whether any object is intersecting with the ray's vector (considering the vector length). </description> </method> <method name="remove_exception"> @@ -135,8 +126,10 @@ The ray's destination point, relative to the RayCast's [code]position[/code]. </member> <member name="collide_with_areas" type="bool" setter="set_collide_with_areas" getter="is_collide_with_areas_enabled"> + If [code]true[/code], collision with [Area2D]s will be reported. Default value: [code]false[/code]. </member> <member name="collide_with_bodies" type="bool" setter="set_collide_with_bodies" getter="is_collide_with_bodies_enabled"> + If [code]true[/code], collision with [PhysicsBody2D]s will be reported. Default value: [code]true[/code]. </member> <member name="collision_mask" type="int" setter="set_collision_mask" getter="get_collision_mask"> The ray's collision mask. Only objects in at least one collision layer enabled in the mask will be detected. diff --git a/doc/classes/ResourceSaver.xml b/doc/classes/ResourceSaver.xml index ae0d8e909d..bf3ea95bce 100644 --- a/doc/classes/ResourceSaver.xml +++ b/doc/classes/ResourceSaver.xml @@ -1,10 +1,10 @@ <?xml version="1.0" encoding="UTF-8" ?> <class name="ResourceSaver" inherits="Object" category="Core" version="3.1"> <brief_description> - Resource Saving Interface. + Resource saving interface. </brief_description> <description> - Resource Saving Interface. This interface is used for saving resources to disk. + Resource saving interface, used for saving resources to disk. </description> <tutorials> </tutorials> @@ -17,7 +17,7 @@ <argument index="0" name="type" type="Resource"> </argument> <description> - Return the list of extensions available for saving a resource of a given type. + Returns the list of extensions available for saving a resource of a given type. </description> </method> <method name="save"> @@ -30,7 +30,7 @@ <argument index="2" name="flags" type="int" default="0"> </argument> <description> - Save a resource to disk, to a given path. + Saves a resource to disk. </description> </method> </methods> diff --git a/doc/classes/RigidBody.xml b/doc/classes/RigidBody.xml index 4ae1ef8e94..eea1e0321b 100644 --- a/doc/classes/RigidBody.xml +++ b/doc/classes/RigidBody.xml @@ -168,14 +168,14 @@ </members> <signals> <signal name="body_entered"> - <argument index="0" name="body" type="Object"> + <argument index="0" name="body" type="Node"> </argument> <description> Emitted when a body enters into contact with this one. Contact monitor and contacts reported must be enabled for this to work. </description> </signal> <signal name="body_exited"> - <argument index="0" name="body" type="Object"> + <argument index="0" name="body" type="Node"> </argument> <description> Emitted when a body shape exits contact with this one. Contact monitor and contacts reported must be enabled for this to work. @@ -184,7 +184,7 @@ <signal name="body_shape_entered"> <argument index="0" name="body_id" type="int"> </argument> - <argument index="1" name="body" type="Object"> + <argument index="1" name="body" type="Node"> </argument> <argument index="2" name="body_shape" type="int"> </argument> @@ -198,7 +198,7 @@ <signal name="body_shape_exited"> <argument index="0" name="body_id" type="int"> </argument> - <argument index="1" name="body" type="Object"> + <argument index="1" name="body" type="Node"> </argument> <argument index="2" name="body_shape" type="int"> </argument> diff --git a/doc/classes/RigidBody2D.xml b/doc/classes/RigidBody2D.xml index 2265c777c8..1f6b3934c2 100644 --- a/doc/classes/RigidBody2D.xml +++ b/doc/classes/RigidBody2D.xml @@ -173,14 +173,14 @@ </members> <signals> <signal name="body_entered"> - <argument index="0" name="body" type="Object"> + <argument index="0" name="body" type="Node"> </argument> <description> Emitted when a body enters into contact with this one. [member contact_monitor] must be [code]true[/code] and [member contacts_reported] greater than [code]0[/code]. </description> </signal> <signal name="body_exited"> - <argument index="0" name="body" type="Object"> + <argument index="0" name="body" type="Node"> </argument> <description> Emitted when a body exits contact with this one. [member contact_monitor] must be [code]true[/code] and [member contacts_reported] greater than [code]0[/code]. @@ -189,7 +189,7 @@ <signal name="body_shape_entered"> <argument index="0" name="body_id" type="int"> </argument> - <argument index="1" name="body" type="Object"> + <argument index="1" name="body" type="Node"> </argument> <argument index="2" name="body_shape" type="int"> </argument> @@ -202,7 +202,7 @@ <signal name="body_shape_exited"> <argument index="0" name="body_id" type="int"> </argument> - <argument index="1" name="body" type="Object"> + <argument index="1" name="body" type="Node"> </argument> <argument index="2" name="body_shape" type="int"> </argument> diff --git a/doc/classes/SceneTree.xml b/doc/classes/SceneTree.xml index c85bee9b84..11362ee680 100644 --- a/doc/classes/SceneTree.xml +++ b/doc/classes/SceneTree.xml @@ -329,21 +329,21 @@ </description> </signal> <signal name="node_added"> - <argument index="0" name="node" type="Object"> + <argument index="0" name="node" type="Node"> </argument> <description> Emitted whenever a node is added to the SceneTree. </description> </signal> <signal name="node_configuration_warning_changed"> - <argument index="0" name="node" type="Object"> + <argument index="0" name="node" type="Node"> </argument> <description> Emitted when a node's configuration changed. Only emitted in tool mode. </description> </signal> <signal name="node_removed"> - <argument index="0" name="node" type="Object"> + <argument index="0" name="node" type="Node"> </argument> <description> Emitted whenever a node is removed from the SceneTree. diff --git a/doc/classes/Script.xml b/doc/classes/Script.xml index 09c60afc2f..128d7475cc 100644 --- a/doc/classes/Script.xml +++ b/doc/classes/Script.xml @@ -4,8 +4,8 @@ A class stored as a resource. </brief_description> <description> - A class stored as a resource. The script exends the functionality of all objects that instance it. - The 'new' method of a script subclass creates a new instance. [method Object.set_script] extends an existing object, if that object's class matches one of the script's base classes. + A class stored as a resource. A script exends the functionality of all objects that instance it. + The [code]new[/code] method of a script subclass creates a new instance. [method Object.set_script] extends an existing object, if that object's class matches one of the script's base classes. </description> <tutorials> <link>http://docs.godotengine.org/en/3.0/getting_started/step_by_step/scripting.html</link> @@ -17,7 +17,7 @@ <return type="bool"> </return> <description> - Returns true if the script can be instanced. + Returns [code]true[/code] if the script can be instanced. </description> </method> <method name="get_base_script" qualifiers="const"> @@ -31,6 +31,7 @@ <return type="String"> </return> <description> + Returns the script's base type. </description> </method> <method name="has_script_signal" qualifiers="const"> @@ -39,14 +40,14 @@ <argument index="0" name="signal_name" type="String"> </argument> <description> - Returns true if the script, or a base class, defines a signal with the given name. + Returns [code]true[/code] if the script, or a base class, defines a signal with the given name. </description> </method> <method name="has_source_code" qualifiers="const"> <return type="bool"> </return> <description> - Returns true if the script contains non-empty source code. + Returns [code]true[/code] if the script contains non-empty source code. </description> </method> <method name="instance_has" qualifiers="const"> @@ -55,14 +56,14 @@ <argument index="0" name="base_object" type="Object"> </argument> <description> - Returns true if 'base_object' is an instance of this script. + Returns [code]true[/code] if [code]base_object[/code] is an instance of this script. </description> </method> <method name="is_tool" qualifiers="const"> <return type="bool"> </return> <description> - Returns true if the script is a tool script. A tool script can run in the editor. + Returns [code]true[/code] if the script is a tool script. A tool script can run in the editor. </description> </method> <method name="reload"> @@ -77,7 +78,7 @@ </methods> <members> <member name="source_code" type="String" setter="set_source_code" getter="get_source_code"> - The script source code, or an empty string if source code is not available. When set, does not reload the class implementation automatically. + The script source code or an empty string if source code is not available. When set, does not reload the class implementation automatically. </member> </members> <constants> diff --git a/doc/classes/ScriptCreateDialog.xml b/doc/classes/ScriptCreateDialog.xml index a3ad3a778e..3de068dbcb 100644 --- a/doc/classes/ScriptCreateDialog.xml +++ b/doc/classes/ScriptCreateDialog.xml @@ -31,7 +31,7 @@ </methods> <signals> <signal name="script_created"> - <argument index="0" name="script" type="Object"> + <argument index="0" name="script" type="Script"> </argument> <description> Emitted when the user clicks the OK button. diff --git a/doc/classes/ScriptEditor.xml b/doc/classes/ScriptEditor.xml index 4bfd07fdad..435ab8aafc 100644 --- a/doc/classes/ScriptEditor.xml +++ b/doc/classes/ScriptEditor.xml @@ -70,14 +70,14 @@ </methods> <signals> <signal name="editor_script_changed"> - <argument index="0" name="script" type="Object"> + <argument index="0" name="script" type="Script"> </argument> <description> Emitted when user changed active script. Argument is a freshly activated [Script]. </description> </signal> <signal name="script_close"> - <argument index="0" name="script" type="Object"> + <argument index="0" name="script" type="Script"> </argument> <description> Emitted when editor is about to close the active script. Argument is a [Script] that is going to be closed. diff --git a/doc/classes/Shape.xml b/doc/classes/Shape.xml index d31da20f07..bc1a429418 100644 --- a/doc/classes/Shape.xml +++ b/doc/classes/Shape.xml @@ -4,7 +4,7 @@ Base class for all 3D shape resources. </brief_description> <description> - Base class for all 3D shape resources. All 3D shapes that inherit from this can be set into a [PhysicsBody] or [Area]. + Base class for all 3D shape resources. Nodes that inherit from this can be used as shapes for a [PhysicsBody] or [Area] objects. </description> <tutorials> <link>http://docs.godotengine.org/en/3.0/tutorials/physics/physics_introduction.html</link> diff --git a/doc/classes/Spatial.xml b/doc/classes/Spatial.xml index ef1bcc30b3..4fa60b2e44 100644 --- a/doc/classes/Spatial.xml +++ b/doc/classes/Spatial.xml @@ -296,11 +296,11 @@ World space (global) [Transform] of this node. </member> <member name="rotation" type="Vector3" setter="set_rotation" getter="get_rotation"> - Rotation part of the local transformation, specified in terms of YXZ-Euler angles in the format (X-angle, Y-angle, Z-angle), in radians. - Note that in the mathematical sense, rotation is a matrix and not a vector. The three Euler angles, which are the three indepdent parameters of the Euler-angle parametrization of the rotation matrix, are stored in a [Vector3] data structure not because the rotation is a vector, but only because [Vector3] exists as a convenient data-structure to store 3 floating point numbers. Therefore, applying affine operations on the rotation "vector" is not meaningful. + Rotation part of the local transformation in radians, specified in terms of YXZ-Euler angles in the format (X-angle, Y-angle, Z-angle). + Note that in the mathematical sense, rotation is a matrix and not a vector. The three Euler angles, which are the three independent parameters of the Euler-angle parametrization of the rotation matrix, are stored in a [Vector3] data structure not because the rotation is a vector, but only because [Vector3] exists as a convenient data-structure to store 3 floating point numbers. Therefore, applying affine operations on the rotation "vector" is not meaningful. </member> <member name="rotation_degrees" type="Vector3" setter="set_rotation_degrees" getter="get_rotation_degrees"> - Rotation part of the local transformation, specified in terms of YXZ-Euler angles in the format (X-angle, Y-angle, Z-angle), in degrees. + Rotation part of the local transformation in degrees, specified in terms of YXZ-Euler angles in the format (X-angle, Y-angle, Z-angle). </member> <member name="scale" type="Vector3" setter="set_scale" getter="get_scale"> Scale part of the local transformation. @@ -312,7 +312,7 @@ Local translation of this node. </member> <member name="visible" type="bool" setter="set_visible" getter="is_visible"> - Visibility of this node. Toggles if this node is rendered. + If [code]true[/code] this node is drawn. Default value: [code]true[/code]. </member> </members> <signals> diff --git a/doc/classes/String.xml b/doc/classes/String.xml index a42f508b59..d404c32b38 100644 --- a/doc/classes/String.xml +++ b/doc/classes/String.xml @@ -339,7 +339,7 @@ <method name="format"> <return type="String"> </return> - <argument index="0" name="values" type="var"> + <argument index="0" name="values" type="Variant"> </argument> <argument index="1" name="placeholder" type="String" default="{_}"> </argument> diff --git a/doc/classes/TileSet.xml b/doc/classes/TileSet.xml index a30d12d6b7..b98161e483 100644 --- a/doc/classes/TileSet.xml +++ b/doc/classes/TileSet.xml @@ -44,6 +44,14 @@ <description> </description> </method> + <method name="autotile_get_size" qualifiers="const"> + <return type="Vector2"> + </return> + <argument index="0" name="id" type="int"> + </argument> + <description> + </description> + </method> <method name="autotile_set_bitmask_mode"> <return type="void"> </return> @@ -54,6 +62,16 @@ <description> </description> </method> + <method name="autotile_set_size"> + <return type="void"> + </return> + <argument index="0" name="id" type="int"> + </argument> + <argument index="1" name="size" type="Vector2"> + </argument> + <description> + </description> + </method> <method name="clear"> <return type="void"> </return> diff --git a/doc/classes/Transform.xml b/doc/classes/Transform.xml index 24c009d922..09edfe4235 100644 --- a/doc/classes/Transform.xml +++ b/doc/classes/Transform.xml @@ -141,18 +141,18 @@ </description> </method> <method name="xform"> - <return type="var"> + <return type="Variant"> </return> - <argument index="0" name="v" type="var"> + <argument index="0" name="v" type="Variant"> </argument> <description> Transforms the given [Vector3], [Plane], or [AABB] by this transform. </description> </method> <method name="xform_inv"> - <return type="var"> + <return type="Variant"> </return> - <argument index="0" name="v" type="var"> + <argument index="0" name="v" type="Variant"> </argument> <description> Inverse-transforms the given [Vector3], [Plane], or [AABB] by this transform. diff --git a/doc/classes/Transform2D.xml b/doc/classes/Transform2D.xml index b38d9a1a86..bf0a745aa8 100644 --- a/doc/classes/Transform2D.xml +++ b/doc/classes/Transform2D.xml @@ -143,18 +143,18 @@ </description> </method> <method name="xform"> - <return type="var"> + <return type="Variant"> </return> - <argument index="0" name="v" type="var"> + <argument index="0" name="v" type="Variant"> </argument> <description> Transforms the given [Vector2] or [Rect2] by this transform. </description> </method> <method name="xform_inv"> - <return type="var"> + <return type="Variant"> </return> - <argument index="0" name="v" type="var"> + <argument index="0" name="v" type="Variant"> </argument> <description> Inverse-transforms the given [Vector2] or [Rect2] by this transform. diff --git a/doc/classes/Tree.xml b/doc/classes/Tree.xml index 533df57564..5c24df5be2 100644 --- a/doc/classes/Tree.xml +++ b/doc/classes/Tree.xml @@ -244,7 +244,7 @@ </members> <signals> <signal name="button_pressed"> - <argument index="0" name="item" type="Object"> + <argument index="0" name="item" type="TreeItem"> </argument> <argument index="1" name="column" type="int"> </argument> @@ -286,7 +286,7 @@ </description> </signal> <signal name="item_collapsed"> - <argument index="0" name="item" type="Object"> + <argument index="0" name="item" type="TreeItem"> </argument> <description> Emitted when an item is collapsed by a click on the folding arrow. @@ -324,7 +324,7 @@ </description> </signal> <signal name="multi_selected"> - <argument index="0" name="item" type="Object"> + <argument index="0" name="item" type="TreeItem"> </argument> <argument index="1" name="column" type="int"> </argument> diff --git a/doc/classes/VisibilityNotifier.xml b/doc/classes/VisibilityNotifier.xml index 2f22dc99bf..95da708420 100644 --- a/doc/classes/VisibilityNotifier.xml +++ b/doc/classes/VisibilityNotifier.xml @@ -26,14 +26,14 @@ </members> <signals> <signal name="camera_entered"> - <argument index="0" name="camera" type="Object"> + <argument index="0" name="camera" type="Camera"> </argument> <description> Emitted when the VisibilityNotifier enters a [Camera]'s view. </description> </signal> <signal name="camera_exited"> - <argument index="0" name="camera" type="Object"> + <argument index="0" name="camera" type="Camera"> </argument> <description> Emitted when the VisibilityNotifier exits a [Camera]'s view. diff --git a/doc/classes/VisibilityNotifier2D.xml b/doc/classes/VisibilityNotifier2D.xml index b98f2794d2..aaaa9b63bb 100644 --- a/doc/classes/VisibilityNotifier2D.xml +++ b/doc/classes/VisibilityNotifier2D.xml @@ -36,14 +36,14 @@ </description> </signal> <signal name="viewport_entered"> - <argument index="0" name="viewport" type="Object"> + <argument index="0" name="viewport" type="Viewport"> </argument> <description> Emitted when the VisibilityNotifier2D enters a [Viewport]'s view. </description> </signal> <signal name="viewport_exited"> - <argument index="0" name="viewport" type="Object"> + <argument index="0" name="viewport" type="Viewport"> </argument> <description> Emitted when the VisibilityNotifier2D exits a [Viewport]'s view. diff --git a/doc/classes/VisualServer.xml b/doc/classes/VisualServer.xml index 395fb9e829..afada05bf7 100644 --- a/doc/classes/VisualServer.xml +++ b/doc/classes/VisualServer.xml @@ -1552,7 +1552,7 @@ <argument index="0" name="feature" type="String"> </argument> <description> - Returns true, if the OS supports a certain feature. Features might be s3tc, etc, etc2 and pvrtc, + Returns [code]true[/code] if the OS supports a certain feature. Features might be s3tc, etc, etc2 and pvrtc, </description> </method> <method name="immediate_begin"> @@ -3110,7 +3110,7 @@ <argument index="2" name="scale" type="bool"> </argument> <description> - Sets a boot image. The color defines the background color and if scale is [code]true[/code], the image will be scaled to fit the screen size. + Sets a boot image. The color defines the background color and if scale is [code]true[/code] the image will be scaled to fit the screen size. </description> </method> <method name="set_debug_generate_wireframes"> @@ -3484,7 +3484,7 @@ <argument index="0" name="shrink" type="bool"> </argument> <description> - If [code]true[/code], sets internal processes to shrink all image data to half the size. + If [code]true[/code] sets internal processes to shrink all image data to half the size. </description> </method> <method name="texture_set_size_override"> @@ -3507,7 +3507,7 @@ <argument index="0" name="enable" type="bool"> </argument> <description> - If [code]true[/code], the image will be stored in the texture's images array if overwritten. + If [code]true[/code] the image will be stored in the texture's images array if overwritten. </description> </method> <method name="viewport_attach_camera"> @@ -3600,7 +3600,7 @@ <argument index="1" name="active" type="bool"> </argument> <description> - If [code]true[/code], sets the viewport active, else sets it inactive. + If [code]true[/code] sets the viewport active, else sets it inactive. </description> </method> <method name="viewport_set_canvas_layer"> @@ -3659,7 +3659,7 @@ <argument index="1" name="disabled" type="bool"> </argument> <description> - If [code]true[/code] a viewport's 3D rendering should be disabled. + If [code]true[/code] a viewport's 3D rendering is disabled. </description> </method> <method name="viewport_set_disable_environment"> @@ -3670,7 +3670,7 @@ <argument index="1" name="disabled" type="bool"> </argument> <description> - If [code]true[/code] rendering of a viewport's environment should be disabled. + If [code]true[/code] rendering of a viewport's environment is disabled. </description> </method> <method name="viewport_set_global_canvas_transform"> @@ -3692,7 +3692,7 @@ <argument index="1" name="enabled" type="bool"> </argument> <description> - If [code]true[/code] the viewport should render to hdr. + If [code]true[/code] the viewport renders to hdr. </description> </method> <method name="viewport_set_hide_canvas"> @@ -3703,7 +3703,7 @@ <argument index="1" name="hidden" type="bool"> </argument> <description> - If [code]true[/code] the viewport's canvas should not be rendered. + If [code]true[/code] the viewport's canvas is not rendered. </description> </method> <method name="viewport_set_hide_scenario"> @@ -3795,7 +3795,7 @@ <argument index="1" name="enabled" type="bool"> </argument> <description> - If [code]true[/code] the viewport should render its background as transparent. + If [code]true[/code] the viewport renders its background as transparent. </description> </method> <method name="viewport_set_update_mode"> @@ -3806,7 +3806,7 @@ <argument index="1" name="update_mode" type="int" enum="VisualServer.ViewportUpdateMode"> </argument> <description> - Sets when the viewport should be updated. See VIEWPORT_UPDATE_MODE_* constants for options. + Sets when the viewport should be updated. See [enum ViewportUpdateMode] constants for options. </description> </method> <method name="viewport_set_usage"> @@ -3817,7 +3817,7 @@ <argument index="1" name="usage" type="int" enum="VisualServer.ViewportUsage"> </argument> <description> - Sets what should be rendered in the viewport. See VIEWPORT_USAGE_* constants for options. + Sets the viewport's 2D/3D mode. See [enum ViewportUsage] constants for options. </description> </method> <method name="viewport_set_use_arvr"> @@ -3828,7 +3828,7 @@ <argument index="1" name="use_arvr" type="bool"> </argument> <description> - If [code]true[/code] the viewport should use augmented or virtual reality technologies. See [ARVRInterface]. + If [code]true[/code] the viewport uses augmented or virtual reality technologies. See [ARVRInterface]. </description> </method> <method name="viewport_set_vflip"> @@ -3839,7 +3839,7 @@ <argument index="1" name="enabled" type="bool"> </argument> <description> - If [code]true[/code] the viewport's rendering should be flipped vertically. + If [code]true[/code] the viewport's rendering is flipped vertically. </description> </method> </methods> diff --git a/drivers/gles2/rasterizer_gles2.cpp b/drivers/gles2/rasterizer_gles2.cpp index 76ee80aa07..efeab48ea2 100644 --- a/drivers/gles2/rasterizer_gles2.cpp +++ b/drivers/gles2/rasterizer_gles2.cpp @@ -321,9 +321,25 @@ void RasterizerGLES2::set_boot_image(const Ref<Image> &p_image, const Color &p_c Rect2 imgrect(0, 0, p_image->get_width(), p_image->get_height()); Rect2 screenrect; + if (p_scale) { - screenrect = imgrect; - screenrect.position += ((Size2(window_w, window_h) - screenrect.size) / 2.0).floor(); + if (window_w > window_h) { + //scale horizontally + screenrect.size.y = window_h; + screenrect.size.x = imgrect.size.x * window_h / imgrect.size.y; + screenrect.position.x = (window_w - screenrect.size.x) / 2; + + } else { + //scale vertically + screenrect.size.x = window_w; + screenrect.size.y = imgrect.size.y * window_w / imgrect.size.x; + screenrect.position.y = (window_h - screenrect.size.y) / 2; + } + } else { + + screenrect = imgrect; + screenrect.position += ((Size2(window_w, window_h) - screenrect.size) / 2.0).floor(); + } RasterizerStorageGLES2::Texture *t = storage->texture_owner.get(texture); glActiveTexture(GL_TEXTURE0 + storage->config.max_texture_image_units - 1); diff --git a/drivers/gles2/rasterizer_storage_gles2.cpp b/drivers/gles2/rasterizer_storage_gles2.cpp index 3cee42983d..5b5ab987d1 100644 --- a/drivers/gles2/rasterizer_storage_gles2.cpp +++ b/drivers/gles2/rasterizer_storage_gles2.cpp @@ -627,8 +627,8 @@ Ref<Image> RasterizerStorageGLES2::texture_get_data(RID p_texture, int p_layer) return Ref<Image>(img); #else - ERR_EXPLAIN("Sorry, It's not posible to obtain images back in OpenGL ES"); - return Ref<Image>(); + ERR_EXPLAIN("Sorry, It's not possible to obtain images back in OpenGL ES"); + ERR_FAIL_V(Ref<Image>()); #endif } diff --git a/drivers/gles3/rasterizer_canvas_gles3.cpp b/drivers/gles3/rasterizer_canvas_gles3.cpp index da87a71679..fc41f17164 100644 --- a/drivers/gles3/rasterizer_canvas_gles3.cpp +++ b/drivers/gles3/rasterizer_canvas_gles3.cpp @@ -1591,6 +1591,7 @@ void RasterizerCanvasGLES3::canvas_render_items(Item *p_item_list, int p_z, cons if (!t) { glBindTexture(GL_TEXTURE_2D, storage->resources.white_tex); } else { + t = t->get_ptr(); glBindTexture(t->target, t->tex_id); } diff --git a/drivers/gles3/rasterizer_storage_gles3.cpp b/drivers/gles3/rasterizer_storage_gles3.cpp index 0bb0e12b8e..83f731f610 100644 --- a/drivers/gles3/rasterizer_storage_gles3.cpp +++ b/drivers/gles3/rasterizer_storage_gles3.cpp @@ -1095,7 +1095,7 @@ Ref<Image> RasterizerStorageGLES3::texture_get_data(RID p_texture, int p_layer) #else ERR_EXPLAIN("Sorry, It's not possible to obtain images back in OpenGL ES"); - return Ref<Image>(); + ERR_FAIL_V(Ref<Image>()); #endif } diff --git a/editor/SCsub b/editor/SCsub index d9bdf42d6f..6a4b06a97a 100644 --- a/editor/SCsub +++ b/editor/SCsub @@ -81,18 +81,6 @@ if env['tools']: env.Depends('#editor/builtin_fonts.gen.h', flist) env.CommandNoCache('#editor/builtin_fonts.gen.h', flist, run_in_subprocess(editor_builders.make_fonts_header)) - # Authors - env.Depends('#editor/authors.gen.h', "../AUTHORS.md") - env.CommandNoCache('#editor/authors.gen.h', "../AUTHORS.md", run_in_subprocess(editor_builders.make_authors_header)) - - # Donors - env.Depends('#editor/donors.gen.h', "../DONORS.md") - env.CommandNoCache('#editor/donors.gen.h', "../DONORS.md", run_in_subprocess(editor_builders.make_donors_header)) - - # License - env.Depends('#editor/license.gen.h', ["../COPYRIGHT.txt", "../LICENSE.txt"]) - env.CommandNoCache('#editor/license.gen.h', ["../COPYRIGHT.txt", "../LICENSE.txt"], run_in_subprocess(editor_builders.make_license_header)) - env.add_source_files(env.editor_sources, "*.cpp") env.add_source_files(env.editor_sources, ["#thirdparty/misc/clipper.cpp"]) diff --git a/editor/create_dialog.cpp b/editor/create_dialog.cpp index 8433f4ff7b..fd607e5b63 100644 --- a/editor/create_dialog.cpp +++ b/editor/create_dialog.cpp @@ -497,7 +497,11 @@ Object *CreateDialog::instance_selected() { if (custom != String()) { if (ScriptServer::is_global_class(custom)) { - return EditorNode::get_editor_data().script_class_instance(custom); + Object *obj = EditorNode::get_editor_data().script_class_instance(custom); + Node *n = Object::cast_to<Node>(obj); + if (n) + n->set_name(custom); + return obj; } return EditorNode::get_editor_data().instance_custom_type(selected->get_text(0), custom); } else { diff --git a/editor/doc/doc_data.cpp b/editor/doc/doc_data.cpp index fe1cf3484e..c90b2b14b3 100644 --- a/editor/doc/doc_data.cpp +++ b/editor/doc/doc_data.cpp @@ -382,7 +382,11 @@ void DocData::generate(bool p_basic_types) { PropertyInfo arginfo = EV->get().arguments[i]; ArgumentDoc argument; argument.name = arginfo.name; - argument.type = Variant::get_type_name(arginfo.type); + if (arginfo.type == Variant::OBJECT && arginfo.class_name != StringName()) { + argument.type = arginfo.class_name.operator String(); + } else { + argument.type = Variant::get_type_name(arginfo.type); + } signal.arguments.push_back(argument); } @@ -501,7 +505,7 @@ void DocData::generate(bool p_basic_types) { ad.name = arginfo.name; if (arginfo.type == Variant::NIL) - ad.type = "var"; + ad.type = "Variant"; else ad.type = Variant::get_type_name(arginfo.type); @@ -514,7 +518,7 @@ void DocData::generate(bool p_basic_types) { if (mi.return_val.type == Variant::NIL) { if (mi.return_val.name != "") - method.return_type = "var"; + method.return_type = "Variant"; } else { method.return_type = Variant::get_type_name(mi.return_val.type); } diff --git a/editor/doc/doc_dump.cpp b/editor/doc/doc_dump.cpp index adbe23dcd5..06d35c4d3a 100644 --- a/editor/doc/doc_dump.cpp +++ b/editor/doc/doc_dump.cpp @@ -142,7 +142,7 @@ void DocDump::dump(const String &p_file) { if (arginfo.hint == PROPERTY_HINT_RESOURCE_TYPE) type_name = arginfo.hint_string; else if (arginfo.type == Variant::NIL) - type_name = "var"; + type_name = "Variant"; else type_name = Variant::get_type_name(arginfo.type); diff --git a/editor/editor_builders.py b/editor/editor_builders.py index 6c2f9e298e..fa037980c2 100644 --- a/editor/editor_builders.py +++ b/editor/editor_builders.py @@ -146,267 +146,5 @@ def make_translations_header(target, source, env): g.close() - -def make_authors_header(target, source, env): - - sections = ["Project Founders", "Lead Developer", "Project Manager", "Developers"] - sections_id = ["dev_founders", "dev_lead", "dev_manager", "dev_names"] - - src = source[0] - dst = target[0] - f = open_utf8(src, "r") - g = open_utf8(dst, "w") - - g.write("/* THIS FILE IS GENERATED DO NOT EDIT */\n") - g.write("#ifndef _EDITOR_AUTHORS_H\n") - g.write("#define _EDITOR_AUTHORS_H\n") - - current_section = "" - reading = False - - def close_section(): - g.write("\t0\n") - g.write("};\n") - - for line in f: - if reading: - if line.startswith(" "): - g.write("\t\"" + escape_string(line.strip()) + "\",\n") - continue - if line.startswith("## "): - if reading: - close_section() - reading = False - for i in range(len(sections)): - if line.strip().endswith(sections[i]): - current_section = escape_string(sections_id[i]) - reading = True - g.write("static const char *" + current_section + "[] = {\n") - break - - if reading: - close_section() - - g.write("#endif\n") - - g.close() - f.close() - -def make_donors_header(target, source, env): - - sections = ["Platinum sponsors", "Gold sponsors", "Mini sponsors", "Gold donors", "Silver donors", "Bronze donors"] - sections_id = ["donor_s_plat", "donor_s_gold", "donor_s_mini", "donor_gold", "donor_silver", "donor_bronze"] - - src = source[0] - dst = target[0] - f = open_utf8(src, "r") - g = open_utf8(dst, "w") - - g.write("/* THIS FILE IS GENERATED DO NOT EDIT */\n") - g.write("#ifndef _EDITOR_DONORS_H\n") - g.write("#define _EDITOR_DONORS_H\n") - - current_section = "" - reading = False - - def close_section(): - g.write("\t0\n") - g.write("};\n") - - for line in f: - if reading >= 0: - if line.startswith(" "): - g.write("\t\"" + escape_string(line.strip()) + "\",\n") - continue - if line.startswith("## "): - if reading: - close_section() - reading = False - for i in range(len(sections)): - if line.strip().endswith(sections[i]): - current_section = escape_string(sections_id[i]) - reading = True - g.write("static const char *" + current_section + "[] = {\n") - break - - if reading: - close_section() - - g.write("#endif\n") - - g.close() - f.close() - - -def make_license_header(target, source, env): - - src_copyright = source[0] - src_license = source[1] - dst = target[0] - f = open_utf8(src_license, "r") - fc = open_utf8(src_copyright, "r") - g = open_utf8(dst, "w") - - g.write("/* THIS FILE IS GENERATED DO NOT EDIT */\n") - g.write("#ifndef _EDITOR_LICENSE_H\n") - g.write("#define _EDITOR_LICENSE_H\n") - g.write("static const char *about_license =") - - for line in f: - escaped_string = escape_string(line.strip()) - g.write("\n\t\"" + escaped_string + "\\n\"") - - g.write(";\n") - - tp_current = 0 - tp_file = "" - tp_comment = "" - tp_copyright = "" - tp_license = "" - - tp_licensename = "" - tp_licensebody = "" - - tp = [] - tp_licensetext = [] - for line in fc: - if line.startswith("#"): - continue - - if line.startswith("Files:"): - tp_file = line[6:].strip() - tp_current = 1 - elif line.startswith("Comment:"): - tp_comment = line[8:].strip() - tp_current = 2 - elif line.startswith("Copyright:"): - tp_copyright = line[10:].strip() - tp_current = 3 - elif line.startswith("License:"): - if tp_current != 0: - tp_license = line[8:].strip() - tp_current = 4 - else: - tp_licensename = line[8:].strip() - tp_current = 5 - elif line.startswith(" "): - if tp_current == 1: - tp_file += "\n" + line.strip() - elif tp_current == 3: - tp_copyright += "\n" + line.strip() - elif tp_current == 5: - if line.strip() == ".": - tp_licensebody += "\n" - else: - tp_licensebody += line[1:] - else: - if tp_current != 0: - if tp_current == 5: - tp_licensetext.append([tp_licensename, tp_licensebody]) - - tp_licensename = "" - tp_licensebody = "" - else: - added = False - for i in tp: - if i[0] == tp_comment: - i[1].append([tp_file, tp_copyright, tp_license]) - added = True - break - if not added: - tp.append([tp_comment,[[tp_file, tp_copyright, tp_license]]]) - - tp_file = [] - tp_comment = "" - tp_copyright = [] - tp_license = "" - tp_current = 0 - - tp_licensetext.append([tp_licensename, tp_licensebody]) - - about_thirdparty = "" - about_tp_copyright_count = "" - about_tp_license = "" - about_tp_copyright = "" - about_tp_file = "" - - for i in tp: - about_thirdparty += "\t\"" + i[0] + "\",\n" - about_tp_copyright_count += str(len(i[1])) + ", " - for j in i[1]: - file_body = "" - copyright_body = "" - for k in j[0].split("\n"): - if file_body != "": - file_body += "\\n\"\n" - escaped_string = escape_string(k.strip()) - file_body += "\t\"" + escaped_string - for k in j[1].split("\n"): - if copyright_body != "": - copyright_body += "\\n\"\n" - escaped_string = escape_string(k.strip()) - copyright_body += "\t\"" + escaped_string - - about_tp_file += "\t" + file_body + "\",\n" - about_tp_copyright += "\t" + copyright_body + "\",\n" - about_tp_license += "\t\"" + j[2] + "\",\n" - - about_license_name = "" - about_license_body = "" - - for i in tp_licensetext: - body = "" - for j in i[1].split("\n"): - if body != "": - body += "\\n\"\n" - escaped_string = escape_string(j.strip()) - body += "\t\"" + escaped_string - - about_license_name += "\t\"" + i[0] + "\",\n" - about_license_body += "\t" + body + "\",\n" - - g.write("static const char *about_thirdparty[] = {\n") - g.write(about_thirdparty) - g.write("\t0\n") - g.write("};\n") - g.write("#define THIRDPARTY_COUNT " + str(len(tp)) + "\n") - - g.write("static const int about_tp_copyright_count[] = {\n\t") - g.write(about_tp_copyright_count) - g.write("0\n};\n") - - g.write("static const char *about_tp_file[] = {\n") - g.write(about_tp_file) - g.write("\t0\n") - g.write("};\n") - - g.write("static const char *about_tp_copyright[] = {\n") - g.write(about_tp_copyright) - g.write("\t0\n") - g.write("};\n") - - g.write("static const char *about_tp_license[] = {\n") - g.write(about_tp_license) - g.write("\t0\n") - g.write("};\n") - - g.write("static const char *about_license_name[] = {\n") - g.write(about_license_name) - g.write("\t0\n") - g.write("};\n") - g.write("#define LICENSE_COUNT " + str(len(tp_licensetext)) + "\n") - - g.write("static const char *about_license_body[] = {\n") - g.write(about_license_body) - g.write("\t0\n") - g.write("};\n") - - g.write("#endif\n") - - g.close() - fc.close() - f.close() - - if __name__ == '__main__': subprocess_main(globals()) diff --git a/editor/editor_help.cpp b/editor/editor_help.cpp index 5a0a49d577..d84b9bff91 100644 --- a/editor/editor_help.cpp +++ b/editor/editor_help.cpp @@ -225,7 +225,6 @@ bool EditorHelpSearch::IncrementalSearch::work(uint64_t slot) { void EditorHelpSearch::_update_search() { search_options->clear(); - search_options->set_hide_root(true); String term = search_box->get_text(); if (term.length() < 2) @@ -307,6 +306,7 @@ EditorHelpSearch::EditorHelpSearch() { search_box->connect("text_changed", this, "_text_changed"); search_box->connect("gui_input", this, "_sbox_input"); search_options = memnew(Tree); + search_options->set_hide_root(true); vbc->add_margin_child(TTR("Matches:"), search_options, true); get_ok()->set_text(TTR("Open")); get_ok()->set_disabled(true); @@ -397,6 +397,16 @@ void EditorHelpIndex::_notification(int p_what) { //_update_icons search_box->set_right_icon(get_icon("Search", "EditorIcons")); search_box->set_clear_button_enabled(true); + + bool enable_rl = EditorSettings::get_singleton()->get("docks/scene_tree/draw_relationship_lines"); + Color rl_color = EditorSettings::get_singleton()->get("docks/scene_tree/relationship_line_color"); + + if (enable_rl) { + class_list->add_constant_override("draw_relationship_lines", 1); + class_list->add_color_override("relationship_line_color", rl_color); + } else { + class_list->add_constant_override("draw_relationship_lines", 0); + } } } @@ -410,7 +420,6 @@ void EditorHelpIndex::_update_class_list() { class_list->clear(); tree_item_map.clear(); TreeItem *root = class_list->create_item(); - class_list->set_hide_root(true); String filter = search_box->get_text().strip_edges(); String to_select = ""; @@ -489,10 +498,21 @@ EditorHelpIndex::EditorHelpIndex() { class_list = memnew(Tree); vbc->add_margin_child(TTR("Class List:") + " ", class_list, true); + class_list->set_hide_root(true); class_list->set_v_size_flags(SIZE_EXPAND_FILL); class_list->connect("item_activated", this, "_tree_item_selected"); + bool enable_rl = EditorSettings::get_singleton()->get("docks/scene_tree/draw_relationship_lines"); + Color rl_color = EditorSettings::get_singleton()->get("docks/scene_tree/relationship_line_color"); + + if (enable_rl) { + class_list->add_constant_override("draw_relationship_lines", 1); + class_list->add_color_override("relationship_line_color", rl_color); + } else { + class_list->add_constant_override("draw_relationship_lines", 0); + } + get_ok()->set_text(TTR("Open")); set_title(TTR("Search Classes")); } diff --git a/editor/editor_properties.cpp b/editor/editor_properties.cpp index 3c3df6b8ef..069b9147ce 100644 --- a/editor/editor_properties.cpp +++ b/editor/editor_properties.cpp @@ -651,6 +651,7 @@ public: int h = bsize * 2 + 1; int vofs = (rect.size.height - h) / 2; + Color color = get_color("highlight_color", "Editor"); for (int i = 0; i < 2; i++) { Point2 ofs(4, vofs); @@ -667,7 +668,8 @@ public: uint32_t idx = i * 10 + j; bool on = value & (1 << idx); Rect2 rect = Rect2(o, Size2(bsize, bsize)); - draw_rect(rect, Color(0, 0, 0, on ? 0.8 : 0.3)); + color.a = on ? 0.6 : 0.2; + draw_rect(rect, color); flag_rects.push_back(rect); } } diff --git a/editor/import/resource_importer_texture.cpp b/editor/import/resource_importer_texture.cpp index 2a25c08f26..af2615f9cf 100644 --- a/editor/import/resource_importer_texture.cpp +++ b/editor/import/resource_importer_texture.cpp @@ -431,8 +431,8 @@ Error ResourceImporterTexture::import(const String &p_source_file, const String int width = image->get_width(); image->lock(); - for (int i = 0; i < height; i++) { - for (int j = 0; j < width; j++) { + for (int i = 0; i < width; i++) { + for (int j = 0; j < height; j++) { image->set_pixel(i, j, image->get_pixel(i, j).inverted()); } } diff --git a/editor/inspector_dock.cpp b/editor/inspector_dock.cpp index 0335053162..9145a66510 100644 --- a/editor/inspector_dock.cpp +++ b/editor/inspector_dock.cpp @@ -36,6 +36,12 @@ void InspectorDock::_menu_option(int p_option) { switch (p_option) { + case EXPAND_ALL: { + _menu_expandall(); + } break; + case COLLAPSE_ALL: { + _menu_collapseall(); + } break; case RESOURCE_MAKE_BUILT_IN: { _unref_resource(); } break; diff --git a/editor/plugins/cpu_particles_editor_plugin.cpp b/editor/plugins/cpu_particles_editor_plugin.cpp index dc7176a6cc..8d3ebc5052 100644 --- a/editor/plugins/cpu_particles_editor_plugin.cpp +++ b/editor/plugins/cpu_particles_editor_plugin.cpp @@ -29,6 +29,7 @@ /*************************************************************************/ #include "cpu_particles_editor_plugin.h" + #include "editor/plugins/spatial_editor_plugin.h" void CPUParticlesEditor::_node_removed(Node *p_node) { diff --git a/editor/plugins/material_editor_plugin.cpp b/editor/plugins/material_editor_plugin.cpp index f282d391ff..5e59a73061 100644 --- a/editor/plugins/material_editor_plugin.cpp +++ b/editor/plugins/material_editor_plugin.cpp @@ -28,397 +28,9 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -// FIXME: Disabled as (according to reduz) users were complaining that it gets in the way -// Waiting for PropertyEditor rewrite (planned for 3.1) to be refactored. - #include "material_editor_plugin.h" -#include "scene/3d/particles.h" - -#if 0 - -#include "scene/main/viewport.h" - -void MaterialEditor::_gui_input(InputEvent p_event) { - - -} - -void MaterialEditor::_notification(int p_what) { - - if (p_what==NOTIFICATION_PHYSICS_PROCESS) { - - } - - - if (p_what==NOTIFICATION_READY) { - - //get_scene()->connect("node_removed",this,"_node_removed"); - - if (first_enter) { - //it's in propertyeditor so.. could be moved around - - light_1_switch->set_normal_texture(get_icon("MaterialPreviewLight1","EditorIcons")); - light_1_switch->set_pressed_texture(get_icon("MaterialPreviewLight1Off","EditorIcons")); - light_2_switch->set_normal_texture(get_icon("MaterialPreviewLight2","EditorIcons")); - light_2_switch->set_pressed_texture(get_icon("MaterialPreviewLight2Off","EditorIcons")); - - sphere_switch->set_normal_texture(get_icon("MaterialPreviewSphereOff","EditorIcons")); - sphere_switch->set_pressed_texture(get_icon("MaterialPreviewSphere","EditorIcons")); - box_switch->set_normal_texture(get_icon("MaterialPreviewCubeOff","EditorIcons")); - box_switch->set_pressed_texture(get_icon("MaterialPreviewCube","EditorIcons")); - - first_enter=false; - } - - } - - if (p_what==NOTIFICATION_DRAW) { - - - Ref<Texture> checkerboard = get_icon("Checkerboard","EditorIcons"); - Size2 size = get_size(); - - draw_texture_rect(checkerboard,Rect2(Point2(),size),true); - - } -} - - - -void MaterialEditor::edit(Ref<Material> p_material) { - - material=p_material; - - if (!material.is_null()) { - sphere_mesh->surface_set_material(0,material); - box_mesh->surface_set_material(0,material); - } else { - - hide(); - } - -} - - -void MaterialEditor::_button_pressed(Node* p_button) { - - if (p_button==light_1_switch) { - light1->set_enabled(!light_1_switch->is_pressed()); - } - - if (p_button==light_2_switch) { - light2->set_enabled(!light_2_switch->is_pressed()); - } - - if (p_button==box_switch) { - box_instance->show(); - sphere_instance->hide(); - box_switch->set_pressed(true); - sphere_switch->set_pressed(false); - } - - if (p_button==sphere_switch) { - box_instance->hide(); - sphere_instance->show(); - box_switch->set_pressed(false); - sphere_switch->set_pressed(true); - } - -} - -void MaterialEditor::_bind_methods() { - - ClassDB::bind_method(D_METHOD("_gui_input"),&MaterialEditor::_gui_input); - ClassDB::bind_method(D_METHOD("_button_pressed"),&MaterialEditor::_button_pressed); - -} - -MaterialEditor::MaterialEditor() { - - viewport = memnew( Viewport ); - Ref<World> world; - world.instance(); - viewport->set_world(world); //use own world - add_child(viewport); - viewport->set_disable_input(true); - - camera = memnew( Camera ); - camera->set_transform(Transform(Matrix3(),Vector3(0,0,3))); - camera->set_perspective(45,0.1,10); - viewport->add_child(camera); - - light1 = memnew( DirectionalLight ); - light1->set_transform(Transform().looking_at(Vector3(-1,-1,-1),Vector3(0,1,0))); - viewport->add_child(light1); - - light2 = memnew( DirectionalLight ); - light2->set_transform(Transform().looking_at(Vector3(0,1,0),Vector3(0,0,1))); - light2->set_color(Light::COLOR_DIFFUSE,Color(0.7,0.7,0.7)); - light2->set_color(Light::COLOR_SPECULAR,Color(0.7,0.7,0.7)); - viewport->add_child(light2); - - sphere_instance = memnew( MeshInstance ); - viewport->add_child(sphere_instance); - - box_instance = memnew( MeshInstance ); - viewport->add_child(box_instance); - - Transform box_xform; - box_xform.basis.rotate(Vector3(1,0,0),Math::deg2rad(25)); - box_xform.basis = box_xform.basis * Matrix3().rotated(Vector3(0,1,0),Math::deg2rad(25)); - box_xform.basis.scale(Vector3(0.8,0.8,0.8)); - box_instance->set_transform(box_xform); - - { - - sphere_mesh.instance(); - - - int lats=32; - int lons=32; - float radius=1.0; - - PoolVector<Vector3> vertices; - PoolVector<Vector3> normals; - PoolVector<Vector2> uvs; - PoolVector<float> tangents; - Matrix3 tt = Matrix3(Vector3(0,1,0),Math_PI*0.5); - - for(int i = 1; i <= lats; i++) { - double lat0 = Math_PI * (-0.5 + (double) (i - 1) / lats); - double z0 = Math::sin(lat0); - double zr0 = Math::cos(lat0); - - double lat1 = Math_PI * (-0.5 + (double) i / lats); - double z1 = Math::sin(lat1); - double zr1 = Math::cos(lat1); - - for(int j = lons; j >= 1; j--) { - - double lng0 = 2 * Math_PI * (double) (j - 1) / lons; - double x0 = Math::cos(lng0); - double y0 = Math::sin(lng0); - - double lng1 = 2 * Math_PI * (double) (j) / lons; - double x1 = Math::cos(lng1); - double y1 = Math::sin(lng1); - - - Vector3 v[4]={ - Vector3(x1 * zr0, z0, y1 *zr0), - Vector3(x1 * zr1, z1, y1 *zr1), - Vector3(x0 * zr1, z1, y0 *zr1), - Vector3(x0 * zr0, z0, y0 *zr0) - }; - -#define ADD_POINT(m_idx) \ - normals.push_back(v[m_idx]); \ - vertices.push_back(v[m_idx] * radius); \ - { \ - Vector2 uv(Math::atan2(v[m_idx].x, v[m_idx].z), Math::atan2(-v[m_idx].y, v[m_idx].z)); \ - uv /= Math_PI; \ - uv *= 4.0; \ - uv = uv * 0.5 + Vector2(0.5, 0.5); \ - uvs.push_back(uv); \ - } \ - { \ - Vector3 t = tt.xform(v[m_idx]); \ - tangents.push_back(t.x); \ - tangents.push_back(t.y); \ - tangents.push_back(t.z); \ - tangents.push_back(1.0); \ - } - - - - ADD_POINT(0); - ADD_POINT(1); - ADD_POINT(2); - - ADD_POINT(2); - ADD_POINT(3); - ADD_POINT(0); - } - } - - Array arr; - arr.resize(VS::ARRAY_MAX); - arr[VS::ARRAY_VERTEX]=vertices; - arr[VS::ARRAY_NORMAL]=normals; - arr[VS::ARRAY_TANGENT]=tangents; - arr[VS::ARRAY_TEX_UV]=uvs; - - sphere_mesh->add_surface(Mesh::PRIMITIVE_TRIANGLES,arr); - - sphere_instance->set_mesh(sphere_mesh); - - } - { - - - box_mesh.instance(); - - PoolVector<Vector3> vertices; - PoolVector<Vector3> normals; - PoolVector<float> tangents; - PoolVector<Vector3> uvs; - - int vtx_idx=0; -#define ADD_VTX(m_idx) \ - ; \ - vertices.push_back(face_points[m_idx]); \ - normals.push_back(normal_points[m_idx]); \ - tangents.push_back(normal_points[m_idx][1]); \ - tangents.push_back(normal_points[m_idx][2]); \ - tangents.push_back(normal_points[m_idx][0]); \ - tangents.push_back(1.0); \ - uvs.push_back(Vector3(uv_points[m_idx * 2 + 0], uv_points[m_idx * 2 + 1], 0)); \ - vtx_idx++;\ - - for (int i=0;i<6;i++) { - - - Vector3 face_points[4]; - Vector3 normal_points[4]; - float uv_points[8]={0,0,0,1,1,1,1,0}; - - for (int j=0;j<4;j++) { - - float v[3]; - v[0]=1.0; - v[1]=1-2*((j>>1)&1); - v[2]=v[1]*(1-2*(j&1)); - - for (int k=0;k<3;k++) { - - if (i<3) - face_points[j][(i+k)%3]=v[k]*(i>=3?-1:1); - else - face_points[3-j][(i+k)%3]=v[k]*(i>=3?-1:1); - } - normal_points[j]=Vector3(); - normal_points[j][i%3]=(i>=3?-1:1); - } - - //tri 1 - ADD_VTX(0); - ADD_VTX(1); - ADD_VTX(2); - //tri 2 - ADD_VTX(2); - ADD_VTX(3); - ADD_VTX(0); - - } - - - - Array d; - d.resize(VS::ARRAY_MAX); - d[VisualServer::ARRAY_NORMAL]= normals ; - d[VisualServer::ARRAY_TANGENT]= tangents ; - d[VisualServer::ARRAY_TEX_UV]= uvs ; - d[VisualServer::ARRAY_VERTEX]= vertices ; - - PoolVector<int> indices; - indices.resize(vertices.size()); - for(int i=0;i<vertices.size();i++) - indices.set(i,i); - d[VisualServer::ARRAY_INDEX]=indices; - - box_mesh->add_surface(Mesh::PRIMITIVE_TRIANGLES,d); - box_instance->set_mesh(box_mesh); - box_instance->hide(); - - - - } - - set_custom_minimum_size(Size2(1,150)*EDSCALE); - - HBoxContainer *hb = memnew( HBoxContainer ); - add_child(hb); - hb->set_anchors_and_margins_preset(Control::PRESET_WIDE, Control::PRESET_MODE_MINSIZE, 2); - - VBoxContainer *vb_shape = memnew( VBoxContainer ); - hb->add_child(vb_shape); - - sphere_switch = memnew( TextureButton ); - sphere_switch->set_toggle_mode(true); - sphere_switch->set_pressed(true); - vb_shape->add_child(sphere_switch); - sphere_switch->connect("pressed",this,"_button_pressed",varray(sphere_switch)); - - box_switch = memnew( TextureButton ); - box_switch->set_toggle_mode(true); - box_switch->set_pressed(false); - vb_shape->add_child(box_switch); - box_switch->connect("pressed",this,"_button_pressed",varray(box_switch)); - - hb->add_spacer(); - - VBoxContainer *vb_light = memnew( VBoxContainer ); - hb->add_child(vb_light); - - light_1_switch = memnew( TextureButton ); - light_1_switch->set_toggle_mode(true); - vb_light->add_child(light_1_switch); - light_1_switch->connect("pressed",this,"_button_pressed",varray(light_1_switch)); - - light_2_switch = memnew( TextureButton ); - light_2_switch->set_toggle_mode(true); - vb_light->add_child(light_2_switch); - light_2_switch->connect("pressed",this,"_button_pressed",varray(light_2_switch)); - - first_enter=true; - -} - - -void MaterialEditorPlugin::edit(Object *p_object) { - - Material * s = Object::cast_to<Material>(p_object); - if (!s) - return; - - material_editor->edit(Ref<Material>(s)); -} - -bool MaterialEditorPlugin::handles(Object *p_object) const { - - return p_object->is_type("Material"); -} - -void MaterialEditorPlugin::make_visible(bool p_visible) { - - if (p_visible) { - material_editor->show(); - //material_editor->set_process(true); - } else { - - material_editor->hide(); - //material_editor->set_process(false); - } - -} - -MaterialEditorPlugin::MaterialEditorPlugin(EditorNode *p_node) { - - editor=p_node; - material_editor = memnew( MaterialEditor ); - add_control_to_container(CONTAINER_PROPERTY_EDITOR_BOTTOM,material_editor); - material_editor->hide(); - - - -} - - -MaterialEditorPlugin::~MaterialEditorPlugin() -{ -} -#endif +#include "scene/resources/particles_material.h" String SpatialMaterialConversionPlugin::converts_to() const { diff --git a/editor/plugins/material_editor_plugin.h b/editor/plugins/material_editor_plugin.h index 31a927d83f..c06d95e700 100644 --- a/editor/plugins/material_editor_plugin.h +++ b/editor/plugins/material_editor_plugin.h @@ -32,77 +32,6 @@ #define MATERIAL_EDITOR_PLUGIN_H #include "editor/property_editor.h" -// FIXME: Disabled as (according to reduz) users were complaining that it gets in the way -// Waiting for PropertyEditor rewrite (planned for 3.1) to be refactored. -#if 0 - -#include "editor/editor_node.h" -#include "editor/editor_plugin.h" -#include "scene/3d/camera.h" -#include "scene/3d/light.h" -#include "scene/3d/mesh_instance.h" -#include "scene/resources/material.h" - -class MaterialEditor : public Control { - - GDCLASS(MaterialEditor, Control); - - - Viewport *viewport; - MeshInstance *sphere_instance; - MeshInstance *box_instance; - DirectionalLight *light1; - DirectionalLight *light2; - Camera *camera; - - Ref<Mesh> sphere_mesh; - Ref<Mesh> box_mesh; - - TextureButton *sphere_switch; - TextureButton *box_switch; - - TextureButton *light_1_switch; - TextureButton *light_2_switch; - - - Ref<Material> material; - - - void _button_pressed(Node* p_button); - bool first_enter; - -protected: - void _notification(int p_what); - void _gui_input(InputEvent p_event); - static void _bind_methods(); -public: - - void edit(Ref<Material> p_material); - MaterialEditor(); -}; - - -class MaterialEditorPlugin : public EditorPlugin { - - GDCLASS( MaterialEditorPlugin, EditorPlugin ); - - MaterialEditor *material_editor; - EditorNode *editor; - -public: - - virtual String get_name() const { return "Material"; } - bool has_main_screen() const { return false; } - virtual void edit(Object *p_node); - virtual bool handles(Object *p_node) const; - virtual void make_visible(bool p_visible); - - MaterialEditorPlugin(EditorNode *p_node); - ~MaterialEditorPlugin(); - -}; - -#endif class SpatialMaterialConversionPlugin : public EditorResourceConversionPlugin { GDCLASS(SpatialMaterialConversionPlugin, EditorResourceConversionPlugin) diff --git a/editor/plugins/particles_2d_editor_plugin.cpp b/editor/plugins/particles_2d_editor_plugin.cpp index ae5d510502..3bde157edf 100644 --- a/editor/plugins/particles_2d_editor_plugin.cpp +++ b/editor/plugins/particles_2d_editor_plugin.cpp @@ -32,8 +32,8 @@ #include "canvas_item_editor_plugin.h" #include "io/image_loader.h" -#include "scene/3d/particles.h" #include "scene/gui/separator.h" +#include "scene/resources/particles_material.h" void Particles2DEditorPlugin::edit(Object *p_object) { diff --git a/editor/plugins/particles_2d_editor_plugin.h b/editor/plugins/particles_2d_editor_plugin.h index 2b6123141b..71ca8ef499 100644 --- a/editor/plugins/particles_2d_editor_plugin.h +++ b/editor/plugins/particles_2d_editor_plugin.h @@ -34,7 +34,6 @@ #include "editor/editor_node.h" #include "editor/editor_plugin.h" #include "scene/2d/collision_polygon_2d.h" - #include "scene/2d/particles_2d.h" #include "scene/gui/box_container.h" #include "scene/gui/file_dialog.h" diff --git a/editor/plugins/particles_editor_plugin.cpp b/editor/plugins/particles_editor_plugin.cpp index 3c381158a4..9a1a60805f 100644 --- a/editor/plugins/particles_editor_plugin.cpp +++ b/editor/plugins/particles_editor_plugin.cpp @@ -29,9 +29,12 @@ /*************************************************************************/ #include "particles_editor_plugin.h" + #include "editor/plugins/spatial_editor_plugin.h" #include "io/resource_loader.h" #include "scene/3d/cpu_particles.h" +#include "scene/resources/particles_material.h" + bool ParticlesEditorBase::_generate(PoolVector<Vector3> &points, PoolVector<Vector3> &normals) { bool use_normals = emission_fill->get_selected() == 1; diff --git a/editor/plugins/particles_editor_plugin.h b/editor/plugins/particles_editor_plugin.h index 622ce6e8a9..830d30d98f 100644 --- a/editor/plugins/particles_editor_plugin.h +++ b/editor/plugins/particles_editor_plugin.h @@ -43,6 +43,7 @@ class ParticlesEditorBase : public Control { GDCLASS(ParticlesEditorBase, Control) + protected: Spatial *base_node; Panel *panel; diff --git a/editor/plugins/path_editor_plugin.cpp b/editor/plugins/path_editor_plugin.cpp index 618c70d1a1..df6c40ed02 100644 --- a/editor/plugins/path_editor_plugin.cpp +++ b/editor/plugins/path_editor_plugin.cpp @@ -30,7 +30,7 @@ #include "path_editor_plugin.h" -#include "os/keyboard.h" +#include "core/os/keyboard.h" #include "scene/resources/curve.h" #include "spatial_editor_plugin.h" @@ -57,7 +57,7 @@ String PathSpatialGizmo::get_handle_name(int p_idx) const { return n; } -Variant PathSpatialGizmo::get_handle_value(int p_idx) const { +Variant PathSpatialGizmo::get_handle_value(int p_idx) { Ref<Curve3D> c = path->get_curve(); if (c.is_null()) @@ -215,8 +215,8 @@ void PathSpatialGizmo::redraw() { clear(); - Ref<SpatialMaterial> path_material = gizmo_plugin->get_material("path_material"); - Ref<SpatialMaterial> path_thin_material = gizmo_plugin->get_material("path_thin_material"); + Ref<SpatialMaterial> path_material = gizmo_plugin->get_material("path_material", this); + Ref<SpatialMaterial> path_thin_material = gizmo_plugin->get_material("path_thin_material", this); Ref<SpatialMaterial> handles_material = gizmo_plugin->get_material("handles"); Ref<Curve3D> c = path->get_curve(); @@ -641,24 +641,8 @@ String PathSpatialGizmoPlugin::get_name() const { PathSpatialGizmoPlugin::PathSpatialGizmoPlugin() { Color path_color = EDITOR_DEF("editors/3d_gizmos/gizmo_colors/path", Color(0.5, 0.5, 1.0, 0.8)); - - Ref<SpatialMaterial> path_material = Ref<SpatialMaterial>(memnew(SpatialMaterial)); - path_color.a = 0.8; - path_material->set_albedo(path_color); - path_material->set_feature(SpatialMaterial::FEATURE_TRANSPARENT, true); - path_material->set_line_width(3); - path_material->set_cull_mode(SpatialMaterial::CULL_DISABLED); - path_material->set_flag(SpatialMaterial::FLAG_UNSHADED, true); - - Ref<SpatialMaterial> path_thin_material = Ref<SpatialMaterial>(memnew(SpatialMaterial)); + create_material("path_material", path_color); path_color.a = 0.4; - path_thin_material->set_albedo(path_color); - path_thin_material->set_feature(SpatialMaterial::FEATURE_TRANSPARENT, true); - path_thin_material->set_line_width(1); - path_thin_material->set_cull_mode(SpatialMaterial::CULL_DISABLED); - path_thin_material->set_flag(SpatialMaterial::FLAG_UNSHADED, true); - - add_material("path_material", path_material); - add_material("path_thin_material", path_thin_material); + create_material("path_thin_material", path_color); create_handle_material("handles"); } diff --git a/editor/plugins/path_editor_plugin.h b/editor/plugins/path_editor_plugin.h index 61f309e794..c77b2a41cc 100644 --- a/editor/plugins/path_editor_plugin.h +++ b/editor/plugins/path_editor_plugin.h @@ -45,7 +45,7 @@ class PathSpatialGizmo : public EditorSpatialGizmo { public: virtual String get_handle_name(int p_idx) const; - virtual Variant get_handle_value(int p_idx) const; + virtual Variant get_handle_value(int p_idx); virtual void set_handle(int p_idx, Camera *p_camera, const Point2 &p_point); virtual void commit_handle(int p_idx, const Variant &p_restore, bool p_cancel = false); diff --git a/editor/plugins/script_text_editor.cpp b/editor/plugins/script_text_editor.cpp index 66705f85bf..e0eb89d6b6 100644 --- a/editor/plugins/script_text_editor.cpp +++ b/editor/plugins/script_text_editor.cpp @@ -1475,9 +1475,9 @@ ScriptTextEditor::ScriptTextEditor() { convert_case->set_name("convert_case"); edit_menu->get_popup()->add_child(convert_case); edit_menu->get_popup()->add_submenu_item(TTR("Convert Case"), "convert_case"); - convert_case->add_shortcut(ED_SHORTCUT("script_text_editor/convert_to_uppercase", TTR("Uppercase")), EDIT_TO_UPPERCASE); - convert_case->add_shortcut(ED_SHORTCUT("script_text_editor/convert_to_lowercase", TTR("Lowercase")), EDIT_TO_LOWERCASE); - convert_case->add_shortcut(ED_SHORTCUT("script_text_editor/capitalize", TTR("Capitalize")), EDIT_CAPITALIZE); + convert_case->add_shortcut(ED_SHORTCUT("script_text_editor/convert_to_uppercase", TTR("Uppercase"), KEY_MASK_SHIFT | KEY_F4), EDIT_TO_UPPERCASE); + convert_case->add_shortcut(ED_SHORTCUT("script_text_editor/convert_to_lowercase", TTR("Lowercase"), KEY_MASK_SHIFT | KEY_F5), EDIT_TO_LOWERCASE); + convert_case->add_shortcut(ED_SHORTCUT("script_text_editor/capitalize", TTR("Capitalize"), KEY_MASK_SHIFT | KEY_F6), EDIT_CAPITALIZE); convert_case->connect("id_pressed", this, "_edit_option"); highlighters["Standard"] = NULL; @@ -1568,10 +1568,6 @@ void ScriptTextEditor::register_editor() { ED_SHORTCUT("script_text_editor/goto_next_breakpoint", TTR("Goto Next Breakpoint"), KEY_MASK_CMD | KEY_PERIOD); ED_SHORTCUT("script_text_editor/goto_previous_breakpoint", TTR("Goto Previous Breakpoint"), KEY_MASK_CMD | KEY_COMMA); - ED_SHORTCUT("script_text_editor/convert_to_uppercase", TTR("Convert To Uppercase"), KEY_MASK_SHIFT | KEY_F4); - ED_SHORTCUT("script_text_editor/convert_to_lowercase", TTR("Convert To Lowercase"), KEY_MASK_SHIFT | KEY_F3); - ED_SHORTCUT("script_text_editor/capitalize", TTR("Capitalize"), KEY_MASK_SHIFT | KEY_F2); - ED_SHORTCUT("script_text_editor/find", TTR("Find..."), KEY_MASK_CMD | KEY_F); #ifdef OSX_ENABLED ED_SHORTCUT("script_text_editor/find_next", TTR("Find Next"), KEY_MASK_CMD | KEY_G); diff --git a/editor/plugins/spatial_editor_plugin.cpp b/editor/plugins/spatial_editor_plugin.cpp index cfc322d2c1..e86424ee51 100644 --- a/editor/plugins/spatial_editor_plugin.cpp +++ b/editor/plugins/spatial_editor_plugin.cpp @@ -30,23 +30,25 @@ #include "spatial_editor_plugin.h" -#include "camera_matrix.h" +#include "core/math/camera_matrix.h" #include "core/os/input.h" - +#include "core/os/keyboard.h" +#include "core/print_string.h" +#include "core/project_settings.h" +#include "core/sort.h" #include "editor/editor_node.h" #include "editor/editor_settings.h" #include "editor/plugins/animation_player_editor_plugin.h" #include "editor/plugins/script_editor_plugin.h" #include "editor/script_editor_debugger.h" #include "editor/spatial_editor_gizmos.h" -#include "os/keyboard.h" -#include "print_string.h" -#include "project_settings.h" #include "scene/3d/camera.h" +#include "scene/3d/collision_shape.h" +#include "scene/3d/mesh_instance.h" +#include "scene/3d/physics_body.h" #include "scene/3d/visual_instance.h" #include "scene/resources/packed_scene.h" #include "scene/resources/surface_tool.h" -#include "sort.h" #define DISTANCE_DEFAULT 4 @@ -274,7 +276,7 @@ void SpatialEditorViewport::_select_clicked(bool p_append, bool p_single) { _select(sp, clicked_wants_append, true); } -void SpatialEditorViewport::_select(Spatial *p_node, bool p_append, bool p_single) { +void SpatialEditorViewport::_select(Node *p_node, bool p_append, bool p_single) { if (!p_append) { editor_selection->clear(); @@ -340,12 +342,10 @@ ObjectID SpatialEditorViewport::_select_ray(const Point2 &p_pos, bool p_append, continue; if (dist < closest_dist) { - //make sure that whathever is selected is editable - Node *owner = spat->get_owner(); - if (owner != edited_scene && !edited_scene->is_editable_instance(owner)) { - item = owner; - } else { - item = Object::cast_to<Node>(spat); + + item = Object::cast_to<Node>(spat); + while (item->get_owner() && item->get_owner() != edited_scene && !edited_scene->is_editable_instance(item->get_owner())) { + item = item->get_owner(); } closest = item->get_instance_id(); @@ -496,7 +496,7 @@ void SpatialEditorViewport::_select_region() { } Vector<ObjectID> instances = VisualServer::get_singleton()->instances_cull_convex(frustum, get_tree()->get_root()->get_world()->get_scenario()); - Vector<Spatial *> selected; + Vector<Node *> selected; Node *edited_scene = get_tree()->get_edited_scene_root(); @@ -506,12 +506,12 @@ void SpatialEditorViewport::_select_region() { if (!sp) continue; - Spatial *root_sp = sp; - while (root_sp && root_sp != edited_scene && root_sp->get_owner() != edited_scene && !edited_scene->is_editable_instance(root_sp->get_owner())) { - root_sp = Object::cast_to<Spatial>(root_sp->get_owner()); + Node *item = Object::cast_to<Node>(sp); + while (item->get_owner() && item->get_owner() != edited_scene && !edited_scene->is_editable_instance(item->get_owner())) { + item = item->get_owner(); } - if (selected.find(root_sp) != -1) continue; + if (selected.find(item) != -1) continue; Ref<EditorSpatialGizmo> seg = sp->get_gizmo(); @@ -519,7 +519,7 @@ void SpatialEditorViewport::_select_region() { continue; if (seg->intersect_frustum(camera, frustum)) { - selected.push_back(root_sp); + selected.push_back(item); } } @@ -3911,8 +3911,9 @@ void _update_all_gizmos(Node *p_node) { } } -void SpatialEditor::update_all_gizmos() { - _update_all_gizmos(SceneTree::get_singleton()->get_root()); +void SpatialEditor::update_all_gizmos(Node *p_node) { + if (!p_node) p_node = SceneTree::get_singleton()->get_root(); + _update_all_gizmos(p_node); } Object *SpatialEditor::_get_editor_data(Object *p_what) { @@ -5379,7 +5380,6 @@ SpatialEditor::SpatialEditor(EditorNode *p_editor) { ED_SHORTCUT("spatial_editor/tool_move", TTR("Tool Move"), KEY_W); ED_SHORTCUT("spatial_editor/tool_rotate", TTR("Tool Rotate"), KEY_E); ED_SHORTCUT("spatial_editor/tool_scale", TTR("Tool Scale"), KEY_R); - ED_SHORTCUT("spatial_editor/snap_to_floor", TTR("Snap To Floor"), KEY_PAGEDOWN); ED_SHORTCUT("spatial_editor/freelook_toggle", TTR("Toggle Freelook"), KEY_MASK_SHIFT + KEY_F); @@ -5390,7 +5390,7 @@ SpatialEditor::SpatialEditor(EditorNode *p_editor) { hbc_menu->add_child(transform_menu); p = transform_menu->get_popup(); - p->add_shortcut(ED_SHORTCUT("spatial_editor/snap_to_floor", TTR("Snap object to floor")), MENU_SNAP_TO_FLOOR); + p->add_shortcut(ED_SHORTCUT("spatial_editor/snap_to_floor", TTR("Snap object to floor"), KEY_PAGEDOWN), MENU_SNAP_TO_FLOOR); p->add_shortcut(ED_SHORTCUT("spatial_editor/configure_snap", TTR("Configure Snap...")), MENU_TRANSFORM_CONFIGURE_SNAP); p->add_separator(); p->add_shortcut(ED_SHORTCUT("spatial_editor/transform_dialog", TTR("Transform Dialog...")), MENU_TRANSFORM_DIALOG); @@ -5662,7 +5662,7 @@ SpatialEditorPlugin::~SpatialEditorPlugin() { void EditorSpatialGizmoPlugin::create_material(const String &p_name, const Color &p_color, bool p_billboard, bool p_on_top, bool p_use_vertex_color) { - Color instanced_color = EDITOR_DEF("editors/3d_gizmos/gizmo_colors/instanced", Color(0.7, 0.7, 0.7, 0.5)); + Color instanced_color = EDITOR_DEF("editors/3d_gizmos/gizmo_colors/instanced", Color(0.7, 0.7, 0.7, 0.6)); Vector<Ref<SpatialMaterial> > mats; @@ -5704,7 +5704,7 @@ void EditorSpatialGizmoPlugin::create_material(const String &p_name, const Color void EditorSpatialGizmoPlugin::create_icon_material(const String &p_name, const Ref<Texture> &p_texture, bool p_on_top, const Color &p_albedo) { - Color instanced_color = EDITOR_DEF("editors/3d_gizmos/gizmo_colors/instanced", Color(0.7, 0.7, 0.7, 0.5)); + Color instanced_color = EDITOR_DEF("editors/3d_gizmos/gizmo_colors/instanced", Color(0.7, 0.7, 0.7, 0.6)); Vector<Ref<SpatialMaterial> > icons; @@ -5717,7 +5717,7 @@ void EditorSpatialGizmoPlugin::create_icon_material(const String &p_name, const Color color = instanced ? instanced_color : p_albedo; if (!selected) { - color.a *= 0.3; + color.a *= 0.85; } icon->set_albedo(color); diff --git a/editor/plugins/spatial_editor_plugin.h b/editor/plugins/spatial_editor_plugin.h index 5850c0dbf1..0e35ba8517 100644 --- a/editor/plugins/spatial_editor_plugin.h +++ b/editor/plugins/spatial_editor_plugin.h @@ -127,9 +127,7 @@ public: virtual void redraw(); virtual void free(); - //TODO remove (?) virtual bool is_editable() const; - virtual bool can_draw() const; void set_hidden(bool p_hidden); void set_plugin(EditorSpatialGizmoPlugin *p_gizmo); @@ -226,7 +224,7 @@ private: void _compute_edit(const Point2 &p_point); void _clear_selected(); void _select_clicked(bool p_append, bool p_single); - void _select(Spatial *p_node, bool p_append, bool p_single); + void _select(Node *p_node, bool p_append, bool p_single); ObjectID _select_ray(const Point2 &p_pos, bool p_append, bool &r_includes_current, int *r_gizmo_handle = NULL, bool p_alt_select = false); void _find_items_at_pos(const Point2 &p_pos, bool &r_includes_current, Vector<_RayResult> &results, bool p_alt_select = false); Vector3 _get_ray_pos(const Vector2 &p_pos) const; @@ -677,7 +675,7 @@ public: Ref<ArrayMesh> get_scale_plane_gizmo(int idx) const { return scale_plane_gizmo[idx]; } void update_transform_gizmo(); - void update_all_gizmos(); + void update_all_gizmos(Node *p_node = NULL); void snap_selected_nodes_to_floor(); void select_gizmo_highlight_axis(int p_axis); void set_custom_camera(Node *p_camera) { custom_camera = p_camera; } diff --git a/editor/project_export.cpp b/editor/project_export.cpp index 019d5d382c..df79317549 100644 --- a/editor/project_export.cpp +++ b/editor/project_export.cpp @@ -723,6 +723,25 @@ void ProjectExportDialog::_open_export_template_manager() { hide(); } +void ProjectExportDialog::_validate_export_path(const String &p_path) { + // Disable export via OK button or Enter key if LineEdit has an empty filename + bool invalid_path = (p_path.get_file().get_basename() == ""); + + // Check if state change before needlessly messing with signals + if (invalid_path && export_project->get_ok()->is_disabled()) + return; + if (!invalid_path && !export_project->get_ok()->is_disabled()) + return; + + if (invalid_path) { + export_project->get_ok()->set_disabled(true); + export_project->get_line_edit()->disconnect("text_entered", export_project, "_file_entered"); + } else { + export_project->get_ok()->set_disabled(false); + export_project->get_line_edit()->connect("text_entered", export_project, "_file_entered"); + } +} + void ProjectExportDialog::_export_project() { Ref<EditorExportPreset> current = EditorExport::get_singleton()->get_export_preset(presets->get_current()); @@ -732,12 +751,19 @@ void ProjectExportDialog::_export_project() { export_project->set_access(FileDialog::ACCESS_FILESYSTEM); export_project->clear_filters(); - export_project->set_current_file(default_filename); String extension = platform->get_binary_extension(current); - if (extension != String()) { export_project->add_filter("*." + extension + " ; " + platform->get_name() + " Export"); + export_project->set_current_file(default_filename + "." + extension); + } else { + export_project->set_current_file(default_filename); + } + + // Ensure that signal is connected if previous attempt left it disconnected with _validate_export_path + if (!export_project->get_line_edit()->is_connected("text_entered", export_project, "_file_entered")) { + export_project->get_ok()->set_disabled(false); + export_project->get_line_edit()->connect("text_entered", export_project, "_file_entered"); } export_project->set_mode(FileDialog::MODE_SAVE_FILE); @@ -746,7 +772,7 @@ void ProjectExportDialog::_export_project() { void ProjectExportDialog::_export_project_to_path(const String &p_path) { // Save this name for use in future exports (but drop the file extension) - default_filename = p_path.get_basename().get_file(); + default_filename = p_path.get_file().get_basename(); EditorSettings::get_singleton()->set_project_metadata("export_options", "default_filename", default_filename); Ref<EditorExportPreset> current = EditorExport::get_singleton()->get_export_preset(presets->get_current()); @@ -785,11 +811,13 @@ void ProjectExportDialog::_bind_methods() { ClassDB::bind_method("_export_pck_zip", &ProjectExportDialog::_export_pck_zip); ClassDB::bind_method("_export_pck_zip_selected", &ProjectExportDialog::_export_pck_zip_selected); ClassDB::bind_method("_open_export_template_manager", &ProjectExportDialog::_open_export_template_manager); + ClassDB::bind_method("_validate_export_path", &ProjectExportDialog::_validate_export_path); ClassDB::bind_method("_export_project", &ProjectExportDialog::_export_project); ClassDB::bind_method("_export_project_to_path", &ProjectExportDialog::_export_project_to_path); ClassDB::bind_method("_custom_features_changed", &ProjectExportDialog::_custom_features_changed); ClassDB::bind_method("_tab_changed", &ProjectExportDialog::_tab_changed); } + ProjectExportDialog::ProjectExportDialog() { set_title(TTR("Export")); @@ -942,6 +970,9 @@ ProjectExportDialog::ProjectExportDialog() { get_cancel()->set_text(TTR("Close")); get_ok()->set_text(TTR("Export PCK/Zip")); export_button = add_button(TTR("Export Project"), !OS::get_singleton()->get_swap_ok_cancel(), "export"); + export_button->connect("pressed", this, "_export_project"); + // Disable initially before we select a valid preset + export_button->set_disabled(true); export_pck_zip = memnew(FileDialog); export_pck_zip->add_filter("*.zip ; ZIP File"); @@ -981,7 +1012,7 @@ ProjectExportDialog::ProjectExportDialog() { export_project->set_access(FileDialog::ACCESS_FILESYSTEM); add_child(export_project); export_project->connect("file_selected", this, "_export_project_to_path"); - export_button->connect("pressed", this, "_export_project"); + export_project->get_line_edit()->connect("text_changed", this, "_validate_export_path"); export_debug = memnew(CheckButton); export_debug->set_text(TTR("Export With Debug")); @@ -997,10 +1028,14 @@ ProjectExportDialog::ProjectExportDialog() { editor_icons = "EditorIcons"; - default_filename = EditorSettings::get_singleton()->get_project_metadata("export_options", "default_filename", String()); - + default_filename = EditorSettings::get_singleton()->get_project_metadata("export_options", "default_filename", ""); + // If no default set, use project name if (default_filename == "") { + // If no project name defined, use a sane default default_filename = ProjectSettings::get_singleton()->get("application/config/name"); + if (default_filename == "") { + default_filename = "UnnamedProject"; + } } } diff --git a/editor/project_export.h b/editor/project_export.h index 1f8723febd..552c6d7faf 100644 --- a/editor/project_export.h +++ b/editor/project_export.h @@ -136,6 +136,7 @@ private: void _export_pck_zip(); void _export_pck_zip_selected(const String &p_path); + void _validate_export_path(const String &p_path); void _export_project(); void _export_project_to_path(const String &p_path); diff --git a/editor/project_manager.cpp b/editor/project_manager.cpp index 3a6a73d3cc..4d25a1da5c 100644 --- a/editor/project_manager.cpp +++ b/editor/project_manager.cpp @@ -1751,7 +1751,11 @@ ProjectManager::ProjectManager() { } break; } +#ifndef OSX_ENABLED + // The macOS platform implementation uses its own hiDPI window resizing code + // TODO: Resize windows on hiDPI displays on Windows and Linux and remove the line below OS::get_singleton()->set_window_size(OS::get_singleton()->get_window_size() * MAX(1, EDSCALE)); +#endif } FileDialog::set_default_show_hidden_files(EditorSettings::get_singleton()->get("filesystem/file_dialog/show_hidden_files")); diff --git a/editor/scene_tree_dock.cpp b/editor/scene_tree_dock.cpp index 3ace179f7d..18de2a6221 100644 --- a/editor/scene_tree_dock.cpp +++ b/editor/scene_tree_dock.cpp @@ -720,6 +720,9 @@ void SceneTreeDock::_tool_selected(int p_tool, bool p_confirm_override) { node->set_scene_instance_load_placeholder(false); menu->set_item_checked(placeholder_item_idx, false); } + + SpatialEditor::get_singleton()->update_all_gizmos(node); + scene_tree->update_tree(); } } diff --git a/editor/spatial_editor_gizmos.cpp b/editor/spatial_editor_gizmos.cpp index 07b3c44807..00067b84f7 100644 --- a/editor/spatial_editor_gizmos.cpp +++ b/editor/spatial_editor_gizmos.cpp @@ -32,8 +32,27 @@ #include "geometry.h" #include "quick_hull.h" -#include "scene/3d/camera.h" +#include "scene/3d/audio_stream_player_3d.h" +#include "scene/3d/baked_lightmap.h" +#include "scene/3d/collision_polygon.h" +#include "scene/3d/collision_shape.h" +#include "scene/3d/gi_probe.h" +#include "scene/3d/light.h" +#include "scene/3d/listener.h" +#include "scene/3d/mesh_instance.h" +#include "scene/3d/navigation_mesh.h" +#include "scene/3d/particles.h" +#include "scene/3d/physics_joint.h" +#include "scene/3d/portal.h" +#include "scene/3d/position_3d.h" +#include "scene/3d/ray_cast.h" +#include "scene/3d/reflection_probe.h" +#include "scene/3d/room_instance.h" #include "scene/3d/soft_body.h" +#include "scene/3d/spring_arm.h" +#include "scene/3d/sprite_3d.h" +#include "scene/3d/vehicle_body.h" +#include "scene/3d/visibility_notifier.h" #include "scene/resources/box_shape.h" #include "scene/resources/capsule_shape.h" #include "scene/resources/convex_polygon_shape.h" @@ -44,17 +63,8 @@ #include "scene/resources/sphere_shape.h" #include "scene/resources/surface_tool.h" -// Keep small children away from this file. -// It's so ugly it will eat them alive - -// The previous comment is kept only for historical reasons. -// No children will be harmed by the viewing of this file... hopefully. - #define HANDLE_HALF_SIZE 9.5 -bool EditorSpatialGizmo::can_draw() const { - return is_editable(); -} bool EditorSpatialGizmo::is_editable() const { ERR_FAIL_COND_V(!spatial_node, false); diff --git a/editor/spatial_editor_gizmos.h b/editor/spatial_editor_gizmos.h index 6f29e9d999..371e3bc689 100644 --- a/editor/spatial_editor_gizmos.h +++ b/editor/spatial_editor_gizmos.h @@ -32,27 +32,7 @@ #define SPATIAL_EDITOR_GIZMOS_H #include "editor/plugins/spatial_editor_plugin.h" -#include "scene/3d/audio_stream_player_3d.h" -#include "scene/3d/baked_lightmap.h" #include "scene/3d/camera.h" -#include "scene/3d/collision_polygon.h" -#include "scene/3d/collision_shape.h" -#include "scene/3d/gi_probe.h" -#include "scene/3d/light.h" -#include "scene/3d/listener.h" -#include "scene/3d/mesh_instance.h" -#include "scene/3d/navigation_mesh.h" -#include "scene/3d/particles.h" -#include "scene/3d/physics_joint.h" -#include "scene/3d/portal.h" -#include "scene/3d/position_3d.h" -#include "scene/3d/ray_cast.h" -#include "scene/3d/reflection_probe.h" -#include "scene/3d/room_instance.h" -#include "scene/3d/spring_arm.h" -#include "scene/3d/sprite_3d.h" -#include "scene/3d/vehicle_body.h" -#include "scene/3d/visibility_notifier.h" class Camera; diff --git a/main/main.cpp b/main/main.cpp index a336496d39..96d00be737 100644 --- a/main/main.cpp +++ b/main/main.cpp @@ -1693,6 +1693,7 @@ bool Main::start() { #ifdef TOOLS_ENABLED if (project_manager || (script == "" && test == "" && game_path == "" && !editor)) { + Engine::get_singleton()->set_editor_hint(true); ProjectManager *pmanager = memnew(ProjectManager); ProgressDialog *progress_dialog = memnew(ProgressDialog); pmanager->add_child(progress_dialog); diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub index d8d0b930a5..2557e8cb1d 100644 --- a/modules/bullet/SCsub +++ b/modules/bullet/SCsub @@ -68,11 +68,13 @@ if env['builtin_bullet']: , "BulletCollision/CollisionShapes/btEmptyShape.cpp" , "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp" , "BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp" + , "BulletCollision/CollisionShapes/btMiniSDF.cpp" , "BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp" , "BulletCollision/CollisionShapes/btMultiSphereShape.cpp" , "BulletCollision/CollisionShapes/btOptimizedBvh.cpp" , "BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp" , "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp" + , "BulletCollision/CollisionShapes/btSdfCollisionShape.cpp" , "BulletCollision/CollisionShapes/btShapeHull.cpp" , "BulletCollision/CollisionShapes/btSphereShape.cpp" , "BulletCollision/CollisionShapes/btStaticPlaneShape.cpp" diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp index 3668088590..3200b4a214 100644 --- a/modules/bullet/area_bullet.cpp +++ b/modules/bullet/area_bullet.cpp @@ -30,6 +30,7 @@ #include "area_bullet.h" +#include "bullet_physics_server.h" #include "bullet_types_converter.h" #include "bullet_utilities.h" #include "collision_object_bullet.h" @@ -57,7 +58,7 @@ AreaBullet::AreaBullet() : spOv_priority(0) { btGhost = bulletnew(btGhostObject); - btGhost->setCollisionShape(compoundShape); + btGhost->setCollisionShape(BulletPhysicsServer::get_empty_shape()); setupBulletCollisionObject(btGhost); /// Collision objects with a callback still have collision response with dynamic rigid bodies. /// In order to use collision objects as trigger, you have to disable the collision response. @@ -162,6 +163,13 @@ bool AreaBullet::is_monitoring() const { return get_godot_object_flags() & GOF_IS_MONITORING_AREA; } +void AreaBullet::main_shape_resetted() { + if (get_main_shape()) + btGhost->setCollisionShape(get_main_shape()); + else + btGhost->setCollisionShape(BulletPhysicsServer::get_empty_shape()); +} + void AreaBullet::reload_body() { if (space) { space->remove_area(this); diff --git a/modules/bullet/area_bullet.h b/modules/bullet/area_bullet.h index b2046c684e..a6bf73906c 100644 --- a/modules/bullet/area_bullet.h +++ b/modules/bullet/area_bullet.h @@ -142,6 +142,7 @@ public: _FORCE_INLINE_ void set_spOv_priority(int p_priority) { spOv_priority = p_priority; } _FORCE_INLINE_ int get_spOv_priority() { return spOv_priority; } + virtual void main_shape_resetted(); virtual void reload_body(); virtual void set_space(SpaceBullet *p_space); diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h index e9c568d605..87719383f8 100644 --- a/modules/bullet/bullet_physics_server.h +++ b/modules/bullet/bullet_physics_server.h @@ -61,7 +61,7 @@ class BulletPhysicsServer : public PhysicsServer { mutable RID_Owner<JointBullet> joint_owner; private: - /// This is used when a collision shape is not active, so the bullet compound shapes index are always sync with godot index + /// This is used as replacement of collision shape inside a compound or main shape static btEmptyShape *emptyShape; public: diff --git a/modules/bullet/bullet_utilities.h b/modules/bullet/bullet_utilities.h index 2841dfbe69..029eb6691a 100644 --- a/modules/bullet/bullet_utilities.h +++ b/modules/bullet/bullet_utilities.h @@ -35,8 +35,6 @@ @author AndreaCatania */ -#pragma once - #define bulletnew(cl) \ new cl diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp index 271cdb0223..df67f8d7ab 100644 --- a/modules/bullet/collision_object_bullet.cpp +++ b/modules/bullet/collision_object_bullet.cpp @@ -53,10 +53,17 @@ void CollisionObjectBullet::ShapeWrapper::set_transform(const Transform &p_trans G_TO_B(p_transform, transform); UNSCALE_BT_BASIS(transform); } + void CollisionObjectBullet::ShapeWrapper::set_transform(const btTransform &p_transform) { transform = p_transform; } +void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) { + if (!bt_shape) { + bt_shape = shape->create_bt_shape(scale * body_scale); + } +} + CollisionObjectBullet::CollisionObjectBullet(Type p_type) : RIDBullet(), space(NULL), @@ -107,6 +114,7 @@ void CollisionObjectBullet::setupBulletCollisionObject(btCollisionObject *p_coll bt_collision_object->setUserIndex(type); // Force the enabling of collision and avoid problems set_collision_enabled(collisionsEnabled); + p_collisionObject->setCollisionFlags(p_collisionObject->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK); } void CollisionObjectBullet::add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) { @@ -186,13 +194,14 @@ const btTransform &CollisionObjectBullet::get_transform__bullet() const { RigidCollisionObjectBullet::RigidCollisionObjectBullet(Type p_type) : CollisionObjectBullet(p_type), - compoundShape(bulletnew(btCompoundShape(enableDynamicAabbTree, initialChildCapacity))) { + mainShape(NULL) { } RigidCollisionObjectBullet::~RigidCollisionObjectBullet() { remove_all_shapes(true); - bt_collision_object->setCollisionShape(NULL); - bulletdelete(compoundShape); + if (mainShape && mainShape->isCompound()) { + bulletdelete(mainShape); + } } /* Not used @@ -277,6 +286,10 @@ btCollisionShape *RigidCollisionObjectBullet::get_bt_shape(int p_index) const { return shapes[p_index].bt_shape; } +const btTransform &RigidCollisionObjectBullet::get_bt_shape_transform(int p_index) const { + return shapes[p_index].transform; +} + Transform RigidCollisionObjectBullet::get_shape_transform(int p_index) const { Transform trs; B_TO_G(shapes[p_index].transform, trs); @@ -294,33 +307,47 @@ void RigidCollisionObjectBullet::on_shape_changed(const ShapeBullet *const p_sha } void RigidCollisionObjectBullet::on_shapes_changed() { - int i; - // Remove all shapes, reverse order for performance reason (Array resize) - for (i = compoundShape->getNumChildShapes() - 1; 0 <= i; --i) { - compoundShape->removeChildShapeByIndex(i); + if (mainShape && mainShape->isCompound()) { + bulletdelete(mainShape); } + mainShape = NULL; ShapeWrapper *shpWrapper; - const int shapes_size = shapes.size(); + const int shape_count = shapes.size(); // Reset shape if required if (force_shape_reset) { - for (i = 0; i < shapes_size; ++i) { + for (int i(0); i < shape_count; ++i) { shpWrapper = &shapes.write[i]; bulletdelete(shpWrapper->bt_shape); } force_shape_reset = false; } - // Insert all shapes btVector3 body_scale(get_bt_body_scale()); - for (i = 0; i < shapes_size; ++i) { + + if (!shape_count) + return; + + // Try to optimize by not using compound + if (1 == shape_count) { + shpWrapper = &shapes.write[0]; + if (shpWrapper->active && shpWrapper->transform.getOrigin().isZero() && shpWrapper->transform.getBasis() == shpWrapper->transform.getBasis().getIdentity()) { + shpWrapper->claim_bt_shape(body_scale); + mainShape = shpWrapper->bt_shape; + main_shape_resetted(); + return; + } + } + + btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, initialChildCapacity)); + + // Insert all shapes into compound + for (int i(0); i < shape_count; ++i) { shpWrapper = &shapes.write[i]; if (shpWrapper->active) { - if (!shpWrapper->bt_shape) { - shpWrapper->bt_shape = shpWrapper->shape->create_bt_shape(shpWrapper->scale * body_scale); - } + shpWrapper->claim_bt_shape(body_scale); btTransform scaled_shape_transform(shpWrapper->transform); scaled_shape_transform.getOrigin() *= body_scale; @@ -331,6 +358,8 @@ void RigidCollisionObjectBullet::on_shapes_changed() { } compoundShape->recalculateLocalAabb(); + mainShape = compoundShape; + main_shape_resetted(); } void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) { diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h index 506976eabf..d14fdd3301 100644 --- a/modules/bullet/collision_object_bullet.h +++ b/modules/bullet/collision_object_bullet.h @@ -109,6 +109,8 @@ public: void set_transform(const Transform &p_transform); void set_transform(const btTransform &p_transform); + + void claim_bt_shape(const btVector3 &body_scale); }; protected: @@ -207,10 +209,8 @@ public: class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwnerBullet { protected: - /// This is required to combine some shapes together. - /// Since Godot allow to have multiple shapes for each body with custom relative location, - /// each body will attach the shapes using this class even if there is only one shape. - btCompoundShape *compoundShape; + /// This could be a compound shape in case multi please collision are found + btCollisionShape *mainShape; Vector<ShapeWrapper> shapes; public: @@ -231,15 +231,18 @@ public: virtual void on_shape_changed(const ShapeBullet *const p_shape); virtual void on_shapes_changed(); - _FORCE_INLINE_ btCompoundShape *get_compound_shape() const { return compoundShape; } + _FORCE_INLINE_ btCollisionShape *get_main_shape() const { return mainShape; } + int get_shape_count() const; ShapeBullet *get_shape(int p_index) const; btCollisionShape *get_bt_shape(int p_index) const; + const btTransform &get_bt_shape_transform(int p_index) const; Transform get_shape_transform(int p_index) const; void set_shape_disabled(int p_index, bool p_disabled); bool is_shape_disabled(int p_index); + virtual void main_shape_resetted() = 0; virtual void on_body_scale_changed(); private: diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp index 534034d707..08d8b8c6f6 100644 --- a/modules/bullet/godot_result_callbacks.cpp +++ b/modules/bullet/godot_result_callbacks.cpp @@ -34,11 +34,19 @@ #include "bullet_types_converter.h" #include "collision_object_bullet.h" #include "rigid_body_bullet.h" +#include <BulletCollision/CollisionDispatch/btInternalEdgeUtility.h> /** @author AndreaCatania */ +bool godotContactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) { + if (!colObj1Wrap->getCollisionObject()->getCollisionShape()->isCompound()) { + btAdjustInternalEdgeContacts(cp, colObj1Wrap, colObj0Wrap, partId1, index1); + } + return true; +} + bool GodotFilterCallback::test_collision_filters(uint32_t body0_collision_layer, uint32_t body0_collision_mask, uint32_t body1_collision_layer, uint32_t body1_collision_mask) { return body0_collision_layer & body1_collision_mask || body1_collision_layer & body0_collision_mask; } diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h index 3948f43c00..8e70b72841 100644 --- a/modules/bullet/godot_result_callbacks.h +++ b/modules/bullet/godot_result_callbacks.h @@ -42,6 +42,9 @@ class RigidBodyBullet; +/// This callback is injected inside bullet server and allow me to smooth contacts against trimesh +bool godotContactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1); + /// This class is required to implement custom collision behaviour in the broadphase struct GodotFilterCallback : public btOverlapFilterCallback { static bool test_collision_filters(uint32_t body0_collision_layer, uint32_t body0_collision_mask, uint32_t body1_collision_layer, uint32_t body1_collision_mask); @@ -71,7 +74,10 @@ public: virtual bool needsCollision(btBroadphaseProxy *proxy0) const; virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult &rayResult, bool normalInWorldSpace) { - m_shapeId = rayResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID + if (rayResult.m_localShapeInfo) + m_shapeId = rayResult.m_localShapeInfo->m_triangleIndex; // "m_triangleIndex" Is a odd name but contains the compound shape ID + else + m_shapeId = 0; return btCollisionWorld::ClosestRayResultCallback::addSingleResult(rayResult, normalInWorldSpace); } }; diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index 9c0e802be5..2d0e74eb6f 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -279,7 +279,7 @@ RigidBodyBullet::RigidBodyBullet() : // Initial properties const btVector3 localInertia(0, 0, 0); - btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, compoundShape, localInertia); + btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, BulletPhysicsServer::get_empty_shape(), localInertia); btBody = bulletnew(btRigidBody(cInfo)); setupBulletCollisionObject(btBody); @@ -314,10 +314,19 @@ void RigidBodyBullet::destroy_kinematic_utilities() { } } +void RigidBodyBullet::main_shape_resetted() { + if (get_main_shape()) + btBody->setCollisionShape(get_main_shape()); + else + btBody->setCollisionShape(BulletPhysicsServer::get_empty_shape()); + set_continuous_collision_detection(is_continuous_collision_detection_enabled()); // Reset +} + void RigidBodyBullet::reload_body() { if (space) { space->remove_rigid_body(this); - space->add_rigid_body(this); + if (get_main_shape()) + space->add_rigid_body(this); } } @@ -711,15 +720,19 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) { if (p_enable) { // This threshold enable CCD if the object moves more than // 1 meter in one simulation frame - btBody->setCcdMotionThreshold(1); + btBody->setCcdMotionThreshold(0.1); /// Calculate using the rule writte below the CCD swept sphere radius /// CCD works on an embedded sphere of radius, make sure this radius /// is embedded inside the convex objects, preferably smaller: /// for an object of dimensions 1 meter, try 0.2 - btVector3 center; btScalar radius; - btBody->getCollisionShape()->getBoundingSphere(center, radius); + if (btBody->getCollisionShape()) { + btVector3 center; + btBody->getCollisionShape()->getBoundingSphere(center, radius); + } else { + radius = 0; + } btBody->setCcdSweptSphereRadius(radius * 0.2); } else { btBody->setCcdMotionThreshold(0.); @@ -728,7 +741,7 @@ void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) { } bool RigidBodyBullet::is_continuous_collision_detection_enabled() const { - return 0. != btBody->getCcdMotionThreshold(); + return 0. < btBody->getCcdMotionThreshold(); } void RigidBodyBullet::set_linear_velocity(const Vector3 &p_velocity) { @@ -783,9 +796,11 @@ void RigidBodyBullet::on_shapes_changed() { const btScalar invMass = btBody->getInvMass(); const btScalar mass = invMass == 0 ? 0 : 1 / invMass; - btVector3 inertia; - btBody->getCollisionShape()->calculateLocalInertia(mass, inertia); - btBody->setMassProps(mass, inertia); + if (mainShape) { + btVector3 inertia; + mainShape->calculateLocalInertia(mass, inertia); + btBody->setMassProps(mass, inertia); + } btBody->updateInertiaTensor(); reload_kinematic_shapes(); @@ -986,7 +1001,8 @@ void RigidBodyBullet::_internal_set_mass(real_t p_mass) { return; m_isStatic = false; - compoundShape->calculateLocalInertia(p_mass, localInertia); + if (mainShape) + mainShape->calculateLocalInertia(p_mass, localInertia); if (PhysicsServer::BODY_MODE_RIGID == mode) { diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h index f03009bce9..cd2f215906 100644 --- a/modules/bullet/rigid_body_bullet.h +++ b/modules/bullet/rigid_body_bullet.h @@ -231,6 +231,7 @@ public: _FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; } + virtual void main_shape_resetted(); virtual void reload_body(); virtual void set_space(SpaceBullet *p_space); diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp index cc7d106496..4a2263407c 100644 --- a/modules/bullet/shape_bullet.cpp +++ b/modules/bullet/shape_bullet.cpp @@ -36,6 +36,7 @@ #include "bullet_utilities.h" #include "shape_owner_bullet.h" +#include <BulletCollision/CollisionDispatch/btInternalEdgeUtility.h> #include <BulletCollision/CollisionShapes/btConvexPointCloudShape.h> #include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h> #include <btBulletCollisionCommon.h> @@ -358,7 +359,8 @@ ConcavePolygonShapeBullet::ConcavePolygonShapeBullet() : ConcavePolygonShapeBullet::~ConcavePolygonShapeBullet() { if (meshShape) { delete meshShape->getMeshInterface(); - delete meshShape; + delete meshShape->getTriangleInfoMap(); + bulletdelete(meshShape); } faces = PoolVector<Vector3>(); } @@ -380,6 +382,7 @@ void ConcavePolygonShapeBullet::setup(PoolVector<Vector3> p_faces) { if (meshShape) { /// Clear previous created shape delete meshShape->getMeshInterface(); + delete meshShape->getTriangleInfoMap(); bulletdelete(meshShape); } int src_face_count = faces.size(); @@ -407,6 +410,8 @@ void ConcavePolygonShapeBullet::setup(PoolVector<Vector3> p_faces) { const bool useQuantizedAabbCompression = true; meshShape = bulletnew(btBvhTriangleMeshShape(shapeInterface, useQuantizedAabbCompression)); + btTriangleInfoMap *triangleInfoMap = new btTriangleInfoMap(); + btGenerateInternalEdgeInfo(meshShape, triangleInfoMap); } else { meshShape = NULL; ERR_PRINT("The faces count are 0, the mesh shape cannot be created"); diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index b12925b073..6d00b3d1d8 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -295,11 +295,10 @@ Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_ bool shapes_found = false; - btCompoundShape *compound = rigid_object->get_compound_shape(); - for (int i = compound->getNumChildShapes() - 1; 0 <= i; --i) { - shape = compound->getChildShape(i); + for (int i = rigid_object->get_shape_count() - 1; 0 <= i; --i) { + shape = rigid_object->get_bt_shape(i); if (shape->isConvex()) { - child_transform = compound->getChildTransform(i); + child_transform = rigid_object->get_bt_shape_transform(i); convex_shape = static_cast<btConvexShape *>(shape); input.m_transformB = body_transform * child_transform; @@ -598,6 +597,7 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) { godotFilterCallback = bulletnew(GodotFilterCallback); gCalculateCombinedRestitutionCallback = &calculateGodotCombinedRestitution; gCalculateCombinedFrictionCallback = &calculateGodotCombinedFriction; + gContactAddedCallback = &godotContactAddedCallback; dynamicsWorld->setWorldUserInfo(this); @@ -642,7 +642,7 @@ void SpaceBullet::destroy_world() { void SpaceBullet::check_ghost_overlaps() { /// Algorithm support variables - btConvexShape *other_body_shape; + btCollisionShape *other_body_shape; btConvexShape *area_shape; btGjkPairDetector::ClosestPointInput gjk_input; AreaBullet *area; @@ -684,30 +684,52 @@ void SpaceBullet::check_ghost_overlaps() { bool hasOverlap = false; // For each area shape - for (y = area->get_compound_shape()->getNumChildShapes() - 1; 0 <= y; --y) { - if (!area->get_compound_shape()->getChildShape(y)->isConvex()) + for (y = area->get_shape_count() - 1; 0 <= y; --y) { + if (!area->get_bt_shape(y)->isConvex()) continue; - gjk_input.m_transformA = area->get_transform__bullet() * area->get_compound_shape()->getChildTransform(y); - area_shape = static_cast<btConvexShape *>(area->get_compound_shape()->getChildShape(y)); + gjk_input.m_transformA = area->get_transform__bullet() * area->get_bt_shape_transform(y); + area_shape = static_cast<btConvexShape *>(area->get_bt_shape(y)); // For each other object shape - for (z = otherObject->get_compound_shape()->getNumChildShapes() - 1; 0 <= z; --z) { + for (z = otherObject->get_shape_count() - 1; 0 <= z; --z) { - if (!otherObject->get_compound_shape()->getChildShape(z)->isConvex()) - continue; + other_body_shape = static_cast<btCollisionShape *>(otherObject->get_bt_shape(z)); + gjk_input.m_transformB = otherObject->get_transform__bullet() * otherObject->get_bt_shape_transform(z); - other_body_shape = static_cast<btConvexShape *>(otherObject->get_compound_shape()->getChildShape(z)); - gjk_input.m_transformB = otherObject->get_transform__bullet() * otherObject->get_compound_shape()->getChildTransform(z); + if (other_body_shape->isConvex()) { - btPointCollector result; - btGjkPairDetector gjk_pair_detector(area_shape, other_body_shape, gjk_simplex_solver, gjk_epa_pen_solver); - gjk_pair_detector.getClosestPoints(gjk_input, result, 0); + btPointCollector result; + btGjkPairDetector gjk_pair_detector(area_shape, static_cast<btConvexShape *>(other_body_shape), gjk_simplex_solver, gjk_epa_pen_solver); + gjk_pair_detector.getClosestPoints(gjk_input, result, 0); - if (0 >= result.m_distance) { - hasOverlap = true; - goto collision_found; + if (0 >= result.m_distance) { + hasOverlap = true; + goto collision_found; + } + + } else { + + btCollisionObjectWrapper obA(NULL, area_shape, area->get_bt_ghost(), gjk_input.m_transformA, -1, y); + btCollisionObjectWrapper obB(NULL, other_body_shape, otherObject->get_bt_collision_object(), gjk_input.m_transformB, -1, z); + + btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CONTACT_POINT_ALGORITHMS); + + if (!algorithm) + continue; + + GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB); + algorithm->processCollision(&obA, &obB, dynamicsWorld->getDispatchInfo(), &contactPointResult); + + algorithm->~btCollisionAlgorithm(); + dispatcher->freeCollisionAlgorithm(algorithm); + + if (contactPointResult.hasHit()) { + hasOverlap = true; + goto collision_found; + } } + } // ~For each other object shape } // ~For each area shape diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h index 517ec67ffa..0649e1f7e3 100644 --- a/modules/bullet/space_bullet.h +++ b/modules/bullet/space_bullet.h @@ -65,6 +65,8 @@ class SpaceBullet; class SoftBodyBullet; class btGjkEpaPenetrationDepthSolver; +extern ContactAddedCallback gContactAddedCallback; + class BulletPhysicsDirectSpaceState : public PhysicsDirectSpaceState { GDCLASS(BulletPhysicsDirectSpaceState, PhysicsDirectSpaceState) private: diff --git a/modules/gdnative/gdnative/basis.cpp b/modules/gdnative/gdnative/basis.cpp index 372bdf3fb1..70d2814577 100644 --- a/modules/gdnative/gdnative/basis.cpp +++ b/modules/gdnative/gdnative/basis.cpp @@ -113,6 +113,40 @@ godot_vector3 GDAPI godot_basis_get_scale(const godot_basis *p_self) { return dest; } +godot_quat GDAPI godot_basis_get_quat(const godot_basis *p_self) { + godot_quat dest; + const Basis *self = (const Basis *)p_self; + *((Quat *)&dest) = self->get_quat(); + return dest; +} + +void GDAPI godot_basis_set_quat(godot_basis *p_self, const godot_quat *p_quat) { + Basis *self = (Basis *)p_self; + const Quat *quat = (const Quat *)p_quat; + self->set_quat(*quat); +} + +void GDAPI godot_basis_set_axis_angle_scale(godot_basis *p_self, const godot_vector3 *p_axis, godot_real p_phi, const godot_vector3 *p_scale) { + Basis *self = (Basis *)p_self; + const Vector3 *axis = (const Vector3 *)p_axis; + const Vector3 *scale = (const Vector3 *)p_scale; + self->set_axis_angle_scale(*axis, p_phi, *scale); +} + +void GDAPI godot_basis_set_euler_scale(godot_basis *p_self, const godot_vector3 *p_euler, const godot_vector3 *p_scale) { + Basis *self = (Basis *)p_self; + const Vector3 *euler = (const Vector3 *)p_euler; + const Vector3 *scale = (const Vector3 *)p_scale; + self->set_euler_scale(*euler, *scale); +} + +void GDAPI godot_basis_set_quat_scale(godot_basis *p_self, const godot_quat *p_quat, const godot_vector3 *p_scale) { + Basis *self = (Basis *)p_self; + const Quat *quat = (const Quat *)p_quat; + const Vector3 *scale = (const Vector3 *)p_scale; + self->set_quat_scale(*quat, *scale); +} + godot_vector3 GDAPI godot_basis_get_euler(const godot_basis *p_self) { godot_vector3 dest; const Basis *self = (const Basis *)p_self; diff --git a/modules/gdnative/gdnative/dictionary.cpp b/modules/gdnative/gdnative/dictionary.cpp index 786e614158..34cc91129e 100644 --- a/modules/gdnative/gdnative/dictionary.cpp +++ b/modules/gdnative/gdnative/dictionary.cpp @@ -155,6 +155,12 @@ godot_string GDAPI godot_dictionary_to_json(const godot_dictionary *p_self) { return raw_dest; } +godot_bool GDAPI godot_dictionary_erase_with_return(godot_dictionary *p_self, const godot_variant *p_key) { + Dictionary *self = (Dictionary *)p_self; + const Variant *key = (const Variant *)p_key; + return self->erase(*key); +} + #ifdef __cplusplus } #endif diff --git a/modules/gdnative/gdnative/gdnative.cpp b/modules/gdnative/gdnative/gdnative.cpp index 041990e137..73fca655a8 100644 --- a/modules/gdnative/gdnative/gdnative.cpp +++ b/modules/gdnative/gdnative/gdnative.cpp @@ -166,6 +166,10 @@ void _gdnative_report_loading_error(const godot_object *p_library, const char *p _err_print_error("gdnative_init", library->get_current_library_path().utf8().ptr(), 0, message.utf8().ptr()); } +bool GDAPI godot_is_instance_valid(const godot_object *p_object) { + return ObjectDB::instance_validate((Object *)p_object); +} + #ifdef __cplusplus } #endif diff --git a/modules/gdnative/gdnative/quat.cpp b/modules/gdnative/gdnative/quat.cpp index 56ff7fe3a8..ddec77edcd 100644 --- a/modules/gdnative/gdnative/quat.cpp +++ b/modules/gdnative/gdnative/quat.cpp @@ -49,6 +49,18 @@ void GDAPI godot_quat_new_with_axis_angle(godot_quat *r_dest, const godot_vector *dest = Quat(*axis, p_angle); } +void GDAPI godot_quat_new_with_basis(godot_quat *r_dest, const godot_basis *p_basis) { + const Basis *basis = (const Basis *)p_basis; + Quat *dest = (Quat *)r_dest; + *dest = Quat(*basis); +} + +void GDAPI godot_quat_new_with_euler(godot_quat *r_dest, const godot_vector3 *p_euler) { + const Vector3 *euler = (const Vector3 *)p_euler; + Quat *dest = (Quat *)r_dest; + *dest = Quat(*euler); +} + godot_real GDAPI godot_quat_get_x(const godot_quat *p_self) { const Quat *self = (const Quat *)p_self; return self->x; diff --git a/modules/gdnative/gdnative/transform.cpp b/modules/gdnative/gdnative/transform.cpp index 715f2e3c08..ee6140c7d0 100644 --- a/modules/gdnative/gdnative/transform.cpp +++ b/modules/gdnative/gdnative/transform.cpp @@ -56,6 +56,12 @@ void GDAPI godot_transform_new(godot_transform *r_dest, const godot_basis *p_bas *dest = Transform(*basis, *origin); } +void GDAPI godot_transform_new_with_quat(godot_transform *r_dest, const godot_quat *p_quat) { + const Quat *quat = (const Quat *)p_quat; + Transform *dest = (Transform *)r_dest; + *dest = Transform(*quat); +} + godot_basis GDAPI godot_transform_get_basis(const godot_transform *p_self) { godot_basis dest; const Transform *self = (const Transform *)p_self; diff --git a/modules/gdnative/gdnative_api.json b/modules/gdnative/gdnative_api.json index e326d11a84..dce3d7e96b 100644 --- a/modules/gdnative/gdnative_api.json +++ b/modules/gdnative/gdnative_api.json @@ -5,7 +5,98 @@ "major": 1, "minor": 0 }, - "next": null, + "next": { + "type": "CORE", + "version": { + "major": 1, + "minor": 1 + }, + "next": null, + "api": [ + { + "name": "godot_basis_get_quat", + "return_type": "godot_quat", + "arguments": [ + ["const godot_basis *", "p_self"] + ] + }, + { + "name": "godot_basis_set_quat", + "return_type": "void", + "arguments": [ + ["godot_basis *", "p_self"], + ["const godot_quat *", "p_quat"] + ] + }, + { + "name": "godot_basis_set_axis_angle_scale", + "return_type": "void", + "arguments": [ + ["godot_basis *", "p_self"], + ["const godot_vector3 *", "p_axis"], + ["godot_real", "p_phi"], + ["const godot_vector3 *", "p_scale"] + ] + }, + { + "name": "godot_basis_set_euler_scale", + "return_type": "void", + "arguments": [ + ["godot_basis *", "p_self"], + ["const godot_vector3 *", "p_euler"], + ["const godot_vector3 *", "p_scale"] + ] + }, + { + "name": "godot_basis_set_quat_scale", + "return_type": "void", + "arguments": [ + ["godot_basis *", "p_self"], + ["const godot_quat *", "p_quat"], + ["const godot_vector3 *", "p_scale"] + ] + }, + { + "name": "godot_dictionary_erase_with_return", + "return_type": "bool", + "arguments": [ + ["godot_dictionary *", "p_self"], + ["const godot_variant *", "p_key"] + ] + }, + { + "name": "godot_is_instance_valid", + "return_type": "bool", + "arguments": [ + ["const godot_object *", "p_object"] + ] + }, + { + "name": "godot_quat_new_with_basis", + "return_type": "void", + "arguments": [ + ["godot_quat *", "r_dest"], + ["const godot_basis *", "p_basis"] + ] + }, + { + "name": "godot_quat_new_with_euler", + "return_type": "void", + "arguments": [ + ["godot_quat *", "r_dest"], + ["const godot_vector3 *", "p_euler"] + ] + }, + { + "name": "godot_transform_new_with_quat", + "return_type": "void", + "arguments": [ + ["godot_transform *", "r_dest"], + ["const godot_quat *", "p_quat"] + ] + } + ] + }, "api": [ { "name": "godot_color_new_rgba", @@ -4484,7 +4575,7 @@ ] }, { - "name": "godot_string_wide_str", + "name": "godot_string_wide_str", "return_type": "const wchar_t *", "arguments": [ ["const godot_string *", "p_self"] @@ -5253,21 +5344,21 @@ "name": "godot_string_ascii", "return_type": "godot_char_string", "arguments": [ - ["const godot_string *", "p_self"] + ["const godot_string *", "p_self"] ] }, { "name": "godot_string_ascii_extended", "return_type": "godot_char_string", "arguments": [ - ["const godot_string *", "p_self"] + ["const godot_string *", "p_self"] ] }, { "name": "godot_string_utf8", "return_type": "godot_char_string", "arguments": [ - ["const godot_string *", "p_self"] + ["const godot_string *", "p_self"] ] }, { @@ -5765,15 +5856,15 @@ "minor": 0 }, "next": { - "type": "NATIVESCRIPT", - "version": { - "major": 1, - "minor": 1 - }, - "next": null, - "api": [ + "type": "NATIVESCRIPT", + "version": { + "major": 1, + "minor": 1 + }, + "next": null, + "api": [ { - "name": "godot_nativescript_set_method_argument_information", + "name": "godot_nativescript_set_method_argument_information", "return_type": "void", "arguments": [ ["void *", "p_gdnative_handle"], @@ -5784,7 +5875,7 @@ ] }, { - "name": "godot_nativescript_set_class_documentation", + "name": "godot_nativescript_set_class_documentation", "return_type": "void", "arguments": [ ["void *", "p_gdnative_handle"], @@ -5793,7 +5884,7 @@ ] }, { - "name": "godot_nativescript_set_method_documentation", + "name": "godot_nativescript_set_method_documentation", "return_type": "void", "arguments": [ ["void *", "p_gdnative_handle"], @@ -5803,7 +5894,7 @@ ] }, { - "name": "godot_nativescript_set_property_documentation", + "name": "godot_nativescript_set_property_documentation", "return_type": "void", "arguments": [ ["void *", "p_gdnative_handle"], @@ -5813,7 +5904,7 @@ ] }, { - "name": "godot_nativescript_set_signal_documentation", + "name": "godot_nativescript_set_signal_documentation", "return_type": "void", "arguments": [ ["void *", "p_gdnative_handle"], @@ -5874,7 +5965,7 @@ "return_type": "void *", "arguments": [ ["int", "p_idx"], - ["godot_object *", "p_object"] + ["godot_object *", "p_object"] ] }, { @@ -5885,7 +5976,7 @@ ["uint64_t", "p_line"] ] } - ] + ] }, "api": [ { diff --git a/modules/gdnative/gdnative_builders.py b/modules/gdnative/gdnative_builders.py index 8a1cd049af..f9d1ed9dc5 100644 --- a/modules/gdnative/gdnative_builders.py +++ b/modules/gdnative/gdnative_builders.py @@ -82,10 +82,35 @@ def _build_gdnative_api_struct_header(api): return ret_val + + def generate_core_extension_struct(core): + ret_val = [] + if core['next']: + ret_val += generate_core_extension_struct(core['next']) + + ret_val += [ + 'typedef struct godot_gdnative_core_' + ('{0}_{1}'.format(core['version']['major'], core['version']['minor'])) + '_api_struct {', + '\tunsigned int type;', + '\tgodot_gdnative_api_version version;', + '\tconst godot_gdnative_api_struct *next;', + ] + + for funcdef in core['api']: + args = ', '.join(['%s%s' % (_spaced(t), n) for t, n in funcdef['arguments']]) + ret_val.append('\t%s(*%s)(%s);' % (_spaced(funcdef['return_type']), funcdef['name'], args)) + + ret_val += ['} godot_gdnative_core_' + '{0}_{1}'.format(core['version']['major'], core['version']['minor']) + '_api_struct;', ''] + + return ret_val + + for ext in api['extensions']: name = ext['name'] out += generate_extension_struct(name, ext, False) + if api['core']['next']: + out += generate_core_extension_struct(api['core']['next']) + out += [ 'typedef struct godot_gdnative_core_api_struct {', '\tunsigned int type;', @@ -146,6 +171,27 @@ def _build_gdnative_api_struct_source(api): ret_val += ['};\n'] return ret_val + + + def get_core_struct_definition(core): + ret_val = [] + + if core['next']: + ret_val += get_core_struct_definition(core['next']) + + ret_val += [ + 'extern const godot_gdnative_core_' + ('{0}_{1}_api_struct api_{0}_{1}'.format(core['version']['major'], core['version']['minor'])) + ' = {', + '\tGDNATIVE_' + core['type'] + ',', + '\t{' + str(core['version']['major']) + ', ' + str(core['version']['minor']) + '},', + '\t' + ('NULL' if not core['next'] else ('(const godot_gdnative_api_struct *)& api_{0}_{1}'.format(core['version']['major'], core['version']['minor']))) + ',' + ] + + for funcdef in core['api']: + ret_val.append('\t%s,' % funcdef['name']) + + ret_val += ['};\n'] + + return ret_val for ext in api['extensions']: name = ext['name'] @@ -158,6 +204,9 @@ def _build_gdnative_api_struct_source(api): out += ['\t(godot_gdnative_api_struct *)&api_extension_' + name + '_struct,'] out += ['};\n'] + + if api['core']['next']: + out += get_core_struct_definition(api['core']['next']) out += [ 'extern const godot_gdnative_core_api_struct api_struct = {', diff --git a/modules/gdnative/include/gdnative/basis.h b/modules/gdnative/include/gdnative/basis.h index 53e950b4a2..ebe2b1125b 100644 --- a/modules/gdnative/include/gdnative/basis.h +++ b/modules/gdnative/include/gdnative/basis.h @@ -62,6 +62,7 @@ extern "C" { void GDAPI godot_basis_new_with_rows(godot_basis *r_dest, const godot_vector3 *p_x_axis, const godot_vector3 *p_y_axis, const godot_vector3 *p_z_axis); void GDAPI godot_basis_new_with_axis_and_angle(godot_basis *r_dest, const godot_vector3 *p_axis, const godot_real p_phi); void GDAPI godot_basis_new_with_euler(godot_basis *r_dest, const godot_vector3 *p_euler); +void GDAPI godot_basis_new_with_euler_quat(godot_basis *r_dest, const godot_quat *p_euler); godot_string GDAPI godot_basis_as_string(const godot_basis *p_self); @@ -81,6 +82,16 @@ godot_vector3 GDAPI godot_basis_get_scale(const godot_basis *p_self); godot_vector3 GDAPI godot_basis_get_euler(const godot_basis *p_self); +godot_quat GDAPI godot_basis_get_quat(const godot_basis *p_self); + +void GDAPI godot_basis_set_quat(godot_basis *p_self, const godot_quat *p_quat); + +void GDAPI godot_basis_set_axis_angle_scale(godot_basis *p_self, const godot_vector3 *p_axis, godot_real p_phi, const godot_vector3 *p_scale); + +void GDAPI godot_basis_set_euler_scale(godot_basis *p_self, const godot_vector3 *p_euler, const godot_vector3 *p_scale); + +void GDAPI godot_basis_set_quat_scale(godot_basis *p_self, const godot_quat *p_quat, const godot_vector3 *p_scale); + godot_real GDAPI godot_basis_tdotx(const godot_basis *p_self, const godot_vector3 *p_with); godot_real GDAPI godot_basis_tdoty(const godot_basis *p_self, const godot_vector3 *p_with); @@ -95,8 +106,6 @@ godot_int GDAPI godot_basis_get_orthogonal_index(const godot_basis *p_self); void GDAPI godot_basis_new(godot_basis *r_dest); -void GDAPI godot_basis_new_with_euler_quat(godot_basis *r_dest, const godot_quat *p_euler); - // p_elements is a pointer to an array of 3 (!!) vector3 void GDAPI godot_basis_get_elements(const godot_basis *p_self, godot_vector3 *p_elements); diff --git a/modules/gdnative/include/gdnative/dictionary.h b/modules/gdnative/include/gdnative/dictionary.h index a86d60dc72..faace818ee 100644 --- a/modules/gdnative/include/gdnative/dictionary.h +++ b/modules/gdnative/include/gdnative/dictionary.h @@ -94,6 +94,8 @@ godot_bool GDAPI godot_dictionary_operator_equal(const godot_dictionary *p_self, godot_string GDAPI godot_dictionary_to_json(const godot_dictionary *p_self); +godot_bool GDAPI godot_dictionary_erase_with_return(godot_dictionary *p_self, const godot_variant *p_key); + #ifdef __cplusplus } #endif diff --git a/modules/gdnative/include/gdnative/gdnative.h b/modules/gdnative/include/gdnative/gdnative.h index 4cf6e99b06..616c305f25 100644 --- a/modules/gdnative/include/gdnative/gdnative.h +++ b/modules/gdnative/include/gdnative/gdnative.h @@ -282,6 +282,10 @@ void GDAPI godot_print_error(const char *p_description, const char *p_function, void GDAPI godot_print_warning(const char *p_description, const char *p_function, const char *p_file, int p_line); void GDAPI godot_print(const godot_string *p_message); +// GDNATIVE CORE 1.0.1 + +bool GDAPI godot_is_instance_valid(const godot_object *p_object); + #ifdef __cplusplus } #endif diff --git a/modules/gdnative/include/gdnative/quat.h b/modules/gdnative/include/gdnative/quat.h index 4e86960aaf..b1290f745c 100644 --- a/modules/gdnative/include/gdnative/quat.h +++ b/modules/gdnative/include/gdnative/quat.h @@ -60,6 +60,8 @@ extern "C" { void GDAPI godot_quat_new(godot_quat *r_dest, const godot_real p_x, const godot_real p_y, const godot_real p_z, const godot_real p_w); void GDAPI godot_quat_new_with_axis_angle(godot_quat *r_dest, const godot_vector3 *p_axis, const godot_real p_angle); +void GDAPI godot_quat_new_with_basis(godot_quat *r_dest, const godot_basis *p_basis); +void GDAPI godot_quat_new_with_euler(godot_quat *r_dest, const godot_vector3 *p_euler); godot_real GDAPI godot_quat_get_x(const godot_quat *p_self); void GDAPI godot_quat_set_x(godot_quat *p_self, const godot_real val); diff --git a/modules/gdnative/include/gdnative/transform.h b/modules/gdnative/include/gdnative/transform.h index a646da146a..880f21c88a 100644 --- a/modules/gdnative/include/gdnative/transform.h +++ b/modules/gdnative/include/gdnative/transform.h @@ -62,6 +62,7 @@ extern "C" { void GDAPI godot_transform_new_with_axis_origin(godot_transform *r_dest, const godot_vector3 *p_x_axis, const godot_vector3 *p_y_axis, const godot_vector3 *p_z_axis, const godot_vector3 *p_origin); void GDAPI godot_transform_new(godot_transform *r_dest, const godot_basis *p_basis, const godot_vector3 *p_origin); +void GDAPI godot_transform_new_with_quat(godot_transform *r_dest, const godot_quat *p_quat); godot_basis GDAPI godot_transform_get_basis(const godot_transform *p_self); void GDAPI godot_transform_set_basis(godot_transform *p_self, const godot_basis *p_v); diff --git a/modules/gdnative/include/nativescript/godot_nativescript.h b/modules/gdnative/include/nativescript/godot_nativescript.h index 29bd9eec5a..d6a729be47 100644 --- a/modules/gdnative/include/nativescript/godot_nativescript.h +++ b/modules/gdnative/include/nativescript/godot_nativescript.h @@ -229,6 +229,8 @@ const void GDAPI *godot_nativescript_get_type_tag(const godot_object *p_object); typedef struct { GDCALLINGCONV void *(*alloc_instance_binding_data)(void *, const void *, godot_object *); GDCALLINGCONV void (*free_instance_binding_data)(void *, void *); + GDCALLINGCONV void (*refcount_incremented_instance_binding)(void *, godot_object *); + GDCALLINGCONV bool (*refcount_decremented_instance_binding)(void *, godot_object *); void *data; GDCALLINGCONV void (*free_func)(void *); } godot_instance_binding_functions; diff --git a/modules/gdnative/nativescript/nativescript.cpp b/modules/gdnative/nativescript/nativescript.cpp index 608c7aa4a5..3f88fabebd 100644 --- a/modules/gdnative/nativescript/nativescript.cpp +++ b/modules/gdnative/nativescript/nativescript.cpp @@ -1370,6 +1370,54 @@ void NativeScriptLanguage::free_instance_binding_data(void *p_data) { delete &binding_data; } +void NativeScriptLanguage::refcount_incremented_instance_binding(Object *p_object) { + + void *data = p_object->get_script_instance_binding(lang_idx); + + if (!data) + return; + + Vector<void *> &binding_data = *(Vector<void *> *)data; + + for (int i = 0; i < binding_data.size(); i++) { + if (!binding_data[i]) + continue; + + if (!binding_functions[i].first) + continue; + + if (binding_functions[i].second.refcount_incremented_instance_binding) { + binding_functions[i].second.refcount_incremented_instance_binding(binding_data[i], p_object); + } + } +} + +bool NativeScriptLanguage::refcount_decremented_instance_binding(Object *p_object) { + + void *data = p_object->get_script_instance_binding(lang_idx); + + if (!data) + return true; + + Vector<void *> &binding_data = *(Vector<void *> *)data; + + bool can_die = true; + + for (int i = 0; i < binding_data.size(); i++) { + if (!binding_data[i]) + continue; + + if (!binding_functions[i].first) + continue; + + if (binding_functions[i].second.refcount_decremented_instance_binding) { + can_die = can_die && binding_functions[i].second.refcount_decremented_instance_binding(binding_data[i], p_object); + } + } + + return can_die; +} + void NativeScriptLanguage::set_global_type_tag(int p_idx, StringName p_class_name, const void *p_type_tag) { if (!global_type_tags.has(p_idx)) { global_type_tags.insert(p_idx, HashMap<StringName, const void *>()); @@ -1537,12 +1585,16 @@ bool NativeScriptLanguage::handles_global_class_type(const String &p_type) const String NativeScriptLanguage::get_global_class_name(const String &p_path, String *r_base_type, String *r_icon_path) const { Ref<NativeScript> script = ResourceLoader::load(p_path, "NativeScript"); if (script.is_valid()) { - *r_base_type = script->get_instance_base_type(); - *r_icon_path = script->get_script_class_icon_path(); + if (r_base_type) + *r_base_type = script->get_instance_base_type(); + if (r_icon_path) + *r_icon_path = script->get_script_class_icon_path(); return script->get_script_class_name(); } - *r_base_type = String(); - *r_icon_path = String(); + if (r_base_type) + *r_base_type = String(); + if (r_icon_path) + *r_icon_path = String(); return String(); } diff --git a/modules/gdnative/nativescript/nativescript.h b/modules/gdnative/nativescript/nativescript.h index 6f18e2db27..ebfe36fd94 100644 --- a/modules/gdnative/nativescript/nativescript.h +++ b/modules/gdnative/nativescript/nativescript.h @@ -353,6 +353,8 @@ public: virtual void *alloc_instance_binding_data(Object *p_object); virtual void free_instance_binding_data(void *p_data); + virtual void refcount_incremented_instance_binding(Object *p_object); + virtual bool refcount_decremented_instance_binding(Object *p_object); void set_global_type_tag(int p_idx, StringName p_class_name, const void *p_type_tag); const void *get_global_type_tag(int p_idx, StringName p_class_name) const; diff --git a/modules/gdscript/editor/gdscript_highlighter.cpp b/modules/gdscript/editor/gdscript_highlighter.cpp index f2a1a5b50c..a1163b5d8d 100644 --- a/modules/gdscript/editor/gdscript_highlighter.cpp +++ b/modules/gdscript/editor/gdscript_highlighter.cpp @@ -121,8 +121,8 @@ Map<int, TextEdit::HighlighterInfo> GDScriptSyntaxHighlighter::_get_line_syntax_ is_hex_notation = false; } - // check for dot or underscore or 'x' for hex notation in floating point number - if ((str[j] == '.' || str[j] == 'x' || str[j] == '_') && !in_word && prev_is_number && !is_number) { + // check for dot or underscore or 'x' for hex notation in floating point number or 'e' for scientific notation + if ((str[j] == '.' || str[j] == 'x' || str[j] == '_' || str[j] == 'e') && !in_word && prev_is_number && !is_number) { is_number = true; is_symbol = false; is_char = false; diff --git a/modules/gdscript/gdscript_functions.cpp b/modules/gdscript/gdscript_functions.cpp index d9c20868bd..03e7740887 100644 --- a/modules/gdscript/gdscript_functions.cpp +++ b/modules/gdscript/gdscript_functions.cpp @@ -1853,7 +1853,7 @@ MethodInfo GDScriptFunctions::get_info(Function p_func) { } break; case GET_STACK: { MethodInfo mi("get_stack"); - mi.return_val.type = Variant::NIL; + mi.return_val.type = Variant::ARRAY; return mi; } break; diff --git a/modules/visual_script/visual_script_editor.cpp b/modules/visual_script/visual_script_editor.cpp index 4471fbd0c4..4d1deb6a89 100644 --- a/modules/visual_script/visual_script_editor.cpp +++ b/modules/visual_script/visual_script_editor.cpp @@ -321,7 +321,7 @@ protected: p_list->push_back(PropertyInfo(Variant::INT, "type", PROPERTY_HINT_ENUM, argt)); p_list->push_back(PropertyInfo(script->get_variable_info(var).type, "value", script->get_variable_info(var).hint, script->get_variable_info(var).hint_string, PROPERTY_USAGE_DEFAULT)); // Update this when PropertyHint changes - p_list->push_back(PropertyInfo(Variant::INT, "hint", PROPERTY_HINT_ENUM, "None,Range,ExpRange,Enum,ExpEasing,Length,SpriteFrame,KeyAccel,Flags,Layers2dRender,Layers2dPhysics,Layer3dRender,Layer3dPhysics,File,Dir,GlobalFile,GlobalDir,ResourceType,MultilineText,ColorNoAlpha,ImageCompressLossy,ImageCompressLossLess,ObjectId,String,NodePathToEditedNode,MethodOfVariantType,MethodOfBaseType,MethodOfInstance,MethodOfScript,PropertyOfVariantType,PropertyOfBaseType,PropertyOfInstance,PropertyOfScript,ObjectTooBig")); + p_list->push_back(PropertyInfo(Variant::INT, "hint", PROPERTY_HINT_ENUM, "None,Range,ExpRange,Enum,ExpEasing,Length,SpriteFrame,KeyAccel,Flags,Layers2dRender,Layers2dPhysics,Layer3dRender,Layer3dPhysics,File,Dir,GlobalFile,GlobalDir,ResourceType,MultilineText,PlaceholderText,ColorNoAlpha,ImageCompressLossy,ImageCompressLossLess,ObjectId,String,NodePathToEditedNode,MethodOfVariantType,MethodOfBaseType,MethodOfInstance,MethodOfScript,PropertyOfVariantType,PropertyOfBaseType,PropertyOfInstance,PropertyOfScript,ObjectTooBig,NodePathValidTypes")); p_list->push_back(PropertyInfo(Variant::STRING, "hint_string")); p_list->push_back(PropertyInfo(Variant::BOOL, "export")); } @@ -3615,8 +3615,7 @@ VisualScriptEditor::VisualScriptEditor() { edit_signal_dialog->set_title(TTR("Edit Signal Arguments:")); signal_editor = memnew(VisualScriptEditorSignalEdit); - edit_signal_edit = memnew(PropertyEditor); - edit_signal_edit->hide_top_label(); + edit_signal_edit = memnew(EditorInspector); edit_signal_dialog->add_child(edit_signal_edit); edit_signal_edit->edit(signal_editor); @@ -3627,8 +3626,7 @@ VisualScriptEditor::VisualScriptEditor() { edit_variable_dialog->set_title(TTR("Edit Variable:")); variable_editor = memnew(VisualScriptEditorVariableEdit); - edit_variable_edit = memnew(PropertyEditor); - edit_variable_edit->hide_top_label(); + edit_variable_edit = memnew(EditorInspector); edit_variable_dialog->add_child(edit_variable_edit); edit_variable_edit->edit(variable_editor); diff --git a/modules/visual_script/visual_script_editor.h b/modules/visual_script/visual_script_editor.h index 8bfd147519..b0bf971630 100644 --- a/modules/visual_script/visual_script_editor.h +++ b/modules/visual_script/visual_script_editor.h @@ -93,7 +93,7 @@ class VisualScriptEditor : public ScriptEditorBase { VisualScriptEditorSignalEdit *signal_editor; AcceptDialog *edit_signal_dialog; - PropertyEditor *edit_signal_edit; + EditorInspector *edit_signal_edit; VisualScriptPropertySelector *method_select; VisualScriptPropertySelector *new_connect_node_select; @@ -102,7 +102,7 @@ class VisualScriptEditor : public ScriptEditorBase { VisualScriptEditorVariableEdit *variable_editor; AcceptDialog *edit_variable_dialog; - PropertyEditor *edit_variable_edit; + EditorInspector *edit_variable_edit; CustomPropertyEditor *default_value_edit; diff --git a/modules/websocket/emws_client.cpp b/modules/websocket/emws_client.cpp index 00c36ebb47..836b564de8 100644 --- a/modules/websocket/emws_client.cpp +++ b/modules/websocket/emws_client.cpp @@ -62,25 +62,23 @@ EMSCRIPTEN_KEEPALIVE void _esws_on_close(void *obj, int code, char *reason, int Error EMWSClient::connect_to_host(String p_host, String p_path, uint16_t p_port, bool p_ssl, PoolVector<String> p_protocols) { + String proto_string = p_protocols.join(","); String str = "ws://"; - String proto_string = ""; if (p_ssl) str = "wss://"; str += p_host + ":" + itos(p_port) + p_path; - for (int i = 0; i < p_protocols.size(); i++) { - proto_string += p_protocols[i]; - proto_string += ","; - } - if (proto_string == "") - proto_string = "binary,"; - - proto_string = proto_string.substr(0, proto_string.length() - 1); _is_connecting = true; /* clang-format off */ int peer_sock = EM_ASM_INT({ - var socket = new WebSocket(UTF8ToString($1), UTF8ToString($2).split(",")); + var proto_str = UTF8ToString($2); + var socket = null; + if (proto_str) { + socket = new WebSocket(UTF8ToString($1), proto_str.split(",")); + } else { + socket = new WebSocket(UTF8ToString($1)); + } var c_ptr = Module.IDHandler.get($0); socket.binaryType = "arraybuffer"; diff --git a/modules/websocket/lws_client.cpp b/modules/websocket/lws_client.cpp index ac31daa108..09f6422058 100644 --- a/modules/websocket/lws_client.cpp +++ b/modules/websocket/lws_client.cpp @@ -48,12 +48,10 @@ Error LWSClient::connect_to_host(String p_host, String p_path, uint16_t p_port, ERR_FAIL_COND_V(!addr.is_valid(), ERR_INVALID_PARAMETER); - // prepare protocols - if (p_protocols.size() == 0) // default to binary protocol - p_protocols.append("binary"); + // Prepare protocols _lws_make_protocols(this, &LWSClient::_lws_gd_callback, p_protocols, &_lws_ref); - // init lws client + // Init lws client struct lws_context_creation_info info; struct lws_client_connect_info i; @@ -87,7 +85,10 @@ Error LWSClient::connect_to_host(String p_host, String p_path, uint16_t p_port, strncpy(pbuf, p_path.utf8().get_data(), 2048); i.context = context; - i.protocol = _lws_ref->lws_names; + if (p_protocols.size() > 0) + i.protocol = _lws_ref->lws_names; + else + i.protocol = NULL; i.address = abuf; i.host = hbuf; i.path = pbuf; @@ -134,13 +135,13 @@ int LWSClient::_handle_cb(struct lws *wsi, enum lws_callback_reasons reason, voi case LWS_CALLBACK_CLIENT_CONNECTION_ERROR: _on_error(); destroy_context(); - return -1; // we should close the connection (would probably happen anyway) + return -1; // We should close the connection (would probably happen anyway) case LWS_CALLBACK_CLIENT_CLOSED: peer->close(); destroy_context(); _on_disconnect(); - return 0; // we can end here + return 0; // We can end here case LWS_CALLBACK_CLIENT_RECEIVE: peer->read_wsi(in, len); diff --git a/modules/websocket/lws_helper.h b/modules/websocket/lws_helper.h index 85a1e3769f..70256ccf16 100644 --- a/modules/websocket/lws_helper.h +++ b/modules/websocket/lws_helper.h @@ -105,53 +105,54 @@ static bool _lws_poll(struct lws_context *context, _LWSRef *ref) { } /* - * prepare the protocol_structs to be fed to context - * also prepare the protocol string used by the client + * Prepare the protocol_structs to be fed to context. + * Also prepare the protocol string used by the client. */ static void _lws_make_protocols(void *p_obj, lws_callback_function *p_callback, PoolVector<String> p_names, _LWSRef **r_lws_ref) { - /* the input strings might go away after this call, - * we need to copy them. Will clear them when - * destroying the context */ + // The input strings might go away after this call, we need to copy them. + // We will clear them when destroying the context. int i; int len = p_names.size(); size_t data_size = sizeof(struct LWSPeer::PeerData); PoolVector<String>::Read pnr = p_names.read(); - /* - * This is a reference connecting the object with lws - * keep track of status, mallocs, etc. - * Must survive as long the context - * Must be freed manually when context creation fails. - */ + // This is a reference connecting the object with lws keep track of status, mallocs, etc. + // Must survive as long the context. + // Must be freed manually when context creation fails. _LWSRef *ref = _lws_create_ref(p_obj); - /* LWS protocol structs */ + // LWS protocol structs. ref->lws_structs = (struct lws_protocols *)memalloc(sizeof(struct lws_protocols) * (len + 2)); memset(ref->lws_structs, 0, sizeof(struct lws_protocols) * (len + 2)); CharString strings = p_names.join(",").ascii(); int str_len = strings.length(); - /* Joined string of protocols, double the size: comma separated first, NULL separated last */ - ref->lws_names = (char *)memalloc((str_len + 1) * 2); /* plus the terminator */ + // Joined string of protocols, double the size: comma separated first, NULL separated last + ref->lws_names = (char *)memalloc((str_len + 1) * 2); // Plus the terminator char *names_ptr = ref->lws_names; struct lws_protocols *structs_ptr = ref->lws_structs; - copymem(names_ptr, strings.get_data(), str_len); - names_ptr[str_len] = '\0'; /* NULL terminator */ - /* NULL terminated strings to be used in protocol structs */ - copymem(&names_ptr[str_len + 1], strings.get_data(), str_len); - names_ptr[(str_len * 2) + 1] = '\0'; /* NULL terminator */ + // Comma separated protocols string to be used in client Sec-WebSocket-Protocol header + if (str_len > 0) + copymem(names_ptr, strings.get_data(), str_len); + names_ptr[str_len] = '\0'; // NULL terminator + + // NULL terminated protocol strings to be used in protocol structs + if (str_len > 0) + copymem(&names_ptr[str_len + 1], strings.get_data(), str_len); + names_ptr[(str_len * 2) + 1] = '\0'; // NULL terminator int pos = str_len + 1; - /* the first protocol is always http-only */ - structs_ptr[0].name = "http-only"; + // The first protocol is the default for any http request (before upgrade). + // It is also used as the websocket protocol when no subprotocol is specified. + structs_ptr[0].name = "default"; structs_ptr[0].callback = p_callback; structs_ptr[0].per_session_data_size = data_size; structs_ptr[0].rx_buffer_size = LWS_BUF_SIZE; structs_ptr[0].tx_packet_size = LWS_PACKET_SIZE; - /* add user defined protocols */ + // Add user defined protocols for (i = 0; i < len; i++) { structs_ptr[i + 1].name = (const char *)&names_ptr[pos]; structs_ptr[i + 1].callback = p_callback; @@ -161,7 +162,7 @@ static void _lws_make_protocols(void *p_obj, lws_callback_function *p_callback, pos += pnr[i].ascii().length() + 1; names_ptr[pos - 1] = '\0'; } - /* add protocols terminator */ + // Add protocols terminator structs_ptr[len + 1].name = NULL; structs_ptr[len + 1].callback = NULL; structs_ptr[len + 1].per_session_data_size = 0; diff --git a/modules/websocket/lws_server.cpp b/modules/websocket/lws_server.cpp index bb724bce9c..4a614f6933 100644 --- a/modules/websocket/lws_server.cpp +++ b/modules/websocket/lws_server.cpp @@ -41,9 +41,6 @@ Error LWSServer::listen(int p_port, PoolVector<String> p_protocols, bool gd_mp_a struct lws_context_creation_info info; memset(&info, 0, sizeof info); - if (p_protocols.size() == 0) // default to binary protocol - p_protocols.append(String("binary")); - // Prepare lws protocol structs _lws_make_protocols(this, &LWSServer::_lws_gd_callback, p_protocols, &_lws_ref); diff --git a/platform/android/java/src/org/godotengine/godot/Godot.java b/platform/android/java/src/org/godotengine/godot/Godot.java index ef798fc790..92c9be5d43 100644 --- a/platform/android/java/src/org/godotengine/godot/Godot.java +++ b/platform/android/java/src/org/godotengine/godot/Godot.java @@ -59,6 +59,9 @@ import android.content.pm.PackageManager.NameNotFoundException; import android.net.Uri; import android.media.MediaPlayer; +import android.content.ClipboardManager; +import android.content.ClipData; + import java.lang.reflect.Method; import java.util.List; import java.util.ArrayList; @@ -103,6 +106,7 @@ public class Godot extends Activity implements SensorEventListener, IDownloaderC private TextView mAverageSpeed; private TextView mTimeRemaining; private ProgressBar mPB; + private ClipboardManager mClipboard; private View mDashboard; private View mCellMessage; @@ -441,6 +445,7 @@ public class Godot extends Activity implements SensorEventListener, IDownloaderC Window window = getWindow(); //window.addFlags(WindowManager.LayoutParams.FLAG_TURN_SCREEN_ON | WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON); window.addFlags(WindowManager.LayoutParams.FLAG_TURN_SCREEN_ON); + mClipboard = (ClipboardManager)getSystemService(Context.CLIPBOARD_SERVICE); //check for apk expansion API if (true) { @@ -607,6 +612,24 @@ public class Godot extends Activity implements SensorEventListener, IDownloaderC } } + public String getClipboard() { + + String copiedText = ""; + + if (mClipboard.getPrimaryClip() != null) { + ClipData.Item item = mClipboard.getPrimaryClip().getItemAt(0); + copiedText = item.getText().toString(); + } + + return copiedText; + } + + public void setClipboard(String p_text) { + + ClipData clip = ClipData.newPlainText("myLabel", p_text); + mClipboard.setPrimaryClip(clip); + } + @Override protected void onResume() { super.onResume(); diff --git a/platform/android/java_glue.cpp b/platform/android/java_glue.cpp index 8bb1c38345..59218ecece 100644 --- a/platform/android/java_glue.cpp +++ b/platform/android/java_glue.cpp @@ -607,6 +607,8 @@ static jobject _godot_instance; static jmethodID _openURI = 0; static jmethodID _getDataDir = 0; static jmethodID _getLocale = 0; +static jmethodID _getClipboard = 0; +static jmethodID _setClipboard = 0; static jmethodID _getModel = 0; static jmethodID _getScreenDPI = 0; static jmethodID _showKeyboard = 0; @@ -646,6 +648,19 @@ static String _get_locale() { return String(env->GetStringUTFChars(s, NULL)); } +static String _get_clipboard() { + JNIEnv *env = ThreadAndroid::get_env(); + jstring s = (jstring)env->CallObjectMethod(_godot_instance, _getClipboard); + return String(env->GetStringUTFChars(s, NULL)); +} + +static void _set_clipboard(const String &p_text) { + + JNIEnv *env = ThreadAndroid::get_env(); + jstring jStr = env->NewStringUTF(p_text.utf8().get_data()); + env->CallVoidMethod(_godot_instance, _setClipboard, jStr); +} + static String _get_model() { JNIEnv *env = ThreadAndroid::get_env(); @@ -774,6 +789,8 @@ JNIEXPORT void JNICALL Java_org_godotengine_godot_GodotLib_initialize(JNIEnv *en _setKeepScreenOn = env->GetMethodID(cls, "setKeepScreenOn", "(Z)V"); _alertDialog = env->GetMethodID(cls, "alert", "(Ljava/lang/String;Ljava/lang/String;)V"); _getGLESVersionCode = env->GetMethodID(cls, "getGLESVersionCode", "()I"); + _getClipboard = env->GetMethodID(cls, "getClipboard", "()Ljava/lang/String;"); + _setClipboard = env->GetMethodID(cls, "setClipboard", "(Ljava/lang/String;)V"); jclass clsio = env->FindClass("org/godotengine/godot/Godot"); if (cls) { @@ -807,7 +824,7 @@ JNIEXPORT void JNICALL Java_org_godotengine_godot_GodotLib_initialize(JNIEnv *en AudioDriverAndroid::setup(gob); } - os_android = new OS_Android(_gfx_init_func, env, _open_uri, _get_user_data_dir, _get_locale, _get_model, _get_screen_dpi, _show_vk, _hide_vk, _get_vk_height, _set_screen_orient, _get_unique_id, _get_system_dir, _get_gles_version_code, _play_video, _is_video_playing, _pause_video, _stop_video, _set_keep_screen_on, _alert, p_use_apk_expansion); + os_android = new OS_Android(_gfx_init_func, env, _open_uri, _get_user_data_dir, _get_locale, _get_model, _get_screen_dpi, _show_vk, _hide_vk, _get_vk_height, _set_screen_orient, _get_unique_id, _get_system_dir, _get_gles_version_code, _play_video, _is_video_playing, _pause_video, _stop_video, _set_keep_screen_on, _alert, _set_clipboard, _get_clipboard, p_use_apk_expansion); os_android->set_need_reload_hooks(p_need_reload_hook); char wd[500]; diff --git a/platform/android/os_android.cpp b/platform/android/os_android.cpp index 74c40bde72..484ca4fff8 100644 --- a/platform/android/os_android.cpp +++ b/platform/android/os_android.cpp @@ -257,13 +257,10 @@ int OS_Android::get_mouse_button_state() const { return 0; } + void OS_Android::set_window_title(const String &p_title) { } -//interesting byt not yet -//void set_clipboard(const String& p_text); -//String get_clipboard() const; - void OS_Android::set_video_mode(const VideoMode &p_video_mode, int p_screen) { } @@ -599,6 +596,23 @@ String OS_Android::get_locale() const { return OS_Unix::get_locale(); } +void OS_Android::set_clipboard(const String &p_text) { + + if (set_clipboard_func) { + set_clipboard_func(p_text); + } else { + OS_Unix::set_clipboard(p_text); + } +} + +String OS_Android::get_clipboard() const { + if (get_clipboard_func) { + return get_clipboard_func(); + } + + return OS_Unix::get_clipboard(); +} + String OS_Android::get_model_name() const { if (get_model_func) @@ -732,7 +746,7 @@ bool OS_Android::_check_internal_feature_support(const String &p_feature) { return false; } -OS_Android::OS_Android(GFXInitFunc p_gfx_init_func, void *p_gfx_init_ud, OpenURIFunc p_open_uri_func, GetUserDataDirFunc p_get_user_data_dir_func, GetLocaleFunc p_get_locale_func, GetModelFunc p_get_model_func, GetScreenDPIFunc p_get_screen_dpi_func, ShowVirtualKeyboardFunc p_show_vk, HideVirtualKeyboardFunc p_hide_vk, VirtualKeyboardHeightFunc p_vk_height_func, SetScreenOrientationFunc p_screen_orient, GetUniqueIDFunc p_get_unique_id, GetSystemDirFunc p_get_sdir_func, GetGLVersionCodeFunc p_get_gl_version_func, VideoPlayFunc p_video_play_func, VideoIsPlayingFunc p_video_is_playing_func, VideoPauseFunc p_video_pause_func, VideoStopFunc p_video_stop_func, SetKeepScreenOnFunc p_set_keep_screen_on_func, AlertFunc p_alert_func, bool p_use_apk_expansion) { +OS_Android::OS_Android(GFXInitFunc p_gfx_init_func, void *p_gfx_init_ud, OpenURIFunc p_open_uri_func, GetUserDataDirFunc p_get_user_data_dir_func, GetLocaleFunc p_get_locale_func, GetModelFunc p_get_model_func, GetScreenDPIFunc p_get_screen_dpi_func, ShowVirtualKeyboardFunc p_show_vk, HideVirtualKeyboardFunc p_hide_vk, VirtualKeyboardHeightFunc p_vk_height_func, SetScreenOrientationFunc p_screen_orient, GetUniqueIDFunc p_get_unique_id, GetSystemDirFunc p_get_sdir_func, GetGLVersionCodeFunc p_get_gl_version_func, VideoPlayFunc p_video_play_func, VideoIsPlayingFunc p_video_is_playing_func, VideoPauseFunc p_video_pause_func, VideoStopFunc p_video_stop_func, SetKeepScreenOnFunc p_set_keep_screen_on_func, AlertFunc p_alert_func, SetClipboardFunc p_set_clipboard_func, GetClipboardFunc p_get_clipboard_func, bool p_use_apk_expansion) { use_apk_expansion = p_use_apk_expansion; default_videomode.width = 800; @@ -765,6 +779,9 @@ OS_Android::OS_Android(GFXInitFunc p_gfx_init_func, void *p_gfx_init_ud, OpenURI hide_virtual_keyboard_func = p_hide_vk; get_virtual_keyboard_height_func = p_vk_height_func; + set_clipboard_func = p_set_clipboard_func; + get_clipboard_func = p_get_clipboard_func; + set_screen_orientation_func = p_screen_orient; set_keep_screen_on_func = p_set_keep_screen_on_func; alert_func = p_alert_func; diff --git a/platform/android/os_android.h b/platform/android/os_android.h index c4220906a3..94976af43f 100644 --- a/platform/android/os_android.h +++ b/platform/android/os_android.h @@ -51,6 +51,8 @@ typedef void (*GFXInitFunc)(void *ud, bool gl2); typedef int (*OpenURIFunc)(const String &); typedef String (*GetUserDataDirFunc)(); typedef String (*GetLocaleFunc)(); +typedef void (*SetClipboardFunc)(const String &); +typedef String (*GetClipboardFunc)(); typedef String (*GetModelFunc)(); typedef int (*GetScreenDPIFunc)(); typedef String (*GetUniqueIDFunc)(); @@ -119,6 +121,8 @@ private: OpenURIFunc open_uri_func; GetUserDataDirFunc get_user_data_dir_func; GetLocaleFunc get_locale_func; + SetClipboardFunc set_clipboard_func; + GetClipboardFunc get_clipboard_func; GetModelFunc get_model_func; GetScreenDPIFunc get_screen_dpi_func; ShowVirtualKeyboardFunc show_virtual_keyboard_func; @@ -172,9 +176,6 @@ public: virtual int get_mouse_button_state() const; virtual void set_window_title(const String &p_title); - //virtual void set_clipboard(const String& p_text); - //virtual String get_clipboard() const; - virtual void set_video_mode(const VideoMode &p_video_mode, int p_screen = 0); virtual VideoMode get_video_mode(int p_screen = 0) const; virtual void get_fullscreen_mode_list(List<VideoMode> *p_list, int p_screen = 0) const; @@ -218,6 +219,8 @@ public: virtual String get_user_data_dir() const; virtual String get_resource_dir() const; virtual String get_locale() const; + virtual void set_clipboard(const String &p_text); + virtual String get_clipboard() const; virtual String get_model_name() const; virtual int get_screen_dpi(int p_screen = 0) const; @@ -244,7 +247,7 @@ public: void joy_connection_changed(int p_device, bool p_connected, String p_name); virtual bool _check_internal_feature_support(const String &p_feature); - OS_Android(GFXInitFunc p_gfx_init_func, void *p_gfx_init_ud, OpenURIFunc p_open_uri_func, GetUserDataDirFunc p_get_user_data_dir_func, GetLocaleFunc p_get_locale_func, GetModelFunc p_get_model_func, GetScreenDPIFunc p_get_screen_dpi_func, ShowVirtualKeyboardFunc p_show_vk, HideVirtualKeyboardFunc p_hide_vk, VirtualKeyboardHeightFunc p_vk_height_func, SetScreenOrientationFunc p_screen_orient, GetUniqueIDFunc p_get_unique_id, GetSystemDirFunc p_get_sdir_func, GetGLVersionCodeFunc p_get_gl_version_func, VideoPlayFunc p_video_play_func, VideoIsPlayingFunc p_video_is_playing_func, VideoPauseFunc p_video_pause_func, VideoStopFunc p_video_stop_func, SetKeepScreenOnFunc p_set_keep_screen_on_func, AlertFunc p_alert_func, bool p_use_apk_expansion); + OS_Android(GFXInitFunc p_gfx_init_func, void *p_gfx_init_ud, OpenURIFunc p_open_uri_func, GetUserDataDirFunc p_get_user_data_dir_func, GetLocaleFunc p_get_locale_func, GetModelFunc p_get_model_func, GetScreenDPIFunc p_get_screen_dpi_func, ShowVirtualKeyboardFunc p_show_vk, HideVirtualKeyboardFunc p_hide_vk, VirtualKeyboardHeightFunc p_vk_height_func, SetScreenOrientationFunc p_screen_orient, GetUniqueIDFunc p_get_unique_id, GetSystemDirFunc p_get_sdir_func, GetGLVersionCodeFunc p_get_gl_version_func, VideoPlayFunc p_video_play_func, VideoIsPlayingFunc p_video_is_playing_func, VideoPauseFunc p_video_pause_func, VideoStopFunc p_video_stop_func, SetKeepScreenOnFunc p_set_keep_screen_on_func, AlertFunc p_alert_func, SetClipboardFunc p_set_clipboard, GetClipboardFunc p_get_clipboard, bool p_use_apk_expansion); ~OS_Android(); }; diff --git a/platform/osx/os_osx.mm b/platform/osx/os_osx.mm index 79d7ec410a..44b4223a65 100644 --- a/platform/osx/os_osx.mm +++ b/platform/osx/os_osx.mm @@ -1604,7 +1604,9 @@ void OS_OSX::set_custom_mouse_cursor(const RES &p_cursor, CursorShape p_shape, c } ERR_FAIL_COND(!texture.is_valid()); + ERR_FAIL_COND(p_hotspot.x < 0 || p_hotspot.y < 0); ERR_FAIL_COND(texture_size.width > 256 || texture_size.height > 256); + ERR_FAIL_COND(p_hotspot.x > texture_size.width || p_hotspot.y > texture_size.height); image = texture->get_data(); diff --git a/platform/windows/SCsub b/platform/windows/SCsub index 53ed3bf887..586533e817 100644 --- a/platform/windows/SCsub +++ b/platform/windows/SCsub @@ -7,6 +7,7 @@ from platform_methods import run_in_subprocess import platform_windows_builders common_win = [ + "godot_win.cpp", "context_gl_win.cpp", "crash_handler_win.cpp", "os_windows.cpp", @@ -17,17 +18,17 @@ common_win = [ "windows_terminal_logger.cpp" ] -restarget = "godot_res" + env["OBJSUFFIX"] +res_file = 'godot_res.rc' -obj = env.RES(restarget, 'godot_res.rc') +res_target = "godot_res" + env["OBJSUFFIX"] -common_win.append(obj) +res_obj = env.RES(res_target, res_file) -prog = env.add_program('#bin/godot', ['godot_win.cpp'] + common_win, PROGSUFFIX=env["PROGSUFFIX"]) +prog = env.add_program('#bin/godot', common_win + res_obj, PROGSUFFIX=env["PROGSUFFIX"]) # Microsoft Visual Studio Project Generation if env['vsproj']: - env.vs_srcs = env.vs_srcs + ["platform/windows/godot_win.cpp"] + env.vs_srcs = env.vs_srcs + ["platform/windows/" + res_file] for x in common_win: env.vs_srcs = env.vs_srcs + ["platform/windows/" + str(x)] diff --git a/platform/windows/os_windows.cpp b/platform/windows/os_windows.cpp index 7009df8e57..e224a52b04 100644 --- a/platform/windows/os_windows.cpp +++ b/platform/windows/os_windows.cpp @@ -249,7 +249,11 @@ bool OS_Windows::can_draw() const { #define MI_WP_SIGNATURE 0xFF515700 #define SIGNATURE_MASK 0xFFFFFF00 +// Keeping the name suggested by Microsoft, but this macro really answers: +// Is this mouse event emulated from touch or pen input? #define IsPenEvent(dw) (((dw)&SIGNATURE_MASK) == MI_WP_SIGNATURE) +// This one tells whether the event comes from touchscreen (and not from pen) +#define IsTouchEvent(dw) (IsPenEvent(dw) && ((dw)&0x80)) void OS_Windows::_touch_event(bool p_pressed, float p_x, float p_y, int idx) { @@ -469,7 +473,7 @@ LRESULT OS_Windows::WndProc(HWND hWnd, UINT uMsg, WPARAM wParam, LPARAM lParam) if (input->is_emulating_mouse_from_touch()) { // Universal translation enabled; ignore OS translation LPARAM extra = GetMessageExtraInfo(); - if (IsPenEvent(extra)) { + if (IsTouchEvent(extra)) { break; } } @@ -560,7 +564,7 @@ LRESULT OS_Windows::WndProc(HWND hWnd, UINT uMsg, WPARAM wParam, LPARAM lParam) if (input->is_emulating_mouse_from_touch()) { // Universal translation enabled; ignore OS translations for left button LPARAM extra = GetMessageExtraInfo(); - if (IsPenEvent(extra)) { + if (IsTouchEvent(extra)) { break; } } @@ -1707,6 +1711,15 @@ void OS_Windows::set_window_position(const Point2 &p_position) { RECT r; GetWindowRect(hWnd, &r); MoveWindow(hWnd, p_position.x, p_position.y, r.right - r.left, r.bottom - r.top, TRUE); + + // Don't let the mouse leave the window when moved + if (mouse_mode == MOUSE_MODE_CONFINED) { + RECT rect; + GetClientRect(hWnd, &rect); + ClientToScreen(hWnd, (POINT *)&rect.left); + ClientToScreen(hWnd, (POINT *)&rect.right); + ClipCursor(&rect); + } } Size2 OS_Windows::get_window_size() const { @@ -2248,7 +2261,9 @@ void OS_Windows::set_custom_mouse_cursor(const RES &p_cursor, CursorShape p_shap } ERR_FAIL_COND(!texture.is_valid()); + ERR_FAIL_COND(p_hotspot.x < 0 || p_hotspot.y < 0); ERR_FAIL_COND(texture_size.width > 256 || texture_size.height > 256); + ERR_FAIL_COND(p_hotspot.x > texture_size.width || p_hotspot.y > texture_size.height); image = texture->get_data(); diff --git a/platform/x11/os_x11.cpp b/platform/x11/os_x11.cpp index a62bd714d2..a57a8c6bb9 100644 --- a/platform/x11/os_x11.cpp +++ b/platform/x11/os_x11.cpp @@ -2534,7 +2534,9 @@ void OS_X11::set_custom_mouse_cursor(const RES &p_cursor, CursorShape p_shape, c } ERR_FAIL_COND(!texture.is_valid()); + ERR_FAIL_COND(p_hotspot.x < 0 || p_hotspot.y < 0); ERR_FAIL_COND(texture_size.width > 256 || texture_size.height > 256); + ERR_FAIL_COND(p_hotspot.x > texture_size.width || p_hotspot.y > texture_size.height); image = texture->get_data(); diff --git a/scene/2d/canvas_item.cpp b/scene/2d/canvas_item.cpp index 7f7e3542ed..3914c75ca8 100644 --- a/scene/2d/canvas_item.cpp +++ b/scene/2d/canvas_item.cpp @@ -967,6 +967,17 @@ Vector2 CanvasItem::get_local_mouse_position() const { return get_global_transform().affine_inverse().xform(get_global_mouse_position()); } +void CanvasItem::force_update_transform() { + ERR_FAIL_COND(!is_inside_tree()); + if (!xform_change.in_list()) { + return; + } + + get_tree()->xform_change_list.remove(&xform_change); + + notification(NOTIFICATION_TRANSFORM_CHANGED); +} + void CanvasItem::_bind_methods() { ClassDB::bind_method(D_METHOD("_toplevel_raise_self"), &CanvasItem::_toplevel_raise_self); @@ -1061,6 +1072,8 @@ void CanvasItem::_bind_methods() { ClassDB::bind_method(D_METHOD("set_notify_transform", "enable"), &CanvasItem::set_notify_transform); ClassDB::bind_method(D_METHOD("is_transform_notification_enabled"), &CanvasItem::is_transform_notification_enabled); + ClassDB::bind_method(D_METHOD("force_update_transform"), &CanvasItem::force_update_transform); + ClassDB::bind_method(D_METHOD("make_canvas_position_local", "screen_point"), &CanvasItem::make_canvas_position_local); ClassDB::bind_method(D_METHOD("make_input_local", "event"), &CanvasItem::make_input_local); diff --git a/scene/2d/canvas_item.h b/scene/2d/canvas_item.h index 1e6a251c9c..6dc2e2e39d 100644 --- a/scene/2d/canvas_item.h +++ b/scene/2d/canvas_item.h @@ -346,6 +346,8 @@ public: void set_notify_transform(bool p_enable); bool is_transform_notification_enabled() const; + void force_update_transform(); + // Used by control nodes to retreive the parent's anchorable area virtual Rect2 get_anchorable_rect() const { return Rect2(0, 0, 0, 0); }; diff --git a/scene/2d/collision_object_2d.cpp b/scene/2d/collision_object_2d.cpp index 1e2184bd41..7ade74e8a6 100644 --- a/scene/2d/collision_object_2d.cpp +++ b/scene/2d/collision_object_2d.cpp @@ -384,7 +384,7 @@ void CollisionObject2D::_bind_methods() { BIND_VMETHOD(MethodInfo("_input_event", PropertyInfo(Variant::OBJECT, "viewport"), PropertyInfo(Variant::OBJECT, "event", PROPERTY_HINT_RESOURCE_TYPE, "InputEvent"), PropertyInfo(Variant::INT, "shape_idx"))); - ADD_SIGNAL(MethodInfo("input_event", PropertyInfo(Variant::OBJECT, "viewport"), PropertyInfo(Variant::OBJECT, "event", PROPERTY_HINT_RESOURCE_TYPE, "InputEvent"), PropertyInfo(Variant::INT, "shape_idx"))); + ADD_SIGNAL(MethodInfo("input_event", PropertyInfo(Variant::OBJECT, "viewport", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::OBJECT, "event", PROPERTY_HINT_RESOURCE_TYPE, "InputEvent"), PropertyInfo(Variant::INT, "shape_idx"))); ADD_SIGNAL(MethodInfo("mouse_entered")); ADD_SIGNAL(MethodInfo("mouse_exited")); diff --git a/scene/2d/cpu_particles_2d.cpp b/scene/2d/cpu_particles_2d.cpp index 136d41e2f9..a8e0f0d07f 100644 --- a/scene/2d/cpu_particles_2d.cpp +++ b/scene/2d/cpu_particles_2d.cpp @@ -30,9 +30,7 @@ #include "cpu_particles_2d.h" -#include "scene/3d/particles.h" -#include "scene/main/viewport.h" -#include "scene/resources/surface_tool.h" +//#include "scene/resources/particles_material.h" #include "servers/visual_server.h" void CPUParticles2D::set_emitting(bool p_emitting) { diff --git a/scene/2d/cpu_particles_2d.h b/scene/2d/cpu_particles_2d.h index fa8e6b54ef..dbe9f59748 100644 --- a/scene/2d/cpu_particles_2d.h +++ b/scene/2d/cpu_particles_2d.h @@ -30,10 +30,10 @@ #ifndef CPU_PARTICLES_2D_H #define CPU_PARTICLES_2D_H + #include "rid.h" #include "scene/2d/node_2d.h" -#include "scene/main/timer.h" -#include "scene/resources/material.h" +#include "scene/resources/texture.h" /** @author Juan Linietsky <reduzio@gmail.com> diff --git a/scene/2d/light_2d.cpp b/scene/2d/light_2d.cpp index f93c7d1f79..4d24daa5a7 100644 --- a/scene/2d/light_2d.cpp +++ b/scene/2d/light_2d.cpp @@ -431,7 +431,7 @@ void Light2D::_bind_methods() { ADD_PROPERTY(PropertyInfo(Variant::BOOL, "enabled"), "set_enabled", "is_enabled"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "editor_only"), "set_editor_only", "is_editor_only"); - ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "texture", PROPERTY_HINT_RESOURCE_TYPE, "Texture"), "set_texture", "get_texture"); + ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "texture", PROPERTY_HINT_RESOURCE_TYPE, "StreamTexture,ImageTexture"), "set_texture", "get_texture"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "offset"), "set_texture_offset", "get_texture_offset"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "texture_scale", PROPERTY_HINT_RANGE, "0.01,50,0.01"), "set_texture_scale", "get_texture_scale"); ADD_PROPERTY(PropertyInfo(Variant::COLOR, "color"), "set_color", "get_color"); diff --git a/scene/2d/particles_2d.cpp b/scene/2d/particles_2d.cpp index a4c3057416..7e824cdf75 100644 --- a/scene/2d/particles_2d.cpp +++ b/scene/2d/particles_2d.cpp @@ -30,10 +30,13 @@ #include "particles_2d.h" -#include "engine.h" -#include "scene/3d/particles.h" +#include "scene/resources/particles_material.h" #include "scene/scene_string_names.h" +#ifdef TOOLS_ENABLED +#include "core/engine.h" +#endif + void Particles2D::set_emitting(bool p_emitting) { VS::get_singleton()->particles_set_emitting(particles, p_emitting); @@ -114,7 +117,7 @@ void Particles2D::set_process_material(const Ref<Material> &p_material) { process_material = p_material; Ref<ParticlesMaterial> pm = p_material; if (pm.is_valid() && !pm->get_flag(ParticlesMaterial::FLAG_DISABLE_Z) && pm->get_gravity() == Vector3(0, -9.8, 0)) { - //likely a new material, modify it! + // Likely a new (3D) material, modify it to match 2D space pm->set_flag(ParticlesMaterial::FLAG_DISABLE_Z, true); pm->set_gravity(Vector3(0, 98, 0)); } diff --git a/scene/2d/particles_2d.h b/scene/2d/particles_2d.h index 31a66afb2a..816149ba79 100644 --- a/scene/2d/particles_2d.h +++ b/scene/2d/particles_2d.h @@ -28,11 +28,11 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef PARTICLES_FRAME_H -#define PARTICLES_FRAME_H +#ifndef PARTICLES_2D_H +#define PARTICLES_2D_H +#include "rid.h" #include "scene/2d/node_2d.h" -#include "scene/resources/color_ramp.h" #include "scene/resources/texture.h" class Particles2D : public Node2D { @@ -132,4 +132,4 @@ public: VARIANT_ENUM_CAST(Particles2D::DrawOrder) -#endif // PARTICLES_FRAME_H +#endif // PARTICLES_2D_H diff --git a/scene/2d/physics_body_2d.cpp b/scene/2d/physics_body_2d.cpp index 1ac7799ec5..dc93414669 100644 --- a/scene/2d/physics_body_2d.cpp +++ b/scene/2d/physics_body_2d.cpp @@ -180,6 +180,10 @@ real_t StaticBody2D::get_constant_angular_velocity() const { #ifndef DISABLE_DEPRECATED void StaticBody2D::set_friction(real_t p_friction) { + if (p_friction == 1.0) { // default value, don't create an override for that + return; + } + ERR_EXPLAIN("The method set_friction has been deprecated and will be removed in the future, use physics material instead.") WARN_DEPRECATED @@ -206,6 +210,10 @@ real_t StaticBody2D::get_friction() const { void StaticBody2D::set_bounce(real_t p_bounce) { + if (p_bounce == 0.0) { // default value, don't create an override for that + return; + } + ERR_EXPLAIN("The method set_bounce has been deprecated and will be removed in the future, use physics material instead.") WARN_DEPRECATED @@ -275,7 +283,7 @@ void StaticBody2D::_bind_methods() { ADD_PROPERTYNO(PropertyInfo(Variant::REAL, "friction", PROPERTY_HINT_RANGE, "0,1,0.01", 0), "set_friction", "get_friction"); ADD_PROPERTYNZ(PropertyInfo(Variant::REAL, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01", 0), "set_bounce", "get_bounce"); #endif // DISABLE_DEPRECATED - ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override"); + ADD_PROPERTYNZ(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override"); } StaticBody2D::StaticBody2D() : @@ -396,13 +404,13 @@ void RigidBody2D::_body_inout(int p_status, ObjectID p_instance, int p_body_shap node->disconnect(SceneStringNames::get_singleton()->tree_entered, this, SceneStringNames::get_singleton()->_body_enter_tree); node->disconnect(SceneStringNames::get_singleton()->tree_exiting, this, SceneStringNames::get_singleton()->_body_exit_tree); if (in_scene) - emit_signal(SceneStringNames::get_singleton()->body_exited, obj); + emit_signal(SceneStringNames::get_singleton()->body_exited, node); } contact_monitor->body_map.erase(E); } if (node && in_scene) { - emit_signal(SceneStringNames::get_singleton()->body_shape_exited, objid, obj, p_body_shape, p_local_shape); + emit_signal(SceneStringNames::get_singleton()->body_shape_exited, objid, node, p_body_shape, p_local_shape); } } } @@ -599,8 +607,13 @@ real_t RigidBody2D::get_weight() const { #ifndef DISABLE_DEPRECATED void RigidBody2D::set_friction(real_t p_friction) { + if (p_friction == 1.0) { // default value, don't create an override for that + return; + } + ERR_EXPLAIN("The method set_friction has been deprecated and will be removed in the future, use physics material instead.") WARN_DEPRECATED + ERR_FAIL_COND(p_friction < 0 || p_friction > 1); if (physics_material_override.is_null()) { @@ -623,6 +636,10 @@ real_t RigidBody2D::get_friction() const { void RigidBody2D::set_bounce(real_t p_bounce) { + if (p_bounce == 0.0) { // default value, don't create an override for that + return; + } + ERR_EXPLAIN("The method set_bounce has been deprecated and will be removed in the future, use physics material instead.") WARN_DEPRECATED @@ -1028,7 +1045,7 @@ void RigidBody2D::_bind_methods() { ADD_PROPERTYNO(PropertyInfo(Variant::REAL, "friction", PROPERTY_HINT_RANGE, "0,1,0.01", 0), "set_friction", "get_friction"); ADD_PROPERTYNZ(PropertyInfo(Variant::REAL, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01", 0), "set_bounce", "get_bounce"); #endif // DISABLE_DEPRECATED - ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override"); + ADD_PROPERTYNZ(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "gravity_scale", PROPERTY_HINT_RANGE, "-128,128,0.01"), "set_gravity_scale", "get_gravity_scale"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "custom_integrator"), "set_use_custom_integrator", "is_using_custom_integrator"); ADD_PROPERTY(PropertyInfo(Variant::INT, "continuous_cd", PROPERTY_HINT_ENUM, "Disabled,Cast Ray,Cast Shape"), "set_continuous_collision_detection_mode", "get_continuous_collision_detection_mode"); @@ -1046,10 +1063,10 @@ void RigidBody2D::_bind_methods() { ADD_PROPERTYNZ(PropertyInfo(Variant::VECTOR2, "applied_force"), "set_applied_force", "get_applied_force"); ADD_PROPERTYNZ(PropertyInfo(Variant::REAL, "applied_torque"), "set_applied_torque", "get_applied_torque"); - ADD_SIGNAL(MethodInfo("body_shape_entered", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape"))); - ADD_SIGNAL(MethodInfo("body_shape_exited", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape"))); - ADD_SIGNAL(MethodInfo("body_entered", PropertyInfo(Variant::OBJECT, "body"))); - ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body"))); + ADD_SIGNAL(MethodInfo("body_shape_entered", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape"))); + ADD_SIGNAL(MethodInfo("body_shape_exited", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape"))); + ADD_SIGNAL(MethodInfo("body_entered", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); + ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); ADD_SIGNAL(MethodInfo("sleeping_state_changed")); BIND_ENUM_CONSTANT(MODE_RIGID); diff --git a/scene/2d/ray_cast_2d.cpp b/scene/2d/ray_cast_2d.cpp index 9582c08110..d9b3cb07fc 100644 --- a/scene/2d/ray_cast_2d.cpp +++ b/scene/2d/ray_cast_2d.cpp @@ -218,6 +218,8 @@ void RayCast2D::_update_raycast_state() { against_shape = rr.shape; } else { collided = false; + against = 0; + against_shape = 0; } } diff --git a/scene/3d/area.cpp b/scene/3d/area.cpp index 6ea980ec97..40a1029201 100644 --- a/scene/3d/area.cpp +++ b/scene/3d/area.cpp @@ -243,7 +243,7 @@ void Area::_clear_monitoring() { emit_signal(SceneStringNames::get_singleton()->body_shape_exited, E->key(), node, E->get().shapes[i].body_shape, E->get().shapes[i].area_shape); } - emit_signal(SceneStringNames::get_singleton()->body_exited, obj); + emit_signal(SceneStringNames::get_singleton()->body_exited, node); node->disconnect(SceneStringNames::get_singleton()->tree_entered, this, SceneStringNames::get_singleton()->_body_enter_tree); node->disconnect(SceneStringNames::get_singleton()->tree_exiting, this, SceneStringNames::get_singleton()->_body_exit_tree); @@ -699,10 +699,10 @@ void Area::_bind_methods() { ClassDB::bind_method(D_METHOD("set_reverb_uniformity", "amount"), &Area::set_reverb_uniformity); ClassDB::bind_method(D_METHOD("get_reverb_uniformity"), &Area::get_reverb_uniformity); - ADD_SIGNAL(MethodInfo("body_shape_entered", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "area_shape"))); - ADD_SIGNAL(MethodInfo("body_shape_exited", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "area_shape"))); - ADD_SIGNAL(MethodInfo("body_entered", PropertyInfo(Variant::OBJECT, "body"))); - ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body"))); + ADD_SIGNAL(MethodInfo("body_shape_entered", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "area_shape"))); + ADD_SIGNAL(MethodInfo("body_shape_exited", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "area_shape"))); + ADD_SIGNAL(MethodInfo("body_entered", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); + ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); ADD_SIGNAL(MethodInfo("area_shape_entered", PropertyInfo(Variant::INT, "area_id"), PropertyInfo(Variant::OBJECT, "area", PROPERTY_HINT_RESOURCE_TYPE, "Area"), PropertyInfo(Variant::INT, "area_shape"), PropertyInfo(Variant::INT, "self_shape"))); ADD_SIGNAL(MethodInfo("area_shape_exited", PropertyInfo(Variant::INT, "area_id"), PropertyInfo(Variant::OBJECT, "area", PROPERTY_HINT_RESOURCE_TYPE, "Area"), PropertyInfo(Variant::INT, "area_shape"), PropertyInfo(Variant::INT, "self_shape"))); diff --git a/scene/3d/camera.cpp b/scene/3d/camera.cpp index a4582b7d7d..6ecf219c2b 100644 --- a/scene/3d/camera.cpp +++ b/scene/3d/camera.cpp @@ -553,11 +553,13 @@ Camera::Projection Camera::get_projection() const { void Camera::set_fov(float p_fov) { fov = p_fov; _update_camera_mode(); + _change_notify("fov"); } void Camera::set_size(float p_size) { size = p_size; _update_camera_mode(); + _change_notify("size"); } void Camera::set_znear(float p_znear) { diff --git a/scene/3d/collision_object.cpp b/scene/3d/collision_object.cpp index e19e45b263..99b8ce0567 100644 --- a/scene/3d/collision_object.cpp +++ b/scene/3d/collision_object.cpp @@ -148,7 +148,7 @@ void CollisionObject::_bind_methods() { BIND_VMETHOD(MethodInfo("_input_event", PropertyInfo(Variant::OBJECT, "camera"), PropertyInfo(Variant::OBJECT, "event", PROPERTY_HINT_RESOURCE_TYPE, "InputEvent"), PropertyInfo(Variant::VECTOR3, "click_position"), PropertyInfo(Variant::VECTOR3, "click_normal"), PropertyInfo(Variant::INT, "shape_idx"))); - ADD_SIGNAL(MethodInfo("input_event", PropertyInfo(Variant::OBJECT, "camera"), PropertyInfo(Variant::OBJECT, "event", PROPERTY_HINT_RESOURCE_TYPE, "InputEvent"), PropertyInfo(Variant::VECTOR3, "click_position"), PropertyInfo(Variant::VECTOR3, "click_normal"), PropertyInfo(Variant::INT, "shape_idx"))); + ADD_SIGNAL(MethodInfo("input_event", PropertyInfo(Variant::OBJECT, "camera", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::OBJECT, "event", PROPERTY_HINT_RESOURCE_TYPE, "InputEvent"), PropertyInfo(Variant::VECTOR3, "click_position"), PropertyInfo(Variant::VECTOR3, "click_normal"), PropertyInfo(Variant::INT, "shape_idx"))); ADD_SIGNAL(MethodInfo("mouse_entered")); ADD_SIGNAL(MethodInfo("mouse_exited")); diff --git a/scene/3d/cpu_particles.cpp b/scene/3d/cpu_particles.cpp index 3f76303ad3..712f0ba78b 100644 --- a/scene/3d/cpu_particles.cpp +++ b/scene/3d/cpu_particles.cpp @@ -30,10 +30,9 @@ #include "cpu_particles.h" -#include "particles.h" #include "scene/3d/camera.h" -#include "scene/main/viewport.h" -#include "scene/resources/surface_tool.h" +#include "scene/3d/particles.h" +#include "scene/resources/particles_material.h" #include "servers/visual_server.h" AABB CPUParticles::get_aabb() const { diff --git a/scene/3d/cpu_particles.h b/scene/3d/cpu_particles.h index 85bce789f7..47d0ef3f5e 100644 --- a/scene/3d/cpu_particles.h +++ b/scene/3d/cpu_particles.h @@ -30,10 +30,9 @@ #ifndef CPU_PARTICLES_H #define CPU_PARTICLES_H + #include "rid.h" #include "scene/3d/visual_instance.h" -#include "scene/main/timer.h" -#include "scene/resources/material.h" /** @author Juan Linietsky <reduzio@gmail.com> diff --git a/scene/3d/particles.cpp b/scene/3d/particles.cpp index 6ba569ac75..10b26778ef 100644 --- a/scene/3d/particles.cpp +++ b/scene/3d/particles.cpp @@ -29,7 +29,7 @@ /*************************************************************************/ #include "particles.h" -#include "scene/resources/surface_tool.h" + #include "servers/visual_server.h" AABB Particles::get_aabb() const { @@ -378,1219 +378,3 @@ Particles::~Particles() { VS::get_singleton()->free(particles); } - -////////////////////////////////////// - -Mutex *ParticlesMaterial::material_mutex = NULL; -SelfList<ParticlesMaterial>::List ParticlesMaterial::dirty_materials; -Map<ParticlesMaterial::MaterialKey, ParticlesMaterial::ShaderData> ParticlesMaterial::shader_map; -ParticlesMaterial::ShaderNames *ParticlesMaterial::shader_names = NULL; - -void ParticlesMaterial::init_shaders() { - -#ifndef NO_THREADS - material_mutex = Mutex::create(); -#endif - - shader_names = memnew(ShaderNames); - - shader_names->spread = "spread"; - shader_names->flatness = "flatness"; - shader_names->initial_linear_velocity = "initial_linear_velocity"; - shader_names->initial_angle = "initial_angle"; - shader_names->angular_velocity = "angular_velocity"; - shader_names->orbit_velocity = "orbit_velocity"; - shader_names->linear_accel = "linear_accel"; - shader_names->radial_accel = "radial_accel"; - shader_names->tangent_accel = "tangent_accel"; - shader_names->damping = "damping"; - shader_names->scale = "scale"; - shader_names->hue_variation = "hue_variation"; - shader_names->anim_speed = "anim_speed"; - shader_names->anim_offset = "anim_offset"; - - shader_names->initial_linear_velocity_random = "initial_linear_velocity_random"; - shader_names->initial_angle_random = "initial_angle_random"; - shader_names->angular_velocity_random = "angular_velocity_random"; - shader_names->orbit_velocity_random = "orbit_velocity_random"; - shader_names->linear_accel_random = "linear_accel_random"; - shader_names->radial_accel_random = "radial_accel_random"; - shader_names->tangent_accel_random = "tangent_accel_random"; - shader_names->damping_random = "damping_random"; - shader_names->scale_random = "scale_random"; - shader_names->hue_variation_random = "hue_variation_random"; - shader_names->anim_speed_random = "anim_speed_random"; - shader_names->anim_offset_random = "anim_offset_random"; - - shader_names->angle_texture = "angle_texture"; - shader_names->angular_velocity_texture = "angular_velocity_texture"; - shader_names->orbit_velocity_texture = "orbit_velocity_texture"; - shader_names->linear_accel_texture = "linear_accel_texture"; - shader_names->radial_accel_texture = "radial_accel_texture"; - shader_names->tangent_accel_texture = "tangent_accel_texture"; - shader_names->damping_texture = "damping_texture"; - shader_names->scale_texture = "scale_texture"; - shader_names->hue_variation_texture = "hue_variation_texture"; - shader_names->anim_speed_texture = "anim_speed_texture"; - shader_names->anim_offset_texture = "anim_offset_texture"; - - shader_names->color = "color_value"; - shader_names->color_ramp = "color_ramp"; - - shader_names->emission_sphere_radius = "emission_sphere_radius"; - shader_names->emission_box_extents = "emission_box_extents"; - shader_names->emission_texture_point_count = "emission_texture_point_count"; - shader_names->emission_texture_points = "emission_texture_points"; - shader_names->emission_texture_normal = "emission_texture_normal"; - shader_names->emission_texture_color = "emission_texture_color"; - - shader_names->trail_divisor = "trail_divisor"; - shader_names->trail_size_modifier = "trail_size_modifier"; - shader_names->trail_color_modifier = "trail_color_modifier"; - - shader_names->gravity = "gravity"; -} - -void ParticlesMaterial::finish_shaders() { - -#ifndef NO_THREADS - memdelete(material_mutex); -#endif - - memdelete(shader_names); -} - -void ParticlesMaterial::_update_shader() { - - dirty_materials.remove(&element); - - MaterialKey mk = _compute_key(); - if (mk.key == current_key.key) - return; //no update required in the end - - if (shader_map.has(current_key)) { - shader_map[current_key].users--; - if (shader_map[current_key].users == 0) { - //deallocate shader, as it's no longer in use - VS::get_singleton()->free(shader_map[current_key].shader); - shader_map.erase(current_key); - } - } - - current_key = mk; - - if (shader_map.has(mk)) { - - VS::get_singleton()->material_set_shader(_get_material(), shader_map[mk].shader); - shader_map[mk].users++; - return; - } - - //must create a shader! - - String code = "shader_type particles;\n"; - - code += "uniform float spread;\n"; - code += "uniform float flatness;\n"; - code += "uniform float initial_linear_velocity;\n"; - code += "uniform float initial_angle;\n"; - code += "uniform float angular_velocity;\n"; - code += "uniform float orbit_velocity;\n"; - code += "uniform float linear_accel;\n"; - code += "uniform float radial_accel;\n"; - code += "uniform float tangent_accel;\n"; - code += "uniform float damping;\n"; - code += "uniform float scale;\n"; - code += "uniform float hue_variation;\n"; - code += "uniform float anim_speed;\n"; - code += "uniform float anim_offset;\n"; - - code += "uniform float initial_linear_velocity_random;\n"; - code += "uniform float initial_angle_random;\n"; - code += "uniform float angular_velocity_random;\n"; - code += "uniform float orbit_velocity_random;\n"; - code += "uniform float linear_accel_random;\n"; - code += "uniform float radial_accel_random;\n"; - code += "uniform float tangent_accel_random;\n"; - code += "uniform float damping_random;\n"; - code += "uniform float scale_random;\n"; - code += "uniform float hue_variation_random;\n"; - code += "uniform float anim_speed_random;\n"; - code += "uniform float anim_offset_random;\n"; - - switch (emission_shape) { - case EMISSION_SHAPE_POINT: { - //do none - } break; - case EMISSION_SHAPE_SPHERE: { - code += "uniform float emission_sphere_radius;\n"; - } break; - case EMISSION_SHAPE_BOX: { - code += "uniform vec3 emission_box_extents;\n"; - } break; - case EMISSION_SHAPE_DIRECTED_POINTS: { - code += "uniform sampler2D emission_texture_normal : hint_black;\n"; - } //fallthrough - case EMISSION_SHAPE_POINTS: { - code += "uniform sampler2D emission_texture_points : hint_black;\n"; - code += "uniform int emission_texture_point_count;\n"; - if (emission_color_texture.is_valid()) { - code += "uniform sampler2D emission_texture_color : hint_white;\n"; - } - } break; - } - - code += "uniform vec4 color_value : hint_color;\n"; - - code += "uniform int trail_divisor;\n"; - - code += "uniform vec3 gravity;\n"; - - if (color_ramp.is_valid()) - code += "uniform sampler2D color_ramp;\n"; - - if (tex_parameters[PARAM_INITIAL_LINEAR_VELOCITY].is_valid()) - code += "uniform sampler2D linear_velocity_texture;\n"; - if (tex_parameters[PARAM_ORBIT_VELOCITY].is_valid()) - code += "uniform sampler2D orbit_velocity_texture;\n"; - if (tex_parameters[PARAM_ANGULAR_VELOCITY].is_valid()) - code += "uniform sampler2D angular_velocity_texture;\n"; - if (tex_parameters[PARAM_LINEAR_ACCEL].is_valid()) - code += "uniform sampler2D linear_accel_texture;\n"; - if (tex_parameters[PARAM_RADIAL_ACCEL].is_valid()) - code += "uniform sampler2D radial_accel_texture;\n"; - if (tex_parameters[PARAM_TANGENTIAL_ACCEL].is_valid()) - code += "uniform sampler2D tangent_accel_texture;\n"; - if (tex_parameters[PARAM_DAMPING].is_valid()) - code += "uniform sampler2D damping_texture;\n"; - if (tex_parameters[PARAM_ANGLE].is_valid()) - code += "uniform sampler2D angle_texture;\n"; - if (tex_parameters[PARAM_SCALE].is_valid()) - code += "uniform sampler2D scale_texture;\n"; - if (tex_parameters[PARAM_HUE_VARIATION].is_valid()) - code += "uniform sampler2D hue_variation_texture;\n"; - if (tex_parameters[PARAM_ANIM_SPEED].is_valid()) - code += "uniform sampler2D anim_speed_texture;\n"; - if (tex_parameters[PARAM_ANIM_OFFSET].is_valid()) - code += "uniform sampler2D anim_offset_texture;\n"; - - if (trail_size_modifier.is_valid()) { - code += "uniform sampler2D trail_size_modifier;\n"; - } - - if (trail_color_modifier.is_valid()) { - code += "uniform sampler2D trail_color_modifier;\n"; - } - - //need a random function - code += "\n\n"; - code += "float rand_from_seed(inout uint seed) {\n"; - code += " int k;\n"; - code += " int s = int(seed);\n"; - code += " if (s == 0)\n"; - code += " s = 305420679;\n"; - code += " k = s / 127773;\n"; - code += " s = 16807 * (s - k * 127773) - 2836 * k;\n"; - code += " if (s < 0)\n"; - code += " s += 2147483647;\n"; - code += " seed = uint(s);\n"; - code += " return float(seed % uint(65536))/65535.0;\n"; - code += "}\n"; - code += "\n"; - - code += "float rand_from_seed_m1_p1(inout uint seed) {\n"; - code += " return rand_from_seed(seed)*2.0-1.0;\n"; - code += "}\n"; - code += "\n"; - - //improve seed quality - code += "uint hash(uint x) {\n"; - code += " x = ((x >> uint(16)) ^ x) * uint(73244475);\n"; - code += " x = ((x >> uint(16)) ^ x) * uint(73244475);\n"; - code += " x = (x >> uint(16)) ^ x;\n"; - code += " return x;\n"; - code += "}\n"; - code += "\n"; - - code += "void vertex() {\n"; - code += " uint base_number = NUMBER/uint(trail_divisor);\n"; - code += " uint alt_seed = hash(base_number+uint(1)+RANDOM_SEED);\n"; - code += " float angle_rand = rand_from_seed(alt_seed);\n"; - code += " float scale_rand = rand_from_seed(alt_seed);\n"; - code += " float hue_rot_rand = rand_from_seed(alt_seed);\n"; - code += " float anim_offset_rand = rand_from_seed(alt_seed);\n"; - code += " float pi = 3.14159;\n"; - code += " float degree_to_rad = pi / 180.0;\n"; - code += "\n"; - - if (emission_shape >= EMISSION_SHAPE_POINTS) { - code += " int point = min(emission_texture_point_count-1,int(rand_from_seed(alt_seed) * float(emission_texture_point_count)));\n"; - code += " ivec2 emission_tex_size = textureSize( emission_texture_points, 0 );\n"; - code += " ivec2 emission_tex_ofs = ivec2( point % emission_tex_size.x, point / emission_tex_size.x );\n"; - } - code += " if (RESTART) {\n"; - - if (tex_parameters[PARAM_INITIAL_LINEAR_VELOCITY].is_valid()) - code += " float tex_linear_velocity = textureLod(linear_velocity_texture,vec2(0.0,0.0),0.0).r;\n"; - else - code += " float tex_linear_velocity = 0.0;\n"; - - if (tex_parameters[PARAM_ANGLE].is_valid()) - code += " float tex_angle = textureLod(angle_texture,vec2(0.0,0.0),0.0).r;\n"; - else - code += " float tex_angle = 0.0;\n"; - - if (tex_parameters[PARAM_ANIM_OFFSET].is_valid()) - code += " float tex_anim_offset = textureLod(anim_offset_texture,vec2(0.0,0.0),0.0).r;\n"; - else - code += " float tex_anim_offset = 0.0;\n"; - - code += " float spread_rad = spread*degree_to_rad;\n"; - - if (flags[FLAG_DISABLE_Z]) { - - code += " float angle1_rad = rand_from_seed_m1_p1(alt_seed)*spread_rad;\n"; - code += " vec3 rot = vec3( cos(angle1_rad), sin(angle1_rad),0.0 );\n"; - code += " VELOCITY = rot*initial_linear_velocity*mix(1.0, rand_from_seed(alt_seed), initial_linear_velocity_random);\n"; - - } else { - //initiate velocity spread in 3D - code += " float angle1_rad = rand_from_seed_m1_p1(alt_seed)*spread_rad;\n"; - code += " float angle2_rad = rand_from_seed_m1_p1(alt_seed)*spread_rad*(1.0-flatness);\n"; - code += " vec3 direction_xz = vec3( sin(angle1_rad), 0, cos(angle1_rad));\n"; - code += " vec3 direction_yz = vec3( 0, sin(angle2_rad), cos(angle2_rad));\n"; - code += " direction_yz.z = direction_yz.z / sqrt(direction_yz.z); //better uniform distribution\n"; - code += " vec3 direction = vec3(direction_xz.x * direction_yz.z, direction_yz.y, direction_xz.z * direction_yz.z);\n"; - code += " direction = normalize(direction);\n"; - code += " VELOCITY = direction*initial_linear_velocity*mix(1.0, rand_from_seed(alt_seed), initial_linear_velocity_random);\n"; - } - - code += " float base_angle = (initial_angle+tex_angle)*mix(1.0,angle_rand,initial_angle_random);\n"; - code += " CUSTOM.x = base_angle*degree_to_rad;\n"; //angle - code += " CUSTOM.y = 0.0;\n"; //phase - code += " CUSTOM.z = (anim_offset+tex_anim_offset)*mix(1.0,anim_offset_rand,anim_offset_random);\n"; //animation offset (0-1) - switch (emission_shape) { - case EMISSION_SHAPE_POINT: { - //do none - } break; - case EMISSION_SHAPE_SPHERE: { - code += " TRANSFORM[3].xyz = normalize(vec3(rand_from_seed(alt_seed) * 2.0 - 1.0, rand_from_seed(alt_seed) * 2.0-1.0, rand_from_seed(alt_seed) * 2.0-1.0 ))*emission_sphere_radius;\n"; - } break; - case EMISSION_SHAPE_BOX: { - code += " TRANSFORM[3].xyz = vec3(rand_from_seed(alt_seed) * 2.0 - 1.0, rand_from_seed(alt_seed) * 2.0-1.0, rand_from_seed(alt_seed) * 2.0-1.0)*emission_box_extents;\n"; - } break; - case EMISSION_SHAPE_POINTS: - case EMISSION_SHAPE_DIRECTED_POINTS: { - code += " TRANSFORM[3].xyz = texelFetch(emission_texture_points, emission_tex_ofs,0).xyz;\n"; - - if (emission_shape == EMISSION_SHAPE_DIRECTED_POINTS) { - if (flags[FLAG_DISABLE_Z]) { - - code += " mat2 rotm;"; - code += " rotm[0] = texelFetch(emission_texture_normal, emission_tex_ofs,0).xy;\n"; - code += " rotm[1] = rotm[0].yx * vec2(1.0,-1.0);\n"; - code += " VELOCITY.xy = rotm * VELOCITY.xy;\n"; - } else { - code += " vec3 normal = texelFetch(emission_texture_normal, emission_tex_ofs,0).xyz;\n"; - code += " vec3 v0 = abs(normal.z) < 0.999 ? vec3(0.0, 0.0, 1.0) : vec3(0, 1.0, 0.0);\n"; - code += " vec3 tangent = normalize(cross(v0, normal));\n"; - code += " vec3 bitangent = normalize(cross(tangent, normal));\n"; - code += " VELOCITY = mat3(tangent,bitangent,normal) * VELOCITY;\n"; - } - } - } break; - } - code += " VELOCITY = (EMISSION_TRANSFORM * vec4(VELOCITY,0.0)).xyz;\n"; - code += " TRANSFORM = EMISSION_TRANSFORM * TRANSFORM;\n"; - if (flags[FLAG_DISABLE_Z]) { - code += " VELOCITY.z = 0.0;\n"; - code += " TRANSFORM[3].z = 0.0;\n"; - } - - code += " } else {\n"; - - code += " CUSTOM.y += DELTA/LIFETIME;\n"; - if (tex_parameters[PARAM_INITIAL_LINEAR_VELOCITY].is_valid()) - code += " float tex_linear_velocity = textureLod(linear_velocity_texture,vec2(CUSTOM.y,0.0),0.0).r;\n"; - else - code += " float tex_linear_velocity = 0.0;\n"; - - if (flags[FLAG_DISABLE_Z]) { - - if (tex_parameters[PARAM_ORBIT_VELOCITY].is_valid()) - code += " float tex_orbit_velocity = textureLod(orbit_velocity_texture,vec2(CUSTOM.y,0.0),0.0).r;\n"; - else - code += " float tex_orbit_velocity = 0.0;\n"; - } - - if (tex_parameters[PARAM_ANGULAR_VELOCITY].is_valid()) - code += " float tex_angular_velocity = textureLod(angular_velocity_texture,vec2(CUSTOM.y,0.0),0.0).r;\n"; - else - code += " float tex_angular_velocity = 0.0;\n"; - - if (tex_parameters[PARAM_LINEAR_ACCEL].is_valid()) - code += " float tex_linear_accel = textureLod(linear_accel_texture,vec2(CUSTOM.y,0.0),0.0).r;\n"; - else - code += " float tex_linear_accel = 0.0;\n"; - - if (tex_parameters[PARAM_RADIAL_ACCEL].is_valid()) - code += " float tex_radial_accel = textureLod(radial_accel_texture,vec2(CUSTOM.y,0.0),0.0).r;\n"; - else - code += " float tex_radial_accel = 0.0;\n"; - - if (tex_parameters[PARAM_TANGENTIAL_ACCEL].is_valid()) - code += " float tex_tangent_accel = textureLod(tangent_accel_texture,vec2(CUSTOM.y,0.0),0.0).r;\n"; - else - code += " float tex_tangent_accel = 0.0;\n"; - - if (tex_parameters[PARAM_DAMPING].is_valid()) - code += " float tex_damping = textureLod(damping_texture,vec2(CUSTOM.y,0.0),0.0).r;\n"; - else - code += " float tex_damping = 0.0;\n"; - - if (tex_parameters[PARAM_ANGLE].is_valid()) - code += " float tex_angle = textureLod(angle_texture,vec2(CUSTOM.y,0.0),0.0).r;\n"; - else - code += " float tex_angle = 0.0;\n"; - - if (tex_parameters[PARAM_ANIM_SPEED].is_valid()) - code += " float tex_anim_speed = textureLod(anim_speed_texture,vec2(CUSTOM.y,0.0),0.0).r;\n"; - else - code += " float tex_anim_speed = 0.0;\n"; - - if (tex_parameters[PARAM_ANIM_OFFSET].is_valid()) - code += " float tex_anim_offset = textureLod(anim_offset_texture,vec2(CUSTOM.y,0.0),0.0).r;\n"; - else - code += " float tex_anim_offset = 0.0;\n"; - - code += " vec3 force = gravity; \n"; - code += " vec3 pos = TRANSFORM[3].xyz; \n"; - if (flags[FLAG_DISABLE_Z]) { - code += " pos.z = 0.0; \n"; - } - code += " //apply linear acceleration\n"; - code += " force += length(VELOCITY) > 0.0 ? normalize(VELOCITY) * (linear_accel+tex_linear_accel)*mix(1.0,rand_from_seed(alt_seed),linear_accel_random) : vec3(0.0);\n"; - code += " //apply radial acceleration\n"; - code += " vec3 org = EMISSION_TRANSFORM[3].xyz;\n"; - code += " vec3 diff = pos-org;\n"; - code += " force += length(diff) > 0.0 ? normalize(diff) * (radial_accel+tex_radial_accel)*mix(1.0,rand_from_seed(alt_seed),radial_accel_random) : vec3(0.0);\n"; - code += " //apply tangential acceleration;\n"; - if (flags[FLAG_DISABLE_Z]) { - code += " force += length(diff.yx) > 0.0 ? vec3(normalize(diff.yx * vec2(-1.0,1.0)),0.0) * ((tangent_accel+tex_tangent_accel)*mix(1.0,rand_from_seed(alt_seed),tangent_accel_random)) : vec3(0.0);\n"; - - } else { - code += " vec3 crossDiff = cross(normalize(diff),normalize(gravity));\n"; - code += " force += length(crossDiff) > 0.0 ? normalize(crossDiff) * ((tangent_accel+tex_tangent_accel)*mix(1.0,rand_from_seed(alt_seed),tangent_accel_random)) : vec3(0.0);\n"; - } - code += " //apply attractor forces\n"; - code += " VELOCITY += force * DELTA;\n"; - code += " //orbit velocity\n"; - if (flags[FLAG_DISABLE_Z]) { - - code += " float orbit_amount = (orbit_velocity+tex_orbit_velocity)*mix(1.0,rand_from_seed(alt_seed),orbit_velocity_random);\n"; - code += " if (orbit_amount!=0.0) {\n"; - code += " float ang = orbit_amount * DELTA * pi * 2.0;\n"; - code += " mat2 rot = mat2(vec2(cos(ang),-sin(ang)),vec2(sin(ang),cos(ang)));\n"; - code += " TRANSFORM[3].xy-=diff.xy;\n"; - code += " TRANSFORM[3].xy+=rot * diff.xy;\n"; - code += " }\n"; - } - - if (tex_parameters[PARAM_INITIAL_LINEAR_VELOCITY].is_valid()) { - code += " VELOCITY = normalize(VELOCITY)*tex_linear_velocity;\n"; - } - code += " if (damping + tex_damping > 0.0) {\n"; - code += " \n"; - code += " float v = length(VELOCITY);\n"; - code += " float damp = (damping+tex_damping)*mix(1.0,rand_from_seed(alt_seed),damping_random);\n"; - code += " v -= damp * DELTA;\n"; - code += " if (v < 0.0) {\n"; - code += " VELOCITY = vec3(0.0);\n"; - code += " } else {\n"; - code += " VELOCITY = normalize(VELOCITY) * v;\n"; - code += " }\n"; - code += " }\n"; - code += " float base_angle = (initial_angle+tex_angle)*mix(1.0,angle_rand,initial_angle_random);\n"; - code += " base_angle += CUSTOM.y*LIFETIME*(angular_velocity+tex_angular_velocity)*mix(1.0,rand_from_seed(alt_seed)*2.0-1.0,angular_velocity_random);\n"; - code += " CUSTOM.x = base_angle*degree_to_rad;\n"; //angle - code += " CUSTOM.z = (anim_offset+tex_anim_offset)*mix(1.0,anim_offset_rand,anim_offset_random)+CUSTOM.y*(anim_speed+tex_anim_speed)*mix(1.0,rand_from_seed(alt_seed),anim_speed_random);\n"; //angle - if (flags[FLAG_ANIM_LOOP]) { - code += " CUSTOM.z = mod(CUSTOM.z,1.0);\n"; //loop - - } else { - code += " CUSTOM.z = clamp(CUSTOM.z,0.0,1.0);\n"; //0 to 1 only - } - code += " }\n"; - //apply color - //apply hue rotation - if (tex_parameters[PARAM_SCALE].is_valid()) - code += " float tex_scale = textureLod(scale_texture,vec2(CUSTOM.y,0.0),0.0).r;\n"; - else - code += " float tex_scale = 1.0;\n"; - - if (tex_parameters[PARAM_HUE_VARIATION].is_valid()) - code += " float tex_hue_variation = textureLod(hue_variation_texture,vec2(CUSTOM.y,0.0),0.0).r;\n"; - else - code += " float tex_hue_variation = 0.0;\n"; - - code += " float hue_rot_angle = (hue_variation+tex_hue_variation)*pi*2.0*mix(1.0,hue_rot_rand*2.0-1.0,hue_variation_random);\n"; - code += " float hue_rot_c = cos(hue_rot_angle);\n"; - code += " float hue_rot_s = sin(hue_rot_angle);\n"; - code += " mat4 hue_rot_mat = mat4( vec4(0.299, 0.587, 0.114, 0.0),\n"; - code += " vec4(0.299, 0.587, 0.114, 0.0),\n"; - code += " vec4(0.299, 0.587, 0.114, 0.0),\n"; - code += " vec4(0.000, 0.000, 0.000, 1.0)) +\n"; - code += " mat4( vec4(0.701, -0.587, -0.114, 0.0),\n"; - code += " vec4(-0.299, 0.413, -0.114, 0.0),\n"; - code += " vec4(-0.300, -0.588, 0.886, 0.0),\n"; - code += " vec4(0.000, 0.000, 0.000, 0.0)) * hue_rot_c +\n"; - code += " mat4( vec4(0.168, 0.330, -0.497, 0.0),\n"; - code += " vec4(-0.328, 0.035, 0.292, 0.0),\n"; - code += " vec4(1.250, -1.050, -0.203, 0.0),\n"; - code += " vec4(0.000, 0.000, 0.000, 0.0)) * hue_rot_s;\n"; - if (color_ramp.is_valid()) { - code += " COLOR = hue_rot_mat * textureLod(color_ramp,vec2(CUSTOM.y,0.0),0.0);\n"; - } else { - code += " COLOR = hue_rot_mat * color_value;\n"; - } - if (emission_color_texture.is_valid() && emission_shape >= EMISSION_SHAPE_POINTS) { - code += " COLOR*= texelFetch(emission_texture_color,emission_tex_ofs,0);\n"; - } - if (trail_color_modifier.is_valid()) { - code += " if (trail_divisor > 1) { COLOR *= textureLod(trail_color_modifier,vec2(float(int(NUMBER)%trail_divisor)/float(trail_divisor-1),0.0),0.0); }\n"; - } - code += "\n"; - - if (flags[FLAG_DISABLE_Z]) { - - if (flags[FLAG_ALIGN_Y_TO_VELOCITY]) { - code += " if (length(VELOCITY) > 0.0) { TRANSFORM[1].xyz = normalize(VELOCITY); } else { TRANSFORM[1].xyz = normalize(TRANSFORM[1].xyz); }\n"; - code += " TRANSFORM[0].xyz = normalize(cross(TRANSFORM[1].xyz,TRANSFORM[2].xyz));\n"; - code += " TRANSFORM[2] = vec4(0.0,0.0,1.0,0.0);\n"; - } else { - code += " TRANSFORM[0] = vec4(cos(CUSTOM.x),-sin(CUSTOM.x),0.0,0.0);\n"; - code += " TRANSFORM[1] = vec4(sin(CUSTOM.x),cos(CUSTOM.x),0.0,0.0);\n"; - code += " TRANSFORM[2] = vec4(0.0,0.0,1.0,0.0);\n"; - } - - } else { - //orient particle Y towards velocity - if (flags[FLAG_ALIGN_Y_TO_VELOCITY]) { - code += " if (length(VELOCITY) > 0.0) { TRANSFORM[1].xyz = normalize(VELOCITY); } else { TRANSFORM[1].xyz = normalize(TRANSFORM[1].xyz); }\n"; - code += " if (TRANSFORM[1].xyz == normalize(TRANSFORM[0].xyz)) {\n"; - code += " TRANSFORM[0].xyz = normalize(cross(normalize(TRANSFORM[1].xyz),normalize(TRANSFORM[2].xyz)));\n"; - code += " TRANSFORM[2].xyz = normalize(cross(normalize(TRANSFORM[0].xyz),normalize(TRANSFORM[1].xyz)));\n"; - code += " } else {\n"; - code += " TRANSFORM[2].xyz = normalize(cross(normalize(TRANSFORM[0].xyz),normalize(TRANSFORM[1].xyz)));\n"; - code += " TRANSFORM[0].xyz = normalize(cross(normalize(TRANSFORM[1].xyz),normalize(TRANSFORM[2].xyz)));\n"; - code += " }\n"; - } else { - code += " TRANSFORM[0].xyz = normalize(TRANSFORM[0].xyz);\n"; - code += " TRANSFORM[1].xyz = normalize(TRANSFORM[1].xyz);\n"; - code += " TRANSFORM[2].xyz = normalize(TRANSFORM[2].xyz);\n"; - } - //turn particle by rotation in Y - if (flags[FLAG_ROTATE_Y]) { - code += " TRANSFORM = TRANSFORM * mat4( vec4(cos(CUSTOM.x),0.0,-sin(CUSTOM.x),0.0), vec4(0.0,1.0,0.0,0.0),vec4(sin(CUSTOM.x),0.0,cos(CUSTOM.x),0.0),vec4(0.0,0.0,0.0,1.0));\n"; - } - } - //scale by scale - code += " float base_scale = mix(scale*tex_scale,1.0,scale_random*scale_rand);\n"; - code += " if (base_scale==0.0) base_scale=0.000001;\n"; - if (trail_size_modifier.is_valid()) { - code += " if (trail_divisor > 1) { base_scale *= textureLod(trail_size_modifier,vec2(float(int(NUMBER)%trail_divisor)/float(trail_divisor-1),0.0),0.0).r; } \n"; - } - - code += " TRANSFORM[0].xyz *= base_scale;\n"; - code += " TRANSFORM[1].xyz *= base_scale;\n"; - code += " TRANSFORM[2].xyz *= base_scale;\n"; - if (flags[FLAG_DISABLE_Z]) { - code += " VELOCITY.z = 0.0;\n"; - code += " TRANSFORM[3].z = 0.0;\n"; - } - code += "}\n"; - code += "\n"; - - ShaderData shader_data; - shader_data.shader = VS::get_singleton()->shader_create(); - shader_data.users = 1; - - VS::get_singleton()->shader_set_code(shader_data.shader, code); - - shader_map[mk] = shader_data; - - VS::get_singleton()->material_set_shader(_get_material(), shader_data.shader); -} - -void ParticlesMaterial::flush_changes() { - - if (material_mutex) - material_mutex->lock(); - - while (dirty_materials.first()) { - - dirty_materials.first()->self()->_update_shader(); - } - - if (material_mutex) - material_mutex->unlock(); -} - -void ParticlesMaterial::_queue_shader_change() { - - if (material_mutex) - material_mutex->lock(); - - if (!element.in_list()) { - dirty_materials.add(&element); - } - - if (material_mutex) - material_mutex->unlock(); -} - -bool ParticlesMaterial::_is_shader_dirty() const { - - bool dirty = false; - - if (material_mutex) - material_mutex->lock(); - - dirty = element.in_list(); - - if (material_mutex) - material_mutex->unlock(); - - return dirty; -} - -void ParticlesMaterial::set_spread(float p_spread) { - - spread = p_spread; - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->spread, p_spread); -} - -float ParticlesMaterial::get_spread() const { - - return spread; -} - -void ParticlesMaterial::set_flatness(float p_flatness) { - - flatness = p_flatness; - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->flatness, p_flatness); -} -float ParticlesMaterial::get_flatness() const { - - return flatness; -} - -void ParticlesMaterial::set_param(Parameter p_param, float p_value) { - - ERR_FAIL_INDEX(p_param, PARAM_MAX); - - parameters[p_param] = p_value; - - switch (p_param) { - case PARAM_INITIAL_LINEAR_VELOCITY: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->initial_linear_velocity, p_value); - } break; - case PARAM_ANGULAR_VELOCITY: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->angular_velocity, p_value); - } break; - case PARAM_ORBIT_VELOCITY: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->orbit_velocity, p_value); - } break; - case PARAM_LINEAR_ACCEL: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->linear_accel, p_value); - } break; - case PARAM_RADIAL_ACCEL: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->radial_accel, p_value); - } break; - case PARAM_TANGENTIAL_ACCEL: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->tangent_accel, p_value); - } break; - case PARAM_DAMPING: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->damping, p_value); - } break; - case PARAM_ANGLE: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->initial_angle, p_value); - } break; - case PARAM_SCALE: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->scale, p_value); - } break; - case PARAM_HUE_VARIATION: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->hue_variation, p_value); - } break; - case PARAM_ANIM_SPEED: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->anim_speed, p_value); - } break; - case PARAM_ANIM_OFFSET: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->anim_offset, p_value); - } break; - } -} -float ParticlesMaterial::get_param(Parameter p_param) const { - - ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); - - return parameters[p_param]; -} - -void ParticlesMaterial::set_param_randomness(Parameter p_param, float p_value) { - - ERR_FAIL_INDEX(p_param, PARAM_MAX); - - randomness[p_param] = p_value; - - switch (p_param) { - case PARAM_INITIAL_LINEAR_VELOCITY: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->initial_linear_velocity_random, p_value); - } break; - case PARAM_ANGULAR_VELOCITY: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->angular_velocity_random, p_value); - } break; - case PARAM_ORBIT_VELOCITY: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->orbit_velocity_random, p_value); - } break; - case PARAM_LINEAR_ACCEL: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->linear_accel_random, p_value); - } break; - case PARAM_RADIAL_ACCEL: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->radial_accel_random, p_value); - } break; - case PARAM_TANGENTIAL_ACCEL: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->tangent_accel_random, p_value); - } break; - case PARAM_DAMPING: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->damping_random, p_value); - } break; - case PARAM_ANGLE: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->initial_angle_random, p_value); - } break; - case PARAM_SCALE: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->scale_random, p_value); - } break; - case PARAM_HUE_VARIATION: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->hue_variation_random, p_value); - } break; - case PARAM_ANIM_SPEED: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->anim_speed_random, p_value); - } break; - case PARAM_ANIM_OFFSET: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->anim_offset_random, p_value); - } break; - } -} -float ParticlesMaterial::get_param_randomness(Parameter p_param) const { - - ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); - - return randomness[p_param]; -} - -static void _adjust_curve_range(const Ref<Texture> &p_texture, float p_min, float p_max) { - - Ref<CurveTexture> curve_tex = p_texture; - if (!curve_tex.is_valid()) - return; - - curve_tex->ensure_default_setup(p_min, p_max); -} - -void ParticlesMaterial::set_param_texture(Parameter p_param, const Ref<Texture> &p_texture) { - - ERR_FAIL_INDEX(p_param, PARAM_MAX); - - tex_parameters[p_param] = p_texture; - - switch (p_param) { - case PARAM_INITIAL_LINEAR_VELOCITY: { - //do none for this one - } break; - case PARAM_ANGULAR_VELOCITY: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->angular_velocity_texture, p_texture); - _adjust_curve_range(p_texture, -360, 360); - } break; - case PARAM_ORBIT_VELOCITY: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->orbit_velocity_texture, p_texture); - _adjust_curve_range(p_texture, -500, 500); - } break; - case PARAM_LINEAR_ACCEL: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->linear_accel_texture, p_texture); - _adjust_curve_range(p_texture, -200, 200); - } break; - case PARAM_RADIAL_ACCEL: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->radial_accel_texture, p_texture); - _adjust_curve_range(p_texture, -200, 200); - } break; - case PARAM_TANGENTIAL_ACCEL: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->tangent_accel_texture, p_texture); - _adjust_curve_range(p_texture, -200, 200); - } break; - case PARAM_DAMPING: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->damping_texture, p_texture); - _adjust_curve_range(p_texture, 0, 100); - } break; - case PARAM_ANGLE: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->angle_texture, p_texture); - _adjust_curve_range(p_texture, -360, 360); - } break; - case PARAM_SCALE: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->scale_texture, p_texture); - - Ref<CurveTexture> curve_tex = p_texture; - if (curve_tex.is_valid()) { - curve_tex->ensure_default_setup(); - } - - } break; - case PARAM_HUE_VARIATION: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->hue_variation_texture, p_texture); - _adjust_curve_range(p_texture, -1, 1); - } break; - case PARAM_ANIM_SPEED: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->anim_speed_texture, p_texture); - _adjust_curve_range(p_texture, 0, 200); - } break; - case PARAM_ANIM_OFFSET: { - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->anim_offset_texture, p_texture); - } break; - } - - _queue_shader_change(); -} -Ref<Texture> ParticlesMaterial::get_param_texture(Parameter p_param) const { - - ERR_FAIL_INDEX_V(p_param, PARAM_MAX, Ref<Texture>()); - - return tex_parameters[p_param]; -} - -void ParticlesMaterial::set_color(const Color &p_color) { - - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->color, p_color); - color = p_color; -} - -Color ParticlesMaterial::get_color() const { - - return color; -} - -void ParticlesMaterial::set_color_ramp(const Ref<Texture> &p_texture) { - - color_ramp = p_texture; - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->color_ramp, p_texture); - _queue_shader_change(); - _change_notify(); -} - -Ref<Texture> ParticlesMaterial::get_color_ramp() const { - - return color_ramp; -} - -void ParticlesMaterial::set_flag(Flags p_flag, bool p_enable) { - ERR_FAIL_INDEX(p_flag, FLAG_MAX); - flags[p_flag] = p_enable; - _queue_shader_change(); - if (p_flag == FLAG_DISABLE_Z) { - _change_notify(); - } -} - -bool ParticlesMaterial::get_flag(Flags p_flag) const { - ERR_FAIL_INDEX_V(p_flag, FLAG_MAX, false); - return flags[p_flag]; -} - -void ParticlesMaterial::set_emission_shape(EmissionShape p_shape) { - - emission_shape = p_shape; - _change_notify(); - _queue_shader_change(); -} - -void ParticlesMaterial::set_emission_sphere_radius(float p_radius) { - - emission_sphere_radius = p_radius; - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->emission_sphere_radius, p_radius); -} - -void ParticlesMaterial::set_emission_box_extents(Vector3 p_extents) { - - emission_box_extents = p_extents; - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->emission_box_extents, p_extents); -} - -void ParticlesMaterial::set_emission_point_texture(const Ref<Texture> &p_points) { - - emission_point_texture = p_points; - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->emission_texture_points, p_points); -} - -void ParticlesMaterial::set_emission_normal_texture(const Ref<Texture> &p_normals) { - - emission_normal_texture = p_normals; - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->emission_texture_normal, p_normals); -} - -void ParticlesMaterial::set_emission_color_texture(const Ref<Texture> &p_colors) { - - emission_color_texture = p_colors; - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->emission_texture_color, p_colors); - _queue_shader_change(); -} - -void ParticlesMaterial::set_emission_point_count(int p_count) { - - emission_point_count = p_count; - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->emission_texture_point_count, p_count); -} - -ParticlesMaterial::EmissionShape ParticlesMaterial::get_emission_shape() const { - - return emission_shape; -} - -float ParticlesMaterial::get_emission_sphere_radius() const { - - return emission_sphere_radius; -} -Vector3 ParticlesMaterial::get_emission_box_extents() const { - - return emission_box_extents; -} -Ref<Texture> ParticlesMaterial::get_emission_point_texture() const { - - return emission_point_texture; -} -Ref<Texture> ParticlesMaterial::get_emission_normal_texture() const { - - return emission_normal_texture; -} - -Ref<Texture> ParticlesMaterial::get_emission_color_texture() const { - - return emission_color_texture; -} - -int ParticlesMaterial::get_emission_point_count() const { - - return emission_point_count; -} - -void ParticlesMaterial::set_trail_divisor(int p_divisor) { - - trail_divisor = p_divisor; - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->trail_divisor, p_divisor); -} - -int ParticlesMaterial::get_trail_divisor() const { - - return trail_divisor; -} - -void ParticlesMaterial::set_trail_size_modifier(const Ref<CurveTexture> &p_trail_size_modifier) { - - trail_size_modifier = p_trail_size_modifier; - - Ref<CurveTexture> curve = trail_size_modifier; - if (curve.is_valid()) { - curve->ensure_default_setup(); - } - - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->trail_size_modifier, curve); - _queue_shader_change(); -} - -Ref<CurveTexture> ParticlesMaterial::get_trail_size_modifier() const { - - return trail_size_modifier; -} - -void ParticlesMaterial::set_trail_color_modifier(const Ref<GradientTexture> &p_trail_color_modifier) { - - trail_color_modifier = p_trail_color_modifier; - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->trail_color_modifier, p_trail_color_modifier); - _queue_shader_change(); -} - -Ref<GradientTexture> ParticlesMaterial::get_trail_color_modifier() const { - - return trail_color_modifier; -} - -void ParticlesMaterial::set_gravity(const Vector3 &p_gravity) { - - gravity = p_gravity; - Vector3 gset = gravity; - if (gset == Vector3()) { - gset = Vector3(0, -0.000001, 0); //as gravity is used as upvector in some calculations - } - VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->gravity, gset); -} - -Vector3 ParticlesMaterial::get_gravity() const { - - return gravity; -} - -RID ParticlesMaterial::get_shader_rid() const { - - ERR_FAIL_COND_V(!shader_map.has(current_key), RID()); - return shader_map[current_key].shader; -} - -void ParticlesMaterial::_validate_property(PropertyInfo &property) const { - - if (property.name == "color" && color_ramp.is_valid()) { - property.usage = 0; - } - - if (property.name == "emission_sphere_radius" && emission_shape != EMISSION_SHAPE_SPHERE) { - property.usage = 0; - } - - if (property.name == "emission_box_extents" && emission_shape != EMISSION_SHAPE_BOX) { - property.usage = 0; - } - - if ((property.name == "emission_point_texture" || property.name == "emission_color_texture") && (emission_shape < EMISSION_SHAPE_POINTS)) { - property.usage = 0; - } - - if (property.name == "emission_normal_texture" && emission_shape != EMISSION_SHAPE_DIRECTED_POINTS) { - property.usage = 0; - } - - if (property.name == "emission_point_count" && (emission_shape != EMISSION_SHAPE_POINTS && emission_shape != EMISSION_SHAPE_DIRECTED_POINTS)) { - property.usage = 0; - } - - if (property.name.begins_with("orbit_") && !flags[FLAG_DISABLE_Z]) { - property.usage = 0; - } -} - -Shader::Mode ParticlesMaterial::get_shader_mode() const { - - return Shader::MODE_PARTICLES; -} - -void ParticlesMaterial::_bind_methods() { - - ClassDB::bind_method(D_METHOD("set_spread", "degrees"), &ParticlesMaterial::set_spread); - ClassDB::bind_method(D_METHOD("get_spread"), &ParticlesMaterial::get_spread); - - ClassDB::bind_method(D_METHOD("set_flatness", "amount"), &ParticlesMaterial::set_flatness); - ClassDB::bind_method(D_METHOD("get_flatness"), &ParticlesMaterial::get_flatness); - - ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &ParticlesMaterial::set_param); - ClassDB::bind_method(D_METHOD("get_param", "param"), &ParticlesMaterial::get_param); - - ClassDB::bind_method(D_METHOD("set_param_randomness", "param", "randomness"), &ParticlesMaterial::set_param_randomness); - ClassDB::bind_method(D_METHOD("get_param_randomness", "param"), &ParticlesMaterial::get_param_randomness); - - ClassDB::bind_method(D_METHOD("set_param_texture", "param", "texture"), &ParticlesMaterial::set_param_texture); - ClassDB::bind_method(D_METHOD("get_param_texture", "param"), &ParticlesMaterial::get_param_texture); - - ClassDB::bind_method(D_METHOD("set_color", "color"), &ParticlesMaterial::set_color); - ClassDB::bind_method(D_METHOD("get_color"), &ParticlesMaterial::get_color); - - ClassDB::bind_method(D_METHOD("set_color_ramp", "ramp"), &ParticlesMaterial::set_color_ramp); - ClassDB::bind_method(D_METHOD("get_color_ramp"), &ParticlesMaterial::get_color_ramp); - - ClassDB::bind_method(D_METHOD("set_flag", "flag", "enable"), &ParticlesMaterial::set_flag); - ClassDB::bind_method(D_METHOD("get_flag", "flag"), &ParticlesMaterial::get_flag); - - ClassDB::bind_method(D_METHOD("set_emission_shape", "shape"), &ParticlesMaterial::set_emission_shape); - ClassDB::bind_method(D_METHOD("get_emission_shape"), &ParticlesMaterial::get_emission_shape); - - ClassDB::bind_method(D_METHOD("set_emission_sphere_radius", "radius"), &ParticlesMaterial::set_emission_sphere_radius); - ClassDB::bind_method(D_METHOD("get_emission_sphere_radius"), &ParticlesMaterial::get_emission_sphere_radius); - - ClassDB::bind_method(D_METHOD("set_emission_box_extents", "extents"), &ParticlesMaterial::set_emission_box_extents); - ClassDB::bind_method(D_METHOD("get_emission_box_extents"), &ParticlesMaterial::get_emission_box_extents); - - ClassDB::bind_method(D_METHOD("set_emission_point_texture", "texture"), &ParticlesMaterial::set_emission_point_texture); - ClassDB::bind_method(D_METHOD("get_emission_point_texture"), &ParticlesMaterial::get_emission_point_texture); - - ClassDB::bind_method(D_METHOD("set_emission_normal_texture", "texture"), &ParticlesMaterial::set_emission_normal_texture); - ClassDB::bind_method(D_METHOD("get_emission_normal_texture"), &ParticlesMaterial::get_emission_normal_texture); - - ClassDB::bind_method(D_METHOD("set_emission_color_texture", "texture"), &ParticlesMaterial::set_emission_color_texture); - ClassDB::bind_method(D_METHOD("get_emission_color_texture"), &ParticlesMaterial::get_emission_color_texture); - - ClassDB::bind_method(D_METHOD("set_emission_point_count", "point_count"), &ParticlesMaterial::set_emission_point_count); - ClassDB::bind_method(D_METHOD("get_emission_point_count"), &ParticlesMaterial::get_emission_point_count); - - ClassDB::bind_method(D_METHOD("set_trail_divisor", "divisor"), &ParticlesMaterial::set_trail_divisor); - ClassDB::bind_method(D_METHOD("get_trail_divisor"), &ParticlesMaterial::get_trail_divisor); - - ClassDB::bind_method(D_METHOD("set_trail_size_modifier", "texture"), &ParticlesMaterial::set_trail_size_modifier); - ClassDB::bind_method(D_METHOD("get_trail_size_modifier"), &ParticlesMaterial::get_trail_size_modifier); - - ClassDB::bind_method(D_METHOD("set_trail_color_modifier", "texture"), &ParticlesMaterial::set_trail_color_modifier); - ClassDB::bind_method(D_METHOD("get_trail_color_modifier"), &ParticlesMaterial::get_trail_color_modifier); - - ClassDB::bind_method(D_METHOD("get_gravity"), &ParticlesMaterial::get_gravity); - ClassDB::bind_method(D_METHOD("set_gravity", "accel_vec"), &ParticlesMaterial::set_gravity); - - ADD_GROUP("Trail", "trail_"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "trail_divisor", PROPERTY_HINT_RANGE, "1,1000000,1"), "set_trail_divisor", "get_trail_divisor"); - ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "trail_size_modifier", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_trail_size_modifier", "get_trail_size_modifier"); - ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "trail_color_modifier", PROPERTY_HINT_RESOURCE_TYPE, "GradientTexture"), "set_trail_color_modifier", "get_trail_color_modifier"); - ADD_GROUP("Emission Shape", "emission_"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "emission_shape", PROPERTY_HINT_ENUM, "Point,Sphere,Box,Points,Directed Points"), "set_emission_shape", "get_emission_shape"); - ADD_PROPERTY(PropertyInfo(Variant::REAL, "emission_sphere_radius", PROPERTY_HINT_RANGE, "0.01,128,0.01,or_greater"), "set_emission_sphere_radius", "get_emission_sphere_radius"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "emission_box_extents"), "set_emission_box_extents", "get_emission_box_extents"); - ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "emission_point_texture", PROPERTY_HINT_RESOURCE_TYPE, "Texture"), "set_emission_point_texture", "get_emission_point_texture"); - ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "emission_normal_texture", PROPERTY_HINT_RESOURCE_TYPE, "Texture"), "set_emission_normal_texture", "get_emission_normal_texture"); - ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "emission_color_texture", PROPERTY_HINT_RESOURCE_TYPE, "Texture"), "set_emission_color_texture", "get_emission_color_texture"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "emission_point_count", PROPERTY_HINT_RANGE, "0,1000000,1"), "set_emission_point_count", "get_emission_point_count"); - ADD_GROUP("Flags", "flag_"); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "flag_align_y"), "set_flag", "get_flag", FLAG_ALIGN_Y_TO_VELOCITY); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "flag_rotate_y"), "set_flag", "get_flag", FLAG_ROTATE_Y); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "flag_disable_z"), "set_flag", "get_flag", FLAG_DISABLE_Z); - ADD_GROUP("Spread", ""); - ADD_PROPERTY(PropertyInfo(Variant::REAL, "spread", PROPERTY_HINT_RANGE, "0,180,0.01"), "set_spread", "get_spread"); - ADD_PROPERTY(PropertyInfo(Variant::REAL, "flatness", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_flatness", "get_flatness"); - ADD_GROUP("Gravity", ""); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "gravity"), "set_gravity", "get_gravity"); - ADD_GROUP("Initial Velocity", "initial_"); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "initial_velocity", PROPERTY_HINT_RANGE, "0,1000,0.01,or_greater"), "set_param", "get_param", PARAM_INITIAL_LINEAR_VELOCITY); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "initial_velocity_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_INITIAL_LINEAR_VELOCITY); - ADD_GROUP("Angular Velocity", "angular_"); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_velocity", PROPERTY_HINT_RANGE, "-360,360,0.01"), "set_param", "get_param", PARAM_ANGULAR_VELOCITY); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_velocity_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_ANGULAR_VELOCITY); - ADD_PROPERTYI(PropertyInfo(Variant::OBJECT, "angular_velocity_curve", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_param_texture", "get_param_texture", PARAM_ANGULAR_VELOCITY); - ADD_GROUP("Orbit Velocity", "orbit_"); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "orbit_velocity", PROPERTY_HINT_RANGE, "-1000,1000,0.01,or_lesser,or_greater"), "set_param", "get_param", PARAM_ORBIT_VELOCITY); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "orbit_velocity_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_ORBIT_VELOCITY); - ADD_PROPERTYI(PropertyInfo(Variant::OBJECT, "orbit_velocity_curve", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_param_texture", "get_param_texture", PARAM_ORBIT_VELOCITY); - ADD_GROUP("Linear Accel", "linear_"); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_accel", PROPERTY_HINT_RANGE, "-100,100,0.01,or_lesser,or_greater"), "set_param", "get_param", PARAM_LINEAR_ACCEL); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_accel_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_LINEAR_ACCEL); - ADD_PROPERTYI(PropertyInfo(Variant::OBJECT, "linear_accel_curve", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_param_texture", "get_param_texture", PARAM_LINEAR_ACCEL); - ADD_GROUP("Radial Accel", "radial_"); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "radial_accel", PROPERTY_HINT_RANGE, "-100,100,0.01,or_lesser,or_greater"), "set_param", "get_param", PARAM_RADIAL_ACCEL); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "radial_accel_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_RADIAL_ACCEL); - ADD_PROPERTYI(PropertyInfo(Variant::OBJECT, "radial_accel_curve", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_param_texture", "get_param_texture", PARAM_RADIAL_ACCEL); - ADD_GROUP("Tangential Accel", "tangential_"); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "tangential_accel", PROPERTY_HINT_RANGE, "-100,100,0.01,or_lesser,or_greater"), "set_param", "get_param", PARAM_TANGENTIAL_ACCEL); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "tangential_accel_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_TANGENTIAL_ACCEL); - ADD_PROPERTYI(PropertyInfo(Variant::OBJECT, "tangential_accel_curve", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_param_texture", "get_param_texture", PARAM_TANGENTIAL_ACCEL); - ADD_GROUP("Damping", ""); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "damping", PROPERTY_HINT_RANGE, "0,100,0.01,or_greater"), "set_param", "get_param", PARAM_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "damping_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::OBJECT, "damping_curve", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_param_texture", "get_param_texture", PARAM_DAMPING); - ADD_GROUP("Angle", ""); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angle", PROPERTY_HINT_RANGE, "-720,720,0.1,or_lesser,or_greater"), "set_param", "get_param", PARAM_ANGLE); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angle_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_ANGLE); - ADD_PROPERTYI(PropertyInfo(Variant::OBJECT, "angle_curve", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_param_texture", "get_param_texture", PARAM_ANGLE); - ADD_GROUP("Scale", ""); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "scale", PROPERTY_HINT_RANGE, "0,1000,0.01,or_greater"), "set_param", "get_param", PARAM_SCALE); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "scale_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_SCALE); - ADD_PROPERTYI(PropertyInfo(Variant::OBJECT, "scale_curve", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_param_texture", "get_param_texture", PARAM_SCALE); - ADD_GROUP("Color", ""); - ADD_PROPERTY(PropertyInfo(Variant::COLOR, "color"), "set_color", "get_color"); - ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "color_ramp", PROPERTY_HINT_RESOURCE_TYPE, "GradientTexture"), "set_color_ramp", "get_color_ramp"); - - ADD_GROUP("Hue Variation", "hue_"); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "hue_variation", PROPERTY_HINT_RANGE, "-1,1,0.1"), "set_param", "get_param", PARAM_HUE_VARIATION); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "hue_variation_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_HUE_VARIATION); - ADD_PROPERTYI(PropertyInfo(Variant::OBJECT, "hue_variation_curve", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_param_texture", "get_param_texture", PARAM_HUE_VARIATION); - ADD_GROUP("Animation", "anim_"); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "anim_speed", PROPERTY_HINT_RANGE, "0,128,0.01,or_greater"), "set_param", "get_param", PARAM_ANIM_SPEED); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "anim_speed_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_ANIM_SPEED); - ADD_PROPERTYI(PropertyInfo(Variant::OBJECT, "anim_speed_curve", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_param_texture", "get_param_texture", PARAM_ANIM_SPEED); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "anim_offset", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param", "get_param", PARAM_ANIM_OFFSET); - ADD_PROPERTYI(PropertyInfo(Variant::REAL, "anim_offset_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_ANIM_OFFSET); - ADD_PROPERTYI(PropertyInfo(Variant::OBJECT, "anim_offset_curve", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_param_texture", "get_param_texture", PARAM_ANIM_OFFSET); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "anim_loop"), "set_flag", "get_flag", FLAG_ANIM_LOOP); - - BIND_ENUM_CONSTANT(PARAM_INITIAL_LINEAR_VELOCITY); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_VELOCITY); - BIND_ENUM_CONSTANT(PARAM_ORBIT_VELOCITY); - BIND_ENUM_CONSTANT(PARAM_LINEAR_ACCEL); - BIND_ENUM_CONSTANT(PARAM_RADIAL_ACCEL); - BIND_ENUM_CONSTANT(PARAM_TANGENTIAL_ACCEL); - BIND_ENUM_CONSTANT(PARAM_DAMPING); - BIND_ENUM_CONSTANT(PARAM_ANGLE); - BIND_ENUM_CONSTANT(PARAM_SCALE); - BIND_ENUM_CONSTANT(PARAM_HUE_VARIATION); - BIND_ENUM_CONSTANT(PARAM_ANIM_SPEED); - BIND_ENUM_CONSTANT(PARAM_ANIM_OFFSET); - BIND_ENUM_CONSTANT(PARAM_MAX); - - BIND_ENUM_CONSTANT(FLAG_ALIGN_Y_TO_VELOCITY); - BIND_ENUM_CONSTANT(FLAG_ROTATE_Y); - BIND_ENUM_CONSTANT(FLAG_MAX); - - BIND_ENUM_CONSTANT(EMISSION_SHAPE_POINT); - BIND_ENUM_CONSTANT(EMISSION_SHAPE_SPHERE); - BIND_ENUM_CONSTANT(EMISSION_SHAPE_BOX); - BIND_ENUM_CONSTANT(EMISSION_SHAPE_POINTS); - BIND_ENUM_CONSTANT(EMISSION_SHAPE_DIRECTED_POINTS); -} - -ParticlesMaterial::ParticlesMaterial() : - element(this) { - - set_spread(45); - set_flatness(0); - set_param(PARAM_INITIAL_LINEAR_VELOCITY, 1); - set_param(PARAM_ORBIT_VELOCITY, 0); - set_param(PARAM_LINEAR_ACCEL, 0); - set_param(PARAM_RADIAL_ACCEL, 0); - set_param(PARAM_TANGENTIAL_ACCEL, 0); - set_param(PARAM_DAMPING, 0); - set_param(PARAM_ANGLE, 0); - set_param(PARAM_SCALE, 1); - set_param(PARAM_HUE_VARIATION, 0); - set_param(PARAM_ANIM_SPEED, 0); - set_param(PARAM_ANIM_OFFSET, 0); - set_emission_shape(EMISSION_SHAPE_POINT); - set_emission_sphere_radius(1); - set_emission_box_extents(Vector3(1, 1, 1)); - set_trail_divisor(1); - set_gravity(Vector3(0, -9.8, 0)); - emission_point_count = 1; - - for (int i = 0; i < PARAM_MAX; i++) { - set_param_randomness(Parameter(i), 0); - } - - for (int i = 0; i < FLAG_MAX; i++) { - flags[i] = false; - } - - set_color(Color(1, 1, 1, 1)); - - current_key.key = 0; - current_key.invalid_key = 1; - - _queue_shader_change(); -} - -ParticlesMaterial::~ParticlesMaterial() { - - if (material_mutex) - material_mutex->lock(); - - if (shader_map.has(current_key)) { - shader_map[current_key].users--; - if (shader_map[current_key].users == 0) { - //deallocate shader, as it's no longer in use - VS::get_singleton()->free(shader_map[current_key].shader); - shader_map.erase(current_key); - } - - VS::get_singleton()->material_set_shader(_get_material(), RID()); - } - - if (material_mutex) - material_mutex->unlock(); -} diff --git a/scene/3d/particles.h b/scene/3d/particles.h index 17e21c6cee..742246f78c 100644 --- a/scene/3d/particles.h +++ b/scene/3d/particles.h @@ -28,12 +28,11 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef VISUALINSTANCEPARTICLES_H -#define VISUALINSTANCEPARTICLES_H +#ifndef PARTICLES_H +#define PARTICLES_H #include "rid.h" #include "scene/3d/visual_instance.h" -#include "scene/main/timer.h" #include "scene/resources/material.h" /** @@ -135,269 +134,4 @@ public: VARIANT_ENUM_CAST(Particles::DrawOrder) -class ParticlesMaterial : public Material { - - GDCLASS(ParticlesMaterial, Material) - -public: - enum Parameter { - - PARAM_INITIAL_LINEAR_VELOCITY, - PARAM_ANGULAR_VELOCITY, - PARAM_ORBIT_VELOCITY, - PARAM_LINEAR_ACCEL, - PARAM_RADIAL_ACCEL, - PARAM_TANGENTIAL_ACCEL, - PARAM_DAMPING, - PARAM_ANGLE, - PARAM_SCALE, - PARAM_HUE_VARIATION, - PARAM_ANIM_SPEED, - PARAM_ANIM_OFFSET, - PARAM_MAX - }; - - enum Flags { - FLAG_ALIGN_Y_TO_VELOCITY, - FLAG_ROTATE_Y, - FLAG_DISABLE_Z, - FLAG_ANIM_LOOP, - FLAG_MAX - }; - - enum EmissionShape { - EMISSION_SHAPE_POINT, - EMISSION_SHAPE_SPHERE, - EMISSION_SHAPE_BOX, - EMISSION_SHAPE_POINTS, - EMISSION_SHAPE_DIRECTED_POINTS, - }; - -private: - union MaterialKey { - - struct { - uint32_t texture_mask : 16; - uint32_t texture_color : 1; - uint32_t flags : 4; - uint32_t emission_shape : 2; - uint32_t trail_size_texture : 1; - uint32_t trail_color_texture : 1; - uint32_t invalid_key : 1; - uint32_t has_emission_color : 1; - }; - - uint32_t key; - - bool operator<(const MaterialKey &p_key) const { - return key < p_key.key; - } - }; - - struct ShaderData { - RID shader; - int users; - }; - - static Map<MaterialKey, ShaderData> shader_map; - - MaterialKey current_key; - - _FORCE_INLINE_ MaterialKey _compute_key() const { - - MaterialKey mk; - mk.key = 0; - for (int i = 0; i < PARAM_MAX; i++) { - if (tex_parameters[i].is_valid()) { - mk.texture_mask |= (1 << i); - } - } - for (int i = 0; i < FLAG_MAX; i++) { - if (flags[i]) { - mk.flags |= (1 << i); - } - } - - mk.texture_color = color_ramp.is_valid() ? 1 : 0; - mk.emission_shape = emission_shape; - mk.trail_color_texture = trail_color_modifier.is_valid() ? 1 : 0; - mk.trail_size_texture = trail_size_modifier.is_valid() ? 1 : 0; - mk.has_emission_color = emission_shape >= EMISSION_SHAPE_POINTS && emission_color_texture.is_valid(); - - return mk; - } - - static Mutex *material_mutex; - static SelfList<ParticlesMaterial>::List dirty_materials; - - struct ShaderNames { - StringName spread; - StringName flatness; - StringName initial_linear_velocity; - StringName initial_angle; - StringName angular_velocity; - StringName orbit_velocity; - StringName linear_accel; - StringName radial_accel; - StringName tangent_accel; - StringName damping; - StringName scale; - StringName hue_variation; - StringName anim_speed; - StringName anim_offset; - - StringName initial_linear_velocity_random; - StringName initial_angle_random; - StringName angular_velocity_random; - StringName orbit_velocity_random; - StringName linear_accel_random; - StringName radial_accel_random; - StringName tangent_accel_random; - StringName damping_random; - StringName scale_random; - StringName hue_variation_random; - StringName anim_speed_random; - StringName anim_offset_random; - - StringName angle_texture; - StringName angular_velocity_texture; - StringName orbit_velocity_texture; - StringName linear_accel_texture; - StringName radial_accel_texture; - StringName tangent_accel_texture; - StringName damping_texture; - StringName scale_texture; - StringName hue_variation_texture; - StringName anim_speed_texture; - StringName anim_offset_texture; - - StringName color; - StringName color_ramp; - - StringName emission_sphere_radius; - StringName emission_box_extents; - StringName emission_texture_point_count; - StringName emission_texture_points; - StringName emission_texture_normal; - StringName emission_texture_color; - - StringName trail_divisor; - StringName trail_size_modifier; - StringName trail_color_modifier; - - StringName gravity; - }; - - static ShaderNames *shader_names; - - SelfList<ParticlesMaterial> element; - - void _update_shader(); - _FORCE_INLINE_ void _queue_shader_change(); - _FORCE_INLINE_ bool _is_shader_dirty() const; - - float spread; - float flatness; - - float parameters[PARAM_MAX]; - float randomness[PARAM_MAX]; - - Ref<Texture> tex_parameters[PARAM_MAX]; - Color color; - Ref<Texture> color_ramp; - - bool flags[FLAG_MAX]; - - EmissionShape emission_shape; - float emission_sphere_radius; - Vector3 emission_box_extents; - Ref<Texture> emission_point_texture; - Ref<Texture> emission_normal_texture; - Ref<Texture> emission_color_texture; - int emission_point_count; - - bool anim_loop; - - int trail_divisor; - - Ref<CurveTexture> trail_size_modifier; - Ref<GradientTexture> trail_color_modifier; - - Vector3 gravity; - - //do not save emission points here - -protected: - static void _bind_methods(); - virtual void _validate_property(PropertyInfo &property) const; - -public: - void set_spread(float p_spread); - float get_spread() const; - - void set_flatness(float p_flatness); - float get_flatness() const; - - void set_param(Parameter p_param, float p_value); - float get_param(Parameter p_param) const; - - void set_param_randomness(Parameter p_param, float p_value); - float get_param_randomness(Parameter p_param) const; - - void set_param_texture(Parameter p_param, const Ref<Texture> &p_texture); - Ref<Texture> get_param_texture(Parameter p_param) const; - - void set_color(const Color &p_color); - Color get_color() const; - - void set_color_ramp(const Ref<Texture> &p_texture); - Ref<Texture> get_color_ramp() const; - - void set_flag(Flags p_flag, bool p_enable); - bool get_flag(Flags p_flag) const; - - void set_emission_shape(EmissionShape p_shape); - void set_emission_sphere_radius(float p_radius); - void set_emission_box_extents(Vector3 p_extents); - void set_emission_point_texture(const Ref<Texture> &p_points); - void set_emission_normal_texture(const Ref<Texture> &p_normals); - void set_emission_color_texture(const Ref<Texture> &p_colors); - void set_emission_point_count(int p_count); - - EmissionShape get_emission_shape() const; - float get_emission_sphere_radius() const; - Vector3 get_emission_box_extents() const; - Ref<Texture> get_emission_point_texture() const; - Ref<Texture> get_emission_normal_texture() const; - Ref<Texture> get_emission_color_texture() const; - int get_emission_point_count() const; - - void set_trail_divisor(int p_divisor); - int get_trail_divisor() const; - - void set_trail_size_modifier(const Ref<CurveTexture> &p_trail_size_modifier); - Ref<CurveTexture> get_trail_size_modifier() const; - - void set_trail_color_modifier(const Ref<GradientTexture> &p_trail_color_modifier); - Ref<GradientTexture> get_trail_color_modifier() const; - - void set_gravity(const Vector3 &p_gravity); - Vector3 get_gravity() const; - - static void init_shaders(); - static void finish_shaders(); - static void flush_changes(); - - RID get_shader_rid() const; - - virtual Shader::Mode get_shader_mode() const; - - ParticlesMaterial(); - ~ParticlesMaterial(); -}; - -VARIANT_ENUM_CAST(ParticlesMaterial::Parameter) -VARIANT_ENUM_CAST(ParticlesMaterial::Flags) -VARIANT_ENUM_CAST(ParticlesMaterial::EmissionShape) - -#endif +#endif // PARTICLES_H diff --git a/scene/3d/physics_body.cpp b/scene/3d/physics_body.cpp index 441f2f2549..f7af6a57dd 100644 --- a/scene/3d/physics_body.cpp +++ b/scene/3d/physics_body.cpp @@ -171,6 +171,10 @@ PhysicsBody::PhysicsBody(PhysicsServer::BodyMode p_mode) : #ifndef DISABLE_DEPRECATED void StaticBody::set_friction(real_t p_friction) { + if (p_friction == 1.0) { // default value, don't create an override for that + return; + } + ERR_EXPLAIN("The method set_friction has been deprecated and will be removed in the future, use physics material instead.") WARN_DEPRECATED @@ -197,6 +201,10 @@ real_t StaticBody::get_friction() const { void StaticBody::set_bounce(real_t p_bounce) { + if (p_bounce == 0.0) { // default value, don't create an override for that + return; + } + ERR_EXPLAIN("The method set_bounce has been deprecated and will be removed in the future, use physics material instead.") WARN_DEPRECATED @@ -288,7 +296,7 @@ void StaticBody::_bind_methods() { ADD_PROPERTYNO(PropertyInfo(Variant::REAL, "friction", PROPERTY_HINT_RANGE, "0,1,0.01", 0), "set_friction", "get_friction"); ADD_PROPERTYNZ(PropertyInfo(Variant::REAL, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01", 0), "set_bounce", "get_bounce"); #endif // DISABLE_DEPRECATED - ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override"); + ADD_PROPERTYNZ(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_linear_velocity"), "set_constant_linear_velocity", "get_constant_linear_velocity"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_angular_velocity"), "set_constant_angular_velocity", "get_constant_angular_velocity"); } @@ -407,7 +415,7 @@ void RigidBody::_body_inout(int p_status, ObjectID p_instance, int p_body_shape, node->disconnect(SceneStringNames::get_singleton()->tree_entered, this, SceneStringNames::get_singleton()->_body_enter_tree); node->disconnect(SceneStringNames::get_singleton()->tree_exiting, this, SceneStringNames::get_singleton()->_body_exit_tree); if (in_tree) - emit_signal(SceneStringNames::get_singleton()->body_exited, obj); + emit_signal(SceneStringNames::get_singleton()->body_exited, node); } contact_monitor->body_map.erase(E); @@ -606,8 +614,13 @@ real_t RigidBody::get_weight() const { #ifndef DISABLE_DEPRECATED void RigidBody::set_friction(real_t p_friction) { + if (p_friction == 1.0) { // default value, don't create an override for that + return; + } + ERR_EXPLAIN("The method set_friction has been deprecated and will be removed in the future, use physics material instead.") WARN_DEPRECATED + ERR_FAIL_COND(p_friction < 0 || p_friction > 1); if (physics_material_override.is_null()) { @@ -620,6 +633,7 @@ real_t RigidBody::get_friction() const { ERR_EXPLAIN("The method get_friction has been deprecated and will be removed in the future, use physics material instead.") WARN_DEPRECATED + if (physics_material_override.is_null()) { return 1; } @@ -628,8 +642,14 @@ real_t RigidBody::get_friction() const { } void RigidBody::set_bounce(real_t p_bounce) { + + if (p_bounce == 0.0) { // default value, don't create an override for that + return; + } + ERR_EXPLAIN("The method set_bounce has been deprecated and will be removed in the future, use physics material instead.") WARN_DEPRECATED + ERR_FAIL_COND(p_bounce < 0 || p_bounce > 1); if (physics_material_override.is_null()) { @@ -989,7 +1009,7 @@ void RigidBody::_bind_methods() { ADD_PROPERTYNO(PropertyInfo(Variant::REAL, "friction", PROPERTY_HINT_RANGE, "0,1,0.01", 0), "set_friction", "get_friction"); ADD_PROPERTYNZ(PropertyInfo(Variant::REAL, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01", 0), "set_bounce", "get_bounce"); #endif // DISABLE_DEPRECATED - ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override"); + ADD_PROPERTYNZ(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "gravity_scale", PROPERTY_HINT_RANGE, "-128,128,0.01"), "set_gravity_scale", "get_gravity_scale"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "custom_integrator"), "set_use_custom_integrator", "is_using_custom_integrator"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "continuous_cd"), "set_use_continuous_collision_detection", "is_using_continuous_collision_detection"); @@ -1011,10 +1031,10 @@ void RigidBody::_bind_methods() { ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "angular_velocity"), "set_angular_velocity", "get_angular_velocity"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_damp", PROPERTY_HINT_RANGE, "-1,128,0.01"), "set_angular_damp", "get_angular_damp"); - ADD_SIGNAL(MethodInfo("body_shape_entered", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape"))); - ADD_SIGNAL(MethodInfo("body_shape_exited", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape"))); - ADD_SIGNAL(MethodInfo("body_entered", PropertyInfo(Variant::OBJECT, "body"))); - ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body"))); + ADD_SIGNAL(MethodInfo("body_shape_entered", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape"))); + ADD_SIGNAL(MethodInfo("body_shape_exited", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape"))); + ADD_SIGNAL(MethodInfo("body_entered", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); + ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); ADD_SIGNAL(MethodInfo("sleeping_state_changed")); BIND_ENUM_CONSTANT(MODE_RIGID); diff --git a/scene/3d/spatial.cpp b/scene/3d/spatial.cpp index 3f494264e7..d6141c12a8 100644 --- a/scene/3d/spatial.cpp +++ b/scene/3d/spatial.cpp @@ -185,10 +185,8 @@ void Spatial::_notification(int p_what) { if (data.gizmo.is_valid()) { data.gizmo->create(); - if (data.gizmo->can_draw()) { - if (is_visible_in_tree()) { - data.gizmo->redraw(); - } + if (is_visible_in_tree()) { + data.gizmo->redraw(); } data.gizmo->transform(); } @@ -423,10 +421,8 @@ void Spatial::set_gizmo(const Ref<SpatialGizmo> &p_gizmo) { if (data.gizmo.is_valid() && is_inside_world()) { data.gizmo->create(); - if (data.gizmo->can_draw()) { - if (is_visible_in_tree()) { - data.gizmo->redraw(); - } + if (is_visible_in_tree()) { + data.gizmo->redraw(); } data.gizmo->transform(); } @@ -452,12 +448,10 @@ void Spatial::_update_gizmo() { return; data.gizmo_dirty = false; if (data.gizmo.is_valid()) { - if (data.gizmo->can_draw()) { - if (is_visible_in_tree()) - data.gizmo->redraw(); - else - data.gizmo->clear(); - } + if (is_visible_in_tree()) + data.gizmo->redraw(); + else + data.gizmo->clear(); } #endif } @@ -727,6 +721,16 @@ bool Spatial::is_local_transform_notification_enabled() const { return data.notify_local_transform; } +void Spatial::force_update_transform() { + ERR_FAIL_COND(!is_inside_tree()); + if (!xform_change.in_list()) { + return; //nothing to update + } + get_tree()->xform_change_list.remove(&xform_change); + + notification(NOTIFICATION_TRANSFORM_CHANGED); +} + void Spatial::_bind_methods() { ClassDB::bind_method(D_METHOD("set_transform", "local"), &Spatial::set_transform); @@ -749,6 +753,8 @@ void Spatial::_bind_methods() { ClassDB::bind_method(D_METHOD("is_scale_disabled"), &Spatial::is_scale_disabled); ClassDB::bind_method(D_METHOD("get_world"), &Spatial::get_world); + ClassDB::bind_method(D_METHOD("force_update_transform"), &Spatial::force_update_transform); + ClassDB::bind_method(D_METHOD("_update_gizmo"), &Spatial::_update_gizmo); ClassDB::bind_method(D_METHOD("update_gizmo"), &Spatial::update_gizmo); diff --git a/scene/3d/spatial.h b/scene/3d/spatial.h index bc054a8763..815ca16bc5 100644 --- a/scene/3d/spatial.h +++ b/scene/3d/spatial.h @@ -48,7 +48,6 @@ public: virtual void clear() = 0; virtual void redraw() = 0; virtual void free() = 0; - virtual bool can_draw() const = 0; SpatialGizmo(); virtual ~SpatialGizmo() {} @@ -203,6 +202,8 @@ public: void hide(); bool is_visible_in_tree() const; + void force_update_transform(); + Spatial(); ~Spatial(); }; diff --git a/scene/gui/control.cpp b/scene/gui/control.cpp index e094a063be..dc042b88d2 100644 --- a/scene/gui/control.cpp +++ b/scene/gui/control.cpp @@ -2062,8 +2062,11 @@ void Control::grab_focus() { if (!is_inside_tree()) { ERR_FAIL_COND(!is_inside_tree()); } - if (data.focus_mode == FOCUS_NONE) + + if (data.focus_mode == FOCUS_NONE) { + WARN_PRINT("This control can't grab focus. Use set_focus_mode() to allow a control to get focus."); return; + } get_viewport()->_gui_control_grab_focus(this); } @@ -2956,7 +2959,7 @@ void Control::_bind_methods() { BIND_ENUM_CONSTANT(ANCHOR_END); ADD_SIGNAL(MethodInfo("resized")); - ADD_SIGNAL(MethodInfo("gui_input", PropertyInfo(Variant::OBJECT, "ev", PROPERTY_HINT_RESOURCE_TYPE, "InputEvent"))); + ADD_SIGNAL(MethodInfo("gui_input", PropertyInfo(Variant::OBJECT, "event", PROPERTY_HINT_RESOURCE_TYPE, "InputEvent"))); ADD_SIGNAL(MethodInfo("mouse_entered")); ADD_SIGNAL(MethodInfo("mouse_exited")); ADD_SIGNAL(MethodInfo("focus_entered")); diff --git a/scene/gui/gradient_edit.cpp b/scene/gui/gradient_edit.cpp index e82c0c4ad1..dc013f00a5 100644 --- a/scene/gui/gradient_edit.cpp +++ b/scene/gui/gradient_edit.cpp @@ -29,8 +29,11 @@ /*************************************************************************/ #include "gradient_edit.h" +#include "editor/editor_scale.h" #include "os/keyboard.h" +#define SPACING (3 * EDSCALE) + GradientEdit::GradientEdit() { grabbed = -1; grabbing = false; @@ -49,11 +52,15 @@ GradientEdit::GradientEdit() { int GradientEdit::_get_point_from_pos(int x) { int result = -1; - int total_w = get_size().width - get_size().height - 3; + int total_w = get_size().width - get_size().height - SPACING; + float min_distance = 1e20; for (int i = 0; i < points.size(); i++) { //Check if we clicked at point - if (ABS(x - points[i].offset * total_w + 1) < (POINT_WIDTH / 2 + 1)) { + float distance = ABS(x - points[i].offset * total_w); + float min = (POINT_WIDTH / 2 * 1.7); //make it easier to grab + if (distance <= min && distance < min_distance) { result = i; + min_distance = distance; } } return result; @@ -63,7 +70,16 @@ void GradientEdit::_show_color_picker() { if (grabbed == -1) return; picker->set_pick_color(points[grabbed].color); - popup->set_position(get_global_position() - popup->get_combined_minimum_size()); + Size2 minsize = popup->get_combined_minimum_size(); + bool show_above = false; + if (get_global_position().y + get_size().y + minsize.y > get_viewport_rect().size.y) { + show_above = true; + } + if (show_above) { + popup->set_position(get_global_position() - Vector2(0, minsize.y)); + } else { + popup->set_position(get_global_position() + Vector2(0, get_size().y)); + } popup->popup(); } @@ -112,7 +128,7 @@ void GradientEdit::_gui_input(const Ref<InputEvent> &p_event) { grabbed = _get_point_from_pos(x); if (grabbed != -1) { - int total_w = get_size().width - get_size().height - 3; + int total_w = get_size().width - get_size().height - SPACING; Gradient::Point newPoint = points[grabbed]; newPoint.offset = CLAMP(x / float(total_w), 0, 1); @@ -130,14 +146,15 @@ void GradientEdit::_gui_input(const Ref<InputEvent> &p_event) { } } + //select if (mb.is_valid() && mb->get_button_index() == 1 && mb->is_pressed()) { update(); int x = mb->get_position().x; - int total_w = get_size().width - get_size().height - 3; + int total_w = get_size().width - get_size().height - SPACING; //Check if color selector was clicked. - if (x > total_w + 3) { + if (x > total_w + SPACING) { _show_color_picker(); return; } @@ -211,7 +228,7 @@ void GradientEdit::_gui_input(const Ref<InputEvent> &p_event) { if (mm.is_valid() && grabbing) { - int total_w = get_size().width - get_size().height - 3; + int total_w = get_size().width - get_size().height - SPACING; int x = mm->get_position().x; @@ -286,7 +303,7 @@ void GradientEdit::_notification(int p_what) { if (w == 0 || h == 0) return; //Safety check. We have division by 'h'. And in any case there is nothing to draw with such size - int total_w = get_size().width - get_size().height - 3; + int total_w = get_size().width - get_size().height - SPACING; //Draw checker pattern for ramp _draw_checker(0, 0, total_w, h); @@ -335,27 +352,36 @@ void GradientEdit::_notification(int p_what) { //Draw point markers for (int i = 0; i < points.size(); i++) { - Color col = i == grabbed ? Color(1, 0.0, 0.0, 0.9) : points[i].color.contrasted(); + Color col = points[i].color.contrasted(); col.a = 0.9; draw_line(Vector2(points[i].offset * total_w, 0), Vector2(points[i].offset * total_w, h / 2), col); - draw_rect(Rect2(points[i].offset * total_w - POINT_WIDTH / 2, h / 2, POINT_WIDTH, h / 2), Color(0.6, 0.6, 0.6, i == grabbed ? 0.9 : 0.4)); - draw_line(Vector2(points[i].offset * total_w - POINT_WIDTH / 2, h / 2), Vector2(points[i].offset * total_w - POINT_WIDTH / 2, h - 1), col); - draw_line(Vector2(points[i].offset * total_w + POINT_WIDTH / 2, h / 2), Vector2(points[i].offset * total_w + POINT_WIDTH / 2, h - 1), col); - draw_line(Vector2(points[i].offset * total_w - POINT_WIDTH / 2, h / 2), Vector2(points[i].offset * total_w + POINT_WIDTH / 2, h / 2), col); - draw_line(Vector2(points[i].offset * total_w - POINT_WIDTH / 2, h - 1), Vector2(points[i].offset * total_w + POINT_WIDTH / 2, h - 1), col); + Rect2 rect = Rect2(points[i].offset * total_w - POINT_WIDTH / 2, h / 2, POINT_WIDTH, h / 2); + draw_rect(rect, points[i].color, true); + draw_rect(rect, col, false); + if (grabbed == i) { + rect = rect.grow(-1); + if (has_focus()) { + draw_rect(rect, Color(1, 0, 0, 0.9), false); + } else { + draw_rect(rect, Color(0.6, 0, 0, 0.9), false); + } + + rect = rect.grow(-1); + draw_rect(rect, col, false); + } } //Draw "button" for color selector - _draw_checker(total_w + 3, 0, h, h); + _draw_checker(total_w + SPACING, 0, h, h); if (grabbed != -1) { //Draw with selection color - draw_rect(Rect2(total_w + 3, 0, h, h), points[grabbed].color); + draw_rect(Rect2(total_w + SPACING, 0, h, h), points[grabbed].color); } else { //if no color selected draw grey color with 'X' on top. - draw_rect(Rect2(total_w + 3, 0, h, h), Color(0.5, 0.5, 0.5, 1)); - draw_line(Vector2(total_w + 3, 0), Vector2(total_w + 3 + h, h), Color(1, 1, 1, 0.6)); - draw_line(Vector2(total_w + 3, h), Vector2(total_w + 3 + h, 0), Color(1, 1, 1, 0.6)); + draw_rect(Rect2(total_w + SPACING, 0, h, h), Color(0.5, 0.5, 0.5, 1)); + draw_line(Vector2(total_w + SPACING, 0), Vector2(total_w + SPACING + h, h), Color(1, 1, 1, 0.6)); + draw_line(Vector2(total_w + SPACING, h), Vector2(total_w + SPACING + h, 0), Color(1, 1, 1, 0.6)); } //Draw borders around color ramp if in focus diff --git a/scene/gui/gradient_edit.h b/scene/gui/gradient_edit.h index e7834ea0de..f6927ad0b7 100644 --- a/scene/gui/gradient_edit.h +++ b/scene/gui/gradient_edit.h @@ -36,7 +36,7 @@ #include "scene/resources/color_ramp.h" #include "scene/resources/default_theme/theme_data.h" -#define POINT_WIDTH 8 +#define POINT_WIDTH (8 * EDSCALE) class GradientEdit : public Control { diff --git a/scene/gui/graph_edit.cpp b/scene/gui/graph_edit.cpp index a7163adbe6..8797ab6fd3 100644 --- a/scene/gui/graph_edit.cpp +++ b/scene/gui/graph_edit.cpp @@ -1279,7 +1279,7 @@ void GraphEdit::_bind_methods() { ADD_SIGNAL(MethodInfo("disconnection_request", PropertyInfo(Variant::STRING, "from"), PropertyInfo(Variant::INT, "from_slot"), PropertyInfo(Variant::STRING, "to"), PropertyInfo(Variant::INT, "to_slot"))); ADD_SIGNAL(MethodInfo("popup_request", PropertyInfo(Variant::VECTOR2, "p_position"))); ADD_SIGNAL(MethodInfo("duplicate_nodes_request")); - ADD_SIGNAL(MethodInfo("node_selected", PropertyInfo(Variant::OBJECT, "node"))); + ADD_SIGNAL(MethodInfo("node_selected", PropertyInfo(Variant::OBJECT, "node", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); ADD_SIGNAL(MethodInfo("connection_to_empty", PropertyInfo(Variant::STRING, "from"), PropertyInfo(Variant::INT, "from_slot"), PropertyInfo(Variant::VECTOR2, "release_position"))); ADD_SIGNAL(MethodInfo("delete_nodes_request")); ADD_SIGNAL(MethodInfo("_begin_node_move")); diff --git a/scene/gui/popup.cpp b/scene/gui/popup.cpp index 26d01ecc09..2add67ace1 100644 --- a/scene/gui/popup.cpp +++ b/scene/gui/popup.cpp @@ -234,15 +234,46 @@ String Popup::get_configuration_warning() const { Popup::~Popup() { } -void PopupPanel::set_child_rect(Control *p_child) { - ERR_FAIL_NULL(p_child); +Size2 PopupPanel::get_minimum_size() const { Ref<StyleBox> p = get_stylebox("panel"); - p_child->set_anchors_preset(Control::PRESET_WIDE); - p_child->set_margin(MARGIN_LEFT, p->get_margin(MARGIN_LEFT)); - p_child->set_margin(MARGIN_RIGHT, -p->get_margin(MARGIN_RIGHT)); - p_child->set_margin(MARGIN_TOP, p->get_margin(MARGIN_TOP)); - p_child->set_margin(MARGIN_BOTTOM, -p->get_margin(MARGIN_BOTTOM)); + + Size2 ms; + + for (int i = 0; i < get_child_count(); i++) { + Control *c = Object::cast_to<Control>(get_child(i)); + if (!c) + continue; + + if (c->is_set_as_toplevel()) + continue; + + Size2 cms = c->get_combined_minimum_size(); + ms.x = MAX(cms.x, ms.x); + ms.y = MAX(cms.y, ms.y); + } + + return ms + p->get_minimum_size(); +} + +void PopupPanel::_update_child_rects() { + + Ref<StyleBox> p = get_stylebox("panel"); + + Vector2 cpos(p->get_offset()); + Vector2 csize(get_size() - p->get_minimum_size()); + + for (int i = 0; i < get_child_count(); i++) { + Control *c = Object::cast_to<Control>(get_child(i)); + if (!c) + continue; + + if (c->is_set_as_toplevel()) + continue; + + c->set_position(cpos); + c->set_size(csize); + } } void PopupPanel::_notification(int p_what) { @@ -250,6 +281,12 @@ void PopupPanel::_notification(int p_what) { if (p_what == NOTIFICATION_DRAW) { get_stylebox("panel")->draw(get_canvas_item(), Rect2(Point2(), get_size())); + } else if (p_what == NOTIFICATION_READY) { + + _update_child_rects(); + } else if (p_what == NOTIFICATION_RESIZED) { + + _update_child_rects(); } } diff --git a/scene/gui/popup.h b/scene/gui/popup.h index 550e803578..5b1ef7d6ca 100644 --- a/scene/gui/popup.h +++ b/scene/gui/popup.h @@ -77,10 +77,12 @@ class PopupPanel : public Popup { GDCLASS(PopupPanel, Popup); protected: + void _update_child_rects(); void _notification(int p_what); public: void set_child_rect(Control *p_child); + virtual Size2 get_minimum_size() const; PopupPanel(); }; diff --git a/scene/gui/text_edit.cpp b/scene/gui/text_edit.cpp index ec98b01ced..a32beecdd9 100644 --- a/scene/gui/text_edit.cpp +++ b/scene/gui/text_edit.cpp @@ -6400,8 +6400,8 @@ Map<int, TextEdit::HighlighterInfo> TextEdit::_get_line_syntax_highlighting(int is_hex_notation = false; } - // check for dot or underscore or 'x' for hex notation in floating point number - if ((str[j] == '.' || str[j] == 'x' || str[j] == '_' || str[j] == 'f') && !in_word && prev_is_number && !is_number) { + // check for dot or underscore or 'x' for hex notation in floating point number or 'e' for scientific notation + if ((str[j] == '.' || str[j] == 'x' || str[j] == '_' || str[j] == 'f' || str[j] == 'e') && !in_word && prev_is_number && !is_number) { is_number = true; is_symbol = false; is_char = false; diff --git a/scene/gui/tree.cpp b/scene/gui/tree.cpp index 6f09488b64..eaf7ad7670 100644 --- a/scene/gui/tree.cpp +++ b/scene/gui/tree.cpp @@ -1419,7 +1419,7 @@ int Tree::draw_item(const Point2i &p_pos, const Point2 &p_draw_ofs, const Size2 while (c) { - if (cache.draw_relationship_lines == 1) { + if (cache.draw_relationship_lines == 1 && (c->get_parent() != root || c->get_parent() == root && !hide_root)) { int root_ofs = children_pos.x + ((p_item->disable_folding || hide_folding) ? cache.hseparation : cache.item_margin); int parent_ofs = p_pos.x + ((p_item->disable_folding || hide_folding) ? cache.hseparation : cache.item_margin); Point2i root_pos = Point2i(root_ofs, children_pos.y + label_h / 2) - cache.offset + p_draw_ofs; @@ -3831,16 +3831,16 @@ void Tree::_bind_methods() { ADD_SIGNAL(MethodInfo("item_selected")); ADD_SIGNAL(MethodInfo("cell_selected")); - ADD_SIGNAL(MethodInfo("multi_selected", PropertyInfo(Variant::OBJECT, "item"), PropertyInfo(Variant::INT, "column"), PropertyInfo(Variant::BOOL, "selected"))); + ADD_SIGNAL(MethodInfo("multi_selected", PropertyInfo(Variant::OBJECT, "item", PROPERTY_HINT_RESOURCE_TYPE, "TreeItem"), PropertyInfo(Variant::INT, "column"), PropertyInfo(Variant::BOOL, "selected"))); ADD_SIGNAL(MethodInfo("item_rmb_selected", PropertyInfo(Variant::VECTOR2, "position"))); ADD_SIGNAL(MethodInfo("empty_tree_rmb_selected", PropertyInfo(Variant::VECTOR2, "position"))); ADD_SIGNAL(MethodInfo("item_edited")); ADD_SIGNAL(MethodInfo("item_rmb_edited")); ADD_SIGNAL(MethodInfo("item_custom_button_pressed")); ADD_SIGNAL(MethodInfo("item_double_clicked")); - ADD_SIGNAL(MethodInfo("item_collapsed", PropertyInfo(Variant::OBJECT, "item"))); + ADD_SIGNAL(MethodInfo("item_collapsed", PropertyInfo(Variant::OBJECT, "item", PROPERTY_HINT_RESOURCE_TYPE, "TreeItem"))); //ADD_SIGNAL( MethodInfo("item_doubleclicked" ) ); - ADD_SIGNAL(MethodInfo("button_pressed", PropertyInfo(Variant::OBJECT, "item"), PropertyInfo(Variant::INT, "column"), PropertyInfo(Variant::INT, "id"))); + ADD_SIGNAL(MethodInfo("button_pressed", PropertyInfo(Variant::OBJECT, "item", PROPERTY_HINT_RESOURCE_TYPE, "TreeItem"), PropertyInfo(Variant::INT, "column"), PropertyInfo(Variant::INT, "id"))); ADD_SIGNAL(MethodInfo("custom_popup_edited", PropertyInfo(Variant::BOOL, "arrow_clicked"))); ADD_SIGNAL(MethodInfo("item_activated")); ADD_SIGNAL(MethodInfo("column_title_pressed", PropertyInfo(Variant::INT, "column"))); diff --git a/scene/main/node.cpp b/scene/main/node.cpp index e30f58e012..3d1614199a 100644 --- a/scene/main/node.cpp +++ b/scene/main/node.cpp @@ -238,6 +238,16 @@ void Node::_propagate_enter_tree() { // enter groups } +void Node::_propagate_after_exit_tree() { + + data.blocked++; + for (int i = 0; i < data.children.size(); i++) { + data.children[i]->_propagate_after_exit_tree(); + } + data.blocked--; + emit_signal(SceneStringNames::get_singleton()->tree_exited); +} + void Node::_propagate_exit_tree() { //block while removing children @@ -299,8 +309,6 @@ void Node::_propagate_exit_tree() { data.ready_notified = false; data.tree = NULL; data.depth = -1; - - emit_signal(SceneStringNames::get_singleton()->tree_exited); } void Node::move_child(Node *p_child, int p_pos) { @@ -1207,6 +1215,10 @@ void Node::remove_child(Node *p_child) { // validate owner p_child->_propagate_validate_owner(); + + if (data.inside_tree) { + p_child->_propagate_after_exit_tree(); + } } int Node::get_child_count() const { diff --git a/scene/main/node.h b/scene/main/node.h index f3422618ce..fb84981feb 100644 --- a/scene/main/node.h +++ b/scene/main/node.h @@ -166,6 +166,7 @@ private: void _propagate_enter_tree(); void _propagate_ready(); void _propagate_exit_tree(); + void _propagate_after_exit_tree(); void _propagate_validate_owner(); void _print_stray_nodes(); void _propagate_pause_owner(Node *p_owner); diff --git a/scene/main/scene_tree.cpp b/scene/main/scene_tree.cpp index 1d23650a1e..0b763d2433 100644 --- a/scene/main/scene_tree.cpp +++ b/scene/main/scene_tree.cpp @@ -598,6 +598,7 @@ void SceneTree::finish() { if (root) { root->_set_tree(NULL); + root->_propagate_after_exit_tree(); memdelete(root); //delete root } } @@ -1862,10 +1863,10 @@ void SceneTree::_bind_methods() { ADD_PROPERTY(PropertyInfo(Variant::BOOL, "multiplayer_poll"), "set_multiplayer_poll_enabled", "is_multiplayer_poll_enabled"); ADD_SIGNAL(MethodInfo("tree_changed")); - ADD_SIGNAL(MethodInfo("node_added", PropertyInfo(Variant::OBJECT, "node"))); - ADD_SIGNAL(MethodInfo("node_removed", PropertyInfo(Variant::OBJECT, "node"))); + ADD_SIGNAL(MethodInfo("node_added", PropertyInfo(Variant::OBJECT, "node", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); + ADD_SIGNAL(MethodInfo("node_removed", PropertyInfo(Variant::OBJECT, "node", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); ADD_SIGNAL(MethodInfo("screen_resized")); - ADD_SIGNAL(MethodInfo("node_configuration_warning_changed", PropertyInfo(Variant::OBJECT, "node"))); + ADD_SIGNAL(MethodInfo("node_configuration_warning_changed", PropertyInfo(Variant::OBJECT, "node", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); ADD_SIGNAL(MethodInfo("idle_frame")); ADD_SIGNAL(MethodInfo("physics_frame")); diff --git a/scene/register_scene_types.cpp b/scene/register_scene_types.cpp index a4422af21d..97230d422b 100644 --- a/scene/register_scene_types.cpp +++ b/scene/register_scene_types.cpp @@ -144,6 +144,7 @@ #include "scene/resources/mesh_data_tool.h" #include "scene/resources/mesh_library.h" #include "scene/resources/packed_scene.h" +#include "scene/resources/particles_material.h" #include "scene/resources/plane_shape.h" #include "scene/resources/polygon_path_finder.h" #include "scene/resources/primitive_meshes.h" @@ -165,8 +166,6 @@ #include "scene/resources/world_2d.h" #include "scene/scene_string_names.h" -#include "scene/3d/cpu_particles.h" -#include "scene/3d/particles.h" #include "scene/3d/scenario_fx.h" #include "scene/3d/spatial.h" @@ -179,6 +178,7 @@ #include "scene/3d/camera.h" #include "scene/3d/collision_polygon.h" #include "scene/3d/collision_shape.h" +#include "scene/3d/cpu_particles.h" #include "scene/3d/gi_probe.h" #include "scene/3d/immediate_geometry.h" #include "scene/3d/interpolated_camera.h" @@ -188,6 +188,7 @@ #include "scene/3d/multimesh_instance.h" #include "scene/3d/navigation.h" #include "scene/3d/navigation_mesh.h" +#include "scene/3d/particles.h" #include "scene/3d/path.h" #include "scene/3d/physics_body.h" #include "scene/3d/physics_joint.h" diff --git a/scene/resources/multimesh.cpp b/scene/resources/multimesh.cpp index 4d0a14e3aa..e8e19fdb60 100644 --- a/scene/resources/multimesh.cpp +++ b/scene/resources/multimesh.cpp @@ -33,8 +33,6 @@ void MultiMesh::_set_transform_array(const PoolVector<Vector3> &p_array) { - int instance_count = get_instance_count(); - PoolVector<Vector3> xforms = p_array; int len = xforms.size(); ERR_FAIL_COND((len / 4) != instance_count); @@ -57,8 +55,6 @@ void MultiMesh::_set_transform_array(const PoolVector<Vector3> &p_array) { PoolVector<Vector3> MultiMesh::_get_transform_array() const { - int instance_count = get_instance_count(); - if (instance_count == 0) return PoolVector<Vector3>(); @@ -81,13 +77,11 @@ PoolVector<Vector3> MultiMesh::_get_transform_array() const { void MultiMesh::_set_color_array(const PoolVector<Color> &p_array) { - int instance_count = get_instance_count(); - PoolVector<Color> colors = p_array; int len = colors.size(); - ERR_FAIL_COND(len != instance_count); if (len == 0) return; + ERR_FAIL_COND(len != instance_count); PoolVector<Color>::Read r = colors.read(); @@ -99,9 +93,7 @@ void MultiMesh::_set_color_array(const PoolVector<Color> &p_array) { PoolVector<Color> MultiMesh::_get_color_array() const { - int instance_count = get_instance_count(); - - if (instance_count == 0) + if (instance_count == 0 || color_format == COLOR_NONE) return PoolVector<Color>(); PoolVector<Color> colors; @@ -115,6 +107,37 @@ PoolVector<Color> MultiMesh::_get_color_array() const { return colors; } +void MultiMesh::_set_custom_data_array(const PoolVector<Color> &p_array) { + + PoolVector<Color> custom_datas = p_array; + int len = custom_datas.size(); + if (len == 0) + return; + ERR_FAIL_COND(len != instance_count); + + PoolVector<Color>::Read r = custom_datas.read(); + + for (int i = 0; i < len; i++) { + + set_instance_custom_data(i, r[i]); + } +} + +PoolVector<Color> MultiMesh::_get_custom_data_array() const { + + if (instance_count == 0 || custom_data_format == CUSTOM_DATA_NONE) + return PoolVector<Color>(); + + PoolVector<Color> custom_datas; + custom_datas.resize(instance_count); + + for (int i = 0; i < instance_count; i++) { + + custom_datas.set(i, get_instance_custom_data(i)); + } + + return custom_datas; +} void MultiMesh::set_mesh(const Ref<Mesh> &p_mesh) { mesh = p_mesh; @@ -130,12 +153,13 @@ Ref<Mesh> MultiMesh::get_mesh() const { } void MultiMesh::set_instance_count(int p_count) { - - VisualServer::get_singleton()->multimesh_allocate(multimesh, p_count, VS::MultimeshTransformFormat(transform_format), VS::MultimeshColorFormat(color_format)); + ERR_FAIL_COND(p_count < 0); + VisualServer::get_singleton()->multimesh_allocate(multimesh, p_count, VS::MultimeshTransformFormat(transform_format), VS::MultimeshColorFormat(color_format), VS::MultimeshCustomDataFormat(custom_data_format)); + instance_count = p_count; } int MultiMesh::get_instance_count() const { - return VisualServer::get_singleton()->multimesh_get_instance_count(multimesh); + return instance_count; } void MultiMesh::set_instance_transform(int p_instance, const Transform &p_transform) { @@ -156,6 +180,15 @@ Color MultiMesh::get_instance_color(int p_instance) const { return VisualServer::get_singleton()->multimesh_instance_get_color(multimesh, p_instance); } +void MultiMesh::set_instance_custom_data(int p_instance, const Color &p_custom_data) { + + VisualServer::get_singleton()->multimesh_instance_set_custom_data(multimesh, p_instance, p_custom_data); +} +Color MultiMesh::get_instance_custom_data(int p_instance) const { + + return VisualServer::get_singleton()->multimesh_instance_get_custom_data(multimesh, p_instance); +} + AABB MultiMesh::get_aabb() const { return VisualServer::get_singleton()->multimesh_get_aabb(multimesh); @@ -168,6 +201,7 @@ RID MultiMesh::get_rid() const { void MultiMesh::set_color_format(ColorFormat p_color_format) { + ERR_FAIL_COND(instance_count > 0); color_format = p_color_format; } @@ -176,8 +210,20 @@ MultiMesh::ColorFormat MultiMesh::get_color_format() const { return color_format; } +void MultiMesh::set_custom_data_format(CustomDataFormat p_custom_data_format) { + + ERR_FAIL_COND(instance_count > 0); + custom_data_format = p_custom_data_format; +} + +MultiMesh::CustomDataFormat MultiMesh::get_custom_data_format() const { + + return custom_data_format; +} + void MultiMesh::set_transform_format(TransformFormat p_transform_format) { + ERR_FAIL_COND(instance_count > 0); transform_format = p_transform_format; } MultiMesh::TransformFormat MultiMesh::get_transform_format() const { @@ -191,6 +237,8 @@ void MultiMesh::_bind_methods() { ClassDB::bind_method(D_METHOD("get_mesh"), &MultiMesh::get_mesh); ClassDB::bind_method(D_METHOD("set_color_format", "format"), &MultiMesh::set_color_format); ClassDB::bind_method(D_METHOD("get_color_format"), &MultiMesh::get_color_format); + ClassDB::bind_method(D_METHOD("set_custom_data_format", "format"), &MultiMesh::set_custom_data_format); + ClassDB::bind_method(D_METHOD("get_custom_data_format"), &MultiMesh::get_custom_data_format); ClassDB::bind_method(D_METHOD("set_transform_format", "format"), &MultiMesh::set_transform_format); ClassDB::bind_method(D_METHOD("get_transform_format"), &MultiMesh::get_transform_format); @@ -200,19 +248,25 @@ void MultiMesh::_bind_methods() { ClassDB::bind_method(D_METHOD("get_instance_transform", "instance"), &MultiMesh::get_instance_transform); ClassDB::bind_method(D_METHOD("set_instance_color", "instance", "color"), &MultiMesh::set_instance_color); ClassDB::bind_method(D_METHOD("get_instance_color", "instance"), &MultiMesh::get_instance_color); + ClassDB::bind_method(D_METHOD("set_instance_custom_data", "instance", "custom_data"), &MultiMesh::set_instance_custom_data); + ClassDB::bind_method(D_METHOD("get_instance_custom_data", "instance"), &MultiMesh::get_instance_custom_data); ClassDB::bind_method(D_METHOD("get_aabb"), &MultiMesh::get_aabb); ClassDB::bind_method(D_METHOD("_set_transform_array"), &MultiMesh::_set_transform_array); ClassDB::bind_method(D_METHOD("_get_transform_array"), &MultiMesh::_get_transform_array); ClassDB::bind_method(D_METHOD("_set_color_array"), &MultiMesh::_set_color_array); ClassDB::bind_method(D_METHOD("_get_color_array"), &MultiMesh::_get_color_array); + ClassDB::bind_method(D_METHOD("_set_custom_data_array"), &MultiMesh::_set_custom_data_array); + ClassDB::bind_method(D_METHOD("_get_custom_data_array"), &MultiMesh::_get_custom_data_array); ADD_PROPERTY(PropertyInfo(Variant::INT, "color_format", PROPERTY_HINT_ENUM, "None,Byte,Float"), "set_color_format", "get_color_format"); ADD_PROPERTY(PropertyInfo(Variant::INT, "transform_format", PROPERTY_HINT_ENUM, "2D,3D"), "set_transform_format", "get_transform_format"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "instance_count", PROPERTY_HINT_RANGE, "0,16384,1"), "set_instance_count", "get_instance_count"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "custom_data_format", PROPERTY_HINT_ENUM, "None,Byte,Float"), "set_custom_data_format", "get_custom_data_format"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "instance_count", PROPERTY_HINT_RANGE, "0,16384,1,or_greater"), "set_instance_count", "get_instance_count"); ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "mesh", PROPERTY_HINT_RESOURCE_TYPE, "Mesh"), "set_mesh", "get_mesh"); ADD_PROPERTY(PropertyInfo(Variant::POOL_VECTOR3_ARRAY, "transform_array", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR | PROPERTY_USAGE_INTERNAL), "_set_transform_array", "_get_transform_array"); ADD_PROPERTY(PropertyInfo(Variant::POOL_COLOR_ARRAY, "color_array", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR | PROPERTY_USAGE_INTERNAL), "_set_color_array", "_get_color_array"); + ADD_PROPERTY(PropertyInfo(Variant::POOL_COLOR_ARRAY, "custom_data_array", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR | PROPERTY_USAGE_INTERNAL), "_set_custom_data_array", "_get_custom_data_array"); BIND_ENUM_CONSTANT(TRANSFORM_2D); BIND_ENUM_CONSTANT(TRANSFORM_3D); @@ -220,13 +274,19 @@ void MultiMesh::_bind_methods() { BIND_ENUM_CONSTANT(COLOR_NONE); BIND_ENUM_CONSTANT(COLOR_8BIT); BIND_ENUM_CONSTANT(COLOR_FLOAT); + + BIND_ENUM_CONSTANT(CUSTOM_DATA_NONE); + BIND_ENUM_CONSTANT(CUSTOM_DATA_8BIT); + BIND_ENUM_CONSTANT(CUSTOM_DATA_FLOAT); } MultiMesh::MultiMesh() { multimesh = VisualServer::get_singleton()->multimesh_create(); color_format = COLOR_NONE; + custom_data_format = CUSTOM_DATA_NONE; transform_format = TRANSFORM_2D; + instance_count = 0; } MultiMesh::~MultiMesh() { diff --git a/scene/resources/multimesh.h b/scene/resources/multimesh.h index 0875d6d06d..ec5a5ca4d5 100644 --- a/scene/resources/multimesh.h +++ b/scene/resources/multimesh.h @@ -51,11 +51,19 @@ public: COLOR_FLOAT = VS::MULTIMESH_COLOR_FLOAT, }; + enum CustomDataFormat { + CUSTOM_DATA_NONE, + CUSTOM_DATA_8BIT, + CUSTOM_DATA_FLOAT, + }; + private: Ref<Mesh> mesh; RID multimesh; TransformFormat transform_format; ColorFormat color_format; + CustomDataFormat custom_data_format; + int instance_count; protected: static void _bind_methods(); @@ -66,6 +74,9 @@ protected: void _set_color_array(const PoolVector<Color> &p_array); PoolVector<Color> _get_color_array() const; + void _set_custom_data_array(const PoolVector<Color> &p_array); + PoolVector<Color> _get_custom_data_array() const; + public: void set_mesh(const Ref<Mesh> &p_mesh); Ref<Mesh> get_mesh() const; @@ -73,6 +84,9 @@ public: void set_color_format(ColorFormat p_color_format); ColorFormat get_color_format() const; + void set_custom_data_format(CustomDataFormat p_custom_data_format); + CustomDataFormat get_custom_data_format() const; + void set_transform_format(TransformFormat p_transform_format); TransformFormat get_transform_format() const; @@ -85,6 +99,9 @@ public: void set_instance_color(int p_instance, const Color &p_color); Color get_instance_color(int p_instance) const; + void set_instance_custom_data(int p_instance, const Color &p_custom_data); + Color get_instance_custom_data(int p_instance) const; + virtual AABB get_aabb() const; virtual RID get_rid() const; @@ -95,5 +112,6 @@ public: VARIANT_ENUM_CAST(MultiMesh::TransformFormat); VARIANT_ENUM_CAST(MultiMesh::ColorFormat); +VARIANT_ENUM_CAST(MultiMesh::CustomDataFormat); #endif // MULTI_MESH_H diff --git a/scene/resources/particles_material.cpp b/scene/resources/particles_material.cpp new file mode 100644 index 0000000000..218a4cefe7 --- /dev/null +++ b/scene/resources/particles_material.cpp @@ -0,0 +1,1259 @@ +/*************************************************************************/ +/* particles_material.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 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 "particles_material.h" + +Mutex *ParticlesMaterial::material_mutex = NULL; +SelfList<ParticlesMaterial>::List ParticlesMaterial::dirty_materials; +Map<ParticlesMaterial::MaterialKey, ParticlesMaterial::ShaderData> ParticlesMaterial::shader_map; +ParticlesMaterial::ShaderNames *ParticlesMaterial::shader_names = NULL; + +void ParticlesMaterial::init_shaders() { + +#ifndef NO_THREADS + material_mutex = Mutex::create(); +#endif + + shader_names = memnew(ShaderNames); + + shader_names->spread = "spread"; + shader_names->flatness = "flatness"; + shader_names->initial_linear_velocity = "initial_linear_velocity"; + shader_names->initial_angle = "initial_angle"; + shader_names->angular_velocity = "angular_velocity"; + shader_names->orbit_velocity = "orbit_velocity"; + shader_names->linear_accel = "linear_accel"; + shader_names->radial_accel = "radial_accel"; + shader_names->tangent_accel = "tangent_accel"; + shader_names->damping = "damping"; + shader_names->scale = "scale"; + shader_names->hue_variation = "hue_variation"; + shader_names->anim_speed = "anim_speed"; + shader_names->anim_offset = "anim_offset"; + + shader_names->initial_linear_velocity_random = "initial_linear_velocity_random"; + shader_names->initial_angle_random = "initial_angle_random"; + shader_names->angular_velocity_random = "angular_velocity_random"; + shader_names->orbit_velocity_random = "orbit_velocity_random"; + shader_names->linear_accel_random = "linear_accel_random"; + shader_names->radial_accel_random = "radial_accel_random"; + shader_names->tangent_accel_random = "tangent_accel_random"; + shader_names->damping_random = "damping_random"; + shader_names->scale_random = "scale_random"; + shader_names->hue_variation_random = "hue_variation_random"; + shader_names->anim_speed_random = "anim_speed_random"; + shader_names->anim_offset_random = "anim_offset_random"; + + shader_names->angle_texture = "angle_texture"; + shader_names->angular_velocity_texture = "angular_velocity_texture"; + shader_names->orbit_velocity_texture = "orbit_velocity_texture"; + shader_names->linear_accel_texture = "linear_accel_texture"; + shader_names->radial_accel_texture = "radial_accel_texture"; + shader_names->tangent_accel_texture = "tangent_accel_texture"; + shader_names->damping_texture = "damping_texture"; + shader_names->scale_texture = "scale_texture"; + shader_names->hue_variation_texture = "hue_variation_texture"; + shader_names->anim_speed_texture = "anim_speed_texture"; + shader_names->anim_offset_texture = "anim_offset_texture"; + + shader_names->color = "color_value"; + shader_names->color_ramp = "color_ramp"; + + shader_names->emission_sphere_radius = "emission_sphere_radius"; + shader_names->emission_box_extents = "emission_box_extents"; + shader_names->emission_texture_point_count = "emission_texture_point_count"; + shader_names->emission_texture_points = "emission_texture_points"; + shader_names->emission_texture_normal = "emission_texture_normal"; + shader_names->emission_texture_color = "emission_texture_color"; + + shader_names->trail_divisor = "trail_divisor"; + shader_names->trail_size_modifier = "trail_size_modifier"; + shader_names->trail_color_modifier = "trail_color_modifier"; + + shader_names->gravity = "gravity"; +} + +void ParticlesMaterial::finish_shaders() { + +#ifndef NO_THREADS + memdelete(material_mutex); +#endif + + memdelete(shader_names); +} + +void ParticlesMaterial::_update_shader() { + + dirty_materials.remove(&element); + + MaterialKey mk = _compute_key(); + if (mk.key == current_key.key) + return; //no update required in the end + + if (shader_map.has(current_key)) { + shader_map[current_key].users--; + if (shader_map[current_key].users == 0) { + //deallocate shader, as it's no longer in use + VS::get_singleton()->free(shader_map[current_key].shader); + shader_map.erase(current_key); + } + } + + current_key = mk; + + if (shader_map.has(mk)) { + + VS::get_singleton()->material_set_shader(_get_material(), shader_map[mk].shader); + shader_map[mk].users++; + return; + } + + //must create a shader! + + String code = "shader_type particles;\n"; + + code += "uniform float spread;\n"; + code += "uniform float flatness;\n"; + code += "uniform float initial_linear_velocity;\n"; + code += "uniform float initial_angle;\n"; + code += "uniform float angular_velocity;\n"; + code += "uniform float orbit_velocity;\n"; + code += "uniform float linear_accel;\n"; + code += "uniform float radial_accel;\n"; + code += "uniform float tangent_accel;\n"; + code += "uniform float damping;\n"; + code += "uniform float scale;\n"; + code += "uniform float hue_variation;\n"; + code += "uniform float anim_speed;\n"; + code += "uniform float anim_offset;\n"; + + code += "uniform float initial_linear_velocity_random;\n"; + code += "uniform float initial_angle_random;\n"; + code += "uniform float angular_velocity_random;\n"; + code += "uniform float orbit_velocity_random;\n"; + code += "uniform float linear_accel_random;\n"; + code += "uniform float radial_accel_random;\n"; + code += "uniform float tangent_accel_random;\n"; + code += "uniform float damping_random;\n"; + code += "uniform float scale_random;\n"; + code += "uniform float hue_variation_random;\n"; + code += "uniform float anim_speed_random;\n"; + code += "uniform float anim_offset_random;\n"; + + switch (emission_shape) { + case EMISSION_SHAPE_POINT: { + //do none + } break; + case EMISSION_SHAPE_SPHERE: { + code += "uniform float emission_sphere_radius;\n"; + } break; + case EMISSION_SHAPE_BOX: { + code += "uniform vec3 emission_box_extents;\n"; + } break; + case EMISSION_SHAPE_DIRECTED_POINTS: { + code += "uniform sampler2D emission_texture_normal : hint_black;\n"; + } //fallthrough + case EMISSION_SHAPE_POINTS: { + code += "uniform sampler2D emission_texture_points : hint_black;\n"; + code += "uniform int emission_texture_point_count;\n"; + if (emission_color_texture.is_valid()) { + code += "uniform sampler2D emission_texture_color : hint_white;\n"; + } + } break; + } + + code += "uniform vec4 color_value : hint_color;\n"; + + code += "uniform int trail_divisor;\n"; + + code += "uniform vec3 gravity;\n"; + + if (color_ramp.is_valid()) + code += "uniform sampler2D color_ramp;\n"; + + if (tex_parameters[PARAM_INITIAL_LINEAR_VELOCITY].is_valid()) + code += "uniform sampler2D linear_velocity_texture;\n"; + if (tex_parameters[PARAM_ORBIT_VELOCITY].is_valid()) + code += "uniform sampler2D orbit_velocity_texture;\n"; + if (tex_parameters[PARAM_ANGULAR_VELOCITY].is_valid()) + code += "uniform sampler2D angular_velocity_texture;\n"; + if (tex_parameters[PARAM_LINEAR_ACCEL].is_valid()) + code += "uniform sampler2D linear_accel_texture;\n"; + if (tex_parameters[PARAM_RADIAL_ACCEL].is_valid()) + code += "uniform sampler2D radial_accel_texture;\n"; + if (tex_parameters[PARAM_TANGENTIAL_ACCEL].is_valid()) + code += "uniform sampler2D tangent_accel_texture;\n"; + if (tex_parameters[PARAM_DAMPING].is_valid()) + code += "uniform sampler2D damping_texture;\n"; + if (tex_parameters[PARAM_ANGLE].is_valid()) + code += "uniform sampler2D angle_texture;\n"; + if (tex_parameters[PARAM_SCALE].is_valid()) + code += "uniform sampler2D scale_texture;\n"; + if (tex_parameters[PARAM_HUE_VARIATION].is_valid()) + code += "uniform sampler2D hue_variation_texture;\n"; + if (tex_parameters[PARAM_ANIM_SPEED].is_valid()) + code += "uniform sampler2D anim_speed_texture;\n"; + if (tex_parameters[PARAM_ANIM_OFFSET].is_valid()) + code += "uniform sampler2D anim_offset_texture;\n"; + + if (trail_size_modifier.is_valid()) { + code += "uniform sampler2D trail_size_modifier;\n"; + } + + if (trail_color_modifier.is_valid()) { + code += "uniform sampler2D trail_color_modifier;\n"; + } + + //need a random function + code += "\n\n"; + code += "float rand_from_seed(inout uint seed) {\n"; + code += " int k;\n"; + code += " int s = int(seed);\n"; + code += " if (s == 0)\n"; + code += " s = 305420679;\n"; + code += " k = s / 127773;\n"; + code += " s = 16807 * (s - k * 127773) - 2836 * k;\n"; + code += " if (s < 0)\n"; + code += " s += 2147483647;\n"; + code += " seed = uint(s);\n"; + code += " return float(seed % uint(65536)) / 65535.0;\n"; + code += "}\n"; + code += "\n"; + + code += "float rand_from_seed_m1_p1(inout uint seed) {\n"; + code += " return rand_from_seed(seed) * 2.0 - 1.0;\n"; + code += "}\n"; + code += "\n"; + + //improve seed quality + code += "uint hash(uint x) {\n"; + code += " x = ((x >> uint(16)) ^ x) * uint(73244475);\n"; + code += " x = ((x >> uint(16)) ^ x) * uint(73244475);\n"; + code += " x = (x >> uint(16)) ^ x;\n"; + code += " return x;\n"; + code += "}\n"; + code += "\n"; + + code += "void vertex() {\n"; + code += " uint base_number = NUMBER / uint(trail_divisor);\n"; + code += " uint alt_seed = hash(base_number + uint(1) + RANDOM_SEED);\n"; + code += " float angle_rand = rand_from_seed(alt_seed);\n"; + code += " float scale_rand = rand_from_seed(alt_seed);\n"; + code += " float hue_rot_rand = rand_from_seed(alt_seed);\n"; + code += " float anim_offset_rand = rand_from_seed(alt_seed);\n"; + code += " float pi = 3.14159;\n"; + code += " float degree_to_rad = pi / 180.0;\n"; + code += "\n"; + + if (emission_shape >= EMISSION_SHAPE_POINTS) { + code += " int point = min(emission_texture_point_count - 1, int(rand_from_seed(alt_seed) * float(emission_texture_point_count)));\n"; + code += " ivec2 emission_tex_size = textureSize(emission_texture_points, 0);\n"; + code += " ivec2 emission_tex_ofs = ivec2(point % emission_tex_size.x, point / emission_tex_size.x);\n"; + } + code += " if (RESTART) {\n"; + + if (tex_parameters[PARAM_INITIAL_LINEAR_VELOCITY].is_valid()) + code += " float tex_linear_velocity = textureLod(linear_velocity_texture, vec2(0.0, 0.0), 0.0).r;\n"; + else + code += " float tex_linear_velocity = 0.0;\n"; + + if (tex_parameters[PARAM_ANGLE].is_valid()) + code += " float tex_angle = textureLod(angle_texture, vec2(0.0, 0.0), 0.0).r;\n"; + else + code += " float tex_angle = 0.0;\n"; + + if (tex_parameters[PARAM_ANIM_OFFSET].is_valid()) + code += " float tex_anim_offset = textureLod(anim_offset_texture, vec2(0.0, 0.0), 0.0).r;\n"; + else + code += " float tex_anim_offset = 0.0;\n"; + + code += " float spread_rad = spread * degree_to_rad;\n"; + + if (flags[FLAG_DISABLE_Z]) { + + code += " float angle1_rad = rand_from_seed_m1_p1(alt_seed) * spread_rad;\n"; + code += " vec3 rot = vec3(cos(angle1_rad), sin(angle1_rad), 0.0);\n"; + code += " VELOCITY = rot * initial_linear_velocity * mix(1.0, rand_from_seed(alt_seed), initial_linear_velocity_random);\n"; + + } else { + //initiate velocity spread in 3D + code += " float angle1_rad = rand_from_seed_m1_p1(alt_seed) * spread_rad;\n"; + code += " float angle2_rad = rand_from_seed_m1_p1(alt_seed) * spread_rad * (1.0 - flatness);\n"; + code += " vec3 direction_xz = vec3(sin(angle1_rad), 0, cos(angle1_rad));\n"; + code += " vec3 direction_yz = vec3(0, sin(angle2_rad), cos(angle2_rad));\n"; + code += " direction_yz.z = direction_yz.z / sqrt(direction_yz.z); // better uniform distribution\n"; + code += " vec3 direction = vec3(direction_xz.x * direction_yz.z, direction_yz.y, direction_xz.z * direction_yz.z);\n"; + code += " direction = normalize(direction);\n"; + code += " VELOCITY = direction * initial_linear_velocity * mix(1.0, rand_from_seed(alt_seed), initial_linear_velocity_random);\n"; + } + + code += " float base_angle = (initial_angle + tex_angle) * mix(1.0, angle_rand, initial_angle_random);\n"; + code += " CUSTOM.x = base_angle * degree_to_rad;\n"; // angle + code += " CUSTOM.y = 0.0;\n"; // phase + code += " CUSTOM.z = (anim_offset + tex_anim_offset) * mix(1.0, anim_offset_rand, anim_offset_random);\n"; // animation offset (0-1) + + switch (emission_shape) { + case EMISSION_SHAPE_POINT: { + //do none + } break; + case EMISSION_SHAPE_SPHERE: { + code += " TRANSFORM[3].xyz = normalize(vec3(rand_from_seed(alt_seed) * 2.0 - 1.0, rand_from_seed(alt_seed) * 2.0 - 1.0, rand_from_seed(alt_seed) * 2.0 - 1.0)) * emission_sphere_radius;\n"; + } break; + case EMISSION_SHAPE_BOX: { + code += " TRANSFORM[3].xyz = vec3(rand_from_seed(alt_seed) * 2.0 - 1.0, rand_from_seed(alt_seed) * 2.0 - 1.0, rand_from_seed(alt_seed) * 2.0 - 1.0) * emission_box_extents;\n"; + } break; + case EMISSION_SHAPE_POINTS: + case EMISSION_SHAPE_DIRECTED_POINTS: { + code += " TRANSFORM[3].xyz = texelFetch(emission_texture_points, emission_tex_ofs, 0).xyz;\n"; + + if (emission_shape == EMISSION_SHAPE_DIRECTED_POINTS) { + if (flags[FLAG_DISABLE_Z]) { + + code += " mat2 rotm;"; + code += " rotm[0] = texelFetch(emission_texture_normal, emission_tex_ofs, 0).xy;\n"; + code += " rotm[1] = rotm[0].yx * vec2(1.0, -1.0);\n"; + code += " VELOCITY.xy = rotm * VELOCITY.xy;\n"; + } else { + code += " vec3 normal = texelFetch(emission_texture_normal, emission_tex_ofs, 0).xyz;\n"; + code += " vec3 v0 = abs(normal.z) < 0.999 ? vec3(0.0, 0.0, 1.0) : vec3(0, 1.0, 0.0);\n"; + code += " vec3 tangent = normalize(cross(v0, normal));\n"; + code += " vec3 bitangent = normalize(cross(tangent, normal));\n"; + code += " VELOCITY = mat3(tangent, bitangent, normal) * VELOCITY;\n"; + } + } + } break; + } + code += " VELOCITY = (EMISSION_TRANSFORM * vec4(VELOCITY, 0.0)).xyz;\n"; + code += " TRANSFORM = EMISSION_TRANSFORM * TRANSFORM;\n"; + if (flags[FLAG_DISABLE_Z]) { + code += " VELOCITY.z = 0.0;\n"; + code += " TRANSFORM[3].z = 0.0;\n"; + } + + code += " } else {\n"; + + code += " CUSTOM.y += DELTA / LIFETIME;\n"; + if (tex_parameters[PARAM_INITIAL_LINEAR_VELOCITY].is_valid()) + code += " float tex_linear_velocity = textureLod(linear_velocity_texture, vec2(CUSTOM.y, 0.0), 0.0).r;\n"; + else + code += " float tex_linear_velocity = 0.0;\n"; + + if (flags[FLAG_DISABLE_Z]) { + + if (tex_parameters[PARAM_ORBIT_VELOCITY].is_valid()) + code += " float tex_orbit_velocity = textureLod(orbit_velocity_texture, vec2(CUSTOM.y, 0.0), 0.0).r;\n"; + else + code += " float tex_orbit_velocity = 0.0;\n"; + } + + if (tex_parameters[PARAM_ANGULAR_VELOCITY].is_valid()) + code += " float tex_angular_velocity = textureLod(angular_velocity_texture, vec2(CUSTOM.y, 0.0), 0.0).r;\n"; + else + code += " float tex_angular_velocity = 0.0;\n"; + + if (tex_parameters[PARAM_LINEAR_ACCEL].is_valid()) + code += " float tex_linear_accel = textureLod(linear_accel_texture, vec2(CUSTOM.y, 0.0), 0.0).r;\n"; + else + code += " float tex_linear_accel = 0.0;\n"; + + if (tex_parameters[PARAM_RADIAL_ACCEL].is_valid()) + code += " float tex_radial_accel = textureLod(radial_accel_texture, vec2(CUSTOM.y, 0.0), 0.0).r;\n"; + else + code += " float tex_radial_accel = 0.0;\n"; + + if (tex_parameters[PARAM_TANGENTIAL_ACCEL].is_valid()) + code += " float tex_tangent_accel = textureLod(tangent_accel_texture, vec2(CUSTOM.y, 0.0), 0.0).r;\n"; + else + code += " float tex_tangent_accel = 0.0;\n"; + + if (tex_parameters[PARAM_DAMPING].is_valid()) + code += " float tex_damping = textureLod(damping_texture, vec2(CUSTOM.y, 0.0), 0.0).r;\n"; + else + code += " float tex_damping = 0.0;\n"; + + if (tex_parameters[PARAM_ANGLE].is_valid()) + code += " float tex_angle = textureLod(angle_texture, vec2(CUSTOM.y, 0.0), 0.0).r;\n"; + else + code += " float tex_angle = 0.0;\n"; + + if (tex_parameters[PARAM_ANIM_SPEED].is_valid()) + code += " float tex_anim_speed = textureLod(anim_speed_texture, vec2(CUSTOM.y, 0.0), 0.0).r;\n"; + else + code += " float tex_anim_speed = 0.0;\n"; + + if (tex_parameters[PARAM_ANIM_OFFSET].is_valid()) + code += " float tex_anim_offset = textureLod(anim_offset_texture, vec2(CUSTOM.y, 0.0), 0.0).r;\n"; + else + code += " float tex_anim_offset = 0.0;\n"; + + code += " vec3 force = gravity;\n"; + code += " vec3 pos = TRANSFORM[3].xyz;\n"; + if (flags[FLAG_DISABLE_Z]) { + code += " pos.z = 0.0;\n"; + } + code += " // apply linear acceleration\n"; + code += " force += length(VELOCITY) > 0.0 ? normalize(VELOCITY) * (linear_accel + tex_linear_accel) * mix(1.0, rand_from_seed(alt_seed), linear_accel_random) : vec3(0.0);\n"; + code += " // apply radial acceleration\n"; + code += " vec3 org = EMISSION_TRANSFORM[3].xyz;\n"; + code += " vec3 diff = pos - org;\n"; + code += " force += length(diff) > 0.0 ? normalize(diff) * (radial_accel + tex_radial_accel) * mix(1.0, rand_from_seed(alt_seed), radial_accel_random) : vec3(0.0);\n"; + code += " // apply tangential acceleration;\n"; + if (flags[FLAG_DISABLE_Z]) { + code += " force += length(diff.yx) > 0.0 ? vec3(normalize(diff.yx * vec2(-1.0, 1.0)), 0.0) * ((tangent_accel + tex_tangent_accel) * mix(1.0, rand_from_seed(alt_seed), tangent_accel_random)) : vec3(0.0);\n"; + + } else { + code += " vec3 crossDiff = cross(normalize(diff), normalize(gravity));\n"; + code += " force += length(crossDiff) > 0.0 ? normalize(crossDiff) * ((tangent_accel + tex_tangent_accel) * mix(1.0, rand_from_seed(alt_seed), tangent_accel_random)) : vec3(0.0);\n"; + } + code += " // apply attractor forces\n"; + code += " VELOCITY += force * DELTA;\n"; + code += " // orbit velocity\n"; + if (flags[FLAG_DISABLE_Z]) { + + code += " float orbit_amount = (orbit_velocity + tex_orbit_velocity) * mix(1.0, rand_from_seed(alt_seed), orbit_velocity_random);\n"; + code += " if (orbit_amount != 0.0) {\n"; + code += " float ang = orbit_amount * DELTA * pi * 2.0;\n"; + code += " mat2 rot = mat2(vec2(cos(ang), -sin(ang)), vec2(sin(ang), cos(ang)));\n"; + code += " TRANSFORM[3].xy -= diff.xy;\n"; + code += " TRANSFORM[3].xy += rot * diff.xy;\n"; + code += " }\n"; + } + + if (tex_parameters[PARAM_INITIAL_LINEAR_VELOCITY].is_valid()) { + code += " VELOCITY = normalize(VELOCITY) * tex_linear_velocity;\n"; + } + code += " if (damping + tex_damping > 0.0) {\n"; + code += " float v = length(VELOCITY);\n"; + code += " float damp = (damping + tex_damping) * mix(1.0, rand_from_seed(alt_seed), damping_random);\n"; + code += " v -= damp * DELTA;\n"; + code += " if (v < 0.0) {\n"; + code += " VELOCITY = vec3(0.0);\n"; + code += " } else {\n"; + code += " VELOCITY = normalize(VELOCITY) * v;\n"; + code += " }\n"; + code += " }\n"; + code += " float base_angle = (initial_angle + tex_angle) * mix(1.0, angle_rand, initial_angle_random);\n"; + code += " base_angle += CUSTOM.y * LIFETIME * (angular_velocity + tex_angular_velocity) * mix(1.0, rand_from_seed(alt_seed) * 2.0 - 1.0, angular_velocity_random);\n"; + code += " CUSTOM.x = base_angle * degree_to_rad;\n"; // angle + code += " CUSTOM.z = (anim_offset + tex_anim_offset) * mix(1.0, anim_offset_rand, anim_offset_random) + CUSTOM.y * (anim_speed + tex_anim_speed) * mix(1.0, rand_from_seed(alt_seed), anim_speed_random);\n"; // angle + if (flags[FLAG_ANIM_LOOP]) { + code += " CUSTOM.z = mod(CUSTOM.z, 1.0);\n"; // loop + + } else { + code += " CUSTOM.z = clamp(CUSTOM.z, 0.0, 1.0);\n"; // 0 to 1 only + } + code += " }\n"; + // apply color + // apply hue rotation + if (tex_parameters[PARAM_SCALE].is_valid()) + code += " float tex_scale = textureLod(scale_texture, vec2(CUSTOM.y, 0.0), 0.0).r;\n"; + else + code += " float tex_scale = 1.0;\n"; + + if (tex_parameters[PARAM_HUE_VARIATION].is_valid()) + code += " float tex_hue_variation = textureLod(hue_variation_texture, vec2(CUSTOM.y, 0.0), 0.0).r;\n"; + else + code += " float tex_hue_variation = 0.0;\n"; + + code += " float hue_rot_angle = (hue_variation + tex_hue_variation) * pi * 2.0 * mix(1.0, hue_rot_rand * 2.0 - 1.0, hue_variation_random);\n"; + code += " float hue_rot_c = cos(hue_rot_angle);\n"; + code += " float hue_rot_s = sin(hue_rot_angle);\n"; + code += " mat4 hue_rot_mat = mat4(vec4(0.299, 0.587, 0.114, 0.0),\n"; + code += " vec4(0.299, 0.587, 0.114, 0.0),\n"; + code += " vec4(0.299, 0.587, 0.114, 0.0),\n"; + code += " vec4(0.000, 0.000, 0.000, 1.0)) +\n"; + code += " mat4(vec4(0.701, -0.587, -0.114, 0.0),\n"; + code += " vec4(-0.299, 0.413, -0.114, 0.0),\n"; + code += " vec4(-0.300, -0.588, 0.886, 0.0),\n"; + code += " vec4(0.000, 0.000, 0.000, 0.0)) * hue_rot_c +\n"; + code += " mat4(vec4(0.168, 0.330, -0.497, 0.0),\n"; + code += " vec4(-0.328, 0.035, 0.292, 0.0),\n"; + code += " vec4(1.250, -1.050, -0.203, 0.0),\n"; + code += " vec4(0.000, 0.000, 0.000, 0.0)) * hue_rot_s;\n"; + if (color_ramp.is_valid()) { + code += " COLOR = hue_rot_mat * textureLod(color_ramp, vec2(CUSTOM.y, 0.0), 0.0);\n"; + } else { + code += " COLOR = hue_rot_mat * color_value;\n"; + } + if (emission_color_texture.is_valid() && emission_shape >= EMISSION_SHAPE_POINTS) { + code += " COLOR *= texelFetch(emission_texture_color, emission_tex_ofs, 0);\n"; + } + if (trail_color_modifier.is_valid()) { + code += " if (trail_divisor > 1) {\n"; + code += " COLOR *= textureLod(trail_color_modifier, vec2(float(int(NUMBER) % trail_divisor) / float(trail_divisor - 1), 0.0), 0.0);\n"; + code += " }\n"; + } + code += "\n"; + + if (flags[FLAG_DISABLE_Z]) { + + if (flags[FLAG_ALIGN_Y_TO_VELOCITY]) { + code += " if (length(VELOCITY) > 0.0) {\n"; + code += " TRANSFORM[1].xyz = normalize(VELOCITY);\n"; + code += " } else {\n"; + code += " TRANSFORM[1].xyz = normalize(TRANSFORM[1].xyz);\n"; + code += " }\n"; + code += " TRANSFORM[0].xyz = normalize(cross(TRANSFORM[1].xyz, TRANSFORM[2].xyz));\n"; + code += " TRANSFORM[2] = vec4(0.0, 0.0, 1.0, 0.0);\n"; + } else { + code += " TRANSFORM[0] = vec4(cos(CUSTOM.x), -sin(CUSTOM.x), 0.0, 0.0);\n"; + code += " TRANSFORM[1] = vec4(sin(CUSTOM.x), cos(CUSTOM.x), 0.0, 0.0);\n"; + code += " TRANSFORM[2] = vec4(0.0, 0.0, 1.0, 0.0);\n"; + } + + } else { + // orient particle Y towards velocity + if (flags[FLAG_ALIGN_Y_TO_VELOCITY]) { + code += " if (length(VELOCITY) > 0.0) {\n"; + code += " TRANSFORM[1].xyz = normalize(VELOCITY);\n"; + code += " } else {\n"; + code += " TRANSFORM[1].xyz = normalize(TRANSFORM[1].xyz);\n"; + code += " }\n"; + code += " if (TRANSFORM[1].xyz == normalize(TRANSFORM[0].xyz)) {\n"; + code += " TRANSFORM[0].xyz = normalize(cross(normalize(TRANSFORM[1].xyz), normalize(TRANSFORM[2].xyz)));\n"; + code += " TRANSFORM[2].xyz = normalize(cross(normalize(TRANSFORM[0].xyz), normalize(TRANSFORM[1].xyz)));\n"; + code += " } else {\n"; + code += " TRANSFORM[2].xyz = normalize(cross(normalize(TRANSFORM[0].xyz), normalize(TRANSFORM[1].xyz)));\n"; + code += " TRANSFORM[0].xyz = normalize(cross(normalize(TRANSFORM[1].xyz), normalize(TRANSFORM[2].xyz)));\n"; + code += " }\n"; + } else { + code += " TRANSFORM[0].xyz = normalize(TRANSFORM[0].xyz);\n"; + code += " TRANSFORM[1].xyz = normalize(TRANSFORM[1].xyz);\n"; + code += " TRANSFORM[2].xyz = normalize(TRANSFORM[2].xyz);\n"; + } + // turn particle by rotation in Y + if (flags[FLAG_ROTATE_Y]) { + code += " TRANSFORM = TRANSFORM * mat4(vec4(cos(CUSTOM.x), 0.0, -sin(CUSTOM.x), 0.0), vec4(0.0, 1.0, 0.0, 0.0), vec4(sin(CUSTOM.x), 0.0, cos(CUSTOM.x), 0.0), vec4(0.0, 0.0, 0.0, 1.0));\n"; + } + } + //scale by scale + code += " float base_scale = mix(scale * tex_scale, 1.0, scale_random * scale_rand);\n"; + code += " if (base_scale == 0.0) {\n"; + code += " base_scale = 0.000001;\n"; + code += " }\n"; + if (trail_size_modifier.is_valid()) { + code += " if (trail_divisor > 1) {\n"; + code += " base_scale *= textureLod(trail_size_modifier, vec2(float(int(NUMBER) % trail_divisor) / float(trail_divisor - 1), 0.0), 0.0).r;\n"; + code += " }\n"; + } + + code += " TRANSFORM[0].xyz *= base_scale;\n"; + code += " TRANSFORM[1].xyz *= base_scale;\n"; + code += " TRANSFORM[2].xyz *= base_scale;\n"; + if (flags[FLAG_DISABLE_Z]) { + code += " VELOCITY.z = 0.0;\n"; + code += " TRANSFORM[3].z = 0.0;\n"; + } + code += "}\n"; + code += "\n"; + + ShaderData shader_data; + shader_data.shader = VS::get_singleton()->shader_create(); + shader_data.users = 1; + + VS::get_singleton()->shader_set_code(shader_data.shader, code); + + shader_map[mk] = shader_data; + + VS::get_singleton()->material_set_shader(_get_material(), shader_data.shader); +} + +void ParticlesMaterial::flush_changes() { + + if (material_mutex) + material_mutex->lock(); + + while (dirty_materials.first()) { + + dirty_materials.first()->self()->_update_shader(); + } + + if (material_mutex) + material_mutex->unlock(); +} + +void ParticlesMaterial::_queue_shader_change() { + + if (material_mutex) + material_mutex->lock(); + + if (!element.in_list()) { + dirty_materials.add(&element); + } + + if (material_mutex) + material_mutex->unlock(); +} + +bool ParticlesMaterial::_is_shader_dirty() const { + + bool dirty = false; + + if (material_mutex) + material_mutex->lock(); + + dirty = element.in_list(); + + if (material_mutex) + material_mutex->unlock(); + + return dirty; +} + +void ParticlesMaterial::set_spread(float p_spread) { + + spread = p_spread; + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->spread, p_spread); +} + +float ParticlesMaterial::get_spread() const { + + return spread; +} + +void ParticlesMaterial::set_flatness(float p_flatness) { + + flatness = p_flatness; + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->flatness, p_flatness); +} +float ParticlesMaterial::get_flatness() const { + + return flatness; +} + +void ParticlesMaterial::set_param(Parameter p_param, float p_value) { + + ERR_FAIL_INDEX(p_param, PARAM_MAX); + + parameters[p_param] = p_value; + + switch (p_param) { + case PARAM_INITIAL_LINEAR_VELOCITY: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->initial_linear_velocity, p_value); + } break; + case PARAM_ANGULAR_VELOCITY: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->angular_velocity, p_value); + } break; + case PARAM_ORBIT_VELOCITY: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->orbit_velocity, p_value); + } break; + case PARAM_LINEAR_ACCEL: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->linear_accel, p_value); + } break; + case PARAM_RADIAL_ACCEL: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->radial_accel, p_value); + } break; + case PARAM_TANGENTIAL_ACCEL: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->tangent_accel, p_value); + } break; + case PARAM_DAMPING: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->damping, p_value); + } break; + case PARAM_ANGLE: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->initial_angle, p_value); + } break; + case PARAM_SCALE: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->scale, p_value); + } break; + case PARAM_HUE_VARIATION: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->hue_variation, p_value); + } break; + case PARAM_ANIM_SPEED: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->anim_speed, p_value); + } break; + case PARAM_ANIM_OFFSET: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->anim_offset, p_value); + } break; + } +} +float ParticlesMaterial::get_param(Parameter p_param) const { + + ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); + + return parameters[p_param]; +} + +void ParticlesMaterial::set_param_randomness(Parameter p_param, float p_value) { + + ERR_FAIL_INDEX(p_param, PARAM_MAX); + + randomness[p_param] = p_value; + + switch (p_param) { + case PARAM_INITIAL_LINEAR_VELOCITY: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->initial_linear_velocity_random, p_value); + } break; + case PARAM_ANGULAR_VELOCITY: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->angular_velocity_random, p_value); + } break; + case PARAM_ORBIT_VELOCITY: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->orbit_velocity_random, p_value); + } break; + case PARAM_LINEAR_ACCEL: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->linear_accel_random, p_value); + } break; + case PARAM_RADIAL_ACCEL: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->radial_accel_random, p_value); + } break; + case PARAM_TANGENTIAL_ACCEL: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->tangent_accel_random, p_value); + } break; + case PARAM_DAMPING: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->damping_random, p_value); + } break; + case PARAM_ANGLE: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->initial_angle_random, p_value); + } break; + case PARAM_SCALE: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->scale_random, p_value); + } break; + case PARAM_HUE_VARIATION: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->hue_variation_random, p_value); + } break; + case PARAM_ANIM_SPEED: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->anim_speed_random, p_value); + } break; + case PARAM_ANIM_OFFSET: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->anim_offset_random, p_value); + } break; + } +} +float ParticlesMaterial::get_param_randomness(Parameter p_param) const { + + ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); + + return randomness[p_param]; +} + +static void _adjust_curve_range(const Ref<Texture> &p_texture, float p_min, float p_max) { + + Ref<CurveTexture> curve_tex = p_texture; + if (!curve_tex.is_valid()) + return; + + curve_tex->ensure_default_setup(p_min, p_max); +} + +void ParticlesMaterial::set_param_texture(Parameter p_param, const Ref<Texture> &p_texture) { + + ERR_FAIL_INDEX(p_param, PARAM_MAX); + + tex_parameters[p_param] = p_texture; + + switch (p_param) { + case PARAM_INITIAL_LINEAR_VELOCITY: { + //do none for this one + } break; + case PARAM_ANGULAR_VELOCITY: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->angular_velocity_texture, p_texture); + _adjust_curve_range(p_texture, -360, 360); + } break; + case PARAM_ORBIT_VELOCITY: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->orbit_velocity_texture, p_texture); + _adjust_curve_range(p_texture, -500, 500); + } break; + case PARAM_LINEAR_ACCEL: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->linear_accel_texture, p_texture); + _adjust_curve_range(p_texture, -200, 200); + } break; + case PARAM_RADIAL_ACCEL: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->radial_accel_texture, p_texture); + _adjust_curve_range(p_texture, -200, 200); + } break; + case PARAM_TANGENTIAL_ACCEL: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->tangent_accel_texture, p_texture); + _adjust_curve_range(p_texture, -200, 200); + } break; + case PARAM_DAMPING: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->damping_texture, p_texture); + _adjust_curve_range(p_texture, 0, 100); + } break; + case PARAM_ANGLE: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->angle_texture, p_texture); + _adjust_curve_range(p_texture, -360, 360); + } break; + case PARAM_SCALE: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->scale_texture, p_texture); + + Ref<CurveTexture> curve_tex = p_texture; + if (curve_tex.is_valid()) { + curve_tex->ensure_default_setup(); + } + + } break; + case PARAM_HUE_VARIATION: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->hue_variation_texture, p_texture); + _adjust_curve_range(p_texture, -1, 1); + } break; + case PARAM_ANIM_SPEED: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->anim_speed_texture, p_texture); + _adjust_curve_range(p_texture, 0, 200); + } break; + case PARAM_ANIM_OFFSET: { + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->anim_offset_texture, p_texture); + } break; + } + + _queue_shader_change(); +} +Ref<Texture> ParticlesMaterial::get_param_texture(Parameter p_param) const { + + ERR_FAIL_INDEX_V(p_param, PARAM_MAX, Ref<Texture>()); + + return tex_parameters[p_param]; +} + +void ParticlesMaterial::set_color(const Color &p_color) { + + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->color, p_color); + color = p_color; +} + +Color ParticlesMaterial::get_color() const { + + return color; +} + +void ParticlesMaterial::set_color_ramp(const Ref<Texture> &p_texture) { + + color_ramp = p_texture; + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->color_ramp, p_texture); + _queue_shader_change(); + _change_notify(); +} + +Ref<Texture> ParticlesMaterial::get_color_ramp() const { + + return color_ramp; +} + +void ParticlesMaterial::set_flag(Flags p_flag, bool p_enable) { + ERR_FAIL_INDEX(p_flag, FLAG_MAX); + flags[p_flag] = p_enable; + _queue_shader_change(); + if (p_flag == FLAG_DISABLE_Z) { + _change_notify(); + } +} + +bool ParticlesMaterial::get_flag(Flags p_flag) const { + ERR_FAIL_INDEX_V(p_flag, FLAG_MAX, false); + return flags[p_flag]; +} + +void ParticlesMaterial::set_emission_shape(EmissionShape p_shape) { + + emission_shape = p_shape; + _change_notify(); + _queue_shader_change(); +} + +void ParticlesMaterial::set_emission_sphere_radius(float p_radius) { + + emission_sphere_radius = p_radius; + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->emission_sphere_radius, p_radius); +} + +void ParticlesMaterial::set_emission_box_extents(Vector3 p_extents) { + + emission_box_extents = p_extents; + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->emission_box_extents, p_extents); +} + +void ParticlesMaterial::set_emission_point_texture(const Ref<Texture> &p_points) { + + emission_point_texture = p_points; + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->emission_texture_points, p_points); +} + +void ParticlesMaterial::set_emission_normal_texture(const Ref<Texture> &p_normals) { + + emission_normal_texture = p_normals; + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->emission_texture_normal, p_normals); +} + +void ParticlesMaterial::set_emission_color_texture(const Ref<Texture> &p_colors) { + + emission_color_texture = p_colors; + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->emission_texture_color, p_colors); + _queue_shader_change(); +} + +void ParticlesMaterial::set_emission_point_count(int p_count) { + + emission_point_count = p_count; + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->emission_texture_point_count, p_count); +} + +ParticlesMaterial::EmissionShape ParticlesMaterial::get_emission_shape() const { + + return emission_shape; +} + +float ParticlesMaterial::get_emission_sphere_radius() const { + + return emission_sphere_radius; +} +Vector3 ParticlesMaterial::get_emission_box_extents() const { + + return emission_box_extents; +} +Ref<Texture> ParticlesMaterial::get_emission_point_texture() const { + + return emission_point_texture; +} +Ref<Texture> ParticlesMaterial::get_emission_normal_texture() const { + + return emission_normal_texture; +} + +Ref<Texture> ParticlesMaterial::get_emission_color_texture() const { + + return emission_color_texture; +} + +int ParticlesMaterial::get_emission_point_count() const { + + return emission_point_count; +} + +void ParticlesMaterial::set_trail_divisor(int p_divisor) { + + trail_divisor = p_divisor; + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->trail_divisor, p_divisor); +} + +int ParticlesMaterial::get_trail_divisor() const { + + return trail_divisor; +} + +void ParticlesMaterial::set_trail_size_modifier(const Ref<CurveTexture> &p_trail_size_modifier) { + + trail_size_modifier = p_trail_size_modifier; + + Ref<CurveTexture> curve = trail_size_modifier; + if (curve.is_valid()) { + curve->ensure_default_setup(); + } + + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->trail_size_modifier, curve); + _queue_shader_change(); +} + +Ref<CurveTexture> ParticlesMaterial::get_trail_size_modifier() const { + + return trail_size_modifier; +} + +void ParticlesMaterial::set_trail_color_modifier(const Ref<GradientTexture> &p_trail_color_modifier) { + + trail_color_modifier = p_trail_color_modifier; + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->trail_color_modifier, p_trail_color_modifier); + _queue_shader_change(); +} + +Ref<GradientTexture> ParticlesMaterial::get_trail_color_modifier() const { + + return trail_color_modifier; +} + +void ParticlesMaterial::set_gravity(const Vector3 &p_gravity) { + + gravity = p_gravity; + Vector3 gset = gravity; + if (gset == Vector3()) { + gset = Vector3(0, -0.000001, 0); //as gravity is used as upvector in some calculations + } + VisualServer::get_singleton()->material_set_param(_get_material(), shader_names->gravity, gset); +} + +Vector3 ParticlesMaterial::get_gravity() const { + + return gravity; +} + +RID ParticlesMaterial::get_shader_rid() const { + + ERR_FAIL_COND_V(!shader_map.has(current_key), RID()); + return shader_map[current_key].shader; +} + +void ParticlesMaterial::_validate_property(PropertyInfo &property) const { + + if (property.name == "color" && color_ramp.is_valid()) { + property.usage = 0; + } + + if (property.name == "emission_sphere_radius" && emission_shape != EMISSION_SHAPE_SPHERE) { + property.usage = 0; + } + + if (property.name == "emission_box_extents" && emission_shape != EMISSION_SHAPE_BOX) { + property.usage = 0; + } + + if ((property.name == "emission_point_texture" || property.name == "emission_color_texture") && (emission_shape < EMISSION_SHAPE_POINTS)) { + property.usage = 0; + } + + if (property.name == "emission_normal_texture" && emission_shape != EMISSION_SHAPE_DIRECTED_POINTS) { + property.usage = 0; + } + + if (property.name == "emission_point_count" && (emission_shape != EMISSION_SHAPE_POINTS && emission_shape != EMISSION_SHAPE_DIRECTED_POINTS)) { + property.usage = 0; + } + + if (property.name.begins_with("orbit_") && !flags[FLAG_DISABLE_Z]) { + property.usage = 0; + } +} + +Shader::Mode ParticlesMaterial::get_shader_mode() const { + + return Shader::MODE_PARTICLES; +} + +void ParticlesMaterial::_bind_methods() { + + ClassDB::bind_method(D_METHOD("set_spread", "degrees"), &ParticlesMaterial::set_spread); + ClassDB::bind_method(D_METHOD("get_spread"), &ParticlesMaterial::get_spread); + + ClassDB::bind_method(D_METHOD("set_flatness", "amount"), &ParticlesMaterial::set_flatness); + ClassDB::bind_method(D_METHOD("get_flatness"), &ParticlesMaterial::get_flatness); + + ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &ParticlesMaterial::set_param); + ClassDB::bind_method(D_METHOD("get_param", "param"), &ParticlesMaterial::get_param); + + ClassDB::bind_method(D_METHOD("set_param_randomness", "param", "randomness"), &ParticlesMaterial::set_param_randomness); + ClassDB::bind_method(D_METHOD("get_param_randomness", "param"), &ParticlesMaterial::get_param_randomness); + + ClassDB::bind_method(D_METHOD("set_param_texture", "param", "texture"), &ParticlesMaterial::set_param_texture); + ClassDB::bind_method(D_METHOD("get_param_texture", "param"), &ParticlesMaterial::get_param_texture); + + ClassDB::bind_method(D_METHOD("set_color", "color"), &ParticlesMaterial::set_color); + ClassDB::bind_method(D_METHOD("get_color"), &ParticlesMaterial::get_color); + + ClassDB::bind_method(D_METHOD("set_color_ramp", "ramp"), &ParticlesMaterial::set_color_ramp); + ClassDB::bind_method(D_METHOD("get_color_ramp"), &ParticlesMaterial::get_color_ramp); + + ClassDB::bind_method(D_METHOD("set_flag", "flag", "enable"), &ParticlesMaterial::set_flag); + ClassDB::bind_method(D_METHOD("get_flag", "flag"), &ParticlesMaterial::get_flag); + + ClassDB::bind_method(D_METHOD("set_emission_shape", "shape"), &ParticlesMaterial::set_emission_shape); + ClassDB::bind_method(D_METHOD("get_emission_shape"), &ParticlesMaterial::get_emission_shape); + + ClassDB::bind_method(D_METHOD("set_emission_sphere_radius", "radius"), &ParticlesMaterial::set_emission_sphere_radius); + ClassDB::bind_method(D_METHOD("get_emission_sphere_radius"), &ParticlesMaterial::get_emission_sphere_radius); + + ClassDB::bind_method(D_METHOD("set_emission_box_extents", "extents"), &ParticlesMaterial::set_emission_box_extents); + ClassDB::bind_method(D_METHOD("get_emission_box_extents"), &ParticlesMaterial::get_emission_box_extents); + + ClassDB::bind_method(D_METHOD("set_emission_point_texture", "texture"), &ParticlesMaterial::set_emission_point_texture); + ClassDB::bind_method(D_METHOD("get_emission_point_texture"), &ParticlesMaterial::get_emission_point_texture); + + ClassDB::bind_method(D_METHOD("set_emission_normal_texture", "texture"), &ParticlesMaterial::set_emission_normal_texture); + ClassDB::bind_method(D_METHOD("get_emission_normal_texture"), &ParticlesMaterial::get_emission_normal_texture); + + ClassDB::bind_method(D_METHOD("set_emission_color_texture", "texture"), &ParticlesMaterial::set_emission_color_texture); + ClassDB::bind_method(D_METHOD("get_emission_color_texture"), &ParticlesMaterial::get_emission_color_texture); + + ClassDB::bind_method(D_METHOD("set_emission_point_count", "point_count"), &ParticlesMaterial::set_emission_point_count); + ClassDB::bind_method(D_METHOD("get_emission_point_count"), &ParticlesMaterial::get_emission_point_count); + + ClassDB::bind_method(D_METHOD("set_trail_divisor", "divisor"), &ParticlesMaterial::set_trail_divisor); + ClassDB::bind_method(D_METHOD("get_trail_divisor"), &ParticlesMaterial::get_trail_divisor); + + ClassDB::bind_method(D_METHOD("set_trail_size_modifier", "texture"), &ParticlesMaterial::set_trail_size_modifier); + ClassDB::bind_method(D_METHOD("get_trail_size_modifier"), &ParticlesMaterial::get_trail_size_modifier); + + ClassDB::bind_method(D_METHOD("set_trail_color_modifier", "texture"), &ParticlesMaterial::set_trail_color_modifier); + ClassDB::bind_method(D_METHOD("get_trail_color_modifier"), &ParticlesMaterial::get_trail_color_modifier); + + ClassDB::bind_method(D_METHOD("get_gravity"), &ParticlesMaterial::get_gravity); + ClassDB::bind_method(D_METHOD("set_gravity", "accel_vec"), &ParticlesMaterial::set_gravity); + + ADD_GROUP("Trail", "trail_"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "trail_divisor", PROPERTY_HINT_RANGE, "1,1000000,1"), "set_trail_divisor", "get_trail_divisor"); + ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "trail_size_modifier", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_trail_size_modifier", "get_trail_size_modifier"); + ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "trail_color_modifier", PROPERTY_HINT_RESOURCE_TYPE, "GradientTexture"), "set_trail_color_modifier", "get_trail_color_modifier"); + ADD_GROUP("Emission Shape", "emission_"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "emission_shape", PROPERTY_HINT_ENUM, "Point,Sphere,Box,Points,Directed Points"), "set_emission_shape", "get_emission_shape"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "emission_sphere_radius", PROPERTY_HINT_RANGE, "0.01,128,0.01,or_greater"), "set_emission_sphere_radius", "get_emission_sphere_radius"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "emission_box_extents"), "set_emission_box_extents", "get_emission_box_extents"); + ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "emission_point_texture", PROPERTY_HINT_RESOURCE_TYPE, "Texture"), "set_emission_point_texture", "get_emission_point_texture"); + ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "emission_normal_texture", PROPERTY_HINT_RESOURCE_TYPE, "Texture"), "set_emission_normal_texture", "get_emission_normal_texture"); + ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "emission_color_texture", PROPERTY_HINT_RESOURCE_TYPE, "Texture"), "set_emission_color_texture", "get_emission_color_texture"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "emission_point_count", PROPERTY_HINT_RANGE, "0,1000000,1"), "set_emission_point_count", "get_emission_point_count"); + ADD_GROUP("Flags", "flag_"); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "flag_align_y"), "set_flag", "get_flag", FLAG_ALIGN_Y_TO_VELOCITY); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "flag_rotate_y"), "set_flag", "get_flag", FLAG_ROTATE_Y); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "flag_disable_z"), "set_flag", "get_flag", FLAG_DISABLE_Z); + ADD_GROUP("Spread", ""); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "spread", PROPERTY_HINT_RANGE, "0,180,0.01"), "set_spread", "get_spread"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "flatness", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_flatness", "get_flatness"); + ADD_GROUP("Gravity", ""); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "gravity"), "set_gravity", "get_gravity"); + ADD_GROUP("Initial Velocity", "initial_"); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "initial_velocity", PROPERTY_HINT_RANGE, "0,1000,0.01,or_greater"), "set_param", "get_param", PARAM_INITIAL_LINEAR_VELOCITY); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "initial_velocity_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_INITIAL_LINEAR_VELOCITY); + ADD_GROUP("Angular Velocity", "angular_"); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_velocity", PROPERTY_HINT_RANGE, "-360,360,0.01"), "set_param", "get_param", PARAM_ANGULAR_VELOCITY); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_velocity_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_ANGULAR_VELOCITY); + ADD_PROPERTYI(PropertyInfo(Variant::OBJECT, "angular_velocity_curve", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_param_texture", "get_param_texture", PARAM_ANGULAR_VELOCITY); + ADD_GROUP("Orbit Velocity", "orbit_"); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "orbit_velocity", PROPERTY_HINT_RANGE, "-1000,1000,0.01,or_lesser,or_greater"), "set_param", "get_param", PARAM_ORBIT_VELOCITY); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "orbit_velocity_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_ORBIT_VELOCITY); + ADD_PROPERTYI(PropertyInfo(Variant::OBJECT, "orbit_velocity_curve", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_param_texture", "get_param_texture", PARAM_ORBIT_VELOCITY); + ADD_GROUP("Linear Accel", "linear_"); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_accel", PROPERTY_HINT_RANGE, "-100,100,0.01,or_lesser,or_greater"), "set_param", "get_param", PARAM_LINEAR_ACCEL); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_accel_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_LINEAR_ACCEL); + ADD_PROPERTYI(PropertyInfo(Variant::OBJECT, "linear_accel_curve", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_param_texture", "get_param_texture", PARAM_LINEAR_ACCEL); + ADD_GROUP("Radial Accel", "radial_"); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "radial_accel", PROPERTY_HINT_RANGE, "-100,100,0.01,or_lesser,or_greater"), "set_param", "get_param", PARAM_RADIAL_ACCEL); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "radial_accel_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_RADIAL_ACCEL); + ADD_PROPERTYI(PropertyInfo(Variant::OBJECT, "radial_accel_curve", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_param_texture", "get_param_texture", PARAM_RADIAL_ACCEL); + ADD_GROUP("Tangential Accel", "tangential_"); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "tangential_accel", PROPERTY_HINT_RANGE, "-100,100,0.01,or_lesser,or_greater"), "set_param", "get_param", PARAM_TANGENTIAL_ACCEL); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "tangential_accel_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_TANGENTIAL_ACCEL); + ADD_PROPERTYI(PropertyInfo(Variant::OBJECT, "tangential_accel_curve", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_param_texture", "get_param_texture", PARAM_TANGENTIAL_ACCEL); + ADD_GROUP("Damping", ""); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "damping", PROPERTY_HINT_RANGE, "0,100,0.01,or_greater"), "set_param", "get_param", PARAM_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "damping_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::OBJECT, "damping_curve", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_param_texture", "get_param_texture", PARAM_DAMPING); + ADD_GROUP("Angle", ""); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angle", PROPERTY_HINT_RANGE, "-720,720,0.1,or_lesser,or_greater"), "set_param", "get_param", PARAM_ANGLE); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angle_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_ANGLE); + ADD_PROPERTYI(PropertyInfo(Variant::OBJECT, "angle_curve", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_param_texture", "get_param_texture", PARAM_ANGLE); + ADD_GROUP("Scale", ""); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "scale", PROPERTY_HINT_RANGE, "0,1000,0.01,or_greater"), "set_param", "get_param", PARAM_SCALE); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "scale_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_SCALE); + ADD_PROPERTYI(PropertyInfo(Variant::OBJECT, "scale_curve", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_param_texture", "get_param_texture", PARAM_SCALE); + ADD_GROUP("Color", ""); + ADD_PROPERTY(PropertyInfo(Variant::COLOR, "color"), "set_color", "get_color"); + ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "color_ramp", PROPERTY_HINT_RESOURCE_TYPE, "GradientTexture"), "set_color_ramp", "get_color_ramp"); + + ADD_GROUP("Hue Variation", "hue_"); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "hue_variation", PROPERTY_HINT_RANGE, "-1,1,0.1"), "set_param", "get_param", PARAM_HUE_VARIATION); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "hue_variation_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_HUE_VARIATION); + ADD_PROPERTYI(PropertyInfo(Variant::OBJECT, "hue_variation_curve", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_param_texture", "get_param_texture", PARAM_HUE_VARIATION); + ADD_GROUP("Animation", "anim_"); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "anim_speed", PROPERTY_HINT_RANGE, "0,128,0.01,or_greater"), "set_param", "get_param", PARAM_ANIM_SPEED); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "anim_speed_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_ANIM_SPEED); + ADD_PROPERTYI(PropertyInfo(Variant::OBJECT, "anim_speed_curve", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_param_texture", "get_param_texture", PARAM_ANIM_SPEED); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "anim_offset", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param", "get_param", PARAM_ANIM_OFFSET); + ADD_PROPERTYI(PropertyInfo(Variant::REAL, "anim_offset_random", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_param_randomness", "get_param_randomness", PARAM_ANIM_OFFSET); + ADD_PROPERTYI(PropertyInfo(Variant::OBJECT, "anim_offset_curve", PROPERTY_HINT_RESOURCE_TYPE, "CurveTexture"), "set_param_texture", "get_param_texture", PARAM_ANIM_OFFSET); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "anim_loop"), "set_flag", "get_flag", FLAG_ANIM_LOOP); + + BIND_ENUM_CONSTANT(PARAM_INITIAL_LINEAR_VELOCITY); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_VELOCITY); + BIND_ENUM_CONSTANT(PARAM_ORBIT_VELOCITY); + BIND_ENUM_CONSTANT(PARAM_LINEAR_ACCEL); + BIND_ENUM_CONSTANT(PARAM_RADIAL_ACCEL); + BIND_ENUM_CONSTANT(PARAM_TANGENTIAL_ACCEL); + BIND_ENUM_CONSTANT(PARAM_DAMPING); + BIND_ENUM_CONSTANT(PARAM_ANGLE); + BIND_ENUM_CONSTANT(PARAM_SCALE); + BIND_ENUM_CONSTANT(PARAM_HUE_VARIATION); + BIND_ENUM_CONSTANT(PARAM_ANIM_SPEED); + BIND_ENUM_CONSTANT(PARAM_ANIM_OFFSET); + BIND_ENUM_CONSTANT(PARAM_MAX); + + BIND_ENUM_CONSTANT(FLAG_ALIGN_Y_TO_VELOCITY); + BIND_ENUM_CONSTANT(FLAG_ROTATE_Y); + BIND_ENUM_CONSTANT(FLAG_MAX); + + BIND_ENUM_CONSTANT(EMISSION_SHAPE_POINT); + BIND_ENUM_CONSTANT(EMISSION_SHAPE_SPHERE); + BIND_ENUM_CONSTANT(EMISSION_SHAPE_BOX); + BIND_ENUM_CONSTANT(EMISSION_SHAPE_POINTS); + BIND_ENUM_CONSTANT(EMISSION_SHAPE_DIRECTED_POINTS); +} + +ParticlesMaterial::ParticlesMaterial() : + element(this) { + + set_spread(45); + set_flatness(0); + set_param(PARAM_INITIAL_LINEAR_VELOCITY, 1); + set_param(PARAM_ORBIT_VELOCITY, 0); + set_param(PARAM_LINEAR_ACCEL, 0); + set_param(PARAM_RADIAL_ACCEL, 0); + set_param(PARAM_TANGENTIAL_ACCEL, 0); + set_param(PARAM_DAMPING, 0); + set_param(PARAM_ANGLE, 0); + set_param(PARAM_SCALE, 1); + set_param(PARAM_HUE_VARIATION, 0); + set_param(PARAM_ANIM_SPEED, 0); + set_param(PARAM_ANIM_OFFSET, 0); + set_emission_shape(EMISSION_SHAPE_POINT); + set_emission_sphere_radius(1); + set_emission_box_extents(Vector3(1, 1, 1)); + set_trail_divisor(1); + set_gravity(Vector3(0, -9.8, 0)); + emission_point_count = 1; + + for (int i = 0; i < PARAM_MAX; i++) { + set_param_randomness(Parameter(i), 0); + } + + for (int i = 0; i < FLAG_MAX; i++) { + flags[i] = false; + } + + set_color(Color(1, 1, 1, 1)); + + current_key.key = 0; + current_key.invalid_key = 1; + + _queue_shader_change(); +} + +ParticlesMaterial::~ParticlesMaterial() { + + if (material_mutex) + material_mutex->lock(); + + if (shader_map.has(current_key)) { + shader_map[current_key].users--; + if (shader_map[current_key].users == 0) { + //deallocate shader, as it's no longer in use + VS::get_singleton()->free(shader_map[current_key].shader); + shader_map.erase(current_key); + } + + VS::get_singleton()->material_set_shader(_get_material(), RID()); + } + + if (material_mutex) + material_mutex->unlock(); +} diff --git a/scene/resources/particles_material.h b/scene/resources/particles_material.h new file mode 100644 index 0000000000..8090926fa3 --- /dev/null +++ b/scene/resources/particles_material.h @@ -0,0 +1,302 @@ +/*************************************************************************/ +/* particles_material.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 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 "rid.h" +#include "scene/resources/material.h" + +#ifndef PARTICLES_MATERIAL_H +#define PARTICLES_MATERIAL_H + +class ParticlesMaterial : public Material { + + GDCLASS(ParticlesMaterial, Material) + +public: + enum Parameter { + + PARAM_INITIAL_LINEAR_VELOCITY, + PARAM_ANGULAR_VELOCITY, + PARAM_ORBIT_VELOCITY, + PARAM_LINEAR_ACCEL, + PARAM_RADIAL_ACCEL, + PARAM_TANGENTIAL_ACCEL, + PARAM_DAMPING, + PARAM_ANGLE, + PARAM_SCALE, + PARAM_HUE_VARIATION, + PARAM_ANIM_SPEED, + PARAM_ANIM_OFFSET, + PARAM_MAX + }; + + enum Flags { + FLAG_ALIGN_Y_TO_VELOCITY, + FLAG_ROTATE_Y, + FLAG_DISABLE_Z, + FLAG_ANIM_LOOP, + FLAG_MAX + }; + + enum EmissionShape { + EMISSION_SHAPE_POINT, + EMISSION_SHAPE_SPHERE, + EMISSION_SHAPE_BOX, + EMISSION_SHAPE_POINTS, + EMISSION_SHAPE_DIRECTED_POINTS, + }; + +private: + union MaterialKey { + + struct { + uint32_t texture_mask : 16; + uint32_t texture_color : 1; + uint32_t flags : 4; + uint32_t emission_shape : 2; + uint32_t trail_size_texture : 1; + uint32_t trail_color_texture : 1; + uint32_t invalid_key : 1; + uint32_t has_emission_color : 1; + }; + + uint32_t key; + + bool operator<(const MaterialKey &p_key) const { + return key < p_key.key; + } + }; + + struct ShaderData { + RID shader; + int users; + }; + + static Map<MaterialKey, ShaderData> shader_map; + + MaterialKey current_key; + + _FORCE_INLINE_ MaterialKey _compute_key() const { + + MaterialKey mk; + mk.key = 0; + for (int i = 0; i < PARAM_MAX; i++) { + if (tex_parameters[i].is_valid()) { + mk.texture_mask |= (1 << i); + } + } + for (int i = 0; i < FLAG_MAX; i++) { + if (flags[i]) { + mk.flags |= (1 << i); + } + } + + mk.texture_color = color_ramp.is_valid() ? 1 : 0; + mk.emission_shape = emission_shape; + mk.trail_color_texture = trail_color_modifier.is_valid() ? 1 : 0; + mk.trail_size_texture = trail_size_modifier.is_valid() ? 1 : 0; + mk.has_emission_color = emission_shape >= EMISSION_SHAPE_POINTS && emission_color_texture.is_valid(); + + return mk; + } + + static Mutex *material_mutex; + static SelfList<ParticlesMaterial>::List dirty_materials; + + struct ShaderNames { + StringName spread; + StringName flatness; + StringName initial_linear_velocity; + StringName initial_angle; + StringName angular_velocity; + StringName orbit_velocity; + StringName linear_accel; + StringName radial_accel; + StringName tangent_accel; + StringName damping; + StringName scale; + StringName hue_variation; + StringName anim_speed; + StringName anim_offset; + + StringName initial_linear_velocity_random; + StringName initial_angle_random; + StringName angular_velocity_random; + StringName orbit_velocity_random; + StringName linear_accel_random; + StringName radial_accel_random; + StringName tangent_accel_random; + StringName damping_random; + StringName scale_random; + StringName hue_variation_random; + StringName anim_speed_random; + StringName anim_offset_random; + + StringName angle_texture; + StringName angular_velocity_texture; + StringName orbit_velocity_texture; + StringName linear_accel_texture; + StringName radial_accel_texture; + StringName tangent_accel_texture; + StringName damping_texture; + StringName scale_texture; + StringName hue_variation_texture; + StringName anim_speed_texture; + StringName anim_offset_texture; + + StringName color; + StringName color_ramp; + + StringName emission_sphere_radius; + StringName emission_box_extents; + StringName emission_texture_point_count; + StringName emission_texture_points; + StringName emission_texture_normal; + StringName emission_texture_color; + + StringName trail_divisor; + StringName trail_size_modifier; + StringName trail_color_modifier; + + StringName gravity; + }; + + static ShaderNames *shader_names; + + SelfList<ParticlesMaterial> element; + + void _update_shader(); + _FORCE_INLINE_ void _queue_shader_change(); + _FORCE_INLINE_ bool _is_shader_dirty() const; + + float spread; + float flatness; + + float parameters[PARAM_MAX]; + float randomness[PARAM_MAX]; + + Ref<Texture> tex_parameters[PARAM_MAX]; + Color color; + Ref<Texture> color_ramp; + + bool flags[FLAG_MAX]; + + EmissionShape emission_shape; + float emission_sphere_radius; + Vector3 emission_box_extents; + Ref<Texture> emission_point_texture; + Ref<Texture> emission_normal_texture; + Ref<Texture> emission_color_texture; + int emission_point_count; + + bool anim_loop; + + int trail_divisor; + + Ref<CurveTexture> trail_size_modifier; + Ref<GradientTexture> trail_color_modifier; + + Vector3 gravity; + + //do not save emission points here + +protected: + static void _bind_methods(); + virtual void _validate_property(PropertyInfo &property) const; + +public: + void set_spread(float p_spread); + float get_spread() const; + + void set_flatness(float p_flatness); + float get_flatness() const; + + void set_param(Parameter p_param, float p_value); + float get_param(Parameter p_param) const; + + void set_param_randomness(Parameter p_param, float p_value); + float get_param_randomness(Parameter p_param) const; + + void set_param_texture(Parameter p_param, const Ref<Texture> &p_texture); + Ref<Texture> get_param_texture(Parameter p_param) const; + + void set_color(const Color &p_color); + Color get_color() const; + + void set_color_ramp(const Ref<Texture> &p_texture); + Ref<Texture> get_color_ramp() const; + + void set_flag(Flags p_flag, bool p_enable); + bool get_flag(Flags p_flag) const; + + void set_emission_shape(EmissionShape p_shape); + void set_emission_sphere_radius(float p_radius); + void set_emission_box_extents(Vector3 p_extents); + void set_emission_point_texture(const Ref<Texture> &p_points); + void set_emission_normal_texture(const Ref<Texture> &p_normals); + void set_emission_color_texture(const Ref<Texture> &p_colors); + void set_emission_point_count(int p_count); + + EmissionShape get_emission_shape() const; + float get_emission_sphere_radius() const; + Vector3 get_emission_box_extents() const; + Ref<Texture> get_emission_point_texture() const; + Ref<Texture> get_emission_normal_texture() const; + Ref<Texture> get_emission_color_texture() const; + int get_emission_point_count() const; + + void set_trail_divisor(int p_divisor); + int get_trail_divisor() const; + + void set_trail_size_modifier(const Ref<CurveTexture> &p_trail_size_modifier); + Ref<CurveTexture> get_trail_size_modifier() const; + + void set_trail_color_modifier(const Ref<GradientTexture> &p_trail_color_modifier); + Ref<GradientTexture> get_trail_color_modifier() const; + + void set_gravity(const Vector3 &p_gravity); + Vector3 get_gravity() const; + + static void init_shaders(); + static void finish_shaders(); + static void flush_changes(); + + RID get_shader_rid() const; + + virtual Shader::Mode get_shader_mode() const; + + ParticlesMaterial(); + ~ParticlesMaterial(); +}; + +VARIANT_ENUM_CAST(ParticlesMaterial::Parameter) +VARIANT_ENUM_CAST(ParticlesMaterial::Flags) +VARIANT_ENUM_CAST(ParticlesMaterial::EmissionShape) + +#endif // PARTICLES_MATERIAL_H diff --git a/scene/resources/texture.cpp b/scene/resources/texture.cpp index 811e5c3d2c..dba3e4d71b 100644 --- a/scene/resources/texture.cpp +++ b/scene/resources/texture.cpp @@ -1606,7 +1606,7 @@ void GradientTexture::_bind_methods() { ClassDB::bind_method(D_METHOD("_update"), &GradientTexture::_update); ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "gradient", PROPERTY_HINT_RESOURCE_TYPE, "Gradient"), "set_gradient", "get_gradient"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "width"), "set_width", "get_width"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "width", PROPERTY_HINT_RANGE, "1,2048,1,or_greater"), "set_width", "get_width"); } void GradientTexture::set_gradient(Ref<Gradient> p_gradient) { diff --git a/scene/resources/tile_set.cpp b/scene/resources/tile_set.cpp index 8112d6be00..23074b4bae 100644 --- a/scene/resources/tile_set.cpp +++ b/scene/resources/tile_set.cpp @@ -940,6 +940,8 @@ void TileSet::_bind_methods() { ClassDB::bind_method(D_METHOD("create_tile", "id"), &TileSet::create_tile); ClassDB::bind_method(D_METHOD("autotile_set_bitmask_mode", "id", "mode"), &TileSet::autotile_set_bitmask_mode); ClassDB::bind_method(D_METHOD("autotile_get_bitmask_mode", "id"), &TileSet::autotile_get_bitmask_mode); + ClassDB::bind_method(D_METHOD("autotile_set_size", "id", "size"), &TileSet::autotile_set_size); + ClassDB::bind_method(D_METHOD("autotile_get_size", "id"), &TileSet::autotile_get_size); ClassDB::bind_method(D_METHOD("tile_set_name", "id", "name"), &TileSet::tile_set_name); ClassDB::bind_method(D_METHOD("tile_get_name", "id"), &TileSet::tile_get_name); ClassDB::bind_method(D_METHOD("tile_set_texture", "id", "texture"), &TileSet::tile_set_texture); diff --git a/servers/visual/shader_language.cpp b/servers/visual/shader_language.cpp index ffb130048f..9500f35732 100644 --- a/servers/visual/shader_language.cpp +++ b/servers/visual/shader_language.cpp @@ -2368,9 +2368,9 @@ int ShaderLanguage::get_cardinality(DataType p_type) { 2, 3, 4, - 2, - 3, 4, + 9, + 16, 1, 1, 1, @@ -3307,7 +3307,9 @@ ShaderLanguage::Node *ShaderLanguage::_reduce_expression(BlockNode *p_block, Sha ERR_FAIL_COND_V(op->arguments[0]->type != Node::TYPE_VARIABLE, p_node); - DataType base = get_scalar_type(op->get_datatype()); + DataType type = op->get_datatype(); + DataType base = get_scalar_type(type); + int cardinality = get_cardinality(type); Vector<ConstantNode::Value> values; @@ -3318,19 +3320,9 @@ ShaderLanguage::Node *ShaderLanguage::_reduce_expression(BlockNode *p_block, Sha ConstantNode *cn = static_cast<ConstantNode *>(op->arguments[i]); if (get_scalar_type(cn->datatype) == base) { - - int cardinality = get_cardinality(op->arguments[i]->get_datatype()); - if (cn->values.size() == cardinality) { - - for (int j = 0; j < cn->values.size(); j++) { - values.push_back(cn->values[j]); - } - } else if (cn->values.size() == 1) { - - for (int j = 0; j < cardinality; j++) { - values.push_back(cn->values[0]); - } - } // else: should be filtered by the parser as it's an invalid constructor + for (int j = 0; j < cn->values.size(); j++) { + values.push_back(cn->values[j]); + } } else if (get_scalar_type(cn->datatype) == cn->datatype) { ConstantNode::Value v; @@ -3347,6 +3339,29 @@ ShaderLanguage::Node *ShaderLanguage::_reduce_expression(BlockNode *p_block, Sha } } + if (values.size() == 1) { + if (type >= TYPE_MAT2 && type <= TYPE_MAT4) { + ConstantNode::Value value = values[0]; + ConstantNode::Value zero; + zero.real = 0.0f; + int size = 2 + (type - TYPE_MAT2); + + values.clear(); + for (int i = 0; i < size; i++) { + for (int j = 0; j < size; j++) { + values.push_back(i == j ? value : zero); + } + } + } else { + for (int i = 1; i < cardinality; i++) { + values.push_back(values[0]); + } + } + } else if (values.size() != cardinality) { + ERR_PRINT("Failed to reduce expression, values and cardinality mismatch."); + return p_node; + } + ConstantNode *cn = alloc_node<ConstantNode>(); cn->datatype = op->get_datatype(); cn->values = values; diff --git a/thirdparty/README.md b/thirdparty/README.md index 9c8884fe84..82b7748194 100644 --- a/thirdparty/README.md +++ b/thirdparty/README.md @@ -19,7 +19,7 @@ comments. ## bullet - Upstream: https://github.com/bulletphysics/bullet3 -- Version: git (d05ad4b, 2017) +- Version: git (12409f1118a7c7a266f9071350c70789dfe73bb9, Commits on Sep 6, 2018 ) - License: zlib Files extracted from upstream source: diff --git a/thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h b/thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h index 947362d08e..ef71016565 100644 --- a/thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h +++ b/thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h @@ -528,6 +528,14 @@ protected: otherArray.copy(0, otherSize, m_data); } + void removeAtIndex(int index) + { + if (index<size()) + { + swap( index,size()-1); + pop_back(); + } + } }; #endif //B3_OBJECT_ARRAY__ diff --git a/thirdparty/bullet/Bullet3Common/b3FileUtils.h b/thirdparty/bullet/Bullet3Common/b3FileUtils.h index 1a331029ea..b5e8225cf0 100644 --- a/thirdparty/bullet/Bullet3Common/b3FileUtils.h +++ b/thirdparty/bullet/Bullet3Common/b3FileUtils.h @@ -36,7 +36,7 @@ struct b3FileUtils for (int i=0;!f && i<numPrefixes;i++) { -#ifdef _WIN32 +#ifdef _MSC_VER sprintf_s(relativeFileName,maxRelativeFileNameMaxLen,"%s%s",prefix[i],orgFileName); #else sprintf(relativeFileName,"%s%s",prefix[i],orgFileName); diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp index 168a773d56..3ae2922e58 100644 --- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp +++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp @@ -599,8 +599,8 @@ int b3Generic6DofConstraint::get_limit_motor_info2( tag_vel, info->fps * limot->m_stopERP); info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity; - info->m_lowerLimit[srow] = -limot->m_maxMotorForce; - info->m_upperLimit[srow] = limot->m_maxMotorForce; + info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps; + info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps; } } if(limit) diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h index 084d36055c..169b1b94ad 100644 --- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h +++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h @@ -69,7 +69,7 @@ public: { m_accumulatedImpulse = 0.f; m_targetVelocity = 0; - m_maxMotorForce = 0.1f; + m_maxMotorForce = 6.0f; m_maxLimitForce = 300.0f; m_loLimit = 1.0f; m_hiLimit = -1.0f; diff --git a/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp b/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp index dd194fc7ba..896191c89c 100644 --- a/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp +++ b/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp @@ -619,7 +619,7 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev strippedName = strip2(clFileNameForCaching,"\\"); strippedName = strip2(strippedName,"/"); -#ifdef _MSVC_VER +#ifdef _MSC_VER sprintf_s(binaryFileName,B3_MAX_STRING_LENGTH,"%s/%s.%s.%s.bin",sCachedBinaryPath,strippedName, deviceName,driverVersion ); #else sprintf(binaryFileName,"%s/%s.%s.%s.bin",sCachedBinaryPath,strippedName, deviceName,driverVersion ); diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h index 2c4d41bc04..323aa96dca 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h @@ -628,7 +628,6 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::resetPool(btDispatcher* /*dispatcher* } -extern int gOverlappingPairs; //#include <stdio.h> template <typename BP_FP_INT_TYPE> @@ -695,10 +694,9 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatche pair.m_pProxy0 = 0; pair.m_pProxy1 = 0; m_invalidPair++; - gOverlappingPairs--; - } - - } + } + + } ///if you don't like to skip the invalid pairs in the array, execute following code: #define CLEAN_INVALID_PAIRS 1 diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h index adaf083a21..f6e1202a69 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h @@ -66,6 +66,7 @@ CONCAVE_SHAPES_START_HERE, EMPTY_SHAPE_PROXYTYPE, STATIC_PLANE_PROXYTYPE, CUSTOM_CONCAVE_SHAPE_TYPE, + SDF_SHAPE_PROXYTYPE=CUSTOM_CONCAVE_SHAPE_TYPE, CONCAVE_SHAPES_END_HERE, COMPOUND_SHAPE_PROXYTYPE, diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp index 4d12b1c9c7..14cd1a31ea 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp @@ -17,7 +17,7 @@ subject to the following restrictions: #include "btDbvtBroadphase.h" #include "LinearMath/btThreads.h" - +btScalar gDbvtMargin = btScalar(0.05); // // Profiling // @@ -332,12 +332,9 @@ void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy, if(delta[0]<0) velocity[0]=-velocity[0]; if(delta[1]<0) velocity[1]=-velocity[1]; if(delta[2]<0) velocity[2]=-velocity[2]; - if ( -#ifdef DBVT_BP_MARGIN - m_sets[0].update(proxy->leaf,aabb,velocity,DBVT_BP_MARGIN) -#else - m_sets[0].update(proxy->leaf,aabb,velocity) -#endif + if ( + m_sets[0].update(proxy->leaf, aabb, velocity, gDbvtMargin) + ) { ++m_updates_done; diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h index 8feb95d51f..90b333d846 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h @@ -29,7 +29,8 @@ subject to the following restrictions: #define DBVT_BP_PREVENTFALSEUPDATE 0 #define DBVT_BP_ACCURATESLEEPING 0 #define DBVT_BP_ENABLE_BENCHMARK 0 -#define DBVT_BP_MARGIN (btScalar)0.05 +//#define DBVT_BP_MARGIN (btScalar)0.05 +extern btScalar gDbvtMargin; #if DBVT_BP_PROFILE #define DBVT_BP_PROFILING_RATE 256 diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h index 7b0f9489af..a0e4c18927 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h @@ -46,7 +46,8 @@ struct btDispatcherInfo m_useEpa(true), m_allowedCcdPenetration(btScalar(0.04)), m_useConvexConservativeDistanceUtil(false), - m_convexConservativeDistanceThreshold(0.0f) + m_convexConservativeDistanceThreshold(0.0f), + m_deterministicOverlappingPairs(false) { } @@ -62,6 +63,7 @@ struct btDispatcherInfo btScalar m_allowedCcdPenetration; bool m_useConvexConservativeDistanceUtil; btScalar m_convexConservativeDistanceThreshold; + bool m_deterministicOverlappingPairs; }; enum ebtDispatcherQueryType diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp index 55ebf06f1e..9e3337c5f6 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp @@ -23,11 +23,6 @@ subject to the following restrictions: #include <stdio.h> -int gOverlappingPairs = 0; - -int gRemovePairs =0; -int gAddedPairs =0; -int gFindPairs =0; @@ -134,13 +129,12 @@ void btHashedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroad btBroadphasePair* btHashedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) { - gFindPairs++; - if(proxy0->m_uniqueId>proxy1->m_uniqueId) + if(proxy0->m_uniqueId>proxy1->m_uniqueId) btSwap(proxy0,proxy1); int proxyId1 = proxy0->getUid(); int proxyId2 = proxy1->getUid(); - /*if (proxyId1 > proxyId2) + /*if (proxyId1 > proxyId2) btSwap(proxyId1, proxyId2);*/ int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1)); @@ -271,13 +265,12 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1,btDispatcher* dispatcher) { - gRemovePairs++; - if(proxy0->m_uniqueId>proxy1->m_uniqueId) + if(proxy0->m_uniqueId>proxy1->m_uniqueId) btSwap(proxy0,proxy1); int proxyId1 = proxy0->getUid(); int proxyId2 = proxy1->getUid(); - /*if (proxyId1 > proxyId2) + /*if (proxyId1 > proxyId2) btSwap(proxyId1, proxyId2);*/ int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1)); @@ -386,8 +379,6 @@ void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* if (callback->processOverlap(*pair)) { removeOverlappingPair(pair->m_pProxy0,pair->m_pProxy1,dispatcher); - - gOverlappingPairs--; } else { i++; @@ -395,6 +386,70 @@ void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* } } +struct MyPairIndex +{ + int m_orgIndex; + int m_uidA0; + int m_uidA1; +}; + +class MyPairIndeSortPredicate +{ +public: + + bool operator() ( const MyPairIndex& a, const MyPairIndex& b ) const + { + const int uidA0 = a.m_uidA0; + const int uidB0 = b.m_uidA0; + const int uidA1 = a.m_uidA1; + const int uidB1 = b.m_uidA1; + return uidA0 > uidB0 || (uidA0 == uidB0 && uidA1 > uidB1); + } +}; + +void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher, const struct btDispatcherInfo& dispatchInfo) +{ + if (dispatchInfo.m_deterministicOverlappingPairs) + { + btBroadphasePairArray& pa = getOverlappingPairArray(); + btAlignedObjectArray<MyPairIndex> indices; + { + BT_PROFILE("sortOverlappingPairs"); + indices.resize(pa.size()); + for (int i=0;i<indices.size();i++) + { + const btBroadphasePair& p = pa[i]; + const int uidA0 = p.m_pProxy0 ? p.m_pProxy0->m_uniqueId : -1; + const int uidA1 = p.m_pProxy1 ? p.m_pProxy1->m_uniqueId : -1; + + indices[i].m_uidA0 = uidA0; + indices[i].m_uidA1 = uidA1; + indices[i].m_orgIndex = i; + } + indices.quickSort(MyPairIndeSortPredicate()); + } + { + BT_PROFILE("btHashedOverlappingPairCache::processAllOverlappingPairs"); + int i; + for (i=0;i<indices.size();) + { + btBroadphasePair* pair = &pa[indices[i].m_orgIndex]; + if (callback->processOverlap(*pair)) + { + removeOverlappingPair(pair->m_pProxy0,pair->m_pProxy1,dispatcher); + } else + { + i++; + } + } + } + } else + { + processAllOverlappingPairs(callback, dispatcher); + } +} + + void btHashedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher) { ///need to keep hashmap in sync with pair address, so rebuild all @@ -435,7 +490,6 @@ void* btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro int findIndex = m_overlappingPairArray.findLinearSearch(findPair); if (findIndex < m_overlappingPairArray.size()) { - gOverlappingPairs--; btBroadphasePair& pair = m_overlappingPairArray[findIndex]; void* userData = pair.m_internalInfo1; cleanOverlappingPair(pair,dispatcher); @@ -468,11 +522,8 @@ btBroadphasePair* btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseP void* mem = &m_overlappingPairArray.expandNonInitializing(); btBroadphasePair* pair = new (mem) btBroadphasePair(*proxy0,*proxy1); - - gOverlappingPairs++; - gAddedPairs++; - - if (m_ghostPairCallback) + + if (m_ghostPairCallback) m_ghostPairCallback->addOverlappingPair(proxy0, proxy1); return pair; @@ -526,7 +577,6 @@ void btSortedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* pair->m_pProxy1 = 0; m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1); m_overlappingPairArray.pop_back(); - gOverlappingPairs--; } else { i++; @@ -559,7 +609,6 @@ void btSortedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,b pair.m_algorithm->~btCollisionAlgorithm(); dispatcher->freeCollisionAlgorithm(pair.m_algorithm); pair.m_algorithm=0; - gRemovePairs--; } } } diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h index f7be7d45b3..7a38d34f05 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h @@ -49,10 +49,6 @@ struct btOverlapFilterCallback -extern int gRemovePairs; -extern int gAddedPairs; -extern int gFindPairs; - const int BT_NULL_PAIR=0xffffffff; ///The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases. @@ -78,6 +74,10 @@ public: virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher) = 0; + virtual void processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher, const struct btDispatcherInfo& dispatchInfo) + { + processAllOverlappingPairs(callback, dispatcher); + } virtual btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) = 0; virtual bool hasDeferredRemoval() = 0; @@ -129,8 +129,6 @@ public: // no new pair is created and the old one is returned. virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) { - gAddedPairs++; - if (!needsBroadphaseCollision(proxy0,proxy1)) return 0; @@ -144,6 +142,8 @@ public: virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher); + virtual void processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher, const struct btDispatcherInfo& dispatchInfo); + virtual btBroadphasePair* getOverlappingPairArrayPtr() { return &m_overlappingPairArray[0]; diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp index f1d5f5476e..5f89f960e8 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp @@ -24,8 +24,6 @@ subject to the following restrictions: #include <new> -extern int gOverlappingPairs; - void btSimpleBroadphase::validate() { for (int i=0;i<m_numHandles;i++) @@ -315,8 +313,7 @@ void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher) pair.m_pProxy0 = 0; pair.m_pProxy1 = 0; m_invalidPair++; - gOverlappingPairs--; - } + } } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp index c81af95672..e5bac8438e 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp @@ -132,6 +132,7 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po else { // Could be inside one of the contact capsules btScalar contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold; + btScalar minDistSqr = contactCapsuleRadiusSqr; btVector3 nearestOnEdge; for (int i = 0; i < m_triangle->getNumEdges(); i++) { @@ -141,8 +142,9 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po m_triangle->getEdge(i, pa, pb); btScalar distanceSqr = SegmentSqrDistance(pa, pb, sphereCenter, nearestOnEdge); - if (distanceSqr < contactCapsuleRadiusSqr) { - // Yep, we're inside a capsule + if (distanceSqr < minDistSqr) { + // Yep, we're inside a capsule, and record the capsule with smallest distance + minDistSqr = distanceSqr; hasContact = true; contactPoint = nearestOnEdge; } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp index 2c36277821..cabbb0bf6a 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp @@ -151,8 +151,8 @@ static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1 int index = 0; btScalar minDot = BT_LARGE_FLOAT; - if( count2 > 0 ) - index = (int) normal1.minDot( vertices2, count2, minDot); + if( count2 > 0 ) + index = (int) normal1.minDot( vertices2, count2, minDot); btVector3 v1 = b2Mul(xf1, vertices1[edge1]); btVector3 v2 = b2Mul(xf2, vertices2[index]); @@ -175,8 +175,8 @@ static btScalar FindMaxSeparation(int* edgeIndex, // Find edge normal on poly1 that has the largest projection onto d. int edge = 0; btScalar maxDot; - if( count1 > 0 ) - edge = (int) dLocal1.maxDot( normals1, count1, maxDot); + if( count1 > 0 ) + edge = (int) dLocal1.maxDot( normals1, count1, maxDot); // Get the separation for the edge normal. btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2); diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp index 5739a1ef01..f8794dec47 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp @@ -27,8 +27,6 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h" #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" -int gNumManifold = 0; - #ifdef BT_DEBUG #include <stdio.h> #endif @@ -77,8 +75,6 @@ btCollisionDispatcher::~btCollisionDispatcher() btPersistentManifold* btCollisionDispatcher::getNewManifold(const btCollisionObject* body0,const btCollisionObject* body1) { - gNumManifold++; - //btAssert(gNumManifold < 65535); @@ -121,7 +117,6 @@ void btCollisionDispatcher::clearManifold(btPersistentManifold* manifold) void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold) { - gNumManifold--; //printf("releaseManifold: gNumManifold %d\n",gNumManifold); clearManifold(manifold); @@ -246,13 +241,17 @@ public: + void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) { //m_blockedForChanges = true; btCollisionPairCallback collisionCallback(dispatchInfo,this); - pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher); + { + BT_PROFILE("processAllOverlappingPairs"); + pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher, dispatchInfo); + } //m_blockedForChanges = false; diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp index b595c56bc5..05f96a14bc 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp @@ -16,6 +16,7 @@ subject to the following restrictions: #include "btCollisionObject.h" #include "LinearMath/btSerializer.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" btCollisionObject::btCollisionObject() : m_interpolationLinearVelocity(0.f, 0.f, 0.f), @@ -38,7 +39,7 @@ btCollisionObject::btCollisionObject() m_rollingFriction(0.0f), m_spinningFriction(0.f), m_contactDamping(.1), - m_contactStiffness(1e4), + m_contactStiffness(BT_LARGE_FLOAT), m_internalType(CO_COLLISION_OBJECT), m_userObjectPointer(0), m_userIndex2(-1), @@ -114,10 +115,18 @@ const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* seriali dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius; dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold; dataOut->m_checkCollideWith = m_checkCollideWith; - - // Fill padding with zeros to appease msan. - memset(dataOut->m_padding, 0, sizeof(dataOut->m_padding)); - + if (m_broadphaseHandle) + { + dataOut->m_collisionFilterGroup = m_broadphaseHandle->m_collisionFilterGroup; + dataOut->m_collisionFilterMask = m_broadphaseHandle->m_collisionFilterMask; + dataOut->m_uniqueId = m_broadphaseHandle->m_uniqueId; + } + else + { + dataOut->m_collisionFilterGroup = 0; + dataOut->m_collisionFilterMask = 0; + dataOut->m_uniqueId = -1; + } return btCollisionObjectDataName; } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h index fec831bffc..135f8a033c 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h @@ -621,7 +621,6 @@ struct btCollisionObjectDoubleData double m_hitFraction; double m_ccdSweptSphereRadius; double m_ccdMotionThreshold; - int m_hasAnisotropicFriction; int m_collisionFlags; int m_islandTag1; @@ -629,8 +628,9 @@ struct btCollisionObjectDoubleData int m_activationState1; int m_internalType; int m_checkCollideWith; - - char m_padding[4]; + int m_collisionFilterGroup; + int m_collisionFilterMask; + int m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc. }; ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 @@ -650,13 +650,12 @@ struct btCollisionObjectFloatData float m_deactivationTime; float m_friction; float m_rollingFriction; - float m_contactDamping; + float m_contactDamping; float m_contactStiffness; float m_restitution; float m_hitFraction; float m_ccdSweptSphereRadius; float m_ccdMotionThreshold; - int m_hasAnisotropicFriction; int m_collisionFlags; int m_islandTag1; @@ -664,7 +663,9 @@ struct btCollisionObjectFloatData int m_activationState1; int m_internalType; int m_checkCollideWith; - char m_padding[4]; + int m_collisionFilterGroup; + int m_collisionFilterMask; + int m_uniqueId; }; diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index c3e912fdca..3de8d6995e 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -1646,7 +1646,7 @@ void btCollisionWorld::serializeCollisionObjects(btSerializer* serializer) for (i=0;i<m_collisionObjects.size();i++) { btCollisionObject* colObj = m_collisionObjects[i]; - if ((colObj->getInternalType() == btCollisionObject::CO_COLLISION_OBJECT) || (colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)) + if (colObj->getInternalType() == btCollisionObject::CO_COLLISION_OBJECT) { colObj->serializeSingleObject(serializer); } @@ -1654,12 +1654,36 @@ void btCollisionWorld::serializeCollisionObjects(btSerializer* serializer) } + +void btCollisionWorld::serializeContactManifolds(btSerializer* serializer) +{ + if (serializer->getSerializationFlags() & BT_SERIALIZE_CONTACT_MANIFOLDS) + { + int numManifolds = getDispatcher()->getNumManifolds(); + for (int i = 0; i < numManifolds; i++) + { + const btPersistentManifold* manifold = getDispatcher()->getInternalManifoldPointer()[i]; + //don't serialize empty manifolds, they just take space + //(may have to do it anyway if it destroys determinism) + if (manifold->getNumContacts() == 0) + continue; + + btChunk* chunk = serializer->allocate(manifold->calculateSerializeBufferSize(), 1); + const char* structType = manifold->serialize(manifold, chunk->m_oldPtr, serializer); + serializer->finalizeChunk(chunk, structType, BT_CONTACTMANIFOLD_CODE, (void*)manifold); + } + } +} + + void btCollisionWorld::serialize(btSerializer* serializer) { serializer->startSerialization(); serializeCollisionObjects(serializer); + + serializeContactManifolds(serializer); serializer->finishSerialization(); } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h index eede2b28ca..886476e8ad 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h @@ -107,6 +107,9 @@ protected: void serializeCollisionObjects(btSerializer* serializer); + void serializeContactManifolds(btSerializer* serializer); + + public: //this constructor doesn't own the dispatcher and paircache/broadphase diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp index 7f4dea1c6d..91b7809c17 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp @@ -156,10 +156,12 @@ public: btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap,childShape,m_compoundColObjWrap->getCollisionObject(),newChildWorldTrans,-1,index); btCollisionAlgorithm* algo = 0; + bool allocatedAlgorithm = false; if (m_resultOut->m_closestPointDistanceThreshold > 0) { algo = m_dispatcher->findAlgorithm(&compoundWrap, m_otherObjWrap, 0, BT_CLOSEST_POINT_ALGORITHMS); + allocatedAlgorithm = true; } else { @@ -204,7 +206,11 @@ public: { m_resultOut->setBody1Wrap(tmpWrap); } - + if(allocatedAlgorithm) + { + algo->~btCollisionAlgorithm(); + m_dispatcher->freeCollisionAlgorithm(algo); + } } } void Process(const btDbvtNode* leaf) @@ -253,9 +259,9 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap m_compoundShapeRevision = compoundShape->getUpdateRevision(); } - if (m_childCollisionAlgorithms.size()==0) - return; - + if (m_childCollisionAlgorithms.size()==0) + return; + const btDbvt* tree = compoundShape->getDynamicAabbTree(); //use a dynamic aabb tree to cull potential child-overlaps btCompoundLeafCallback callback(colObjWrap,otherObjWrap,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold); diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp index d4a1aa78e4..20b542f670 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp @@ -181,11 +181,12 @@ struct btCompoundCompoundLeafCallback : btDbvt::ICollide btSimplePair* pair = m_childCollisionAlgorithmCache->findPair(childIndex0,childIndex1); - + bool removePair = false; btCollisionAlgorithm* colAlgo = 0; if (m_resultOut->m_closestPointDistanceThreshold > 0) { colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0, &compoundWrap1, 0, BT_CLOSEST_POINT_ALGORITHMS); + removePair = true; } else { @@ -223,7 +224,11 @@ struct btCompoundCompoundLeafCallback : btDbvt::ICollide m_resultOut->setBody0Wrap(tmpWrap0); m_resultOut->setBody1Wrap(tmpWrap1); - + if (removePair) + { + colAlgo->~btCollisionAlgorithm(); + m_dispatcher->freeCollisionAlgorithm(colAlgo); + } } } @@ -396,32 +401,24 @@ void btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionOb btCollisionAlgorithm* algo = (btCollisionAlgorithm*)pairs[i].m_userPointer; { - btTransform orgTrans0; const btCollisionShape* childShape0 = 0; btTransform newChildWorldTrans0; - btTransform orgInterpolationTrans0; childShape0 = compoundShape0->getChildShape(pairs[i].m_indexA); - orgTrans0 = col0ObjWrap->getWorldTransform(); - orgInterpolationTrans0 = col0ObjWrap->getWorldTransform(); const btTransform& childTrans0 = compoundShape0->getChildTransform(pairs[i].m_indexA); - newChildWorldTrans0 = orgTrans0*childTrans0 ; + newChildWorldTrans0 = col0ObjWrap->getWorldTransform()*childTrans0 ; childShape0->getAabb(newChildWorldTrans0,aabbMin0,aabbMax0); } btVector3 thresholdVec(resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold); aabbMin0 -= thresholdVec; aabbMax0 += thresholdVec; { - btTransform orgInterpolationTrans1; const btCollisionShape* childShape1 = 0; - btTransform orgTrans1; btTransform newChildWorldTrans1; childShape1 = compoundShape1->getChildShape(pairs[i].m_indexB); - orgTrans1 = col1ObjWrap->getWorldTransform(); - orgInterpolationTrans1 = col1ObjWrap->getWorldTransform(); const btTransform& childTrans1 = compoundShape1->getChildTransform(pairs[i].m_indexB); - newChildWorldTrans1 = orgTrans1*childTrans1 ; + newChildWorldTrans1 = col1ObjWrap->getWorldTransform()*childTrans1 ; childShape1->getAabb(newChildWorldTrans1,aabbMin1,aabbMax1); } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp index 39ff7934d9..d8cbe96142 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp @@ -27,6 +27,7 @@ subject to the following restrictions: #include "LinearMath/btIDebugDraw.h" #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" +#include "BulletCollision/CollisionShapes/btSdfCollisionShape.h" btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped) : btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap), @@ -152,7 +153,7 @@ partId, int triangleIndex) { m_resultOut->setBody1Wrap(tmpWrap); } - + colAlgo->~btCollisionAlgorithm(); @@ -163,7 +164,7 @@ partId, int triangleIndex) -void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut) +void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle, const btDispatcherInfo& dispatchInfo, const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut) { m_convexBodyWrap = convexBodyWrap; m_triBodyWrap = triBodyWrap; @@ -177,14 +178,14 @@ void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTr convexInTriangleSpace = m_triBodyWrap->getWorldTransform().inverse() * m_convexBodyWrap->getWorldTransform(); const btCollisionShape* convexShape = static_cast<const btCollisionShape*>(m_convexBodyWrap->getCollisionShape()); //CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape); - convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax); - btScalar extraMargin = collisionMarginTriangle+ resultOut->m_closestPointDistanceThreshold; - - btVector3 extra(extraMargin,extraMargin,extraMargin); + convexShape->getAabb(convexInTriangleSpace, m_aabbMin, m_aabbMax); + btScalar extraMargin = collisionMarginTriangle + resultOut->m_closestPointDistanceThreshold; + + btVector3 extra(extraMargin, extraMargin, extraMargin); m_aabbMax += extra; m_aabbMin -= extra; - + } void btConvexConcaveCollisionAlgorithm::clearCache() @@ -193,35 +194,99 @@ void btConvexConcaveCollisionAlgorithm::clearCache() } -void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut) { BT_PROFILE("btConvexConcaveCollisionAlgorithm::processCollision"); - + const btCollisionObjectWrapper* convexBodyWrap = m_isSwapped ? body1Wrap : body0Wrap; const btCollisionObjectWrapper* triBodyWrap = m_isSwapped ? body0Wrap : body1Wrap; if (triBodyWrap->getCollisionShape()->isConcave()) { + if (triBodyWrap->getCollisionShape()->getShapeType() == SDF_SHAPE_PROXYTYPE) + { + btSdfCollisionShape* sdfShape = (btSdfCollisionShape*)triBodyWrap->getCollisionShape(); + if (convexBodyWrap->getCollisionShape()->isConvex()) + { + btConvexShape* convex = (btConvexShape*)convexBodyWrap->getCollisionShape(); + btAlignedObjectArray<btVector3> queryVertices; + + if (convex->isPolyhedral()) + { + btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex; + for (int v = 0; v < poly->getNumVertices(); v++) + { + btVector3 vtx; + poly->getVertex(v, vtx); + queryVertices.push_back(vtx); + } + } + btScalar maxDist = SIMD_EPSILON; + + if (convex->getShapeType() == SPHERE_SHAPE_PROXYTYPE) + { + queryVertices.push_back(btVector3(0, 0, 0)); + btSphereShape* sphere = (btSphereShape*)convex; + maxDist = sphere->getRadius() + SIMD_EPSILON; + + } + if (queryVertices.size()) + { + resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr); + //m_btConvexTriangleCallback.m_manifoldPtr->clearManifold(); + + btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex; + for (int v = 0; v < queryVertices.size(); v++) + { + const btVector3& vtx = queryVertices[v]; + btVector3 vtxWorldSpace = convexBodyWrap->getWorldTransform()*vtx; + btVector3 vtxInSdf = triBodyWrap->getWorldTransform().invXform(vtxWorldSpace); + + btVector3 normalLocal; + btScalar dist; + if (sdfShape->queryPoint(vtxInSdf, dist, normalLocal)) + { + if (dist <= maxDist) + { + normalLocal.safeNormalize(); + btVector3 normal = triBodyWrap->getWorldTransform().getBasis()*normalLocal; + + if (convex->getShapeType() == SPHERE_SHAPE_PROXYTYPE) + { + btSphereShape* sphere = (btSphereShape*)convex; + dist -= sphere->getRadius(); + vtxWorldSpace -= sphere->getRadius()*normal; + + } + resultOut->addContactPoint(normal,vtxWorldSpace-normal*dist, dist); + } + } + } + resultOut->refreshContactPoints(); + } - - const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>( triBodyWrap->getCollisionShape()); - - if (convexBodyWrap->getCollisionShape()->isConvex()) + } + } else { - btScalar collisionMarginTriangle = concaveShape->getMargin(); + const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>( triBodyWrap->getCollisionShape()); + + if (convexBodyWrap->getCollisionShape()->isConvex()) + { + btScalar collisionMarginTriangle = concaveShape->getMargin(); - resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr); - m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,convexBodyWrap,triBodyWrap,resultOut); + resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr); + m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,convexBodyWrap,triBodyWrap,resultOut); - m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(),triBodyWrap->getCollisionObject()); + m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(),triBodyWrap->getCollisionObject()); - concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax()); + concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax()); - resultOut->refreshContactPoints(); + resultOut->refreshContactPoints(); - m_btConvexTriangleCallback.clearWrapperData(); + m_btConvexTriangleCallback.clearWrapperData(); + } } } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp index b54bd48932..3e8bc6e426 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp @@ -28,6 +28,7 @@ subject to the following restrictions: #include "BulletCollision/CollisionShapes/btConvexShape.h" #include "BulletCollision/CollisionShapes/btCapsuleShape.h" #include "BulletCollision/CollisionShapes/btTriangleShape.h" +#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h" @@ -259,7 +260,7 @@ struct btPerturbedContactResult : public btManifoldResult btVector3 endPtOrg = pointInWorld + normalOnBInWorld*orgDepth; endPt = (m_unPerturbedTransform*m_transformA.inverse())(endPtOrg); newDepth = (endPt - pointInWorld).dot(normalOnBInWorld); - startPt = endPt+normalOnBInWorld*newDepth; + startPt = endPt - normalOnBInWorld*newDepth; } else { endPt = pointInWorld + normalOnBInWorld*orgDepth; @@ -442,10 +443,26 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* struct btDummyResult : public btDiscreteCollisionDetectorInterface::Result { + btVector3 m_normalOnBInWorld; + btVector3 m_pointInWorld; + btScalar m_depth; + bool m_hasContact; + + + btDummyResult() + : m_hasContact(false) + { + } + + virtual void setShapeIdentifiersA(int partId0,int index0){} virtual void setShapeIdentifiersB(int partId1,int index1){} virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth) { + m_hasContact = true; + m_normalOnBInWorld = normalOnBInWorld; + m_pointInWorld = pointInWorld; + m_depth = depth; } }; @@ -560,15 +577,18 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* } else { + + //we can also deal with convex versus triangle (without connectivity data) - if (polyhedronA->getConvexPolyhedron() && polyhedronB->getShapeType()==TRIANGLE_SHAPE_PROXYTYPE) + if (dispatchInfo.m_enableSatConvex && polyhedronA->getConvexPolyhedron() && polyhedronB->getShapeType()==TRIANGLE_SHAPE_PROXYTYPE) { - btVertexArray vertices; + + btVertexArray worldSpaceVertices; btTriangleShape* tri = (btTriangleShape*)polyhedronB; - vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[0]); - vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[1]); - vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[2]); + worldSpaceVertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[0]); + worldSpaceVertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[1]); + worldSpaceVertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[2]); //tri->initializePolyhedralFeatures(); @@ -579,17 +599,99 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* btScalar maxDist = threshold; bool foundSepAxis = false; - if (0) + bool useSatSepNormal = true; + + if (useSatSepNormal) { - polyhedronB->initializePolyhedralFeatures(); +#if 0 + if (0) + { + //initializePolyhedralFeatures performs a convex hull computation, not needed for a single triangle + polyhedronB->initializePolyhedralFeatures(); + } else +#endif + { + + btVector3 uniqueEdges[3] = {tri->m_vertices1[1]-tri->m_vertices1[0], + tri->m_vertices1[2]-tri->m_vertices1[1], + tri->m_vertices1[0]-tri->m_vertices1[2]}; + + uniqueEdges[0].normalize(); + uniqueEdges[1].normalize(); + uniqueEdges[2].normalize(); + + btConvexPolyhedron polyhedron; + polyhedron.m_vertices.push_back(tri->m_vertices1[2]); + polyhedron.m_vertices.push_back(tri->m_vertices1[0]); + polyhedron.m_vertices.push_back(tri->m_vertices1[1]); + + + { + btFace combinedFaceA; + combinedFaceA.m_indices.push_back(0); + combinedFaceA.m_indices.push_back(1); + combinedFaceA.m_indices.push_back(2); + btVector3 faceNormal = uniqueEdges[0].cross(uniqueEdges[1]); + faceNormal.normalize(); + btScalar planeEq=1e30f; + for (int v=0;v<combinedFaceA.m_indices.size();v++) + { + btScalar eq = tri->m_vertices1[combinedFaceA.m_indices[v]].dot(faceNormal); + if (planeEq>eq) + { + planeEq=eq; + } + } + combinedFaceA.m_plane[0] = faceNormal[0]; + combinedFaceA.m_plane[1] = faceNormal[1]; + combinedFaceA.m_plane[2] = faceNormal[2]; + combinedFaceA.m_plane[3] = -planeEq; + polyhedron.m_faces.push_back(combinedFaceA); + } + { + btFace combinedFaceB; + combinedFaceB.m_indices.push_back(0); + combinedFaceB.m_indices.push_back(2); + combinedFaceB.m_indices.push_back(1); + btVector3 faceNormal = -uniqueEdges[0].cross(uniqueEdges[1]); + faceNormal.normalize(); + btScalar planeEq=1e30f; + for (int v=0;v<combinedFaceB.m_indices.size();v++) + { + btScalar eq = tri->m_vertices1[combinedFaceB.m_indices[v]].dot(faceNormal); + if (planeEq>eq) + { + planeEq=eq; + } + } + + combinedFaceB.m_plane[0] = faceNormal[0]; + combinedFaceB.m_plane[1] = faceNormal[1]; + combinedFaceB.m_plane[2] = faceNormal[2]; + combinedFaceB.m_plane[3] = -planeEq; + polyhedron.m_faces.push_back(combinedFaceB); + } + + + polyhedron.m_uniqueEdges.push_back(uniqueEdges[0]); + polyhedron.m_uniqueEdges.push_back(uniqueEdges[1]); + polyhedron.m_uniqueEdges.push_back(uniqueEdges[2]); + polyhedron.initialize2(); + + polyhedronB->setPolyhedralFeatures(polyhedron); + } + + + foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis( - *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(), - body0Wrap->getWorldTransform(), - body1Wrap->getWorldTransform(), - sepNormalWorldSpace,*resultOut); + *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(), + body0Wrap->getWorldTransform(), + body1Wrap->getWorldTransform(), + sepNormalWorldSpace,*resultOut); // printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ()); - } else + } + else { #ifdef ZERO_MARGIN gjkPairDetector.setIgnoreMargin(true); @@ -598,6 +700,24 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw); #endif//ZERO_MARGIN + if (dummy.m_hasContact && dummy.m_depth<0) + { + + if (foundSepAxis) + { + if (dummy.m_normalOnBInWorld.dot(sepNormalWorldSpace)<0.99) + { + printf("?\n"); + } + } else + { + printf("!\n"); + } + sepNormalWorldSpace.setValue(0,0,1);// = dummy.m_normalOnBInWorld; + //minDist = dummy.m_depth; + foundSepAxis = true; + } +#if 0 btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2(); if (l2>SIMD_EPSILON) { @@ -607,6 +727,7 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin(); foundSepAxis = true; } +#endif } @@ -614,7 +735,7 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* { worldVertsB2.resize(0); btPolyhedralContactClipping::clipFaceAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), - body0Wrap->getWorldTransform(), vertices, worldVertsB2,minDist-threshold, maxDist, *resultOut); + body0Wrap->getWorldTransform(), worldSpaceVertices, worldVertsB2,minDist-threshold, maxDist, *resultOut); } @@ -625,6 +746,7 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* return; } + } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp index 8c8a7c3c1e..8271981b29 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp @@ -20,11 +20,12 @@ subject to the following restrictions: #include <stdio.h> +#ifdef BT_DEBUG_COLLISION_PAIRS int gOverlappingSimplePairs = 0; int gRemoveSimplePairs =0; int gAddedSimplePairs =0; int gFindSimplePairs =0; - +#endif //BT_DEBUG_COLLISION_PAIRS @@ -61,7 +62,9 @@ void btHashedSimplePairCache::removeAllPairs() btSimplePair* btHashedSimplePairCache::findPair(int indexA, int indexB) { +#ifdef BT_DEBUG_COLLISION_PAIRS gFindSimplePairs++; +#endif /*if (indexA > indexB) @@ -172,7 +175,9 @@ btSimplePair* btHashedSimplePairCache::internalAddPair(int indexA, int indexB) void* btHashedSimplePairCache::removeOverlappingPair(int indexA, int indexB) { +#ifdef BT_DEBUG_COLLISION_PAIRS gRemoveSimplePairs++; +#endif /*if (indexA > indexB) diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h index 2aaf6201f3..318981cda1 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h @@ -43,12 +43,12 @@ struct btSimplePair typedef btAlignedObjectArray<btSimplePair> btSimplePairArray; - +#ifdef BT_DEBUG_COLLISION_PAIRS extern int gOverlappingSimplePairs; extern int gRemoveSimplePairs; extern int gAddedSimplePairs; extern int gFindSimplePairs; - +#endif //BT_DEBUG_COLLISION_PAIRS @@ -75,7 +75,9 @@ public: // no new pair is created and the old one is returned. virtual btSimplePair* addOverlappingPair(int indexA,int indexB) { +#ifdef BT_DEBUG_COLLISION_PAIRS gAddedSimplePairs++; +#endif return internalAddPair(indexA,indexB); } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp index 6cba442ca5..898320ee1a 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp @@ -455,11 +455,20 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWr btBvhTriangleMeshShape* trimesh = 0; if( colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE ) - trimesh = ((btScaledBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape())->getChildShape(); - else - trimesh = (btBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape(); - - btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap(); + { + trimesh = ((btScaledBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape())->getChildShape(); + } + else + { + if (colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE) + { + trimesh = (btBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape(); + } + } + if (trimesh==0) + return; + + btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap(); if (!triangleInfoMapPtr) return; diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp index 1344782257..91c76a8dac 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp @@ -199,6 +199,22 @@ class btPersistentManifoldSortPredicate } }; +class btPersistentManifoldSortPredicateDeterministic +{ +public: + + SIMD_FORCE_INLINE bool operator() (const btPersistentManifold* lhs, const btPersistentManifold* rhs) const + { + return ( + (getIslandId(lhs) < getIslandId(rhs)) + || ((getIslandId(lhs) == getIslandId(rhs)) && lhs->getBody0()->getBroadphaseHandle()->m_uniqueId < rhs->getBody0()->getBroadphaseHandle()->m_uniqueId) + ||((getIslandId(lhs) == getIslandId(rhs)) && (lhs->getBody0()->getBroadphaseHandle()->m_uniqueId == rhs->getBody0()->getBroadphaseHandle()->m_uniqueId) && + (lhs->getBody1()->getBroadphaseHandle()->m_uniqueId < rhs->getBody1()->getBroadphaseHandle()->m_uniqueId)) + ); + + } +}; + void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld) { @@ -245,13 +261,11 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); if (colObj0->getIslandTag() == islandId) { - if (colObj0->getActivationState()== ACTIVE_TAG) - { - allSleeping = false; - } - if (colObj0->getActivationState()== DISABLE_DEACTIVATION) + if (colObj0->getActivationState()== ACTIVE_TAG || + colObj0->getActivationState()== DISABLE_DEACTIVATION) { allSleeping = false; + break; } } } @@ -318,7 +332,12 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio for (i=0;i<maxNumManifolds ;i++) { btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i); - + if (collisionWorld->getDispatchInfo().m_deterministicOverlappingPairs) + { + if (manifold->getNumContacts() == 0) + continue; + } + const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0()); const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1()); @@ -379,7 +398,16 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, //tried a radix sort, but quicksort/heapsort seems still faster //@todo rewrite island management - m_islandmanifold.quickSort(btPersistentManifoldSortPredicate()); + //btPersistentManifoldSortPredicateDeterministic sorts contact manifolds based on islandid, + //but also based on object0 unique id and object1 unique id + if (collisionWorld->getDispatchInfo().m_deterministicOverlappingPairs) + { + m_islandmanifold.quickSort(btPersistentManifoldSortPredicateDeterministic()); + } else + { + m_islandmanifold.quickSort(btPersistentManifoldSortPredicate()); + } + //m_islandmanifold.heapSort(btPersistentManifoldSortPredicate()); //now process all active islands (sets of manifolds for now) diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h index 7d64b46abf..5a3362834a 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h @@ -49,6 +49,7 @@ public: virtual void setMargin(btScalar collisionMargin) { //don't override the margin for capsules, their entire radius == margin + (void)collisionMargin; } virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp index e8c8c336cd..85572da307 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp @@ -213,7 +213,7 @@ void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) co -void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const +void btCompoundShape::calculatePrincipalAxisTransform(const btScalar* masses, btTransform& principal, btVector3& inertia) const { int n = m_children.size(); diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h index 4eef8dba30..2cbcd1bfca 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h @@ -160,7 +160,7 @@ public: ///"principal" has to be applied inversely to all children transforms in order for the local coordinate system of the compound ///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform ///of the collision object by the principal transform. - void calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const; + void calculatePrincipalAxisTransform(const btScalar* masses, btTransform& principal, btVector3& inertia) const; int getUpdateRevision() const { diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp index 4f45319a83..0fea00df5c 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp @@ -104,9 +104,9 @@ void btConvexPolyhedron::initialize() btHashMap<btInternalVertexPair,btInternalEdge> edges; - btScalar TotalArea = 0.0f; - m_localCenter.setValue(0, 0, 0); + + for(int i=0;i<m_faces.size();i++) { int numVertices = m_faces[i].m_indices.size(); @@ -172,6 +172,13 @@ void btConvexPolyhedron::initialize() } #endif//USE_CONNECTED_FACES + initialize2(); +} + +void btConvexPolyhedron::initialize2() +{ + m_localCenter.setValue(0, 0, 0); + btScalar TotalArea = 0.0f; for(int i=0;i<m_faces.size();i++) { int numVertices = m_faces[i].m_indices.size(); @@ -274,7 +281,6 @@ void btConvexPolyhedron::initialize() } #endif } - void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const { minProj = FLT_MAX; diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h index d3cd066ac8..c5aa20f453 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h @@ -54,6 +54,7 @@ ATTRIBUTE_ALIGNED16(class) btConvexPolyhedron btVector3 mE; void initialize(); + void initialize2(); bool testContainment() const; void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const; diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp index 8d7fb054d6..2f84858598 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp @@ -118,9 +118,13 @@ static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector return supVec; #else - btScalar maxDot; - long ptIndex = vec.maxDot( points, numPoints, maxDot); + btScalar maxDot; + long ptIndex = vec.maxDot( points, numPoints, maxDot); btAssert(ptIndex >= 0); + if (ptIndex<0) + { + ptIndex = 0; + } btVector3 supVec = points[ptIndex] * localScaling; return supVec; #endif //__SPU__ diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp new file mode 100644 index 0000000000..afe45e1d2d --- /dev/null +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp @@ -0,0 +1,532 @@ +#include "btMiniSDF.h" + +// +//Based on code from DiscreGrid, https://github.com/InteractiveComputerGraphics/Discregrid +//example: +//GenerateSDF.exe -r "32 32 32" -d "-1.6 -1.6 -.6 1.6 1.6 .6" concave_box.obj +//The MIT License (MIT) +// +//Copyright (c) 2017 Dan Koschier +// + +#include <limits.h> +#include <string.h> //memcpy + +struct btSdfDataStream +{ + const char* m_data; + int m_size; + + int m_currentOffset; + + btSdfDataStream(const char* data, int size) + :m_data(data), + m_size(size), + m_currentOffset(0) + { + + } + + template<class T> bool read(T& val) + { + int bytes = sizeof(T); + if (m_currentOffset+bytes<=m_size) + { + char* dest = (char*)&val; + memcpy(dest,&m_data[m_currentOffset],bytes); + m_currentOffset+=bytes; + return true; + } + btAssert(0); + return false; + } +}; + + +bool btMiniSDF::load(const char* data, int size) +{ + int fileSize = -1; + + btSdfDataStream ds(data,size); + { + double buf[6]; + ds.read(buf); + m_domain.m_min[0] = buf[0]; + m_domain.m_min[1] = buf[1]; + m_domain.m_min[2] = buf[2]; + m_domain.m_min[3] = 0; + m_domain.m_max[0] = buf[3]; + m_domain.m_max[1] = buf[4]; + m_domain.m_max[2] = buf[5]; + m_domain.m_max[3] = 0; + } + { + unsigned int buf2[3]; + ds.read(buf2); + m_resolution[0] = buf2[0]; + m_resolution[1] = buf2[1]; + m_resolution[2] = buf2[2]; + } + { + double buf[3]; + ds.read(buf); + m_cell_size[0] = buf[0]; + m_cell_size[1] = buf[1]; + m_cell_size[2] = buf[2]; + } + { + double buf[3]; + ds.read(buf); + m_inv_cell_size[0] = buf[0]; + m_inv_cell_size[1] = buf[1]; + m_inv_cell_size[2] = buf[2]; + } + { + unsigned long long int cells; + ds.read(cells); + m_n_cells = cells; + } + { + unsigned long long int fields; + ds.read(fields); + m_n_fields = fields; + } + + + unsigned long long int nodes0; + std::size_t n_nodes0; + ds.read(nodes0); + n_nodes0 = nodes0; + if (n_nodes0 > 1024 * 1024 * 1024) + { + return m_isValid; + } + m_nodes.resize(n_nodes0); + for (unsigned int i=0;i<n_nodes0;i++) + { + unsigned long long int n_nodes1; + ds.read(n_nodes1); + btAlignedObjectArray<double>& nodes = m_nodes[i]; + nodes.resize(n_nodes1); + for ( int j=0;j<nodes.size();j++) + { + double& node = nodes[j]; + ds.read(node); + } + } + + unsigned long long int n_cells0; + ds.read(n_cells0); + m_cells.resize(n_cells0); + for (int i=0;i<n_cells0;i++) + { + unsigned long long int n_cells1; + btAlignedObjectArray<btCell32 >& cells = m_cells[i]; + ds.read(n_cells1); + cells.resize(n_cells1); + for (int j=0;j<n_cells1;j++) + { + btCell32& cell = cells[j]; + ds.read(cell); + } + } + + { + unsigned long long int n_cell_maps0; + ds.read(n_cell_maps0); + + m_cell_map.resize(n_cell_maps0); + for (int i=0;i<n_cell_maps0;i++) + { + unsigned long long int n_cell_maps1; + btAlignedObjectArray<unsigned int>& cell_maps = m_cell_map[i]; + ds.read(n_cell_maps1); + cell_maps.resize(n_cell_maps1); + for (int j=0;j<n_cell_maps1;j++) + { + unsigned int& cell_map = cell_maps[j]; + ds.read(cell_map); + } + } + } + + m_isValid = (ds.m_currentOffset == ds.m_size); + return m_isValid; +} + + +unsigned int btMiniSDF::multiToSingleIndex(btMultiIndex const & ijk) const +{ + return m_resolution[1] * m_resolution[0] * ijk.ijk[2] + m_resolution[0] * ijk.ijk[1] + ijk.ijk[0]; +} + +btAlignedBox3d +btMiniSDF::subdomain(btMultiIndex const& ijk) const +{ + btAssert(m_isValid); + btVector3 tmp; + tmp.m_floats[0] = m_cell_size[0]*(double)ijk.ijk[0]; + tmp.m_floats[1] = m_cell_size[1]*(double)ijk.ijk[1]; + tmp.m_floats[2] = m_cell_size[2]*(double)ijk.ijk[2]; + + + btVector3 origin = m_domain.min() + tmp; + + btAlignedBox3d box = btAlignedBox3d (origin, origin + m_cell_size); + return box; +} + +btMultiIndex +btMiniSDF::singleToMultiIndex(unsigned int l) const +{ + btAssert(m_isValid); + unsigned int n01 = m_resolution[0] * m_resolution[1]; + unsigned int k = l / n01; + unsigned int temp = l % n01; + unsigned int j = temp / m_resolution[0]; + unsigned int i = temp % m_resolution[0]; + btMultiIndex mi; + mi.ijk[0] = i; + mi.ijk[1] = j; + mi.ijk[2] = k; + return mi; +} + +btAlignedBox3d +btMiniSDF::subdomain(unsigned int l) const +{ + btAssert(m_isValid); + return subdomain(singleToMultiIndex(l)); +} + + +btShapeMatrix +btMiniSDF::shape_function_(btVector3 const& xi, btShapeGradients* gradient) const +{ + btAssert(m_isValid); + btShapeMatrix res; + + btScalar x = xi[0]; + btScalar y = xi[1]; + btScalar z = xi[2]; + + btScalar x2 = x*x; + btScalar y2 = y*y; + btScalar z2 = z*z; + + btScalar _1mx = 1.0 - x; + btScalar _1my = 1.0 - y; + btScalar _1mz = 1.0 - z; + + btScalar _1px = 1.0 + x; + btScalar _1py = 1.0 + y; + btScalar _1pz = 1.0 + z; + + btScalar _1m3x = 1.0 - 3.0 * x; + btScalar _1m3y = 1.0 - 3.0 * y; + btScalar _1m3z = 1.0 - 3.0 * z; + + btScalar _1p3x = 1.0 + 3.0 * x; + btScalar _1p3y = 1.0 + 3.0 * y; + btScalar _1p3z = 1.0 + 3.0 * z; + + btScalar _1mxt1my = _1mx * _1my; + btScalar _1mxt1py = _1mx * _1py; + btScalar _1pxt1my = _1px * _1my; + btScalar _1pxt1py = _1px * _1py; + + btScalar _1mxt1mz = _1mx * _1mz; + btScalar _1mxt1pz = _1mx * _1pz; + btScalar _1pxt1mz = _1px * _1mz; + btScalar _1pxt1pz = _1px * _1pz; + + btScalar _1myt1mz = _1my * _1mz; + btScalar _1myt1pz = _1my * _1pz; + btScalar _1pyt1mz = _1py * _1mz; + btScalar _1pyt1pz = _1py * _1pz; + + btScalar _1mx2 = 1.0 - x2; + btScalar _1my2 = 1.0 - y2; + btScalar _1mz2 = 1.0 - z2; + + + // Corner nodes. + btScalar fac = 1.0 / 64.0 * (9.0 * (x2 + y2 + z2) - 19.0); + res[0] = fac * _1mxt1my * _1mz; + res[1] = fac * _1pxt1my * _1mz; + res[2] = fac * _1mxt1py * _1mz; + res[3] = fac * _1pxt1py * _1mz; + res[4] = fac * _1mxt1my * _1pz; + res[5] = fac * _1pxt1my * _1pz; + res[6] = fac * _1mxt1py * _1pz; + res[7] = fac * _1pxt1py * _1pz; + + // Edge nodes. + + fac = 9.0 / 64.0 * _1mx2; + btScalar fact1m3x = fac * _1m3x; + btScalar fact1p3x = fac * _1p3x; + res[ 8] = fact1m3x * _1myt1mz; + res[ 9] = fact1p3x * _1myt1mz; + res[10] = fact1m3x * _1myt1pz; + res[11] = fact1p3x * _1myt1pz; + res[12] = fact1m3x * _1pyt1mz; + res[13] = fact1p3x * _1pyt1mz; + res[14] = fact1m3x * _1pyt1pz; + res[15] = fact1p3x * _1pyt1pz; + + fac = 9.0 / 64.0 * _1my2; + btScalar fact1m3y = fac * _1m3y; + btScalar fact1p3y = fac * _1p3y; + res[16] = fact1m3y * _1mxt1mz; + res[17] = fact1p3y * _1mxt1mz; + res[18] = fact1m3y * _1pxt1mz; + res[19] = fact1p3y * _1pxt1mz; + res[20] = fact1m3y * _1mxt1pz; + res[21] = fact1p3y * _1mxt1pz; + res[22] = fact1m3y * _1pxt1pz; + res[23] = fact1p3y * _1pxt1pz; + + fac = 9.0 / 64.0 * _1mz2; + btScalar fact1m3z = fac * _1m3z; + btScalar fact1p3z = fac * _1p3z; + res[24] = fact1m3z * _1mxt1my; + res[25] = fact1p3z * _1mxt1my; + res[26] = fact1m3z * _1mxt1py; + res[27] = fact1p3z * _1mxt1py; + res[28] = fact1m3z * _1pxt1my; + res[29] = fact1p3z * _1pxt1my; + res[30] = fact1m3z * _1pxt1py; + res[31] = fact1p3z * _1pxt1py; + + if (gradient) + { + btShapeGradients& dN = *gradient; + + btScalar _9t3x2py2pz2m19 = 9.0 * (3.0 * x2 + y2 + z2) - 19.0; + btScalar _9tx2p3y2pz2m19 = 9.0 * (x2 + 3.0 * y2 + z2) - 19.0; + btScalar _9tx2py2p3z2m19 = 9.0 * (x2 + y2 + 3.0 * z2) - 19.0; + btScalar _18x = 18.0 * x; + btScalar _18y = 18.0 * y; + btScalar _18z = 18.0 * z; + + btScalar _3m9x2 = 3.0 - 9.0 * x2; + btScalar _3m9y2 = 3.0 - 9.0 * y2; + btScalar _3m9z2 = 3.0 - 9.0 * z2; + + btScalar _2x = 2.0 * x; + btScalar _2y = 2.0 * y; + btScalar _2z = 2.0 * z; + + btScalar _18xm9t3x2py2pz2m19 = _18x - _9t3x2py2pz2m19; + btScalar _18xp9t3x2py2pz2m19 = _18x + _9t3x2py2pz2m19; + btScalar _18ym9tx2p3y2pz2m19 = _18y - _9tx2p3y2pz2m19; + btScalar _18yp9tx2p3y2pz2m19 = _18y + _9tx2p3y2pz2m19; + btScalar _18zm9tx2py2p3z2m19 = _18z - _9tx2py2p3z2m19; + btScalar _18zp9tx2py2p3z2m19 = _18z + _9tx2py2p3z2m19; + + dN(0,0) =_18xm9t3x2py2pz2m19 * _1myt1mz; + dN(0,1) =_1mxt1mz * _18ym9tx2p3y2pz2m19; + dN(0,2) =_1mxt1my * _18zm9tx2py2p3z2m19; + dN(1,0) =_18xp9t3x2py2pz2m19 * _1myt1mz; + dN(1,1) =_1pxt1mz * _18ym9tx2p3y2pz2m19; + dN(1,2) =_1pxt1my * _18zm9tx2py2p3z2m19; + dN(2,0) =_18xm9t3x2py2pz2m19 * _1pyt1mz; + dN(2,1) =_1mxt1mz * _18yp9tx2p3y2pz2m19; + dN(2,2) =_1mxt1py * _18zm9tx2py2p3z2m19; + dN(3,0) =_18xp9t3x2py2pz2m19 * _1pyt1mz; + dN(3,1) =_1pxt1mz * _18yp9tx2p3y2pz2m19; + dN(3,2) =_1pxt1py * _18zm9tx2py2p3z2m19; + dN(4,0) =_18xm9t3x2py2pz2m19 * _1myt1pz; + dN(4,1) =_1mxt1pz * _18ym9tx2p3y2pz2m19; + dN(4,2) =_1mxt1my * _18zp9tx2py2p3z2m19; + dN(5,0) =_18xp9t3x2py2pz2m19 * _1myt1pz; + dN(5,1) =_1pxt1pz * _18ym9tx2p3y2pz2m19; + dN(5,2) =_1pxt1my * _18zp9tx2py2p3z2m19; + dN(6,0) =_18xm9t3x2py2pz2m19 * _1pyt1pz; + dN(6,1) =_1mxt1pz * _18yp9tx2p3y2pz2m19; + dN(6,2) =_1mxt1py * _18zp9tx2py2p3z2m19; + dN(7,0) =_18xp9t3x2py2pz2m19 * _1pyt1pz; + dN(7,1) =_1pxt1pz * _18yp9tx2p3y2pz2m19; + dN(7,2) =_1pxt1py * _18zp9tx2py2p3z2m19; + + dN.topRowsDivide(8, 64.0); + + btScalar _m3m9x2m2x = -_3m9x2 - _2x; + btScalar _p3m9x2m2x = _3m9x2 - _2x; + btScalar _1mx2t1m3x = _1mx2 * _1m3x; + btScalar _1mx2t1p3x = _1mx2 * _1p3x; + dN( 8,0) = _m3m9x2m2x * _1myt1mz, + dN( 8,1) = -_1mx2t1m3x * _1mz, + dN( 8,2) = -_1mx2t1m3x * _1my; + dN( 9,0) = _p3m9x2m2x * _1myt1mz, + dN( 9,1) = -_1mx2t1p3x * _1mz, + dN( 9,2) = -_1mx2t1p3x * _1my; + dN(10,0) = _m3m9x2m2x * _1myt1pz, + dN(10,1) = -_1mx2t1m3x * _1pz, + dN(10,2) = _1mx2t1m3x * _1my; + dN(11,0) = _p3m9x2m2x * _1myt1pz, + dN(11,1) = -_1mx2t1p3x * _1pz, + dN(11,2) = _1mx2t1p3x * _1my; + dN(12,0) = _m3m9x2m2x * _1pyt1mz, + dN(12,1) = _1mx2t1m3x * _1mz, + dN(12,2) = -_1mx2t1m3x * _1py; + dN(13,0) = _p3m9x2m2x * _1pyt1mz, + dN(13,1) = _1mx2t1p3x * _1mz, + dN(13,2) = -_1mx2t1p3x * _1py; + dN(14,0) = _m3m9x2m2x * _1pyt1pz, + dN(14,1) = _1mx2t1m3x * _1pz, + dN(14,2) = _1mx2t1m3x * _1py; + dN(15,0) = _p3m9x2m2x * _1pyt1pz, + dN(15,1) = _1mx2t1p3x * _1pz, + dN(15,2) = _1mx2t1p3x * _1py; + + btScalar _m3m9y2m2y = -_3m9y2 - _2y; + btScalar _p3m9y2m2y = _3m9y2 - _2y; + btScalar _1my2t1m3y = _1my2 * _1m3y; + btScalar _1my2t1p3y = _1my2 * _1p3y; + dN(16,0) = -_1my2t1m3y * _1mz, + dN(16,1) = _m3m9y2m2y * _1mxt1mz, + dN(16,2) = -_1my2t1m3y * _1mx; + dN(17,0) = -_1my2t1p3y * _1mz, + dN(17,1) = _p3m9y2m2y * _1mxt1mz, + dN(17,2) = -_1my2t1p3y * _1mx; + dN(18,0) = _1my2t1m3y * _1mz, + dN(18,1) = _m3m9y2m2y * _1pxt1mz, + dN(18,2) = -_1my2t1m3y * _1px; + dN(19,0) = _1my2t1p3y * _1mz, + dN(19,1) = _p3m9y2m2y * _1pxt1mz, + dN(19,2) = -_1my2t1p3y * _1px; + dN(20,0) = -_1my2t1m3y * _1pz, + dN(20,1) = _m3m9y2m2y * _1mxt1pz, + dN(20,2) = _1my2t1m3y * _1mx; + dN(21,0) = -_1my2t1p3y * _1pz, + dN(21,1) = _p3m9y2m2y * _1mxt1pz, + dN(21,2) = _1my2t1p3y * _1mx; + dN(22,0) = _1my2t1m3y * _1pz, + dN(22,1) = _m3m9y2m2y * _1pxt1pz, + dN(22,2) = _1my2t1m3y * _1px; + dN(23,0) = _1my2t1p3y * _1pz, + dN(23,1) = _p3m9y2m2y * _1pxt1pz, + dN(23,2) = _1my2t1p3y * _1px; + + + btScalar _m3m9z2m2z = -_3m9z2 - _2z; + btScalar _p3m9z2m2z = _3m9z2 - _2z; + btScalar _1mz2t1m3z = _1mz2 * _1m3z; + btScalar _1mz2t1p3z = _1mz2 * _1p3z; + dN(24,0) = -_1mz2t1m3z * _1my, + dN(24,1) = -_1mz2t1m3z * _1mx, + dN(24,2) = _m3m9z2m2z * _1mxt1my; + dN(25,0) = -_1mz2t1p3z * _1my, + dN(25,1) = -_1mz2t1p3z * _1mx, + dN(25,2) = _p3m9z2m2z * _1mxt1my; + dN(26,0) = -_1mz2t1m3z * _1py, + dN(26,1) = _1mz2t1m3z * _1mx, + dN(26,2) = _m3m9z2m2z * _1mxt1py; + dN(27,0) = -_1mz2t1p3z * _1py, + dN(27,1) = _1mz2t1p3z * _1mx, + dN(27,2) = _p3m9z2m2z * _1mxt1py; + dN(28,0) = _1mz2t1m3z * _1my, + dN(28,1) = -_1mz2t1m3z * _1px, + dN(28,2) = _m3m9z2m2z * _1pxt1my; + dN(29,0) = _1mz2t1p3z * _1my, + dN(29,1) = -_1mz2t1p3z * _1px, + dN(29,2) = _p3m9z2m2z * _1pxt1my; + dN(30,0) = _1mz2t1m3z * _1py, + dN(30,1) = _1mz2t1m3z * _1px, + dN(30,2) = _m3m9z2m2z * _1pxt1py; + dN(31,0) = _1mz2t1p3z * _1py, + dN(31,1) = _1mz2t1p3z * _1px, + dN(31,2) = _p3m9z2m2z * _1pxt1py; + + dN.bottomRowsMul(32u - 8u, 9.0 / 64.0); + + } + + return res; +} + + + +bool btMiniSDF::interpolate(unsigned int field_id, double& dist, btVector3 const& x, + btVector3* gradient) const +{ + btAssert(m_isValid); + if (!m_isValid) + return false; + + if (!m_domain.contains(x)) + return false; + + btVector3 tmpmi = ((x - m_domain.min())*(m_inv_cell_size));//.cast<unsigned int>().eval(); + unsigned int mi[3] = {(unsigned int )tmpmi[0],(unsigned int )tmpmi[1],(unsigned int )tmpmi[2]}; + if (mi[0] >= m_resolution[0]) + mi[0] = m_resolution[0]-1; + if (mi[1] >= m_resolution[1]) + mi[1] = m_resolution[1]-1; + if (mi[2] >= m_resolution[2]) + mi[2] = m_resolution[2]-1; + btMultiIndex mui; + mui.ijk[0] = mi[0]; + mui.ijk[1] = mi[1]; + mui.ijk[2] = mi[2]; + int i = multiToSingleIndex(mui); + unsigned int i_ = m_cell_map[field_id][i]; + if (i_ == UINT_MAX) + return false; + + btAlignedBox3d sd = subdomain(i); + i = i_; + btVector3 d = sd.m_max-sd.m_min;//.diagonal().eval(); + + btVector3 denom = (sd.max() - sd.min()); + btVector3 c0 = btVector3(2.0,2.0,2.0)/denom; + btVector3 c1 = (sd.max() + sd.min())/denom; + btVector3 xi = (c0*x - c1); + + btCell32 const& cell = m_cells[field_id][i]; + if (!gradient) + { + //auto phi = m_coefficients[field_id][i].dot(shape_function_(xi, 0)); + double phi = 0.0; + btShapeMatrix N = shape_function_(xi, 0); + for (unsigned int j = 0u; j < 32u; ++j) + { + unsigned int v = cell.m_cells[j]; + double c = m_nodes[field_id][v]; + if (c == DBL_MAX) + { + return false;; + } + phi += c * N[j]; + } + + dist = phi; + return true; + } + + btShapeGradients dN; + btShapeMatrix N = shape_function_(xi, &dN); + + double phi = 0.0; + gradient->setZero(); + for (unsigned int j = 0u; j < 32u; ++j) + { + unsigned int v = cell.m_cells[j]; + double c = m_nodes[field_id][v]; + if (c == DBL_MAX) + { + gradient->setZero(); + return false; + } + phi += c * N[j]; + (*gradient)[0] += c * dN(j, 0); + (*gradient)[1] += c * dN(j, 1); + (*gradient)[2] += c * dN(j, 2); + } + (*gradient) *= c0; + dist = phi; + return true; +} + diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h new file mode 100644 index 0000000000..3de90e4f8a --- /dev/null +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h @@ -0,0 +1,134 @@ +#ifndef MINISDF_H +#define MINISDF_H + +#include "LinearMath/btVector3.h" +#include "LinearMath/btAabbUtil2.h" +#include "LinearMath/btAlignedObjectArray.h" + + +struct btMultiIndex +{ + unsigned int ijk[3]; +}; + +struct btAlignedBox3d +{ + btVector3 m_min; + btVector3 m_max; + + const btVector3& min() const + { + return m_min; + } + + const btVector3& max() const + { + return m_max; + } + + + bool contains(const btVector3& x) const + { + return TestPointAgainstAabb2(m_min, m_max, x); + } + + btAlignedBox3d(const btVector3& mn, const btVector3& mx) + :m_min(mn), + m_max(mx) + { + } + + btAlignedBox3d() + { + } +}; + +struct btShapeMatrix +{ + double m_vec[32]; + + inline double& operator[](int i) + { + return m_vec[i]; + } + + inline const double& operator[](int i) const + { + return m_vec[i]; + } + +}; + +struct btShapeGradients +{ + btVector3 m_vec[32]; + + void topRowsDivide(int row, double denom) + { + for (int i=0;i<row;i++) + { + m_vec[i] /= denom; + } + } + + void bottomRowsMul(int row, double val) + { + for (int i=32-row;i<32;i++) + { + m_vec[i] *= val; + } + } + + inline btScalar& operator()(int i, int j) + { + return m_vec[i][j]; + } +}; + +struct btCell32 +{ + unsigned int m_cells[32]; +}; + +struct btMiniSDF +{ + + btAlignedBox3d m_domain; + unsigned int m_resolution[3]; + btVector3 m_cell_size; + btVector3 m_inv_cell_size; + std::size_t m_n_cells; + std::size_t m_n_fields; + bool m_isValid; + + + btAlignedObjectArray<btAlignedObjectArray<double> > m_nodes; + btAlignedObjectArray<btAlignedObjectArray<btCell32 > > m_cells; + btAlignedObjectArray<btAlignedObjectArray<unsigned int> > m_cell_map; + + btMiniSDF() + :m_isValid(false) + { + } + bool load(const char* data, int size); + bool isValid() const + { + return m_isValid; + } + unsigned int multiToSingleIndex(btMultiIndex const & ijk) const; + + btAlignedBox3d subdomain(btMultiIndex const& ijk) const; + + btMultiIndex singleToMultiIndex(unsigned int l) const; + + btAlignedBox3d subdomain(unsigned int l) const; + + + btShapeMatrix + shape_function_(btVector3 const& xi, btShapeGradients* gradient = 0) const; + + bool interpolate(unsigned int field_id, double& dist, btVector3 const& x, btVector3* gradient) const; +}; + + +#endif //MINISDF_H diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp index 4854f370f7..d51b6760fc 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp @@ -39,6 +39,17 @@ btPolyhedralConvexShape::~btPolyhedralConvexShape() } } +void btPolyhedralConvexShape::setPolyhedralFeatures(btConvexPolyhedron& polyhedron) +{ + if (m_polyhedron) + { + *m_polyhedron = polyhedron; + } else + { + void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16); + m_polyhedron = new (mem) btConvexPolyhedron(polyhedron); + } +} bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMargin) { @@ -87,8 +98,72 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa conv.compute(&orgVertices[0].getX(), sizeof(btVector3),orgVertices.size(),0.f,0.f); } +#ifndef BT_RECONSTRUCT_FACES + + int numVertices = conv.vertices.size(); + m_polyhedron->m_vertices.resize(numVertices); + for (int p=0;p<numVertices;p++) + { + m_polyhedron->m_vertices[p] = conv.vertices[p]; + } + + int v0, v1; + for (int j = 0; j < conv.faces.size(); j++) + { + btVector3 edges[3]; + int numEdges = 0; + btFace combinedFace; + const btConvexHullComputer::Edge* edge = &conv.edges[conv.faces[j]]; + v0 = edge->getSourceVertex(); + int prevVertex=v0; + combinedFace.m_indices.push_back(v0); + v1 = edge->getTargetVertex(); + while (v1 != v0) + { + + btVector3 wa = conv.vertices[prevVertex]; + btVector3 wb = conv.vertices[v1]; + btVector3 newEdge = wb-wa; + newEdge.normalize(); + if (numEdges<2) + edges[numEdges++] = newEdge; + //face->addIndex(v1); + combinedFace.m_indices.push_back(v1); + edge = edge->getNextEdgeOfFace(); + prevVertex = v1; + int v01 = edge->getSourceVertex(); + v1 = edge->getTargetVertex(); + + } + + btAssert(combinedFace.m_indices.size() > 2); + + btVector3 faceNormal = edges[0].cross(edges[1]); + faceNormal.normalize(); + + btScalar planeEq=1e30f; + + for (int v=0;v<combinedFace.m_indices.size();v++) + { + btScalar eq = m_polyhedron->m_vertices[combinedFace.m_indices[v]].dot(faceNormal); + if (planeEq>eq) + { + planeEq=eq; + } + } + combinedFace.m_plane[0] = faceNormal.getX(); + combinedFace.m_plane[1] = faceNormal.getY(); + combinedFace.m_plane[2] = faceNormal.getZ(); + combinedFace.m_plane[3] = -planeEq; + + m_polyhedron->m_faces.push_back(combinedFace); + } + + +#else//BT_RECONSTRUCT_FACES + btAlignedObjectArray<btVector3> faceNormals; int numFaces = conv.faces.size(); faceNormals.resize(numFaces); @@ -311,7 +386,9 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa } - + +#endif //BT_RECONSTRUCT_FACES + m_polyhedron->initialize(); return true; diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h index 7bf8e01c1f..b7ddb6e060 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h @@ -43,6 +43,9 @@ public: ///experimental/work-in-progress virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin=0); + virtual void setPolyhedralFeatures(btConvexPolyhedron& polyhedron); + + const btConvexPolyhedron* getConvexPolyhedron() const { return m_polyhedron; diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp new file mode 100644 index 0000000000..828acda470 --- /dev/null +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp @@ -0,0 +1,99 @@ +#include "btSdfCollisionShape.h" +#include "btMiniSDF.h" +#include "LinearMath/btAabbUtil2.h" + +struct btSdfCollisionShapeInternalData +{ + btVector3 m_localScaling; + btScalar m_margin; + btMiniSDF m_sdf; + + btSdfCollisionShapeInternalData() + :m_localScaling(1,1,1), + m_margin(0) + { + + } +}; + +bool btSdfCollisionShape::initializeSDF(const char* sdfData, int sizeInBytes) +{ + bool valid = m_data->m_sdf.load(sdfData, sizeInBytes); + return valid; +} +btSdfCollisionShape::btSdfCollisionShape() +{ + m_shapeType = SDF_SHAPE_PROXYTYPE; + m_data = new btSdfCollisionShapeInternalData(); + + + + //"E:/develop/bullet3/data/toys/ground_hole64_64_8.cdf");//ground_cube.cdf"); + /*unsigned int field_id=0; + Eigen::Vector3d x (1,10,1); + Eigen::Vector3d gradient; + double dist = m_data->m_sdf.interpolate(field_id, x, &gradient); + printf("dist=%g\n", dist); + */ + +} +btSdfCollisionShape::~btSdfCollisionShape() +{ + delete m_data; +} + +void btSdfCollisionShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ + btAssert(m_data->m_sdf.isValid()); + btVector3 localAabbMin = m_data->m_sdf.m_domain.m_min; + btVector3 localAabbMax = m_data->m_sdf.m_domain.m_max; + btScalar margin(0); + btTransformAabb(localAabbMin,localAabbMax,margin,t,aabbMin,aabbMax); + +} + + +void btSdfCollisionShape::setLocalScaling(const btVector3& scaling) +{ + m_data->m_localScaling = scaling; +} +const btVector3& btSdfCollisionShape::getLocalScaling() const +{ + return m_data->m_localScaling; +} +void btSdfCollisionShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + inertia.setValue(0,0,0); +} +const char* btSdfCollisionShape::getName()const +{ + return "btSdfCollisionShape"; +} +void btSdfCollisionShape::setMargin(btScalar margin) +{ + m_data->m_margin = margin; +} +btScalar btSdfCollisionShape::getMargin() const +{ + return m_data->m_margin; +} + +void btSdfCollisionShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const +{ + //not yet +} + + +bool btSdfCollisionShape::queryPoint(const btVector3& ptInSDF, btScalar& distOut, btVector3& normal) +{ + int field = 0; + btVector3 grad; + double dist; + bool hasResult = m_data->m_sdf.interpolate(field,dist, ptInSDF,&grad); + if (hasResult) + { + normal.setValue(grad[0],grad[1],grad[2]); + distOut= dist; + } + return hasResult; +} diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.h new file mode 100644 index 0000000000..6e32db9cd8 --- /dev/null +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.h @@ -0,0 +1,30 @@ +#ifndef BT_SDF_COLLISION_SHAPE_H +#define BT_SDF_COLLISION_SHAPE_H + +#include "btConcaveShape.h" + +class btSdfCollisionShape : public btConcaveShape +{ + struct btSdfCollisionShapeInternalData* m_data; + +public: + + btSdfCollisionShape(); + virtual ~btSdfCollisionShape(); + + bool initializeSDF(const char* sdfData, int sizeInBytes); + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + virtual void setLocalScaling(const btVector3& scaling); + virtual const btVector3& getLocalScaling() const; + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + virtual const char* getName()const; + virtual void setMargin(btScalar margin); + virtual btScalar getMargin() const; + + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; + + bool queryPoint(const btVector3& ptInSDF, btScalar& distOut, btVector3& normal); +}; + +#endif //BT_SDF_COLLISION_SHAPE_H diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp index 3beaf86580..9f712fe555 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp @@ -20,6 +20,8 @@ subject to the following restrictions: #include "LinearMath/btConvexHull.h" #define NUM_UNITSPHERE_POINTS 42 +#define NUM_UNITSPHERE_POINTS_HIGHRES 256 + btShapeHull::btShapeHull (const btConvexShape* shape) { @@ -36,9 +38,9 @@ btShapeHull::~btShapeHull () } bool -btShapeHull::buildHull (btScalar /*margin*/) +btShapeHull::buildHull (btScalar /*margin*/, int highres) { - int numSampleDirections = NUM_UNITSPHERE_POINTS; + int numSampleDirections = highres? NUM_UNITSPHERE_POINTS_HIGHRES:NUM_UNITSPHERE_POINTS; { int numPDA = m_shape->getNumPreferredPenetrationDirections(); if (numPDA) @@ -47,17 +49,17 @@ btShapeHull::buildHull (btScalar /*margin*/) { btVector3 norm; m_shape->getPreferredPenetrationDirection(i,norm); - getUnitSpherePoints()[numSampleDirections] = norm; + getUnitSpherePoints(highres)[numSampleDirections] = norm; numSampleDirections++; } } } - btVector3 supportPoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2]; + btVector3 supportPoints[NUM_UNITSPHERE_POINTS_HIGHRES+MAX_PREFERRED_PENETRATION_DIRECTIONS*2]; int i; for (i = 0; i < numSampleDirections; i++) { - supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints()[i]); + supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints(highres)[i]); } HullDesc hd; @@ -118,9 +120,268 @@ btShapeHull::numIndices () const } -btVector3* btShapeHull::getUnitSpherePoints() +btVector3* btShapeHull::getUnitSpherePoints(int highres) { - static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] = + static btVector3 sUnitSpherePointsHighres[NUM_UNITSPHERE_POINTS_HIGHRES + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] = + { + btVector3(btScalar(0.997604), btScalar(0.067004), btScalar(0.017144)), + btVector3(btScalar(0.984139), btScalar(-0.086784), btScalar(-0.154427)), + btVector3(btScalar(0.971065), btScalar(0.124164), btScalar(-0.203224)), + btVector3(btScalar(0.955844), btScalar(0.291173), btScalar(-0.037704)), + btVector3(btScalar(0.957405), btScalar(0.212238), btScalar(0.195157)), + btVector3(btScalar(0.971650), btScalar(-0.012709), btScalar(0.235561)), + btVector3(btScalar(0.984920), btScalar(-0.161831), btScalar(0.059695)), + btVector3(btScalar(0.946673), btScalar(-0.299288), btScalar(-0.117536)), + btVector3(btScalar(0.922670), btScalar(-0.219186), btScalar(-0.317019)), + btVector3(btScalar(0.928134), btScalar(-0.007265), btScalar(-0.371867)), + btVector3(btScalar(0.875642), btScalar(0.198434), btScalar(-0.439988)), + btVector3(btScalar(0.908035), btScalar(0.325975), btScalar(-0.262562)), + btVector3(btScalar(0.864519), btScalar(0.488706), btScalar(-0.116755)), + btVector3(btScalar(0.893009), btScalar(0.428046), btScalar(0.137185)), + btVector3(btScalar(0.857494), btScalar(0.362137), btScalar(0.364776)), + btVector3(btScalar(0.900815), btScalar(0.132524), btScalar(0.412987)), + btVector3(btScalar(0.934964), btScalar(-0.241739), btScalar(0.259179)), + btVector3(btScalar(0.894570), btScalar(-0.103504), btScalar(0.434263)), + btVector3(btScalar(0.922085), btScalar(-0.376668), btScalar(0.086241)), + btVector3(btScalar(0.862177), btScalar(-0.499154), btScalar(-0.085330)), + btVector3(btScalar(0.861982), btScalar(-0.420218), btScalar(-0.282861)), + btVector3(btScalar(0.818076), btScalar(-0.328256), btScalar(-0.471804)), + btVector3(btScalar(0.762657), btScalar(-0.179329), btScalar(-0.621124)), + btVector3(btScalar(0.826857), btScalar(0.019760), btScalar(-0.561786)), + btVector3(btScalar(0.731434), btScalar(0.206599), btScalar(-0.649817)), + btVector3(btScalar(0.769486), btScalar(0.379052), btScalar(-0.513770)), + btVector3(btScalar(0.796806), btScalar(0.507176), btScalar(-0.328145)), + btVector3(btScalar(0.679722), btScalar(0.684101), btScalar(-0.264123)), + btVector3(btScalar(0.786854), btScalar(0.614886), btScalar(0.050912)), + btVector3(btScalar(0.769486), btScalar(0.571141), btScalar(0.285139)), + btVector3(btScalar(0.707432), btScalar(0.492789), btScalar(0.506288)), + btVector3(btScalar(0.774560), btScalar(0.268037), btScalar(0.572652)), + btVector3(btScalar(0.796220), btScalar(0.031230), btScalar(0.604077)), + btVector3(btScalar(0.837395), btScalar(-0.320285), btScalar(0.442461)), + btVector3(btScalar(0.848127), btScalar(-0.450548), btScalar(0.278307)), + btVector3(btScalar(0.775536), btScalar(-0.206354), btScalar(0.596465)), + btVector3(btScalar(0.816320), btScalar(-0.567007), btScalar(0.109469)), + btVector3(btScalar(0.741191), btScalar(-0.668690), btScalar(-0.056832)), + btVector3(btScalar(0.755632), btScalar(-0.602975), btScalar(-0.254949)), + btVector3(btScalar(0.720311), btScalar(-0.521318), btScalar(-0.457165)), + btVector3(btScalar(0.670746), btScalar(-0.386583), btScalar(-0.632835)), + btVector3(btScalar(0.587031), btScalar(-0.219769), btScalar(-0.778836)), + btVector3(btScalar(0.676015), btScalar(-0.003182), btScalar(-0.736676)), + btVector3(btScalar(0.566932), btScalar(0.186963), btScalar(-0.802064)), + btVector3(btScalar(0.618254), btScalar(0.398105), btScalar(-0.677533)), + btVector3(btScalar(0.653964), btScalar(0.575224), btScalar(-0.490933)), + btVector3(btScalar(0.525367), btScalar(0.743205), btScalar(-0.414028)), + btVector3(btScalar(0.506439), btScalar(0.836528), btScalar(-0.208885)), + btVector3(btScalar(0.651427), btScalar(0.756426), btScalar(-0.056247)), + btVector3(btScalar(0.641670), btScalar(0.745149), btScalar(0.180908)), + btVector3(btScalar(0.602643), btScalar(0.687211), btScalar(0.405180)), + btVector3(btScalar(0.516586), btScalar(0.596999), btScalar(0.613447)), + btVector3(btScalar(0.602252), btScalar(0.387801), btScalar(0.697573)), + btVector3(btScalar(0.646549), btScalar(0.153911), btScalar(0.746956)), + btVector3(btScalar(0.650842), btScalar(-0.087756), btScalar(0.753983)), + btVector3(btScalar(0.740411), btScalar(-0.497404), btScalar(0.451830)), + btVector3(btScalar(0.726946), btScalar(-0.619890), btScalar(0.295093)), + btVector3(btScalar(0.637768), btScalar(-0.313092), btScalar(0.703624)), + btVector3(btScalar(0.678942), btScalar(-0.722934), btScalar(0.126645)), + btVector3(btScalar(0.489072), btScalar(-0.867195), btScalar(-0.092942)), + btVector3(btScalar(0.622742), btScalar(-0.757541), btScalar(-0.194636)), + btVector3(btScalar(0.596788), btScalar(-0.693576), btScalar(-0.403098)), + btVector3(btScalar(0.550150), btScalar(-0.582172), btScalar(-0.598287)), + btVector3(btScalar(0.474436), btScalar(-0.429745), btScalar(-0.768101)), + btVector3(btScalar(0.372574), btScalar(-0.246016), btScalar(-0.894583)), + btVector3(btScalar(0.480095), btScalar(-0.026513), btScalar(-0.876626)), + btVector3(btScalar(0.352474), btScalar(0.177242), btScalar(-0.918787)), + btVector3(btScalar(0.441848), btScalar(0.374386), btScalar(-0.814946)), + btVector3(btScalar(0.492389), btScalar(0.582223), btScalar(-0.646693)), + btVector3(btScalar(0.343498), btScalar(0.866080), btScalar(-0.362693)), + btVector3(btScalar(0.362036), btScalar(0.745149), btScalar(-0.559639)), + btVector3(btScalar(0.334131), btScalar(0.937044), btScalar(-0.099774)), + btVector3(btScalar(0.486925), btScalar(0.871718), btScalar(0.052473)), + btVector3(btScalar(0.452776), btScalar(0.845665), btScalar(0.281820)), + btVector3(btScalar(0.399503), btScalar(0.771785), btScalar(0.494576)), + btVector3(btScalar(0.296469), btScalar(0.673018), btScalar(0.677469)), + btVector3(btScalar(0.392088), btScalar(0.479179), btScalar(0.785213)), + btVector3(btScalar(0.452190), btScalar(0.252094), btScalar(0.855286)), + btVector3(btScalar(0.478339), btScalar(0.013149), btScalar(0.877928)), + btVector3(btScalar(0.481656), btScalar(-0.219380), btScalar(0.848259)), + btVector3(btScalar(0.615327), btScalar(-0.494293), btScalar(0.613837)), + btVector3(btScalar(0.594642), btScalar(-0.650414), btScalar(0.472325)), + btVector3(btScalar(0.562249), btScalar(-0.771345), btScalar(0.297631)), + btVector3(btScalar(0.467411), btScalar(-0.437133), btScalar(0.768231)), + btVector3(btScalar(0.519513), btScalar(-0.847947), btScalar(0.103808)), + btVector3(btScalar(0.297640), btScalar(-0.938159), btScalar(-0.176288)), + btVector3(btScalar(0.446727), btScalar(-0.838615), btScalar(-0.311359)), + btVector3(btScalar(0.331790), btScalar(-0.942437), btScalar(0.040762)), + btVector3(btScalar(0.413358), btScalar(-0.748403), btScalar(-0.518259)), + btVector3(btScalar(0.347596), btScalar(-0.621640), btScalar(-0.701737)), + btVector3(btScalar(0.249831), btScalar(-0.456186), btScalar(-0.853984)), + btVector3(btScalar(0.131772), btScalar(-0.262931), btScalar(-0.955678)), + btVector3(btScalar(0.247099), btScalar(-0.042261), btScalar(-0.967975)), + btVector3(btScalar(0.113624), btScalar(0.165965), btScalar(-0.979491)), + btVector3(btScalar(0.217438), btScalar(0.374580), btScalar(-0.901220)), + btVector3(btScalar(0.307983), btScalar(0.554615), btScalar(-0.772786)), + btVector3(btScalar(0.166702), btScalar(0.953181), btScalar(-0.252021)), + btVector3(btScalar(0.172751), btScalar(0.844499), btScalar(-0.506743)), + btVector3(btScalar(0.177630), btScalar(0.711125), btScalar(-0.679876)), + btVector3(btScalar(0.120064), btScalar(0.992260), btScalar(-0.030482)), + btVector3(btScalar(0.289640), btScalar(0.949098), btScalar(0.122546)), + btVector3(btScalar(0.239879), btScalar(0.909047), btScalar(0.340377)), + btVector3(btScalar(0.181142), btScalar(0.821363), btScalar(0.540641)), + btVector3(btScalar(0.066986), btScalar(0.719097), btScalar(0.691327)), + btVector3(btScalar(0.156750), btScalar(0.545478), btScalar(0.823079)), + btVector3(btScalar(0.236172), btScalar(0.342306), btScalar(0.909353)), + btVector3(btScalar(0.277541), btScalar(0.112693), btScalar(0.953856)), + btVector3(btScalar(0.295299), btScalar(-0.121974), btScalar(0.947415)), + btVector3(btScalar(0.287883), btScalar(-0.349254), btScalar(0.891591)), + btVector3(btScalar(0.437165), btScalar(-0.634666), btScalar(0.636869)), + btVector3(btScalar(0.407113), btScalar(-0.784954), btScalar(0.466664)), + btVector3(btScalar(0.375111), btScalar(-0.888193), btScalar(0.264839)), + btVector3(btScalar(0.275394), btScalar(-0.560591), btScalar(0.780723)), + btVector3(btScalar(0.122015), btScalar(-0.992209), btScalar(-0.024821)), + btVector3(btScalar(0.087866), btScalar(-0.966156), btScalar(-0.241676)), + btVector3(btScalar(0.239489), btScalar(-0.885665), btScalar(-0.397437)), + btVector3(btScalar(0.167287), btScalar(-0.965184), btScalar(0.200817)), + btVector3(btScalar(0.201632), btScalar(-0.776789), btScalar(-0.596335)), + btVector3(btScalar(0.122015), btScalar(-0.637971), btScalar(-0.760098)), + btVector3(btScalar(0.008054), btScalar(-0.464741), btScalar(-0.885214)), + btVector3(btScalar(-0.116054), btScalar(-0.271096), btScalar(-0.955482)), + btVector3(btScalar(-0.000727), btScalar(-0.056065), btScalar(-0.998424)), + btVector3(btScalar(-0.134007), btScalar(0.152939), btScalar(-0.978905)), + btVector3(btScalar(-0.025900), btScalar(0.366026), btScalar(-0.930108)), + btVector3(btScalar(0.081231), btScalar(0.557337), btScalar(-0.826072)), + btVector3(btScalar(-0.002874), btScalar(0.917213), btScalar(-0.398023)), + btVector3(btScalar(-0.050683), btScalar(0.981761), btScalar(-0.182534)), + btVector3(btScalar(-0.040536), btScalar(0.710153), btScalar(-0.702713)), + btVector3(btScalar(-0.139081), btScalar(0.827973), btScalar(-0.543048)), + btVector3(btScalar(-0.101029), btScalar(0.994010), btScalar(0.041152)), + btVector3(btScalar(0.069328), btScalar(0.978067), btScalar(0.196133)), + btVector3(btScalar(0.023860), btScalar(0.911380), btScalar(0.410645)), + btVector3(btScalar(-0.153521), btScalar(0.736789), btScalar(0.658145)), + btVector3(btScalar(-0.070002), btScalar(0.591750), btScalar(0.802780)), + btVector3(btScalar(0.002590), btScalar(0.312948), btScalar(0.949562)), + btVector3(btScalar(0.090988), btScalar(-0.020680), btScalar(0.995627)), + btVector3(btScalar(0.088842), btScalar(-0.250099), btScalar(0.964006)), + btVector3(btScalar(0.083378), btScalar(-0.470185), btScalar(0.878318)), + btVector3(btScalar(0.240074), btScalar(-0.749764), btScalar(0.616374)), + btVector3(btScalar(0.210803), btScalar(-0.885860), btScalar(0.412987)), + btVector3(btScalar(0.077524), btScalar(-0.660524), btScalar(0.746565)), + btVector3(btScalar(-0.096736), btScalar(-0.990070), btScalar(-0.100945)), + btVector3(btScalar(-0.052634), btScalar(-0.990264), btScalar(0.127426)), + btVector3(btScalar(-0.106102), btScalar(-0.938354), btScalar(-0.328340)), + btVector3(btScalar(0.013323), btScalar(-0.863112), btScalar(-0.504596)), + btVector3(btScalar(-0.002093), btScalar(-0.936993), btScalar(0.349161)), + btVector3(btScalar(-0.106297), btScalar(-0.636610), btScalar(-0.763612)), + btVector3(btScalar(-0.229430), btScalar(-0.463769), btScalar(-0.855546)), + btVector3(btScalar(-0.245236), btScalar(-0.066175), btScalar(-0.966999)), + btVector3(btScalar(-0.351587), btScalar(-0.270513), btScalar(-0.896145)), + btVector3(btScalar(-0.370906), btScalar(0.133108), btScalar(-0.918982)), + btVector3(btScalar(-0.264360), btScalar(0.346000), btScalar(-0.900049)), + btVector3(btScalar(-0.151375), btScalar(0.543728), btScalar(-0.825291)), + btVector3(btScalar(-0.218697), btScalar(0.912741), btScalar(-0.344346)), + btVector3(btScalar(-0.274507), btScalar(0.953764), btScalar(-0.121635)), + btVector3(btScalar(-0.259677), btScalar(0.692266), btScalar(-0.673044)), + btVector3(btScalar(-0.350416), btScalar(0.798810), btScalar(-0.488786)), + btVector3(btScalar(-0.320170), btScalar(0.941127), btScalar(0.108297)), + btVector3(btScalar(-0.147667), btScalar(0.952792), btScalar(0.265034)), + btVector3(btScalar(-0.188061), btScalar(0.860636), btScalar(0.472910)), + btVector3(btScalar(-0.370906), btScalar(0.739900), btScalar(0.560941)), + btVector3(btScalar(-0.297143), btScalar(0.585334), btScalar(0.754178)), + btVector3(btScalar(-0.189622), btScalar(0.428241), btScalar(0.883393)), + btVector3(btScalar(-0.091272), btScalar(0.098695), btScalar(0.990747)), + btVector3(btScalar(-0.256945), btScalar(0.228375), btScalar(0.938827)), + btVector3(btScalar(-0.111761), btScalar(-0.133251), btScalar(0.984696)), + btVector3(btScalar(-0.118006), btScalar(-0.356253), btScalar(0.926725)), + btVector3(btScalar(-0.119372), btScalar(-0.563896), btScalar(0.817029)), + btVector3(btScalar(0.041228), btScalar(-0.833949), btScalar(0.550010)), + btVector3(btScalar(-0.121909), btScalar(-0.736543), btScalar(0.665172)), + btVector3(btScalar(-0.307681), btScalar(-0.931160), btScalar(-0.195026)), + btVector3(btScalar(-0.283679), btScalar(-0.957990), btScalar(0.041348)), + btVector3(btScalar(-0.227284), btScalar(-0.935243), btScalar(0.270890)), + btVector3(btScalar(-0.293436), btScalar(-0.858252), btScalar(-0.420860)), + btVector3(btScalar(-0.175767), btScalar(-0.780677), btScalar(-0.599262)), + btVector3(btScalar(-0.170108), btScalar(-0.858835), btScalar(0.482865)), + btVector3(btScalar(-0.332854), btScalar(-0.635055), btScalar(-0.696857)), + btVector3(btScalar(-0.447791), btScalar(-0.445299), btScalar(-0.775128)), + btVector3(btScalar(-0.470622), btScalar(-0.074146), btScalar(-0.879164)), + btVector3(btScalar(-0.639417), btScalar(-0.340505), btScalar(-0.689049)), + btVector3(btScalar(-0.598438), btScalar(0.104722), btScalar(-0.794256)), + btVector3(btScalar(-0.488575), btScalar(0.307699), btScalar(-0.816313)), + btVector3(btScalar(-0.379882), btScalar(0.513592), btScalar(-0.769077)), + btVector3(btScalar(-0.425740), btScalar(0.862775), btScalar(-0.272516)), + btVector3(btScalar(-0.480769), btScalar(0.875412), btScalar(-0.048439)), + btVector3(btScalar(-0.467890), btScalar(0.648716), btScalar(-0.600043)), + btVector3(btScalar(-0.543799), btScalar(0.730956), btScalar(-0.411881)), + btVector3(btScalar(-0.516284), btScalar(0.838277), btScalar(0.174076)), + btVector3(btScalar(-0.353343), btScalar(0.876384), btScalar(0.326519)), + btVector3(btScalar(-0.572875), btScalar(0.614497), btScalar(0.542007)), + btVector3(btScalar(-0.503600), btScalar(0.497261), btScalar(0.706161)), + btVector3(btScalar(-0.530920), btScalar(0.754870), btScalar(0.384685)), + btVector3(btScalar(-0.395884), btScalar(0.366414), btScalar(0.841818)), + btVector3(btScalar(-0.300656), btScalar(0.001678), btScalar(0.953661)), + btVector3(btScalar(-0.461060), btScalar(0.146912), btScalar(0.875000)), + btVector3(btScalar(-0.315486), btScalar(-0.232212), btScalar(0.919893)), + btVector3(btScalar(-0.323682), btScalar(-0.449187), btScalar(0.832644)), + btVector3(btScalar(-0.318999), btScalar(-0.639527), btScalar(0.699134)), + btVector3(btScalar(-0.496771), btScalar(-0.866029), btScalar(-0.055271)), + btVector3(btScalar(-0.496771), btScalar(-0.816257), btScalar(-0.294377)), + btVector3(btScalar(-0.456377), btScalar(-0.869528), btScalar(0.188130)), + btVector3(btScalar(-0.380858), btScalar(-0.827144), btScalar(0.412792)), + btVector3(btScalar(-0.449352), btScalar(-0.727405), btScalar(-0.518259)), + btVector3(btScalar(-0.570533), btScalar(-0.551064), btScalar(-0.608632)), + btVector3(btScalar(-0.656394), btScalar(-0.118280), btScalar(-0.744874)), + btVector3(btScalar(-0.756696), btScalar(-0.438105), btScalar(-0.484882)), + btVector3(btScalar(-0.801773), btScalar(-0.204798), btScalar(-0.561005)), + btVector3(btScalar(-0.785186), btScalar(0.038618), btScalar(-0.617805)), + btVector3(btScalar(-0.709082), btScalar(0.262399), btScalar(-0.654306)), + btVector3(btScalar(-0.583412), btScalar(0.462265), btScalar(-0.667383)), + btVector3(btScalar(-0.616001), btScalar(0.761286), btScalar(-0.201272)), + btVector3(btScalar(-0.660687), btScalar(0.750204), btScalar(0.020072)), + btVector3(btScalar(-0.744987), btScalar(0.435823), btScalar(-0.504791)), + btVector3(btScalar(-0.713765), btScalar(0.605554), btScalar(-0.351373)), + btVector3(btScalar(-0.686251), btScalar(0.687600), btScalar(0.236927)), + btVector3(btScalar(-0.680201), btScalar(0.429407), btScalar(0.593732)), + btVector3(btScalar(-0.733474), btScalar(0.546450), btScalar(0.403814)), + btVector3(btScalar(-0.591023), btScalar(0.292923), btScalar(0.751445)), + btVector3(btScalar(-0.500283), btScalar(-0.080757), btScalar(0.861922)), + btVector3(btScalar(-0.643710), btScalar(0.070115), btScalar(0.761985)), + btVector3(btScalar(-0.506332), btScalar(-0.308425), btScalar(0.805122)), + btVector3(btScalar(-0.503015), btScalar(-0.509847), btScalar(0.697573)), + btVector3(btScalar(-0.482525), btScalar(-0.682105), btScalar(0.549229)), + btVector3(btScalar(-0.680396), btScalar(-0.716323), btScalar(-0.153451)), + btVector3(btScalar(-0.658346), btScalar(-0.746264), btScalar(0.097562)), + btVector3(btScalar(-0.653272), btScalar(-0.646915), btScalar(-0.392948)), + btVector3(btScalar(-0.590828), btScalar(-0.732655), btScalar(0.337645)), + btVector3(btScalar(-0.819140), btScalar(-0.518013), btScalar(-0.246166)), + btVector3(btScalar(-0.900513), btScalar(-0.282178), btScalar(-0.330487)), + btVector3(btScalar(-0.914953), btScalar(-0.028652), btScalar(-0.402122)), + btVector3(btScalar(-0.859924), btScalar(0.220209), btScalar(-0.459898)), + btVector3(btScalar(-0.777185), btScalar(0.613720), btScalar(-0.137836)), + btVector3(btScalar(-0.805285), btScalar(0.586889), btScalar(0.082728)), + btVector3(btScalar(-0.872413), btScalar(0.406077), btScalar(-0.271735)), + btVector3(btScalar(-0.859339), btScalar(0.448072), btScalar(0.246101)), + btVector3(btScalar(-0.757671), btScalar(0.216320), btScalar(0.615594)), + btVector3(btScalar(-0.826165), btScalar(0.348139), btScalar(0.442851)), + btVector3(btScalar(-0.671810), btScalar(-0.162803), btScalar(0.722557)), + btVector3(btScalar(-0.796504), btScalar(-0.004543), btScalar(0.604468)), + btVector3(btScalar(-0.676298), btScalar(-0.378223), btScalar(0.631794)), + btVector3(btScalar(-0.668883), btScalar(-0.558258), btScalar(0.490673)), + btVector3(btScalar(-0.821287), btScalar(-0.570118), btScalar(0.006994)), + btVector3(btScalar(-0.767428), btScalar(-0.587810), btScalar(0.255470)), + btVector3(btScalar(-0.933296), btScalar(-0.349837), btScalar(-0.079865)), + btVector3(btScalar(-0.982667), btScalar(-0.100393), btScalar(-0.155208)), + btVector3(btScalar(-0.961396), btScalar(0.160910), btScalar(-0.222938)), + btVector3(btScalar(-0.934858), btScalar(0.354555), btScalar(-0.006864)), + btVector3(btScalar(-0.941687), btScalar(0.229736), btScalar(0.245711)), + btVector3(btScalar(-0.884317), btScalar(0.131552), btScalar(0.447536)), + btVector3(btScalar(-0.810359), btScalar(-0.219769), btScalar(0.542788)), + btVector3(btScalar(-0.915929), btScalar(-0.210048), btScalar(0.341743)), + btVector3(btScalar(-0.816799), btScalar(-0.407192), btScalar(0.408303)), + btVector3(btScalar(-0.903050), btScalar(-0.392416), btScalar(0.174076)), + btVector3(btScalar(-0.980325), btScalar(-0.170969), btScalar(0.096586)), + btVector3(btScalar(-0.995936), btScalar(0.084891), btScalar(0.029441)), + btVector3(btScalar(-0.960031), btScalar(0.002650), btScalar(0.279283)), + }; + static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] = { btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)), btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)), @@ -165,6 +426,8 @@ btVector3* btShapeHull::getUnitSpherePoints() btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)), btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654)) }; + if (highres) + return sUnitSpherePointsHighres; return sUnitSpherePoints; } diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h index e959f198b6..78ea4b6501 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h @@ -34,7 +34,7 @@ protected: unsigned int m_numIndices; const btConvexShape* m_shape; - static btVector3* getUnitSpherePoints(); + static btVector3* getUnitSpherePoints(int highres=0); public: BT_DECLARE_ALIGNED_ALLOCATOR(); @@ -42,7 +42,7 @@ public: btShapeHull (const btConvexShape* shape); ~btShapeHull (); - bool buildHull (btScalar margin); + bool buildHull (btScalar margin, int highres=0); int numTriangles () const; int numVertices () const; diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp index d17141e3f2..b5e0e716d4 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp @@ -69,8 +69,6 @@ void btStaticPlaneShape::processAllTriangles(btTriangleCallback* callback,const //tangentDir0/tangentDir1 can be precalculated btPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1); - btVector3 supVertex0,supVertex1; - btVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant)*m_planeNormal; btVector3 triangle[3]; diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h index 9e1544e87a..b7a6f74361 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h @@ -63,7 +63,7 @@ typedef btAlignedObjectArray<btIndexedMesh> IndexedMeshArray; ///The btTriangleIndexVertexArray allows to access multiple triangle meshes, by indexing into existing triangle/index arrays. ///Additional meshes can be added using addIndexedMesh -///No duplcate is made of the vertex/index data, it only indexes into external vertex/index arrays. +///No duplicate is made of the vertex/index data, it only indexes into external vertex/index arrays. ///So keep those arrays around during the lifetime of this btTriangleIndexVertexArray. ATTRIBUTE_ALIGNED16( class) btTriangleIndexVertexArray : public btStridingMeshInterface { diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp index 940282f576..3481fec850 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp @@ -113,12 +113,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact( if ((relLinVelocLength+maxAngularProjectedVelocity) == 0.f) return false; - - btScalar lambda = btScalar(0.); - btVector3 v(1,0,0); - - int maxIter = MAX_ITERATIONS; btVector3 n; n.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); @@ -137,8 +132,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact( btPointCollector pointCollector1; - { - + { computeClosestPoints(fromA,fromB,pointCollector1); hasResult = pointCollector1.m_hasResult; @@ -172,28 +166,20 @@ bool btContinuousConvexCollision::calcTimeOfImpact( dLambda = dist / (projectedLinearVelocity+ maxAngularProjectedVelocity); - - - lambda = lambda + dLambda; + lambda += dLambda; - if (lambda > btScalar(1.)) + if (lambda > btScalar(1.) || lambda < btScalar(0.)) return false; - if (lambda < btScalar(0.)) - return false; - - //todo: next check with relative epsilon if (lambda <= lastLambda) { return false; //n.setValue(0,0,0); - break; + //break; } lastLambda = lambda; - - //interpolate to next lambda btTransform interpolatedTransA,interpolatedTransB,relativeTrans; @@ -223,7 +209,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact( } numIter++; - if (numIter > maxIter) + if (numIter > MAX_ITERATIONS) { result.reportFailure(-2, numIter); return false; @@ -237,6 +223,5 @@ bool btContinuousConvexCollision::calcTimeOfImpact( } return false; - } diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h index bdc0572f75..528b5e0101 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h @@ -25,7 +25,7 @@ class btStaticPlaneShape; /// btContinuousConvexCollision implements angular and linear time of impact for convex objects. /// Based on Brian Mirtich's Conservative Advancement idea (PhD thesis). -/// Algorithm operates in worldspace, in order to keep inbetween motion globally consistent. +/// Algorithm operates in worldspace, in order to keep in between motion globally consistent. /// It uses GJK at the moment. Future improvement would use minkowski sum / supporting vertex, merging innerloops class btContinuousConvexCollision : public btConvexCast { diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp index 572ec36f56..b79f49d611 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp @@ -21,46 +21,64 @@ subject to the following restrictions: #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" -bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver, - const btConvexShape* pConvexA, const btConvexShape* pConvexB, - const btTransform& transformA, const btTransform& transformB, - btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB, - class btIDebugDraw* debugDraw) +bool btGjkEpaPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver, + const btConvexShape* pConvexA, const btConvexShape* pConvexB, + const btTransform& transformA, const btTransform& transformB, + btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB, + class btIDebugDraw* debugDraw) { (void)debugDraw; (void)v; (void)simplexSolver; -// const btScalar radialmargin(btScalar(0.)); - - btVector3 guessVector(transformB.getOrigin()-transformA.getOrigin()); - btGjkEpaSolver2::sResults results; - + btVector3 guessVectors[] = { + btVector3(transformB.getOrigin() - transformA.getOrigin()).normalized(), + btVector3(transformA.getOrigin() - transformB.getOrigin()).normalized(), + btVector3(0, 0, 1), + btVector3(0, 1, 0), + btVector3(1, 0, 0), + btVector3(1, 1, 0), + btVector3(1, 1, 1), + btVector3(0, 1, 1), + btVector3(1, 0, 1), + }; - if(btGjkEpaSolver2::Penetration(pConvexA,transformA, - pConvexB,transformB, - guessVector,results)) - - { - // debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0)); - //resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth); - wWitnessOnA = results.witnesses[0]; - wWitnessOnB = results.witnesses[1]; - v = results.normal; - return true; - } else + int numVectors = sizeof(guessVectors) / sizeof(btVector3); + + for (int i = 0; i < numVectors; i++) { - if(btGjkEpaSolver2::Distance(pConvexA,transformA,pConvexB,transformB,guessVector,results)) + simplexSolver.reset(); + btVector3 guessVector = guessVectors[i]; + + btGjkEpaSolver2::sResults results; + + if (btGjkEpaSolver2::Penetration(pConvexA, transformA, + pConvexB, transformB, + guessVector, results)) + { wWitnessOnA = results.witnesses[0]; wWitnessOnB = results.witnesses[1]; v = results.normal; - return false; + return true; + } + else + { + if (btGjkEpaSolver2::Distance(pConvexA, transformA, pConvexB, transformB, guessVector, results)) + { + wWitnessOnA = results.witnesses[0]; + wWitnessOnB = results.witnesses[1]; + v = results.normal; + return false; + } } } + //failed to find a distance/penetration + wWitnessOnA.setValue(0, 0, 0); + wWitnessOnB.setValue(0, 0, 0); + v.setValue(0, 0, 0); return false; } - diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp index 257b026d9b..a0b825f0e8 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp @@ -1,4 +1,4 @@ -/* +/* Bullet Continuous Collision Detection and Physics Library Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ @@ -32,7 +32,7 @@ subject to the following restrictions: //must be above the machine epsilon #ifdef BT_USE_DOUBLE_PRECISION #define REL_ERROR2 btScalar(1.0e-12) - btScalar gGjkEpaPenetrationTolerance = 1e-7; + btScalar gGjkEpaPenetrationTolerance = 1.0e-12; #else #define REL_ERROR2 btScalar(1.0e-6) btScalar gGjkEpaPenetrationTolerance = 0.001; @@ -83,6 +83,593 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& getClosestPointsNonVirtual(input,output,debugDraw); } +static void btComputeSupport(const btConvexShape* convexA, const btTransform& localTransA, const btConvexShape* convexB, const btTransform& localTransB, const btVector3& dir, bool check2d, btVector3& supAworld, btVector3& supBworld, btVector3& aMinb) +{ + btVector3 seperatingAxisInA = (dir)* localTransA.getBasis(); + btVector3 seperatingAxisInB = (-dir)* localTransB.getBasis(); + + btVector3 pInANoMargin = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); + btVector3 qInBNoMargin = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + + btVector3 pInA = pInANoMargin; + btVector3 qInB = qInBNoMargin; + + supAworld = localTransA(pInA); + supBworld = localTransB(qInB); + + if (check2d) + { + supAworld[2] = 0.f; + supBworld[2] = 0.f; + } + + aMinb = supAworld - supBworld; +} + +struct btSupportVector +{ + btVector3 v; //!< Support point in minkowski sum + btVector3 v1; //!< Support point in obj1 + btVector3 v2; //!< Support point in obj2 +}; + +struct btSimplex +{ + btSupportVector ps[4]; + int last; //!< index of last added point +}; + +static btVector3 ccd_vec3_origin(0, 0, 0); + + +inline void btSimplexInit(btSimplex *s) +{ + s->last = -1; +} + +inline int btSimplexSize(const btSimplex *s) +{ + return s->last + 1; +} + +inline const btSupportVector *btSimplexPoint(const btSimplex *s, int idx) +{ + // here is no check on boundaries + return &s->ps[idx]; +} +inline void btSupportCopy(btSupportVector *d, const btSupportVector *s) +{ + *d = *s; +} + +inline void btVec3Copy(btVector3 *v, const btVector3* w) +{ + *v = *w; +} + +inline void ccdVec3Add(btVector3*v, const btVector3*w) +{ + v->m_floats[0] += w->m_floats[0]; + v->m_floats[1] += w->m_floats[1]; + v->m_floats[2] += w->m_floats[2]; +} + + +inline void ccdVec3Sub(btVector3 *v, const btVector3 *w) +{ + *v -= *w; +} +inline void btVec3Sub2(btVector3 *d, const btVector3 *v, const btVector3 *w) +{ + *d = (*v) - (*w); + +} +inline btScalar btVec3Dot(const btVector3 *a, const btVector3 *b) +{ + btScalar dot; + dot = a->dot(*b); + + return dot; +} + +inline btScalar ccdVec3Dist2(const btVector3 *a, const btVector3*b) +{ + btVector3 ab; + btVec3Sub2(&ab, a, b); + return btVec3Dot(&ab, &ab); +} + + +inline void btVec3Scale(btVector3 *d, btScalar k) +{ + d->m_floats[0] *= k; + d->m_floats[1] *= k; + d->m_floats[2] *= k; +} + +inline void btVec3Cross(btVector3 *d, const btVector3 *a, const btVector3 *b) +{ + d->m_floats[0] = (a->m_floats[1] * b->m_floats[2]) - (a->m_floats[2] * b->m_floats[1]); + d->m_floats[1] = (a->m_floats[2] * b->m_floats[0]) - (a->m_floats[0] * b->m_floats[2]); + d->m_floats[2] = (a->m_floats[0] * b->m_floats[1]) - (a->m_floats[1] * b->m_floats[0]); +} + +inline void btTripleCross(const btVector3 *a, const btVector3 *b, + const btVector3 *c, btVector3 *d) +{ + btVector3 e; + btVec3Cross(&e, a, b); + btVec3Cross(d, &e, c); +} + +inline int ccdEq(btScalar _a, btScalar _b) +{ + btScalar ab; + btScalar a, b; + + ab = btFabs(_a - _b); + if (btFabs(ab) < SIMD_EPSILON) + return 1; + + a = btFabs(_a); + b = btFabs(_b); + if (b > a) { + return ab < SIMD_EPSILON * b; + } + else { + return ab < SIMD_EPSILON * a; + } +} + +btScalar ccdVec3X(const btVector3* v) +{ + return v->x(); +} + +btScalar ccdVec3Y(const btVector3* v) +{ + return v->y(); +} + +btScalar ccdVec3Z(const btVector3* v) +{ + return v->z(); +} +inline int btVec3Eq(const btVector3 *a, const btVector3 *b) +{ + return ccdEq(ccdVec3X(a), ccdVec3X(b)) + && ccdEq(ccdVec3Y(a), ccdVec3Y(b)) + && ccdEq(ccdVec3Z(a), ccdVec3Z(b)); +} + + +inline void btSimplexAdd(btSimplex *s, const btSupportVector *v) +{ + // here is no check on boundaries in sake of speed + ++s->last; + btSupportCopy(s->ps + s->last, v); +} + + +inline void btSimplexSet(btSimplex *s, size_t pos, const btSupportVector *a) +{ + btSupportCopy(s->ps + pos, a); +} + +inline void btSimplexSetSize(btSimplex *s, int size) +{ + s->last = size - 1; +} + +inline const btSupportVector *ccdSimplexLast(const btSimplex *s) +{ + return btSimplexPoint(s, s->last); +} + +inline int ccdSign(btScalar val) +{ + if (btFuzzyZero(val)) { + return 0; + } + else if (val < btScalar(0)) { + return -1; + } + return 1; +} + + +inline btScalar btVec3PointSegmentDist2(const btVector3 *P, + const btVector3 *x0, + const btVector3 *b, + btVector3 *witness) +{ + // The computation comes from solving equation of segment: + // S(t) = x0 + t.d + // where - x0 is initial point of segment + // - d is direction of segment from x0 (|d| > 0) + // - t belongs to <0, 1> interval + // + // Than, distance from a segment to some point P can be expressed: + // D(t) = |x0 + t.d - P|^2 + // which is distance from any point on segment. Minimization + // of this function brings distance from P to segment. + // Minimization of D(t) leads to simple quadratic equation that's + // solving is straightforward. + // + // Bonus of this method is witness point for free. + + btScalar dist, t; + btVector3 d, a; + + // direction of segment + btVec3Sub2(&d, b, x0); + + // precompute vector from P to x0 + btVec3Sub2(&a, x0, P); + + t = -btScalar(1.) * btVec3Dot(&a, &d); + t /= btVec3Dot(&d, &d); + + if (t < btScalar(0) || btFuzzyZero(t)) { + dist = ccdVec3Dist2(x0, P); + if (witness) + btVec3Copy(witness, x0); + } + else if (t > btScalar(1) || ccdEq(t, btScalar(1))) { + dist = ccdVec3Dist2(b, P); + if (witness) + btVec3Copy(witness, b); + } + else { + if (witness) { + btVec3Copy(witness, &d); + btVec3Scale(witness, t); + ccdVec3Add(witness, x0); + dist = ccdVec3Dist2(witness, P); + } + else { + // recycling variables + btVec3Scale(&d, t); + ccdVec3Add(&d, &a); + dist = btVec3Dot(&d, &d); + } + } + + return dist; +} + + +btScalar btVec3PointTriDist2(const btVector3 *P, + const btVector3 *x0, const btVector3 *B, + const btVector3 *C, + btVector3 *witness) +{ + // Computation comes from analytic expression for triangle (x0, B, C) + // T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and + // Then equation for distance is: + // D(s, t) = | T(s, t) - P |^2 + // This leads to minimization of quadratic function of two variables. + // The solution from is taken only if s is between 0 and 1, t is + // between 0 and 1 and t + s < 1, otherwise distance from segment is + // computed. + + btVector3 d1, d2, a; + double u, v, w, p, q, r; + double s, t, dist, dist2; + btVector3 witness2; + + btVec3Sub2(&d1, B, x0); + btVec3Sub2(&d2, C, x0); + btVec3Sub2(&a, x0, P); + + u = btVec3Dot(&a, &a); + v = btVec3Dot(&d1, &d1); + w = btVec3Dot(&d2, &d2); + p = btVec3Dot(&a, &d1); + q = btVec3Dot(&a, &d2); + r = btVec3Dot(&d1, &d2); + + s = (q * r - w * p) / (w * v - r * r); + t = (-s * r - q) / w; + + if ((btFuzzyZero(s) || s > btScalar(0)) + && (ccdEq(s, btScalar(1)) || s < btScalar(1)) + && (btFuzzyZero(t) || t > btScalar(0)) + && (ccdEq(t, btScalar(1)) || t < btScalar(1)) + && (ccdEq(t + s, btScalar(1)) || t + s < btScalar(1))) { + + if (witness) + { + btVec3Scale(&d1, s); + btVec3Scale(&d2, t); + btVec3Copy(witness, x0); + ccdVec3Add(witness, &d1); + ccdVec3Add(witness, &d2); + + dist = ccdVec3Dist2(witness, P); + } + else + { + dist = s * s * v; + dist += t * t * w; + dist += btScalar(2.) * s * t * r; + dist += btScalar(2.) * s * p; + dist += btScalar(2.) * t * q; + dist += u; + } + } + else { + dist = btVec3PointSegmentDist2(P, x0, B, witness); + + dist2 = btVec3PointSegmentDist2(P, x0, C, &witness2); + if (dist2 < dist) { + dist = dist2; + if (witness) + btVec3Copy(witness, &witness2); + } + + dist2 = btVec3PointSegmentDist2(P, B, C, &witness2); + if (dist2 < dist) { + dist = dist2; + if (witness) + btVec3Copy(witness, &witness2); + } + } + + return dist; +} + + +static int btDoSimplex2(btSimplex *simplex, btVector3 *dir) +{ + const btSupportVector *A, *B; + btVector3 AB, AO, tmp; + btScalar dot; + + // get last added as A + A = ccdSimplexLast(simplex); + // get the other point + B = btSimplexPoint(simplex, 0); + // compute AB oriented segment + btVec3Sub2(&AB, &B->v, &A->v); + // compute AO vector + btVec3Copy(&AO, &A->v); + btVec3Scale(&AO, -btScalar(1)); + + // dot product AB . AO + dot = btVec3Dot(&AB, &AO); + + // check if origin doesn't lie on AB segment + btVec3Cross(&tmp, &AB, &AO); + if (btFuzzyZero(btVec3Dot(&tmp, &tmp)) && dot > btScalar(0)) { + return 1; + } + + // check if origin is in area where AB segment is + if (btFuzzyZero(dot) || dot < btScalar(0)) { + // origin is in outside are of A + btSimplexSet(simplex, 0, A); + btSimplexSetSize(simplex, 1); + btVec3Copy(dir, &AO); + } + else { + // origin is in area where AB segment is + + // keep simplex untouched and set direction to + // AB x AO x AB + btTripleCross(&AB, &AO, &AB, dir); + } + + return 0; +} + + + +static int btDoSimplex3(btSimplex *simplex, btVector3 *dir) +{ + const btSupportVector *A, *B, *C; + btVector3 AO, AB, AC, ABC, tmp; + btScalar dot, dist; + + // get last added as A + A = ccdSimplexLast(simplex); + // get the other points + B = btSimplexPoint(simplex, 1); + C = btSimplexPoint(simplex, 0); + + // check touching contact + dist = btVec3PointTriDist2(&ccd_vec3_origin, &A->v, &B->v, &C->v, 0); + if (btFuzzyZero(dist)) { + return 1; + } + + // check if triangle is really triangle (has area > 0) + // if not simplex can't be expanded and thus no itersection is found + if (btVec3Eq(&A->v, &B->v) || btVec3Eq(&A->v, &C->v)) { + return -1; + } + + // compute AO vector + btVec3Copy(&AO, &A->v); + btVec3Scale(&AO, -btScalar(1)); + + // compute AB and AC segments and ABC vector (perpendircular to triangle) + btVec3Sub2(&AB, &B->v, &A->v); + btVec3Sub2(&AC, &C->v, &A->v); + btVec3Cross(&ABC, &AB, &AC); + + btVec3Cross(&tmp, &ABC, &AC); + dot = btVec3Dot(&tmp, &AO); + if (btFuzzyZero(dot) || dot > btScalar(0)) { + dot = btVec3Dot(&AC, &AO); + if (btFuzzyZero(dot) || dot > btScalar(0)) { + // C is already in place + btSimplexSet(simplex, 1, A); + btSimplexSetSize(simplex, 2); + btTripleCross(&AC, &AO, &AC, dir); + } + else { + + dot = btVec3Dot(&AB, &AO); + if (btFuzzyZero(dot) || dot > btScalar(0)) { + btSimplexSet(simplex, 0, B); + btSimplexSet(simplex, 1, A); + btSimplexSetSize(simplex, 2); + btTripleCross(&AB, &AO, &AB, dir); + } + else { + btSimplexSet(simplex, 0, A); + btSimplexSetSize(simplex, 1); + btVec3Copy(dir, &AO); + } + } + } + else { + btVec3Cross(&tmp, &AB, &ABC); + dot = btVec3Dot(&tmp, &AO); + if (btFuzzyZero(dot) || dot > btScalar(0)) + { + dot = btVec3Dot(&AB, &AO); + if (btFuzzyZero(dot) || dot > btScalar(0)) { + btSimplexSet(simplex, 0, B); + btSimplexSet(simplex, 1, A); + btSimplexSetSize(simplex, 2); + btTripleCross(&AB, &AO, &AB, dir); + } + else { + btSimplexSet(simplex, 0, A); + btSimplexSetSize(simplex, 1); + btVec3Copy(dir, &AO); + } + } + else { + dot = btVec3Dot(&ABC, &AO); + if (btFuzzyZero(dot) || dot > btScalar(0)) { + btVec3Copy(dir, &ABC); + } + else { + btSupportVector tmp; + btSupportCopy(&tmp, C); + btSimplexSet(simplex, 0, B); + btSimplexSet(simplex, 1, &tmp); + + btVec3Copy(dir, &ABC); + btVec3Scale(dir, -btScalar(1)); + } + } + } + + return 0; +} + +static int btDoSimplex4(btSimplex *simplex, btVector3 *dir) +{ + const btSupportVector *A, *B, *C, *D; + btVector3 AO, AB, AC, AD, ABC, ACD, ADB; + int B_on_ACD, C_on_ADB, D_on_ABC; + int AB_O, AC_O, AD_O; + btScalar dist; + + // get last added as A + A = ccdSimplexLast(simplex); + // get the other points + B = btSimplexPoint(simplex, 2); + C = btSimplexPoint(simplex, 1); + D = btSimplexPoint(simplex, 0); + + // check if tetrahedron is really tetrahedron (has volume > 0) + // if it is not simplex can't be expanded and thus no intersection is + // found + dist = btVec3PointTriDist2(&A->v, &B->v, &C->v, &D->v, 0); + if (btFuzzyZero(dist)) { + return -1; + } + + // check if origin lies on some of tetrahedron's face - if so objects + // intersect + dist = btVec3PointTriDist2(&ccd_vec3_origin, &A->v, &B->v, &C->v, 0); + if (btFuzzyZero(dist)) + return 1; + dist = btVec3PointTriDist2(&ccd_vec3_origin, &A->v, &C->v, &D->v, 0); + if (btFuzzyZero(dist)) + return 1; + dist = btVec3PointTriDist2(&ccd_vec3_origin, &A->v, &B->v, &D->v, 0); + if (btFuzzyZero(dist)) + return 1; + dist = btVec3PointTriDist2(&ccd_vec3_origin, &B->v, &C->v, &D->v, 0); + if (btFuzzyZero(dist)) + return 1; + + // compute AO, AB, AC, AD segments and ABC, ACD, ADB normal vectors + btVec3Copy(&AO, &A->v); + btVec3Scale(&AO, -btScalar(1)); + btVec3Sub2(&AB, &B->v, &A->v); + btVec3Sub2(&AC, &C->v, &A->v); + btVec3Sub2(&AD, &D->v, &A->v); + btVec3Cross(&ABC, &AB, &AC); + btVec3Cross(&ACD, &AC, &AD); + btVec3Cross(&ADB, &AD, &AB); + + // side (positive or negative) of B, C, D relative to planes ACD, ADB + // and ABC respectively + B_on_ACD = ccdSign(btVec3Dot(&ACD, &AB)); + C_on_ADB = ccdSign(btVec3Dot(&ADB, &AC)); + D_on_ABC = ccdSign(btVec3Dot(&ABC, &AD)); + + // whether origin is on same side of ACD, ADB, ABC as B, C, D + // respectively + AB_O = ccdSign(btVec3Dot(&ACD, &AO)) == B_on_ACD; + AC_O = ccdSign(btVec3Dot(&ADB, &AO)) == C_on_ADB; + AD_O = ccdSign(btVec3Dot(&ABC, &AO)) == D_on_ABC; + + if (AB_O && AC_O && AD_O) { + // origin is in tetrahedron + return 1; + // rearrange simplex to triangle and call btDoSimplex3() + } + else if (!AB_O) { + // B is farthest from the origin among all of the tetrahedron's + // points, so remove it from the list and go on with the triangle + // case + + // D and C are in place + btSimplexSet(simplex, 2, A); + btSimplexSetSize(simplex, 3); + } + else if (!AC_O) { + // C is farthest + btSimplexSet(simplex, 1, D); + btSimplexSet(simplex, 0, B); + btSimplexSet(simplex, 2, A); + btSimplexSetSize(simplex, 3); + } + else { // (!AD_O) + btSimplexSet(simplex, 0, C); + btSimplexSet(simplex, 1, B); + btSimplexSet(simplex, 2, A); + btSimplexSetSize(simplex, 3); + } + + return btDoSimplex3(simplex, dir); +} + +static int btDoSimplex(btSimplex *simplex, btVector3 *dir) +{ + if (btSimplexSize(simplex) == 2) { + // simplex contains segment only one segment + return btDoSimplex2(simplex, dir); + } + else if (btSimplexSize(simplex) == 3) { + // simplex contains triangle + return btDoSimplex3(simplex, dir); + } + else { // btSimplexSize(simplex) == 4 + // tetrahedron - this is the only shape which can encapsule origin + // so btDoSimplex4() also contains test on it + return btDoSimplex4(simplex, dir); + } +} + #ifdef __SPU__ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw) #else @@ -123,193 +710,308 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu bool checkSimplex = false; bool checkPenetration = true; m_degenerateSimplex = 0; - + m_lastUsedMethod = -1; - + int status = -2; + btVector3 orgNormalInB(0, 0, 0); + btScalar margin = marginA + marginB; + + //we add a separate implementation to check if the convex shapes intersect + //See also "Real-time Collision Detection with Implicit Objects" by Leif Olvang + //Todo: integrate the simplex penetration check directly inside the Bullet btVoronoiSimplexSolver + //and remove this temporary code from libCCD + //this fixes issue https://github.com/bulletphysics/bullet3/issues/1703 + //note, for large differences in shapes, use double precision build! { btScalar squaredDistance = BT_LARGE_FLOAT; btScalar delta = btScalar(0.); - - btScalar margin = marginA + marginB; - - - m_simplexSolver->reset(); + + - for ( ; ; ) - //while (true) - { + btSimplex simplex1; + btSimplex* simplex = &simplex1; + btSimplexInit(simplex); - btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis(); - btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis(); + btVector3 dir(1, 0, 0); + { - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 lastSupV; + btVector3 supAworld; + btVector3 supBworld; + btComputeSupport(m_minkowskiA, localTransA, m_minkowskiB, localTransB, dir, check2d, supAworld, supBworld, lastSupV); + + btSupportVector last; + last.v = lastSupV; + last.v1 = supAworld; + last.v2 = supBworld; - btVector3 pWorld = localTransA(pInA); - btVector3 qWorld = localTransB(qInB); + btSimplexAdd(simplex, &last); + dir = -lastSupV; - if (check2d) + + + // start iterations + for (int iterations = 0; iterations <gGjkMaxIter; iterations++) { - pWorld[2] = 0.f; - qWorld[2] = 0.f; - } + // obtain support point + btComputeSupport(m_minkowskiA, localTransA, m_minkowskiB, localTransB, dir, check2d, supAworld, supBworld, lastSupV); + + // check if farthest point in Minkowski difference in direction dir + // isn't somewhere before origin (the test on negative dot product) + // - because if it is, objects are not intersecting at all. + btScalar delta = lastSupV.dot(dir); + if (delta < 0) + { + //no intersection, besides margin + status = -1; + break; + } + + // add last support vector to simplex + last.v = lastSupV; + last.v1 = supAworld; + last.v2 = supBworld; - btVector3 w = pWorld - qWorld; - delta = m_cachedSeparatingAxis.dot(w); + btSimplexAdd(simplex, &last); - // potential exit, they don't overlap - if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared)) - { - m_degenerateSimplex = 10; - checkSimplex=true; - //checkPenetration = false; - break; - } + // if btDoSimplex returns 1 if objects intersect, -1 if objects don't + // intersect and 0 if algorithm should continue - //exit 0: the new point is already in the simplex, or we didn't come any closer - if (m_simplexSolver->inSimplex(w)) - { - m_degenerateSimplex = 1; - checkSimplex = true; - break; - } - // are we getting any closer ? - btScalar f0 = squaredDistance - delta; - btScalar f1 = squaredDistance * REL_ERROR2; + btVector3 newDir; + int do_simplex_res = btDoSimplex(simplex, &dir); - if (f0 <= f1) - { - if (f0 <= btScalar(0.)) + if (do_simplex_res == 1) { - m_degenerateSimplex = 2; - } else + status = 0; // intersection found + break; + } + else if (do_simplex_res == -1) + { + // intersection not found + status = -1; + break; + } + + if (btFuzzyZero(btVec3Dot(&dir, &dir))) + { + // intersection not found + status = -1; + } + + if (dir.length2() < SIMD_EPSILON) { - m_degenerateSimplex = 11; + //no intersection, besides margin + status = -1; + break; + } + + if (dir.fuzzyZero()) + { + // intersection not found + status = -1; + break; } - checkSimplex = true; - break; } - //add current vertex to simplex - m_simplexSolver->addVertex(w, pWorld, qWorld); - btVector3 newCachedSeparatingAxis; + } + + m_simplexSolver->reset(); + if (status == 0) + { + //status = 0; + //printf("Intersect!\n"); + } - //calculate the closest point to the origin (update vector v) - if (!m_simplexSolver->closest(newCachedSeparatingAxis)) + if (status==-1) + { + //printf("not intersect\n"); + } + //printf("dir=%f,%f,%f\n",dir[0],dir[1],dir[2]); + if (1) + { + for (; ; ) + //while (true) { - m_degenerateSimplex = 3; - checkSimplex = true; - break; - } - if(newCachedSeparatingAxis.length2()<REL_ERROR2) - { - m_cachedSeparatingAxis = newCachedSeparatingAxis; - m_degenerateSimplex = 6; - checkSimplex = true; - break; - } + btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* localTransA.getBasis(); + btVector3 seperatingAxisInB = m_cachedSeparatingAxis* localTransB.getBasis(); + + + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + + btVector3 pWorld = localTransA(pInA); + btVector3 qWorld = localTransB(qInB); - btScalar previousSquaredDistance = squaredDistance; - squaredDistance = newCachedSeparatingAxis.length2(); + + if (check2d) + { + pWorld[2] = 0.f; + qWorld[2] = 0.f; + } + + btVector3 w = pWorld - qWorld; + delta = m_cachedSeparatingAxis.dot(w); + + // potential exit, they don't overlap + if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared)) + { + m_degenerateSimplex = 10; + checkSimplex = true; + //checkPenetration = false; + break; + } + + //exit 0: the new point is already in the simplex, or we didn't come any closer + if (m_simplexSolver->inSimplex(w)) + { + m_degenerateSimplex = 1; + checkSimplex = true; + break; + } + // are we getting any closer ? + btScalar f0 = squaredDistance - delta; + btScalar f1 = squaredDistance * REL_ERROR2; + + if (f0 <= f1) + { + if (f0 <= btScalar(0.)) + { + m_degenerateSimplex = 2; + } + else + { + m_degenerateSimplex = 11; + } + checkSimplex = true; + break; + } + + //add current vertex to simplex + m_simplexSolver->addVertex(w, pWorld, qWorld); + btVector3 newCachedSeparatingAxis; + + //calculate the closest point to the origin (update vector v) + if (!m_simplexSolver->closest(newCachedSeparatingAxis)) + { + m_degenerateSimplex = 3; + checkSimplex = true; + break; + } + + if (newCachedSeparatingAxis.length2() < REL_ERROR2) + { + m_cachedSeparatingAxis = newCachedSeparatingAxis; + m_degenerateSimplex = 6; + checkSimplex = true; + break; + } + + btScalar previousSquaredDistance = squaredDistance; + squaredDistance = newCachedSeparatingAxis.length2(); #if 0 -///warning: this termination condition leads to some problems in 2d test case see Bullet/Demos/Box2dDemo - if (squaredDistance>previousSquaredDistance) - { - m_degenerateSimplex = 7; - squaredDistance = previousSquaredDistance; - checkSimplex = false; - break; - } + ///warning: this termination condition leads to some problems in 2d test case see Bullet/Demos/Box2dDemo + if (squaredDistance > previousSquaredDistance) + { + m_degenerateSimplex = 7; + squaredDistance = previousSquaredDistance; + checkSimplex = false; + break; + } #endif // - - //redundant m_simplexSolver->compute_points(pointOnA, pointOnB); - //are we getting any closer ? - if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance) - { -// m_simplexSolver->backup_closest(m_cachedSeparatingAxis); - checkSimplex = true; - m_degenerateSimplex = 12; - - break; - } + //redundant m_simplexSolver->compute_points(pointOnA, pointOnB); - m_cachedSeparatingAxis = newCachedSeparatingAxis; + //are we getting any closer ? + if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance) + { + // m_simplexSolver->backup_closest(m_cachedSeparatingAxis); + checkSimplex = true; + m_degenerateSimplex = 12; + + break; + } - //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject - if (m_curIter++ > gGjkMaxIter) - { - #if defined(DEBUG) || defined (_DEBUG) + m_cachedSeparatingAxis = newCachedSeparatingAxis; - printf("btGjkPairDetector maxIter exceeded:%i\n",m_curIter); - printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n", - m_cachedSeparatingAxis.getX(), - m_cachedSeparatingAxis.getY(), - m_cachedSeparatingAxis.getZ(), - squaredDistance, - m_minkowskiA->getShapeType(), - m_minkowskiB->getShapeType()); + //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject + if (m_curIter++ > gGjkMaxIter) + { +#if defined(DEBUG) || defined (_DEBUG) - #endif - break; + printf("btGjkPairDetector maxIter exceeded:%i\n", m_curIter); + printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n", + m_cachedSeparatingAxis.getX(), + m_cachedSeparatingAxis.getY(), + m_cachedSeparatingAxis.getZ(), + squaredDistance, + m_minkowskiA->getShapeType(), + m_minkowskiB->getShapeType()); - } +#endif + break; + } - bool check = (!m_simplexSolver->fullSimplex()); - //bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex()); - if (!check) - { - //do we need this backup_closest here ? -// m_simplexSolver->backup_closest(m_cachedSeparatingAxis); - m_degenerateSimplex = 13; - break; + bool check = (!m_simplexSolver->fullSimplex()); + //bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex()); + + if (!check) + { + //do we need this backup_closest here ? + // m_simplexSolver->backup_closest(m_cachedSeparatingAxis); + m_degenerateSimplex = 13; + break; + } } - } - if (checkSimplex) - { + if (checkSimplex) + { m_simplexSolver->compute_points(pointOnA, pointOnB); normalInB = m_cachedSeparatingAxis; btScalar lenSqr =m_cachedSeparatingAxis.length2(); - //valid normal - if (lenSqr < REL_ERROR2) - { - m_degenerateSimplex = 5; - } - if (lenSqr > SIMD_EPSILON*SIMD_EPSILON) - { - btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); - normalInB *= rlen; //normalize + //valid normal + if (lenSqr < REL_ERROR2) + { + m_degenerateSimplex = 5; + } + if (lenSqr > SIMD_EPSILON*SIMD_EPSILON) + { + btScalar rlen = btScalar(1.) / btSqrt(lenSqr); + normalInB *= rlen; //normalize - btScalar s = btSqrt(squaredDistance); - - btAssert(s > btScalar(0.0)); - pointOnA -= m_cachedSeparatingAxis * (marginA / s); - pointOnB += m_cachedSeparatingAxis * (marginB / s); - distance = ((btScalar(1.)/rlen) - margin); - isValid = true; - - m_lastUsedMethod = 1; - } else - { - m_lastUsedMethod = 2; + btScalar s = btSqrt(squaredDistance); + + btAssert(s > btScalar(0.0)); + pointOnA -= m_cachedSeparatingAxis * (marginA / s); + pointOnB += m_cachedSeparatingAxis * (marginB / s); + distance = ((btScalar(1.) / rlen) - margin); + isValid = true; + orgNormalInB = normalInB; + + m_lastUsedMethod = 1; + } + else + { + m_lastUsedMethod = 2; + } } } + + bool catchDegeneratePenetrationCase = (m_catchDegeneracies && m_penetrationDepthSolver && m_degenerateSimplex && ((distance+margin) < gGjkEpaPenetrationTolerance)); //if (checkPenetration && !isValid) - if (checkPenetration && (!isValid || catchDegeneratePenetrationCase )) + if ((checkPenetration && (!isValid || catchDegeneratePenetrationCase )) || (status == 0)) { //penetration case @@ -331,70 +1033,79 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu ); - if (isValid2) + if (m_cachedSeparatingAxis.length2()) { - btVector3 tmpNormalInB = tmpPointOnB-tmpPointOnA; - btScalar lenSqr = tmpNormalInB.length2(); - if (lenSqr <= (SIMD_EPSILON*SIMD_EPSILON)) + if (isValid2) { - tmpNormalInB = m_cachedSeparatingAxis; - lenSqr = m_cachedSeparatingAxis.length2(); - } + btVector3 tmpNormalInB = tmpPointOnB - tmpPointOnA; + btScalar lenSqr = tmpNormalInB.length2(); + if (lenSqr <= (SIMD_EPSILON*SIMD_EPSILON)) + { + tmpNormalInB = m_cachedSeparatingAxis; + lenSqr = m_cachedSeparatingAxis.length2(); + } - if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON)) - { - tmpNormalInB /= btSqrt(lenSqr); - btScalar distance2 = -(tmpPointOnA-tmpPointOnB).length(); - m_lastUsedMethod = 3; - //only replace valid penetrations when the result is deeper (check) - if (!isValid || (distance2 < distance)) + if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON)) { - distance = distance2; - pointOnA = tmpPointOnA; - pointOnB = tmpPointOnB; - normalInB = tmpNormalInB; - - isValid = true; - - } else + tmpNormalInB /= btSqrt(lenSqr); + btScalar distance2 = -(tmpPointOnA - tmpPointOnB).length(); + m_lastUsedMethod = 3; + //only replace valid penetrations when the result is deeper (check) + if (!isValid || (distance2 < distance)) + { + distance = distance2; + pointOnA = tmpPointOnA; + pointOnB = tmpPointOnB; + normalInB = tmpNormalInB; + isValid = true; + + } + else + { + m_lastUsedMethod = 8; + } + } + else { - m_lastUsedMethod = 8; + m_lastUsedMethod = 9; } - } else - { - m_lastUsedMethod = 9; } - } else - - { - ///this is another degenerate case, where the initial GJK calculation reports a degenerate case - ///EPA reports no penetration, and the second GJK (using the supporting vector without margin) - ///reports a valid positive distance. Use the results of the second GJK instead of failing. - ///thanks to Jacob.Langford for the reproduction case - ///http://code.google.com/p/bullet/issues/detail?id=250 + else - - if (m_cachedSeparatingAxis.length2() > btScalar(0.)) { - btScalar distance2 = (tmpPointOnA-tmpPointOnB).length()-margin; - //only replace valid distances when the distance is less - if (!isValid || (distance2 < distance)) - { - distance = distance2; - pointOnA = tmpPointOnA; - pointOnB = tmpPointOnB; - pointOnA -= m_cachedSeparatingAxis * marginA ; - pointOnB += m_cachedSeparatingAxis * marginB ; - normalInB = m_cachedSeparatingAxis; - normalInB.normalize(); - - isValid = true; - m_lastUsedMethod = 6; - } else + ///this is another degenerate case, where the initial GJK calculation reports a degenerate case + ///EPA reports no penetration, and the second GJK (using the supporting vector without margin) + ///reports a valid positive distance. Use the results of the second GJK instead of failing. + ///thanks to Jacob.Langford for the reproduction case + ///http://code.google.com/p/bullet/issues/detail?id=250 + + + if (m_cachedSeparatingAxis.length2() > btScalar(0.)) { - m_lastUsedMethod = 5; + btScalar distance2 = (tmpPointOnA - tmpPointOnB).length() - margin; + //only replace valid distances when the distance is less + if (!isValid || (distance2 < distance)) + { + distance = distance2; + pointOnA = tmpPointOnA; + pointOnB = tmpPointOnB; + pointOnA -= m_cachedSeparatingAxis * marginA; + pointOnB += m_cachedSeparatingAxis * marginB; + normalInB = m_cachedSeparatingAxis; + normalInB.normalize(); + + isValid = true; + m_lastUsedMethod = 6; + } + else + { + m_lastUsedMethod = 5; + } } } + } else + { + //printf("EPA didn't return a valid value\n"); } } @@ -409,17 +1120,33 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu m_cachedSeparatingAxis = normalInB; m_cachedSeparatingDistance = distance; - + if (1) { ///todo: need to track down this EPA penetration solver degeneracy ///the penetration solver reports penetration but the contact normal ///connecting the contact points is pointing in the opposite direction ///until then, detect the issue and revert the normal + btScalar d2 = 0.f; + { + btVector3 seperatingAxisInA = (-orgNormalInB)* localTransA.getBasis(); + btVector3 seperatingAxisInB = orgNormalInB* localTransB.getBasis(); + + + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + + btVector3 pWorld = localTransA(pInA); + btVector3 qWorld = localTransB(qInB); + btVector3 w = pWorld - qWorld; + d2 = orgNormalInB.dot(w)- margin; + } + btScalar d1=0; { - btVector3 seperatingAxisInA = (normalInB)* input.m_transformA.getBasis(); - btVector3 seperatingAxisInB = -normalInB* input.m_transformB.getBasis(); + + btVector3 seperatingAxisInA = (normalInB)* localTransA.getBasis(); + btVector3 seperatingAxisInB = -normalInB* localTransB.getBasis(); btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); @@ -428,7 +1155,8 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); btVector3 w = pWorld - qWorld; - d1 = (-normalInB).dot(w); + d1 = (-normalInB).dot(w)- margin; + } btScalar d0 = 0.f; { @@ -442,21 +1170,37 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); btVector3 w = pWorld - qWorld; - d0 = normalInB.dot(w); + d0 = normalInB.dot(w)-margin; } + if (d1>d0) { m_lastUsedMethod = 10; normalInB*=-1; } + if (orgNormalInB.length2()) + { + if (d2 > d0 && d2 > d1 && d2 > distance) + { + + normalInB = orgNormalInB; + distance = d2; + } + } } + + output.addContactPoint( normalInB, pointOnB+positionOffset, distance); } + else + { + //printf("invalid gjk query\n"); + } } diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp index 23aaece22b..9603a8bbdc 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp @@ -16,7 +16,13 @@ subject to the following restrictions: #include "btPersistentManifold.h" #include "LinearMath/btTransform.h" +#include "LinearMath/btSerializer.h" +#ifdef BT_USE_DOUBLE_PRECISION +#define btCollisionObjectData btCollisionObjectDoubleData +#else +#define btCollisionObjectData btCollisionObjectFloatData +#endif btScalar gContactBreakingThreshold = btScalar(0.02); ContactDestroyedCallback gContactDestroyedCallback = 0; @@ -33,6 +39,8 @@ btPersistentManifold::btPersistentManifold() m_body0(0), m_body1(0), m_cachedPoints (0), +m_companionIdA(0), +m_companionIdB(0), m_index1a(0) { } @@ -303,6 +311,149 @@ void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btT } +int btPersistentManifold::calculateSerializeBufferSize() const +{ + return sizeof(btPersistentManifoldData); +} + +const char* btPersistentManifold::serialize(const class btPersistentManifold* manifold, void* dataBuffer, class btSerializer* serializer) const +{ + btPersistentManifoldData* dataOut = (btPersistentManifoldData*)dataBuffer; + memset(dataOut, 0, sizeof(btPersistentManifoldData)); + + dataOut->m_body0 = (btCollisionObjectData*)serializer->getUniquePointer((void*)manifold->getBody0()); + dataOut->m_body1 = (btCollisionObjectData*)serializer->getUniquePointer((void*)manifold->getBody1()); + dataOut->m_contactBreakingThreshold = manifold->getContactBreakingThreshold(); + dataOut->m_contactProcessingThreshold = manifold->getContactProcessingThreshold(); + dataOut->m_numCachedPoints = manifold->getNumContacts(); + dataOut->m_companionIdA = manifold->m_companionIdA; + dataOut->m_companionIdB = manifold->m_companionIdB; + dataOut->m_index1a = manifold->m_index1a; + dataOut->m_objectType = manifold->m_objectType; + + for (int i = 0; i < this->getNumContacts(); i++) + { + const btManifoldPoint& pt = manifold->getContactPoint(i); + dataOut->m_pointCacheAppliedImpulse[i] = pt.m_appliedImpulse; + dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1; + dataOut->m_pointCacheAppliedImpulseLateral2[i] = pt.m_appliedImpulseLateral2; + pt.m_localPointA.serialize(dataOut->m_pointCacheLocalPointA[i]); + pt.m_localPointB.serialize(dataOut->m_pointCacheLocalPointB[i]); + pt.m_normalWorldOnB.serialize(dataOut->m_pointCacheNormalWorldOnB[i]); + dataOut->m_pointCacheDistance[i] = pt.m_distance1; + dataOut->m_pointCacheCombinedContactDamping1[i] = pt.m_combinedContactDamping1; + dataOut->m_pointCacheCombinedContactStiffness1[i] = pt.m_combinedContactStiffness1; + dataOut->m_pointCacheLifeTime[i] = pt.m_lifeTime; + dataOut->m_pointCacheFrictionCFM[i] = pt.m_frictionCFM; + dataOut->m_pointCacheContactERP[i] = pt.m_contactERP; + dataOut->m_pointCacheContactCFM[i] = pt.m_contactCFM; + dataOut->m_pointCacheContactPointFlags[i] = pt.m_contactPointFlags; + dataOut->m_pointCacheIndex0[i] = pt.m_index0; + dataOut->m_pointCacheIndex1[i] = pt.m_index1; + dataOut->m_pointCachePartId0[i] = pt.m_partId0; + dataOut->m_pointCachePartId1[i] = pt.m_partId1; + pt.m_positionWorldOnA.serialize(dataOut->m_pointCachePositionWorldOnA[i]); + pt.m_positionWorldOnB.serialize(dataOut->m_pointCachePositionWorldOnB[i]); + dataOut->m_pointCacheCombinedFriction[i] = pt.m_combinedFriction; + pt.m_lateralFrictionDir1.serialize(dataOut->m_pointCacheLateralFrictionDir1[i]); + pt.m_lateralFrictionDir2.serialize(dataOut->m_pointCacheLateralFrictionDir2[i]); + dataOut->m_pointCacheCombinedRollingFriction[i] = pt.m_combinedRollingFriction; + dataOut->m_pointCacheCombinedSpinningFriction[i] = pt.m_combinedSpinningFriction; + dataOut->m_pointCacheCombinedRestitution[i] = pt.m_combinedRestitution; + dataOut->m_pointCacheContactMotion1[i] = pt.m_contactMotion1; + dataOut->m_pointCacheContactMotion2[i] = pt.m_contactMotion2; + } + return btPersistentManifoldDataName; +} + +void btPersistentManifold::deSerialize(const struct btPersistentManifoldDoubleData* manifoldDataPtr) +{ + m_contactBreakingThreshold = manifoldDataPtr->m_contactBreakingThreshold; + m_contactProcessingThreshold = manifoldDataPtr->m_contactProcessingThreshold; + m_cachedPoints = manifoldDataPtr->m_numCachedPoints; + m_companionIdA = manifoldDataPtr->m_companionIdA; + m_companionIdB = manifoldDataPtr->m_companionIdB; + //m_index1a = manifoldDataPtr->m_index1a; + m_objectType = manifoldDataPtr->m_objectType; + + for (int i = 0; i < this->getNumContacts(); i++) + { + btManifoldPoint& pt = m_pointCache[i]; + + pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i]; + pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i]; + pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i]; + pt.m_localPointA.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointA[i]); + pt.m_localPointB.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointB[i]); + pt.m_normalWorldOnB.deSerializeDouble(manifoldDataPtr->m_pointCacheNormalWorldOnB[i]); + pt.m_distance1 = manifoldDataPtr->m_pointCacheDistance[i]; + pt.m_combinedContactDamping1 = manifoldDataPtr->m_pointCacheCombinedContactDamping1[i]; + pt.m_combinedContactStiffness1 = manifoldDataPtr->m_pointCacheCombinedContactStiffness1[i]; + pt.m_lifeTime = manifoldDataPtr->m_pointCacheLifeTime[i]; + pt.m_frictionCFM = manifoldDataPtr->m_pointCacheFrictionCFM[i]; + pt.m_contactERP = manifoldDataPtr->m_pointCacheContactERP[i]; + pt.m_contactCFM = manifoldDataPtr->m_pointCacheContactCFM[i]; + pt.m_contactPointFlags = manifoldDataPtr->m_pointCacheContactPointFlags[i]; + pt.m_index0 = manifoldDataPtr->m_pointCacheIndex0[i]; + pt.m_index1 = manifoldDataPtr->m_pointCacheIndex1[i]; + pt.m_partId0 = manifoldDataPtr->m_pointCachePartId0[i]; + pt.m_partId1 = manifoldDataPtr->m_pointCachePartId1[i]; + pt.m_positionWorldOnA.deSerializeDouble(manifoldDataPtr->m_pointCachePositionWorldOnA[i]); + pt.m_positionWorldOnB.deSerializeDouble(manifoldDataPtr->m_pointCachePositionWorldOnB[i]); + pt.m_combinedFriction = manifoldDataPtr->m_pointCacheCombinedFriction[i]; + pt.m_lateralFrictionDir1.deSerializeDouble(manifoldDataPtr->m_pointCacheLateralFrictionDir1[i]); + pt.m_lateralFrictionDir2.deSerializeDouble(manifoldDataPtr->m_pointCacheLateralFrictionDir2[i]); + pt.m_combinedRollingFriction = manifoldDataPtr->m_pointCacheCombinedRollingFriction[i]; + pt.m_combinedSpinningFriction = manifoldDataPtr->m_pointCacheCombinedSpinningFriction[i]; + pt.m_combinedRestitution = manifoldDataPtr->m_pointCacheCombinedRestitution[i]; + pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i]; + pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i]; + } +} +void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatData* manifoldDataPtr) +{ + m_contactBreakingThreshold = manifoldDataPtr->m_contactBreakingThreshold; + m_contactProcessingThreshold = manifoldDataPtr->m_contactProcessingThreshold; + m_cachedPoints = manifoldDataPtr->m_numCachedPoints; + m_companionIdA = manifoldDataPtr->m_companionIdA; + m_companionIdB = manifoldDataPtr->m_companionIdB; + //m_index1a = manifoldDataPtr->m_index1a; + m_objectType = manifoldDataPtr->m_objectType; + + for (int i = 0; i < this->getNumContacts(); i++) + { + btManifoldPoint& pt = m_pointCache[i]; + + pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i]; + pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i]; + pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i]; + pt.m_localPointA.deSerialize(manifoldDataPtr->m_pointCacheLocalPointA[i]); + pt.m_localPointB.deSerialize(manifoldDataPtr->m_pointCacheLocalPointB[i]); + pt.m_normalWorldOnB.deSerialize(manifoldDataPtr->m_pointCacheNormalWorldOnB[i]); + pt.m_distance1 = manifoldDataPtr->m_pointCacheDistance[i]; + pt.m_combinedContactDamping1 = manifoldDataPtr->m_pointCacheCombinedContactDamping1[i]; + pt.m_combinedContactStiffness1 = manifoldDataPtr->m_pointCacheCombinedContactStiffness1[i]; + pt.m_lifeTime = manifoldDataPtr->m_pointCacheLifeTime[i]; + pt.m_frictionCFM = manifoldDataPtr->m_pointCacheFrictionCFM[i]; + pt.m_contactERP = manifoldDataPtr->m_pointCacheContactERP[i]; + pt.m_contactCFM = manifoldDataPtr->m_pointCacheContactCFM[i]; + pt.m_contactPointFlags = manifoldDataPtr->m_pointCacheContactPointFlags[i]; + pt.m_index0 = manifoldDataPtr->m_pointCacheIndex0[i]; + pt.m_index1 = manifoldDataPtr->m_pointCacheIndex1[i]; + pt.m_partId0 = manifoldDataPtr->m_pointCachePartId0[i]; + pt.m_partId1 = manifoldDataPtr->m_pointCachePartId1[i]; + pt.m_positionWorldOnA.deSerialize(manifoldDataPtr->m_pointCachePositionWorldOnA[i]); + pt.m_positionWorldOnB.deSerialize(manifoldDataPtr->m_pointCachePositionWorldOnB[i]); + pt.m_combinedFriction = manifoldDataPtr->m_pointCacheCombinedFriction[i]; + pt.m_lateralFrictionDir1.deSerialize(manifoldDataPtr->m_pointCacheLateralFrictionDir1[i]); + pt.m_lateralFrictionDir2.deSerialize(manifoldDataPtr->m_pointCacheLateralFrictionDir2[i]); + pt.m_combinedRollingFriction = manifoldDataPtr->m_pointCacheCombinedRollingFriction[i]; + pt.m_combinedSpinningFriction = manifoldDataPtr->m_pointCacheCombinedSpinningFriction[i]; + pt.m_combinedRestitution = manifoldDataPtr->m_pointCacheCombinedRestitution[i]; + pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i]; + pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i]; + } +}
\ No newline at end of file diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h index f872c8e1c9..67be0c48eb 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h @@ -24,6 +24,8 @@ class btCollisionObject; #include "LinearMath/btAlignedAllocator.h" struct btCollisionResult; +struct btCollisionObjectDoubleData; +struct btCollisionObjectFloatData; ///maximum contact breaking and merging threshold extern btScalar gContactBreakingThreshold; @@ -95,7 +97,10 @@ public: : btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE), m_body0(body0),m_body1(body1),m_cachedPoints(0), m_contactBreakingThreshold(contactBreakingThreshold), - m_contactProcessingThreshold(contactProcessingThreshold) + m_contactProcessingThreshold(contactProcessingThreshold), + m_companionIdA(0), + m_companionIdB(0), + m_index1a(0) { } @@ -256,10 +261,115 @@ public: m_cachedPoints = 0; } + int calculateSerializeBufferSize() const; + const char* serialize(const class btPersistentManifold* manifold, void* dataBuffer, class btSerializer* serializer) const; + void deSerialize(const struct btPersistentManifoldDoubleData* manifoldDataPtr); + void deSerialize(const struct btPersistentManifoldFloatData* manifoldDataPtr); -} -; +}; + + + +struct btPersistentManifoldDoubleData +{ + btVector3DoubleData m_pointCacheLocalPointA[4]; + btVector3DoubleData m_pointCacheLocalPointB[4]; + btVector3DoubleData m_pointCachePositionWorldOnA[4]; + btVector3DoubleData m_pointCachePositionWorldOnB[4]; + btVector3DoubleData m_pointCacheNormalWorldOnB[4]; + btVector3DoubleData m_pointCacheLateralFrictionDir1[4]; + btVector3DoubleData m_pointCacheLateralFrictionDir2[4]; + double m_pointCacheDistance[4]; + double m_pointCacheAppliedImpulse[4]; + double m_pointCacheCombinedFriction[4]; + double m_pointCacheCombinedRollingFriction[4]; + double m_pointCacheCombinedSpinningFriction[4]; + double m_pointCacheCombinedRestitution[4]; + int m_pointCachePartId0[4]; + int m_pointCachePartId1[4]; + int m_pointCacheIndex0[4]; + int m_pointCacheIndex1[4]; + int m_pointCacheContactPointFlags[4]; + double m_pointCacheAppliedImpulseLateral1[4]; + double m_pointCacheAppliedImpulseLateral2[4]; + double m_pointCacheContactMotion1[4]; + double m_pointCacheContactMotion2[4]; + double m_pointCacheContactCFM[4]; + double m_pointCacheCombinedContactStiffness1[4]; + double m_pointCacheContactERP[4]; + double m_pointCacheCombinedContactDamping1[4]; + double m_pointCacheFrictionCFM[4]; + int m_pointCacheLifeTime[4]; + + int m_numCachedPoints; + int m_companionIdA; + int m_companionIdB; + int m_index1a; + + int m_objectType; + double m_contactBreakingThreshold; + double m_contactProcessingThreshold; + int m_padding; + + btCollisionObjectDoubleData *m_body0; + btCollisionObjectDoubleData *m_body1; +}; + + +struct btPersistentManifoldFloatData +{ + btVector3FloatData m_pointCacheLocalPointA[4]; + btVector3FloatData m_pointCacheLocalPointB[4]; + btVector3FloatData m_pointCachePositionWorldOnA[4]; + btVector3FloatData m_pointCachePositionWorldOnB[4]; + btVector3FloatData m_pointCacheNormalWorldOnB[4]; + btVector3FloatData m_pointCacheLateralFrictionDir1[4]; + btVector3FloatData m_pointCacheLateralFrictionDir2[4]; + float m_pointCacheDistance[4]; + float m_pointCacheAppliedImpulse[4]; + float m_pointCacheCombinedFriction[4]; + float m_pointCacheCombinedRollingFriction[4]; + float m_pointCacheCombinedSpinningFriction[4]; + float m_pointCacheCombinedRestitution[4]; + int m_pointCachePartId0[4]; + int m_pointCachePartId1[4]; + int m_pointCacheIndex0[4]; + int m_pointCacheIndex1[4]; + int m_pointCacheContactPointFlags[4]; + float m_pointCacheAppliedImpulseLateral1[4]; + float m_pointCacheAppliedImpulseLateral2[4]; + float m_pointCacheContactMotion1[4]; + float m_pointCacheContactMotion2[4]; + float m_pointCacheContactCFM[4]; + float m_pointCacheCombinedContactStiffness1[4]; + float m_pointCacheContactERP[4]; + float m_pointCacheCombinedContactDamping1[4]; + float m_pointCacheFrictionCFM[4]; + int m_pointCacheLifeTime[4]; + + int m_numCachedPoints; + int m_companionIdA; + int m_companionIdB; + int m_index1a; + + int m_objectType; + float m_contactBreakingThreshold; + float m_contactProcessingThreshold; + int m_padding; + + btCollisionObjectFloatData *m_body0; + btCollisionObjectFloatData *m_body1; +}; + +#ifdef BT_USE_DOUBLE_PRECISION +#define btPersistentManifoldData btPersistentManifoldDoubleData +#define btPersistentManifoldDataName "btPersistentManifoldDoubleData" +#else +#define btPersistentManifoldData btPersistentManifoldFloatData +#define btPersistentManifoldDataName "btPersistentManifoldFloatData" +#endif //BT_USE_DOUBLE_PRECISION + diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp index ec638f60ba..08d6e6de86 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp @@ -72,11 +72,18 @@ bool btSubsimplexConvexCast::calcTimeOfImpact( btScalar dist2 = v.length2(); + #ifdef BT_USE_DOUBLE_PRECISION - btScalar epsilon = btScalar(0.0001); + btScalar epsilon = SIMD_EPSILON * 10; #else +//todo: epsilon kept for backward compatibility of unit tests. +//will need to digg deeper to make the algorithm more robust +//since, a large epsilon can cause an early termination with false +//positive results (ray intersections that shouldn't be there) btScalar epsilon = btScalar(0.0001); #endif //BT_USE_DOUBLE_PRECISION + + btVector3 w,p; btScalar VdotR; diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp new file mode 100644 index 0000000000..c82ba87f9f --- /dev/null +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp @@ -0,0 +1,1128 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + +#include "btBatchedConstraints.h" + +#include "LinearMath/btIDebugDraw.h" +#include "LinearMath/btMinMax.h" +#include "LinearMath/btStackAlloc.h" +#include "LinearMath/btQuickprof.h" + +#include <string.h> //for memset + +const int kNoMerge = -1; + +bool btBatchedConstraints::s_debugDrawBatches = false; + + +struct btBatchedConstraintInfo +{ + int constraintIndex; + int numConstraintRows; + int bodyIds[2]; +}; + + +struct btBatchInfo +{ + int numConstraints; + int mergeIndex; + + btBatchInfo() : numConstraints(0), mergeIndex(kNoMerge) {} +}; + + +bool btBatchedConstraints::validate(btConstraintArray* constraints, const btAlignedObjectArray<btSolverBody>& bodies) const +{ + // + // validate: for debugging only. Verify coloring of bodies, that no body is touched by more than one batch in any given phase + // + int errors = 0; + const int kUnassignedBatch = -1; + + btAlignedObjectArray<int> bodyBatchId; + for (int iPhase = 0; iPhase < m_phases.size(); ++iPhase) + { + bodyBatchId.resizeNoInitialize(0); + bodyBatchId.resize( bodies.size(), kUnassignedBatch ); + const Range& phase = m_phases[iPhase]; + for (int iBatch = phase.begin; iBatch < phase.end; ++iBatch) + { + const Range& batch = m_batches[iBatch]; + for (int iiCons = batch.begin; iiCons < batch.end; ++iiCons) + { + int iCons = m_constraintIndices[iiCons]; + const btSolverConstraint& cons = constraints->at(iCons); + const btSolverBody& bodyA = bodies[cons.m_solverBodyIdA]; + const btSolverBody& bodyB = bodies[cons.m_solverBodyIdB]; + if (! bodyA.internalGetInvMass().isZero()) + { + int thisBodyBatchId = bodyBatchId[cons.m_solverBodyIdA]; + if (thisBodyBatchId == kUnassignedBatch) + { + bodyBatchId[cons.m_solverBodyIdA] = iBatch; + } + else if (thisBodyBatchId != iBatch) + { + btAssert( !"dynamic body is used in 2 different batches in the same phase" ); + errors++; + } + } + if (! bodyB.internalGetInvMass().isZero()) + { + int thisBodyBatchId = bodyBatchId[cons.m_solverBodyIdB]; + if (thisBodyBatchId == kUnassignedBatch) + { + bodyBatchId[cons.m_solverBodyIdB] = iBatch; + } + else if (thisBodyBatchId != iBatch) + { + btAssert( !"dynamic body is used in 2 different batches in the same phase" ); + errors++; + } + } + } + } + } + return errors == 0; +} + + +static void debugDrawSingleBatch( const btBatchedConstraints* bc, + btConstraintArray* constraints, + const btAlignedObjectArray<btSolverBody>& bodies, + int iBatch, + const btVector3& color, + const btVector3& offset + ) +{ + if (bc && bc->m_debugDrawer && iBatch < bc->m_batches.size()) + { + const btBatchedConstraints::Range& b = bc->m_batches[iBatch]; + for (int iiCon = b.begin; iiCon < b.end; ++iiCon) + { + int iCon = bc->m_constraintIndices[iiCon]; + const btSolverConstraint& con = constraints->at(iCon); + int iBody0 = con.m_solverBodyIdA; + int iBody1 = con.m_solverBodyIdB; + btVector3 pos0 = bodies[iBody0].getWorldTransform().getOrigin() + offset; + btVector3 pos1 = bodies[iBody1].getWorldTransform().getOrigin() + offset; + bc->m_debugDrawer->drawLine(pos0, pos1, color); + } + } +} + + +static void debugDrawPhase( const btBatchedConstraints* bc, + btConstraintArray* constraints, + const btAlignedObjectArray<btSolverBody>& bodies, + int iPhase, + const btVector3& color0, + const btVector3& color1, + const btVector3& offset + ) +{ + BT_PROFILE( "debugDrawPhase" ); + if ( bc && bc->m_debugDrawer && iPhase < bc->m_phases.size() ) + { + const btBatchedConstraints::Range& phase = bc->m_phases[iPhase]; + for (int iBatch = phase.begin; iBatch < phase.end; ++iBatch) + { + float tt = float(iBatch - phase.begin) / float(btMax(1, phase.end - phase.begin - 1)); + btVector3 col = lerp(color0, color1, tt); + debugDrawSingleBatch(bc, constraints, bodies, iBatch, col, offset); + } + } +} + + +static void debugDrawAllBatches( const btBatchedConstraints* bc, + btConstraintArray* constraints, + const btAlignedObjectArray<btSolverBody>& bodies + ) +{ + BT_PROFILE( "debugDrawAllBatches" ); + if ( bc && bc->m_debugDrawer && bc->m_phases.size() > 0 ) + { + btVector3 bboxMin(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT); + btVector3 bboxMax = -bboxMin; + for (int iBody = 0; iBody < bodies.size(); ++iBody) + { + const btVector3& pos = bodies[iBody].getWorldTransform().getOrigin(); + bboxMin.setMin(pos); + bboxMax.setMax(pos); + } + btVector3 bboxExtent = bboxMax - bboxMin; + btVector3 offsetBase = btVector3( 0, bboxExtent.y()*1.1f, 0 ); + btVector3 offsetStep = btVector3( 0, 0, bboxExtent.z()*1.1f ); + int numPhases = bc->m_phases.size(); + for (int iPhase = 0; iPhase < numPhases; ++iPhase) + { + float b = float(iPhase)/float(numPhases-1); + btVector3 color0 = btVector3(1,0,b); + btVector3 color1 = btVector3(0,1,b); + btVector3 offset = offsetBase + offsetStep*(float(iPhase) - float(numPhases-1)*0.5); + debugDrawPhase(bc, constraints, bodies, iPhase, color0, color1, offset); + } + } +} + + +static void initBatchedBodyDynamicFlags(btAlignedObjectArray<bool>* outBodyDynamicFlags, const btAlignedObjectArray<btSolverBody>& bodies) +{ + BT_PROFILE("initBatchedBodyDynamicFlags"); + btAlignedObjectArray<bool>& bodyDynamicFlags = *outBodyDynamicFlags; + bodyDynamicFlags.resizeNoInitialize(bodies.size()); + for (int i = 0; i < bodies.size(); ++i) + { + const btSolverBody& body = bodies[ i ]; + bodyDynamicFlags[i] = ( body.internalGetInvMass().x() > btScalar( 0 ) ); + } +} + + +static int runLengthEncodeConstraintInfo(btBatchedConstraintInfo* outConInfos, int numConstraints) +{ + BT_PROFILE("runLengthEncodeConstraintInfo"); + // detect and run-length encode constraint rows that repeat the same bodies + int iDest = 0; + int iSrc = 0; + while (iSrc < numConstraints) + { + const btBatchedConstraintInfo& srcConInfo = outConInfos[iSrc]; + btBatchedConstraintInfo& conInfo = outConInfos[iDest]; + conInfo.constraintIndex = iSrc; + conInfo.bodyIds[0] = srcConInfo.bodyIds[0]; + conInfo.bodyIds[1] = srcConInfo.bodyIds[1]; + while (iSrc < numConstraints && outConInfos[iSrc].bodyIds[0] == srcConInfo.bodyIds[0] && outConInfos[iSrc].bodyIds[1] == srcConInfo.bodyIds[1]) + { + ++iSrc; + } + conInfo.numConstraintRows = iSrc - conInfo.constraintIndex; + ++iDest; + } + return iDest; +} + + +struct ReadSolverConstraintsLoop : public btIParallelForBody +{ + btBatchedConstraintInfo* m_outConInfos; + btConstraintArray* m_constraints; + + ReadSolverConstraintsLoop( btBatchedConstraintInfo* outConInfos, btConstraintArray* constraints ) + { + m_outConInfos = outConInfos; + m_constraints = constraints; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + for (int i = iBegin; i < iEnd; ++i) + { + btBatchedConstraintInfo& conInfo = m_outConInfos[i]; + const btSolverConstraint& con = m_constraints->at( i ); + conInfo.bodyIds[0] = con.m_solverBodyIdA; + conInfo.bodyIds[1] = con.m_solverBodyIdB; + conInfo.constraintIndex = i; + conInfo.numConstraintRows = 1; + } + } +}; + + +static int initBatchedConstraintInfo(btBatchedConstraintInfo* outConInfos, btConstraintArray* constraints) +{ + BT_PROFILE("initBatchedConstraintInfo"); + int numConstraints = constraints->size(); + bool inParallel = true; + if (inParallel) + { + ReadSolverConstraintsLoop loop(outConInfos, constraints); + int grainSize = 1200; + btParallelFor(0, numConstraints, grainSize, loop); + } + else + { + for (int i = 0; i < numConstraints; ++i) + { + btBatchedConstraintInfo& conInfo = outConInfos[i]; + const btSolverConstraint& con = constraints->at( i ); + conInfo.bodyIds[0] = con.m_solverBodyIdA; + conInfo.bodyIds[1] = con.m_solverBodyIdB; + conInfo.constraintIndex = i; + conInfo.numConstraintRows = 1; + } + } + bool useRunLengthEncoding = true; + if (useRunLengthEncoding) + { + numConstraints = runLengthEncodeConstraintInfo(outConInfos, numConstraints); + } + return numConstraints; +} + + +static void expandConstraintRowsInPlace(int* constraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraints, int numConstraintRows) +{ + BT_PROFILE("expandConstraintRowsInPlace"); + if (numConstraintRows > numConstraints) + { + // we walk the array in reverse to avoid overwriteing + for (int iCon = numConstraints - 1; iCon >= 0; --iCon) + { + const btBatchedConstraintInfo& conInfo = conInfos[iCon]; + int iBatch = constraintBatchIds[iCon]; + for (int i = conInfo.numConstraintRows - 1; i >= 0; --i) + { + int iDest = conInfo.constraintIndex + i; + btAssert(iDest >= iCon); + btAssert(iDest >= 0 && iDest < numConstraintRows); + constraintBatchIds[iDest] = iBatch; + } + } + } +} + + +static void expandConstraintRows(int* destConstraintBatchIds, const int* srcConstraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraints, int numConstraintRows) +{ + BT_PROFILE("expandConstraintRows"); + for ( int iCon = 0; iCon < numConstraints; ++iCon ) + { + const btBatchedConstraintInfo& conInfo = conInfos[ iCon ]; + int iBatch = srcConstraintBatchIds[ iCon ]; + for ( int i = 0; i < conInfo.numConstraintRows; ++i ) + { + int iDest = conInfo.constraintIndex + i; + btAssert( iDest >= iCon ); + btAssert( iDest >= 0 && iDest < numConstraintRows ); + destConstraintBatchIds[ iDest ] = iBatch; + } + } +} + + +struct ExpandConstraintRowsLoop : public btIParallelForBody +{ + int* m_destConstraintBatchIds; + const int* m_srcConstraintBatchIds; + const btBatchedConstraintInfo* m_conInfos; + int m_numConstraintRows; + + ExpandConstraintRowsLoop( int* destConstraintBatchIds, const int* srcConstraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraintRows) + { + m_destConstraintBatchIds = destConstraintBatchIds; + m_srcConstraintBatchIds = srcConstraintBatchIds; + m_conInfos = conInfos; + m_numConstraintRows = numConstraintRows; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + expandConstraintRows(m_destConstraintBatchIds, m_srcConstraintBatchIds + iBegin, m_conInfos + iBegin, iEnd - iBegin, m_numConstraintRows); + } +}; + + +static void expandConstraintRowsMt(int* destConstraintBatchIds, const int* srcConstraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraints, int numConstraintRows) +{ + BT_PROFILE("expandConstraintRowsMt"); + ExpandConstraintRowsLoop loop(destConstraintBatchIds, srcConstraintBatchIds, conInfos, numConstraintRows); + int grainSize = 600; + btParallelFor(0, numConstraints, grainSize, loop); +} + + +static void initBatchedConstraintInfoArray(btAlignedObjectArray<btBatchedConstraintInfo>* outConInfos, btConstraintArray* constraints) +{ + BT_PROFILE("initBatchedConstraintInfoArray"); + btAlignedObjectArray<btBatchedConstraintInfo>& conInfos = *outConInfos; + int numConstraints = constraints->size(); + conInfos.resizeNoInitialize(numConstraints); + + int newSize = initBatchedConstraintInfo(&outConInfos->at(0), constraints); + conInfos.resizeNoInitialize(newSize); +} + + +static void mergeSmallBatches(btBatchInfo* batches, int iBeginBatch, int iEndBatch, int minBatchSize, int maxBatchSize) +{ + BT_PROFILE("mergeSmallBatches"); + for ( int iBatch = iEndBatch - 1; iBatch >= iBeginBatch; --iBatch ) + { + btBatchInfo& batch = batches[ iBatch ]; + if ( batch.mergeIndex == kNoMerge && batch.numConstraints > 0 && batch.numConstraints < minBatchSize ) + { + for ( int iDestBatch = iBatch - 1; iDestBatch >= iBeginBatch; --iDestBatch ) + { + btBatchInfo& destBatch = batches[ iDestBatch ]; + if ( destBatch.mergeIndex == kNoMerge && ( destBatch.numConstraints + batch.numConstraints ) < maxBatchSize ) + { + destBatch.numConstraints += batch.numConstraints; + batch.numConstraints = 0; + batch.mergeIndex = iDestBatch; + break; + } + } + } + } + // flatten mergeIndexes + // e.g. in case where A was merged into B and then B was merged into C, we need A to point to C instead of B + // Note: loop goes forward through batches because batches always merge from higher indexes to lower, + // so by going from low to high it reduces the amount of trail-following + for ( int iBatch = iBeginBatch; iBatch < iEndBatch; ++iBatch ) + { + btBatchInfo& batch = batches[ iBatch ]; + if ( batch.mergeIndex != kNoMerge ) + { + int iMergeDest = batches[ batch.mergeIndex ].mergeIndex; + // follow trail of merges to the end + while ( iMergeDest != kNoMerge ) + { + int iNext = batches[ iMergeDest ].mergeIndex; + if ( iNext == kNoMerge ) + { + batch.mergeIndex = iMergeDest; + break; + } + iMergeDest = iNext; + } + } + } +} + + +static void updateConstraintBatchIdsForMerges(int* constraintBatchIds, int numConstraints, const btBatchInfo* batches, int numBatches) +{ + BT_PROFILE("updateConstraintBatchIdsForMerges"); + // update batchIds to account for merges + for (int i = 0; i < numConstraints; ++i) + { + int iBatch = constraintBatchIds[i]; + btAssert(iBatch < numBatches); + // if this constraint references a batch that was merged into another batch + if (batches[iBatch].mergeIndex != kNoMerge) + { + // update batchId + constraintBatchIds[i] = batches[iBatch].mergeIndex; + } + } +} + + +struct UpdateConstraintBatchIdsForMergesLoop : public btIParallelForBody +{ + int* m_constraintBatchIds; + const btBatchInfo* m_batches; + int m_numBatches; + + UpdateConstraintBatchIdsForMergesLoop( int* constraintBatchIds, const btBatchInfo* batches, int numBatches ) + { + m_constraintBatchIds = constraintBatchIds; + m_batches = batches; + m_numBatches = numBatches; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + BT_PROFILE( "UpdateConstraintBatchIdsForMergesLoop" ); + updateConstraintBatchIdsForMerges( m_constraintBatchIds + iBegin, iEnd - iBegin, m_batches, m_numBatches ); + } +}; + + +static void updateConstraintBatchIdsForMergesMt(int* constraintBatchIds, int numConstraints, const btBatchInfo* batches, int numBatches) +{ + BT_PROFILE( "updateConstraintBatchIdsForMergesMt" ); + UpdateConstraintBatchIdsForMergesLoop loop(constraintBatchIds, batches, numBatches); + int grainSize = 800; + btParallelFor(0, numConstraints, grainSize, loop); +} + + +inline bool BatchCompare(const btBatchedConstraints::Range& a, const btBatchedConstraints::Range& b) +{ + int lenA = a.end - a.begin; + int lenB = b.end - b.begin; + return lenA > lenB; +} + + +static void writeOutConstraintIndicesForRangeOfBatches(btBatchedConstraints* bc, + const int* constraintBatchIds, + int numConstraints, + int* constraintIdPerBatch, + int batchBegin, + int batchEnd + ) +{ + BT_PROFILE("writeOutConstraintIndicesForRangeOfBatches"); + for ( int iCon = 0; iCon < numConstraints; ++iCon ) + { + int iBatch = constraintBatchIds[ iCon ]; + if (iBatch >= batchBegin && iBatch < batchEnd) + { + int iDestCon = constraintIdPerBatch[ iBatch ]; + constraintIdPerBatch[ iBatch ] = iDestCon + 1; + bc->m_constraintIndices[ iDestCon ] = iCon; + } + } +} + + +struct WriteOutConstraintIndicesLoop : public btIParallelForBody +{ + btBatchedConstraints* m_batchedConstraints; + const int* m_constraintBatchIds; + int m_numConstraints; + int* m_constraintIdPerBatch; + int m_maxNumBatchesPerPhase; + + WriteOutConstraintIndicesLoop( btBatchedConstraints* bc, const int* constraintBatchIds, int numConstraints, int* constraintIdPerBatch, int maxNumBatchesPerPhase ) + { + m_batchedConstraints = bc; + m_constraintBatchIds = constraintBatchIds; + m_numConstraints = numConstraints; + m_constraintIdPerBatch = constraintIdPerBatch; + m_maxNumBatchesPerPhase = maxNumBatchesPerPhase; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + BT_PROFILE( "WriteOutConstraintIndicesLoop" ); + int batchBegin = iBegin * m_maxNumBatchesPerPhase; + int batchEnd = iEnd * m_maxNumBatchesPerPhase; + writeOutConstraintIndicesForRangeOfBatches(m_batchedConstraints, + m_constraintBatchIds, + m_numConstraints, + m_constraintIdPerBatch, + batchBegin, + batchEnd + ); + } +}; + + +static void writeOutConstraintIndicesMt(btBatchedConstraints* bc, + const int* constraintBatchIds, + int numConstraints, + int* constraintIdPerBatch, + int maxNumBatchesPerPhase, + int numPhases + ) +{ + BT_PROFILE("writeOutConstraintIndicesMt"); + bool inParallel = true; + if (inParallel) + { + WriteOutConstraintIndicesLoop loop( bc, constraintBatchIds, numConstraints, constraintIdPerBatch, maxNumBatchesPerPhase ); + btParallelFor( 0, numPhases, 1, loop ); + } + else + { + for ( int iCon = 0; iCon < numConstraints; ++iCon ) + { + int iBatch = constraintBatchIds[ iCon ]; + int iDestCon = constraintIdPerBatch[ iBatch ]; + constraintIdPerBatch[ iBatch ] = iDestCon + 1; + bc->m_constraintIndices[ iDestCon ] = iCon; + } + } +} + + +static void writeGrainSizes(btBatchedConstraints* bc) +{ + typedef btBatchedConstraints::Range Range; + int numPhases = bc->m_phases.size(); + bc->m_phaseGrainSize.resizeNoInitialize(numPhases); + int numThreads = btGetTaskScheduler()->getNumThreads(); + for (int iPhase = 0; iPhase < numPhases; ++iPhase) + { + const Range& phase = bc->m_phases[ iPhase ]; + int numBatches = phase.end - phase.begin; + float grainSize = floor((0.25f*numBatches / float(numThreads)) + 0.0f); + bc->m_phaseGrainSize[ iPhase ] = btMax(1, int(grainSize)); + } +} + + +static void writeOutBatches(btBatchedConstraints* bc, + const int* constraintBatchIds, + int numConstraints, + const btBatchInfo* batches, + int* batchWork, + int maxNumBatchesPerPhase, + int numPhases +) +{ + BT_PROFILE("writeOutBatches"); + typedef btBatchedConstraints::Range Range; + bc->m_constraintIndices.reserve( numConstraints ); + bc->m_batches.resizeNoInitialize( 0 ); + bc->m_phases.resizeNoInitialize( 0 ); + + //int maxNumBatches = numPhases * maxNumBatchesPerPhase; + { + int* constraintIdPerBatch = batchWork; // for each batch, keep an index into the next available slot in the m_constraintIndices array + int iConstraint = 0; + for (int iPhase = 0; iPhase < numPhases; ++iPhase) + { + int curPhaseBegin = bc->m_batches.size(); + int iBegin = iPhase * maxNumBatchesPerPhase; + int iEnd = iBegin + maxNumBatchesPerPhase; + for ( int i = iBegin; i < iEnd; ++i ) + { + const btBatchInfo& batch = batches[ i ]; + int curBatchBegin = iConstraint; + constraintIdPerBatch[ i ] = curBatchBegin; // record the start of each batch in m_constraintIndices array + int numConstraints = batch.numConstraints; + iConstraint += numConstraints; + if ( numConstraints > 0 ) + { + bc->m_batches.push_back( Range( curBatchBegin, iConstraint ) ); + } + } + // if any batches were emitted this phase, + if ( bc->m_batches.size() > curPhaseBegin ) + { + // output phase + bc->m_phases.push_back( Range( curPhaseBegin, bc->m_batches.size() ) ); + } + } + + btAssert(iConstraint == numConstraints); + bc->m_constraintIndices.resizeNoInitialize( numConstraints ); + writeOutConstraintIndicesMt( bc, constraintBatchIds, numConstraints, constraintIdPerBatch, maxNumBatchesPerPhase, numPhases ); + } + // for each phase + for (int iPhase = 0; iPhase < bc->m_phases.size(); ++iPhase) + { + // sort the batches from largest to smallest (can be helpful to some task schedulers) + const Range& curBatches = bc->m_phases[iPhase]; + bc->m_batches.quickSortInternal(BatchCompare, curBatches.begin, curBatches.end-1); + } + bc->m_phaseOrder.resize(bc->m_phases.size()); + for (int i = 0; i < bc->m_phases.size(); ++i) + { + bc->m_phaseOrder[i] = i; + } + writeGrainSizes(bc); +} + + +// +// PreallocatedMemoryHelper -- helper object for allocating a number of chunks of memory in a single contiguous block. +// It is generally more efficient to do a single larger allocation than many smaller allocations. +// +// Example Usage: +// +// btVector3* bodyPositions = NULL; +// btBatchedConstraintInfo* conInfos = NULL; +// { +// PreallocatedMemoryHelper<8> memHelper; +// memHelper.addChunk( (void**) &bodyPositions, sizeof( btVector3 ) * bodies.size() ); +// memHelper.addChunk( (void**) &conInfos, sizeof( btBatchedConstraintInfo ) * numConstraints ); +// void* memPtr = malloc( memHelper.getSizeToAllocate() ); // allocate the memory +// memHelper.setChunkPointers( memPtr ); // update pointers to chunks +// } +template <int N> +class PreallocatedMemoryHelper +{ + struct Chunk + { + void** ptr; + size_t size; + }; + Chunk m_chunks[N]; + int m_numChunks; +public: + PreallocatedMemoryHelper() {m_numChunks=0;} + void addChunk( void** ptr, size_t sz ) + { + btAssert( m_numChunks < N ); + if ( m_numChunks < N ) + { + Chunk& chunk = m_chunks[ m_numChunks ]; + chunk.ptr = ptr; + chunk.size = sz; + m_numChunks++; + } + } + size_t getSizeToAllocate() const + { + size_t totalSize = 0; + for (int i = 0; i < m_numChunks; ++i) + { + totalSize += m_chunks[i].size; + } + return totalSize; + } + void setChunkPointers(void* mem) const + { + size_t totalSize = 0; + for (int i = 0; i < m_numChunks; ++i) + { + const Chunk& chunk = m_chunks[ i ]; + char* chunkPtr = static_cast<char*>(mem) + totalSize; + *chunk.ptr = chunkPtr; + totalSize += chunk.size; + } + } +}; + + + +static btVector3 findMaxDynamicConstraintExtent( + btVector3* bodyPositions, + bool* bodyDynamicFlags, + btBatchedConstraintInfo* conInfos, + int numConstraints, + int numBodies + ) +{ + BT_PROFILE("findMaxDynamicConstraintExtent"); + btVector3 consExtent = btVector3(1,1,1) * 0.001; + for (int iCon = 0; iCon < numConstraints; ++iCon) + { + const btBatchedConstraintInfo& con = conInfos[ iCon ]; + int iBody0 = con.bodyIds[0]; + int iBody1 = con.bodyIds[1]; + btAssert(iBody0 >= 0 && iBody0 < numBodies); + btAssert(iBody1 >= 0 && iBody1 < numBodies); + // is it a dynamic constraint? + if (bodyDynamicFlags[iBody0] && bodyDynamicFlags[iBody1]) + { + btVector3 delta = bodyPositions[iBody1] - bodyPositions[iBody0]; + consExtent.setMax(delta.absolute()); + } + } + return consExtent; +} + + +struct btIntVec3 +{ + int m_ints[ 3 ]; + + SIMD_FORCE_INLINE const int& operator[](int i) const {return m_ints[i];} + SIMD_FORCE_INLINE int& operator[](int i) {return m_ints[i];} +}; + + +struct AssignConstraintsToGridBatchesParams +{ + bool* bodyDynamicFlags; + btIntVec3* bodyGridCoords; + int numBodies; + btBatchedConstraintInfo* conInfos; + int* constraintBatchIds; + btIntVec3 gridChunkDim; + int maxNumBatchesPerPhase; + int numPhases; + int phaseMask; + + AssignConstraintsToGridBatchesParams() + { + memset(this, 0, sizeof(*this)); + } +}; + + +static void assignConstraintsToGridBatches(const AssignConstraintsToGridBatchesParams& params, int iConBegin, int iConEnd) +{ + BT_PROFILE("assignConstraintsToGridBatches"); + // (can be done in parallel) + for ( int iCon = iConBegin; iCon < iConEnd; ++iCon ) + { + const btBatchedConstraintInfo& con = params.conInfos[ iCon ]; + int iBody0 = con.bodyIds[ 0 ]; + int iBody1 = con.bodyIds[ 1 ]; + int iPhase = iCon; //iBody0; // pseudorandom choice to distribute evenly amongst phases + iPhase &= params.phaseMask; + int gridCoord[ 3 ]; + // is it a dynamic constraint? + if ( params.bodyDynamicFlags[ iBody0 ] && params.bodyDynamicFlags[ iBody1 ] ) + { + const btIntVec3& body0Coords = params.bodyGridCoords[iBody0]; + const btIntVec3& body1Coords = params.bodyGridCoords[iBody1]; + // for each dimension x,y,z, + for (int i = 0; i < 3; ++i) + { + int coordMin = btMin(body0Coords.m_ints[i], body1Coords.m_ints[i]); + int coordMax = btMax(body0Coords.m_ints[i], body1Coords.m_ints[i]); + if (coordMin != coordMax) + { + btAssert( coordMax == coordMin + 1 ); + if ((coordMin&1) == 0) + { + iPhase &= ~(1 << i); // force bit off + } + else + { + iPhase |= (1 << i); // force bit on + iPhase &= params.phaseMask; + } + } + gridCoord[ i ] = coordMin; + } + } + else + { + if ( !params.bodyDynamicFlags[ iBody0 ] ) + { + iBody0 = con.bodyIds[ 1 ]; + } + btAssert(params.bodyDynamicFlags[ iBody0 ]); + const btIntVec3& body0Coords = params.bodyGridCoords[iBody0]; + // for each dimension x,y,z, + for ( int i = 0; i < 3; ++i ) + { + gridCoord[ i ] = body0Coords.m_ints[ i ]; + } + } + // calculate chunk coordinates + int chunkCoord[ 3 ]; + btIntVec3 gridChunkDim = params.gridChunkDim; + // for each dimension x,y,z, + for ( int i = 0; i < 3; ++i ) + { + int coordOffset = ( iPhase >> i ) & 1; + chunkCoord[ i ] = (gridCoord[ i ] - coordOffset)/2; + btClamp( chunkCoord[ i ], 0, gridChunkDim[ i ] - 1); + btAssert( chunkCoord[ i ] < gridChunkDim[ i ] ); + } + int iBatch = iPhase * params.maxNumBatchesPerPhase + chunkCoord[ 0 ] + chunkCoord[ 1 ] * gridChunkDim[ 0 ] + chunkCoord[ 2 ] * gridChunkDim[ 0 ] * gridChunkDim[ 1 ]; + btAssert(iBatch >= 0 && iBatch < params.maxNumBatchesPerPhase*params.numPhases); + params.constraintBatchIds[ iCon ] = iBatch; + } +} + + +struct AssignConstraintsToGridBatchesLoop : public btIParallelForBody +{ + const AssignConstraintsToGridBatchesParams* m_params; + + AssignConstraintsToGridBatchesLoop( const AssignConstraintsToGridBatchesParams& params ) + { + m_params = ¶ms; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + assignConstraintsToGridBatches(*m_params, iBegin, iEnd); + } +}; + + +// +// setupSpatialGridBatchesMt -- generate batches using a uniform 3D grid +// +/* + +Bodies are treated as 3D points at their center of mass. We only consider dynamic bodies at this stage, +because only dynamic bodies are mutated when a constraint is solved, thus subject to race conditions. + +1. Compute a bounding box around all dynamic bodies +2. Compute the maximum extent of all dynamic constraints. Each dynamic constraint is treated as a line segment, and we need the size of + box that will fully enclose any single dynamic constraint + +3. Establish the cell size of our grid, the cell size in each dimension must be at least as large as the dynamic constraints max-extent, + so that no dynamic constraint can span more than 2 cells of our grid on any axis of the grid. The cell size should be adjusted + larger in order to keep the total number of cells from being excessively high + +Key idea: Given that each constraint spans 1 or 2 grid cells in each dimension, we can handle all constraints by processing + in chunks of 2x2x2 cells with 8 different 1-cell offsets ((0,0,0),(0,0,1),(0,1,0),(0,1,1),(1,0,0)...). + For each of the 8 offsets, we create a phase, and for each 2x2x2 chunk with dynamic constraints becomes a batch in that phase. + +4. Once the grid is established, we can calculate for each constraint which phase and batch it belongs in. + +5. Do a merge small batches on the batches of each phase separately, to try to even out the sizes of batches + +Optionally, we can "collapse" one dimension of our 3D grid to turn it into a 2D grid, which reduces the number of phases +to 4. With fewer phases, there are more constraints per phase and this makes it easier to create batches of a useful size. +*/ +// +static void setupSpatialGridBatchesMt( + btBatchedConstraints* batchedConstraints, + btAlignedObjectArray<char>* scratchMemory, + btConstraintArray* constraints, + const btAlignedObjectArray<btSolverBody>& bodies, + int minBatchSize, + int maxBatchSize, + bool use2DGrid +) +{ + BT_PROFILE("setupSpatialGridBatchesMt"); + const int numPhases = 8; + int numConstraints = constraints->size(); + int numConstraintRows = constraints->size(); + + const int maxGridChunkCount = 128; + int allocNumBatchesPerPhase = maxGridChunkCount; + int minNumBatchesPerPhase = 16; + int allocNumBatches = allocNumBatchesPerPhase * numPhases; + + btVector3* bodyPositions = NULL; + bool* bodyDynamicFlags = NULL; + btIntVec3* bodyGridCoords = NULL; + btBatchInfo* batches = NULL; + int* batchWork = NULL; + btBatchedConstraintInfo* conInfos = NULL; + int* constraintBatchIds = NULL; + int* constraintRowBatchIds = NULL; + { + PreallocatedMemoryHelper<10> memHelper; + memHelper.addChunk( (void**) &bodyPositions, sizeof( btVector3 ) * bodies.size() ); + memHelper.addChunk( (void**) &bodyDynamicFlags, sizeof( bool ) * bodies.size() ); + memHelper.addChunk( (void**) &bodyGridCoords, sizeof( btIntVec3 ) * bodies.size() ); + memHelper.addChunk( (void**) &batches, sizeof( btBatchInfo )* allocNumBatches ); + memHelper.addChunk( (void**) &batchWork, sizeof( int )* allocNumBatches ); + memHelper.addChunk( (void**) &conInfos, sizeof( btBatchedConstraintInfo ) * numConstraints ); + memHelper.addChunk( (void**) &constraintBatchIds, sizeof( int ) * numConstraints ); + memHelper.addChunk( (void**) &constraintRowBatchIds, sizeof( int ) * numConstraintRows ); + size_t scratchSize = memHelper.getSizeToAllocate(); + // if we need to reallocate + if (scratchMemory->capacity() < scratchSize) + { + // allocate 6.25% extra to avoid repeated reallocs + scratchMemory->reserve( scratchSize + scratchSize/16 ); + } + scratchMemory->resizeNoInitialize( scratchSize ); + char* memPtr = &scratchMemory->at(0); + memHelper.setChunkPointers( memPtr ); + } + + numConstraints = initBatchedConstraintInfo(conInfos, constraints); + + // compute bounding box around all dynamic bodies + // (could be done in parallel) + btVector3 bboxMin(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT); + btVector3 bboxMax = -bboxMin; + //int dynamicBodyCount = 0; + for (int i = 0; i < bodies.size(); ++i) + { + const btSolverBody& body = bodies[i]; + btVector3 bodyPos = body.getWorldTransform().getOrigin(); + bool isDynamic = ( body.internalGetInvMass().x() > btScalar( 0 ) ); + bodyPositions[i] = bodyPos; + bodyDynamicFlags[i] = isDynamic; + if (isDynamic) + { + //dynamicBodyCount++; + bboxMin.setMin(bodyPos); + bboxMax.setMax(bodyPos); + } + } + + // find max extent of all dynamic constraints + // (could be done in parallel) + btVector3 consExtent = findMaxDynamicConstraintExtent(bodyPositions, bodyDynamicFlags, conInfos, numConstraints, bodies.size()); + + btVector3 gridExtent = bboxMax - bboxMin; + + btVector3 gridCellSize = consExtent; + int gridDim[3]; + gridDim[ 0 ] = int( 1.0 + gridExtent.x() / gridCellSize.x() ); + gridDim[ 1 ] = int( 1.0 + gridExtent.y() / gridCellSize.y() ); + gridDim[ 2 ] = int( 1.0 + gridExtent.z() / gridCellSize.z() ); + + // if we can collapse an axis, it will cut our number of phases in half which could be more efficient + int phaseMask = 7; + bool collapseAxis = use2DGrid; + if ( collapseAxis ) + { + // pick the smallest axis to collapse, leaving us with the greatest number of cells in our grid + int iAxisToCollapse = 0; + int axisDim = gridDim[iAxisToCollapse]; + //for each dimension + for ( int i = 0; i < 3; ++i ) + { + if (gridDim[i] < axisDim) + { + iAxisToCollapse = i; + axisDim = gridDim[i]; + } + } + // collapse it + gridCellSize[iAxisToCollapse] = gridExtent[iAxisToCollapse] * 2.0f; + phaseMask &= ~(1 << iAxisToCollapse); + } + + int numGridChunks = 0; + btIntVec3 gridChunkDim; // each chunk is 2x2x2 group of cells + while (true) + { + gridDim[0] = int( 1.0 + gridExtent.x() / gridCellSize.x() ); + gridDim[1] = int( 1.0 + gridExtent.y() / gridCellSize.y() ); + gridDim[2] = int( 1.0 + gridExtent.z() / gridCellSize.z() ); + gridChunkDim[ 0 ] = btMax( 1, ( gridDim[ 0 ] + 0 ) / 2 ); + gridChunkDim[ 1 ] = btMax( 1, ( gridDim[ 1 ] + 0 ) / 2 ); + gridChunkDim[ 2 ] = btMax( 1, ( gridDim[ 2 ] + 0 ) / 2 ); + numGridChunks = gridChunkDim[ 0 ] * gridChunkDim[ 1 ] * gridChunkDim[ 2 ]; + float nChunks = float(gridChunkDim[0]) * float(gridChunkDim[1]) * float(gridChunkDim[2]); // suceptible to integer overflow + if ( numGridChunks <= maxGridChunkCount && nChunks <= maxGridChunkCount ) + { + break; + } + gridCellSize *= 1.25; // should roughly cut numCells in half + } + btAssert(numGridChunks <= maxGridChunkCount ); + int maxNumBatchesPerPhase = numGridChunks; + + // for each dynamic body, compute grid coords + btVector3 invGridCellSize = btVector3(1,1,1)/gridCellSize; + // (can be done in parallel) + for (int iBody = 0; iBody < bodies.size(); ++iBody) + { + btIntVec3& coords = bodyGridCoords[iBody]; + if (bodyDynamicFlags[iBody]) + { + btVector3 v = ( bodyPositions[ iBody ] - bboxMin )*invGridCellSize; + coords.m_ints[0] = int(v.x()); + coords.m_ints[1] = int(v.y()); + coords.m_ints[2] = int(v.z()); + btAssert(coords.m_ints[0] >= 0 && coords.m_ints[0] < gridDim[0]); + btAssert(coords.m_ints[1] >= 0 && coords.m_ints[1] < gridDim[1]); + btAssert(coords.m_ints[2] >= 0 && coords.m_ints[2] < gridDim[2]); + } + else + { + coords.m_ints[0] = -1; + coords.m_ints[1] = -1; + coords.m_ints[2] = -1; + } + } + + for (int iPhase = 0; iPhase < numPhases; ++iPhase) + { + int batchBegin = iPhase * maxNumBatchesPerPhase; + int batchEnd = batchBegin + maxNumBatchesPerPhase; + for ( int iBatch = batchBegin; iBatch < batchEnd; ++iBatch ) + { + btBatchInfo& batch = batches[ iBatch ]; + batch = btBatchInfo(); + } + } + + { + AssignConstraintsToGridBatchesParams params; + params.bodyDynamicFlags = bodyDynamicFlags; + params.bodyGridCoords = bodyGridCoords; + params.numBodies = bodies.size(); + params.conInfos = conInfos; + params.constraintBatchIds = constraintBatchIds; + params.gridChunkDim = gridChunkDim; + params.maxNumBatchesPerPhase = maxNumBatchesPerPhase; + params.numPhases = numPhases; + params.phaseMask = phaseMask; + bool inParallel = true; + if (inParallel) + { + AssignConstraintsToGridBatchesLoop loop(params); + int grainSize = 250; + btParallelFor(0, numConstraints, grainSize, loop); + } + else + { + assignConstraintsToGridBatches( params, 0, numConstraints ); + } + } + for ( int iCon = 0; iCon < numConstraints; ++iCon ) + { + const btBatchedConstraintInfo& con = conInfos[ iCon ]; + int iBatch = constraintBatchIds[ iCon ]; + btBatchInfo& batch = batches[iBatch]; + batch.numConstraints += con.numConstraintRows; + } + + for (int iPhase = 0; iPhase < numPhases; ++iPhase) + { + // if phase is legit, + if (iPhase == (iPhase&phaseMask)) + { + int iBeginBatch = iPhase * maxNumBatchesPerPhase; + int iEndBatch = iBeginBatch + maxNumBatchesPerPhase; + mergeSmallBatches( batches, iBeginBatch, iEndBatch, minBatchSize, maxBatchSize ); + } + } + // all constraints have been assigned a batchId + updateConstraintBatchIdsForMergesMt(constraintBatchIds, numConstraints, batches, maxNumBatchesPerPhase*numPhases); + + if (numConstraintRows > numConstraints) + { + expandConstraintRowsMt(&constraintRowBatchIds[0], &constraintBatchIds[0], &conInfos[0], numConstraints, numConstraintRows); + } + else + { + constraintRowBatchIds = constraintBatchIds; + } + + writeOutBatches(batchedConstraints, constraintRowBatchIds, numConstraintRows, batches, batchWork, maxNumBatchesPerPhase, numPhases); + btAssert(batchedConstraints->validate(constraints, bodies)); +} + + +static void setupSingleBatch( + btBatchedConstraints* bc, + int numConstraints +) +{ + BT_PROFILE("setupSingleBatch"); + typedef btBatchedConstraints::Range Range; + + bc->m_constraintIndices.resize( numConstraints ); + for ( int i = 0; i < numConstraints; ++i ) + { + bc->m_constraintIndices[ i ] = i; + } + + bc->m_batches.resizeNoInitialize( 0 ); + bc->m_phases.resizeNoInitialize( 0 ); + bc->m_phaseOrder.resizeNoInitialize( 0 ); + bc->m_phaseGrainSize.resizeNoInitialize( 0 ); + + if (numConstraints > 0) + { + bc->m_batches.push_back( Range( 0, numConstraints ) ); + bc->m_phases.push_back( Range( 0, 1 ) ); + bc->m_phaseOrder.push_back(0); + bc->m_phaseGrainSize.push_back(1); + } +} + + +void btBatchedConstraints::setup( + btConstraintArray* constraints, + const btAlignedObjectArray<btSolverBody>& bodies, + BatchingMethod batchingMethod, + int minBatchSize, + int maxBatchSize, + btAlignedObjectArray<char>* scratchMemory + ) +{ + if (constraints->size() >= minBatchSize*4) + { + bool use2DGrid = batchingMethod == BATCHING_METHOD_SPATIAL_GRID_2D; + setupSpatialGridBatchesMt( this, scratchMemory, constraints, bodies, minBatchSize, maxBatchSize, use2DGrid ); + if (s_debugDrawBatches) + { + debugDrawAllBatches( this, constraints, bodies ); + } + } + else + { + setupSingleBatch( this, constraints->size() ); + } +} + + diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.h new file mode 100644 index 0000000000..0fd8f31dd4 --- /dev/null +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.h @@ -0,0 +1,66 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef BT_BATCHED_CONSTRAINTS_H +#define BT_BATCHED_CONSTRAINTS_H + +#include "LinearMath/btThreads.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "BulletDynamics/ConstraintSolver/btSolverBody.h" +#include "BulletDynamics/ConstraintSolver/btSolverConstraint.h" + + +class btIDebugDraw; + +struct btBatchedConstraints +{ + enum BatchingMethod + { + BATCHING_METHOD_SPATIAL_GRID_2D, + BATCHING_METHOD_SPATIAL_GRID_3D, + BATCHING_METHOD_COUNT + }; + struct Range + { + int begin; + int end; + + Range() : begin( 0 ), end( 0 ) {} + Range( int _beg, int _end ) : begin( _beg ), end( _end ) {} + }; + + btAlignedObjectArray<int> m_constraintIndices; + btAlignedObjectArray<Range> m_batches; // each batch is a range of indices in the m_constraintIndices array + btAlignedObjectArray<Range> m_phases; // each phase is range of indices in the m_batches array + btAlignedObjectArray<char> m_phaseGrainSize; // max grain size for each phase + btAlignedObjectArray<int> m_phaseOrder; // phases can be done in any order, so we can randomize the order here + btIDebugDraw* m_debugDrawer; + + static bool s_debugDrawBatches; + + btBatchedConstraints() {m_debugDrawer=NULL;} + void setup( btConstraintArray* constraints, + const btAlignedObjectArray<btSolverBody>& bodies, + BatchingMethod batchingMethod, + int minBatchSize, + int maxBatchSize, + btAlignedObjectArray<char>* scratchMemory + ); + bool validate( btConstraintArray* constraints, const btAlignedObjectArray<btSolverBody>& bodies ) const; +}; + + +#endif // BT_BATCHED_CONSTRAINTS_H + diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h index 890afe6da4..0491639f70 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h @@ -34,7 +34,8 @@ enum btConstraintSolverType { BT_SEQUENTIAL_IMPULSE_SOLVER=1, BT_MLCP_SOLVER=2, - BT_NNCG_SOLVER=4 + BT_NNCG_SOLVER=4, + BT_MULTIBODY_SOLVER=8, }; class btConstraintSolver diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index 28d0c1dd48..93865cbc59 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -29,7 +29,8 @@ enum btSolverMode SOLVER_CACHE_FRIENDLY = 128, SOLVER_SIMD = 256, SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512, - SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024 + SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024, + SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048 }; struct btContactSolverInfoData diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp index fa17254ec3..c38b8353f0 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp @@ -855,8 +855,8 @@ int btGeneric6DofConstraint::get_limit_motor_info2( tag_vel, info->fps * limot->m_stopERP); info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity; - info->m_lowerLimit[srow] = -limot->m_maxMotorForce; - info->m_upperLimit[srow] = limot->m_maxMotorForce; + info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps; + info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps; } } if(limit) diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h index bea8629c32..b2ad45f749 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h @@ -77,7 +77,7 @@ public: { m_accumulatedImpulse = 0.f; m_targetVelocity = 0; - m_maxMotorForce = 0.1f; + m_maxMotorForce = 6.0f; m_maxLimitForce = 300.0f; m_loLimit = 1.0f; m_hiLimit = -1.0f; diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp index f0976ee493..540dcd18f7 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp @@ -719,8 +719,8 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2( tag_vel, info->fps * limot->m_motorERP); info->m_constraintError[srow] = mot_fact * limot->m_targetVelocity; - info->m_lowerLimit[srow] = -limot->m_maxMotorForce; - info->m_upperLimit[srow] = limot->m_maxMotorForce; + info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps; + info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps; info->cfm[srow] = limot->m_motorCFM; srow += info->rowskip; ++count; @@ -769,8 +769,8 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2( mot_fact = 0; } info->m_constraintError[srow] = mot_fact * targetvelocity * (rotational ? -1 : 1); - info->m_lowerLimit[srow] = -limot->m_maxMotorForce; - info->m_upperLimit[srow] = limot->m_maxMotorForce; + info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps; + info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps; info->cfm[srow] = limot->m_motorCFM; srow += info->rowskip; ++count; @@ -797,6 +797,12 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2( btScalar cfm = BT_ZERO; btScalar mA = BT_ONE / m_rbA.getInvMass(); btScalar mB = BT_ONE / m_rbB.getInvMass(); + if (rotational) { + btScalar rrA = (m_calculatedTransformA.getOrigin() - transA.getOrigin()).length2(); + btScalar rrB = (m_calculatedTransformB.getOrigin() - transB.getOrigin()).length2(); + if (m_rbA.getInvMass()) mA = mA * rrA + 1 / (m_rbA.getInvInertiaTensorWorld() * ax1).length(); + if (m_rbB.getInvMass()) mB = mB * rrB + 1 / (m_rbB.getInvInertiaTensorWorld() * ax1).length(); + } btScalar m = mA > mB ? mB : mA; btScalar angularfreq = sqrt(ks / m); @@ -815,7 +821,18 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2( btScalar fd = -kd * (vel) * (rotational ? -1 : 1) * dt; btScalar f = (fs+fd); - info->m_constraintError[srow] = (vel + f * (rotational ? -1 : 1)) ; + // after the spring force affecting the body(es) the new velocity will be + // vel + f / m * (rotational ? -1 : 1) + // so in theory this should be set here for m_constraintError + // (with m_constraintError we set a desired velocity for the affected body(es)) + // however in practice any value is fine as long as it is greater then the "proper" velocity, + // because the m_lowerLimit and the m_upperLimit will determinate the strength of the final pulling force + // so it is much simpler (and more robust) just to simply use inf (with the proper sign) + // you may also wonder what if the current velocity (vel) so high that the pulling force will not change its direction (in this iteration) + // will we not request a velocity with the wrong direction ? + // and the answare is not, because in practice during the solving the current velocity is subtracted from the m_constraintError + // so the sign of the force that is really matters + info->m_constraintError[srow] = (rotational ? -1 : 1) * (f < 0 ? -SIMD_INFINITY : SIMD_INFINITY); btScalar minf = f < fd ? f : fd; btScalar maxf = f < fd ? fd : f; diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h index 66d1769583..1b8d0eace9 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h @@ -107,7 +107,7 @@ public: m_motorCFM = 0.f; m_enableMotor = false; m_targetVelocity = 0; - m_maxMotorForce = 0.1f; + m_maxMotorForce = 6.0f; m_servoMotor = false; m_servoTarget = 0; m_enableSpring = false; diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp index 6f765884ec..3f875989ea 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp @@ -131,7 +131,7 @@ void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* inf btScalar force = delta * m_springStiffness[i]; btScalar velFactor = info->fps * m_springDamping[i] / btScalar(info->m_numIterations); m_linearLimits.m_targetVelocity[i] = velFactor * force; - m_linearLimits.m_maxMotorForce[i] = btFabs(force) / info->fps; + m_linearLimits.m_maxMotorForce[i] = btFabs(force); } } for(i = 0; i < 3; i++) @@ -146,7 +146,7 @@ void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* inf btScalar force = -delta * m_springStiffness[i+3]; btScalar velFactor = info->fps * m_springDamping[i+3] / btScalar(info->m_numIterations); m_angularLimits[i].m_targetVelocity = velFactor * force; - m_angularLimits[i].m_maxMotorForce = btFabs(force) / info->fps; + m_angularLimits[i].m_maxMotorForce = btFabs(force); } } } diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp index b0d57a3e87..63174a6ec0 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp @@ -21,6 +21,7 @@ subject to the following restrictions: #include "btSequentialImpulseConstraintSolver.h" #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" + #include "LinearMath/btIDebugDraw.h" #include "LinearMath/btCpuFeatureUtility.h" @@ -42,11 +43,11 @@ int gNumSplitImpulseRecoveries = 0; //#define VERBOSE_RESIDUAL_PRINTF 1 ///This is the scalar reference implementation of solving a single constraint row, the innerloop of the Projected Gauss Seidel/Sequential Impulse constraint solver ///Below are optional SSE2 and SSE4/FMA3 versions. We assume most hardware has SSE2. For SSE4/FMA3 we perform a CPU feature check. -static btSimdScalar gResolveSingleConstraintRowGeneric_scalar_reference(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c) +static btScalar gResolveSingleConstraintRowGeneric_scalar_reference(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c) { btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm; - const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity()); - const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity()); + const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(bodyA.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA.internalGetDeltaAngularVelocity()); + const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(bodyB.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB.internalGetDeltaAngularVelocity()); // const btScalar delta_rel_vel = deltaVel1Dotn-deltaVel2Dotn; deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv; @@ -68,18 +69,18 @@ static btSimdScalar gResolveSingleConstraintRowGeneric_scalar_reference(btSolver c.m_appliedImpulse = sum; } - body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(), c.m_angularComponentA, deltaImpulse); - body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(), c.m_angularComponentB, deltaImpulse); + bodyA.internalApplyImpulse(c.m_contactNormal1*bodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse); + bodyB.internalApplyImpulse(c.m_contactNormal2*bodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse); - return deltaImpulse; + return deltaImpulse*(1./c.m_jacDiagABInv); } -static btSimdScalar gResolveSingleConstraintRowLowerLimit_scalar_reference(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c) +static btScalar gResolveSingleConstraintRowLowerLimit_scalar_reference(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c) { btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm; - const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity()); - const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity()); + const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(bodyA.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA.internalGetDeltaAngularVelocity()); + const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(bodyB.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB.internalGetDeltaAngularVelocity()); deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv; deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv; @@ -93,10 +94,10 @@ static btSimdScalar gResolveSingleConstraintRowLowerLimit_scalar_reference(btSol { c.m_appliedImpulse = sum; } - body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(), c.m_angularComponentA, deltaImpulse); - body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(), c.m_angularComponentB, deltaImpulse); + bodyA.internalApplyImpulse(c.m_contactNormal1*bodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse); + bodyB.internalApplyImpulse(c.m_contactNormal2*bodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse); - return deltaImpulse; + return deltaImpulse*(1./c.m_jacDiagABInv); } @@ -149,14 +150,14 @@ static inline __m128 btSimdDot3( __m128 vec0, __m128 vec1 ) #endif // Project Gauss Seidel or the equivalent Sequential Impulse -static btSimdScalar gResolveSingleConstraintRowGeneric_sse2(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c) +static btScalar gResolveSingleConstraintRowGeneric_sse2(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c) { __m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse); __m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit); __m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit); btSimdScalar deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse), _mm_set1_ps(c.m_cfm))); - __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128)); - __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128)); + __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, bodyA.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, bodyA.internalGetDeltaAngularVelocity().mVec128)); + __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, bodyB.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, bodyB.internalGetDeltaAngularVelocity().mVec128)); deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv))); deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv))); btSimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse); @@ -169,27 +170,27 @@ static btSimdScalar gResolveSingleConstraintRowGeneric_sse2(btSolverBody& body1, __m128 upperMinApplied = _mm_sub_ps(upperLimit1, cpAppliedImp); deltaImpulse = _mm_or_ps(_mm_and_ps(resultUpperLess, deltaImpulse), _mm_andnot_ps(resultUpperLess, upperMinApplied)); c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultUpperLess, c.m_appliedImpulse), _mm_andnot_ps(resultUpperLess, upperLimit1)); - __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128); - __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal2).mVec128, body2.internalGetInvMass().mVec128); + __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, bodyA.internalGetInvMass().mVec128); + __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal2).mVec128, bodyB.internalGetInvMass().mVec128); __m128 impulseMagnitude = deltaImpulse; - body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude)); - body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude)); - body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude)); - body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude)); - return deltaImpulse; + bodyA.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(bodyA.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude)); + bodyA.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(bodyA.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude)); + bodyB.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(bodyB.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude)); + bodyB.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(bodyB.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude)); + return deltaImpulse.m_floats[0]/c.m_jacDiagABInv; } // Enhanced version of gResolveSingleConstraintRowGeneric_sse2 with SSE4.1 and FMA3 -static btSimdScalar gResolveSingleConstraintRowGeneric_sse4_1_fma3(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c) +static btScalar gResolveSingleConstraintRowGeneric_sse4_1_fma3(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c) { #if defined (BT_ALLOW_SSE4) __m128 tmp = _mm_set_ps1(c.m_jacDiagABInv); __m128 deltaImpulse = _mm_set_ps1(c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm); const __m128 lowerLimit = _mm_set_ps1(c.m_lowerLimit); const __m128 upperLimit = _mm_set_ps1(c.m_upperLimit); - const __m128 deltaVel1Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128)); - const __m128 deltaVel2Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128)); + const __m128 deltaVel1Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal1.mVec128, bodyA.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos1CrossNormal.mVec128, bodyA.internalGetDeltaAngularVelocity().mVec128)); + const __m128 deltaVel2Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal2.mVec128, bodyB.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos2CrossNormal.mVec128, bodyB.internalGetDeltaAngularVelocity().mVec128)); deltaImpulse = FMNADD(deltaVel1Dotn, tmp, deltaImpulse); deltaImpulse = FMNADD(deltaVel2Dotn, tmp, deltaImpulse); tmp = _mm_add_ps(c.m_appliedImpulse, deltaImpulse); // sum @@ -197,26 +198,27 @@ static btSimdScalar gResolveSingleConstraintRowGeneric_sse4_1_fma3(btSolverBody& const __m128 maskUpper = _mm_cmpgt_ps(upperLimit, tmp); deltaImpulse = _mm_blendv_ps(_mm_sub_ps(lowerLimit, c.m_appliedImpulse), _mm_blendv_ps(_mm_sub_ps(upperLimit, c.m_appliedImpulse), deltaImpulse, maskUpper), maskLower); c.m_appliedImpulse = _mm_blendv_ps(lowerLimit, _mm_blendv_ps(upperLimit, tmp, maskUpper), maskLower); - body1.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128), deltaImpulse, body1.internalGetDeltaLinearVelocity().mVec128); - body1.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentA.mVec128, deltaImpulse, body1.internalGetDeltaAngularVelocity().mVec128); - body2.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal2.mVec128, body2.internalGetInvMass().mVec128), deltaImpulse, body2.internalGetDeltaLinearVelocity().mVec128); - body2.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentB.mVec128, deltaImpulse, body2.internalGetDeltaAngularVelocity().mVec128); - return deltaImpulse; + bodyA.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal1.mVec128, bodyA.internalGetInvMass().mVec128), deltaImpulse, bodyA.internalGetDeltaLinearVelocity().mVec128); + bodyA.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentA.mVec128, deltaImpulse, bodyA.internalGetDeltaAngularVelocity().mVec128); + bodyB.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal2.mVec128, bodyB.internalGetInvMass().mVec128), deltaImpulse, bodyB.internalGetDeltaLinearVelocity().mVec128); + bodyB.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentB.mVec128, deltaImpulse, bodyB.internalGetDeltaAngularVelocity().mVec128); + btSimdScalar deltaImp = deltaImpulse; + return deltaImp.m_floats[0]*(1./c.m_jacDiagABInv); #else - return gResolveSingleConstraintRowGeneric_sse2(body1,body2,c); + return gResolveSingleConstraintRowGeneric_sse2(bodyA,bodyB,c); #endif } -static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse2(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c) +static btScalar gResolveSingleConstraintRowLowerLimit_sse2(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c) { __m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse); __m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit); __m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit); btSimdScalar deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse), _mm_set1_ps(c.m_cfm))); - __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128)); - __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128)); + __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, bodyA.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, bodyA.internalGetDeltaAngularVelocity().mVec128)); + __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, bodyB.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, bodyB.internalGetDeltaAngularVelocity().mVec128)); deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv))); deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv))); btSimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse); @@ -226,39 +228,40 @@ static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse2(btSolverBody& bod __m128 lowMinApplied = _mm_sub_ps(lowerLimit1, cpAppliedImp); deltaImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse)); c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum)); - __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128); - __m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128, body2.internalGetInvMass().mVec128); + __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, bodyA.internalGetInvMass().mVec128); + __m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128, bodyB.internalGetInvMass().mVec128); __m128 impulseMagnitude = deltaImpulse; - body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude)); - body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude)); - body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude)); - body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude)); - return deltaImpulse; + bodyA.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(bodyA.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude)); + bodyA.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(bodyA.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude)); + bodyB.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(bodyB.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude)); + bodyB.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(bodyB.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude)); + return deltaImpulse.m_floats[0]/c.m_jacDiagABInv; } // Enhanced version of gResolveSingleConstraintRowGeneric_sse2 with SSE4.1 and FMA3 -static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse4_1_fma3(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c) +static btScalar gResolveSingleConstraintRowLowerLimit_sse4_1_fma3(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c) { #ifdef BT_ALLOW_SSE4 __m128 tmp = _mm_set_ps1(c.m_jacDiagABInv); __m128 deltaImpulse = _mm_set_ps1(c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm); const __m128 lowerLimit = _mm_set_ps1(c.m_lowerLimit); - const __m128 deltaVel1Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128)); - const __m128 deltaVel2Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128)); + const __m128 deltaVel1Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal1.mVec128, bodyA.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos1CrossNormal.mVec128, bodyA.internalGetDeltaAngularVelocity().mVec128)); + const __m128 deltaVel2Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal2.mVec128, bodyB.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos2CrossNormal.mVec128, bodyB.internalGetDeltaAngularVelocity().mVec128)); deltaImpulse = FMNADD(deltaVel1Dotn, tmp, deltaImpulse); deltaImpulse = FMNADD(deltaVel2Dotn, tmp, deltaImpulse); tmp = _mm_add_ps(c.m_appliedImpulse, deltaImpulse); const __m128 mask = _mm_cmpgt_ps(tmp, lowerLimit); deltaImpulse = _mm_blendv_ps(_mm_sub_ps(lowerLimit, c.m_appliedImpulse), deltaImpulse, mask); c.m_appliedImpulse = _mm_blendv_ps(lowerLimit, tmp, mask); - body1.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128), deltaImpulse, body1.internalGetDeltaLinearVelocity().mVec128); - body1.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentA.mVec128, deltaImpulse, body1.internalGetDeltaAngularVelocity().mVec128); - body2.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal2.mVec128, body2.internalGetInvMass().mVec128), deltaImpulse, body2.internalGetDeltaLinearVelocity().mVec128); - body2.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentB.mVec128, deltaImpulse, body2.internalGetDeltaAngularVelocity().mVec128); - return deltaImpulse; + bodyA.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal1.mVec128, bodyA.internalGetInvMass().mVec128), deltaImpulse, bodyA.internalGetDeltaLinearVelocity().mVec128); + bodyA.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentA.mVec128, deltaImpulse, bodyA.internalGetDeltaAngularVelocity().mVec128); + bodyB.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal2.mVec128, bodyB.internalGetInvMass().mVec128), deltaImpulse, bodyB.internalGetDeltaLinearVelocity().mVec128); + bodyB.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentB.mVec128, deltaImpulse, bodyB.internalGetDeltaAngularVelocity().mVec128); + btSimdScalar deltaImp = deltaImpulse; + return deltaImp.m_floats[0]*(1./c.m_jacDiagABInv); #else - return gResolveSingleConstraintRowLowerLimit_sse2(body1,body2,c); + return gResolveSingleConstraintRowLowerLimit_sse2(bodyA,bodyB,c); #endif //BT_ALLOW_SSE4 } @@ -267,32 +270,32 @@ static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse4_1_fma3(btSolverBo -btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) +btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& c) { - return m_resolveSingleConstraintRowGeneric(body1, body2, c); + return m_resolveSingleConstraintRowGeneric(bodyA, bodyB, c); } // Project Gauss Seidel or the equivalent Sequential Impulse -btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) +btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& c) { - return m_resolveSingleConstraintRowGeneric(body1, body2, c); + return m_resolveSingleConstraintRowGeneric(bodyA, bodyB, c); } -btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) +btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& c) { - return m_resolveSingleConstraintRowLowerLimit(body1, body2, c); + return m_resolveSingleConstraintRowLowerLimit(bodyA, bodyB, c); } -btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) +btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& c) { - return m_resolveSingleConstraintRowLowerLimit(body1, body2, c); + return m_resolveSingleConstraintRowLowerLimit(bodyA, bodyB, c); } -static btSimdScalar gResolveSplitPenetrationImpulse_scalar_reference( - btSolverBody& body1, - btSolverBody& body2, +static btScalar gResolveSplitPenetrationImpulse_scalar_reference( + btSolverBody& bodyA, + btSolverBody& bodyB, const btSolverConstraint& c) { btScalar deltaImpulse = 0.f; @@ -301,8 +304,8 @@ static btSimdScalar gResolveSplitPenetrationImpulse_scalar_reference( { gNumSplitImpulseRecoveries++; deltaImpulse = c.m_rhsPenetration-btScalar(c.m_appliedPushImpulse)*c.m_cfm; - const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetPushVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetTurnVelocity()); - const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetTurnVelocity()); + const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(bodyA.internalGetPushVelocity()) + c.m_relpos1CrossNormal.dot(bodyA.internalGetTurnVelocity()); + const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(bodyB.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(bodyB.internalGetTurnVelocity()); deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv; deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv; @@ -316,13 +319,13 @@ static btSimdScalar gResolveSplitPenetrationImpulse_scalar_reference( { c.m_appliedPushImpulse = sum; } - body1.internalApplyPushImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse); - body2.internalApplyPushImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse); + bodyA.internalApplyPushImpulse(c.m_contactNormal1*bodyA.internalGetInvMass(),c.m_angularComponentA,deltaImpulse); + bodyB.internalApplyPushImpulse(c.m_contactNormal2*bodyB.internalGetInvMass(),c.m_angularComponentB,deltaImpulse); } - return deltaImpulse; + return deltaImpulse*(1./c.m_jacDiagABInv); } -static btSimdScalar gResolveSplitPenetrationImpulse_sse2(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) +static btScalar gResolveSplitPenetrationImpulse_sse2(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& c) { #ifdef USE_SIMD if (!c.m_rhsPenetration) @@ -334,8 +337,8 @@ static btSimdScalar gResolveSplitPenetrationImpulse_sse2(btSolverBody& body1,btS __m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit); __m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit); __m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhsPenetration), _mm_mul_ps(_mm_set1_ps(c.m_appliedPushImpulse),_mm_set1_ps(c.m_cfm))); - __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128,body1.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetTurnVelocity().mVec128)); - __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,body2.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetTurnVelocity().mVec128)); + __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128,bodyA.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,bodyA.internalGetTurnVelocity().mVec128)); + __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,bodyB.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,bodyB.internalGetTurnVelocity().mVec128)); deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv))); deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv))); btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse); @@ -345,16 +348,17 @@ static btSimdScalar gResolveSplitPenetrationImpulse_sse2(btSolverBody& body1,btS __m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp); deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) ); c.m_appliedPushImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) ); - __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128,body1.internalGetInvMass().mVec128); - __m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128,body2.internalGetInvMass().mVec128); + __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128,bodyA.internalGetInvMass().mVec128); + __m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128,bodyB.internalGetInvMass().mVec128); __m128 impulseMagnitude = deltaImpulse; - body1.internalGetPushVelocity().mVec128 = _mm_add_ps(body1.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude)); - body1.internalGetTurnVelocity().mVec128 = _mm_add_ps(body1.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude)); - body2.internalGetPushVelocity().mVec128 = _mm_add_ps(body2.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude)); - body2.internalGetTurnVelocity().mVec128 = _mm_add_ps(body2.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude)); - return deltaImpulse; + bodyA.internalGetPushVelocity().mVec128 = _mm_add_ps(bodyA.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude)); + bodyA.internalGetTurnVelocity().mVec128 = _mm_add_ps(bodyA.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude)); + bodyB.internalGetPushVelocity().mVec128 = _mm_add_ps(bodyB.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude)); + bodyB.internalGetTurnVelocity().mVec128 = _mm_add_ps(bodyB.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude)); + btSimdScalar deltaImp = deltaImpulse; + return deltaImp.m_floats[0] * (1. / c.m_jacDiagABInv); #else - return gResolveSplitPenetrationImpulse_scalar_reference(body1,body2,c); + return gResolveSplitPenetrationImpulse_scalar_reference(bodyA,bodyB,c); #endif } @@ -548,7 +552,7 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB]; btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody; - btRigidBody* body1 = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody; + btRigidBody* bodyA = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody; solverConstraint.m_solverBodyIdA = solverBodyIdA; solverConstraint.m_solverBodyIdB = solverBodyIdB; @@ -572,12 +576,12 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr solverConstraint.m_angularComponentA .setZero(); } - if (body1) + if (bodyA) { solverConstraint.m_contactNormal2 = -normalAxis; btVector3 ftorqueAxis1 = rel_pos2.cross(solverConstraint.m_contactNormal2); solverConstraint.m_relpos2CrossNormal = ftorqueAxis1; - solverConstraint.m_angularComponentB = body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor(); + solverConstraint.m_angularComponentB = bodyA->getInvInertiaTensorWorld()*ftorqueAxis1*bodyA->getAngularFactor(); } else { solverConstraint.m_contactNormal2.setZero(); @@ -594,10 +598,10 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1); denom0 = body0->getInvMass() + normalAxis.dot(vec); } - if (body1) + if (bodyA) { vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2); - denom1 = body1->getInvMass() + normalAxis.dot(vec); + denom1 = bodyA->getInvMass() + normalAxis.dot(vec); } btScalar denom = relaxation/(denom0+denom1); solverConstraint.m_jacDiagABInv = denom; @@ -609,8 +613,8 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr btScalar rel_vel; btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity+solverBodyA.m_externalForceImpulse:btVector3(0,0,0)) + solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:btVector3(0,0,0)); - btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0)) - + solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:btVector3(0,0,0)); + btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(bodyA?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0)) + + solverConstraint.m_relpos2CrossNormal.dot(bodyA?solverBodyB.m_angularVelocity:btVector3(0,0,0)); rel_vel = vel1Dotn+vel2Dotn; @@ -662,7 +666,7 @@ void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint( btSo btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB]; btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody; - btRigidBody* body1 = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody; + btRigidBody* bodyA = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody; solverConstraint.m_solverBodyIdA = solverBodyIdA; solverConstraint.m_solverBodyIdB = solverBodyIdB; @@ -681,13 +685,13 @@ void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint( btSo { btVector3 ftorqueAxis1 = normalAxis1; solverConstraint.m_relpos2CrossNormal = ftorqueAxis1; - solverConstraint.m_angularComponentB = body1 ? body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor() : btVector3(0,0,0); + solverConstraint.m_angularComponentB = bodyA ? bodyA->getInvInertiaTensorWorld()*ftorqueAxis1*bodyA->getAngularFactor() : btVector3(0,0,0); } { btVector3 iMJaA = body0?body0->getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal:btVector3(0,0,0); - btVector3 iMJaB = body1?body1->getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal:btVector3(0,0,0); + btVector3 iMJaB = bodyA?bodyA->getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal:btVector3(0,0,0); btScalar sum = 0; sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal); sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal); @@ -700,8 +704,8 @@ void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint( btSo btScalar rel_vel; btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity+solverBodyA.m_externalForceImpulse:btVector3(0,0,0)) + solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:btVector3(0,0,0)); - btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0)) - + solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:btVector3(0,0,0)); + btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(bodyA?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0)) + + solverConstraint.m_relpos2CrossNormal.dot(bodyA?solverBodyB.m_angularVelocity:btVector3(0,0,0)); rel_vel = vel1Dotn+vel2Dotn; @@ -738,23 +742,21 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& { #if BT_THREADSAFE int solverBodyId = -1; - if ( !body.isStaticOrKinematicObject() ) + bool isRigidBodyType = btRigidBody::upcast( &body ) != NULL; + if ( isRigidBodyType && !body.isStaticOrKinematicObject() ) { // dynamic body // Dynamic bodies can only be in one island, so it's safe to write to the companionId solverBodyId = body.getCompanionId(); if ( solverBodyId < 0 ) { - if ( btRigidBody* rb = btRigidBody::upcast( &body ) ) - { - solverBodyId = m_tmpSolverBodyPool.size(); - btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); - initSolverBody( &solverBody, &body, timeStep ); - body.setCompanionId( solverBodyId ); - } + solverBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); + initSolverBody( &solverBody, &body, timeStep ); + body.setCompanionId( solverBodyId ); } } - else if (body.isKinematicObject()) + else if (isRigidBodyType && body.isKinematicObject()) { // // NOTE: must test for kinematic before static because some kinematic objects also @@ -774,7 +776,6 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& if ( solverBodyId == INVALID_SOLVER_BODY_ID ) { // create a table entry for this body - btRigidBody* rb = btRigidBody::upcast( &body ); solverBodyId = m_tmpSolverBodyPool.size(); btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); initSolverBody( &solverBody, &body, timeStep ); @@ -783,6 +784,13 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& } else { + bool isMultiBodyType = (body.getInternalType()&btCollisionObject::CO_FEATHERSTONE_LINK); + // Incorrectly set collision object flags can degrade performance in various ways. + if (!isMultiBodyType) + { + btAssert( body.isStaticOrKinematicObject() ); + } + //it could be a multibody link collider // all fixed bodies (inf mass) get mapped to a single solver id if ( m_fixedBodyId < 0 ) { @@ -792,7 +800,7 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& } solverBodyId = m_fixedBodyId; } - btAssert( solverBodyId < m_tmpSolverBodyPool.size() ); + btAssert( solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size() ); return solverBodyId; #else // BT_THREADSAFE @@ -1258,6 +1266,256 @@ void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold** } } + +void btSequentialImpulseConstraintSolver::convertJoint(btSolverConstraint* currentConstraintRow, + btTypedConstraint* constraint, + const btTypedConstraint::btConstraintInfo1& info1, + int solverBodyIdA, + int solverBodyIdB, + const btContactSolverInfo& infoGlobal + ) +{ + const btRigidBody& rbA = constraint->getRigidBodyA(); + const btRigidBody& rbB = constraint->getRigidBodyB(); + + const btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA]; + const btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB]; + + int overrideNumSolverIterations = constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations; + if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations) + m_maxOverrideNumSolverIterations = overrideNumSolverIterations; + + for (int j=0;j<info1.m_numConstraintRows;j++) + { + memset(¤tConstraintRow[j],0,sizeof(btSolverConstraint)); + currentConstraintRow[j].m_lowerLimit = -SIMD_INFINITY; + currentConstraintRow[j].m_upperLimit = SIMD_INFINITY; + currentConstraintRow[j].m_appliedImpulse = 0.f; + currentConstraintRow[j].m_appliedPushImpulse = 0.f; + currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA; + currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB; + currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations; + } + + // these vectors are already cleared in initSolverBody, no need to redundantly clear again + btAssert(bodyAPtr->getDeltaLinearVelocity().isZero()); + btAssert(bodyAPtr->getDeltaAngularVelocity().isZero()); + btAssert(bodyAPtr->getPushVelocity().isZero()); + btAssert(bodyAPtr->getTurnVelocity().isZero()); + btAssert(bodyBPtr->getDeltaLinearVelocity().isZero()); + btAssert(bodyBPtr->getDeltaAngularVelocity().isZero()); + btAssert(bodyBPtr->getPushVelocity().isZero()); + btAssert(bodyBPtr->getTurnVelocity().isZero()); + //bodyAPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f); + //bodyAPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f); + //bodyAPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f); + //bodyAPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f); + //bodyBPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f); + //bodyBPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f); + //bodyBPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f); + //bodyBPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f); + + + btTypedConstraint::btConstraintInfo2 info2; + info2.fps = 1.f/infoGlobal.m_timeStep; + info2.erp = infoGlobal.m_erp; + info2.m_J1linearAxis = currentConstraintRow->m_contactNormal1; + info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal; + info2.m_J2linearAxis = currentConstraintRow->m_contactNormal2; + info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal; + info2.rowskip = sizeof(btSolverConstraint)/sizeof(btScalar);//check this + ///the size of btSolverConstraint needs be a multiple of btScalar + btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint)); + info2.m_constraintError = ¤tConstraintRow->m_rhs; + currentConstraintRow->m_cfm = infoGlobal.m_globalCfm; + info2.m_damping = infoGlobal.m_damping; + info2.cfm = ¤tConstraintRow->m_cfm; + info2.m_lowerLimit = ¤tConstraintRow->m_lowerLimit; + info2.m_upperLimit = ¤tConstraintRow->m_upperLimit; + info2.m_numIterations = infoGlobal.m_numIterations; + constraint->getInfo2(&info2); + + ///finalize the constraint setup + for (int j=0;j<info1.m_numConstraintRows;j++) + { + btSolverConstraint& solverConstraint = currentConstraintRow[j]; + + if (solverConstraint.m_upperLimit>=constraint->getBreakingImpulseThreshold()) + { + solverConstraint.m_upperLimit = constraint->getBreakingImpulseThreshold(); + } + + if (solverConstraint.m_lowerLimit<=-constraint->getBreakingImpulseThreshold()) + { + solverConstraint.m_lowerLimit = -constraint->getBreakingImpulseThreshold(); + } + + solverConstraint.m_originalContactPoint = constraint; + + { + const btVector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal; + solverConstraint.m_angularComponentA = constraint->getRigidBodyA().getInvInertiaTensorWorld()*ftorqueAxis1*constraint->getRigidBodyA().getAngularFactor(); + } + { + const btVector3& ftorqueAxis2 = solverConstraint.m_relpos2CrossNormal; + solverConstraint.m_angularComponentB = constraint->getRigidBodyB().getInvInertiaTensorWorld()*ftorqueAxis2*constraint->getRigidBodyB().getAngularFactor(); + } + + { + btVector3 iMJlA = solverConstraint.m_contactNormal1*rbA.getInvMass(); + btVector3 iMJaA = rbA.getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal; + btVector3 iMJlB = solverConstraint.m_contactNormal2*rbB.getInvMass();//sign of normal? + btVector3 iMJaB = rbB.getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal; + + btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal1); + sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal); + sum += iMJlB.dot(solverConstraint.m_contactNormal2); + sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal); + btScalar fsum = btFabs(sum); + btAssert(fsum > SIMD_EPSILON); + btScalar sorRelaxation = 1.f;//todo: get from globalInfo? + solverConstraint.m_jacDiagABInv = fsum>SIMD_EPSILON?sorRelaxation/sum : 0.f; + } + + { + btScalar rel_vel; + btVector3 externalForceImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalForceImpulse : btVector3(0,0,0); + btVector3 externalTorqueImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalTorqueImpulse : btVector3(0,0,0); + + btVector3 externalForceImpulseB = bodyBPtr->m_originalBody ? bodyBPtr->m_externalForceImpulse : btVector3(0,0,0); + btVector3 externalTorqueImpulseB = bodyBPtr->m_originalBody ?bodyBPtr->m_externalTorqueImpulse : btVector3(0,0,0); + + btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rbA.getLinearVelocity()+externalForceImpulseA) + + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity()+externalTorqueImpulseA); + + btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rbB.getLinearVelocity()+externalForceImpulseB) + + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity()+externalTorqueImpulseB); + + rel_vel = vel1Dotn+vel2Dotn; + btScalar restitution = 0.f; + btScalar positionalError = solverConstraint.m_rhs;//already filled in by getConstraintInfo2 + btScalar velocityError = restitution - rel_vel * info2.m_damping; + btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv; + btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv; + solverConstraint.m_rhs = penetrationImpulse+velocityImpulse; + solverConstraint.m_appliedImpulse = 0.f; + } + } +} + + +void btSequentialImpulseConstraintSolver::convertJoints(btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE("convertJoints"); + for (int j=0;j<numConstraints;j++) + { + btTypedConstraint* constraint = constraints[j]; + constraint->buildJacobian(); + constraint->internalSetAppliedImpulse(0.0f); + } + + int totalNumRows = 0; + + m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints); + //calculate the total number of contraint rows + for (int i=0;i<numConstraints;i++) + { + btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; + btJointFeedback* fb = constraints[i]->getJointFeedback(); + if (fb) + { + fb->m_appliedForceBodyA.setZero(); + fb->m_appliedTorqueBodyA.setZero(); + fb->m_appliedForceBodyB.setZero(); + fb->m_appliedTorqueBodyB.setZero(); + } + + if (constraints[i]->isEnabled()) + { + constraints[i]->getInfo1(&info1); + } else + { + info1.m_numConstraintRows = 0; + info1.nub = 0; + } + totalNumRows += info1.m_numConstraintRows; + } + m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows); + + + ///setup the btSolverConstraints + int currentRow = 0; + + for (int i=0;i<numConstraints;i++) + { + const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; + + if (info1.m_numConstraintRows) + { + btAssert(currentRow<totalNumRows); + + btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow]; + btTypedConstraint* constraint = constraints[i]; + btRigidBody& rbA = constraint->getRigidBodyA(); + btRigidBody& rbB = constraint->getRigidBodyB(); + + int solverBodyIdA = getOrInitSolverBody(rbA,infoGlobal.m_timeStep); + int solverBodyIdB = getOrInitSolverBody(rbB,infoGlobal.m_timeStep); + + convertJoint(currentConstraintRow, constraint, info1, solverBodyIdA, solverBodyIdB, infoGlobal); + } + currentRow+=info1.m_numConstraintRows; + } +} + + +void btSequentialImpulseConstraintSolver::convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE("convertBodies"); + for (int i = 0; i < numBodies; i++) + { + bodies[i]->setCompanionId(-1); + } +#if BT_THREADSAFE + m_kinematicBodyUniqueIdToSolverBodyTable.resize( 0 ); +#endif // BT_THREADSAFE + + m_tmpSolverBodyPool.reserve(numBodies+1); + m_tmpSolverBodyPool.resize(0); + + //btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); + //initSolverBody(&fixedBody,0); + + for (int i=0;i<numBodies;i++) + { + int bodyId = getOrInitSolverBody(*bodies[i],infoGlobal.m_timeStep); + + btRigidBody* body = btRigidBody::upcast(bodies[i]); + if (body && body->getInvMass()) + { + btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; + btVector3 gyroForce (0,0,0); + if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT) + { + gyroForce = body->computeGyroscopicForceExplicit(infoGlobal.m_maxGyroscopicForce); + solverBody.m_externalTorqueImpulse -= gyroForce*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep; + } + if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD) + { + gyroForce = body->computeGyroscopicImpulseImplicit_World(infoGlobal.m_timeStep); + solverBody.m_externalTorqueImpulse += gyroForce; + } + if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY) + { + gyroForce = body->computeGyroscopicImpulseImplicit_Body(infoGlobal.m_timeStep); + solverBody.m_externalTorqueImpulse += gyroForce; + + } + } + } +} + + btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) { m_fixedBodyId = -1; @@ -1344,254 +1602,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol #endif //BT_ADDITIONAL_DEBUG - for (int i = 0; i < numBodies; i++) - { - bodies[i]->setCompanionId(-1); - } -#if BT_THREADSAFE - m_kinematicBodyUniqueIdToSolverBodyTable.resize( 0 ); -#endif // BT_THREADSAFE - - m_tmpSolverBodyPool.reserve(numBodies+1); - m_tmpSolverBodyPool.resize(0); - - //btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); - //initSolverBody(&fixedBody,0); - //convert all bodies + convertBodies(bodies, numBodies, infoGlobal); + convertJoints(constraints, numConstraints, infoGlobal); - for (int i=0;i<numBodies;i++) - { - int bodyId = getOrInitSolverBody(*bodies[i],infoGlobal.m_timeStep); - - btRigidBody* body = btRigidBody::upcast(bodies[i]); - if (body && body->getInvMass()) - { - btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; - btVector3 gyroForce (0,0,0); - if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT) - { - gyroForce = body->computeGyroscopicForceExplicit(infoGlobal.m_maxGyroscopicForce); - solverBody.m_externalTorqueImpulse -= gyroForce*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep; - } - if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD) - { - gyroForce = body->computeGyroscopicImpulseImplicit_World(infoGlobal.m_timeStep); - solverBody.m_externalTorqueImpulse += gyroForce; - } - if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY) - { - gyroForce = body->computeGyroscopicImpulseImplicit_Body(infoGlobal.m_timeStep); - solverBody.m_externalTorqueImpulse += gyroForce; - - } - - - } - } - - if (1) - { - int j; - for (j=0;j<numConstraints;j++) - { - btTypedConstraint* constraint = constraints[j]; - constraint->buildJacobian(); - constraint->internalSetAppliedImpulse(0.0f); - } - } - - //btRigidBody* rb0=0,*rb1=0; - - //if (1) - { - { - - int totalNumRows = 0; - int i; - - m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints); - //calculate the total number of contraint rows - for (i=0;i<numConstraints;i++) - { - btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; - btJointFeedback* fb = constraints[i]->getJointFeedback(); - if (fb) - { - fb->m_appliedForceBodyA.setZero(); - fb->m_appliedTorqueBodyA.setZero(); - fb->m_appliedForceBodyB.setZero(); - fb->m_appliedTorqueBodyB.setZero(); - } - - if (constraints[i]->isEnabled()) - { - } - if (constraints[i]->isEnabled()) - { - constraints[i]->getInfo1(&info1); - } else - { - info1.m_numConstraintRows = 0; - info1.nub = 0; - } - totalNumRows += info1.m_numConstraintRows; - } - m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows); - - - ///setup the btSolverConstraints - int currentRow = 0; - - for (i=0;i<numConstraints;i++) - { - const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; - - if (info1.m_numConstraintRows) - { - btAssert(currentRow<totalNumRows); - - btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow]; - btTypedConstraint* constraint = constraints[i]; - btRigidBody& rbA = constraint->getRigidBodyA(); - btRigidBody& rbB = constraint->getRigidBodyB(); - - int solverBodyIdA = getOrInitSolverBody(rbA,infoGlobal.m_timeStep); - int solverBodyIdB = getOrInitSolverBody(rbB,infoGlobal.m_timeStep); - - btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA]; - btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB]; + convertContacts(manifoldPtr,numManifolds,infoGlobal); - - - int overrideNumSolverIterations = constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations; - if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations) - m_maxOverrideNumSolverIterations = overrideNumSolverIterations; - - - int j; - for ( j=0;j<info1.m_numConstraintRows;j++) - { - memset(¤tConstraintRow[j],0,sizeof(btSolverConstraint)); - currentConstraintRow[j].m_lowerLimit = -SIMD_INFINITY; - currentConstraintRow[j].m_upperLimit = SIMD_INFINITY; - currentConstraintRow[j].m_appliedImpulse = 0.f; - currentConstraintRow[j].m_appliedPushImpulse = 0.f; - currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA; - currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB; - currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations; - } - - bodyAPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f); - bodyAPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f); - bodyAPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f); - bodyAPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f); - bodyBPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f); - bodyBPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f); - bodyBPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f); - bodyBPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f); - - - btTypedConstraint::btConstraintInfo2 info2; - info2.fps = 1.f/infoGlobal.m_timeStep; - info2.erp = infoGlobal.m_erp; - info2.m_J1linearAxis = currentConstraintRow->m_contactNormal1; - info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal; - info2.m_J2linearAxis = currentConstraintRow->m_contactNormal2; - info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal; - info2.rowskip = sizeof(btSolverConstraint)/sizeof(btScalar);//check this - ///the size of btSolverConstraint needs be a multiple of btScalar - btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint)); - info2.m_constraintError = ¤tConstraintRow->m_rhs; - currentConstraintRow->m_cfm = infoGlobal.m_globalCfm; - info2.m_damping = infoGlobal.m_damping; - info2.cfm = ¤tConstraintRow->m_cfm; - info2.m_lowerLimit = ¤tConstraintRow->m_lowerLimit; - info2.m_upperLimit = ¤tConstraintRow->m_upperLimit; - info2.m_numIterations = infoGlobal.m_numIterations; - constraints[i]->getInfo2(&info2); - - ///finalize the constraint setup - for ( j=0;j<info1.m_numConstraintRows;j++) - { - btSolverConstraint& solverConstraint = currentConstraintRow[j]; - - if (solverConstraint.m_upperLimit>=constraints[i]->getBreakingImpulseThreshold()) - { - solverConstraint.m_upperLimit = constraints[i]->getBreakingImpulseThreshold(); - } - - if (solverConstraint.m_lowerLimit<=-constraints[i]->getBreakingImpulseThreshold()) - { - solverConstraint.m_lowerLimit = -constraints[i]->getBreakingImpulseThreshold(); - } - - solverConstraint.m_originalContactPoint = constraint; - - { - const btVector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal; - solverConstraint.m_angularComponentA = constraint->getRigidBodyA().getInvInertiaTensorWorld()*ftorqueAxis1*constraint->getRigidBodyA().getAngularFactor(); - } - { - const btVector3& ftorqueAxis2 = solverConstraint.m_relpos2CrossNormal; - solverConstraint.m_angularComponentB = constraint->getRigidBodyB().getInvInertiaTensorWorld()*ftorqueAxis2*constraint->getRigidBodyB().getAngularFactor(); - } - - { - btVector3 iMJlA = solverConstraint.m_contactNormal1*rbA.getInvMass(); - btVector3 iMJaA = rbA.getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal; - btVector3 iMJlB = solverConstraint.m_contactNormal2*rbB.getInvMass();//sign of normal? - btVector3 iMJaB = rbB.getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal; - - btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal1); - sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal); - sum += iMJlB.dot(solverConstraint.m_contactNormal2); - sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal); - btScalar fsum = btFabs(sum); - btAssert(fsum > SIMD_EPSILON); - btScalar sorRelaxation = 1.f;//todo: get from globalInfo? - solverConstraint.m_jacDiagABInv = fsum>SIMD_EPSILON?sorRelaxation/sum : 0.f; - } - - - - { - btScalar rel_vel; - btVector3 externalForceImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalForceImpulse : btVector3(0,0,0); - btVector3 externalTorqueImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalTorqueImpulse : btVector3(0,0,0); - - btVector3 externalForceImpulseB = bodyBPtr->m_originalBody ? bodyBPtr->m_externalForceImpulse : btVector3(0,0,0); - btVector3 externalTorqueImpulseB = bodyBPtr->m_originalBody ?bodyBPtr->m_externalTorqueImpulse : btVector3(0,0,0); - - btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rbA.getLinearVelocity()+externalForceImpulseA) - + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity()+externalTorqueImpulseA); - - btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rbB.getLinearVelocity()+externalForceImpulseB) - + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity()+externalTorqueImpulseB); - - rel_vel = vel1Dotn+vel2Dotn; - btScalar restitution = 0.f; - btScalar positionalError = solverConstraint.m_rhs;//already filled in by getConstraintInfo2 - btScalar velocityError = restitution - rel_vel * info2.m_damping; - btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv; - btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv; - solverConstraint.m_rhs = penetrationImpulse+velocityImpulse; - solverConstraint.m_appliedImpulse = 0.f; - - - } - } - } - currentRow+=m_tmpConstraintSizesPool[i].m_numConstraintRows; - } - } - - convertContacts(manifoldPtr,numManifolds,infoGlobal); - - } - // btContactSolverInfo info = infoGlobal; @@ -1630,6 +1648,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/) { + BT_PROFILE("solveSingleIteration"); btScalar leastSquaresResidual = 0.f; int numNonContactPool = m_tmpSolverNonContactConstraintPool.size(); @@ -1675,7 +1694,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration if (iteration < constraint.m_overrideNumSolverIterations) { btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint); - leastSquaresResidual += residual*residual; + leastSquaresResidual = btMax(leastSquaresResidual, residual*residual); } } @@ -1706,7 +1725,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration { const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]]; btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); - leastSquaresResidual += residual*residual; + leastSquaresResidual = btMax(leastSquaresResidual, residual*residual); totalImpulse = solveManifold.m_appliedImpulse; } @@ -1723,7 +1742,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); - leastSquaresResidual += residual*residual; + leastSquaresResidual = btMax(leastSquaresResidual, residual*residual); } } @@ -1738,7 +1757,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); - leastSquaresResidual += residual*residual; + leastSquaresResidual = btMax(leastSquaresResidual, residual*residual); } } } @@ -1755,7 +1774,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration { const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); - leastSquaresResidual += residual*residual; + leastSquaresResidual = btMax(leastSquaresResidual, residual*residual); } @@ -1774,7 +1793,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); - leastSquaresResidual += residual*residual; + leastSquaresResidual = btMax(leastSquaresResidual, residual*residual); } } } @@ -1796,7 +1815,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude; btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint); - leastSquaresResidual += residual*residual; + leastSquaresResidual = btMax(leastSquaresResidual, residual*residual); } } @@ -1808,6 +1827,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) { + BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations"); int iteration; if (infoGlobal.m_splitImpulse) { @@ -1823,7 +1843,7 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); - leastSquaresResidual += residual*residual; + leastSquaresResidual = btMax(leastSquaresResidual, residual*residual); } } if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration>=(infoGlobal.m_numIterations-1)) @@ -1866,14 +1886,9 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations( return 0.f; } -btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) { - int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); - int i,j; - - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) - { - for (j=0;j<numPoolConstraints;j++) + for (int j=iBegin; j<iEnd; j++) { const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[j]; btManifoldPoint* pt = (btManifoldPoint*) solveManifold.m_originalContactPoint; @@ -1889,10 +1904,11 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo } //do a callback here? } - } +} - numPoolConstraints = m_tmpSolverNonContactConstraintPool.size(); - for (j=0;j<numPoolConstraints;j++) +void btSequentialImpulseConstraintSolver::writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) +{ + for (int j=iBegin; j<iEnd; j++) { const btSolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j]; btTypedConstraint* constr = (btTypedConstraint*)solverConstr.m_originalContactPoint; @@ -1912,10 +1928,12 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo constr->setEnabled(false); } } +} - - for ( i=0;i<m_tmpSolverBodyPool.size();i++) +void btSequentialImpulseConstraintSolver::writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) +{ + for (int i=iBegin; i<iEnd; i++) { btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody; if (body) @@ -1939,6 +1957,19 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo m_tmpSolverBodyPool[i].m_originalBody->setCompanionId(-1); } } +} + +btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE("solveGroupCacheFriendlyFinish"); + + if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { + writeBackContacts(0, m_tmpSolverContactConstraintPool.size(), infoGlobal); + } + + writeBackJoints(0, m_tmpSolverNonContactConstraintPool.size(), infoGlobal); + writeBackBodies(0, m_tmpSolverBodyPool.size(), infoGlobal); m_tmpSolverContactConstraintPool.resizeNoInitialize(0); m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0); diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h index 16c7eb74c1..b834c3dac3 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h @@ -4,8 +4,8 @@ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. @@ -27,7 +27,7 @@ class btCollisionObject; #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h" #include "BulletDynamics/ConstraintSolver/btConstraintSolver.h" -typedef btSimdScalar(*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&); +typedef btScalar(*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&); ///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method. ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver @@ -64,44 +64,48 @@ protected: void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB, btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2, - btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, + btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0., btScalar cfmSlip=0.); void setupTorsionalFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB, btManifoldPoint& cp,btScalar combinedTorsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2, - btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, + btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.); btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0., btScalar cfmSlip=0.); btSolverConstraint& addTorsionalFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,btScalar torsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0, btScalar cfmSlip=0.f); - - void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, + + void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2); static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode); - void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB, + void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal); ///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction unsigned long m_btSeed2; - + btScalar restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold); virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal); void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal); + virtual void convertJoints(btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal); + void convertJoint(btSolverConstraint* currentConstraintRow, btTypedConstraint* constraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo& infoGlobal); + + virtual void convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal); - btSimdScalar resolveSplitPenetrationSIMD(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint) + btScalar resolveSplitPenetrationSIMD(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint) { return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint ); } - btSimdScalar resolveSplitPenetrationImpulseCacheFriendly(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint) + btScalar resolveSplitPenetrationImpulseCacheFriendly(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint) { return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint ); } @@ -110,18 +114,20 @@ protected: int getOrInitSolverBody(btCollisionObject& body,btScalar timeStep); void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep); - btSimdScalar resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); - btSimdScalar resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); - btSimdScalar resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); - btSimdScalar resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); - btSimdScalar resolveSplitPenetrationImpulse(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint) + btScalar resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); + btScalar resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); + btScalar resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); + btScalar resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); + btScalar resolveSplitPenetrationImpulse(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint) { return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint ); } - + protected: - - + + void writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); + void writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); + void writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal); virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); @@ -133,15 +139,15 @@ protected: public: BT_DECLARE_ALIGNED_ALLOCATOR(); - + btSequentialImpulseConstraintSolver(); virtual ~btSequentialImpulseConstraintSolver(); virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher); - + ///clear internal cached data and reset random seed virtual void reset(); - + unsigned long btRand2(); int btRandInt2 (int n); @@ -155,7 +161,7 @@ public: return m_btSeed2; } - + virtual btConstraintSolverType getSolverType() const { return BT_SEQUENTIAL_IMPULSE_SOLVER; diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp new file mode 100644 index 0000000000..4306c37e49 --- /dev/null +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp @@ -0,0 +1,1621 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + +#include "btSequentialImpulseConstraintSolverMt.h" + +#include "LinearMath/btQuickprof.h" + +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" + +#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" + + + +bool btSequentialImpulseConstraintSolverMt::s_allowNestedParallelForLoops = false; // some task schedulers don't like nested loops +int btSequentialImpulseConstraintSolverMt::s_minimumContactManifoldsForBatching = 250; +int btSequentialImpulseConstraintSolverMt::s_minBatchSize = 50; +int btSequentialImpulseConstraintSolverMt::s_maxBatchSize = 100; +btBatchedConstraints::BatchingMethod btSequentialImpulseConstraintSolverMt::s_contactBatchingMethod = btBatchedConstraints::BATCHING_METHOD_SPATIAL_GRID_2D; +btBatchedConstraints::BatchingMethod btSequentialImpulseConstraintSolverMt::s_jointBatchingMethod = btBatchedConstraints::BATCHING_METHOD_SPATIAL_GRID_2D; + + +btSequentialImpulseConstraintSolverMt::btSequentialImpulseConstraintSolverMt() +{ + m_numFrictionDirections = 1; + m_useBatching = false; + m_useObsoleteJointConstraints = false; +} + + +btSequentialImpulseConstraintSolverMt::~btSequentialImpulseConstraintSolverMt() +{ +} + + +void btSequentialImpulseConstraintSolverMt::setupBatchedContactConstraints() +{ + BT_PROFILE("setupBatchedContactConstraints"); + m_batchedContactConstraints.setup( &m_tmpSolverContactConstraintPool, + m_tmpSolverBodyPool, + s_contactBatchingMethod, + s_minBatchSize, + s_maxBatchSize, + &m_scratchMemory + ); +} + + +void btSequentialImpulseConstraintSolverMt::setupBatchedJointConstraints() +{ + BT_PROFILE("setupBatchedJointConstraints"); + m_batchedJointConstraints.setup( &m_tmpSolverNonContactConstraintPool, + m_tmpSolverBodyPool, + s_jointBatchingMethod, + s_minBatchSize, + s_maxBatchSize, + &m_scratchMemory + ); +} + + +void btSequentialImpulseConstraintSolverMt::internalSetupContactConstraints(int iContactConstraint, const btContactSolverInfo& infoGlobal) +{ + btSolverConstraint& contactConstraint = m_tmpSolverContactConstraintPool[iContactConstraint]; + + btVector3 rel_pos1; + btVector3 rel_pos2; + btScalar relaxation; + + int solverBodyIdA = contactConstraint.m_solverBodyIdA; + int solverBodyIdB = contactConstraint.m_solverBodyIdB; + + btSolverBody* solverBodyA = &m_tmpSolverBodyPool[ solverBodyIdA ]; + btSolverBody* solverBodyB = &m_tmpSolverBodyPool[ solverBodyIdB ]; + + btRigidBody* colObj0 = solverBodyA->m_originalBody; + btRigidBody* colObj1 = solverBodyB->m_originalBody; + + btManifoldPoint& cp = *static_cast<btManifoldPoint*>( contactConstraint.m_originalContactPoint ); + + const btVector3& pos1 = cp.getPositionWorldOnA(); + const btVector3& pos2 = cp.getPositionWorldOnB(); + + rel_pos1 = pos1 - solverBodyA->getWorldTransform().getOrigin(); + rel_pos2 = pos2 - solverBodyB->getWorldTransform().getOrigin(); + + btVector3 vel1; + btVector3 vel2; + + solverBodyA->getVelocityInLocalPointNoDelta( rel_pos1, vel1 ); + solverBodyB->getVelocityInLocalPointNoDelta( rel_pos2, vel2 ); + + btVector3 vel = vel1 - vel2; + btScalar rel_vel = cp.m_normalWorldOnB.dot( vel ); + + setupContactConstraint( contactConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, relaxation, rel_pos1, rel_pos2 ); + + // setup rolling friction constraints + int rollingFrictionIndex = m_rollingFrictionIndexTable[iContactConstraint]; + if (rollingFrictionIndex >= 0) + { + btSolverConstraint& spinningFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[ rollingFrictionIndex ]; + btAssert( spinningFrictionConstraint.m_frictionIndex == iContactConstraint ); + setupTorsionalFrictionConstraint( spinningFrictionConstraint, + cp.m_normalWorldOnB, + solverBodyIdA, + solverBodyIdB, + cp, + cp.m_combinedSpinningFriction, + rel_pos1, + rel_pos2, + colObj0, + colObj1, + relaxation, + 0.0f, + 0.0f + ); + btVector3 axis[2]; + btPlaneSpace1( cp.m_normalWorldOnB, axis[0], axis[1] ); + axis[0].normalize(); + axis[1].normalize(); + + applyAnisotropicFriction( colObj0, axis[0], btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION ); + applyAnisotropicFriction( colObj1, axis[0], btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION ); + applyAnisotropicFriction( colObj0, axis[1], btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION ); + applyAnisotropicFriction( colObj1, axis[1], btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION ); + // put the largest axis first + if (axis[1].length2() > axis[0].length2()) + { + btSwap(axis[0], axis[1]); + } + const btScalar kRollingFrictionThreshold = 0.001f; + for (int i = 0; i < 2; ++i) + { + int iRollingFric = rollingFrictionIndex + 1 + i; + btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[ iRollingFric ]; + btAssert(rollingFrictionConstraint.m_frictionIndex == iContactConstraint); + btVector3 dir = axis[i]; + if ( dir.length() > kRollingFrictionThreshold ) + { + setupTorsionalFrictionConstraint( rollingFrictionConstraint, + dir, + solverBodyIdA, + solverBodyIdB, + cp, + cp.m_combinedRollingFriction, + rel_pos1, + rel_pos2, + colObj0, + colObj1, + relaxation, + 0.0f, + 0.0f + ); + } + else + { + rollingFrictionConstraint.m_frictionIndex = -1; // disable constraint + } + } + } + + // setup friction constraints + // setupFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, desiredVelocity, cfmSlip); + { + ///Bullet has several options to set the friction directions + ///By default, each contact has only a single friction direction that is recomputed automatically very frame + ///based on the relative linear velocity. + ///If the relative velocity it zero, it will automatically compute a friction direction. + + ///You can also enable two friction directions, using the SOLVER_USE_2_FRICTION_DIRECTIONS. + ///In that case, the second friction direction will be orthogonal to both contact normal and first friction direction. + /// + ///If you choose SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, then the friction will be independent from the relative projected velocity. + /// + ///The user can manually override the friction directions for certain contacts using a contact callback, + ///and set the cp.m_lateralFrictionInitialized to true + ///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2) + ///this will give a conveyor belt effect + /// + btSolverConstraint* frictionConstraint1 = &m_tmpSolverContactFrictionConstraintPool[contactConstraint.m_frictionIndex]; + btAssert(frictionConstraint1->m_frictionIndex == iContactConstraint); + + btSolverConstraint* frictionConstraint2 = NULL; + if ( infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS ) + { + frictionConstraint2 = &m_tmpSolverContactFrictionConstraintPool[contactConstraint.m_frictionIndex + 1]; + btAssert( frictionConstraint2->m_frictionIndex == iContactConstraint ); + } + + if ( !( infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING ) || !( cp.m_contactPointFlags&BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED ) ) + { + cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel; + btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2(); + if ( !( infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION ) && lat_rel_vel > SIMD_EPSILON ) + { + cp.m_lateralFrictionDir1 *= 1.f / btSqrt( lat_rel_vel ); + applyAnisotropicFriction( colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION ); + applyAnisotropicFriction( colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION ); + setupFrictionConstraint( *frictionConstraint1, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal ); + + if ( frictionConstraint2 ) + { + cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross( cp.m_normalWorldOnB ); + cp.m_lateralFrictionDir2.normalize();//?? + applyAnisotropicFriction( colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION ); + applyAnisotropicFriction( colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION ); + setupFrictionConstraint( *frictionConstraint2, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal ); + } + } + else + { + btPlaneSpace1( cp.m_normalWorldOnB, cp.m_lateralFrictionDir1, cp.m_lateralFrictionDir2 ); + + applyAnisotropicFriction( colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION ); + applyAnisotropicFriction( colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION ); + setupFrictionConstraint( *frictionConstraint1, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal ); + + if ( frictionConstraint2 ) + { + applyAnisotropicFriction( colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION ); + applyAnisotropicFriction( colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION ); + setupFrictionConstraint( *frictionConstraint2, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal ); + } + + if ( ( infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS ) && ( infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION ) ) + { + cp.m_contactPointFlags |= BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED; + } + } + } + else + { + setupFrictionConstraint( *frictionConstraint1, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM ); + if ( frictionConstraint2 ) + { + setupFrictionConstraint( *frictionConstraint2, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM ); + } + } + } + + setFrictionConstraintImpulse( contactConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal ); +} + + +struct SetupContactConstraintsLoop : public btIParallelForBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btBatchedConstraints* m_bc; + const btContactSolverInfo* m_infoGlobal; + + SetupContactConstraintsLoop( btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc, const btContactSolverInfo& infoGlobal ) + { + m_solver = solver; + m_bc = bc; + m_infoGlobal = &infoGlobal; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + BT_PROFILE( "SetupContactConstraintsLoop" ); + for ( int iBatch = iBegin; iBatch < iEnd; ++iBatch ) + { + const btBatchedConstraints::Range& batch = m_bc->m_batches[ iBatch ]; + for (int i = batch.begin; i < batch.end; ++i) + { + int iContact = m_bc->m_constraintIndices[i]; + m_solver->internalSetupContactConstraints( iContact, *m_infoGlobal ); + } + } + } +}; + + +void btSequentialImpulseConstraintSolverMt::setupAllContactConstraints(const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE( "setupAllContactConstraints" ); + if ( m_useBatching ) + { + const btBatchedConstraints& batchedCons = m_batchedContactConstraints; + SetupContactConstraintsLoop loop( this, &batchedCons, infoGlobal ); + for ( int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase ) + { + int iPhase = batchedCons.m_phaseOrder[ iiPhase ]; + const btBatchedConstraints::Range& phase = batchedCons.m_phases[ iPhase ]; + int grainSize = 1; + btParallelFor( phase.begin, phase.end, grainSize, loop ); + } + } + else + { + for ( int i = 0; i < m_tmpSolverContactConstraintPool.size(); ++i ) + { + internalSetupContactConstraints( i, infoGlobal ); + } + } +} + + +int btSequentialImpulseConstraintSolverMt::getOrInitSolverBodyThreadsafe(btCollisionObject& body,btScalar timeStep) +{ + // + // getOrInitSolverBody is threadsafe only for a single thread per solver (with potentially multiple solvers) + // + // getOrInitSolverBodyThreadsafe -- attempts to be fully threadsafe (however may affect determinism) + // + int solverBodyId = -1; + bool isRigidBodyType = btRigidBody::upcast( &body ) != NULL; + if ( isRigidBodyType && !body.isStaticOrKinematicObject() ) + { + // dynamic body + // Dynamic bodies can only be in one island, so it's safe to write to the companionId + solverBodyId = body.getCompanionId(); + if ( solverBodyId < 0 ) + { + m_bodySolverArrayMutex.lock(); + // now that we have the lock, check again + solverBodyId = body.getCompanionId(); + if ( solverBodyId < 0 ) + { + solverBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); + initSolverBody( &solverBody, &body, timeStep ); + body.setCompanionId( solverBodyId ); + } + m_bodySolverArrayMutex.unlock(); + } + } + else if (isRigidBodyType && body.isKinematicObject()) + { + // + // NOTE: must test for kinematic before static because some kinematic objects also + // identify as "static" + // + // Kinematic bodies can be in multiple islands at once, so it is a + // race condition to write to them, so we use an alternate method + // to record the solverBodyId + int uniqueId = body.getWorldArrayIndex(); + const int INVALID_SOLVER_BODY_ID = -1; + if (m_kinematicBodyUniqueIdToSolverBodyTable.size() <= uniqueId ) + { + m_kinematicBodyUniqueIdToSolverBodyTableMutex.lock(); + // now that we have the lock, check again + if ( m_kinematicBodyUniqueIdToSolverBodyTable.size() <= uniqueId ) + { + m_kinematicBodyUniqueIdToSolverBodyTable.resize( uniqueId + 1, INVALID_SOLVER_BODY_ID ); + } + m_kinematicBodyUniqueIdToSolverBodyTableMutex.unlock(); + } + solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[ uniqueId ]; + // if no table entry yet, + if ( INVALID_SOLVER_BODY_ID == solverBodyId ) + { + // need to acquire both locks + m_kinematicBodyUniqueIdToSolverBodyTableMutex.lock(); + m_bodySolverArrayMutex.lock(); + // now that we have the lock, check again + solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[ uniqueId ]; + if ( INVALID_SOLVER_BODY_ID == solverBodyId ) + { + // create a table entry for this body + solverBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); + initSolverBody( &solverBody, &body, timeStep ); + m_kinematicBodyUniqueIdToSolverBodyTable[ uniqueId ] = solverBodyId; + } + m_bodySolverArrayMutex.unlock(); + m_kinematicBodyUniqueIdToSolverBodyTableMutex.unlock(); + } + } + else + { + // all fixed bodies (inf mass) get mapped to a single solver id + if ( m_fixedBodyId < 0 ) + { + m_bodySolverArrayMutex.lock(); + // now that we have the lock, check again + if ( m_fixedBodyId < 0 ) + { + m_fixedBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); + initSolverBody( &fixedBody, 0, timeStep ); + } + m_bodySolverArrayMutex.unlock(); + } + solverBodyId = m_fixedBodyId; + } + btAssert( solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size() ); + return solverBodyId; +} + + +void btSequentialImpulseConstraintSolverMt::internalCollectContactManifoldCachedInfo(btContactManifoldCachedInfo* cachedInfoArray, btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE("internalCollectContactManifoldCachedInfo"); + for (int i = 0; i < numManifolds; ++i) + { + btContactManifoldCachedInfo* cachedInfo = &cachedInfoArray[i]; + btPersistentManifold* manifold = manifoldPtr[i]; + btCollisionObject* colObj0 = (btCollisionObject*) manifold->getBody0(); + btCollisionObject* colObj1 = (btCollisionObject*) manifold->getBody1(); + + int solverBodyIdA = getOrInitSolverBodyThreadsafe( *colObj0, infoGlobal.m_timeStep ); + int solverBodyIdB = getOrInitSolverBodyThreadsafe( *colObj1, infoGlobal.m_timeStep ); + + cachedInfo->solverBodyIds[ 0 ] = solverBodyIdA; + cachedInfo->solverBodyIds[ 1 ] = solverBodyIdB; + cachedInfo->numTouchingContacts = 0; + + btSolverBody* solverBodyA = &m_tmpSolverBodyPool[ solverBodyIdA ]; + btSolverBody* solverBodyB = &m_tmpSolverBodyPool[ solverBodyIdB ]; + + // A contact manifold between 2 static object should not exist! + // check the collision flags of your objects if this assert fires. + // Incorrectly set collision object flags can degrade performance in various ways. + btAssert( !m_tmpSolverBodyPool[ solverBodyIdA ].m_invMass.isZero() || !m_tmpSolverBodyPool[ solverBodyIdB ].m_invMass.isZero() ); + + int iContact = 0; + for ( int j = 0; j < manifold->getNumContacts(); j++ ) + { + btManifoldPoint& cp = manifold->getContactPoint( j ); + + if ( cp.getDistance() <= manifold->getContactProcessingThreshold() ) + { + cachedInfo->contactPoints[ iContact ] = &cp; + cachedInfo->contactHasRollingFriction[ iContact ] = ( cp.m_combinedRollingFriction > 0.f ); + iContact++; + } + } + cachedInfo->numTouchingContacts = iContact; + } +} + + +struct CollectContactManifoldCachedInfoLoop : public btIParallelForBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo* m_cachedInfoArray; + btPersistentManifold** m_manifoldPtr; + const btContactSolverInfo* m_infoGlobal; + + CollectContactManifoldCachedInfoLoop( btSequentialImpulseConstraintSolverMt* solver, btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo* cachedInfoArray, btPersistentManifold** manifoldPtr, const btContactSolverInfo& infoGlobal ) + { + m_solver = solver; + m_cachedInfoArray = cachedInfoArray; + m_manifoldPtr = manifoldPtr; + m_infoGlobal = &infoGlobal; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + m_solver->internalCollectContactManifoldCachedInfo( m_cachedInfoArray + iBegin, m_manifoldPtr + iBegin, iEnd - iBegin, *m_infoGlobal ); + } +}; + + +void btSequentialImpulseConstraintSolverMt::internalAllocContactConstraints(const btContactManifoldCachedInfo* cachedInfoArray, int numManifolds) +{ + BT_PROFILE("internalAllocContactConstraints"); + // possibly parallel part + for ( int iManifold = 0; iManifold < numManifolds; ++iManifold ) + { + const btContactManifoldCachedInfo& cachedInfo = cachedInfoArray[ iManifold ]; + int contactIndex = cachedInfo.contactIndex; + int frictionIndex = contactIndex * m_numFrictionDirections; + int rollingFrictionIndex = cachedInfo.rollingFrictionIndex; + for ( int i = 0; i < cachedInfo.numTouchingContacts; i++ ) + { + btSolverConstraint& contactConstraint = m_tmpSolverContactConstraintPool[contactIndex]; + contactConstraint.m_solverBodyIdA = cachedInfo.solverBodyIds[ 0 ]; + contactConstraint.m_solverBodyIdB = cachedInfo.solverBodyIds[ 1 ]; + contactConstraint.m_originalContactPoint = cachedInfo.contactPoints[ i ]; + + // allocate the friction constraints + contactConstraint.m_frictionIndex = frictionIndex; + for ( int iDir = 0; iDir < m_numFrictionDirections; ++iDir ) + { + btSolverConstraint& frictionConstraint = m_tmpSolverContactFrictionConstraintPool[frictionIndex]; + frictionConstraint.m_frictionIndex = contactIndex; + frictionIndex++; + } + + // allocate rolling friction constraints + if ( cachedInfo.contactHasRollingFriction[ i ] ) + { + m_rollingFrictionIndexTable[ contactIndex ] = rollingFrictionIndex; + // allocate 3 (although we may use only 2 sometimes) + for ( int i = 0; i < 3; i++ ) + { + m_tmpSolverContactRollingFrictionConstraintPool[ rollingFrictionIndex ].m_frictionIndex = contactIndex; + rollingFrictionIndex++; + } + } + else + { + // indicate there is no rolling friction for this contact point + m_rollingFrictionIndexTable[ contactIndex ] = -1; + } + contactIndex++; + } + } +} + + +struct AllocContactConstraintsLoop : public btIParallelForBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo* m_cachedInfoArray; + + AllocContactConstraintsLoop( btSequentialImpulseConstraintSolverMt* solver, btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo* cachedInfoArray ) + { + m_solver = solver; + m_cachedInfoArray = cachedInfoArray; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + m_solver->internalAllocContactConstraints( m_cachedInfoArray + iBegin, iEnd - iBegin ); + } +}; + + +void btSequentialImpulseConstraintSolverMt::allocAllContactConstraints(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE( "allocAllContactConstraints" ); + btAlignedObjectArray<btContactManifoldCachedInfo> cachedInfoArray; // = m_manifoldCachedInfoArray; + cachedInfoArray.resizeNoInitialize( numManifolds ); + if (/* DISABLES CODE */ (false)) + { + // sequential + internalCollectContactManifoldCachedInfo(&cachedInfoArray[ 0 ], manifoldPtr, numManifolds, infoGlobal); + } + else + { + // may alter ordering of bodies which affects determinism + CollectContactManifoldCachedInfoLoop loop( this, &cachedInfoArray[ 0 ], manifoldPtr, infoGlobal ); + int grainSize = 200; + btParallelFor( 0, numManifolds, grainSize, loop ); + } + + { + // serial part + int numContacts = 0; + int numRollingFrictionConstraints = 0; + for ( int iManifold = 0; iManifold < numManifolds; ++iManifold ) + { + btContactManifoldCachedInfo& cachedInfo = cachedInfoArray[ iManifold ]; + cachedInfo.contactIndex = numContacts; + cachedInfo.rollingFrictionIndex = numRollingFrictionConstraints; + numContacts += cachedInfo.numTouchingContacts; + for (int i = 0; i < cachedInfo.numTouchingContacts; ++i) + { + if (cachedInfo.contactHasRollingFriction[i]) + { + numRollingFrictionConstraints += 3; + } + } + } + { + BT_PROFILE( "allocPools" ); + if ( m_tmpSolverContactConstraintPool.capacity() < numContacts ) + { + // if we need to reallocate, reserve some extra so we don't have to reallocate again next frame + int extraReserve = numContacts / 16; + m_tmpSolverContactConstraintPool.reserve( numContacts + extraReserve ); + m_rollingFrictionIndexTable.reserve( numContacts + extraReserve ); + m_tmpSolverContactFrictionConstraintPool.reserve( ( numContacts + extraReserve )*m_numFrictionDirections ); + m_tmpSolverContactRollingFrictionConstraintPool.reserve( numRollingFrictionConstraints + extraReserve ); + } + m_tmpSolverContactConstraintPool.resizeNoInitialize( numContacts ); + m_rollingFrictionIndexTable.resizeNoInitialize( numContacts ); + m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize( numContacts*m_numFrictionDirections ); + m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize( numRollingFrictionConstraints ); + } + } + { + AllocContactConstraintsLoop loop(this, &cachedInfoArray[0]); + int grainSize = 200; + btParallelFor( 0, numManifolds, grainSize, loop ); + } +} + + +void btSequentialImpulseConstraintSolverMt::convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) +{ + if (!m_useBatching) + { + btSequentialImpulseConstraintSolver::convertContacts(manifoldPtr, numManifolds, infoGlobal); + return; + } + BT_PROFILE( "convertContacts" ); + if (numManifolds > 0) + { + if ( m_fixedBodyId < 0 ) + { + m_fixedBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); + initSolverBody( &fixedBody, 0, infoGlobal.m_timeStep ); + } + allocAllContactConstraints( manifoldPtr, numManifolds, infoGlobal ); + if ( m_useBatching ) + { + setupBatchedContactConstraints(); + } + setupAllContactConstraints( infoGlobal ); + } +} + + +void btSequentialImpulseConstraintSolverMt::internalInitMultipleJoints( btTypedConstraint** constraints, int iBegin, int iEnd ) +{ + BT_PROFILE("internalInitMultipleJoints"); + for ( int i = iBegin; i < iEnd; i++ ) + { + btTypedConstraint* constraint = constraints[i]; + btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; + if (constraint->isEnabled()) + { + constraint->buildJacobian(); + constraint->internalSetAppliedImpulse( 0.0f ); + btJointFeedback* fb = constraint->getJointFeedback(); + if ( fb ) + { + fb->m_appliedForceBodyA.setZero(); + fb->m_appliedTorqueBodyA.setZero(); + fb->m_appliedForceBodyB.setZero(); + fb->m_appliedTorqueBodyB.setZero(); + } + constraint->getInfo1( &info1 ); + } + else + { + info1.m_numConstraintRows = 0; + info1.nub = 0; + } + } +} + + +struct InitJointsLoop : public btIParallelForBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + btTypedConstraint** m_constraints; + + InitJointsLoop( btSequentialImpulseConstraintSolverMt* solver, btTypedConstraint** constraints ) + { + m_solver = solver; + m_constraints = constraints; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + m_solver->internalInitMultipleJoints( m_constraints, iBegin, iEnd ); + } +}; + + +void btSequentialImpulseConstraintSolverMt::internalConvertMultipleJoints( const btAlignedObjectArray<JointParams>& jointParamsArray, btTypedConstraint** constraints, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal ) +{ + BT_PROFILE("internalConvertMultipleJoints"); + for ( int i = iBegin; i < iEnd; ++i ) + { + const JointParams& jointParams = jointParamsArray[ i ]; + int currentRow = jointParams.m_solverConstraint; + if ( currentRow != -1 ) + { + const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[ i ]; + btAssert( currentRow < m_tmpSolverNonContactConstraintPool.size() ); + btAssert( info1.m_numConstraintRows > 0 ); + + btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[ currentRow ]; + btTypedConstraint* constraint = constraints[ i ]; + + convertJoint( currentConstraintRow, constraint, info1, jointParams.m_solverBodyA, jointParams.m_solverBodyB, infoGlobal ); + } + } +} + + +struct ConvertJointsLoop : public btIParallelForBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btAlignedObjectArray<btSequentialImpulseConstraintSolverMt::JointParams>& m_jointParamsArray; + btTypedConstraint** m_srcConstraints; + const btContactSolverInfo& m_infoGlobal; + + ConvertJointsLoop( btSequentialImpulseConstraintSolverMt* solver, + const btAlignedObjectArray<btSequentialImpulseConstraintSolverMt::JointParams>& jointParamsArray, + btTypedConstraint** srcConstraints, + const btContactSolverInfo& infoGlobal + ) : + m_jointParamsArray(jointParamsArray), + m_infoGlobal(infoGlobal) + { + m_solver = solver; + m_srcConstraints = srcConstraints; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + m_solver->internalConvertMultipleJoints( m_jointParamsArray, m_srcConstraints, iBegin, iEnd, m_infoGlobal ); + } +}; + + +void btSequentialImpulseConstraintSolverMt::convertJoints(btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal) +{ + if ( !m_useBatching ) + { + btSequentialImpulseConstraintSolver::convertJoints(constraints, numConstraints, infoGlobal); + return; + } + BT_PROFILE("convertJoints"); + bool parallelJointSetup = true; + m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints); + if (parallelJointSetup) + { + InitJointsLoop loop(this, constraints); + int grainSize = 40; + btParallelFor(0, numConstraints, grainSize, loop); + } + else + { + internalInitMultipleJoints( constraints, 0, numConstraints ); + } + + int totalNumRows = 0; + btAlignedObjectArray<JointParams> jointParamsArray; + jointParamsArray.resizeNoInitialize(numConstraints); + + //calculate the total number of contraint rows + for (int i=0;i<numConstraints;i++) + { + btTypedConstraint* constraint = constraints[ i ]; + + JointParams& params = jointParamsArray[ i ]; + const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; + + if (info1.m_numConstraintRows) + { + params.m_solverConstraint = totalNumRows; + params.m_solverBodyA = getOrInitSolverBody( constraint->getRigidBodyA(), infoGlobal.m_timeStep ); + params.m_solverBodyB = getOrInitSolverBody( constraint->getRigidBodyB(), infoGlobal.m_timeStep ); + } + else + { + params.m_solverConstraint = -1; + } + totalNumRows += info1.m_numConstraintRows; + } + m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows); + + ///setup the btSolverConstraints + if ( parallelJointSetup ) + { + ConvertJointsLoop loop(this, jointParamsArray, constraints, infoGlobal); + int grainSize = 20; + btParallelFor(0, numConstraints, grainSize, loop); + } + else + { + internalConvertMultipleJoints( jointParamsArray, constraints, 0, numConstraints, infoGlobal ); + } + setupBatchedJointConstraints(); +} + + +void btSequentialImpulseConstraintSolverMt::internalConvertBodies(btCollisionObject** bodies, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE("internalConvertBodies"); + for (int i=iBegin; i < iEnd; i++) + { + btCollisionObject* obj = bodies[i]; + obj->setCompanionId(i); + btSolverBody& solverBody = m_tmpSolverBodyPool[i]; + initSolverBody(&solverBody, obj, infoGlobal.m_timeStep); + + btRigidBody* body = btRigidBody::upcast(obj); + if (body && body->getInvMass()) + { + btVector3 gyroForce (0,0,0); + if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT) + { + gyroForce = body->computeGyroscopicForceExplicit(infoGlobal.m_maxGyroscopicForce); + solverBody.m_externalTorqueImpulse -= gyroForce*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep; + } + if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD) + { + gyroForce = body->computeGyroscopicImpulseImplicit_World(infoGlobal.m_timeStep); + solverBody.m_externalTorqueImpulse += gyroForce; + } + if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY) + { + gyroForce = body->computeGyroscopicImpulseImplicit_Body(infoGlobal.m_timeStep); + solverBody.m_externalTorqueImpulse += gyroForce; + } + } + } +} + + +struct ConvertBodiesLoop : public btIParallelForBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + btCollisionObject** m_bodies; + int m_numBodies; + const btContactSolverInfo& m_infoGlobal; + + ConvertBodiesLoop( btSequentialImpulseConstraintSolverMt* solver, + btCollisionObject** bodies, + int numBodies, + const btContactSolverInfo& infoGlobal + ) : + m_infoGlobal(infoGlobal) + { + m_solver = solver; + m_bodies = bodies; + m_numBodies = numBodies; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + m_solver->internalConvertBodies( m_bodies, iBegin, iEnd, m_infoGlobal ); + } +}; + + +void btSequentialImpulseConstraintSolverMt::convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE("convertBodies"); + m_kinematicBodyUniqueIdToSolverBodyTable.resize( 0 ); + + m_tmpSolverBodyPool.resizeNoInitialize(numBodies+1); + + m_fixedBodyId = numBodies; + { + btSolverBody& fixedBody = m_tmpSolverBodyPool[ m_fixedBodyId ]; + initSolverBody( &fixedBody, NULL, infoGlobal.m_timeStep ); + } + + bool parallelBodySetup = true; + if (parallelBodySetup) + { + ConvertBodiesLoop loop(this, bodies, numBodies, infoGlobal); + int grainSize = 40; + btParallelFor(0, numBodies, grainSize, loop); + } + else + { + internalConvertBodies( bodies, 0, numBodies, infoGlobal ); + } +} + + +btScalar btSequentialImpulseConstraintSolverMt::solveGroupCacheFriendlySetup( + btCollisionObject** bodies, + int numBodies, + btPersistentManifold** manifoldPtr, + int numManifolds, + btTypedConstraint** constraints, + int numConstraints, + const btContactSolverInfo& infoGlobal, + btIDebugDraw* debugDrawer + ) +{ + m_numFrictionDirections = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) ? 2 : 1; + m_useBatching = false; + if ( numManifolds >= s_minimumContactManifoldsForBatching && + (s_allowNestedParallelForLoops || !btThreadsAreRunning()) + ) + { + m_useBatching = true; + m_batchedContactConstraints.m_debugDrawer = debugDrawer; + m_batchedJointConstraints.m_debugDrawer = debugDrawer; + } + btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup( bodies, + numBodies, + manifoldPtr, + numManifolds, + constraints, + numConstraints, + infoGlobal, + debugDrawer + ); + return 0.0f; +} + + +btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactSplitPenetrationImpulseConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd ) +{ + btScalar leastSquaresResidual = 0.f; + for ( int iiCons = batchBegin; iiCons < batchEnd; ++iiCons ) + { + int iCons = consIndices[ iiCons ]; + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[ iCons ]; + btSolverBody& bodyA = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdA ]; + btSolverBody& bodyB = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdB ]; + btScalar residual = resolveSplitPenetrationImpulse( bodyA, bodyB, solveManifold ); + leastSquaresResidual += residual*residual; + } + return leastSquaresResidual; +} + + +struct ContactSplitPenetrationImpulseSolverLoop : public btIParallelSumBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btBatchedConstraints* m_bc; + + ContactSplitPenetrationImpulseSolverLoop( btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc ) + { + m_solver = solver; + m_bc = bc; + } + btScalar sumLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + BT_PROFILE( "ContactSplitPenetrationImpulseSolverLoop" ); + btScalar sum = 0; + for ( int iBatch = iBegin; iBatch < iEnd; ++iBatch ) + { + const btBatchedConstraints::Range& batch = m_bc->m_batches[ iBatch ]; + sum += m_solver->resolveMultipleContactSplitPenetrationImpulseConstraints( m_bc->m_constraintIndices, batch.begin, batch.end ); + } + return sum; + } +}; + + +void btSequentialImpulseConstraintSolverMt::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) +{ + BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations"); + if (infoGlobal.m_splitImpulse) + { + for ( int iteration = 0; iteration < infoGlobal.m_numIterations; iteration++ ) + { + btScalar leastSquaresResidual = 0.f; + if (m_useBatching) + { + const btBatchedConstraints& batchedCons = m_batchedContactConstraints; + ContactSplitPenetrationImpulseSolverLoop loop( this, &batchedCons ); + btScalar leastSquaresResidual = 0.f; + for ( int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase ) + { + int iPhase = batchedCons.m_phaseOrder[ iiPhase ]; + const btBatchedConstraints::Range& phase = batchedCons.m_phases[ iPhase ]; + int grainSize = batchedCons.m_phaseGrainSize[iPhase]; + leastSquaresResidual += btParallelSum( phase.begin, phase.end, grainSize, loop ); + } + } + else + { + // non-batched + leastSquaresResidual = resolveMultipleContactSplitPenetrationImpulseConstraints(m_orderTmpConstraintPool, 0, m_tmpSolverContactConstraintPool.size()); + } + if ( leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration >= ( infoGlobal.m_numIterations - 1 ) ) + { +#ifdef VERBOSE_RESIDUAL_PRINTF + printf( "residual = %f at iteration #%d\n", leastSquaresResidual, iteration ); +#endif + break; + } + } + } +} + + +btScalar btSequentialImpulseConstraintSolverMt::solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) +{ + if ( !m_useBatching ) + { + return btSequentialImpulseConstraintSolver::solveSingleIteration( iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer ); + } + BT_PROFILE( "solveSingleIterationMt" ); + btScalar leastSquaresResidual = 0.f; + + if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER) + { + if (1) // uncomment this for a bit less random ((iteration & 7) == 0) + { + randomizeConstraintOrdering(iteration, infoGlobal.m_numIterations); + } + } + + { + ///solve all joint constraints + leastSquaresResidual += resolveAllJointConstraints(iteration); + + if (iteration< infoGlobal.m_numIterations) + { + // this loop is only used for cone-twist constraints, + // it would be nice to skip this loop if none of the constraints need it + if ( m_useObsoleteJointConstraints ) + { + for ( int j = 0; j<numConstraints; j++ ) + { + if ( constraints[ j ]->isEnabled() ) + { + int bodyAid = getOrInitSolverBody( constraints[ j ]->getRigidBodyA(), infoGlobal.m_timeStep ); + int bodyBid = getOrInitSolverBody( constraints[ j ]->getRigidBodyB(), infoGlobal.m_timeStep ); + btSolverBody& bodyA = m_tmpSolverBodyPool[ bodyAid ]; + btSolverBody& bodyB = m_tmpSolverBodyPool[ bodyBid ]; + constraints[ j ]->solveConstraintObsolete( bodyA, bodyB, infoGlobal.m_timeStep ); + } + } + } + + if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) + { + // solve all contact, contact-friction, and rolling friction constraints interleaved + leastSquaresResidual += resolveAllContactConstraintsInterleaved(); + } + else//SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS + { + // don't interleave them + // solve all contact constraints + leastSquaresResidual += resolveAllContactConstraints(); + + // solve all contact friction constraints + leastSquaresResidual += resolveAllContactFrictionConstraints(); + + // solve all rolling friction constraints + leastSquaresResidual += resolveAllRollingFrictionConstraints(); + } + } + } + return leastSquaresResidual; +} + + +btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleJointConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd, int iteration ) +{ + btScalar leastSquaresResidual = 0.f; + for ( int iiCons = batchBegin; iiCons < batchEnd; ++iiCons ) + { + int iCons = consIndices[ iiCons ]; + const btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[ iCons ]; + if ( iteration < constraint.m_overrideNumSolverIterations ) + { + btSolverBody& bodyA = m_tmpSolverBodyPool[ constraint.m_solverBodyIdA ]; + btSolverBody& bodyB = m_tmpSolverBodyPool[ constraint.m_solverBodyIdB ]; + btScalar residual = resolveSingleConstraintRowGeneric( bodyA, bodyB, constraint ); + leastSquaresResidual += residual*residual; + } + } + return leastSquaresResidual; +} + + +btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd ) +{ + btScalar leastSquaresResidual = 0.f; + for ( int iiCons = batchBegin; iiCons < batchEnd; ++iiCons ) + { + int iCons = consIndices[ iiCons ]; + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[ iCons ]; + btSolverBody& bodyA = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdA ]; + btSolverBody& bodyB = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdB ]; + btScalar residual = resolveSingleConstraintRowLowerLimit( bodyA, bodyB, solveManifold ); + leastSquaresResidual += residual*residual; + } + return leastSquaresResidual; +} + + +btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactFrictionConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd ) +{ + btScalar leastSquaresResidual = 0.f; + for ( int iiCons = batchBegin; iiCons < batchEnd; ++iiCons ) + { + int iContact = consIndices[ iiCons ]; + btScalar totalImpulse = m_tmpSolverContactConstraintPool[ iContact ].m_appliedImpulse; + + // apply sliding friction + if ( totalImpulse > 0.0f ) + { + int iBegin = iContact * m_numFrictionDirections; + int iEnd = iBegin + m_numFrictionDirections; + for ( int iFriction = iBegin; iFriction < iEnd; ++iFriction ) + { + btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[ iFriction++ ]; + btAssert( solveManifold.m_frictionIndex == iContact ); + + solveManifold.m_lowerLimit = -( solveManifold.m_friction*totalImpulse ); + solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; + + btSolverBody& bodyA = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdA ]; + btSolverBody& bodyB = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdB ]; + btScalar residual = resolveSingleConstraintRowGeneric( bodyA, bodyB, solveManifold ); + leastSquaresResidual += residual*residual; + } + } + } + return leastSquaresResidual; +} + + +btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactRollingFrictionConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd ) +{ + btScalar leastSquaresResidual = 0.f; + for ( int iiCons = batchBegin; iiCons < batchEnd; ++iiCons ) + { + int iContact = consIndices[ iiCons ]; + int iFirstRollingFriction = m_rollingFrictionIndexTable[ iContact ]; + if ( iFirstRollingFriction >= 0 ) + { + btScalar totalImpulse = m_tmpSolverContactConstraintPool[ iContact ].m_appliedImpulse; + // apply rolling friction + if ( totalImpulse > 0.0f ) + { + int iBegin = iFirstRollingFriction; + int iEnd = iBegin + 3; + for ( int iRollingFric = iBegin; iRollingFric < iEnd; ++iRollingFric ) + { + btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[ iRollingFric ]; + if ( rollingFrictionConstraint.m_frictionIndex != iContact ) + { + break; + } + btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse; + if ( rollingFrictionMagnitude > rollingFrictionConstraint.m_friction ) + { + rollingFrictionMagnitude = rollingFrictionConstraint.m_friction; + } + + rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude; + rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude; + + btScalar residual = resolveSingleConstraintRowGeneric( m_tmpSolverBodyPool[ rollingFrictionConstraint.m_solverBodyIdA ], m_tmpSolverBodyPool[ rollingFrictionConstraint.m_solverBodyIdB ], rollingFrictionConstraint ); + leastSquaresResidual += residual*residual; + } + } + } + } + return leastSquaresResidual; +} + + +btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactConstraintsInterleaved( const btAlignedObjectArray<int>& contactIndices, + int batchBegin, + int batchEnd + ) +{ + btScalar leastSquaresResidual = 0.f; + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); + + for ( int iiCons = batchBegin; iiCons < batchEnd; iiCons++ ) + { + btScalar totalImpulse = 0; + int iContact = contactIndices[ iiCons ]; + // apply penetration constraint + { + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[ iContact ]; + btScalar residual = resolveSingleConstraintRowLowerLimit( m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdA ], m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdB ], solveManifold ); + leastSquaresResidual += residual*residual; + totalImpulse = solveManifold.m_appliedImpulse; + } + + // apply sliding friction + if ( totalImpulse > 0.0f ) + { + int iBegin = iContact * m_numFrictionDirections; + int iEnd = iBegin + m_numFrictionDirections; + for ( int iFriction = iBegin; iFriction < iEnd; ++iFriction ) + { + btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[ iFriction ]; + btAssert( solveManifold.m_frictionIndex == iContact ); + + solveManifold.m_lowerLimit = -( solveManifold.m_friction*totalImpulse ); + solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; + + btSolverBody& bodyA = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdA ]; + btSolverBody& bodyB = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdB ]; + btScalar residual = resolveSingleConstraintRowGeneric( bodyA, bodyB, solveManifold ); + leastSquaresResidual += residual*residual; + } + } + + // apply rolling friction + int iFirstRollingFriction = m_rollingFrictionIndexTable[ iContact ]; + if ( totalImpulse > 0.0f && iFirstRollingFriction >= 0) + { + int iBegin = iFirstRollingFriction; + int iEnd = iBegin + 3; + for ( int iRollingFric = iBegin; iRollingFric < iEnd; ++iRollingFric ) + { + btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[ iRollingFric ]; + if ( rollingFrictionConstraint.m_frictionIndex != iContact ) + { + break; + } + btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse; + if ( rollingFrictionMagnitude > rollingFrictionConstraint.m_friction ) + { + rollingFrictionMagnitude = rollingFrictionConstraint.m_friction; + } + + rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude; + rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude; + + btScalar residual = resolveSingleConstraintRowGeneric( m_tmpSolverBodyPool[ rollingFrictionConstraint.m_solverBodyIdA ], m_tmpSolverBodyPool[ rollingFrictionConstraint.m_solverBodyIdB ], rollingFrictionConstraint ); + leastSquaresResidual += residual*residual; + } + } + } + return leastSquaresResidual; +} + + +void btSequentialImpulseConstraintSolverMt::randomizeBatchedConstraintOrdering( btBatchedConstraints* batchedConstraints ) +{ + btBatchedConstraints& bc = *batchedConstraints; + // randomize ordering of phases + for ( int ii = 1; ii < bc.m_phaseOrder.size(); ++ii ) + { + int iSwap = btRandInt2( ii + 1 ); + bc.m_phaseOrder.swap( ii, iSwap ); + } + + // for each batch, + for ( int iBatch = 0; iBatch < bc.m_batches.size(); ++iBatch ) + { + // randomize ordering of constraints within the batch + const btBatchedConstraints::Range& batch = bc.m_batches[ iBatch ]; + for ( int iiCons = batch.begin; iiCons < batch.end; ++iiCons ) + { + int iSwap = batch.begin + btRandInt2( iiCons - batch.begin + 1 ); + btAssert(iSwap >= batch.begin && iSwap < batch.end); + bc.m_constraintIndices.swap( iiCons, iSwap ); + } + } +} + + +void btSequentialImpulseConstraintSolverMt::randomizeConstraintOrdering(int iteration, int numIterations) +{ + // randomize ordering of joint constraints + randomizeBatchedConstraintOrdering( &m_batchedJointConstraints ); + + //contact/friction constraints are not solved more than numIterations + if ( iteration < numIterations ) + { + randomizeBatchedConstraintOrdering( &m_batchedContactConstraints ); + } +} + + +struct JointSolverLoop : public btIParallelSumBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btBatchedConstraints* m_bc; + int m_iteration; + + JointSolverLoop( btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc, int iteration ) + { + m_solver = solver; + m_bc = bc; + m_iteration = iteration; + } + btScalar sumLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + BT_PROFILE( "JointSolverLoop" ); + btScalar sum = 0; + for ( int iBatch = iBegin; iBatch < iEnd; ++iBatch ) + { + const btBatchedConstraints::Range& batch = m_bc->m_batches[ iBatch ]; + sum += m_solver->resolveMultipleJointConstraints( m_bc->m_constraintIndices, batch.begin, batch.end, m_iteration ); + } + return sum; + } +}; + + +btScalar btSequentialImpulseConstraintSolverMt::resolveAllJointConstraints(int iteration) +{ + BT_PROFILE( "resolveAllJointConstraints" ); + const btBatchedConstraints& batchedCons = m_batchedJointConstraints; + JointSolverLoop loop( this, &batchedCons, iteration ); + btScalar leastSquaresResidual = 0.f; + for ( int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase ) + { + int iPhase = batchedCons.m_phaseOrder[ iiPhase ]; + const btBatchedConstraints::Range& phase = batchedCons.m_phases[ iPhase ]; + int grainSize = 1; + leastSquaresResidual += btParallelSum( phase.begin, phase.end, grainSize, loop ); + } + return leastSquaresResidual; +} + + +struct ContactSolverLoop : public btIParallelSumBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btBatchedConstraints* m_bc; + + ContactSolverLoop( btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc ) + { + m_solver = solver; + m_bc = bc; + } + btScalar sumLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + BT_PROFILE( "ContactSolverLoop" ); + btScalar sum = 0; + for ( int iBatch = iBegin; iBatch < iEnd; ++iBatch ) + { + const btBatchedConstraints::Range& batch = m_bc->m_batches[ iBatch ]; + sum += m_solver->resolveMultipleContactConstraints( m_bc->m_constraintIndices, batch.begin, batch.end ); + } + return sum; + } +}; + + +btScalar btSequentialImpulseConstraintSolverMt::resolveAllContactConstraints() +{ + BT_PROFILE( "resolveAllContactConstraints" ); + const btBatchedConstraints& batchedCons = m_batchedContactConstraints; + ContactSolverLoop loop( this, &batchedCons ); + btScalar leastSquaresResidual = 0.f; + for ( int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase ) + { + int iPhase = batchedCons.m_phaseOrder[ iiPhase ]; + const btBatchedConstraints::Range& phase = batchedCons.m_phases[ iPhase ]; + int grainSize = batchedCons.m_phaseGrainSize[iPhase]; + leastSquaresResidual += btParallelSum( phase.begin, phase.end, grainSize, loop ); + } + return leastSquaresResidual; +} + + +struct ContactFrictionSolverLoop : public btIParallelSumBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btBatchedConstraints* m_bc; + + ContactFrictionSolverLoop( btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc ) + { + m_solver = solver; + m_bc = bc; + } + btScalar sumLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + BT_PROFILE( "ContactFrictionSolverLoop" ); + btScalar sum = 0; + for ( int iBatch = iBegin; iBatch < iEnd; ++iBatch ) + { + const btBatchedConstraints::Range& batch = m_bc->m_batches[ iBatch ]; + sum += m_solver->resolveMultipleContactFrictionConstraints( m_bc->m_constraintIndices, batch.begin, batch.end ); + } + return sum; + } +}; + + +btScalar btSequentialImpulseConstraintSolverMt::resolveAllContactFrictionConstraints() +{ + BT_PROFILE( "resolveAllContactFrictionConstraints" ); + const btBatchedConstraints& batchedCons = m_batchedContactConstraints; + ContactFrictionSolverLoop loop( this, &batchedCons ); + btScalar leastSquaresResidual = 0.f; + for ( int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase ) + { + int iPhase = batchedCons.m_phaseOrder[ iiPhase ]; + const btBatchedConstraints::Range& phase = batchedCons.m_phases[ iPhase ]; + int grainSize = batchedCons.m_phaseGrainSize[iPhase]; + leastSquaresResidual += btParallelSum( phase.begin, phase.end, grainSize, loop ); + } + return leastSquaresResidual; +} + + +struct InterleavedContactSolverLoop : public btIParallelSumBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btBatchedConstraints* m_bc; + + InterleavedContactSolverLoop( btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc ) + { + m_solver = solver; + m_bc = bc; + } + btScalar sumLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + BT_PROFILE( "InterleavedContactSolverLoop" ); + btScalar sum = 0; + for ( int iBatch = iBegin; iBatch < iEnd; ++iBatch ) + { + const btBatchedConstraints::Range& batch = m_bc->m_batches[ iBatch ]; + sum += m_solver->resolveMultipleContactConstraintsInterleaved( m_bc->m_constraintIndices, batch.begin, batch.end ); + } + return sum; + } +}; + + +btScalar btSequentialImpulseConstraintSolverMt::resolveAllContactConstraintsInterleaved() +{ + BT_PROFILE( "resolveAllContactConstraintsInterleaved" ); + const btBatchedConstraints& batchedCons = m_batchedContactConstraints; + InterleavedContactSolverLoop loop( this, &batchedCons ); + btScalar leastSquaresResidual = 0.f; + for ( int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase ) + { + int iPhase = batchedCons.m_phaseOrder[ iiPhase ]; + const btBatchedConstraints::Range& phase = batchedCons.m_phases[ iPhase ]; + int grainSize = 1; + leastSquaresResidual += btParallelSum( phase.begin, phase.end, grainSize, loop ); + } + return leastSquaresResidual; +} + + +struct ContactRollingFrictionSolverLoop : public btIParallelSumBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btBatchedConstraints* m_bc; + + ContactRollingFrictionSolverLoop( btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc ) + { + m_solver = solver; + m_bc = bc; + } + btScalar sumLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + BT_PROFILE( "ContactFrictionSolverLoop" ); + btScalar sum = 0; + for ( int iBatch = iBegin; iBatch < iEnd; ++iBatch ) + { + const btBatchedConstraints::Range& batch = m_bc->m_batches[ iBatch ]; + sum += m_solver->resolveMultipleContactRollingFrictionConstraints( m_bc->m_constraintIndices, batch.begin, batch.end ); + } + return sum; + } +}; + + +btScalar btSequentialImpulseConstraintSolverMt::resolveAllRollingFrictionConstraints() +{ + BT_PROFILE( "resolveAllRollingFrictionConstraints" ); + btScalar leastSquaresResidual = 0.f; + // + // We do not generate batches for rolling friction constraints. We assume that + // one of two cases is true: + // + // 1. either most bodies in the simulation have rolling friction, in which case we can use the + // batches for contacts and use a lookup table to translate contact indices to rolling friction + // (ignoring any contact indices that don't map to a rolling friction constraint). As long as + // most contacts have a corresponding rolling friction constraint, this should parallelize well. + // + // -OR- + // + // 2. few bodies in the simulation have rolling friction, so it is not worth trying to use the + // batches from contacts as most of the contacts won't have corresponding rolling friction + // constraints and most threads would end up doing very little work. Most of the time would + // go to threading overhead, so we don't bother with threading. + // + int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size(); + if (numRollingFrictionPoolConstraints >= m_tmpSolverContactConstraintPool.size()) + { + // use batching if there are many rolling friction constraints + const btBatchedConstraints& batchedCons = m_batchedContactConstraints; + ContactRollingFrictionSolverLoop loop( this, &batchedCons ); + btScalar leastSquaresResidual = 0.f; + for ( int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase ) + { + int iPhase = batchedCons.m_phaseOrder[ iiPhase ]; + const btBatchedConstraints::Range& phase = batchedCons.m_phases[ iPhase ]; + int grainSize = 1; + leastSquaresResidual += btParallelSum( phase.begin, phase.end, grainSize, loop ); + } + } + else + { + // no batching, also ignores SOLVER_RANDMIZE_ORDER + for ( int j = 0; j < numRollingFrictionPoolConstraints; j++ ) + { + btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[ j ]; + if ( rollingFrictionConstraint.m_frictionIndex >= 0 ) + { + btScalar totalImpulse = m_tmpSolverContactConstraintPool[ rollingFrictionConstraint.m_frictionIndex ].m_appliedImpulse; + if ( totalImpulse > 0.0f ) + { + btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse; + if ( rollingFrictionMagnitude > rollingFrictionConstraint.m_friction ) + rollingFrictionMagnitude = rollingFrictionConstraint.m_friction; + + rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude; + rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude; + + btScalar residual = resolveSingleConstraintRowGeneric( m_tmpSolverBodyPool[ rollingFrictionConstraint.m_solverBodyIdA ], m_tmpSolverBodyPool[ rollingFrictionConstraint.m_solverBodyIdB ], rollingFrictionConstraint ); + leastSquaresResidual += residual*residual; + } + } + } + } + return leastSquaresResidual; +} + + +void btSequentialImpulseConstraintSolverMt::internalWriteBackContacts( int iBegin, int iEnd, const btContactSolverInfo& infoGlobal ) +{ + BT_PROFILE("internalWriteBackContacts"); + writeBackContacts(iBegin, iEnd, infoGlobal); + //for ( int iContact = iBegin; iContact < iEnd; ++iContact) + //{ + // const btSolverConstraint& contactConstraint = m_tmpSolverContactConstraintPool[ iContact ]; + // btManifoldPoint* pt = (btManifoldPoint*) contactConstraint.m_originalContactPoint; + // btAssert( pt ); + // pt->m_appliedImpulse = contactConstraint.m_appliedImpulse; + // pt->m_appliedImpulseLateral1 = m_tmpSolverContactFrictionConstraintPool[ contactConstraint.m_frictionIndex ].m_appliedImpulse; + // if ( m_numFrictionDirections == 2 ) + // { + // pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[ contactConstraint.m_frictionIndex + 1 ].m_appliedImpulse; + // } + //} +} + + +void btSequentialImpulseConstraintSolverMt::internalWriteBackJoints( int iBegin, int iEnd, const btContactSolverInfo& infoGlobal ) +{ + BT_PROFILE("internalWriteBackJoints"); + writeBackJoints(iBegin, iEnd, infoGlobal); +} + + +void btSequentialImpulseConstraintSolverMt::internalWriteBackBodies( int iBegin, int iEnd, const btContactSolverInfo& infoGlobal ) +{ + BT_PROFILE("internalWriteBackBodies"); + writeBackBodies( iBegin, iEnd, infoGlobal ); +} + + +struct WriteContactPointsLoop : public btIParallelForBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btContactSolverInfo* m_infoGlobal; + + WriteContactPointsLoop( btSequentialImpulseConstraintSolverMt* solver, const btContactSolverInfo& infoGlobal ) + { + m_solver = solver; + m_infoGlobal = &infoGlobal; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + m_solver->internalWriteBackContacts( iBegin, iEnd, *m_infoGlobal ); + } +}; + + +struct WriteJointsLoop : public btIParallelForBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btContactSolverInfo* m_infoGlobal; + + WriteJointsLoop( btSequentialImpulseConstraintSolverMt* solver, const btContactSolverInfo& infoGlobal ) + { + m_solver = solver; + m_infoGlobal = &infoGlobal; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + m_solver->internalWriteBackJoints( iBegin, iEnd, *m_infoGlobal ); + } +}; + + +struct WriteBodiesLoop : public btIParallelForBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btContactSolverInfo* m_infoGlobal; + + WriteBodiesLoop( btSequentialImpulseConstraintSolverMt* solver, const btContactSolverInfo& infoGlobal ) + { + m_solver = solver; + m_infoGlobal = &infoGlobal; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + m_solver->internalWriteBackBodies( iBegin, iEnd, *m_infoGlobal ); + } +}; + + +btScalar btSequentialImpulseConstraintSolverMt::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE("solveGroupCacheFriendlyFinish"); + + if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { + WriteContactPointsLoop loop( this, infoGlobal ); + int grainSize = 500; + btParallelFor( 0, m_tmpSolverContactConstraintPool.size(), grainSize, loop ); + } + + { + WriteJointsLoop loop( this, infoGlobal ); + int grainSize = 400; + btParallelFor( 0, m_tmpSolverNonContactConstraintPool.size(), grainSize, loop ); + } + { + WriteBodiesLoop loop( this, infoGlobal ); + int grainSize = 100; + btParallelFor( 0, m_tmpSolverBodyPool.size(), grainSize, loop ); + } + + m_tmpSolverContactConstraintPool.resizeNoInitialize(0); + m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0); + m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0); + m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0); + + m_tmpSolverBodyPool.resizeNoInitialize(0); + return 0.f; +} + diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h new file mode 100644 index 0000000000..55d53474c4 --- /dev/null +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h @@ -0,0 +1,154 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H +#define BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H + +#include "btSequentialImpulseConstraintSolver.h" +#include "btBatchedConstraints.h" +#include "LinearMath/btThreads.h" + +/// +/// btSequentialImpulseConstraintSolverMt +/// +/// A multithreaded variant of the sequential impulse constraint solver. The constraints to be solved are grouped into +/// batches and phases where each batch of constraints within a given phase can be solved in parallel with the rest. +/// Ideally we want as few phases as possible, and each phase should have many batches, and all of the batches should +/// have about the same number of constraints. +/// This method works best on a large island of many constraints. +/// +/// Supports all of the features of the normal sequential impulse solver such as: +/// - split penetration impulse +/// - rolling friction +/// - interleaving constraints +/// - warmstarting +/// - 2 friction directions +/// - randomized constraint ordering +/// - early termination when leastSquaresResidualThreshold is satisfied +/// +/// When the SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS flag is enabled, unlike the normal SequentialImpulse solver, +/// the rolling friction is interleaved as well. +/// Interleaving the contact penetration constraints with friction reduces the number of parallel loops that need to be done, +/// which reduces threading overhead so it can be a performance win, however, it does seem to produce a less stable simulation, +/// at least on stacks of blocks. +/// +/// When the SOLVER_RANDMIZE_ORDER flag is enabled, the ordering of phases, and the ordering of constraints within each batch +/// is randomized, however it does not swap constraints between batches. +/// This is to avoid regenerating the batches for each solver iteration which would be quite costly in performance. +/// +/// Note that a non-zero leastSquaresResidualThreshold could possibly affect the determinism of the simulation +/// if the task scheduler's parallelSum operation is non-deterministic. The parallelSum operation can be non-deterministic +/// because floating point addition is not associative due to rounding errors. +/// The task scheduler can and should ensure that the result of any parallelSum operation is deterministic. +/// +ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolverMt : public btSequentialImpulseConstraintSolver +{ +public: + virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) BT_OVERRIDE; + virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) BT_OVERRIDE; + virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) BT_OVERRIDE; + virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) BT_OVERRIDE; + + // temp struct used to collect info from persistent manifolds into a cache-friendly struct using multiple threads + struct btContactManifoldCachedInfo + { + static const int MAX_NUM_CONTACT_POINTS = 4; + + int numTouchingContacts; + int solverBodyIds[ 2 ]; + int contactIndex; + int rollingFrictionIndex; + bool contactHasRollingFriction[ MAX_NUM_CONTACT_POINTS ]; + btManifoldPoint* contactPoints[ MAX_NUM_CONTACT_POINTS ]; + }; + // temp struct used for setting up joint constraints in parallel + struct JointParams + { + int m_solverConstraint; + int m_solverBodyA; + int m_solverBodyB; + }; + void internalInitMultipleJoints(btTypedConstraint** constraints, int iBegin, int iEnd); + void internalConvertMultipleJoints( const btAlignedObjectArray<JointParams>& jointParamsArray, btTypedConstraint** constraints, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal ); + + // parameters to control batching + static bool s_allowNestedParallelForLoops; // whether to allow nested parallel operations + static int s_minimumContactManifoldsForBatching; // don't even try to batch if fewer manifolds than this + static btBatchedConstraints::BatchingMethod s_contactBatchingMethod; + static btBatchedConstraints::BatchingMethod s_jointBatchingMethod; + static int s_minBatchSize; // desired number of constraints per batch + static int s_maxBatchSize; + +protected: + static const int CACHE_LINE_SIZE = 64; + + btBatchedConstraints m_batchedContactConstraints; + btBatchedConstraints m_batchedJointConstraints; + int m_numFrictionDirections; + bool m_useBatching; + bool m_useObsoleteJointConstraints; + btAlignedObjectArray<btContactManifoldCachedInfo> m_manifoldCachedInfoArray; + btAlignedObjectArray<int> m_rollingFrictionIndexTable; // lookup table mapping contact index to rolling friction index + btSpinMutex m_bodySolverArrayMutex; + char m_antiFalseSharingPadding[CACHE_LINE_SIZE]; // padding to keep mutexes in separate cachelines + btSpinMutex m_kinematicBodyUniqueIdToSolverBodyTableMutex; + btAlignedObjectArray<char> m_scratchMemory; + + virtual void randomizeConstraintOrdering( int iteration, int numIterations ); + virtual btScalar resolveAllJointConstraints( int iteration ); + virtual btScalar resolveAllContactConstraints(); + virtual btScalar resolveAllContactFrictionConstraints(); + virtual btScalar resolveAllContactConstraintsInterleaved(); + virtual btScalar resolveAllRollingFrictionConstraints(); + + virtual void setupBatchedContactConstraints(); + virtual void setupBatchedJointConstraints(); + virtual void convertJoints(btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal) BT_OVERRIDE; + virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) BT_OVERRIDE; + virtual void convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) BT_OVERRIDE; + + int getOrInitSolverBodyThreadsafe(btCollisionObject& body, btScalar timeStep); + void allocAllContactConstraints(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal); + void setupAllContactConstraints(const btContactSolverInfo& infoGlobal); + void randomizeBatchedConstraintOrdering( btBatchedConstraints* batchedConstraints ); + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btSequentialImpulseConstraintSolverMt(); + virtual ~btSequentialImpulseConstraintSolverMt(); + + btScalar resolveMultipleJointConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd, int iteration ); + btScalar resolveMultipleContactConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd ); + btScalar resolveMultipleContactSplitPenetrationImpulseConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd ); + btScalar resolveMultipleContactFrictionConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd ); + btScalar resolveMultipleContactRollingFrictionConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd ); + btScalar resolveMultipleContactConstraintsInterleaved( const btAlignedObjectArray<int>& contactIndices, int batchBegin, int batchEnd ); + + void internalCollectContactManifoldCachedInfo(btContactManifoldCachedInfo* cachedInfoArray, btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal); + void internalAllocContactConstraints(const btContactManifoldCachedInfo* cachedInfoArray, int numManifolds); + void internalSetupContactConstraints(int iContactConstraint, const btContactSolverInfo& infoGlobal); + void internalConvertBodies(btCollisionObject** bodies, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); + void internalWriteBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); + void internalWriteBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); + void internalWriteBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); +}; + + + + +#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H + diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp index d63cef0316..d63cef0316 100644..100755 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h index 1957f08a96..1957f08a96 100644..100755 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp index a196d4522e..b9944c138b 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp @@ -842,6 +842,9 @@ public: btCollisionObject* otherObj = (btCollisionObject*) proxy0->m_clientObject; + if(!m_dispatcher->needsCollision(m_me, otherObj)) + return false; + //call needsResponse, see http://code.google.com/p/bullet/issues/detail?id=179 if (m_dispatcher->needsResponse(m_me,otherObj)) { @@ -1342,9 +1345,12 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint) btVector3 axis = tr.getBasis().getColumn(0); btScalar minTh = p6DOF->getRotationalLimitMotor(1)->m_loLimit; btScalar maxTh = p6DOF->getRotationalLimitMotor(1)->m_hiLimit; - btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit; - btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit; - getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0)); + if (minTh <= maxTh) + { + btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit; + btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit; + getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0)); + } axis = tr.getBasis().getColumn(1); btScalar ay = p6DOF->getAngle(1); btScalar az = p6DOF->getAngle(2); @@ -1533,6 +1539,8 @@ void btDiscreteDynamicsWorld::serialize(btSerializer* serializer) serializeRigidBodies(serializer); + serializeContactManifolds(serializer); + serializer->finishSerialization(); } diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp index 1d10bad922..d705bf2381 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp @@ -50,63 +50,6 @@ subject to the following restrictions: #include "LinearMath/btSerializer.h" -struct InplaceSolverIslandCallbackMt : public btSimulationIslandManagerMt::IslandCallback -{ - btContactSolverInfo* m_solverInfo; - btConstraintSolver* m_solver; - btIDebugDraw* m_debugDrawer; - btDispatcher* m_dispatcher; - - InplaceSolverIslandCallbackMt( - btConstraintSolver* solver, - btStackAlloc* stackAlloc, - btDispatcher* dispatcher) - :m_solverInfo(NULL), - m_solver(solver), - m_debugDrawer(NULL), - m_dispatcher(dispatcher) - { - - } - - InplaceSolverIslandCallbackMt& operator=(InplaceSolverIslandCallbackMt& other) - { - btAssert(0); - (void)other; - return *this; - } - - SIMD_FORCE_INLINE void setup ( btContactSolverInfo* solverInfo, btIDebugDraw* debugDrawer) - { - btAssert(solverInfo); - m_solverInfo = solverInfo; - m_debugDrawer = debugDrawer; - } - - - virtual void processIsland( btCollisionObject** bodies, - int numBodies, - btPersistentManifold** manifolds, - int numManifolds, - btTypedConstraint** constraints, - int numConstraints, - int islandId - ) - { - m_solver->solveGroup( bodies, - numBodies, - manifolds, - numManifolds, - constraints, - numConstraints, - *m_solverInfo, - m_debugDrawer, - m_dispatcher - ); - } - -}; - /// /// btConstraintSolverPoolMt @@ -209,7 +152,12 @@ void btConstraintSolverPoolMt::reset() /// btDiscreteDynamicsWorldMt /// -btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolverPoolMt* constraintSolver, btCollisionConfiguration* collisionConfiguration) +btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher, + btBroadphaseInterface* pairCache, + btConstraintSolverPoolMt* constraintSolver, + btConstraintSolver* constraintSolverMt, + btCollisionConfiguration* collisionConfiguration +) : btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration) { if (m_ownsIslandManager) @@ -217,31 +165,18 @@ btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher, b m_islandManager->~btSimulationIslandManager(); btAlignedFree( m_islandManager); } - { - void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallbackMt),16); - m_solverIslandCallbackMt = new (mem) InplaceSolverIslandCallbackMt (m_constraintSolver, 0, dispatcher); - } { void* mem = btAlignedAlloc(sizeof(btSimulationIslandManagerMt),16); btSimulationIslandManagerMt* im = new (mem) btSimulationIslandManagerMt(); im->setMinimumSolverBatchSize( m_solverInfo.m_minimumSolverBatchSize ); m_islandManager = im; } + m_constraintSolverMt = constraintSolverMt; } btDiscreteDynamicsWorldMt::~btDiscreteDynamicsWorldMt() { - if (m_solverIslandCallbackMt) - { - m_solverIslandCallbackMt->~InplaceSolverIslandCallbackMt(); - btAlignedFree(m_solverIslandCallbackMt); - } - if (m_ownsConstraintSolver) - { - m_constraintSolver->~btConstraintSolver(); - btAlignedFree(m_constraintSolver); - } } @@ -249,12 +184,17 @@ void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo { BT_PROFILE("solveConstraints"); - m_solverIslandCallbackMt->setup(&solverInfo, getDebugDrawer()); m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); /// solve all the constraints for this island btSimulationIslandManagerMt* im = static_cast<btSimulationIslandManagerMt*>(m_islandManager); - im->buildAndProcessIslands( getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_constraints, m_solverIslandCallbackMt ); + btSimulationIslandManagerMt::SolverParams solverParams; + solverParams.m_solverPool = m_constraintSolver; + solverParams.m_solverMt = m_constraintSolverMt; + solverParams.m_solverInfo = &solverInfo; + solverParams.m_debugDrawer = m_debugDrawer; + solverParams.m_dispatcher = getCollisionWorld()->getDispatcher(); + im->buildAndProcessIslands( getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_constraints, solverParams ); m_constraintSolver->allSolved(solverInfo, m_debugDrawer); } @@ -325,3 +265,14 @@ void btDiscreteDynamicsWorldMt::integrateTransforms( btScalar timeStep ) } } + +int btDiscreteDynamicsWorldMt::stepSimulation( btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep ) +{ + int numSubSteps = btDiscreteDynamicsWorld::stepSimulation(timeStep, maxSubSteps, fixedTimeStep); + if (btITaskScheduler* scheduler = btGetTaskScheduler()) + { + // tell Bullet's threads to sleep, so other threads can run + scheduler->sleepWorkerThreadsHint(); + } + return numSubSteps; +} diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h index 2f144cdda4..667fe5800e 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h @@ -21,7 +21,6 @@ subject to the following restrictions: #include "btSimulationIslandManagerMt.h" #include "BulletDynamics/ConstraintSolver/btConstraintSolver.h" -struct InplaceSolverIslandCallbackMt; /// /// btConstraintSolverPoolMt - masquerades as a constraint solver, but really it is a threadsafe pool of them. @@ -88,7 +87,7 @@ private: ATTRIBUTE_ALIGNED16(class) btDiscreteDynamicsWorldMt : public btDiscreteDynamicsWorld { protected: - InplaceSolverIslandCallbackMt* m_solverIslandCallbackMt; + btConstraintSolver* m_constraintSolverMt; virtual void solveConstraints(btContactSolverInfo& solverInfo) BT_OVERRIDE; @@ -126,9 +125,12 @@ public: btDiscreteDynamicsWorldMt(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolverPoolMt* constraintSolver, // Note this should be a solver-pool for multi-threading + btConstraintSolver* constraintSolverMt, // single multi-threaded solver for large islands (or NULL) btCollisionConfiguration* collisionConfiguration ); virtual ~btDiscreteDynamicsWorldMt(); + + virtual int stepSimulation( btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep ) BT_OVERRIDE; }; #endif //BT_DISCRETE_DYNAMICS_WORLD_H diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp index 99b34353c7..fc54f0ba6e 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp @@ -22,6 +22,7 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "BulletCollision/CollisionDispatch/btCollisionWorld.h" #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" +#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h" // for s_minimumContactManifoldsForBatching //#include <stdio.h> #include "LinearMath/btQuickprof.h" @@ -275,7 +276,7 @@ btSimulationIslandManagerMt::Island* btSimulationIslandManagerMt::allocateIsland void btSimulationIslandManagerMt::buildIslands( btDispatcher* dispatcher, btCollisionWorld* collisionWorld ) { - BT_PROFILE("islandUnionFindAndQuickSort"); + BT_PROFILE("buildIslands"); btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); @@ -314,13 +315,11 @@ void btSimulationIslandManagerMt::buildIslands( btDispatcher* dispatcher, btColl btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); if (colObj0->getIslandTag() == islandId) { - if (colObj0->getActivationState()== ACTIVE_TAG) - { - allSleeping = false; - } - if (colObj0->getActivationState()== DISABLE_DEACTIVATION) + if (colObj0->getActivationState()== ACTIVE_TAG || + colObj0->getActivationState()== DISABLE_DEACTIVATION) { allSleeping = false; + break; } } } @@ -546,59 +545,103 @@ void btSimulationIslandManagerMt::mergeIslands() } -void btSimulationIslandManagerMt::serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback ) +void btSimulationIslandManagerMt::solveIsland(btConstraintSolver* solver, Island& island, const SolverParams& solverParams) +{ + btPersistentManifold** manifolds = island.manifoldArray.size() ? &island.manifoldArray[ 0 ] : NULL; + btTypedConstraint** constraintsPtr = island.constraintArray.size() ? &island.constraintArray[ 0 ] : NULL; + solver->solveGroup( &island.bodyArray[ 0 ], + island.bodyArray.size(), + manifolds, + island.manifoldArray.size(), + constraintsPtr, + island.constraintArray.size(), + *solverParams.m_solverInfo, + solverParams.m_debugDrawer, + solverParams.m_dispatcher + ); +} + + +void btSimulationIslandManagerMt::serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams ) { BT_PROFILE( "serialIslandDispatch" ); // serial dispatch btAlignedObjectArray<Island*>& islands = *islandsPtr; + btConstraintSolver* solver = solverParams.m_solverMt ? solverParams.m_solverMt : solverParams.m_solverPool; for ( int i = 0; i < islands.size(); ++i ) { - Island* island = islands[ i ]; - btPersistentManifold** manifolds = island->manifoldArray.size() ? &island->manifoldArray[ 0 ] : NULL; - btTypedConstraint** constraintsPtr = island->constraintArray.size() ? &island->constraintArray[ 0 ] : NULL; - callback->processIsland( &island->bodyArray[ 0 ], - island->bodyArray.size(), - manifolds, - island->manifoldArray.size(), - constraintsPtr, - island->constraintArray.size(), - island->id - ); + solveIsland(solver, *islands[ i ], solverParams); } } + struct UpdateIslandDispatcher : public btIParallelForBody { - btAlignedObjectArray<btSimulationIslandManagerMt::Island*>* islandsPtr; - btSimulationIslandManagerMt::IslandCallback* callback; + btAlignedObjectArray<btSimulationIslandManagerMt::Island*>& m_islandsPtr; + const btSimulationIslandManagerMt::SolverParams& m_solverParams; + + UpdateIslandDispatcher(btAlignedObjectArray<btSimulationIslandManagerMt::Island*>& islandsPtr, const btSimulationIslandManagerMt::SolverParams& solverParams) + : m_islandsPtr(islandsPtr), m_solverParams(solverParams) + {} void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE { + btConstraintSolver* solver = m_solverParams.m_solverPool; for ( int i = iBegin; i < iEnd; ++i ) { - btSimulationIslandManagerMt::Island* island = ( *islandsPtr )[ i ]; - btPersistentManifold** manifolds = island->manifoldArray.size() ? &island->manifoldArray[ 0 ] : NULL; - btTypedConstraint** constraintsPtr = island->constraintArray.size() ? &island->constraintArray[ 0 ] : NULL; - callback->processIsland( &island->bodyArray[ 0 ], - island->bodyArray.size(), - manifolds, - island->manifoldArray.size(), - constraintsPtr, - island->constraintArray.size(), - island->id - ); + btSimulationIslandManagerMt::Island* island = m_islandsPtr[ i ]; + btSimulationIslandManagerMt::solveIsland( solver, *island, m_solverParams ); } } }; -void btSimulationIslandManagerMt::parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback ) + +void btSimulationIslandManagerMt::parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams ) { BT_PROFILE( "parallelIslandDispatch" ); - int grainSize = 1; // iterations per task - UpdateIslandDispatcher dispatcher; - dispatcher.islandsPtr = islandsPtr; - dispatcher.callback = callback; - btParallelFor( 0, islandsPtr->size(), grainSize, dispatcher ); + // + // if there are islands with many contacts, it may be faster to submit these + // large islands *serially* to a single parallel constraint solver, and then later + // submit the remaining smaller islands in parallel to multiple sequential solvers. + // + // Some task schedulers do not deal well with nested parallelFor loops. One implementation + // of OpenMP was actually slower than doing everything single-threaded. Intel TBB + // on the other hand, seems to do a pretty respectable job with it. + // + // When solving islands in parallel, the worst case performance happens when there + // is one very large island and then perhaps a smattering of very small + // islands -- one worker thread takes the large island and the remaining workers + // tear through the smaller islands and then sit idle waiting for the first worker + // to finish. Solving islands in parallel works best when there are numerous small + // islands, roughly equal in size. + // + // By contrast, the other approach -- the parallel constraint solver -- is only + // able to deliver a worthwhile speedup when the island is large. For smaller islands, + // it is difficult to extract a useful amount of parallelism -- the overhead of grouping + // the constraints into batches and sending the batches to worker threads can nullify + // any gains from parallelism. + // + + UpdateIslandDispatcher dispatcher(*islandsPtr, solverParams); + // We take advantage of the fact the islands are sorted in order of decreasing size + int iBegin = 0; + if (solverParams.m_solverMt) + { + while ( iBegin < islandsPtr->size() ) + { + btSimulationIslandManagerMt::Island* island = ( *islandsPtr )[ iBegin ]; + if ( island->manifoldArray.size() < btSequentialImpulseConstraintSolverMt::s_minimumContactManifoldsForBatching ) + { + // OK to submit the rest of the array in parallel + break; + } + // serial dispatch to parallel solver for large islands (if any) + solveIsland(solverParams.m_solverMt, *island, solverParams); + ++iBegin; + } + } + // parallel dispatch to sequential solvers for rest + btParallelFor( iBegin, islandsPtr->size(), 1, dispatcher ); } @@ -606,15 +649,14 @@ void btSimulationIslandManagerMt::parallelIslandDispatch( btAlignedObjectArray<I void btSimulationIslandManagerMt::buildAndProcessIslands( btDispatcher* dispatcher, btCollisionWorld* collisionWorld, btAlignedObjectArray<btTypedConstraint*>& constraints, - IslandCallback* callback + const SolverParams& solverParams ) { + BT_PROFILE("buildAndProcessIslands"); btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); buildIslands(dispatcher,collisionWorld); - BT_PROFILE("processIslands"); - if(!getSplitIslands()) { btPersistentManifold** manifolds = dispatcher->getInternalManifoldPointer(); @@ -646,14 +688,17 @@ void btSimulationIslandManagerMt::buildAndProcessIslands( btDispatcher* dispatch } } btTypedConstraint** constraintsPtr = constraints.size() ? &constraints[ 0 ] : NULL; - callback->processIsland(&collisionObjects[0], - collisionObjects.size(), - manifolds, - maxNumManifolds, - constraintsPtr, - constraints.size(), - -1 - ); + btConstraintSolver* solver = solverParams.m_solverMt ? solverParams.m_solverMt : solverParams.m_solverPool; + solver->solveGroup(&collisionObjects[0], + collisionObjects.size(), + manifolds, + maxNumManifolds, + constraintsPtr, + constraints.size(), + *solverParams.m_solverInfo, + solverParams.m_debugDrawer, + solverParams.m_dispatcher + ); } else { @@ -673,6 +718,6 @@ void btSimulationIslandManagerMt::buildAndProcessIslands( btDispatcher* dispatch mergeIslands(); } // dispatch islands to solver - m_islandDispatch( &m_activeIslands, callback ); + m_islandDispatch( &m_activeIslands, solverParams ); } } diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h index 9a781aaef1..563577a6f4 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h @@ -19,7 +19,9 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" class btTypedConstraint; - +class btConstraintSolver; +struct btContactSolverInfo; +class btIDebugDraw; /// /// SimulationIslandManagerMt -- Multithread capable version of SimulationIslandManager @@ -45,22 +47,19 @@ public: void append( const Island& other ); // add bodies, manifolds, constraints to my own }; - struct IslandCallback + struct SolverParams { - virtual ~IslandCallback() {}; - - virtual void processIsland( btCollisionObject** bodies, - int numBodies, - btPersistentManifold** manifolds, - int numManifolds, - btTypedConstraint** constraints, - int numConstraints, - int islandId - ) = 0; + btConstraintSolver* m_solverPool; + btConstraintSolver* m_solverMt; + btContactSolverInfo* m_solverInfo; + btIDebugDraw* m_debugDrawer; + btDispatcher* m_dispatcher; }; - typedef void( *IslandDispatchFunc ) ( btAlignedObjectArray<Island*>* islands, IslandCallback* callback ); - static void serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback ); - static void parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback ); + static void solveIsland(btConstraintSolver* solver, Island& island, const SolverParams& solverParams); + + typedef void( *IslandDispatchFunc ) ( btAlignedObjectArray<Island*>* islands, const SolverParams& solverParams ); + static void serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams ); + static void parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams ); protected: btAlignedObjectArray<Island*> m_allocatedIslands; // owner of all Islands btAlignedObjectArray<Island*> m_activeIslands; // islands actively in use @@ -83,7 +82,11 @@ public: btSimulationIslandManagerMt(); virtual ~btSimulationIslandManagerMt(); - virtual void buildAndProcessIslands( btDispatcher* dispatcher, btCollisionWorld* collisionWorld, btAlignedObjectArray<btTypedConstraint*>& constraints, IslandCallback* callback ); + virtual void buildAndProcessIslands( btDispatcher* dispatcher, + btCollisionWorld* collisionWorld, + btAlignedObjectArray<btTypedConstraint*>& constraints, + const SolverParams& solverParams + ); virtual void buildIslands(btDispatcher* dispatcher,btCollisionWorld* colWorld); @@ -106,5 +109,6 @@ public: } }; + #endif //BT_SIMULATION_ISLAND_MANAGER_H diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp index 62865e0c78..0e85b55728 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp @@ -112,14 +112,15 @@ btMultiBody::btMultiBody(int n_links, m_userObjectPointer(0), m_userIndex2(-1), m_userIndex(-1), + m_companionId(-1), m_linearDamping(0.04f), m_angularDamping(0.04f), m_useGyroTerm(true), - m_maxAppliedImpulse(1000.f), + m_maxAppliedImpulse(1000.f), m_maxCoordinateVelocity(100.f), - m_hasSelfCollision(true), + m_hasSelfCollision(true), __posUpdated(false), - m_dofCount(0), + m_dofCount(0), m_posVarCnt(0), m_useRK4(false), m_useGlobalVelocities(false), @@ -136,6 +137,9 @@ btMultiBody::btMultiBody(int n_links, m_baseForce.setValue(0, 0, 0); m_baseTorque.setValue(0, 0, 0); + + clearConstraintForces(); + clearForcesAndTorques(); } btMultiBody::~btMultiBody() @@ -740,13 +744,13 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar const btScalar DAMPING_K1_ANGULAR = m_angularDamping; const btScalar DAMPING_K2_ANGULAR= m_angularDamping; - btVector3 base_vel = getBaseVel(); - btVector3 base_omega = getBaseOmega(); + const btVector3 base_vel = getBaseVel(); + const btVector3 base_omega = getBaseOmega(); // Temporary matrices/vectors -- use scratch space from caller // so that we don't have to keep reallocating every frame - scratch_r.resize(2*m_dofCount + 6); //multidof? ("Y"s use it and it is used to store qdd) => 2 x m_dofCount + scratch_r.resize(2*m_dofCount + 7); //multidof? ("Y"s use it and it is used to store qdd) => 2 x m_dofCount scratch_v.resize(8*num_links + 6); scratch_m.resize(4*num_links + 4); @@ -777,7 +781,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar // hhat is NOT stored for the base (but ahat is) btSpatialForceVector * h = (btSpatialForceVector *)(m_dofCount > 0 ? &m_vectorBuf[0] : 0); btSpatialMotionVector * spatAcc = (btSpatialMotionVector *)v_ptr; - v_ptr += num_links * 2 + 2; + v_ptr += num_links * 2 + 2; // // Y_i, invD_i btScalar * invD = m_dofCount > 0 ? &m_realBuf[6 + m_dofCount] : 0; @@ -815,13 +819,13 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar } else { - btVector3 baseForce = isConstraintPass? m_baseConstraintForce : m_baseForce; - btVector3 baseTorque = isConstraintPass? m_baseConstraintTorque : m_baseTorque; + const btVector3& baseForce = isConstraintPass? m_baseConstraintForce : m_baseForce; + const btVector3& baseTorque = isConstraintPass? m_baseConstraintTorque : m_baseTorque; //external forces zeroAccSpatFrc[0].setVector(-(rot_from_parent[0] * baseTorque), -(rot_from_parent[0] * baseForce)); //adding damping terms (only) - btScalar linDampMult = 1., angDampMult = 1.; + const btScalar linDampMult = 1., angDampMult = 1.; zeroAccSpatFrc[0].addVector(angDampMult * m_baseInertia * spatVel[0].getAngular() * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR * spatVel[0].getAngular().safeNorm()), linDampMult * m_baseMass * spatVel[0].getLinear() * (DAMPING_K1_LINEAR + DAMPING_K2_LINEAR * spatVel[0].getLinear().safeNorm())); @@ -963,16 +967,15 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar // Y[m_links[i].m_dofOffset + dof] = m_links[i].m_jointTorque[dof] - m_links[i].m_axes[dof].dot(zeroAccSpatFrc[i+1]) - - spatCoriolisAcc[i].dot(hDof) - ; - } + - spatCoriolisAcc[i].dot(hDof); - for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) - { - btScalar *D_row = &D[dof * m_links[i].m_dofCount]; + } + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + btScalar *D_row = &D[dof * m_links[i].m_dofCount]; for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2) { - btSpatialForceVector &hDof2 = h[m_links[i].m_dofOffset + dof2]; + const btSpatialForceVector &hDof2 = h[m_links[i].m_dofOffset + dof2]; D_row[dof2] = m_links[i].m_axes[dof].dot(hDof2); } } @@ -983,14 +986,20 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar case btMultibodyLink::ePrismatic: case btMultibodyLink::eRevolute: { - invDi[0] = 1.0f / D[0]; + if (D[0]>=SIMD_EPSILON) + { + invDi[0] = 1.0f / D[0]; + } else + { + invDi[0] = 0; + } break; } case btMultibodyLink::eSpherical: case btMultibodyLink::ePlanar: { - btMatrix3x3 D3x3; D3x3.setValue(D[0], D[1], D[2], D[3], D[4], D[5], D[6], D[7], D[8]); - btMatrix3x3 invD3x3; invD3x3 = D3x3.inverse(); + const btMatrix3x3 D3x3(D[0], D[1], D[2], D[3], D[4], D[5], D[6], D[7], D[8]); + const btMatrix3x3 invD3x3(D3x3.inverse()); //unroll the loop? for(int row = 0; row < 3; ++row) @@ -1016,7 +1025,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2) { - btSpatialForceVector &hDof2 = h[m_links[i].m_dofOffset + dof2]; + const btSpatialForceVector &hDof2 = h[m_links[i].m_dofOffset + dof2]; // spatForceVecTemps[dof] += hDof2 * invDi[dof2 * m_links[i].m_dofCount + dof]; } @@ -1027,7 +1036,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar //determine (h*D^{-1}) * h^{T} for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) { - btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof]; + const btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof]; // dyadTemp -= symmetricSpatialOuterProduct(hDof, spatForceVecTemps[dof]); } @@ -1048,7 +1057,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) { - btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof]; + const btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof]; // spatForceVecTemps[0] += hDof * invD_times_Y[dof]; } @@ -1099,7 +1108,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) { - btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof]; + const btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof]; // Y_minus_hT_a[dof] = Y[m_links[i].m_dofOffset + dof] - spatAcc[i+1].dot(hDof); } @@ -1159,12 +1168,12 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar } // transform base accelerations back to the world frame. - btVector3 omegadot_out = rot_from_parent[0].transpose() * spatAcc[0].getAngular(); + const btVector3 omegadot_out = rot_from_parent[0].transpose() * spatAcc[0].getAngular(); output[0] = omegadot_out[0]; output[1] = omegadot_out[1]; output[2] = omegadot_out[2]; - btVector3 vdot_out = rot_from_parent[0].transpose() * (spatAcc[0].getLinear() + spatVel[0].getAngular().cross(spatVel[0].getLinear())); + const btVector3 vdot_out = rot_from_parent[0].transpose() * (spatAcc[0].getLinear() + spatVel[0].getAngular().cross(spatVel[0].getLinear())); output[3] = vdot_out[0]; output[4] = vdot_out[1]; output[5] = vdot_out[2]; @@ -1266,12 +1275,29 @@ void btMultiBody::solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bo if (num_links == 0) { // in the case of 0 m_links (i.e. a plain rigid body, not a multibody) rhs * invI is easier - result[0] = rhs_bot[0] / m_baseInertia[0]; - result[1] = rhs_bot[1] / m_baseInertia[1]; + + if ((m_baseInertia[0] >= SIMD_EPSILON) && (m_baseInertia[1] >= SIMD_EPSILON) && (m_baseInertia[2] >= SIMD_EPSILON)) + { + result[0] = rhs_bot[0] / m_baseInertia[0]; + result[1] = rhs_bot[1] / m_baseInertia[1]; result[2] = rhs_bot[2] / m_baseInertia[2]; - result[3] = rhs_top[0] / m_baseMass; - result[4] = rhs_top[1] / m_baseMass; - result[5] = rhs_top[2] / m_baseMass; + } else + { + result[0] = 0; + result[1] = 0; + result[2] = 0; + } + if (m_baseMass>=SIMD_EPSILON) + { + result[3] = rhs_top[0] / m_baseMass; + result[4] = rhs_top[1] / m_baseMass; + result[5] = rhs_top[2] / m_baseMass; + } else + { + result[3] = 0; + result[4] = 0; + result[5] = 0; + } } else { if (!m_cachedInertiaValid) @@ -1322,9 +1348,21 @@ void btMultiBody::solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionV if (num_links == 0) { // in the case of 0 m_links (i.e. a plain rigid body, not a multibody) rhs * invI is easier - result.setAngular(rhs.getAngular() / m_baseInertia); - result.setLinear(rhs.getLinear() / m_baseMass); - } else + if ((m_baseInertia[0] >= SIMD_EPSILON) && (m_baseInertia[1] >= SIMD_EPSILON) && (m_baseInertia[2] >= SIMD_EPSILON)) + { + result.setAngular(rhs.getAngular() / m_baseInertia); + } else + { + result.setAngular(btVector3(0,0,0)); + } + if (m_baseMass>=SIMD_EPSILON) + { + result.setLinear(rhs.getLinear() / m_baseMass); + } else + { + result.setLinear(btVector3(0,0,0)); + } + } else { /// Special routine for calculating the inverse of a spatial inertia matrix ///the 6x6 matrix is stored as 4 blocks of 3x3 matrices @@ -1808,6 +1846,7 @@ void btMultiBody::fillConstraintJacobianMultiDof(int link, void btMultiBody::wakeUp() { + m_sleepTimer = 0; m_awake = true; } @@ -1956,7 +1995,11 @@ int btMultiBody::calculateSerializeBufferSize() const const char* btMultiBody::serialize(void* dataBuffer, class btSerializer* serializer) const { btMultiBodyData* mbd = (btMultiBodyData*) dataBuffer; - getBaseWorldTransform().serialize(mbd->m_baseWorldTransform); + getBasePos().serialize(mbd->m_baseWorldPosition); + getWorldToBaseRot().inverse().serialize(mbd->m_baseWorldOrientation); + getBaseVel().serialize(mbd->m_baseLinearVelocity); + getBaseOmega().serialize(mbd->m_baseAngularVelocity); + mbd->m_baseMass = this->getBaseMass(); getBaseInertia().serialize(mbd->m_baseInertia); { @@ -1982,6 +2025,12 @@ const char* btMultiBody::serialize(void* dataBuffer, class btSerializer* seriali memPtr->m_posVarCount = getLink(i).m_posVarCount; getLink(i).m_inertiaLocal.serialize(memPtr->m_linkInertia); + + getLink(i).m_absFrameTotVelocity.m_topVec.serialize(memPtr->m_absFrameTotVelocityTop); + getLink(i).m_absFrameTotVelocity.m_bottomVec.serialize(memPtr->m_absFrameTotVelocityBottom); + getLink(i).m_absFrameLocVelocity.m_topVec.serialize(memPtr->m_absFrameLocVelocityTop); + getLink(i).m_absFrameLocVelocity.m_bottomVec.serialize(memPtr->m_absFrameLocVelocityBottom); + memPtr->m_linkMass = getLink(i).m_mass; memPtr->m_parentIndex = getLink(i).m_parent; memPtr->m_jointDamping = getLink(i).m_jointDamping; @@ -1991,7 +2040,7 @@ const char* btMultiBody::serialize(void* dataBuffer, class btSerializer* seriali memPtr->m_jointMaxForce = getLink(i).m_jointMaxForce; memPtr->m_jointMaxVelocity = getLink(i).m_jointMaxVelocity; - getLink(i).m_eVector.serialize(memPtr->m_parentComToThisComOffset); + getLink(i).m_eVector.serialize(memPtr->m_parentComToThisPivotOffset); getLink(i).m_dVector.serialize(memPtr->m_thisPivotToThisComOffset); getLink(i).m_zeroRotParentToThis.serialize(memPtr->m_zeroRotParentToThis); btAssert(memPtr->m_dofCount<=3); diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h index 655165ac18..5cd00e5173 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h @@ -702,15 +702,18 @@ private: int m_companionId; btScalar m_linearDamping; btScalar m_angularDamping; - bool m_useGyroTerm; + bool m_useGyroTerm; btScalar m_maxAppliedImpulse; btScalar m_maxCoordinateVelocity; bool m_hasSelfCollision; - bool __posUpdated; - int m_dofCount, m_posVarCnt; + bool __posUpdated; + int m_dofCount, m_posVarCnt; + bool m_useRK4, m_useGlobalVelocities; - + //for global velocities, see 8.3.2B Proposed resolution in Jakub Stepien PhD Thesis + //https://drive.google.com/file/d/0Bz3vEa19XOYGNWdZWGpMdUdqVmZ5ZVBOaEh4ZnpNaUxxZFNV/view?usp=sharing + ///the m_needsJointFeedback gets updated/computed during the stepVelocitiesMultiDof and it for internal usage only bool m_internalNeedsJointFeedback; }; @@ -718,12 +721,17 @@ private: struct btMultiBodyLinkDoubleData { btQuaternionDoubleData m_zeroRotParentToThis; - btVector3DoubleData m_parentComToThisComOffset; + btVector3DoubleData m_parentComToThisPivotOffset; btVector3DoubleData m_thisPivotToThisComOffset; btVector3DoubleData m_jointAxisTop[6]; btVector3DoubleData m_jointAxisBottom[6]; btVector3DoubleData m_linkInertia; // inertia of the base (in local frame; diagonal) + btVector3DoubleData m_absFrameTotVelocityTop; + btVector3DoubleData m_absFrameTotVelocityBottom; + btVector3DoubleData m_absFrameLocVelocityTop; + btVector3DoubleData m_absFrameLocVelocityBottom; + double m_linkMass; int m_parentIndex; int m_jointType; @@ -751,11 +759,16 @@ struct btMultiBodyLinkDoubleData struct btMultiBodyLinkFloatData { btQuaternionFloatData m_zeroRotParentToThis; - btVector3FloatData m_parentComToThisComOffset; + btVector3FloatData m_parentComToThisPivotOffset; btVector3FloatData m_thisPivotToThisComOffset; btVector3FloatData m_jointAxisTop[6]; btVector3FloatData m_jointAxisBottom[6]; - btVector3FloatData m_linkInertia; // inertia of the base (in local frame; diagonal) + btVector3FloatData m_linkInertia; // inertia of the base (in local frame; diagonal) + btVector3FloatData m_absFrameTotVelocityTop; + btVector3FloatData m_absFrameTotVelocityBottom; + btVector3FloatData m_absFrameLocVelocityTop; + btVector3FloatData m_absFrameLocVelocityBottom; + int m_dofCount; float m_linkMass; int m_parentIndex; @@ -784,29 +797,38 @@ struct btMultiBodyLinkFloatData ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 struct btMultiBodyDoubleData { - btTransformDoubleData m_baseWorldTransform; + btVector3DoubleData m_baseWorldPosition; + btQuaternionDoubleData m_baseWorldOrientation; + btVector3DoubleData m_baseLinearVelocity; + btVector3DoubleData m_baseAngularVelocity; btVector3DoubleData m_baseInertia; // inertia of the base (in local frame; diagonal) double m_baseMass; + int m_numLinks; + char m_padding[4]; char *m_baseName; btMultiBodyLinkDoubleData *m_links; btCollisionObjectDoubleData *m_baseCollider; - char *m_paddingPtr; - int m_numLinks; - char m_padding[4]; + + }; ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 struct btMultiBodyFloatData { - char *m_baseName; - btMultiBodyLinkFloatData *m_links; - btCollisionObjectFloatData *m_baseCollider; - btTransformFloatData m_baseWorldTransform; + btVector3FloatData m_baseWorldPosition; + btQuaternionFloatData m_baseWorldOrientation; + btVector3FloatData m_baseLinearVelocity; + btVector3FloatData m_baseAngularVelocity; + btVector3FloatData m_baseInertia; // inertia of the base (in local frame; diagonal) - float m_baseMass; int m_numLinks; + + char *m_baseName; + btMultiBodyLinkFloatData *m_links; + btCollisionObjectFloatData *m_baseCollider; + }; diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp index d52852dd8e..9f61874b83 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp @@ -253,7 +253,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr { vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1); if (angConstraint) { - denom0 = rb0->getInvMass() + constraintNormalAng.dot(vec); + denom0 = constraintNormalAng.dot(solverConstraint.m_angularComponentA); } else { denom0 = rb0->getInvMass() + constraintNormalLin.dot(vec); @@ -277,7 +277,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr { vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2); if (angConstraint) { - denom1 = rb1->getInvMass() + constraintNormalAng.dot(vec); + denom1 = constraintNormalAng.dot(-solverConstraint.m_angularComponentB); } else { denom1 = rb1->getInvMass() + constraintNormalLin.dot(vec); @@ -315,7 +315,8 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr } else if(rb0) { - rel_vel += rb0->getVelocityInLocalPoint(rel_pos1).dot(solverConstraint.m_contactNormal1); + rel_vel += rb0->getLinearVelocity().dot(solverConstraint.m_contactNormal1); + rel_vel += rb0->getAngularVelocity().dot(solverConstraint.m_relpos1CrossNormal); } if (multiBodyB) { @@ -327,7 +328,8 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr } else if(rb1) { - rel_vel += rb1->getVelocityInLocalPoint(rel_pos2).dot(solverConstraint.m_contactNormal2); + rel_vel += rb1->getLinearVelocity().dot(solverConstraint.m_contactNormal2); + rel_vel += rb1->getAngularVelocity().dot(solverConstraint.m_relpos2CrossNormal); } solverConstraint.m_friction = 0.f;//cp.m_combinedFriction; diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h index 83521b9501..a2ae571273 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h @@ -119,6 +119,14 @@ public: return m_bodyB; } + int getLinkA() const + { + return m_linkA; + } + int getLinkB() const + { + return m_linkB; + } void internalSetAppliedImpulse(int dof, btScalar appliedImpulse) { btAssert(dof>=0); diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp index 1e2d074096..cd84826e1a 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp @@ -39,7 +39,7 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl btMultiBodySolverConstraint& constraint = m_multiBodyNonContactConstraints[index]; btScalar residual = resolveSingleConstraintRowGeneric(constraint); - leastSquaredResidual += residual*residual; + leastSquaredResidual = btMax(leastSquaredResidual,residual*residual); if(constraint.m_multiBodyA) constraint.m_multiBodyA->setPosUpdated(false); @@ -60,36 +60,101 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl residual = resolveSingleConstraintRowGeneric(constraint); } - leastSquaredResidual += residual*residual; + leastSquaredResidual = btMax(leastSquaredResidual,residual*residual); if(constraint.m_multiBodyA) constraint.m_multiBodyA->setPosUpdated(false); if(constraint.m_multiBodyB) constraint.m_multiBodyB->setPosUpdated(false); } - - //solve featherstone frictional contact - for (int j1=0;j1<this->m_multiBodyFrictionContactConstraints.size();j1++) + //solve featherstone frictional contact + if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS && ((infoGlobal.m_solverMode&SOLVER_DISABLE_IMPLICIT_CONE_FRICTION) == 0)) { - if (iteration < infoGlobal.m_numIterations) + for (int j1 = 0; j1<this->m_multiBodyTorsionalFrictionContactConstraints.size(); j1++) + { + if (iteration < infoGlobal.m_numIterations) + { + int index = j1;//iteration&1? j1 : m_multiBodyTorsionalFrictionContactConstraints.size()-1-j1; + + btMultiBodySolverConstraint& frictionConstraint = m_multiBodyTorsionalFrictionContactConstraints[index]; + btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse; + //adjust friction limits here + if (totalImpulse>btScalar(0)) + { + frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse); + frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse; + btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint); + leastSquaredResidual = btMax(leastSquaredResidual , residual*residual); + + if (frictionConstraint.m_multiBodyA) + frictionConstraint.m_multiBodyA->setPosUpdated(false); + if (frictionConstraint.m_multiBodyB) + frictionConstraint.m_multiBodyB->setPosUpdated(false); + } + } + } + + for (int j1 = 0; j1 < this->m_multiBodyFrictionContactConstraints.size(); j1++) { - int index = j1;//iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1; + if (iteration < infoGlobal.m_numIterations) + { + int index = j1;//iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1; + btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[index]; + + btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse; + j1++; + int index2 = j1;//iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1; + btMultiBodySolverConstraint& frictionConstraintB = m_multiBodyFrictionContactConstraints[index2]; + btAssert(frictionConstraint.m_frictionIndex == frictionConstraintB.m_frictionIndex); + + if (frictionConstraint.m_frictionIndex == frictionConstraintB.m_frictionIndex) + { + frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse); + frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse; + frictionConstraintB.m_lowerLimit = -(frictionConstraintB.m_friction*totalImpulse); + frictionConstraintB.m_upperLimit = frictionConstraintB.m_friction*totalImpulse; + btScalar residual = resolveConeFrictionConstraintRows(frictionConstraint, frictionConstraintB); + leastSquaredResidual = btMax(leastSquaredResidual, residual*residual); + + if (frictionConstraintB.m_multiBodyA) + frictionConstraintB.m_multiBodyA->setPosUpdated(false); + if (frictionConstraintB.m_multiBodyB) + frictionConstraintB.m_multiBodyB->setPosUpdated(false); + + if (frictionConstraint.m_multiBodyA) + frictionConstraint.m_multiBodyA->setPosUpdated(false); + if (frictionConstraint.m_multiBodyB) + frictionConstraint.m_multiBodyB->setPosUpdated(false); + } + } + } - btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[index]; - btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse; - //adjust friction limits here - if (totalImpulse>btScalar(0)) + + } + else + { + for (int j1 = 0; j1<this->m_multiBodyFrictionContactConstraints.size(); j1++) + { + if (iteration < infoGlobal.m_numIterations) { - frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse); - frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse; - btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint); - leastSquaredResidual += residual*residual; - - if(frictionConstraint.m_multiBodyA) - frictionConstraint.m_multiBodyA->setPosUpdated(false); - if(frictionConstraint.m_multiBodyB) - frictionConstraint.m_multiBodyB->setPosUpdated(false); + int index = j1;//iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1; + + btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[index]; + btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse; + //adjust friction limits here + if (totalImpulse>btScalar(0)) + { + frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse); + frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse; + btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint); + leastSquaredResidual = btMax(leastSquaredResidual, residual*residual); + + if (frictionConstraint.m_multiBodyA) + frictionConstraint.m_multiBodyA->setPosUpdated(false); + if (frictionConstraint.m_multiBodyB) + frictionConstraint.m_multiBodyB->setPosUpdated(false); + } } } } @@ -101,6 +166,8 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlySetup(btCollisionOb m_multiBodyNonContactConstraints.resize(0); m_multiBodyNormalContactConstraints.resize(0); m_multiBodyFrictionContactConstraints.resize(0); + m_multiBodyTorsionalFrictionContactConstraints.resize(0); + m_data.m_jacobians.resize(0); m_data.m_deltaVelocitiesUnitImpulse.resize(0); m_data.m_deltaVelocities.resize(0); @@ -128,82 +195,267 @@ void btMultiBodyConstraintSolver::applyDeltaVee(btScalar* delta_vee, btScalar im btScalar btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c) { - btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm; - btScalar deltaVelADotn=0; - btScalar deltaVelBDotn=0; + btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm; + btScalar deltaVelADotn = 0; + btScalar deltaVelBDotn = 0; btSolverBody* bodyA = 0; btSolverBody* bodyB = 0; - int ndofA=0; - int ndofB=0; + int ndofA = 0; + int ndofB = 0; if (c.m_multiBodyA) { - ndofA = c.m_multiBodyA->getNumDofs() + 6; - for (int i = 0; i < ndofA; ++i) - deltaVelADotn += m_data.m_jacobians[c.m_jacAindex+i] * m_data.m_deltaVelocities[c.m_deltaVelAindex+i]; - } else if(c.m_solverBodyIdA >= 0) + ndofA = c.m_multiBodyA->getNumDofs() + 6; + for (int i = 0; i < ndofA; ++i) + deltaVelADotn += m_data.m_jacobians[c.m_jacAindex + i] * m_data.m_deltaVelocities[c.m_deltaVelAindex + i]; + } + else if (c.m_solverBodyIdA >= 0) { bodyA = &m_tmpSolverBodyPool[c.m_solverBodyIdA]; - deltaVelADotn += c.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity()); + deltaVelADotn += c.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity()); } if (c.m_multiBodyB) { - ndofB = c.m_multiBodyB->getNumDofs() + 6; - for (int i = 0; i < ndofB; ++i) - deltaVelBDotn += m_data.m_jacobians[c.m_jacBindex+i] * m_data.m_deltaVelocities[c.m_deltaVelBindex+i]; - } else if(c.m_solverBodyIdB >= 0) + ndofB = c.m_multiBodyB->getNumDofs() + 6; + for (int i = 0; i < ndofB; ++i) + deltaVelBDotn += m_data.m_jacobians[c.m_jacBindex + i] * m_data.m_deltaVelocities[c.m_deltaVelBindex + i]; + } + else if (c.m_solverBodyIdB >= 0) { bodyB = &m_tmpSolverBodyPool[c.m_solverBodyIdB]; - deltaVelBDotn += c.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity()); + deltaVelBDotn += c.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity()); } - - deltaImpulse -= deltaVelADotn*c.m_jacDiagABInv;//m_jacDiagABInv = 1./denom - deltaImpulse -= deltaVelBDotn*c.m_jacDiagABInv; + + deltaImpulse -= deltaVelADotn*c.m_jacDiagABInv;//m_jacDiagABInv = 1./denom + deltaImpulse -= deltaVelBDotn*c.m_jacDiagABInv; const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse; - + if (sum < c.m_lowerLimit) { - deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse; + deltaImpulse = c.m_lowerLimit - c.m_appliedImpulse; c.m_appliedImpulse = c.m_lowerLimit; } - else if (sum > c.m_upperLimit) + else if (sum > c.m_upperLimit) { - deltaImpulse = c.m_upperLimit-c.m_appliedImpulse; + deltaImpulse = c.m_upperLimit - c.m_appliedImpulse; c.m_appliedImpulse = c.m_upperLimit; } else { c.m_appliedImpulse = sum; } - + if (c.m_multiBodyA) { - applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse,c.m_deltaVelAindex,ndofA); + applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse, c.m_deltaVelAindex, ndofA); #ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations //it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity - c.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse); + c.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse); #endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS - } else if(c.m_solverBodyIdA >= 0) + } + else if (c.m_solverBodyIdA >= 0) { - bodyA->internalApplyImpulse(c.m_contactNormal1*bodyA->internalGetInvMass(),c.m_angularComponentA,deltaImpulse); + bodyA->internalApplyImpulse(c.m_contactNormal1*bodyA->internalGetInvMass(), c.m_angularComponentA, deltaImpulse); } if (c.m_multiBodyB) { - applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse,c.m_deltaVelBindex,ndofB); + applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], deltaImpulse, c.m_deltaVelBindex, ndofB); #ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations //it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity - c.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse); + c.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], deltaImpulse); #endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS - } else if(c.m_solverBodyIdB >= 0) + } + else if (c.m_solverBodyIdB >= 0) { - bodyB->internalApplyImpulse(c.m_contactNormal2*bodyB->internalGetInvMass(),c.m_angularComponentB,deltaImpulse); + bodyB->internalApplyImpulse(c.m_contactNormal2*bodyB->internalGetInvMass(), c.m_angularComponentB, deltaImpulse); } - return deltaImpulse; + btScalar deltaVel =deltaImpulse/c.m_jacDiagABInv; + return deltaVel; +} + + +btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const btMultiBodySolverConstraint& cA1,const btMultiBodySolverConstraint& cB) +{ + int ndofA=0; + int ndofB=0; + btSolverBody* bodyA = 0; + btSolverBody* bodyB = 0; + btScalar deltaImpulseB = 0.f; + btScalar sumB = 0.f; + { + deltaImpulseB = cB.m_rhs-btScalar(cB.m_appliedImpulse)*cB.m_cfm; + btScalar deltaVelADotn=0; + btScalar deltaVelBDotn=0; + if (cB.m_multiBodyA) + { + ndofA = cB.m_multiBodyA->getNumDofs() + 6; + for (int i = 0; i < ndofA; ++i) + deltaVelADotn += m_data.m_jacobians[cB.m_jacAindex+i] * m_data.m_deltaVelocities[cB.m_deltaVelAindex+i]; + } else if(cB.m_solverBodyIdA >= 0) + { + bodyA = &m_tmpSolverBodyPool[cB.m_solverBodyIdA]; + deltaVelADotn += cB.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + cB.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity()); + } + + if (cB.m_multiBodyB) + { + ndofB = cB.m_multiBodyB->getNumDofs() + 6; + for (int i = 0; i < ndofB; ++i) + deltaVelBDotn += m_data.m_jacobians[cB.m_jacBindex+i] * m_data.m_deltaVelocities[cB.m_deltaVelBindex+i]; + } else if(cB.m_solverBodyIdB >= 0) + { + bodyB = &m_tmpSolverBodyPool[cB.m_solverBodyIdB]; + deltaVelBDotn += cB.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + cB.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity()); + } + + + deltaImpulseB -= deltaVelADotn*cB.m_jacDiagABInv;//m_jacDiagABInv = 1./denom + deltaImpulseB -= deltaVelBDotn*cB.m_jacDiagABInv; + sumB = btScalar(cB.m_appliedImpulse) + deltaImpulseB; + } + + btScalar deltaImpulseA = 0.f; + btScalar sumA = 0.f; + const btMultiBodySolverConstraint& cA = cA1; + { + { + deltaImpulseA = cA.m_rhs-btScalar(cA.m_appliedImpulse)*cA.m_cfm; + btScalar deltaVelADotn=0; + btScalar deltaVelBDotn=0; + if (cA.m_multiBodyA) + { + ndofA = cA.m_multiBodyA->getNumDofs() + 6; + for (int i = 0; i < ndofA; ++i) + deltaVelADotn += m_data.m_jacobians[cA.m_jacAindex+i] * m_data.m_deltaVelocities[cA.m_deltaVelAindex+i]; + } else if(cA.m_solverBodyIdA >= 0) + { + bodyA = &m_tmpSolverBodyPool[cA.m_solverBodyIdA]; + deltaVelADotn += cA.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + cA.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity()); + } + + if (cA.m_multiBodyB) + { + ndofB = cA.m_multiBodyB->getNumDofs() + 6; + for (int i = 0; i < ndofB; ++i) + deltaVelBDotn += m_data.m_jacobians[cA.m_jacBindex+i] * m_data.m_deltaVelocities[cA.m_deltaVelBindex+i]; + } else if(cA.m_solverBodyIdB >= 0) + { + bodyB = &m_tmpSolverBodyPool[cA.m_solverBodyIdB]; + deltaVelBDotn += cA.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + cA.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity()); + } + + + deltaImpulseA -= deltaVelADotn*cA.m_jacDiagABInv;//m_jacDiagABInv = 1./denom + deltaImpulseA -= deltaVelBDotn*cA.m_jacDiagABInv; + sumA = btScalar(cA.m_appliedImpulse) + deltaImpulseA; + } + } + + if (sumA*sumA+sumB*sumB>=cA.m_lowerLimit*cB.m_lowerLimit) + { + btScalar angle = btAtan2(sumA,sumB); + btScalar sumAclipped = btFabs(cA.m_lowerLimit*btSin(angle)); + btScalar sumBclipped = btFabs(cB.m_lowerLimit*btCos(angle)); + + + if (sumA < -sumAclipped) + { + deltaImpulseA = -sumAclipped - cA.m_appliedImpulse; + cA.m_appliedImpulse = -sumAclipped; + } + else if (sumA > sumAclipped) + { + deltaImpulseA = sumAclipped - cA.m_appliedImpulse; + cA.m_appliedImpulse = sumAclipped; + } + else + { + cA.m_appliedImpulse = sumA; + } + + if (sumB < -sumBclipped) + { + deltaImpulseB = -sumBclipped - cB.m_appliedImpulse; + cB.m_appliedImpulse = -sumBclipped; + } + else if (sumB > sumBclipped) + { + deltaImpulseB = sumBclipped - cB.m_appliedImpulse; + cB.m_appliedImpulse = sumBclipped; + } + else + { + cB.m_appliedImpulse = sumB; + } + //deltaImpulseA = sumAclipped-cA.m_appliedImpulse; + //cA.m_appliedImpulse = sumAclipped; + //deltaImpulseB = sumBclipped-cB.m_appliedImpulse; + //cB.m_appliedImpulse = sumBclipped; + } + else + { + cA.m_appliedImpulse = sumA; + cB.m_appliedImpulse = sumB; + } + + if (cA.m_multiBodyA) + { + applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacAindex],deltaImpulseA,cA.m_deltaVelAindex,ndofA); +#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations + //it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity + cA.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacAindex],deltaImpulseA); +#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + } else if(cA.m_solverBodyIdA >= 0) + { + bodyA->internalApplyImpulse(cA.m_contactNormal1*bodyA->internalGetInvMass(),cA.m_angularComponentA,deltaImpulseA); + + } + if (cA.m_multiBodyB) + { + applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacBindex],deltaImpulseA,cA.m_deltaVelBindex,ndofB); +#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations + //it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity + cA.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacBindex],deltaImpulseA); +#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + } else if(cA.m_solverBodyIdB >= 0) + { + bodyB->internalApplyImpulse(cA.m_contactNormal2*bodyB->internalGetInvMass(),cA.m_angularComponentB,deltaImpulseA); + } + + if (cB.m_multiBodyA) + { + applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacAindex],deltaImpulseB,cB.m_deltaVelAindex,ndofA); +#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations + //it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity + cB.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacAindex],deltaImpulseB); +#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + } else if(cB.m_solverBodyIdA >= 0) + { + bodyA->internalApplyImpulse(cB.m_contactNormal1*bodyA->internalGetInvMass(),cB.m_angularComponentA,deltaImpulseB); + } + if (cB.m_multiBodyB) + { + applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacBindex],deltaImpulseB,cB.m_deltaVelBindex,ndofB); +#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations + //it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity + cB.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacBindex],deltaImpulseB); +#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + } else if(cB.m_solverBodyIdB >= 0) + { + bodyB->internalApplyImpulse(cB.m_contactNormal2*bodyB->internalGetInvMass(),cB.m_angularComponentB,deltaImpulseB); + } + + btScalar deltaVel =deltaImpulseA/cA.m_jacDiagABInv+deltaImpulseB/cB.m_jacDiagABInv; + return deltaVel; } @@ -908,7 +1160,10 @@ btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyTorsionalF btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) { BT_PROFILE("addMultiBodyRollingFrictionConstraint"); - btMultiBodySolverConstraint& solverConstraint = m_multiBodyFrictionContactConstraints.expandNonInitializing(); + + bool useTorsionalAndConeFriction = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS && ((infoGlobal.m_solverMode&SOLVER_DISABLE_IMPLICIT_CONE_FRICTION) == 0)); + + btMultiBodySolverConstraint& solverConstraint = useTorsionalAndConeFriction? m_multiBodyTorsionalFrictionContactConstraints.expandNonInitializing() : m_multiBodyFrictionContactConstraints.expandNonInitializing(); solverConstraint.m_orgConstraint = 0; solverConstraint.m_orgDofIndex = -1; @@ -1151,6 +1406,7 @@ void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifol btScalar btMultiBodyConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher) { + //printf("btMultiBodyConstraintSolver::solveGroup: numBodies=%d, numConstraints=%d\n", numBodies, numConstraints); return btSequentialImpulseConstraintSolver::solveGroup(bodies,numBodies,manifold,numManifolds,constraints,numConstraints,info,debugDrawer,dispatcher); } @@ -1234,27 +1490,12 @@ void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody(btMultiBodySolv if (c.m_multiBodyA) { - - if(c.m_multiBodyA->isMultiDof()) - { - c.m_multiBodyA->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],c.m_appliedImpulse); - } - else - { - c.m_multiBodyA->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],c.m_appliedImpulse); - } + c.m_multiBodyA->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],c.m_appliedImpulse); } if (c.m_multiBodyB) { - if(c.m_multiBodyB->isMultiDof()) - { - c.m_multiBodyB->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],c.m_appliedImpulse); - } - else - { - c.m_multiBodyB->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],c.m_appliedImpulse); - } + c.m_multiBodyB->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],c.m_appliedImpulse); } #endif @@ -1416,6 +1657,8 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO void btMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher) { + //printf("solveMultiBodyGroup: numBodies=%d, numConstraints=%d, numManifolds=%d, numMultiBodyConstraints=%d\n", numBodies, numConstraints, numManifolds, numMultiBodyConstraints); + //printf("solveMultiBodyGroup start\n"); m_tmpMultiBodyConstraints = multiBodyConstraints; m_tmpNumMultiBodyConstraints = numMultiBodyConstraints; diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h index 489347d874..29f484e1d8 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h @@ -36,6 +36,7 @@ protected: btMultiBodyConstraintArray m_multiBodyNormalContactConstraints; btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints; + btMultiBodyConstraintArray m_multiBodyTorsionalFrictionContactConstraints; btMultiBodyJacobianData m_data; @@ -45,6 +46,9 @@ protected: btScalar resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c); + //solve 2 friction directions and clamp against the implicit friction cone + btScalar resolveConeFrictionConstraintRows(const btMultiBodySolverConstraint& cA1, const btMultiBodySolverConstraint& cB); + void convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal); diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index 9eacc22647..9c5f3ad8a9 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -277,7 +277,11 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager:: m_multiBodyConstraints.resize(0); } - + void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver) + { + m_solver = solver; + } + virtual void processIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifolds,int numManifolds, int islandId) { if (islandId<0) @@ -348,7 +352,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager:: for (i=0;i<numCurMultiBodyConstraints;i++) m_multiBodyConstraints.push_back(startMultiBodyConstraint[i]); - if ((m_constraints.size()+m_manifolds.size())>m_solverInfo->m_minimumSolverBatchSize) + if ((m_multiBodyConstraints.size()+m_constraints.size()+m_manifolds.size())>m_solverInfo->m_minimumSolverBatchSize) { processConstraints(); } else @@ -394,6 +398,22 @@ btMultiBodyDynamicsWorld::~btMultiBodyDynamicsWorld () delete m_solverMultiBodyIslandCallback; } +void btMultiBodyDynamicsWorld::setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver) +{ + m_multiBodyConstraintSolver = solver; + m_solverMultiBodyIslandCallback->setMultiBodyConstraintSolver(solver); + btDiscreteDynamicsWorld::setConstraintSolver(solver); +} + +void btMultiBodyDynamicsWorld::setConstraintSolver(btConstraintSolver* solver) +{ + if (solver->getSolverType()==BT_MULTIBODY_SOLVER) + { + m_multiBodyConstraintSolver = (btMultiBodyConstraintSolver*)solver; + } + btDiscreteDynamicsWorld::setConstraintSolver(solver); +} + void btMultiBodyDynamicsWorld::forwardKinematics() { @@ -411,6 +431,8 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) BT_PROFILE("solveConstraints"); + clearMultiBodyConstraintForces(); + m_sortedConstraints.resize( m_constraints.size()); int i; for (i=0;i<getNumConstraints();i++) @@ -433,8 +455,6 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) m_solverMultiBodyIslandCallback->setup(&solverInfo,constraintsPtr,m_sortedConstraints.size(),sortedMultiBodyConstraints,m_sortedMultiBodyConstraints.size(), getDebugDrawer()); m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); - /// solve all the constraints for this island - m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),m_solverMultiBodyIslandCallback); #ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY { @@ -669,7 +689,9 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) } } - clearMultiBodyConstraintForces(); + /// solve all the constraints for this island + m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); + m_solverMultiBodyIslandCallback->processConstraints(); @@ -824,21 +846,24 @@ void btMultiBodyDynamicsWorld::debugDrawWorld() { btMultiBody* bod = m_multiBodies[b]; bod->forwardKinematics(m_scratch_world_to_local1,m_scratch_local_origin1); - - getDebugDrawer()->drawTransform(bod->getBaseWorldTransform(), 0.1); - + + if (mode & btIDebugDraw::DBG_DrawFrames) + { + getDebugDrawer()->drawTransform(bod->getBaseWorldTransform(), 0.1); + } for (int m = 0; m<bod->getNumLinks(); m++) { const btTransform& tr = bod->getLink(m).m_cachedWorldTransform; - - getDebugDrawer()->drawTransform(tr, 0.1); - + if (mode & btIDebugDraw::DBG_DrawFrames) + { + getDebugDrawer()->drawTransform(tr, 0.1); + } //draw the joint axis if (bod->getLink(m).m_jointType==btMultibodyLink::eRevolute) { - btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_topVec); + btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_topVec)*0.1; btVector4 color(0,0,0,1);//1,1,1); btVector3 from = vec+tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector); @@ -847,7 +872,7 @@ void btMultiBodyDynamicsWorld::debugDrawWorld() } if (bod->getLink(m).m_jointType==btMultibodyLink::eFixed) { - btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec); + btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec)*0.1; btVector4 color(0,0,0,1);//1,1,1); btVector3 from = vec+tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector); @@ -856,7 +881,7 @@ void btMultiBodyDynamicsWorld::debugDrawWorld() } if (bod->getLink(m).m_jointType==btMultibodyLink::ePrismatic) { - btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec); + btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec)*0.1; btVector4 color(0,0,0,1);//1,1,1); btVector3 from = vec+tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector); @@ -970,6 +995,8 @@ void btMultiBodyDynamicsWorld::serialize(btSerializer* serializer) serializeCollisionObjects(serializer); + serializeContactManifolds(serializer); + serializer->finishSerialization(); } @@ -988,4 +1015,17 @@ void btMultiBodyDynamicsWorld::serializeMultiBodies(btSerializer* serializer) } } -}
\ No newline at end of file + //serialize all multibody links (collision objects) + for (i=0;i<m_collisionObjects.size();i++) + { + btCollisionObject* colObj = m_collisionObjects[i]; + if (colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + int len = colObj->calculateSerializeBufferSize(); + btChunk* chunk = serializer->allocate(len,1); + const char* structType = colObj->serialize(chunk->m_oldPtr, serializer); + serializer->finalizeChunk(chunk,structType,BT_MB_LINKCOLLIDER_CODE,colObj); + } + } + +} diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h index c0c132bbba..2fbf089d81 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h @@ -109,6 +109,8 @@ public: virtual void applyGravity(); virtual void serialize(btSerializer* serializer); + virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver); + virtual void setConstraintSolver(btConstraintSolver* solver); }; #endif //BT_MULTIBODY_DYNAMICS_WORLD_H diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp index 1f94117aa9..af48e94a83 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp @@ -65,13 +65,16 @@ int btMultiBodyFixedConstraint::getIslandIdA() const if (m_bodyA) { - btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); - if (col) - return col->getIslandTag(); - for (int i=0;i<m_bodyA->getNumLinks();i++) + if (m_linkA < 0) { - if (m_bodyA->getLink(i).m_collider) - return m_bodyA->getLink(i).m_collider->getIslandTag(); + btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); + if (col) + return col->getIslandTag(); + } + else + { + if (m_bodyA->getLink(m_linkA).m_collider) + return m_bodyA->getLink(m_linkA).m_collider->getIslandTag(); } } return -1; @@ -83,16 +86,17 @@ int btMultiBodyFixedConstraint::getIslandIdB() const return m_rigidBodyB->getIslandTag(); if (m_bodyB) { - btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); - if (col) - return col->getIslandTag(); - - for (int i=0;i<m_bodyB->getNumLinks();i++) + if (m_linkB < 0) { - col = m_bodyB->getLink(i).m_collider; + btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); if (col) return col->getIslandTag(); } + else + { + if (m_bodyB->getLink(m_linkB).m_collider) + return m_bodyB->getLink(m_linkB).m_collider->getIslandTag(); + } } return -1; } diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp index 5fdb7007d8..09ddd65cd8 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp @@ -45,16 +45,18 @@ btMultiBodyGearConstraint::~btMultiBodyGearConstraint() int btMultiBodyGearConstraint::getIslandIdA() const { - if (m_bodyA) { - btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); - if (col) - return col->getIslandTag(); - for (int i=0;i<m_bodyA->getNumLinks();i++) + if (m_linkA < 0) + { + btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); + if (col) + return col->getIslandTag(); + } + else { - if (m_bodyA->getLink(i).m_collider) - return m_bodyA->getLink(i).m_collider->getIslandTag(); + if (m_bodyA->getLink(m_linkA).m_collider) + return m_bodyA->getLink(m_linkA).m_collider->getIslandTag(); } } return -1; @@ -64,16 +66,17 @@ int btMultiBodyGearConstraint::getIslandIdB() const { if (m_bodyB) { - btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); - if (col) - return col->getIslandTag(); - - for (int i=0;i<m_bodyB->getNumLinks();i++) + if (m_linkB < 0) { - col = m_bodyB->getLink(i).m_collider; + btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); if (col) return col->getIslandTag(); } + else + { + if (m_bodyB->getLink(m_linkB).m_collider) + return m_bodyB->getLink(m_linkB).m_collider->getIslandTag(); + } } return -1; } @@ -134,6 +137,10 @@ void btMultiBodyGearConstraint::createConstraintRows(btMultiBodyConstraintArray& if (m_erp!=0) { btScalar currentPositionA = m_bodyA->getJointPosMultiDof(m_linkA)[dof]; + if (m_gearAuxLink >= 0) + { + currentPositionA -= m_bodyA->getJointPosMultiDof(m_gearAuxLink)[dof]; + } btScalar currentPositionB = m_gearRatio*m_bodyA->getJointPosMultiDof(m_linkB)[dof]; btScalar diff = currentPositionB+currentPositionA; btScalar desiredPositionDiff = this->m_relativePositionTarget; diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp index 6d173b66a1..35c929f7ce 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp @@ -53,17 +53,22 @@ btMultiBodyJointLimitConstraint::~btMultiBodyJointLimitConstraint() { } + int btMultiBodyJointLimitConstraint::getIslandIdA() const { - if(m_bodyA) + + if (m_bodyA) { - btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); - if (col) - return col->getIslandTag(); - for (int i=0;i<m_bodyA->getNumLinks();i++) + if (m_linkA < 0) { - if (m_bodyA->getLink(i).m_collider) - return m_bodyA->getLink(i).m_collider->getIslandTag(); + btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); + if (col) + return col->getIslandTag(); + } + else + { + if (m_bodyA->getLink(m_linkA).m_collider) + return m_bodyA->getLink(m_linkA).m_collider->getIslandTag(); } } return -1; @@ -71,18 +76,19 @@ int btMultiBodyJointLimitConstraint::getIslandIdA() const int btMultiBodyJointLimitConstraint::getIslandIdB() const { - if(m_bodyB) + if (m_bodyB) { - btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); - if (col) - return col->getIslandTag(); - - for (int i=0;i<m_bodyB->getNumLinks();i++) + if (m_linkB < 0) { - col = m_bodyB->getLink(i).m_collider; + btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); if (col) return col->getIslandTag(); } + else + { + if (m_bodyB->getLink(m_linkB).m_collider) + return m_bodyB->getLink(m_linkB).m_collider->getIslandTag(); + } } return -1; } diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp index e0921178e9..2a70ea97e5 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp @@ -74,29 +74,37 @@ btMultiBodyJointMotor::~btMultiBodyJointMotor() int btMultiBodyJointMotor::getIslandIdA() const { - btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); - if (col) - return col->getIslandTag(); - for (int i=0;i<m_bodyA->getNumLinks();i++) + if (this->m_linkA < 0) { - if (m_bodyA->getLink(i).m_collider) - return m_bodyA->getLink(i).m_collider->getIslandTag(); + btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); + if (col) + return col->getIslandTag(); + } + else + { + if (m_bodyA->getLink(m_linkA).m_collider) + { + return m_bodyA->getLink(m_linkA).m_collider->getIslandTag(); + } } return -1; } int btMultiBodyJointMotor::getIslandIdB() const { - btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); - if (col) - return col->getIslandTag(); - - for (int i=0;i<m_bodyB->getNumLinks();i++) + if (m_linkB < 0) { - col = m_bodyB->getLink(i).m_collider; + btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); if (col) return col->getIslandTag(); } + else + { + if (m_bodyB->getLink(m_linkB).m_collider) + { + return m_bodyB->getLink(m_linkB).m_collider->getIslandTag(); + } + } return -1; } diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h index 01828e5843..21c9e7a557 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h @@ -182,6 +182,8 @@ btVector3 m_appliedConstraintForce; // In WORLD frame m_cachedRVector.setValue(0, 0, 0); m_appliedForce.setValue( 0, 0, 0); m_appliedTorque.setValue(0, 0, 0); + m_appliedConstraintForce.setValue(0,0,0); + m_appliedConstraintTorque.setValue(0,0,0); // m_jointPos[0] = m_jointPos[1] = m_jointPos[2] = m_jointPos[4] = m_jointPos[5] = m_jointPos[6] = 0.f; m_jointPos[3] = 1.f; //"quat.w" diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h index 671e15d314..7092e62b5a 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h @@ -19,6 +19,16 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "btMultiBody.h" +#include "LinearMath/btSerializer.h" + +#ifdef BT_USE_DOUBLE_PRECISION +#define btMultiBodyLinkColliderData btMultiBodyLinkColliderDoubleData +#define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderDoubleData" +#else +#define btMultiBodyLinkColliderData btMultiBodyLinkColliderFloatData +#define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderFloatData" +#endif + class btMultiBodyLinkCollider : public btCollisionObject { @@ -119,7 +129,49 @@ public: } return true; } + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const; + +}; + + +struct btMultiBodyLinkColliderFloatData +{ + btCollisionObjectFloatData m_colObjData; + btMultiBodyFloatData *m_multiBody; + int m_link; + char m_padding[4]; }; +struct btMultiBodyLinkColliderDoubleData +{ + btCollisionObjectDoubleData m_colObjData; + btMultiBodyDoubleData *m_multiBody; + int m_link; + char m_padding[4]; +}; + +SIMD_FORCE_INLINE int btMultiBodyLinkCollider::calculateSerializeBufferSize() const +{ + return sizeof(btMultiBodyLinkColliderData); +} + +SIMD_FORCE_INLINE const char* btMultiBodyLinkCollider::serialize(void* dataBuffer, class btSerializer* serializer) const +{ + btMultiBodyLinkColliderData* dataOut = (btMultiBodyLinkColliderData*)dataBuffer; + btCollisionObject::serialize(&dataOut->m_colObjData,serializer); + + dataOut->m_link = this->m_link; + dataOut->m_multiBody = (btMultiBodyData*)serializer->getUniquePointer(m_multiBody); + + // Fill padding with zeros to appease msan. + memset(dataOut->m_padding, 0, sizeof(dataOut->m_padding)); + + return btMultiBodyLinkColliderDataName; +} + #endif //BT_FEATHERSTONE_LINK_COLLIDER_H diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp new file mode 100644 index 0000000000..338e8af0ab --- /dev/null +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp @@ -0,0 +1,966 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2018 Google Inc. http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h" + +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" +#include "BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h" + +#define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + +static bool interleaveContactAndFriction = false; + +struct btJointNode +{ + int jointIndex; // pointer to enclosing dxJoint object + int otherBodyIndex; // *other* body this joint is connected to + int nextJointNodeIndex; //-1 for null + int constraintRowIndex; +}; + +// Helper function to compute a delta velocity in the constraint space. +static btScalar computeDeltaVelocityInConstraintSpace( + const btVector3& angularDeltaVelocity, + const btVector3& contactNormal, + btScalar invMass, + const btVector3& angularJacobian, + const btVector3& linearJacobian) +{ + return angularDeltaVelocity.dot(angularJacobian) + contactNormal.dot(linearJacobian) * invMass; +} + +// Faster version of computeDeltaVelocityInConstraintSpace that can be used when contactNormal and linearJacobian are +// identical. +static btScalar computeDeltaVelocityInConstraintSpace( + const btVector3& angularDeltaVelocity, + btScalar invMass, + const btVector3& angularJacobian) +{ + return angularDeltaVelocity.dot(angularJacobian) + invMass; +} + +// Helper function to compute a delta velocity in the constraint space. +static btScalar computeDeltaVelocityInConstraintSpace(const btScalar* deltaVelocity, const btScalar* jacobian, int size) +{ + btScalar result = 0; + for (int i = 0; i < size; ++i) + result += deltaVelocity[i] * jacobian[i]; + + return result; +} + +static btScalar computeConstraintMatrixDiagElementMultiBody( + const btAlignedObjectArray<btSolverBody>& solverBodyPool, + const btMultiBodyJacobianData& data, + const btMultiBodySolverConstraint& constraint) +{ + btScalar ret = 0; + + const btMultiBody* multiBodyA = constraint.m_multiBodyA; + const btMultiBody* multiBodyB = constraint.m_multiBodyB; + + if (multiBodyA) + { + const btScalar* jacA = &data.m_jacobians[constraint.m_jacAindex]; + const btScalar* deltaA = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacAindex]; + const int ndofA = multiBodyA->getNumDofs() + 6; + ret += computeDeltaVelocityInConstraintSpace(deltaA, jacA, ndofA); + } + else + { + const int solverBodyIdA = constraint.m_solverBodyIdA; + btAssert(solverBodyIdA != -1); + const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA]; + const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0; + ret += computeDeltaVelocityInConstraintSpace( + constraint.m_relpos1CrossNormal, + invMassA, + constraint.m_angularComponentA); + } + + if (multiBodyB) + { + const btScalar* jacB = &data.m_jacobians[constraint.m_jacBindex]; + const btScalar* deltaB = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacBindex]; + const int ndofB = multiBodyB->getNumDofs() + 6; + ret += computeDeltaVelocityInConstraintSpace(deltaB, jacB, ndofB); + } + else + { + const int solverBodyIdB = constraint.m_solverBodyIdB; + btAssert(solverBodyIdB != -1); + const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB]; + const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0; + ret += computeDeltaVelocityInConstraintSpace( + constraint.m_relpos2CrossNormal, + invMassB, + constraint.m_angularComponentB); + } + + return ret; +} + +static btScalar computeConstraintMatrixOffDiagElementMultiBody( + const btAlignedObjectArray<btSolverBody>& solverBodyPool, + const btMultiBodyJacobianData& data, + const btMultiBodySolverConstraint& constraint, + const btMultiBodySolverConstraint& offDiagConstraint) +{ + btScalar offDiagA = btScalar(0); + + const btMultiBody* multiBodyA = constraint.m_multiBodyA; + const btMultiBody* multiBodyB = constraint.m_multiBodyB; + const btMultiBody* offDiagMultiBodyA = offDiagConstraint.m_multiBodyA; + const btMultiBody* offDiagMultiBodyB = offDiagConstraint.m_multiBodyB; + + // Assumed at least one system is multibody + btAssert(multiBodyA || multiBodyB); + btAssert(offDiagMultiBodyA || offDiagMultiBodyB); + + if (offDiagMultiBodyA) + { + const btScalar* offDiagJacA = &data.m_jacobians[offDiagConstraint.m_jacAindex]; + + if (offDiagMultiBodyA == multiBodyA) + { + const int ndofA = multiBodyA->getNumDofs() + 6; + const btScalar* deltaA = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacAindex]; + offDiagA += computeDeltaVelocityInConstraintSpace(deltaA, offDiagJacA, ndofA); + } + else if (offDiagMultiBodyA == multiBodyB) + { + const int ndofB = multiBodyB->getNumDofs() + 6; + const btScalar* deltaB = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacBindex]; + offDiagA += computeDeltaVelocityInConstraintSpace(deltaB, offDiagJacA, ndofB); + } + } + else + { + const int solverBodyIdA = constraint.m_solverBodyIdA; + const int solverBodyIdB = constraint.m_solverBodyIdB; + + const int offDiagSolverBodyIdA = offDiagConstraint.m_solverBodyIdA; + btAssert(offDiagSolverBodyIdA != -1); + + if (offDiagSolverBodyIdA == solverBodyIdA) + { + btAssert(solverBodyIdA != -1); + const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA]; + const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0; + offDiagA += computeDeltaVelocityInConstraintSpace( + offDiagConstraint.m_relpos1CrossNormal, + offDiagConstraint.m_contactNormal1, + invMassA, constraint.m_angularComponentA, + constraint.m_contactNormal1); + } + else if (offDiagSolverBodyIdA == solverBodyIdB) + { + btAssert(solverBodyIdB != -1); + const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB]; + const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0; + offDiagA += computeDeltaVelocityInConstraintSpace( + offDiagConstraint.m_relpos1CrossNormal, + offDiagConstraint.m_contactNormal1, + invMassB, + constraint.m_angularComponentB, + constraint.m_contactNormal2); + } + } + + if (offDiagMultiBodyB) + { + const btScalar* offDiagJacB = &data.m_jacobians[offDiagConstraint.m_jacBindex]; + + if (offDiagMultiBodyB == multiBodyA) + { + const int ndofA = multiBodyA->getNumDofs() + 6; + const btScalar* deltaA = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacAindex]; + offDiagA += computeDeltaVelocityInConstraintSpace(deltaA, offDiagJacB, ndofA); + } + else if (offDiagMultiBodyB == multiBodyB) + { + const int ndofB = multiBodyB->getNumDofs() + 6; + const btScalar* deltaB = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacBindex]; + offDiagA += computeDeltaVelocityInConstraintSpace(deltaB, offDiagJacB, ndofB); + } + } + else + { + const int solverBodyIdA = constraint.m_solverBodyIdA; + const int solverBodyIdB = constraint.m_solverBodyIdB; + + const int offDiagSolverBodyIdB = offDiagConstraint.m_solverBodyIdB; + btAssert(offDiagSolverBodyIdB != -1); + + if (offDiagSolverBodyIdB == solverBodyIdA) + { + btAssert(solverBodyIdA != -1); + const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA]; + const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0; + offDiagA += computeDeltaVelocityInConstraintSpace( + offDiagConstraint.m_relpos2CrossNormal, + offDiagConstraint.m_contactNormal2, + invMassA, constraint.m_angularComponentA, + constraint.m_contactNormal1); + } + else if (offDiagSolverBodyIdB == solverBodyIdB) + { + btAssert(solverBodyIdB != -1); + const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB]; + const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0; + offDiagA += computeDeltaVelocityInConstraintSpace( + offDiagConstraint.m_relpos2CrossNormal, + offDiagConstraint.m_contactNormal2, + invMassB, constraint.m_angularComponentB, + constraint.m_contactNormal2); + } + } + + return offDiagA; +} + +void btMultiBodyMLCPConstraintSolver::createMLCPFast(const btContactSolverInfo& infoGlobal) +{ + createMLCPFastRigidBody(infoGlobal); + createMLCPFastMultiBody(infoGlobal); +} + +void btMultiBodyMLCPConstraintSolver::createMLCPFastRigidBody(const btContactSolverInfo& infoGlobal) +{ + int numContactRows = interleaveContactAndFriction ? 3 : 1; + + int numConstraintRows = m_allConstraintPtrArray.size(); + + if (numConstraintRows == 0) + return; + + int n = numConstraintRows; + { + BT_PROFILE("init b (rhs)"); + m_b.resize(numConstraintRows); + m_bSplit.resize(numConstraintRows); + m_b.setZero(); + m_bSplit.setZero(); + for (int i = 0; i < numConstraintRows; i++) + { + btScalar jacDiag = m_allConstraintPtrArray[i]->m_jacDiagABInv; + if (!btFuzzyZero(jacDiag)) + { + btScalar rhs = m_allConstraintPtrArray[i]->m_rhs; + btScalar rhsPenetration = m_allConstraintPtrArray[i]->m_rhsPenetration; + m_b[i] = rhs / jacDiag; + m_bSplit[i] = rhsPenetration / jacDiag; + } + } + } + + // btScalar* w = 0; + // int nub = 0; + + m_lo.resize(numConstraintRows); + m_hi.resize(numConstraintRows); + + { + BT_PROFILE("init lo/ho"); + + for (int i = 0; i < numConstraintRows; i++) + { + if (0) //m_limitDependencies[i]>=0) + { + m_lo[i] = -BT_INFINITY; + m_hi[i] = BT_INFINITY; + } + else + { + m_lo[i] = m_allConstraintPtrArray[i]->m_lowerLimit; + m_hi[i] = m_allConstraintPtrArray[i]->m_upperLimit; + } + } + } + + // + int m = m_allConstraintPtrArray.size(); + + int numBodies = m_tmpSolverBodyPool.size(); + btAlignedObjectArray<int> bodyJointNodeArray; + { + BT_PROFILE("bodyJointNodeArray.resize"); + bodyJointNodeArray.resize(numBodies, -1); + } + btAlignedObjectArray<btJointNode> jointNodeArray; + { + BT_PROFILE("jointNodeArray.reserve"); + jointNodeArray.reserve(2 * m_allConstraintPtrArray.size()); + } + + btMatrixXu& J3 = m_scratchJ3; + { + BT_PROFILE("J3.resize"); + J3.resize(2 * m, 8); + } + btMatrixXu& JinvM3 = m_scratchJInvM3; + { + BT_PROFILE("JinvM3.resize/setZero"); + + JinvM3.resize(2 * m, 8); + JinvM3.setZero(); + J3.setZero(); + } + int cur = 0; + int rowOffset = 0; + btAlignedObjectArray<int>& ofs = m_scratchOfs; + { + BT_PROFILE("ofs resize"); + ofs.resize(0); + ofs.resizeNoInitialize(m_allConstraintPtrArray.size()); + } + { + BT_PROFILE("Compute J and JinvM"); + int c = 0; + + int numRows = 0; + + for (int i = 0; i < m_allConstraintPtrArray.size(); i += numRows, c++) + { + ofs[c] = rowOffset; + int sbA = m_allConstraintPtrArray[i]->m_solverBodyIdA; + int sbB = m_allConstraintPtrArray[i]->m_solverBodyIdB; + btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody; + btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody; + + numRows = i < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[c].m_numConstraintRows : numContactRows; + if (orgBodyA) + { + { + int slotA = -1; + //find free jointNode slot for sbA + slotA = jointNodeArray.size(); + jointNodeArray.expand(); //NonInitializing(); + int prevSlot = bodyJointNodeArray[sbA]; + bodyJointNodeArray[sbA] = slotA; + jointNodeArray[slotA].nextJointNodeIndex = prevSlot; + jointNodeArray[slotA].jointIndex = c; + jointNodeArray[slotA].constraintRowIndex = i; + jointNodeArray[slotA].otherBodyIndex = orgBodyB ? sbB : -1; + } + for (int row = 0; row < numRows; row++, cur++) + { + btVector3 normalInvMass = m_allConstraintPtrArray[i + row]->m_contactNormal1 * orgBodyA->getInvMass(); + btVector3 relPosCrossNormalInvInertia = m_allConstraintPtrArray[i + row]->m_relpos1CrossNormal * orgBodyA->getInvInertiaTensorWorld(); + + for (int r = 0; r < 3; r++) + { + J3.setElem(cur, r, m_allConstraintPtrArray[i + row]->m_contactNormal1[r]); + J3.setElem(cur, r + 4, m_allConstraintPtrArray[i + row]->m_relpos1CrossNormal[r]); + JinvM3.setElem(cur, r, normalInvMass[r]); + JinvM3.setElem(cur, r + 4, relPosCrossNormalInvInertia[r]); + } + J3.setElem(cur, 3, 0); + JinvM3.setElem(cur, 3, 0); + J3.setElem(cur, 7, 0); + JinvM3.setElem(cur, 7, 0); + } + } + else + { + cur += numRows; + } + if (orgBodyB) + { + { + int slotB = -1; + //find free jointNode slot for sbA + slotB = jointNodeArray.size(); + jointNodeArray.expand(); //NonInitializing(); + int prevSlot = bodyJointNodeArray[sbB]; + bodyJointNodeArray[sbB] = slotB; + jointNodeArray[slotB].nextJointNodeIndex = prevSlot; + jointNodeArray[slotB].jointIndex = c; + jointNodeArray[slotB].otherBodyIndex = orgBodyA ? sbA : -1; + jointNodeArray[slotB].constraintRowIndex = i; + } + + for (int row = 0; row < numRows; row++, cur++) + { + btVector3 normalInvMassB = m_allConstraintPtrArray[i + row]->m_contactNormal2 * orgBodyB->getInvMass(); + btVector3 relPosInvInertiaB = m_allConstraintPtrArray[i + row]->m_relpos2CrossNormal * orgBodyB->getInvInertiaTensorWorld(); + + for (int r = 0; r < 3; r++) + { + J3.setElem(cur, r, m_allConstraintPtrArray[i + row]->m_contactNormal2[r]); + J3.setElem(cur, r + 4, m_allConstraintPtrArray[i + row]->m_relpos2CrossNormal[r]); + JinvM3.setElem(cur, r, normalInvMassB[r]); + JinvM3.setElem(cur, r + 4, relPosInvInertiaB[r]); + } + J3.setElem(cur, 3, 0); + JinvM3.setElem(cur, 3, 0); + J3.setElem(cur, 7, 0); + JinvM3.setElem(cur, 7, 0); + } + } + else + { + cur += numRows; + } + rowOffset += numRows; + } + } + + //compute JinvM = J*invM. + const btScalar* JinvM = JinvM3.getBufferPointer(); + + const btScalar* Jptr = J3.getBufferPointer(); + { + BT_PROFILE("m_A.resize"); + m_A.resize(n, n); + } + + { + BT_PROFILE("m_A.setZero"); + m_A.setZero(); + } + int c = 0; + { + int numRows = 0; + BT_PROFILE("Compute A"); + for (int i = 0; i < m_allConstraintPtrArray.size(); i += numRows, c++) + { + int row__ = ofs[c]; + int sbA = m_allConstraintPtrArray[i]->m_solverBodyIdA; + int sbB = m_allConstraintPtrArray[i]->m_solverBodyIdB; + // btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody; + // btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody; + + numRows = i < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[c].m_numConstraintRows : numContactRows; + + const btScalar* JinvMrow = JinvM + 2 * 8 * (size_t)row__; + + { + int startJointNodeA = bodyJointNodeArray[sbA]; + while (startJointNodeA >= 0) + { + int j0 = jointNodeArray[startJointNodeA].jointIndex; + int cr0 = jointNodeArray[startJointNodeA].constraintRowIndex; + if (j0 < c) + { + int numRowsOther = cr0 < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[j0].m_numConstraintRows : numContactRows; + size_t ofsother = (m_allConstraintPtrArray[cr0]->m_solverBodyIdB == sbA) ? 8 * numRowsOther : 0; + //printf("%d joint i %d and j0: %d: ",count++,i,j0); + m_A.multiplyAdd2_p8r(JinvMrow, + Jptr + 2 * 8 * (size_t)ofs[j0] + ofsother, numRows, numRowsOther, row__, ofs[j0]); + } + startJointNodeA = jointNodeArray[startJointNodeA].nextJointNodeIndex; + } + } + + { + int startJointNodeB = bodyJointNodeArray[sbB]; + while (startJointNodeB >= 0) + { + int j1 = jointNodeArray[startJointNodeB].jointIndex; + int cj1 = jointNodeArray[startJointNodeB].constraintRowIndex; + + if (j1 < c) + { + int numRowsOther = cj1 < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[j1].m_numConstraintRows : numContactRows; + size_t ofsother = (m_allConstraintPtrArray[cj1]->m_solverBodyIdB == sbB) ? 8 * numRowsOther : 0; + m_A.multiplyAdd2_p8r(JinvMrow + 8 * (size_t)numRows, + Jptr + 2 * 8 * (size_t)ofs[j1] + ofsother, numRows, numRowsOther, row__, ofs[j1]); + } + startJointNodeB = jointNodeArray[startJointNodeB].nextJointNodeIndex; + } + } + } + + { + BT_PROFILE("compute diagonal"); + // compute diagonal blocks of m_A + + int row__ = 0; + int numJointRows = m_allConstraintPtrArray.size(); + + int jj = 0; + for (; row__ < numJointRows;) + { + //int sbA = m_allConstraintPtrArray[row__]->m_solverBodyIdA; + int sbB = m_allConstraintPtrArray[row__]->m_solverBodyIdB; + // btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody; + btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody; + + const unsigned int infom = row__ < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[jj].m_numConstraintRows : numContactRows; + + const btScalar* JinvMrow = JinvM + 2 * 8 * (size_t)row__; + const btScalar* Jrow = Jptr + 2 * 8 * (size_t)row__; + m_A.multiply2_p8r(JinvMrow, Jrow, infom, infom, row__, row__); + if (orgBodyB) + { + m_A.multiplyAdd2_p8r(JinvMrow + 8 * (size_t)infom, Jrow + 8 * (size_t)infom, infom, infom, row__, row__); + } + row__ += infom; + jj++; + } + } + } + + if (1) + { + // add cfm to the diagonal of m_A + for (int i = 0; i < m_A.rows(); ++i) + { + m_A.setElem(i, i, m_A(i, i) + infoGlobal.m_globalCfm / infoGlobal.m_timeStep); + } + } + + ///fill the upper triangle of the matrix, to make it symmetric + { + BT_PROFILE("fill the upper triangle "); + m_A.copyLowerToUpperTriangle(); + } + + { + BT_PROFILE("resize/init x"); + m_x.resize(numConstraintRows); + m_xSplit.resize(numConstraintRows); + + if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { + for (int i = 0; i < m_allConstraintPtrArray.size(); i++) + { + const btSolverConstraint& c = *m_allConstraintPtrArray[i]; + m_x[i] = c.m_appliedImpulse; + m_xSplit[i] = c.m_appliedPushImpulse; + } + } + else + { + m_x.setZero(); + m_xSplit.setZero(); + } + } +} + +void btMultiBodyMLCPConstraintSolver::createMLCPFastMultiBody(const btContactSolverInfo& infoGlobal) +{ + const int multiBodyNumConstraints = m_multiBodyAllConstraintPtrArray.size(); + + if (multiBodyNumConstraints == 0) + return; + + // 1. Compute b + { + BT_PROFILE("init b (rhs)"); + + m_multiBodyB.resize(multiBodyNumConstraints); + m_multiBodyB.setZero(); + + for (int i = 0; i < multiBodyNumConstraints; ++i) + { + const btMultiBodySolverConstraint& constraint = *m_multiBodyAllConstraintPtrArray[i]; + const btScalar jacDiag = constraint.m_jacDiagABInv; + + if (!btFuzzyZero(jacDiag)) + { + // Note that rhsPenetration is currently always zero because the split impulse hasn't been implemented for multibody yet. + const btScalar rhs = constraint.m_rhs; + m_multiBodyB[i] = rhs / jacDiag; + } + } + } + + // 2. Compute lo and hi + { + BT_PROFILE("init lo/ho"); + + m_multiBodyLo.resize(multiBodyNumConstraints); + m_multiBodyHi.resize(multiBodyNumConstraints); + + for (int i = 0; i < multiBodyNumConstraints; ++i) + { + const btMultiBodySolverConstraint& constraint = *m_multiBodyAllConstraintPtrArray[i]; + m_multiBodyLo[i] = constraint.m_lowerLimit; + m_multiBodyHi[i] = constraint.m_upperLimit; + } + } + + // 3. Construct A matrix by using the impulse testing + { + BT_PROFILE("Compute A"); + + { + BT_PROFILE("m_A.resize"); + m_multiBodyA.resize(multiBodyNumConstraints, multiBodyNumConstraints); + } + + for (int i = 0; i < multiBodyNumConstraints; ++i) + { + // Compute the diagonal of A, which is A(i, i) + const btMultiBodySolverConstraint& constraint = *m_multiBodyAllConstraintPtrArray[i]; + const btScalar diagA = computeConstraintMatrixDiagElementMultiBody(m_tmpSolverBodyPool, m_data, constraint); + m_multiBodyA.setElem(i, i, diagA); + + // Computes the off-diagonals of A: + // a. The rest of i-th row of A, from A(i, i+1) to A(i, n) + // b. The rest of i-th column of A, from A(i+1, i) to A(n, i) + for (int j = i + 1; j < multiBodyNumConstraints; ++j) + { + const btMultiBodySolverConstraint& offDiagConstraint = *m_multiBodyAllConstraintPtrArray[j]; + const btScalar offDiagA = computeConstraintMatrixOffDiagElementMultiBody(m_tmpSolverBodyPool, m_data, constraint, offDiagConstraint); + + // Set the off-diagonal values of A. Note that A is symmetric. + m_multiBodyA.setElem(i, j, offDiagA); + m_multiBodyA.setElem(j, i, offDiagA); + } + } + } + + // Add CFM to the diagonal of m_A + for (int i = 0; i < m_multiBodyA.rows(); ++i) + { + m_multiBodyA.setElem(i, i, m_multiBodyA(i, i) + infoGlobal.m_globalCfm / infoGlobal.m_timeStep); + } + + // 4. Initialize x + { + BT_PROFILE("resize/init x"); + + m_multiBodyX.resize(multiBodyNumConstraints); + + if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { + for (int i = 0; i < multiBodyNumConstraints; ++i) + { + const btMultiBodySolverConstraint& constraint = *m_multiBodyAllConstraintPtrArray[i]; + m_multiBodyX[i] = constraint.m_appliedImpulse; + } + } + else + { + m_multiBodyX.setZero(); + } + } +} + +bool btMultiBodyMLCPConstraintSolver::solveMLCP(const btContactSolverInfo& infoGlobal) +{ + bool result = true; + + if (m_A.rows() != 0) + { + // If using split impulse, we solve 2 separate (M)LCPs + if (infoGlobal.m_splitImpulse) + { + const btMatrixXu Acopy = m_A; + const btAlignedObjectArray<int> limitDependenciesCopy = m_limitDependencies; + // TODO(JS): Do we really need these copies when solveMLCP takes them as const? + + result = m_solver->solveMLCP(m_A, m_b, m_x, m_lo, m_hi, m_limitDependencies, infoGlobal.m_numIterations); + if (result) + result = m_solver->solveMLCP(Acopy, m_bSplit, m_xSplit, m_lo, m_hi, limitDependenciesCopy, infoGlobal.m_numIterations); + } + else + { + result = m_solver->solveMLCP(m_A, m_b, m_x, m_lo, m_hi, m_limitDependencies, infoGlobal.m_numIterations); + } + } + + if (!result) + return false; + + if (m_multiBodyA.rows() != 0) + { + result = m_solver->solveMLCP(m_multiBodyA, m_multiBodyB, m_multiBodyX, m_multiBodyLo, m_multiBodyHi, m_multiBodyLimitDependencies, infoGlobal.m_numIterations); + } + + return result; +} + +btScalar btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlySetup( + btCollisionObject** bodies, + int numBodies, + btPersistentManifold** manifoldPtr, + int numManifolds, + btTypedConstraint** constraints, + int numConstraints, + const btContactSolverInfo& infoGlobal, + btIDebugDraw* debugDrawer) +{ + // 1. Setup for rigid-bodies + btMultiBodyConstraintSolver::solveGroupCacheFriendlySetup( + bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); + + // 2. Setup for multi-bodies + // a. Collect all different kinds of constraint as pointers into one array, m_allConstraintPtrArray + // b. Set the index array for frictional contact constraints, m_limitDependencies + { + BT_PROFILE("gather constraint data"); + + int dindex = 0; + + const int numRigidBodyConstraints = m_tmpSolverNonContactConstraintPool.size() + m_tmpSolverContactConstraintPool.size() + m_tmpSolverContactFrictionConstraintPool.size(); + const int numMultiBodyConstraints = m_multiBodyNonContactConstraints.size() + m_multiBodyNormalContactConstraints.size() + m_multiBodyFrictionContactConstraints.size(); + + m_allConstraintPtrArray.resize(0); + m_multiBodyAllConstraintPtrArray.resize(0); + + // i. Setup for rigid bodies + + m_limitDependencies.resize(numRigidBodyConstraints); + + for (int i = 0; i < m_tmpSolverNonContactConstraintPool.size(); ++i) + { + m_allConstraintPtrArray.push_back(&m_tmpSolverNonContactConstraintPool[i]); + m_limitDependencies[dindex++] = -1; + } + + int firstContactConstraintOffset = dindex; + + // The btSequentialImpulseConstraintSolver moves all friction constraints at the very end, we can also interleave them instead + if (interleaveContactAndFriction) + { + for (int i = 0; i < m_tmpSolverContactConstraintPool.size(); i++) + { + const int numFrictionPerContact = m_tmpSolverContactConstraintPool.size() == m_tmpSolverContactFrictionConstraintPool.size() ? 1 : 2; + + m_allConstraintPtrArray.push_back(&m_tmpSolverContactConstraintPool[i]); + m_limitDependencies[dindex++] = -1; + m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i * numFrictionPerContact]); + int findex = (m_tmpSolverContactFrictionConstraintPool[i * numFrictionPerContact].m_frictionIndex * (1 + numFrictionPerContact)); + m_limitDependencies[dindex++] = findex + firstContactConstraintOffset; + if (numFrictionPerContact == 2) + { + m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i * numFrictionPerContact + 1]); + m_limitDependencies[dindex++] = findex + firstContactConstraintOffset; + } + } + } + else + { + for (int i = 0; i < m_tmpSolverContactConstraintPool.size(); i++) + { + m_allConstraintPtrArray.push_back(&m_tmpSolverContactConstraintPool[i]); + m_limitDependencies[dindex++] = -1; + } + for (int i = 0; i < m_tmpSolverContactFrictionConstraintPool.size(); i++) + { + m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i]); + m_limitDependencies[dindex++] = m_tmpSolverContactFrictionConstraintPool[i].m_frictionIndex + firstContactConstraintOffset; + } + } + + if (!m_allConstraintPtrArray.size()) + { + m_A.resize(0, 0); + m_b.resize(0); + m_x.resize(0); + m_lo.resize(0); + m_hi.resize(0); + } + + // ii. Setup for multibodies + + dindex = 0; + + m_multiBodyLimitDependencies.resize(numMultiBodyConstraints); + + for (int i = 0; i < m_multiBodyNonContactConstraints.size(); ++i) + { + m_multiBodyAllConstraintPtrArray.push_back(&m_multiBodyNonContactConstraints[i]); + m_multiBodyLimitDependencies[dindex++] = -1; + } + + firstContactConstraintOffset = dindex; + + // The btSequentialImpulseConstraintSolver moves all friction constraints at the very end, we can also interleave them instead + if (interleaveContactAndFriction) + { + for (int i = 0; i < m_multiBodyNormalContactConstraints.size(); ++i) + { + const int numtiBodyNumFrictionPerContact = m_multiBodyNormalContactConstraints.size() == m_multiBodyFrictionContactConstraints.size() ? 1 : 2; + + m_multiBodyAllConstraintPtrArray.push_back(&m_multiBodyNormalContactConstraints[i]); + m_multiBodyLimitDependencies[dindex++] = -1; + + btMultiBodySolverConstraint& frictionContactConstraint1 = m_multiBodyFrictionContactConstraints[i * numtiBodyNumFrictionPerContact]; + m_multiBodyAllConstraintPtrArray.push_back(&frictionContactConstraint1); + + const int findex = (frictionContactConstraint1.m_frictionIndex * (1 + numtiBodyNumFrictionPerContact)) + firstContactConstraintOffset; + + m_multiBodyLimitDependencies[dindex++] = findex; + + if (numtiBodyNumFrictionPerContact == 2) + { + btMultiBodySolverConstraint& frictionContactConstraint2 = m_multiBodyFrictionContactConstraints[i * numtiBodyNumFrictionPerContact + 1]; + m_multiBodyAllConstraintPtrArray.push_back(&frictionContactConstraint2); + + m_multiBodyLimitDependencies[dindex++] = findex; + } + } + } + else + { + for (int i = 0; i < m_multiBodyNormalContactConstraints.size(); ++i) + { + m_multiBodyAllConstraintPtrArray.push_back(&m_multiBodyNormalContactConstraints[i]); + m_multiBodyLimitDependencies[dindex++] = -1; + } + for (int i = 0; i < m_multiBodyFrictionContactConstraints.size(); ++i) + { + m_multiBodyAllConstraintPtrArray.push_back(&m_multiBodyFrictionContactConstraints[i]); + m_multiBodyLimitDependencies[dindex++] = m_multiBodyFrictionContactConstraints[i].m_frictionIndex + firstContactConstraintOffset; + } + } + + if (!m_multiBodyAllConstraintPtrArray.size()) + { + m_multiBodyA.resize(0, 0); + m_multiBodyB.resize(0); + m_multiBodyX.resize(0); + m_multiBodyLo.resize(0); + m_multiBodyHi.resize(0); + } + } + + // Construct MLCP terms + { + BT_PROFILE("createMLCPFast"); + createMLCPFast(infoGlobal); + } + + return btScalar(0); +} + +btScalar btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) +{ + bool result = true; + { + BT_PROFILE("solveMLCP"); + result = solveMLCP(infoGlobal); + } + + // Fallback to btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations if the solution isn't valid. + if (!result) + { + m_fallback++; + return btMultiBodyConstraintSolver::solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); + } + + { + BT_PROFILE("process MLCP results"); + + for (int i = 0; i < m_allConstraintPtrArray.size(); ++i) + { + const btSolverConstraint& c = *m_allConstraintPtrArray[i]; + + const btScalar deltaImpulse = m_x[i] - c.m_appliedImpulse; + c.m_appliedImpulse = m_x[i]; + + int sbA = c.m_solverBodyIdA; + int sbB = c.m_solverBodyIdB; + + btSolverBody& solverBodyA = m_tmpSolverBodyPool[sbA]; + btSolverBody& solverBodyB = m_tmpSolverBodyPool[sbB]; + + solverBodyA.internalApplyImpulse(c.m_contactNormal1 * solverBodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse); + solverBodyB.internalApplyImpulse(c.m_contactNormal2 * solverBodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse); + + if (infoGlobal.m_splitImpulse) + { + const btScalar deltaPushImpulse = m_xSplit[i] - c.m_appliedPushImpulse; + solverBodyA.internalApplyPushImpulse(c.m_contactNormal1 * solverBodyA.internalGetInvMass(), c.m_angularComponentA, deltaPushImpulse); + solverBodyB.internalApplyPushImpulse(c.m_contactNormal2 * solverBodyB.internalGetInvMass(), c.m_angularComponentB, deltaPushImpulse); + c.m_appliedPushImpulse = m_xSplit[i]; + } + } + + for (int i = 0; i < m_multiBodyAllConstraintPtrArray.size(); ++i) + { + btMultiBodySolverConstraint& c = *m_multiBodyAllConstraintPtrArray[i]; + + const btScalar deltaImpulse = m_multiBodyX[i] - c.m_appliedImpulse; + c.m_appliedImpulse = m_multiBodyX[i]; + + btMultiBody* multiBodyA = c.m_multiBodyA; + if (multiBodyA) + { + const int ndofA = multiBodyA->getNumDofs() + 6; + applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse, c.m_deltaVelAindex, ndofA); +#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations + //it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity + multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse); +#endif // DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + } + else + { + const int sbA = c.m_solverBodyIdA; + btSolverBody& solverBodyA = m_tmpSolverBodyPool[sbA]; + solverBodyA.internalApplyImpulse(c.m_contactNormal1 * solverBodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse); + } + + btMultiBody* multiBodyB = c.m_multiBodyB; + if (multiBodyB) + { + const int ndofB = multiBodyB->getNumDofs() + 6; + applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], deltaImpulse, c.m_deltaVelBindex, ndofB); +#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations + //it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity + multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], deltaImpulse); +#endif // DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + } + else + { + const int sbB = c.m_solverBodyIdB; + btSolverBody& solverBodyB = m_tmpSolverBodyPool[sbB]; + solverBodyB.internalApplyImpulse(c.m_contactNormal2 * solverBodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse); + } + } + } + + return btScalar(0); +} + +btMultiBodyMLCPConstraintSolver::btMultiBodyMLCPConstraintSolver(btMLCPSolverInterface* solver) + : m_solver(solver), m_fallback(0) +{ + // Do nothing +} + +btMultiBodyMLCPConstraintSolver::~btMultiBodyMLCPConstraintSolver() +{ + // Do nothing +} + +void btMultiBodyMLCPConstraintSolver::setMLCPSolver(btMLCPSolverInterface* solver) +{ + m_solver = solver; +} + +int btMultiBodyMLCPConstraintSolver::getNumFallbacks() const +{ + return m_fallback; +} + +void btMultiBodyMLCPConstraintSolver::setNumFallbacks(int num) +{ + m_fallback = num; +} + +btConstraintSolverType btMultiBodyMLCPConstraintSolver::getSolverType() const +{ + return BT_MLCP_SOLVER; +} diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h new file mode 100644 index 0000000000..6be36ba142 --- /dev/null +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h @@ -0,0 +1,187 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2018 Google Inc. http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H +#define BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H + +#include "LinearMath/btMatrixX.h" +#include "LinearMath/btThreads.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" + +class btMLCPSolverInterface; +class btMultiBody; + +class btMultiBodyMLCPConstraintSolver : public btMultiBodyConstraintSolver +{ +protected: + /// \name MLCP Formulation for Rigid Bodies + /// \{ + + /// A matrix in the MLCP formulation + btMatrixXu m_A; + + /// b vector in the MLCP formulation. + btVectorXu m_b; + + /// Constraint impulse, which is an output of MLCP solving. + btVectorXu m_x; + + /// Lower bound of constraint impulse, \c m_x. + btVectorXu m_lo; + + /// Upper bound of constraint impulse, \c m_x. + btVectorXu m_hi; + + /// \} + + /// \name Cache Variables for Split Impulse for Rigid Bodies + /// When using 'split impulse' we solve two separate (M)LCPs + /// \{ + + /// Split impulse Cache vector corresponding to \c m_b. + btVectorXu m_bSplit; + + /// Split impulse cache vector corresponding to \c m_x. + btVectorXu m_xSplit; + + /// \} + + /// \name MLCP Formulation for Multibodies + /// \{ + + /// A matrix in the MLCP formulation + btMatrixXu m_multiBodyA; + + /// b vector in the MLCP formulation. + btVectorXu m_multiBodyB; + + /// Constraint impulse, which is an output of MLCP solving. + btVectorXu m_multiBodyX; + + /// Lower bound of constraint impulse, \c m_x. + btVectorXu m_multiBodyLo; + + /// Upper bound of constraint impulse, \c m_x. + btVectorXu m_multiBodyHi; + + /// \} + + /// Indices of normal contact constraint associated with frictional contact constraint for rigid bodies. + /// + /// This is used by the MLCP solver to update the upper bounds of frictional contact impulse given intermediate + /// normal contact impulse. For example, i-th element represents the index of a normal constraint that is + /// accosiated with i-th frictional contact constraint if i-th constraint is a frictional contact constraint. + /// Otherwise, -1. + btAlignedObjectArray<int> m_limitDependencies; + + /// Indices of normal contact constraint associated with frictional contact constraint for multibodies. + /// + /// This is used by the MLCP solver to update the upper bounds of frictional contact impulse given intermediate + /// normal contact impulse. For example, i-th element represents the index of a normal constraint that is + /// accosiated with i-th frictional contact constraint if i-th constraint is a frictional contact constraint. + /// Otherwise, -1. + btAlignedObjectArray<int> m_multiBodyLimitDependencies; + + /// Array of all the rigid body constraints + btAlignedObjectArray<btSolverConstraint*> m_allConstraintPtrArray; + + /// Array of all the multibody constraints + btAlignedObjectArray<btMultiBodySolverConstraint*> m_multiBodyAllConstraintPtrArray; + + /// MLCP solver + btMLCPSolverInterface* m_solver; + + /// Count of fallbacks of using btSequentialImpulseConstraintSolver, which happens when the MLCP solver fails. + int m_fallback; + + /// \name MLCP Scratch Variables + /// The following scratch variables are not stateful -- contents are cleared prior to each use. + /// They are only cached here to avoid extra memory allocations and deallocations and to ensure + /// that multiple instances of the solver can be run in parallel. + /// + /// \{ + + /// Cache variable for constraint Jacobian matrix. + btMatrixXu m_scratchJ3; + + /// Cache variable for constraint Jacobian times inverse mass matrix. + btMatrixXu m_scratchJInvM3; + + /// Cache variable for offsets. + btAlignedObjectArray<int> m_scratchOfs; + + /// \} + + /// Constructs MLCP terms, which are \c m_A, \c m_b, \c m_lo, and \c m_hi. + virtual void createMLCPFast(const btContactSolverInfo& infoGlobal); + + /// Constructs MLCP terms for constraints of two rigid bodies + void createMLCPFastRigidBody(const btContactSolverInfo& infoGlobal); + + /// Constructs MLCP terms for constraints of two multi-bodies or one rigid body and one multibody + void createMLCPFastMultiBody(const btContactSolverInfo& infoGlobal); + + /// Solves MLCP and returns the success + virtual bool solveMLCP(const btContactSolverInfo& infoGlobal); + + // Documentation inherited + btScalar solveGroupCacheFriendlySetup( + btCollisionObject** bodies, + int numBodies, + btPersistentManifold** manifoldPtr, + int numManifolds, + btTypedConstraint** constraints, + int numConstraints, + const btContactSolverInfo& infoGlobal, + btIDebugDraw* debugDrawer) BT_OVERRIDE; + + // Documentation inherited + btScalar solveGroupCacheFriendlyIterations( + btCollisionObject** bodies, + int numBodies, + btPersistentManifold** manifoldPtr, + int numManifolds, + btTypedConstraint** constraints, + int numConstraints, + const btContactSolverInfo& infoGlobal, + btIDebugDraw* debugDrawer) BT_OVERRIDE; + +public: + BT_DECLARE_ALIGNED_ALLOCATOR() + + /// Constructor + /// + /// \param[in] solver MLCP solver. Assumed it's not null. + /// \param[in] maxLCPSize Maximum size of LCP to solve using MLCP solver. If the MLCP size exceeds this number, sequaltial impulse method will be used. + explicit btMultiBodyMLCPConstraintSolver(btMLCPSolverInterface* solver); + + /// Destructor + virtual ~btMultiBodyMLCPConstraintSolver(); + + /// Sets MLCP solver. Assumed it's not null. + void setMLCPSolver(btMLCPSolverInterface* solver); + + /// Returns the number of fallbacks of using btSequentialImpulseConstraintSolver, which happens when the MLCP + /// solver fails. + int getNumFallbacks() const; + + /// Sets the number of fallbacks. This function may be used to reset the number to zero. + void setNumFallbacks(int num); + + /// Returns the constraint solver type. + virtual btConstraintSolverType getSolverType() const; +}; + +#endif // BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp index 125d52ad0b..2b59f0b7a6 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp @@ -64,13 +64,16 @@ int btMultiBodyPoint2Point::getIslandIdA() const if (m_bodyA) { - btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); - if (col) - return col->getIslandTag(); - for (int i=0;i<m_bodyA->getNumLinks();i++) + if (m_linkA < 0) { - if (m_bodyA->getLink(i).m_collider) - return m_bodyA->getLink(i).m_collider->getIslandTag(); + btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); + if (col) + return col->getIslandTag(); + } + else + { + if (m_bodyA->getLink(m_linkA).m_collider) + return m_bodyA->getLink(m_linkA).m_collider->getIslandTag(); } } return -1; @@ -82,16 +85,17 @@ int btMultiBodyPoint2Point::getIslandIdB() const return m_rigidBodyB->getIslandTag(); if (m_bodyB) { - btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); - if (col) - return col->getIslandTag(); - - for (int i=0;i<m_bodyB->getNumLinks();i++) + if (m_linkB < 0) { - col = m_bodyB->getLink(i).m_collider; + btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); if (col) return col->getIslandTag(); } + else + { + if (m_bodyB->getLink(m_linkB).m_collider) + return m_bodyB->getLink(m_linkB).m_collider->getIslandTag(); + } } return -1; } diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp index 3b64b8183f..43f26f9833 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp @@ -68,13 +68,16 @@ int btMultiBodySliderConstraint::getIslandIdA() const if (m_bodyA) { - btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); - if (col) - return col->getIslandTag(); - for (int i=0;i<m_bodyA->getNumLinks();i++) + if (m_linkA < 0) { - if (m_bodyA->getLink(i).m_collider) - return m_bodyA->getLink(i).m_collider->getIslandTag(); + btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); + if (col) + return col->getIslandTag(); + } + else + { + if (m_bodyA->getLink(m_linkA).m_collider) + return m_bodyA->getLink(m_linkA).m_collider->getIslandTag(); } } return -1; @@ -86,20 +89,20 @@ int btMultiBodySliderConstraint::getIslandIdB() const return m_rigidBodyB->getIslandTag(); if (m_bodyB) { - btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); - if (col) - return col->getIslandTag(); - - for (int i=0;i<m_bodyB->getNumLinks();i++) + if (m_linkB < 0) { - col = m_bodyB->getLink(i).m_collider; + btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); if (col) return col->getIslandTag(); } + else + { + if (m_bodyB->getLink(m_linkB).m_collider) + return m_bodyB->getLink(m_linkB).m_collider->getIslandTag(); + } } return -1; } - void btMultiBodySliderConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows, btMultiBodyJacobianData& data, const btContactSolverInfo& infoGlobal) { // Convert local points back to world diff --git a/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp index a7b1688469..f299aa34e8 100644 --- a/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp +++ b/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp @@ -121,12 +121,19 @@ void btRaycastVehicle::updateWheelTransform( int wheelIndex , bool interpolatedT btQuaternion rotatingOrn(right,-wheel.m_rotation); btMatrix3x3 rotatingMat(rotatingOrn); - btMatrix3x3 basis2( - right[0],fwd[0],up[0], - right[1],fwd[1],up[1], - right[2],fwd[2],up[2] - ); - + btMatrix3x3 basis2; + basis2[0][m_indexRightAxis] = -right[0]; + basis2[1][m_indexRightAxis] = -right[1]; + basis2[2][m_indexRightAxis] = -right[2]; + + basis2[0][m_indexUpAxis] = up[0]; + basis2[1][m_indexUpAxis] = up[1]; + basis2[2][m_indexUpAxis] = up[2]; + + basis2[0][m_indexForwardAxis] = fwd[0]; + basis2[1][m_indexForwardAxis] = fwd[1]; + basis2[2][m_indexForwardAxis] = fwd[2]; + wheel.m_worldTransform.setBasis(steeringMat * rotatingMat * basis2); wheel.m_worldTransform.setOrigin( wheel.m_raycastInfo.m_hardPointWS + wheel.m_raycastInfo.m_wheelDirectionWS * wheel.m_raycastInfo.m_suspensionLength @@ -493,8 +500,8 @@ struct btWheelContactPoint }; -btScalar calcRollingFriction(btWheelContactPoint& contactPoint); -btScalar calcRollingFriction(btWheelContactPoint& contactPoint) +btScalar calcRollingFriction(btWheelContactPoint& contactPoint, int numWheelsOnGround); +btScalar calcRollingFriction(btWheelContactPoint& contactPoint, int numWheelsOnGround) { btScalar j1=0.f; @@ -513,7 +520,7 @@ btScalar calcRollingFriction(btWheelContactPoint& contactPoint) btScalar vrel = contactPoint.m_frictionDirectionWorld.dot(vel); // calculate j that moves us to zero relative velocity - j1 = -vrel * contactPoint.m_jacDiagABInv; + j1 = -vrel * contactPoint.m_jacDiagABInv/btScalar(numWheelsOnGround); btSetMin(j1, maxImpulse); btSetMax(j1, -maxImpulse); @@ -567,7 +574,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) const btTransform& wheelTrans = getWheelTransformWS( i ); btMatrix3x3 wheelBasis0 = wheelTrans.getBasis(); - m_axle[i] = btVector3( + m_axle[i] = -btVector3( wheelBasis0[0][m_indexRightAxis], wheelBasis0[1][m_indexRightAxis], wheelBasis0[2][m_indexRightAxis]); @@ -615,7 +622,8 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) btScalar defaultRollingFrictionImpulse = 0.f; btScalar maxImpulse = wheelInfo.m_brake ? wheelInfo.m_brake : defaultRollingFrictionImpulse; btWheelContactPoint contactPt(m_chassisBody,groundObject,wheelInfo.m_raycastInfo.m_contactPointWS,m_forwardWS[wheel],maxImpulse); - rollingFriction = calcRollingFriction(contactPt); + btAssert(numWheelsOnGround > 0); + rollingFriction = calcRollingFriction(contactPt, numWheelsOnGround); } } diff --git a/thirdparty/bullet/BulletInverseDynamics/IDErrorMessages.hpp b/thirdparty/bullet/BulletInverseDynamics/IDErrorMessages.hpp index 1dc22f860a..1b3fd268a0 100644 --- a/thirdparty/bullet/BulletInverseDynamics/IDErrorMessages.hpp +++ b/thirdparty/bullet/BulletInverseDynamics/IDErrorMessages.hpp @@ -7,19 +7,19 @@ #if !defined(BT_ID_WO_BULLET) && !defined(BT_USE_INVERSE_DYNAMICS_WITH_BULLET2) #include "Bullet3Common/b3Logging.h" -#define error_message(...) b3Error(__VA_ARGS__) -#define warning_message(...) b3Warning(__VA_ARGS__) +#define bt_id_error_message(...) b3Error(__VA_ARGS__) +#define bt_id_warning_message(...) b3Warning(__VA_ARGS__) #define id_printf(...) b3Printf(__VA_ARGS__) #else // BT_ID_WO_BULLET #include <cstdio> /// print error message with file/line information -#define error_message(...) \ +#define bt_id_error_message(...) \ do { \ fprintf(stderr, "[Error:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__); \ fprintf(stderr, __VA_ARGS__); \ } while (0) /// print warning message with file/line information -#define warning_message(...) \ +#define bt_id_warning_message(...) \ do { \ fprintf(stderr, "[Warning:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__); \ fprintf(stderr, __VA_ARGS__); \ diff --git a/thirdparty/bullet/BulletInverseDynamics/IDMath.cpp b/thirdparty/bullet/BulletInverseDynamics/IDMath.cpp index 99fe20e492..d279d3435c 100644 --- a/thirdparty/bullet/BulletInverseDynamics/IDMath.cpp +++ b/thirdparty/bullet/BulletInverseDynamics/IDMath.cpp @@ -81,7 +81,7 @@ idScalar maxAbsMat3x(const mat3x &m) { void mul(const mat33 &a, const mat3x &b, mat3x *result) { if (b.cols() != result->cols()) { - error_message("size missmatch. b.cols()= %d, result->cols()= %d\n", + bt_id_error_message("size missmatch. b.cols()= %d, result->cols()= %d\n", static_cast<int>(b.cols()), static_cast<int>(result->cols())); abort(); } @@ -97,7 +97,7 @@ void mul(const mat33 &a, const mat3x &b, mat3x *result) { } void add(const mat3x &a, const mat3x &b, mat3x *result) { if (a.cols() != b.cols()) { - error_message("size missmatch. a.cols()= %d, b.cols()= %d\n", + bt_id_error_message("size missmatch. a.cols()= %d, b.cols()= %d\n", static_cast<int>(a.cols()), static_cast<int>(b.cols())); abort(); } @@ -109,7 +109,7 @@ void add(const mat3x &a, const mat3x &b, mat3x *result) { } void sub(const mat3x &a, const mat3x &b, mat3x *result) { if (a.cols() != b.cols()) { - error_message("size missmatch. a.cols()= %d, b.cols()= %d\n", + bt_id_error_message("size missmatch. a.cols()= %d, b.cols()= %d\n", static_cast<int>(a.cols()), static_cast<int>(b.cols())); abort(); } @@ -305,10 +305,10 @@ bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint) // the determinant of the inertia tensor about the joint axis is almost // zero and can have a very small negative value. if (!isPositiveSemiDefiniteFuzzy(I)) { - error_message("invalid inertia matrix for body %d, not positive definite " + bt_id_error_message("invalid inertia matrix for body %d, not positive definite " "(fixed joint)\n", index); - error_message("matrix is:\n" + bt_id_error_message("matrix is:\n" "[%.20e %.20e %.20e;\n" "%.20e %.20e %.20e;\n" "%.20e %.20e %.20e]\n", @@ -321,8 +321,8 @@ bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint) // check triangle inequality, must have I(i,i)+I(j,j)>=I(k,k) if (!has_fixed_joint) { if (I(0, 0) + I(1, 1) < I(2, 2)) { - error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index); - error_message("matrix is:\n" + bt_id_error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index); + bt_id_error_message("matrix is:\n" "[%.20e %.20e %.20e;\n" "%.20e %.20e %.20e;\n" "%.20e %.20e %.20e]\n", @@ -331,8 +331,8 @@ bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint) return false; } if (I(0, 0) + I(1, 1) < I(2, 2)) { - error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index); - error_message("matrix is:\n" + bt_id_error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index); + bt_id_error_message("matrix is:\n" "[%.20e %.20e %.20e;\n" "%.20e %.20e %.20e;\n" "%.20e %.20e %.20e]\n", @@ -341,8 +341,8 @@ bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint) return false; } if (I(1, 1) + I(2, 2) < I(0, 0)) { - error_message("invalid inertia tensor for body %d, I(1,1) + I(2,2) < I(0,0)\n", index); - error_message("matrix is:\n" + bt_id_error_message("invalid inertia tensor for body %d, I(1,1) + I(2,2) < I(0,0)\n", index); + bt_id_error_message("matrix is:\n" "[%.20e %.20e %.20e;\n" "%.20e %.20e %.20e;\n" "%.20e %.20e %.20e]\n", @@ -354,25 +354,25 @@ bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint) // check positive/zero diagonal elements for (int i = 0; i < 3; i++) { if (I(i, i) < 0) { // accept zero - error_message("invalid inertia tensor, I(%d,%d)= %e <0\n", i, i, I(i, i)); + bt_id_error_message("invalid inertia tensor, I(%d,%d)= %e <0\n", i, i, I(i, i)); return false; } } // check symmetry if (BT_ID_FABS(I(1, 0) - I(0, 1)) > kIsZero) { - error_message("invalid inertia tensor for body %d I(1,0)!=I(0,1). I(1,0)-I(0,1)= " + bt_id_error_message("invalid inertia tensor for body %d I(1,0)!=I(0,1). I(1,0)-I(0,1)= " "%e\n", index, I(1, 0) - I(0, 1)); return false; } if (BT_ID_FABS(I(2, 0) - I(0, 2)) > kIsZero) { - error_message("invalid inertia tensor for body %d I(2,0)!=I(0,2). I(2,0)-I(0,2)= " + bt_id_error_message("invalid inertia tensor for body %d I(2,0)!=I(0,2). I(2,0)-I(0,2)= " "%e\n", index, I(2, 0) - I(0, 2)); return false; } if (BT_ID_FABS(I(1, 2) - I(2, 1)) > kIsZero) { - error_message("invalid inertia tensor body %d I(1,2)!=I(2,1). I(1,2)-I(2,1)= %e\n", index, + bt_id_error_message("invalid inertia tensor body %d I(1,2)!=I(2,1). I(1,2)-I(2,1)= %e\n", index, I(1, 2) - I(2, 1)); return false; } @@ -381,7 +381,7 @@ bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint) bool isValidTransformMatrix(const mat33 &m) { #define print_mat(x) \ - error_message("matrix is [%e, %e, %e; %e, %e, %e; %e, %e, %e]\n", x(0, 0), x(0, 1), x(0, 2), \ + bt_id_error_message("matrix is [%e, %e, %e; %e, %e, %e; %e, %e, %e]\n", x(0, 0), x(0, 1), x(0, 2), \ x(1, 0), x(1, 1), x(1, 2), x(2, 0), x(2, 1), x(2, 2)) // check for unit length column vectors @@ -389,7 +389,7 @@ bool isValidTransformMatrix(const mat33 &m) { const idScalar length_minus_1 = BT_ID_FABS(m(0, i) * m(0, i) + m(1, i) * m(1, i) + m(2, i) * m(2, i) - 1.0); if (length_minus_1 > kAxisLengthEpsilon) { - error_message("Not a valid rotation matrix (column %d not unit length)\n" + bt_id_error_message("Not a valid rotation matrix (column %d not unit length)\n" "column = [%.18e %.18e %.18e]\n" "length-1.0= %.18e\n", i, m(0, i), m(1, i), m(2, i), length_minus_1); @@ -399,23 +399,23 @@ bool isValidTransformMatrix(const mat33 &m) { } // check for orthogonal column vectors if (BT_ID_FABS(m(0, 0) * m(0, 1) + m(1, 0) * m(1, 1) + m(2, 0) * m(2, 1)) > kAxisLengthEpsilon) { - error_message("Not a valid rotation matrix (columns 0 and 1 not orthogonal)\n"); + bt_id_error_message("Not a valid rotation matrix (columns 0 and 1 not orthogonal)\n"); print_mat(m); return false; } if (BT_ID_FABS(m(0, 0) * m(0, 2) + m(1, 0) * m(1, 2) + m(2, 0) * m(2, 2)) > kAxisLengthEpsilon) { - error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n"); + bt_id_error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n"); print_mat(m); return false; } if (BT_ID_FABS(m(0, 1) * m(0, 2) + m(1, 1) * m(1, 2) + m(2, 1) * m(2, 2)) > kAxisLengthEpsilon) { - error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n"); + bt_id_error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n"); print_mat(m); return false; } // check determinant (rotation not reflection) if (determinant(m) <= 0) { - error_message("Not a valid rotation matrix (determinant <=0)\n"); + bt_id_error_message("Not a valid rotation matrix (determinant <=0)\n"); print_mat(m); return false; } diff --git a/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp b/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp index c67588d49f..becfe0f4a2 100644 --- a/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp +++ b/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp @@ -83,11 +83,11 @@ int MultiBodyTree::numDoFs() const { return m_impl->m_num_dofs; } int MultiBodyTree::calculateInverseDynamics(const vecx &q, const vecx &u, const vecx &dot_u, vecx *joint_forces) { if (false == m_is_finalized) { - error_message("system has not been initialized\n"); + bt_id_error_message("system has not been initialized\n"); return -1; } if (-1 == m_impl->calculateInverseDynamics(q, u, dot_u, joint_forces)) { - error_message("error in inverse dynamics calculation\n"); + bt_id_error_message("error in inverse dynamics calculation\n"); return -1; } return 0; @@ -97,13 +97,13 @@ int MultiBodyTree::calculateMassMatrix(const vecx &q, const bool update_kinemati const bool initialize_matrix, const bool set_lower_triangular_matrix, matxx *mass_matrix) { if (false == m_is_finalized) { - error_message("system has not been initialized\n"); + bt_id_error_message("system has not been initialized\n"); return -1; } if (-1 == m_impl->calculateMassMatrix(q, update_kinematics, initialize_matrix, set_lower_triangular_matrix, mass_matrix)) { - error_message("error in mass matrix calculation\n"); + bt_id_error_message("error in mass matrix calculation\n"); return -1; } return 0; @@ -121,12 +121,12 @@ int MultiBodyTree::calculateKinematics(const vecx& q, const vecx& u, const vecx& setZero(m_impl->m_world_gravity); if (false == m_is_finalized) { - error_message("system has not been initialized\n"); + bt_id_error_message("system has not been initialized\n"); return -1; } if (-1 == m_impl->calculateKinematics(q, u, dot_u, MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY_ACCELERATION)) { - error_message("error in kinematics calculation\n"); + bt_id_error_message("error in kinematics calculation\n"); return -1; } @@ -137,12 +137,12 @@ int MultiBodyTree::calculateKinematics(const vecx& q, const vecx& u, const vecx& int MultiBodyTree::calculatePositionKinematics(const vecx& q) { if (false == m_is_finalized) { - error_message("system has not been initialized\n"); + bt_id_error_message("system has not been initialized\n"); return -1; } if (-1 == m_impl->calculateKinematics(q, q, q, MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY)) { - error_message("error in kinematics calculation\n"); + bt_id_error_message("error in kinematics calculation\n"); return -1; } return 0; @@ -150,12 +150,12 @@ int MultiBodyTree::calculatePositionKinematics(const vecx& q) { int MultiBodyTree::calculatePositionAndVelocityKinematics(const vecx& q, const vecx& u) { if (false == m_is_finalized) { - error_message("system has not been initialized\n"); + bt_id_error_message("system has not been initialized\n"); return -1; } if (-1 == m_impl->calculateKinematics(q, u, u, MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY)) { - error_message("error in kinematics calculation\n"); + bt_id_error_message("error in kinematics calculation\n"); return -1; } return 0; @@ -165,12 +165,12 @@ int MultiBodyTree::calculatePositionAndVelocityKinematics(const vecx& q, const v #if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS) int MultiBodyTree::calculateJacobians(const vecx& q, const vecx& u) { if (false == m_is_finalized) { - error_message("system has not been initialized\n"); + bt_id_error_message("system has not been initialized\n"); return -1; } if (-1 == m_impl->calculateJacobians(q, u, MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY)) { - error_message("error in jacobian calculation\n"); + bt_id_error_message("error in jacobian calculation\n"); return -1; } return 0; @@ -178,12 +178,12 @@ int MultiBodyTree::calculateJacobians(const vecx& q, const vecx& u) { int MultiBodyTree::calculateJacobians(const vecx& q){ if (false == m_is_finalized) { - error_message("system has not been initialized\n"); + bt_id_error_message("system has not been initialized\n"); return -1; } if (-1 == m_impl->calculateJacobians(q, q, MultiBodyTree::MultiBodyImpl::POSITION_ONLY)) { - error_message("error in jacobian calculation\n"); + bt_id_error_message("error in jacobian calculation\n"); return -1; } return 0; @@ -214,7 +214,7 @@ int MultiBodyTree::addBody(int body_index, int parent_index, JointType joint_typ const vec3 &body_r_body_com, const mat33 &body_I_body, const int user_int, void *user_ptr) { if (body_index < 0) { - error_message("body index must be positive (got %d)\n", body_index); + bt_id_error_message("body index must be positive (got %d)\n", body_index); return -1; } vec3 body_axis_of_motion(body_axis_of_motion_); @@ -223,14 +223,14 @@ int MultiBodyTree::addBody(int body_index, int parent_index, JointType joint_typ case PRISMATIC: // check if axis is unit vector if (!isUnitVector(body_axis_of_motion)) { - warning_message( + bt_id_warning_message( "axis of motion not a unit axis ([%f %f %f]), will use normalized vector\n", body_axis_of_motion(0), body_axis_of_motion(1), body_axis_of_motion(2)); idScalar length = BT_ID_SQRT(BT_ID_POW(body_axis_of_motion(0), 2) + BT_ID_POW(body_axis_of_motion(1), 2) + BT_ID_POW(body_axis_of_motion(2), 2)); if (length < BT_ID_SQRT(std::numeric_limits<idScalar>::min())) { - error_message("axis of motion vector too short (%e)\n", length); + bt_id_error_message("axis of motion vector too short (%e)\n", length); return -1; } body_axis_of_motion = (1.0 / length) * body_axis_of_motion; @@ -241,14 +241,14 @@ int MultiBodyTree::addBody(int body_index, int parent_index, JointType joint_typ case FLOATING: break; default: - error_message("unknown joint type %d\n", joint_type); + bt_id_error_message("unknown joint type %d\n", joint_type); return -1; } // sanity check for mass properties. Zero mass is OK. if (mass < 0) { m_mass_parameters_are_valid = false; - error_message("Body %d has invalid mass %e\n", body_index, mass); + bt_id_error_message("Body %d has invalid mass %e\n", body_index, mass); if (!m_accept_invalid_mass_parameters) { return -1; } @@ -296,7 +296,7 @@ int MultiBodyTree::finalize() { const int &num_dofs = m_init_cache->numDoFs(); if(num_dofs<=0) { - error_message("Need num_dofs>=1, but num_dofs= %d\n", num_dofs); + bt_id_error_message("Need num_dofs>=1, but num_dofs= %d\n", num_dofs); //return -1; } @@ -331,6 +331,22 @@ int MultiBodyTree::finalize() { rigid_body.m_parent_pos_parent_body_ref = joint.m_parent_pos_parent_child_ref; rigid_body.m_joint_type = joint.m_type; + int user_int; + if (-1 == m_init_cache->getUserInt(index, &user_int)) { + return -1; + } + if (-1 == m_impl->setUserInt(index, user_int)) { + return -1; + } + + void* user_ptr; + if (-1 == m_init_cache->getUserPtr(index, &user_ptr)) { + return -1; + } + if (-1 == m_impl->setUserPtr(index, user_ptr)) { + return -1; + } + // Set joint Jacobians. Note that the dimension is always 3x1 here to avoid variable sized // matrices. switch (rigid_body.m_joint_type) { @@ -370,14 +386,14 @@ int MultiBodyTree::finalize() { rigid_body.m_Jac_JT(2) = 0.0; break; default: - error_message("unsupported joint type %d\n", rigid_body.m_joint_type); + bt_id_error_message("unsupported joint type %d\n", rigid_body.m_joint_type); return -1; } } // 4 assign degree of freedom indices & build per-joint-type index arrays if (-1 == m_impl->generateIndexSets()) { - error_message("generating index sets\n"); + bt_id_error_message("generating index sets\n"); return -1; } diff --git a/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp b/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp index 5bb4a33bdd..c179daeec6 100644 --- a/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp +++ b/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp @@ -49,9 +49,9 @@ inline mat33 operator*(const idScalar& s, const mat33& a) { return a * s; } class vecx : public btVectorX<idScalar> { public: - vecx(int size) : btVectorX(size) {} + vecx(int size) : btVectorX<idScalar>(size) {} const vecx& operator=(const btVectorX<idScalar>& rhs) { - *static_cast<btVectorX*>(this) = rhs; + *static_cast<btVectorX<idScalar>*>(this) = rhs; return *this; } @@ -78,7 +78,7 @@ inline vecx operator+(const vecx& a, const vecx& b) { vecx result(a.size()); // TODO: error handling for a.size() != b.size()?? if (a.size() != b.size()) { - error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size()); + bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size()); abort(); } for (int i = 0; i < a.size(); i++) { @@ -92,7 +92,7 @@ inline vecx operator-(const vecx& a, const vecx& b) { vecx result(a.size()); // TODO: error handling for a.size() != b.size()?? if (a.size() != b.size()) { - error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size()); + bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size()); abort(); } for (int i = 0; i < a.size(); i++) { @@ -121,7 +121,7 @@ public: } void operator=(const mat3x& rhs) { if (m_cols != rhs.m_cols) { - error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols()); + bt_id_error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols()); abort(); } for(int i=0;i<rows();i++) { @@ -139,7 +139,7 @@ public: inline vec3 operator*(const mat3x& a, const vecx& b) { vec3 result; if (a.cols() != b.size()) { - error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size()); + bt_id_error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size()); abort(); } result(0)=0.0; diff --git a/thirdparty/bullet/BulletInverseDynamics/details/IDMatVec.hpp b/thirdparty/bullet/BulletInverseDynamics/details/IDMatVec.hpp index 4d3f6c87e9..c89db5e123 100644 --- a/thirdparty/bullet/BulletInverseDynamics/details/IDMatVec.hpp +++ b/thirdparty/bullet/BulletInverseDynamics/details/IDMatVec.hpp @@ -123,7 +123,7 @@ public: }; void operator=(const mat3x& rhs) { if (m_cols != rhs.m_cols) { - error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols()); + bt_id_error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols()); abort(); } for(int i=0;i<3*m_cols;i++) { @@ -336,7 +336,7 @@ inline vec3 operator/(const vec3& a, const idScalar& s) { inline const vecx& vecx::operator=(const vecx& rhs) { if (size() != rhs.size()) { - error_message("size missmatch, size()= %d but rhs.size()= %d\n", size(), rhs.size()); + bt_id_error_message("size missmatch, size()= %d but rhs.size()= %d\n", size(), rhs.size()); abort(); } if (&rhs != this) { @@ -356,7 +356,7 @@ inline vecx operator+(const vecx& a, const vecx& b) { vecx result(a.size()); // TODO: error handling for a.size() != b.size()?? if (a.size() != b.size()) { - error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size()); + bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size()); abort(); } for (int i = 0; i < a.size(); i++) { @@ -369,7 +369,7 @@ inline vecx operator-(const vecx& a, const vecx& b) { vecx result(a.size()); // TODO: error handling for a.size() != b.size()?? if (a.size() != b.size()) { - error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size()); + bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size()); abort(); } for (int i = 0; i < a.size(); i++) { @@ -389,7 +389,7 @@ inline vecx operator/(const vecx& a, const idScalar& s) { inline vec3 operator*(const mat3x& a, const vecx& b) { vec3 result; if (a.cols() != b.size()) { - error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size()); + bt_id_error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size()); abort(); } result(0)=0.0; diff --git a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp index b35c55df61..e8563238c3 100644 --- a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp +++ b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp @@ -80,7 +80,7 @@ int MultiBodyTree::MultiBodyImpl::bodyNumDoFs(const JointType &type) const { case FLOATING: return 6; } - error_message("unknown joint type %d\n", type); + bt_id_error_message("unknown joint type %d\n", type); return 0; } @@ -136,13 +136,13 @@ int MultiBodyTree::MultiBodyImpl::generateIndexSets() { q_index += 6; break; default: - error_message("unsupported joint type %d\n", body.m_joint_type); + bt_id_error_message("unsupported joint type %d\n", body.m_joint_type); return -1; } } // sanity check if (q_index != m_num_dofs) { - error_message("internal error, q_index= %d but num_dofs %d\n", q_index, m_num_dofs); + bt_id_error_message("internal error, q_index= %d but num_dofs %d\n", q_index, m_num_dofs); return -1; } @@ -155,10 +155,10 @@ int MultiBodyTree::MultiBodyImpl::generateIndexSets() { } else { if (-1 == parent) { // multiple bodies are directly linked to the environment, ie, not a single root - error_message("building index sets parent(%zu)= -1 (multiple roots)\n", child); + bt_id_error_message("building index sets parent(%zu)= -1 (multiple roots)\n", child); } else { // should never happen - error_message( + bt_id_error_message( "building index sets. parent_index[%zu]= %d, but m_parent_index.size()= %d\n", child, parent, static_cast<int>(m_parent_index.size())); } @@ -234,7 +234,7 @@ int MultiBodyTree::MultiBodyImpl::calculateInverseDynamics(const vecx &q, const const vecx &dot_u, vecx *joint_forces) { if (q.size() != m_num_dofs || u.size() != m_num_dofs || dot_u.size() != m_num_dofs || joint_forces->size() != m_num_dofs) { - error_message("wrong vector dimension. system has %d DOFs,\n" + bt_id_error_message("wrong vector dimension. system has %d DOFs,\n" "but dim(q)= %d, dim(u)= %d, dim(dot_u)= %d, dim(joint_forces)= %d\n", m_num_dofs, static_cast<int>(q.size()), static_cast<int>(u.size()), static_cast<int>(dot_u.size()), static_cast<int>(joint_forces->size())); @@ -242,7 +242,7 @@ int MultiBodyTree::MultiBodyImpl::calculateInverseDynamics(const vecx &q, const } // 1. relative kinematics if(-1 == calculateKinematics(q,u,dot_u, POSITION_VELOCITY_ACCELERATION)) { - error_message("error in calculateKinematics\n"); + bt_id_error_message("error in calculateKinematics\n"); return -1; } // 2. update contributions to equations of motion for every body. @@ -322,14 +322,14 @@ int MultiBodyTree::MultiBodyImpl::calculateInverseDynamics(const vecx &q, const int MultiBodyTree::MultiBodyImpl::calculateKinematics(const vecx &q, const vecx &u, const vecx& dot_u, const KinUpdateType type) { if (q.size() != m_num_dofs || u.size() != m_num_dofs || dot_u.size() != m_num_dofs ) { - error_message("wrong vector dimension. system has %d DOFs,\n" + bt_id_error_message("wrong vector dimension. system has %d DOFs,\n" "but dim(q)= %d, dim(u)= %d, dim(dot_u)= %d\n", m_num_dofs, static_cast<int>(q.size()), static_cast<int>(u.size()), static_cast<int>(dot_u.size())); return -1; } if(type != POSITION_ONLY && type != POSITION_VELOCITY && type != POSITION_VELOCITY_ACCELERATION) { - error_message("invalid type %d\n", type); + bt_id_error_message("invalid type %d\n", type); return -1; } @@ -516,13 +516,13 @@ void MultiBodyTree::MultiBodyImpl::addRelativeJacobianComponent(RigidBody&body) int MultiBodyTree::MultiBodyImpl::calculateJacobians(const vecx& q, const vecx& u, const KinUpdateType type) { if (q.size() != m_num_dofs || u.size() != m_num_dofs) { - error_message("wrong vector dimension. system has %d DOFs,\n" + bt_id_error_message("wrong vector dimension. system has %d DOFs,\n" "but dim(q)= %d, dim(u)= %d\n", m_num_dofs, static_cast<int>(q.size()), static_cast<int>(u.size())); return -1; } if(type != POSITION_ONLY && type != POSITION_VELOCITY) { - error_message("invalid type %d\n", type); + bt_id_error_message("invalid type %d\n", type); return -1; } @@ -606,7 +606,7 @@ static inline int jointNumDoFs(const JointType &type) { return 6; } // this should never happen - error_message("invalid joint type\n"); + bt_id_error_message("invalid joint type\n"); // TODO add configurable abort/crash function abort(); return 0; @@ -626,7 +626,7 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool if (q.size() != m_num_dofs || mass_matrix->rows() != m_num_dofs || mass_matrix->cols() != m_num_dofs) { - error_message("Dimension error. System has %d DOFs,\n" + bt_id_error_message("Dimension error. System has %d DOFs,\n" "but dim(q)= %d, dim(mass_matrix)= %d x %d\n", m_num_dofs, static_cast<int>(q.size()), static_cast<int>(mass_matrix->rows()), static_cast<int>(mass_matrix->cols())); @@ -734,7 +734,7 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool // 1. for multi-dof joints, rest of the dofs of this body for (int row = col - 1; row >= q_index_min; row--) { if (FLOATING != body.m_joint_type) { - error_message("??\n"); + bt_id_error_message("??\n"); return -1; } setSixDoFJacobians(row - q_index_min, Jac_JR, Jac_JT); @@ -788,7 +788,7 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool #define CHECK_IF_BODY_INDEX_IS_VALID(index) \ do { \ if (index < 0 || index >= m_num_bodies) { \ - error_message("invalid index %d (num_bodies= %d)\n", index, m_num_bodies); \ + bt_id_error_message("invalid index %d (num_bodies= %d)\n", index, m_num_bodies); \ return -1; \ } \ } while (0) diff --git a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp index 47b4ab3890..e9511b7076 100644 --- a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp +++ b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp @@ -29,13 +29,13 @@ int MultiBodyTree::InitCache::addBody(const int body_index, const int parent_ind m_num_dofs += 6; break; default: - error_message("unknown joint type %d\n", joint_type); + bt_id_error_message("unknown joint type %d\n", joint_type); return -1; } if(-1 == parent_index) { if(m_root_index>=0) { - error_message("trying to add body %d as root, but already added %d as root body\n", + bt_id_error_message("trying to add body %d as root, but already added %d as root body\n", body_index, m_root_index); return -1; } @@ -63,7 +63,7 @@ int MultiBodyTree::InitCache::addBody(const int body_index, const int parent_ind } int MultiBodyTree::InitCache::getInertiaData(const int index, InertiaData* inertia) const { if (index < 0 || index > static_cast<int>(m_inertias.size())) { - error_message("index out of range\n"); + bt_id_error_message("index out of range\n"); return -1; } @@ -73,7 +73,7 @@ int MultiBodyTree::InitCache::getInertiaData(const int index, InertiaData* inert int MultiBodyTree::InitCache::getUserInt(const int index, int* user_int) const { if (index < 0 || index > static_cast<int>(m_user_int.size())) { - error_message("index out of range\n"); + bt_id_error_message("index out of range\n"); return -1; } *user_int = m_user_int[index]; @@ -82,7 +82,7 @@ int MultiBodyTree::InitCache::getUserInt(const int index, int* user_int) const { int MultiBodyTree::InitCache::getUserPtr(const int index, void** user_ptr) const { if (index < 0 || index > static_cast<int>(m_user_ptr.size())) { - error_message("index out of range\n"); + bt_id_error_message("index out of range\n"); return -1; } *user_ptr = m_user_ptr[index]; @@ -91,7 +91,7 @@ int MultiBodyTree::InitCache::getUserPtr(const int index, void** user_ptr) const int MultiBodyTree::InitCache::getJointData(const int index, JointData* joint) const { if (index < 0 || index > static_cast<int>(m_joints.size())) { - error_message("index out of range\n"); + bt_id_error_message("index out of range\n"); return -1; } *joint = m_joints[index]; diff --git a/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp b/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp index 4e76dca9db..6facce4e86 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp +++ b/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp @@ -157,7 +157,7 @@ void btSoftMultiBodyDynamicsWorld::removeCollisionObject(btCollisionObject* coll void btSoftMultiBodyDynamicsWorld::debugDrawWorld() { - btDiscreteDynamicsWorld::debugDrawWorld(); + btMultiBodyDynamicsWorld::debugDrawWorld(); if (getDebugDrawer()) { @@ -357,10 +357,14 @@ void btSoftMultiBodyDynamicsWorld::serialize(btSerializer* serializer) serializeSoftBodies(serializer); + serializeMultiBodies(serializer); + serializeRigidBodies(serializer); serializeCollisionObjects(serializer); + serializeContactManifolds(serializer); + serializer->finishSerialization(); } diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btTaskScheduler.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btTaskScheduler.cpp new file mode 100644 index 0000000000..49510d1660 --- /dev/null +++ b/thirdparty/bullet/LinearMath/TaskScheduler/btTaskScheduler.cpp @@ -0,0 +1,802 @@ + +#include "LinearMath/btMinMax.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btThreads.h" +#include "LinearMath/btQuickprof.h" +#include <stdio.h> +#include <algorithm> + + + +#if BT_THREADSAFE + +#include "btThreadSupportInterface.h" + +#if defined( _WIN32 ) + +#define WIN32_LEAN_AND_MEAN + +#include <windows.h> + +#endif + + +typedef unsigned long long btU64; +static const int kCacheLineSize = 64; + +void btSpinPause() +{ +#if defined( _WIN32 ) + YieldProcessor(); +#endif +} + + +struct WorkerThreadStatus +{ + enum Type + { + kInvalid, + kWaitingForWork, + kWorking, + kSleeping, + }; +}; + + +ATTRIBUTE_ALIGNED64(class) WorkerThreadDirectives +{ + static const int kMaxThreadCount = BT_MAX_THREAD_COUNT; + // directives for all worker threads packed into a single cacheline + char m_threadDirs[kMaxThreadCount]; + +public: + enum Type + { + kInvalid, + kGoToSleep, // go to sleep + kStayAwakeButIdle, // wait for not checking job queue + kScanForJobs, // actively scan job queue for jobs + }; + WorkerThreadDirectives() + { + for ( int i = 0; i < kMaxThreadCount; ++i ) + { + m_threadDirs[ i ] = 0; + } + } + + Type getDirective(int threadId) + { + btAssert(threadId < kMaxThreadCount); + return static_cast<Type>(m_threadDirs[threadId]); + } + + void setDirectiveByRange(int threadBegin, int threadEnd, Type dir) + { + btAssert( threadBegin < threadEnd ); + btAssert( threadEnd <= kMaxThreadCount ); + char dirChar = static_cast<char>(dir); + for ( int i = threadBegin; i < threadEnd; ++i ) + { + m_threadDirs[ i ] = dirChar; + } + } +}; + +class JobQueue; + +ATTRIBUTE_ALIGNED64(struct) ThreadLocalStorage +{ + int m_threadId; + WorkerThreadStatus::Type m_status; + int m_numJobsFinished; + btSpinMutex m_mutex; + btScalar m_sumResult; + WorkerThreadDirectives * m_directive; + JobQueue* m_queue; + btClock* m_clock; + unsigned int m_cooldownTime; +}; + + +struct IJob +{ + virtual void executeJob(int threadId) = 0; +}; + +class ParallelForJob : public IJob +{ + const btIParallelForBody* m_body; + int m_begin; + int m_end; + +public: + ParallelForJob( int iBegin, int iEnd, const btIParallelForBody& body ) + { + m_body = &body; + m_begin = iBegin; + m_end = iEnd; + } + virtual void executeJob(int threadId) BT_OVERRIDE + { + BT_PROFILE( "executeJob" ); + + // call the functor body to do the work + m_body->forLoop( m_begin, m_end ); + } +}; + + +class ParallelSumJob : public IJob +{ + const btIParallelSumBody* m_body; + ThreadLocalStorage* m_threadLocalStoreArray; + int m_begin; + int m_end; + +public: + ParallelSumJob( int iBegin, int iEnd, const btIParallelSumBody& body, ThreadLocalStorage* tls ) + { + m_body = &body; + m_threadLocalStoreArray = tls; + m_begin = iBegin; + m_end = iEnd; + } + virtual void executeJob( int threadId ) BT_OVERRIDE + { + BT_PROFILE( "executeJob" ); + + // call the functor body to do the work + btScalar val = m_body->sumLoop( m_begin, m_end ); +#if BT_PARALLEL_SUM_DETERMINISTISM + // by truncating bits of the result, we can make the parallelSum deterministic (at the expense of precision) + const float TRUNC_SCALE = float(1<<19); + val = floor(val*TRUNC_SCALE+0.5f)/TRUNC_SCALE; // truncate some bits +#endif + m_threadLocalStoreArray[threadId].m_sumResult += val; + } +}; + + +ATTRIBUTE_ALIGNED64(class) JobQueue +{ + btThreadSupportInterface* m_threadSupport; + btCriticalSection* m_queueLock; + btSpinMutex m_mutex; + + btAlignedObjectArray<IJob*> m_jobQueue; + char* m_jobMem; + int m_jobMemSize; + bool m_queueIsEmpty; + int m_tailIndex; + int m_headIndex; + int m_allocSize; + bool m_useSpinMutex; + btAlignedObjectArray<JobQueue*> m_neighborContexts; + char m_cachePadding[kCacheLineSize]; // prevent false sharing + + void freeJobMem() + { + if ( m_jobMem ) + { + // free old + btAlignedFree(m_jobMem); + m_jobMem = NULL; + } + } + void resizeJobMem(int newSize) + { + if (newSize > m_jobMemSize) + { + freeJobMem(); + m_jobMem = static_cast<char*>(btAlignedAlloc(newSize, kCacheLineSize)); + m_jobMemSize = newSize; + } + } + +public: + + JobQueue() + { + m_jobMem = NULL; + m_jobMemSize = 0; + m_threadSupport = NULL; + m_queueLock = NULL; + m_headIndex = 0; + m_tailIndex = 0; + m_useSpinMutex = false; + } + ~JobQueue() + { + exit(); + } + void exit() + { + freeJobMem(); + if (m_queueLock && m_threadSupport) + { + m_threadSupport->deleteCriticalSection(m_queueLock); + m_queueLock = NULL; + m_threadSupport = 0; + } + } + + void init(btThreadSupportInterface* threadSup, btAlignedObjectArray<JobQueue>* contextArray) + { + m_threadSupport = threadSup; + if (threadSup) + { + m_queueLock = m_threadSupport->createCriticalSection(); + } + setupJobStealing(contextArray, contextArray->size()); + } + void setupJobStealing(btAlignedObjectArray<JobQueue>* contextArray, int numActiveContexts) + { + btAlignedObjectArray<JobQueue>& contexts = *contextArray; + int selfIndex = 0; + for (int i = 0; i < contexts.size(); ++i) + { + if ( this == &contexts[ i ] ) + { + selfIndex = i; + break; + } + } + int numNeighbors = btMin(2, contexts.size() - 1); + int neighborOffsets[ ] = {-1, 1, -2, 2, -3, 3}; + int numOffsets = sizeof(neighborOffsets)/sizeof(neighborOffsets[0]); + m_neighborContexts.reserve( numNeighbors ); + m_neighborContexts.resizeNoInitialize(0); + for (int i = 0; i < numOffsets && m_neighborContexts.size() < numNeighbors; i++) + { + int neighborIndex = selfIndex + neighborOffsets[i]; + if ( neighborIndex >= 0 && neighborIndex < numActiveContexts) + { + m_neighborContexts.push_back( &contexts[ neighborIndex ] ); + } + } + } + + bool isQueueEmpty() const {return m_queueIsEmpty;} + void lockQueue() + { + if ( m_useSpinMutex ) + { + m_mutex.lock(); + } + else + { + m_queueLock->lock(); + } + } + void unlockQueue() + { + if ( m_useSpinMutex ) + { + m_mutex.unlock(); + } + else + { + m_queueLock->unlock(); + } + } + void clearQueue(int jobCount, int jobSize) + { + lockQueue(); + m_headIndex = 0; + m_tailIndex = 0; + m_allocSize = 0; + m_queueIsEmpty = true; + int jobBufSize = jobSize * jobCount; + // make sure we have enough memory allocated to store jobs + if ( jobBufSize > m_jobMemSize ) + { + resizeJobMem( jobBufSize ); + } + // make sure job queue is big enough + if ( jobCount > m_jobQueue.capacity() ) + { + m_jobQueue.reserve( jobCount ); + } + unlockQueue(); + m_jobQueue.resizeNoInitialize( 0 ); + } + void* allocJobMem(int jobSize) + { + btAssert(m_jobMemSize >= (m_allocSize + jobSize)); + void* jobMem = &m_jobMem[m_allocSize]; + m_allocSize += jobSize; + return jobMem; + } + void submitJob( IJob* job ) + { + btAssert( reinterpret_cast<char*>( job ) >= &m_jobMem[ 0 ] && reinterpret_cast<char*>( job ) < &m_jobMem[ 0 ] + m_allocSize ); + m_jobQueue.push_back( job ); + lockQueue(); + m_tailIndex++; + m_queueIsEmpty = false; + unlockQueue(); + } + IJob* consumeJobFromOwnQueue() + { + if ( m_queueIsEmpty ) + { + // lock free path. even if this is taken erroneously it isn't harmful + return NULL; + } + IJob* job = NULL; + lockQueue(); + if ( !m_queueIsEmpty ) + { + job = m_jobQueue[ m_headIndex++ ]; + btAssert( reinterpret_cast<char*>( job ) >= &m_jobMem[ 0 ] && reinterpret_cast<char*>( job ) < &m_jobMem[ 0 ] + m_allocSize ); + if ( m_headIndex == m_tailIndex ) + { + m_queueIsEmpty = true; + } + } + unlockQueue(); + return job; + } + IJob* consumeJob() + { + if (IJob* job = consumeJobFromOwnQueue()) + { + return job; + } + // own queue is empty, try to steal from neighbor + for (int i = 0; i < m_neighborContexts.size(); ++i) + { + JobQueue* otherContext = m_neighborContexts[ i ]; + if ( IJob* job = otherContext->consumeJobFromOwnQueue() ) + { + return job; + } + } + return NULL; + } +}; + + +static void WorkerThreadFunc( void* userPtr ) +{ + BT_PROFILE( "WorkerThreadFunc" ); + ThreadLocalStorage* localStorage = (ThreadLocalStorage*) userPtr; + JobQueue* jobQueue = localStorage->m_queue; + + bool shouldSleep = false; + int threadId = localStorage->m_threadId; + while (! shouldSleep) + { + // do work + localStorage->m_mutex.lock(); + while ( IJob* job = jobQueue->consumeJob() ) + { + localStorage->m_status = WorkerThreadStatus::kWorking; + job->executeJob( threadId ); + localStorage->m_numJobsFinished++; + } + localStorage->m_status = WorkerThreadStatus::kWaitingForWork; + localStorage->m_mutex.unlock(); + btU64 clockStart = localStorage->m_clock->getTimeMicroseconds(); + // while queue is empty, + while (jobQueue->isQueueEmpty()) + { + // todo: spin wait a bit to avoid hammering the empty queue + btSpinPause(); + if ( localStorage->m_directive->getDirective(threadId) == WorkerThreadDirectives::kGoToSleep ) + { + shouldSleep = true; + break; + } + // if jobs are incoming, + if ( localStorage->m_directive->getDirective( threadId ) == WorkerThreadDirectives::kScanForJobs ) + { + clockStart = localStorage->m_clock->getTimeMicroseconds(); // reset clock + } + else + { + for ( int i = 0; i < 50; ++i ) + { + btSpinPause(); + btSpinPause(); + btSpinPause(); + btSpinPause(); + if (localStorage->m_directive->getDirective( threadId ) == WorkerThreadDirectives::kScanForJobs || !jobQueue->isQueueEmpty()) + { + break; + } + } + // if no jobs incoming and queue has been empty for the cooldown time, sleep + btU64 timeElapsed = localStorage->m_clock->getTimeMicroseconds() - clockStart; + if (timeElapsed > localStorage->m_cooldownTime) + { + shouldSleep = true; + break; + } + } + } + } + { + BT_PROFILE("sleep"); + // go sleep + localStorage->m_mutex.lock(); + localStorage->m_status = WorkerThreadStatus::kSleeping; + localStorage->m_mutex.unlock(); + } +} + + +class btTaskSchedulerDefault : public btITaskScheduler +{ + btThreadSupportInterface* m_threadSupport; + WorkerThreadDirectives* m_workerDirective; + btAlignedObjectArray<JobQueue> m_jobQueues; + btAlignedObjectArray<JobQueue*> m_perThreadJobQueues; + btAlignedObjectArray<ThreadLocalStorage> m_threadLocalStorage; + btSpinMutex m_antiNestingLock; // prevent nested parallel-for + btClock m_clock; + int m_numThreads; + int m_numWorkerThreads; + int m_numActiveJobQueues; + int m_maxNumThreads; + int m_numJobs; + static const int kFirstWorkerThreadId = 1; +public: + + btTaskSchedulerDefault() : btITaskScheduler("ThreadSupport") + { + m_threadSupport = NULL; + m_workerDirective = NULL; + } + + virtual ~btTaskSchedulerDefault() + { + waitForWorkersToSleep(); + + for ( int i = 0; i < m_jobQueues.size(); ++i ) + { + m_jobQueues[i].exit(); + } + + if (m_threadSupport) + { + delete m_threadSupport; + m_threadSupport = NULL; + } + if (m_workerDirective) + { + btAlignedFree(m_workerDirective); + m_workerDirective = NULL; + } + } + + void init() + { + btThreadSupportInterface::ConstructionInfo constructionInfo( "TaskScheduler", WorkerThreadFunc ); + m_threadSupport = btThreadSupportInterface::create( constructionInfo ); + m_workerDirective = static_cast<WorkerThreadDirectives*>(btAlignedAlloc(sizeof(*m_workerDirective), 64)); + + m_numWorkerThreads = m_threadSupport->getNumWorkerThreads(); + m_maxNumThreads = m_threadSupport->getNumWorkerThreads() + 1; + m_numThreads = m_maxNumThreads; + // ideal to have one job queue for each physical processor (except for the main thread which needs no queue) + int numThreadsPerQueue = m_threadSupport->getLogicalToPhysicalCoreRatio(); + int numJobQueues = (numThreadsPerQueue == 1) ? (m_maxNumThreads-1) : (m_maxNumThreads / numThreadsPerQueue); + m_jobQueues.resize(numJobQueues); + m_numActiveJobQueues = numJobQueues; + for ( int i = 0; i < m_jobQueues.size(); ++i ) + { + m_jobQueues[i].init( m_threadSupport, &m_jobQueues ); + } + m_perThreadJobQueues.resize(m_numThreads); + for ( int i = 0; i < m_numThreads; i++ ) + { + JobQueue* jq = NULL; + // only worker threads get a job queue + if (i > 0) + { + if (numThreadsPerQueue == 1) + { + // one queue per worker thread + jq = &m_jobQueues[ i - kFirstWorkerThreadId ]; + } + else + { + // 2 threads share each queue + jq = &m_jobQueues[ i / numThreadsPerQueue ]; + } + } + m_perThreadJobQueues[i] = jq; + } + m_threadLocalStorage.resize(m_numThreads); + for ( int i = 0; i < m_numThreads; i++ ) + { + ThreadLocalStorage& storage = m_threadLocalStorage[i]; + storage.m_threadId = i; + storage.m_directive = m_workerDirective; + storage.m_status = WorkerThreadStatus::kSleeping; + storage.m_cooldownTime = 100; // 100 microseconds, threads go to sleep after this long if they have nothing to do + storage.m_clock = &m_clock; + storage.m_queue = m_perThreadJobQueues[i]; + } + setWorkerDirectives( WorkerThreadDirectives::kGoToSleep ); // no work for them yet + setNumThreads( m_threadSupport->getCacheFriendlyNumThreads() ); + } + + void setWorkerDirectives(WorkerThreadDirectives::Type dir) + { + m_workerDirective->setDirectiveByRange(kFirstWorkerThreadId, m_numThreads, dir); + } + + virtual int getMaxNumThreads() const BT_OVERRIDE + { + return m_maxNumThreads; + } + + virtual int getNumThreads() const BT_OVERRIDE + { + return m_numThreads; + } + + virtual void setNumThreads( int numThreads ) BT_OVERRIDE + { + m_numThreads = btMax( btMin(numThreads, int(m_maxNumThreads)), 1 ); + m_numWorkerThreads = m_numThreads - 1; + m_numActiveJobQueues = 0; + // if there is at least 1 worker, + if ( m_numWorkerThreads > 0 ) + { + // re-setup job stealing between queues to avoid attempting to steal from an inactive job queue + JobQueue* lastActiveContext = m_perThreadJobQueues[ m_numThreads - 1 ]; + int iLastActiveContext = lastActiveContext - &m_jobQueues[0]; + m_numActiveJobQueues = iLastActiveContext + 1; + for ( int i = 0; i < m_jobQueues.size(); ++i ) + { + m_jobQueues[ i ].setupJobStealing( &m_jobQueues, m_numActiveJobQueues ); + } + } + m_workerDirective->setDirectiveByRange(m_numThreads, BT_MAX_THREAD_COUNT, WorkerThreadDirectives::kGoToSleep); + } + + void waitJobs() + { + BT_PROFILE( "waitJobs" ); + // have the main thread work until the job queues are empty + int numMainThreadJobsFinished = 0; + for ( int i = 0; i < m_numActiveJobQueues; ++i ) + { + while ( IJob* job = m_jobQueues[i].consumeJob() ) + { + job->executeJob( 0 ); + numMainThreadJobsFinished++; + } + } + + // done with jobs for now, tell workers to rest (but not sleep) + setWorkerDirectives( WorkerThreadDirectives::kStayAwakeButIdle ); + + btU64 clockStart = m_clock.getTimeMicroseconds(); + // wait for workers to finish any jobs in progress + while ( true ) + { + int numWorkerJobsFinished = 0; + for ( int iThread = kFirstWorkerThreadId; iThread < m_numThreads; ++iThread ) + { + ThreadLocalStorage* storage = &m_threadLocalStorage[iThread]; + storage->m_mutex.lock(); + numWorkerJobsFinished += storage->m_numJobsFinished; + storage->m_mutex.unlock(); + } + if (numWorkerJobsFinished + numMainThreadJobsFinished == m_numJobs) + { + break; + } + btU64 timeElapsed = m_clock.getTimeMicroseconds() - clockStart; + btAssert(timeElapsed < 1000); + if (timeElapsed > 100000) + { + break; + } + btSpinPause(); + } + } + + void wakeWorkers(int numWorkersToWake) + { + BT_PROFILE( "wakeWorkers" ); + btAssert( m_workerDirective->getDirective(1) == WorkerThreadDirectives::kScanForJobs ); + int numDesiredWorkers = btMin(numWorkersToWake, m_numWorkerThreads); + int numActiveWorkers = 0; + for ( int iWorker = 0; iWorker < m_numWorkerThreads; ++iWorker ) + { + // note this count of active workers is not necessarily totally reliable, because a worker thread could be + // just about to put itself to sleep. So we may on occasion fail to wake up all the workers. It should be rare. + ThreadLocalStorage& storage = m_threadLocalStorage[ kFirstWorkerThreadId + iWorker ]; + if (storage.m_status != WorkerThreadStatus::kSleeping) + { + numActiveWorkers++; + } + } + for ( int iWorker = 0; iWorker < m_numWorkerThreads && numActiveWorkers < numDesiredWorkers; ++iWorker ) + { + ThreadLocalStorage& storage = m_threadLocalStorage[ kFirstWorkerThreadId + iWorker ]; + if (storage.m_status == WorkerThreadStatus::kSleeping) + { + m_threadSupport->runTask( iWorker, &storage ); + numActiveWorkers++; + } + } + } + + void waitForWorkersToSleep() + { + BT_PROFILE( "waitForWorkersToSleep" ); + setWorkerDirectives( WorkerThreadDirectives::kGoToSleep ); + m_threadSupport->waitForAllTasks(); + for ( int i = kFirstWorkerThreadId; i < m_numThreads; i++ ) + { + ThreadLocalStorage& storage = m_threadLocalStorage[i]; + btAssert( storage.m_status == WorkerThreadStatus::kSleeping ); + } + } + + virtual void sleepWorkerThreadsHint() BT_OVERRIDE + { + BT_PROFILE( "sleepWorkerThreadsHint" ); + // hint the task scheduler that we may not be using these threads for a little while + setWorkerDirectives( WorkerThreadDirectives::kGoToSleep ); + } + + void prepareWorkerThreads() + { + for ( int i = kFirstWorkerThreadId; i < m_numThreads; ++i ) + { + ThreadLocalStorage& storage = m_threadLocalStorage[i]; + storage.m_mutex.lock(); + storage.m_numJobsFinished = 0; + storage.m_mutex.unlock(); + } + setWorkerDirectives( WorkerThreadDirectives::kScanForJobs ); + } + + virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE + { + BT_PROFILE( "parallelFor_ThreadSupport" ); + btAssert( iEnd >= iBegin ); + btAssert( grainSize >= 1 ); + int iterationCount = iEnd - iBegin; + if ( iterationCount > grainSize && m_numWorkerThreads > 0 && m_antiNestingLock.tryLock() ) + { + typedef ParallelForJob JobType; + int jobCount = ( iterationCount + grainSize - 1 ) / grainSize; + m_numJobs = jobCount; + btAssert( jobCount >= 2 ); // need more than one job for multithreading + int jobSize = sizeof( JobType ); + + for (int i = 0; i < m_numActiveJobQueues; ++i) + { + m_jobQueues[i].clearQueue( jobCount, jobSize ); + } + // prepare worker threads for incoming work + prepareWorkerThreads(); + // submit all of the jobs + int iJob = 0; + int iThread = kFirstWorkerThreadId; // first worker thread + for ( int i = iBegin; i < iEnd; i += grainSize ) + { + btAssert( iJob < jobCount ); + int iE = btMin( i + grainSize, iEnd ); + JobQueue* jq = m_perThreadJobQueues[ iThread ]; + btAssert(jq); + btAssert((jq - &m_jobQueues[0]) < m_numActiveJobQueues); + void* jobMem = jq->allocJobMem(jobSize); + JobType* job = new ( jobMem ) ParallelForJob( i, iE, body ); // placement new + jq->submitJob( job ); + iJob++; + iThread++; + if ( iThread >= m_numThreads ) + { + iThread = kFirstWorkerThreadId; // first worker thread + } + } + wakeWorkers( jobCount - 1 ); + + // put the main thread to work on emptying the job queue and then wait for all workers to finish + waitJobs(); + m_antiNestingLock.unlock(); + } + else + { + BT_PROFILE( "parallelFor_mainThread" ); + // just run on main thread + body.forLoop( iBegin, iEnd ); + } + } + virtual btScalar parallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ) BT_OVERRIDE + { + BT_PROFILE( "parallelSum_ThreadSupport" ); + btAssert( iEnd >= iBegin ); + btAssert( grainSize >= 1 ); + int iterationCount = iEnd - iBegin; + if ( iterationCount > grainSize && m_numWorkerThreads > 0 && m_antiNestingLock.tryLock() ) + { + typedef ParallelSumJob JobType; + int jobCount = ( iterationCount + grainSize - 1 ) / grainSize; + m_numJobs = jobCount; + btAssert( jobCount >= 2 ); // need more than one job for multithreading + int jobSize = sizeof( JobType ); + for (int i = 0; i < m_numActiveJobQueues; ++i) + { + m_jobQueues[i].clearQueue( jobCount, jobSize ); + } + + // initialize summation + for ( int iThread = 0; iThread < m_numThreads; ++iThread ) + { + m_threadLocalStorage[iThread].m_sumResult = btScalar(0); + } + + // prepare worker threads for incoming work + prepareWorkerThreads(); + // submit all of the jobs + int iJob = 0; + int iThread = kFirstWorkerThreadId; // first worker thread + for ( int i = iBegin; i < iEnd; i += grainSize ) + { + btAssert( iJob < jobCount ); + int iE = btMin( i + grainSize, iEnd ); + JobQueue* jq = m_perThreadJobQueues[ iThread ]; + btAssert(jq); + btAssert((jq - &m_jobQueues[0]) < m_numActiveJobQueues); + void* jobMem = jq->allocJobMem(jobSize); + JobType* job = new ( jobMem ) ParallelSumJob( i, iE, body, &m_threadLocalStorage[0] ); // placement new + jq->submitJob( job ); + iJob++; + iThread++; + if ( iThread >= m_numThreads ) + { + iThread = kFirstWorkerThreadId; // first worker thread + } + } + wakeWorkers( jobCount - 1 ); + + // put the main thread to work on emptying the job queue and then wait for all workers to finish + waitJobs(); + + // add up all the thread sums + btScalar sum = btScalar(0); + for ( int iThread = 0; iThread < m_numThreads; ++iThread ) + { + sum += m_threadLocalStorage[ iThread ].m_sumResult; + } + m_antiNestingLock.unlock(); + return sum; + } + else + { + BT_PROFILE( "parallelSum_mainThread" ); + // just run on main thread + return body.sumLoop( iBegin, iEnd ); + } + } +}; + + + +btITaskScheduler* btCreateDefaultTaskScheduler() +{ + btTaskSchedulerDefault* ts = new btTaskSchedulerDefault(); + ts->init(); + return ts; +} + +#else // #if BT_THREADSAFE + +btITaskScheduler* btCreateDefaultTaskScheduler() +{ + return NULL; +} + +#endif // #else // #if BT_THREADSAFE diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportInterface.h b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportInterface.h new file mode 100644 index 0000000000..a0ad802b1e --- /dev/null +++ b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportInterface.h @@ -0,0 +1,70 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2018 Erwin Coumans http://bulletphysics.com + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef BT_THREAD_SUPPORT_INTERFACE_H +#define BT_THREAD_SUPPORT_INTERFACE_H + + + +class btCriticalSection +{ +public: + btCriticalSection() {} + virtual ~btCriticalSection() {} + + virtual void lock() = 0; + virtual void unlock() = 0; +}; + + +class btThreadSupportInterface +{ +public: + + virtual ~btThreadSupportInterface() {} + + virtual int getNumWorkerThreads() const = 0; // number of worker threads (total number of logical processors - 1) + virtual int getCacheFriendlyNumThreads() const = 0; // the number of logical processors sharing a single L3 cache + virtual int getLogicalToPhysicalCoreRatio() const = 0; // the number of logical processors per physical processor (usually 1 or 2) + virtual void runTask( int threadIndex, void* userData ) = 0; + virtual void waitForAllTasks() = 0; + + virtual btCriticalSection* createCriticalSection() = 0; + virtual void deleteCriticalSection( btCriticalSection* criticalSection ) = 0; + + typedef void( *ThreadFunc )( void* userPtr ); + + struct ConstructionInfo + { + ConstructionInfo( const char* uniqueName, + ThreadFunc userThreadFunc, + int threadStackSize = 65535 + ) + :m_uniqueName( uniqueName ), + m_userThreadFunc( userThreadFunc ), + m_threadStackSize( threadStackSize ) + { + } + + const char* m_uniqueName; + ThreadFunc m_userThreadFunc; + int m_threadStackSize; + }; + + static btThreadSupportInterface* create( const ConstructionInfo& info ); +}; + +#endif //BT_THREAD_SUPPORT_INTERFACE_H + diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp new file mode 100644 index 0000000000..50ca060dfe --- /dev/null +++ b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp @@ -0,0 +1,365 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2018 Erwin Coumans http://bulletphysics.com + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + +#if BT_THREADSAFE && !defined( _WIN32 ) + + +#include "LinearMath/btScalar.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btThreads.h" +#include "LinearMath/btMinMax.h" +#include "btThreadSupportInterface.h" + +#include <stdio.h> +#include <errno.h> +#include <unistd.h> + + +#ifndef _XOPEN_SOURCE +#define _XOPEN_SOURCE 600 //for definition of pthread_barrier_t, see http://pages.cs.wisc.edu/~travitch/pthreads_primer.html +#endif //_XOPEN_SOURCE +#include <pthread.h> +#include <semaphore.h> +#include <unistd.h> //for sysconf + + +/// +/// getNumHardwareThreads() +/// +/// +/// https://stackoverflow.com/questions/150355/programmatically-find-the-number-of-cores-on-a-machine +/// +#if __cplusplus >= 201103L + +#include <thread> + +int btGetNumHardwareThreads() +{ + return btMin<int>(BT_MAX_THREAD_COUNT, std::thread::hardware_concurrency()); +} + +#else + +int btGetNumHardwareThreads() +{ + return btMin<int>(BT_MAX_THREAD_COUNT, sysconf( _SC_NPROCESSORS_ONLN )); +} + +#endif + + +// btThreadSupportPosix helps to initialize/shutdown libspe2, start/stop SPU tasks and communication +class btThreadSupportPosix : public btThreadSupportInterface +{ +public: + struct btThreadStatus + { + int m_taskId; + int m_commandId; + int m_status; + + ThreadFunc m_userThreadFunc; + void* m_userPtr; //for taskDesc etc + + pthread_t thread; + //each tread will wait until this signal to start its work + sem_t* startSemaphore; + + // this is a copy of m_mainSemaphore, + //each tread will signal once it is finished with its work + sem_t* m_mainSemaphore; + unsigned long threadUsed; + }; +private: + typedef unsigned long long UINT64; + + btAlignedObjectArray<btThreadStatus> m_activeThreadStatus; + // m_mainSemaphoresemaphore will signal, if and how many threads are finished with their work + sem_t* m_mainSemaphore; + int m_numThreads; + UINT64 m_startedThreadsMask; + void startThreads( const ConstructionInfo& threadInfo ); + void stopThreads(); + int waitForResponse(); + +public: + btThreadSupportPosix( const ConstructionInfo& threadConstructionInfo ); + virtual ~btThreadSupportPosix(); + + virtual int getNumWorkerThreads() const BT_OVERRIDE { return m_numThreads; } + // TODO: return the number of logical processors sharing the first L3 cache + virtual int getCacheFriendlyNumThreads() const BT_OVERRIDE { return m_numThreads + 1; } + // TODO: detect if CPU has hyperthreading enabled + virtual int getLogicalToPhysicalCoreRatio() const BT_OVERRIDE { return 1; } + + virtual void runTask( int threadIndex, void* userData ) BT_OVERRIDE; + virtual void waitForAllTasks() BT_OVERRIDE; + + virtual btCriticalSection* createCriticalSection() BT_OVERRIDE; + virtual void deleteCriticalSection( btCriticalSection* criticalSection ) BT_OVERRIDE; +}; + + +#define checkPThreadFunction(returnValue) \ + if(0 != returnValue) { \ + printf("PThread problem at line %i in file %s: %i %d\n", __LINE__, __FILE__, returnValue, errno); \ + } + +// The number of threads should be equal to the number of available cores +// Todo: each worker should be linked to a single core, using SetThreadIdealProcessor. + + +btThreadSupportPosix::btThreadSupportPosix( const ConstructionInfo& threadConstructionInfo ) +{ + startThreads( threadConstructionInfo ); +} + +// cleanup/shutdown Libspe2 +btThreadSupportPosix::~btThreadSupportPosix() +{ + stopThreads(); +} + +#if (defined (__APPLE__)) +#define NAMED_SEMAPHORES +#endif + + +static sem_t* createSem( const char* baseName ) +{ + static int semCount = 0; +#ifdef NAMED_SEMAPHORES + /// Named semaphore begin + char name[ 32 ]; + snprintf( name, 32, "/%8.s-%4.d-%4.4d", baseName, getpid(), semCount++ ); + sem_t* tempSem = sem_open( name, O_CREAT, 0600, 0 ); + + if ( tempSem != reinterpret_cast<sem_t *>( SEM_FAILED ) ) + { + // printf("Created \"%s\" Semaphore %p\n", name, tempSem); + } + else + { + //printf("Error creating Semaphore %d\n", errno); + exit( -1 ); + } + /// Named semaphore end +#else + sem_t* tempSem = new sem_t; + checkPThreadFunction( sem_init( tempSem, 0, 0 ) ); +#endif + return tempSem; +} + +static void destroySem( sem_t* semaphore ) +{ +#ifdef NAMED_SEMAPHORES + checkPThreadFunction( sem_close( semaphore ) ); +#else + checkPThreadFunction( sem_destroy( semaphore ) ); + delete semaphore; +#endif +} + +static void *threadFunction( void *argument ) +{ + btThreadSupportPosix::btThreadStatus* status = ( btThreadSupportPosix::btThreadStatus* )argument; + + while ( 1 ) + { + checkPThreadFunction( sem_wait( status->startSemaphore ) ); + void* userPtr = status->m_userPtr; + + if ( userPtr ) + { + btAssert( status->m_status ); + status->m_userThreadFunc( userPtr ); + status->m_status = 2; + checkPThreadFunction( sem_post( status->m_mainSemaphore ) ); + status->threadUsed++; + } + else + { + //exit Thread + status->m_status = 3; + checkPThreadFunction( sem_post( status->m_mainSemaphore ) ); + printf( "Thread with taskId %i exiting\n", status->m_taskId ); + break; + } + } + + printf( "Thread TERMINATED\n" ); + return 0; +} + +///send messages to SPUs +void btThreadSupportPosix::runTask( int threadIndex, void* userData ) +{ + ///we should spawn an SPU task here, and in 'waitForResponse' it should wait for response of the (one of) the first tasks that finished + btThreadStatus& threadStatus = m_activeThreadStatus[ threadIndex ]; + btAssert( threadIndex >= 0 ); + btAssert( threadIndex < m_activeThreadStatus.size() ); + + threadStatus.m_commandId = 1; + threadStatus.m_status = 1; + threadStatus.m_userPtr = userData; + m_startedThreadsMask |= UINT64( 1 ) << threadIndex; + + // fire event to start new task + checkPThreadFunction( sem_post( threadStatus.startSemaphore ) ); +} + + +///check for messages from SPUs +int btThreadSupportPosix::waitForResponse() +{ + ///We should wait for (one of) the first tasks to finish (or other SPU messages), and report its response + ///A possible response can be 'yes, SPU handled it', or 'no, please do a PPU fallback' + + btAssert( m_activeThreadStatus.size() ); + + // wait for any of the threads to finish + checkPThreadFunction( sem_wait( m_mainSemaphore ) ); + // get at least one thread which has finished + size_t last = -1; + + for ( size_t t = 0; t < size_t( m_activeThreadStatus.size() ); ++t ) + { + if ( 2 == m_activeThreadStatus[ t ].m_status ) + { + last = t; + break; + } + } + + btThreadStatus& threadStatus = m_activeThreadStatus[ last ]; + + btAssert( threadStatus.m_status > 1 ); + threadStatus.m_status = 0; + + // need to find an active spu + btAssert( last >= 0 ); + m_startedThreadsMask &= ~( UINT64( 1 ) << last ); + + return last; +} + + +void btThreadSupportPosix::waitForAllTasks() +{ + while ( m_startedThreadsMask ) + { + waitForResponse(); + } +} + + +void btThreadSupportPosix::startThreads( const ConstructionInfo& threadConstructionInfo ) +{ + m_numThreads = btGetNumHardwareThreads() - 1; // main thread exists already + printf( "%s creating %i threads.\n", __FUNCTION__, m_numThreads ); + m_activeThreadStatus.resize( m_numThreads ); + m_startedThreadsMask = 0; + + m_mainSemaphore = createSem( "main" ); + //checkPThreadFunction(sem_wait(mainSemaphore)); + + for ( int i = 0; i < m_numThreads; i++ ) + { + printf( "starting thread %d\n", i ); + btThreadStatus& threadStatus = m_activeThreadStatus[ i ]; + threadStatus.startSemaphore = createSem( "threadLocal" ); + checkPThreadFunction( pthread_create( &threadStatus.thread, NULL, &threadFunction, (void*) &threadStatus ) ); + + threadStatus.m_userPtr = 0; + threadStatus.m_taskId = i; + threadStatus.m_commandId = 0; + threadStatus.m_status = 0; + threadStatus.m_mainSemaphore = m_mainSemaphore; + threadStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc; + threadStatus.threadUsed = 0; + + printf( "started thread %d \n", i ); + } +} + +///tell the task scheduler we are done with the SPU tasks +void btThreadSupportPosix::stopThreads() +{ + for ( size_t t = 0; t < size_t( m_activeThreadStatus.size() ); ++t ) + { + btThreadStatus& threadStatus = m_activeThreadStatus[ t ]; + printf( "%s: Thread %i used: %ld\n", __FUNCTION__, int( t ), threadStatus.threadUsed ); + + threadStatus.m_userPtr = 0; + checkPThreadFunction( sem_post( threadStatus.startSemaphore ) ); + checkPThreadFunction( sem_wait( m_mainSemaphore ) ); + + printf( "destroy semaphore\n" ); + destroySem( threadStatus.startSemaphore ); + printf( "semaphore destroyed\n" ); + checkPThreadFunction( pthread_join( threadStatus.thread, 0 ) ); + + } + printf( "destroy main semaphore\n" ); + destroySem( m_mainSemaphore ); + printf( "main semaphore destroyed\n" ); + m_activeThreadStatus.clear(); +} + +class btCriticalSectionPosix : public btCriticalSection +{ + pthread_mutex_t m_mutex; + +public: + btCriticalSectionPosix() + { + pthread_mutex_init( &m_mutex, NULL ); + } + virtual ~btCriticalSectionPosix() + { + pthread_mutex_destroy( &m_mutex ); + } + + virtual void lock() + { + pthread_mutex_lock( &m_mutex ); + } + virtual void unlock() + { + pthread_mutex_unlock( &m_mutex ); + } +}; + + +btCriticalSection* btThreadSupportPosix::createCriticalSection() +{ + return new btCriticalSectionPosix(); +} + +void btThreadSupportPosix::deleteCriticalSection( btCriticalSection* cs ) +{ + delete cs; +} + + +btThreadSupportInterface* btThreadSupportInterface::create( const ConstructionInfo& info ) +{ + return new btThreadSupportPosix( info ); +} + +#endif // BT_THREADSAFE && !defined( _WIN32 ) + diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp new file mode 100644 index 0000000000..00edac650b --- /dev/null +++ b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp @@ -0,0 +1,472 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2018 Erwin Coumans http://bulletphysics.com + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#if defined( _WIN32 ) && BT_THREADSAFE + +#include "LinearMath/btScalar.h" +#include "LinearMath/btMinMax.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btThreads.h" +#include "btThreadSupportInterface.h" +#include <windows.h> +#include <stdio.h> + + +struct btProcessorInfo +{ + int numLogicalProcessors; + int numCores; + int numNumaNodes; + int numL1Cache; + int numL2Cache; + int numL3Cache; + int numPhysicalPackages; + static const int maxNumTeamMasks = 32; + int numTeamMasks; + UINT64 processorTeamMasks[ maxNumTeamMasks ]; +}; + +UINT64 getProcessorTeamMask( const btProcessorInfo& procInfo, int procId ) +{ + UINT64 procMask = UINT64( 1 ) << procId; + for ( int i = 0; i < procInfo.numTeamMasks; ++i ) + { + if ( procMask & procInfo.processorTeamMasks[ i ] ) + { + return procInfo.processorTeamMasks[ i ]; + } + } + return 0; +} + +int getProcessorTeamIndex( const btProcessorInfo& procInfo, int procId ) +{ + UINT64 procMask = UINT64( 1 ) << procId; + for ( int i = 0; i < procInfo.numTeamMasks; ++i ) + { + if ( procMask & procInfo.processorTeamMasks[ i ] ) + { + return i; + } + } + return -1; +} + +int countSetBits( ULONG64 bits ) +{ + int count = 0; + while ( bits ) + { + if ( bits & 1 ) + { + count++; + } + bits >>= 1; + } + return count; +} + + +typedef BOOL( WINAPI *Pfn_GetLogicalProcessorInformation )( PSYSTEM_LOGICAL_PROCESSOR_INFORMATION, PDWORD ); + + +void getProcessorInformation( btProcessorInfo* procInfo ) +{ + memset( procInfo, 0, sizeof( *procInfo ) ); + Pfn_GetLogicalProcessorInformation getLogicalProcInfo = + (Pfn_GetLogicalProcessorInformation) GetProcAddress( GetModuleHandle( TEXT( "kernel32" ) ), "GetLogicalProcessorInformation" ); + if ( getLogicalProcInfo == NULL ) + { + // no info + return; + } + PSYSTEM_LOGICAL_PROCESSOR_INFORMATION buf = NULL; + DWORD bufSize = 0; + while ( true ) + { + if ( getLogicalProcInfo( buf, &bufSize ) ) + { + break; + } + else + { + if ( GetLastError() == ERROR_INSUFFICIENT_BUFFER ) + { + if ( buf ) + { + free( buf ); + } + buf = (PSYSTEM_LOGICAL_PROCESSOR_INFORMATION) malloc( bufSize ); + } + } + } + + int len = bufSize / sizeof( *buf ); + for ( int i = 0; i < len; ++i ) + { + PSYSTEM_LOGICAL_PROCESSOR_INFORMATION info = buf + i; + switch ( info->Relationship ) + { + case RelationNumaNode: + procInfo->numNumaNodes++; + break; + + case RelationProcessorCore: + procInfo->numCores++; + procInfo->numLogicalProcessors += countSetBits( info->ProcessorMask ); + break; + + case RelationCache: + if ( info->Cache.Level == 1 ) + { + procInfo->numL1Cache++; + } + else if ( info->Cache.Level == 2 ) + { + procInfo->numL2Cache++; + } + else if ( info->Cache.Level == 3 ) + { + procInfo->numL3Cache++; + // processors that share L3 cache are considered to be on the same team + // because they can more easily work together on the same data. + // Large performance penalties will occur if 2 or more threads from different + // teams attempt to frequently read and modify the same cache lines. + // + // On the AMD Ryzen 7 CPU for example, the 8 cores on the CPU are split into + // 2 CCX units of 4 cores each. Each CCX has a separate L3 cache, so if both + // CCXs are operating on the same data, many cycles will be spent keeping the + // two caches coherent. + if ( procInfo->numTeamMasks < btProcessorInfo::maxNumTeamMasks ) + { + procInfo->processorTeamMasks[ procInfo->numTeamMasks ] = info->ProcessorMask; + procInfo->numTeamMasks++; + } + } + break; + + case RelationProcessorPackage: + procInfo->numPhysicalPackages++; + break; + } + } + free( buf ); +} + + + +///btThreadSupportWin32 helps to initialize/shutdown libspe2, start/stop SPU tasks and communication +class btThreadSupportWin32 : public btThreadSupportInterface +{ +public: + struct btThreadStatus + { + int m_taskId; + int m_commandId; + int m_status; + + ThreadFunc m_userThreadFunc; + void* m_userPtr; //for taskDesc etc + + void* m_threadHandle; //this one is calling 'Win32ThreadFunc' + + void* m_eventStartHandle; + char m_eventStartHandleName[ 32 ]; + + void* m_eventCompleteHandle; + char m_eventCompleteHandleName[ 32 ]; + }; + +private: + btAlignedObjectArray<btThreadStatus> m_activeThreadStatus; + btAlignedObjectArray<void*> m_completeHandles; + int m_numThreads; + DWORD_PTR m_startedThreadMask; + btProcessorInfo m_processorInfo; + + void startThreads( const ConstructionInfo& threadInfo ); + void stopThreads(); + int waitForResponse(); + +public: + + btThreadSupportWin32( const ConstructionInfo& threadConstructionInfo ); + virtual ~btThreadSupportWin32(); + + virtual int getNumWorkerThreads() const BT_OVERRIDE { return m_numThreads; } + virtual int getCacheFriendlyNumThreads() const BT_OVERRIDE { return countSetBits(m_processorInfo.processorTeamMasks[0]); } + virtual int getLogicalToPhysicalCoreRatio() const BT_OVERRIDE { return m_processorInfo.numLogicalProcessors / m_processorInfo.numCores; } + + virtual void runTask( int threadIndex, void* userData ) BT_OVERRIDE; + virtual void waitForAllTasks() BT_OVERRIDE; + + virtual btCriticalSection* createCriticalSection() BT_OVERRIDE; + virtual void deleteCriticalSection( btCriticalSection* criticalSection ) BT_OVERRIDE; +}; + + +btThreadSupportWin32::btThreadSupportWin32( const ConstructionInfo & threadConstructionInfo ) +{ + startThreads( threadConstructionInfo ); +} + + +btThreadSupportWin32::~btThreadSupportWin32() +{ + stopThreads(); +} + + +DWORD WINAPI win32threadStartFunc( LPVOID lpParam ) +{ + btThreadSupportWin32::btThreadStatus* status = ( btThreadSupportWin32::btThreadStatus* )lpParam; + + while ( 1 ) + { + WaitForSingleObject( status->m_eventStartHandle, INFINITE ); + void* userPtr = status->m_userPtr; + + if ( userPtr ) + { + btAssert( status->m_status ); + status->m_userThreadFunc( userPtr ); + status->m_status = 2; + SetEvent( status->m_eventCompleteHandle ); + } + else + { + //exit Thread + status->m_status = 3; + printf( "Thread with taskId %i with handle %p exiting\n", status->m_taskId, status->m_threadHandle ); + SetEvent( status->m_eventCompleteHandle ); + break; + } + } + printf( "Thread TERMINATED\n" ); + return 0; +} + + +void btThreadSupportWin32::runTask( int threadIndex, void* userData ) +{ + btThreadStatus& threadStatus = m_activeThreadStatus[ threadIndex ]; + btAssert( threadIndex >= 0 ); + btAssert( int( threadIndex ) < m_activeThreadStatus.size() ); + + threadStatus.m_commandId = 1; + threadStatus.m_status = 1; + threadStatus.m_userPtr = userData; + m_startedThreadMask |= DWORD_PTR( 1 ) << threadIndex; + + ///fire event to start new task + SetEvent( threadStatus.m_eventStartHandle ); +} + + +int btThreadSupportWin32::waitForResponse() +{ + btAssert( m_activeThreadStatus.size() ); + + int last = -1; + DWORD res = WaitForMultipleObjects( m_completeHandles.size(), &m_completeHandles[ 0 ], FALSE, INFINITE ); + btAssert( res != WAIT_FAILED ); + last = res - WAIT_OBJECT_0; + + btThreadStatus& threadStatus = m_activeThreadStatus[ last ]; + btAssert( threadStatus.m_threadHandle ); + btAssert( threadStatus.m_eventCompleteHandle ); + + //WaitForSingleObject(threadStatus.m_eventCompleteHandle, INFINITE); + btAssert( threadStatus.m_status > 1 ); + threadStatus.m_status = 0; + + ///need to find an active spu + btAssert( last >= 0 ); + m_startedThreadMask &= ~( DWORD_PTR( 1 ) << last ); + + return last; +} + + +void btThreadSupportWin32::waitForAllTasks() +{ + while ( m_startedThreadMask ) + { + waitForResponse(); + } +} + + +void btThreadSupportWin32::startThreads( const ConstructionInfo& threadConstructionInfo ) +{ + static int uniqueId = 0; + uniqueId++; + btProcessorInfo& procInfo = m_processorInfo; + getProcessorInformation( &procInfo ); + DWORD_PTR dwProcessAffinityMask = 0; + DWORD_PTR dwSystemAffinityMask = 0; + if ( !GetProcessAffinityMask( GetCurrentProcess(), &dwProcessAffinityMask, &dwSystemAffinityMask ) ) + { + dwProcessAffinityMask = 0; + } + ///The number of threads should be equal to the number of available cores - 1 + m_numThreads = btMin(procInfo.numLogicalProcessors, int(BT_MAX_THREAD_COUNT)) - 1; // cap to max thread count (-1 because main thread already exists) + + m_activeThreadStatus.resize( m_numThreads ); + m_completeHandles.resize( m_numThreads ); + m_startedThreadMask = 0; + + // set main thread affinity + if ( DWORD_PTR mask = dwProcessAffinityMask & getProcessorTeamMask( procInfo, 0 )) + { + SetThreadAffinityMask( GetCurrentThread(), mask ); + SetThreadIdealProcessor( GetCurrentThread(), 0 ); + } + + for ( int i = 0; i < m_numThreads; i++ ) + { + printf( "starting thread %d\n", i ); + + btThreadStatus& threadStatus = m_activeThreadStatus[ i ]; + + LPSECURITY_ATTRIBUTES lpThreadAttributes = NULL; + SIZE_T dwStackSize = threadConstructionInfo.m_threadStackSize; + LPTHREAD_START_ROUTINE lpStartAddress = &win32threadStartFunc; + LPVOID lpParameter = &threadStatus; + DWORD dwCreationFlags = 0; + LPDWORD lpThreadId = 0; + + threadStatus.m_userPtr = 0; + + sprintf( threadStatus.m_eventStartHandleName, "es%.8s%d%d", threadConstructionInfo.m_uniqueName, uniqueId, i ); + threadStatus.m_eventStartHandle = CreateEventA( 0, false, false, threadStatus.m_eventStartHandleName ); + + sprintf( threadStatus.m_eventCompleteHandleName, "ec%.8s%d%d", threadConstructionInfo.m_uniqueName, uniqueId, i ); + threadStatus.m_eventCompleteHandle = CreateEventA( 0, false, false, threadStatus.m_eventCompleteHandleName ); + + m_completeHandles[ i ] = threadStatus.m_eventCompleteHandle; + + HANDLE handle = CreateThread( lpThreadAttributes, dwStackSize, lpStartAddress, lpParameter, dwCreationFlags, lpThreadId ); + //SetThreadPriority( handle, THREAD_PRIORITY_HIGHEST ); + // highest priority -- can cause erratic performance when numThreads > numCores + // we don't want worker threads to be higher priority than the main thread or the main thread could get + // totally shut out and unable to tell the workers to stop + //SetThreadPriority( handle, THREAD_PRIORITY_BELOW_NORMAL ); + + { + int processorId = i + 1; // leave processor 0 for main thread + DWORD_PTR teamMask = getProcessorTeamMask( procInfo, processorId ); + if ( teamMask ) + { + // bind each thread to only execute on processors of it's assigned team + // - for single-socket Intel x86 CPUs this has no effect (only a single, shared L3 cache so there is only 1 team) + // - for multi-socket Intel this will keep threads from migrating from one socket to another + // - for AMD Ryzen this will keep threads from migrating from one CCX to another + DWORD_PTR mask = teamMask & dwProcessAffinityMask; + if ( mask ) + { + SetThreadAffinityMask( handle, mask ); + } + } + SetThreadIdealProcessor( handle, processorId ); + } + + threadStatus.m_taskId = i; + threadStatus.m_commandId = 0; + threadStatus.m_status = 0; + threadStatus.m_threadHandle = handle; + threadStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc; + + printf( "started %s thread %d with threadHandle %p\n", threadConstructionInfo.m_uniqueName, i, handle ); + } +} + +///tell the task scheduler we are done with the SPU tasks +void btThreadSupportWin32::stopThreads() +{ + for ( int i = 0; i < m_activeThreadStatus.size(); i++ ) + { + btThreadStatus& threadStatus = m_activeThreadStatus[ i ]; + if ( threadStatus.m_status > 0 ) + { + WaitForSingleObject( threadStatus.m_eventCompleteHandle, INFINITE ); + } + + threadStatus.m_userPtr = NULL; + SetEvent( threadStatus.m_eventStartHandle ); + WaitForSingleObject( threadStatus.m_eventCompleteHandle, INFINITE ); + + CloseHandle( threadStatus.m_eventCompleteHandle ); + CloseHandle( threadStatus.m_eventStartHandle ); + CloseHandle( threadStatus.m_threadHandle ); + + } + + m_activeThreadStatus.clear(); + m_completeHandles.clear(); +} + + +class btWin32CriticalSection : public btCriticalSection +{ +private: + CRITICAL_SECTION mCriticalSection; + +public: + btWin32CriticalSection() + { + InitializeCriticalSection( &mCriticalSection ); + } + + ~btWin32CriticalSection() + { + DeleteCriticalSection( &mCriticalSection ); + } + + void lock() + { + EnterCriticalSection( &mCriticalSection ); + } + + void unlock() + { + LeaveCriticalSection( &mCriticalSection ); + } +}; + + +btCriticalSection* btThreadSupportWin32::createCriticalSection() +{ + unsigned char* mem = (unsigned char*) btAlignedAlloc( sizeof( btWin32CriticalSection ), 16 ); + btWin32CriticalSection* cs = new( mem ) btWin32CriticalSection(); + return cs; +} + +void btThreadSupportWin32::deleteCriticalSection( btCriticalSection* criticalSection ) +{ + criticalSection->~btCriticalSection(); + btAlignedFree( criticalSection ); +} + + +btThreadSupportInterface* btThreadSupportInterface::create( const ConstructionInfo& info ) +{ + return new btThreadSupportWin32( info ); +} + + + +#endif //defined(_WIN32) && BT_THREADSAFE + diff --git a/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp b/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp index e5f6040c43..0526a42283 100644 --- a/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp +++ b/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp @@ -15,9 +15,11 @@ subject to the following restrictions: #include "btAlignedAllocator.h" +#ifdef BT_DEBUG_MEMORY_ALLOCATIONS int gNumAlignedAllocs = 0; int gNumAlignedFree = 0; int gTotalBytesAlignedAllocs = 0;//detect memory leaks +#endif //BT_DEBUG_MEMORY_ALLOCATIONST_DEBUG_ALLOCATIONS static void *btAllocDefault(size_t size) { @@ -246,7 +248,6 @@ void btAlignedFreeInternal (void* ptr,int line,char* filename) void* btAlignedAllocInternal (size_t size, int alignment) { - gNumAlignedAllocs++; void* ptr; ptr = sAlignedAllocFunc(size, alignment); // printf("btAlignedAllocInternal %d, %x\n",size,ptr); @@ -260,7 +261,6 @@ void btAlignedFreeInternal (void* ptr) return; } - gNumAlignedFree++; // printf("btAlignedFreeInternal %x\n",ptr); sAlignedFreeFunc(ptr); } diff --git a/thirdparty/bullet/LinearMath/btHashMap.h b/thirdparty/bullet/LinearMath/btHashMap.h index 5e9cdb6054..180e7b44af 100644 --- a/thirdparty/bullet/LinearMath/btHashMap.h +++ b/thirdparty/bullet/LinearMath/btHashMap.h @@ -17,12 +17,13 @@ subject to the following restrictions: #ifndef BT_HASH_MAP_H #define BT_HASH_MAP_H +#include <string> #include "btAlignedObjectArray.h" ///very basic hashable string implementation, compatible with btHashMap struct btHashString { - const char* m_string; + std::string m_string1; unsigned int m_hash; SIMD_FORCE_INLINE unsigned int getHash()const @@ -30,8 +31,13 @@ struct btHashString return m_hash; } + btHashString() + { + m_string1=""; + m_hash=0; + } btHashString(const char* name) - :m_string(name) + :m_string1(name) { /* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */ static const unsigned int InitialFNV = 2166136261u; @@ -40,36 +46,18 @@ struct btHashString /* Fowler / Noll / Vo (FNV) Hash */ unsigned int hash = InitialFNV; - for(int i = 0; m_string[i]; i++) + for(int i = 0; m_string1.c_str()[i]; i++) { - hash = hash ^ (m_string[i]); /* xor the low 8 bits */ + hash = hash ^ (m_string1.c_str()[i]); /* xor the low 8 bits */ hash = hash * FNVMultiple; /* multiply by the magic number */ } m_hash = hash; } - int portableStringCompare(const char* src, const char* dst) const - { - int ret = 0 ; - - while( ! (ret = *(const unsigned char *)src - *(const unsigned char *)dst) && *dst) - ++src, ++dst; - - if ( ret < 0 ) - ret = -1 ; - else if ( ret > 0 ) - ret = 1 ; - - return( ret ); - } - bool equals(const btHashString& other) const { - return (m_string == other.m_string) || - (0==portableStringCompare(m_string,other.m_string)); - + return (m_string1 == other.m_string1); } - }; const int BT_HASH_NULL=0xffffffff; diff --git a/thirdparty/bullet/LinearMath/btIDebugDraw.h b/thirdparty/bullet/LinearMath/btIDebugDraw.h index 936aaa896b..b57282717d 100644 --- a/thirdparty/bullet/LinearMath/btIDebugDraw.h +++ b/thirdparty/bullet/LinearMath/btIDebugDraw.h @@ -166,9 +166,9 @@ class btIDebugDraw virtual void drawTransform(const btTransform& transform, btScalar orthoLen) { btVector3 start = transform.getOrigin(); - drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(1.f,0.3,0.3)); - drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(0.3,1.f, 0.3)); - drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0.3, 0.3,1.f)); + drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(btScalar(1.), btScalar(0.3), btScalar(0.3))); + drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(btScalar(0.3), btScalar(1.), btScalar(0.3))); + drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(btScalar(0.3), btScalar(0.3), btScalar(1.))); } virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle, diff --git a/thirdparty/bullet/LinearMath/btMatrix3x3.h b/thirdparty/bullet/LinearMath/btMatrix3x3.h index 9f642a1779..6cc4993da5 100644 --- a/thirdparty/bullet/LinearMath/btMatrix3x3.h +++ b/thirdparty/bullet/LinearMath/btMatrix3x3.h @@ -289,7 +289,7 @@ public: /** @brief Set the matrix from euler angles YPR around ZYX axes * @param eulerX Roll about X axis * @param eulerY Pitch around Y axis - * @param eulerZ Yaw aboud Z axis + * @param eulerZ Yaw about Z axis * * These angles are used to produce a rotation matrix. The euler * angles are applied in ZYX order. I.e a vector is first rotated @@ -514,7 +514,7 @@ public: /**@brief Get the matrix represented as euler angles around ZYX - * @param yaw Yaw around X axis + * @param yaw Yaw around Z axis * @param pitch Pitch around Y axis * @param roll around X axis * @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/ @@ -649,6 +649,10 @@ public: ///extractRotation is from "A robust method to extract the rotational part of deformations" ///See http://dl.acm.org/citation.cfm?doid=2994258.2994269 + ///decomposes a matrix A in a orthogonal matrix R and a + ///symmetric matrix S: + ///A = R*S. + ///note that R can include both rotation and scaling. SIMD_FORCE_INLINE void extractRotation(btQuaternion &q,btScalar tolerance = 1.0e-9, int maxIter=100) { int iter =0; @@ -673,25 +677,93 @@ public: - /**@brief diagonalizes this matrix + + /**@brief diagonalizes this matrix by the Jacobi method. * @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original - * coordinate system, i.e., old_this = rot * new_this * rot^T. + * coordinate system, i.e., old_this = rot * new_this * rot^T. * @param threshold See iteration - * @param maxIter The iteration stops when we hit the given tolerance or when maxIter have been executed. + * @param iteration The iteration stops when all off-diagonal elements are less than the threshold multiplied + * by the sum of the absolute values of the diagonal, or when maxSteps have been executed. + * + * Note that this matrix is assumed to be symmetric. */ - void diagonalize(btMatrix3x3& rot, btScalar tolerance = 1.0e-9, int maxIter=100) + void diagonalize(btMatrix3x3& rot, btScalar threshold, int maxSteps) { - btQuaternion r; - r = btQuaternion::getIdentity(); - extractRotation(r,tolerance,maxIter); - rot.setRotation(r); - btMatrix3x3 rotInv = btMatrix3x3(r.inverse()); - btMatrix3x3 old = *this; - setValue(old.tdotx( rotInv[0]), old.tdoty( rotInv[0]), old.tdotz( rotInv[0]), - old.tdotx( rotInv[1]), old.tdoty( rotInv[1]), old.tdotz( rotInv[1]), - old.tdotx( rotInv[2]), old.tdoty( rotInv[2]), old.tdotz( rotInv[2])); - } + rot.setIdentity(); + for (int step = maxSteps; step > 0; step--) + { + // find off-diagonal element [p][q] with largest magnitude + int p = 0; + int q = 1; + int r = 2; + btScalar max = btFabs(m_el[0][1]); + btScalar v = btFabs(m_el[0][2]); + if (v > max) + { + q = 2; + r = 1; + max = v; + } + v = btFabs(m_el[1][2]); + if (v > max) + { + p = 1; + q = 2; + r = 0; + max = v; + } + + btScalar t = threshold * (btFabs(m_el[0][0]) + btFabs(m_el[1][1]) + btFabs(m_el[2][2])); + if (max <= t) + { + if (max <= SIMD_EPSILON * t) + { + return; + } + step = 1; + } + // compute Jacobi rotation J which leads to a zero for element [p][q] + btScalar mpq = m_el[p][q]; + btScalar theta = (m_el[q][q] - m_el[p][p]) / (2 * mpq); + btScalar theta2 = theta * theta; + btScalar cos; + btScalar sin; + if (theta2 * theta2 < btScalar(10 / SIMD_EPSILON)) + { + t = (theta >= 0) ? 1 / (theta + btSqrt(1 + theta2)) + : 1 / (theta - btSqrt(1 + theta2)); + cos = 1 / btSqrt(1 + t * t); + sin = cos * t; + } + else + { + // approximation for large theta-value, i.e., a nearly diagonal matrix + t = 1 / (theta * (2 + btScalar(0.5) / theta2)); + cos = 1 - btScalar(0.5) * t * t; + sin = cos * t; + } + + // apply rotation to matrix (this = J^T * this * J) + m_el[p][q] = m_el[q][p] = 0; + m_el[p][p] -= t * mpq; + m_el[q][q] += t * mpq; + btScalar mrp = m_el[r][p]; + btScalar mrq = m_el[r][q]; + m_el[r][p] = m_el[p][r] = cos * mrp - sin * mrq; + m_el[r][q] = m_el[q][r] = cos * mrq + sin * mrp; + + // apply rotation to rot (rot = rot * J) + for (int i = 0; i < 3; i++) + { + btVector3& row = rot[i]; + mrp = row[p]; + mrq = row[q]; + row[p] = cos * mrp - sin * mrq; + row[q] = cos * mrq + sin * mrp; + } + } + } diff --git a/thirdparty/bullet/LinearMath/btQuaternion.h b/thirdparty/bullet/LinearMath/btQuaternion.h index 7bd39e6a33..a98fec7bc4 100644 --- a/thirdparty/bullet/LinearMath/btQuaternion.h +++ b/thirdparty/bullet/LinearMath/btQuaternion.h @@ -173,10 +173,28 @@ public: sqy = m_floats[1] * m_floats[1]; sqz = m_floats[2] * m_floats[2]; squ = m_floats[3] * m_floats[3]; - rollX = btAtan2(2 * (m_floats[1] * m_floats[2] + m_floats[3] * m_floats[0]), squ - sqx - sqy + sqz); - sarg = btScalar(-2.) * (m_floats[0] * m_floats[2] - m_floats[3] * m_floats[1]); - pitchY = sarg <= btScalar(-1.0) ? btScalar(-0.5) * SIMD_PI: (sarg >= btScalar(1.0) ? btScalar(0.5) * SIMD_PI : btAsin(sarg)); - yawZ = btAtan2(2 * (m_floats[0] * m_floats[1] + m_floats[3] * m_floats[2]), squ + sqx - sqy - sqz); + sarg = btScalar(-2.) * (m_floats[0] * m_floats[2] - m_floats[3] * m_floats[1]); + + // If the pitch angle is PI/2 or -PI/2, we can only compute + // the sum roll + yaw. However, any combination that gives + // the right sum will produce the correct orientation, so we + // set rollX = 0 and compute yawZ. + if (sarg <= -btScalar(0.99999)) + { + pitchY = btScalar(-0.5)*SIMD_PI; + rollX = 0; + yawZ = btScalar(2) * btAtan2(m_floats[0],-m_floats[1]); + } else if (sarg >= btScalar(0.99999)) + { + pitchY = btScalar(0.5)*SIMD_PI; + rollX = 0; + yawZ = btScalar(2) * btAtan2(-m_floats[0], m_floats[1]); + } else + { + pitchY = btAsin(sarg); + rollX = btAtan2(2 * (m_floats[1] * m_floats[2] + m_floats[3] * m_floats[0]), squ - sqx - sqy + sqz); + yawZ = btAtan2(2 * (m_floats[0] * m_floats[1] + m_floats[3] * m_floats[2]), squ + sqx - sqy - sqz); + } } /**@brief Add two quaternions @@ -602,7 +620,9 @@ public: SIMD_FORCE_INLINE void serialize(struct btQuaternionData& dataOut) const; - SIMD_FORCE_INLINE void deSerialize(const struct btQuaternionData& dataIn); + SIMD_FORCE_INLINE void deSerialize(const struct btQuaternionFloatData& dataIn); + + SIMD_FORCE_INLINE void deSerialize(const struct btQuaternionDoubleData& dataIn); SIMD_FORCE_INLINE void serializeFloat(struct btQuaternionFloatData& dataOut) const; @@ -1003,10 +1023,16 @@ SIMD_FORCE_INLINE void btQuaternion::serialize(struct btQuaternionData& dataOut) dataOut.m_floats[i] = m_floats[i]; } -SIMD_FORCE_INLINE void btQuaternion::deSerialize(const struct btQuaternionData& dataIn) +SIMD_FORCE_INLINE void btQuaternion::deSerialize(const struct btQuaternionFloatData& dataIn) +{ + for (int i = 0; i<4; i++) + m_floats[i] = (btScalar)dataIn.m_floats[i]; +} + +SIMD_FORCE_INLINE void btQuaternion::deSerialize(const struct btQuaternionDoubleData& dataIn) { for (int i=0;i<4;i++) - m_floats[i] = dataIn.m_floats[i]; + m_floats[i] = (btScalar)dataIn.m_floats[i]; } diff --git a/thirdparty/bullet/LinearMath/btQuickprof.cpp b/thirdparty/bullet/LinearMath/btQuickprof.cpp index aed3104a6e..1572b96262 100644 --- a/thirdparty/bullet/LinearMath/btQuickprof.cpp +++ b/thirdparty/bullet/LinearMath/btQuickprof.cpp @@ -680,56 +680,58 @@ void CProfileManager::dumpAll() CProfileManager::Release_Iterator(profileIterator); } +// clang-format off +#if defined(_WIN32) && (defined(__MINGW32__) || defined(__MINGW64__)) + #define BT_HAVE_TLS 1 +#elif __APPLE__ && !TARGET_OS_IPHONE + // TODO: Modern versions of iOS support TLS now with updated version checking. + #define BT_HAVE_TLS 1 +#elif __linux__ + #define BT_HAVE_TLS 1 +#endif +// __thread is broken on Andorid clang until r12b. See +// https://github.com/android-ndk/ndk/issues/8 +#if defined(__ANDROID__) && defined(__clang__) + #if __has_include(<android/ndk-version.h>) + #include <android/ndk-version.h> + #endif // __has_include(<android/ndk-version.h>) + #if defined(__NDK_MAJOR__) && \ + ((__NDK_MAJOR__ < 12) || ((__NDK_MAJOR__ == 12) && (__NDK_MINOR__ < 1))) + #undef BT_HAVE_TLS + #endif +#endif // defined(__ANDROID__) && defined(__clang__) +// clang-format on + +unsigned int btQuickprofGetCurrentThreadIndex2() { + const unsigned int kNullIndex = ~0U; - -unsigned int btQuickprofGetCurrentThreadIndex2() -{ #if BT_THREADSAFE - return btGetCurrentThreadIndex(); -#else // #if BT_THREADSAFE - const unsigned int kNullIndex = ~0U; -#ifdef _WIN32 - #if defined(__MINGW32__) || defined(__MINGW64__) - static __thread unsigned int sThreadIndex = kNullIndex; - #else - __declspec( thread ) static unsigned int sThreadIndex = kNullIndex; - #endif + return btGetCurrentThreadIndex(); #else -#ifdef __APPLE__ - #if TARGET_OS_IPHONE - unsigned int sThreadIndex = 0; - return -1; - #else - static __thread unsigned int sThreadIndex = kNullIndex; - #endif -#else//__APPLE__ -#if __linux__ - static __thread unsigned int sThreadIndex = kNullIndex; +#if defined(BT_HAVE_TLS) + static __thread unsigned int sThreadIndex = kNullIndex; +#elif defined(_WIN32) + __declspec(thread) static unsigned int sThreadIndex = kNullIndex; #else - unsigned int sThreadIndex = 0; - return -1; + unsigned int sThreadIndex = 0; + return -1; #endif -#endif//__APPLE__ - -#endif - static int gThreadCounter=0; - if ( sThreadIndex == kNullIndex ) - { - sThreadIndex = gThreadCounter++; - } - return sThreadIndex; -#endif // #else // #if BT_THREADSAFE + static int gThreadCounter = 0; + + if (sThreadIndex == kNullIndex) { + sThreadIndex = gThreadCounter++; + } + return sThreadIndex; +#endif //BT_THREADSAFE } void btEnterProfileZoneDefault(const char* name) { - CProfileManager::Start_Profile( name ); } void btLeaveProfileZoneDefault() { - CProfileManager::Stop_Profile(); } diff --git a/thirdparty/bullet/LinearMath/btQuickprof.h b/thirdparty/bullet/LinearMath/btQuickprof.h index 7b38d71b90..98a2675771 100644 --- a/thirdparty/bullet/LinearMath/btQuickprof.h +++ b/thirdparty/bullet/LinearMath/btQuickprof.h @@ -70,11 +70,12 @@ void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc); //#define BT_NO_PROFILE 1 #endif //BT_NO_PROFILE +const unsigned int BT_QUICKPROF_MAX_THREAD_COUNT = 64; + #ifndef BT_NO_PROFILE //btQuickprofGetCurrentThreadIndex will return -1 if thread index cannot be determined, //otherwise returns thread index in range [0..maxThreads] unsigned int btQuickprofGetCurrentThreadIndex2(); -const unsigned int BT_QUICKPROF_MAX_THREAD_COUNT = 64; #include <stdio.h>//@todo remove this, backwards compatibility diff --git a/thirdparty/bullet/LinearMath/btScalar.h b/thirdparty/bullet/LinearMath/btScalar.h index bffb2ce274..24e8454c1f 100644 --- a/thirdparty/bullet/LinearMath/btScalar.h +++ b/thirdparty/bullet/LinearMath/btScalar.h @@ -25,7 +25,7 @@ subject to the following restrictions: #include <float.h> /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/ -#define BT_BULLET_VERSION 287 +#define BT_BULLET_VERSION 288 inline int btGetVersion() { diff --git a/thirdparty/bullet/LinearMath/btSerializer.cpp b/thirdparty/bullet/LinearMath/btSerializer.cpp index fcd2255ad5..4faa8f536b 100644 --- a/thirdparty/bullet/LinearMath/btSerializer.cpp +++ b/thirdparty/bullet/LinearMath/btSerializer.cpp @@ -1,5 +1,5 @@ char sBulletDNAstr[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-124),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-76),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), 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+char(8),char(0),char(-95),char(1),char(8),char(0),char(-94),char(1),char(8),char(0),char(-93),char(1),char(8),char(0),char(-92),char(1),char(0),char(0),char(-91),char(1), +char(0),char(0),char(-90),char(1),char(48),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(94),char(0),char(28),char(0),char(15),char(0),char(-114),char(1), +char(13),char(0),char(-113),char(1),char(13),char(0),char(-112),char(1),char(13),char(0),char(-111),char(1),char(13),char(0),char(-110),char(1),char(13),char(0),char(-109),char(1), +char(13),char(0),char(-108),char(1),char(13),char(0),char(-107),char(1),char(13),char(0),char(-106),char(1),char(13),char(0),char(-105),char(1),char(4),char(0),char(-102),char(1), +char(7),char(0),char(-104),char(1),char(4),char(0),char(-103),char(1),char(4),char(0),char(124),char(1),char(7),char(0),char(-100),char(1),char(7),char(0),char(-99),char(1), +char(7),char(0),char(-98),char(1),char(4),char(0),char(-101),char(1),char(7),char(0),char(-97),char(1),char(7),char(0),char(-96),char(1),char(7),char(0),char(-95),char(1), +char(7),char(0),char(-94),char(1),char(7),char(0),char(-93),char(1),char(7),char(0),char(-92),char(1),char(0),char(0),char(-91),char(1),char(0),char(0),char(-90),char(1), +char(50),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(95),char(0),char(11),char(0),char(14),char(0),char(-87),char(1),char(16),char(0),char(-86),char(1), +char(14),char(0),char(-85),char(1),char(14),char(0),char(-84),char(1),char(14),char(0),char(-83),char(1),char(8),char(0),char(-82),char(1),char(4),char(0),char(-121),char(1), +char(0),char(0),char(37),char(0),char(0),char(0),char(-81),char(1),char(93),char(0),char(-128),char(1),char(48),char(0),char(-80),char(1),char(96),char(0),char(10),char(0), +char(13),char(0),char(-87),char(1),char(15),char(0),char(-86),char(1),char(13),char(0),char(-85),char(1),char(13),char(0),char(-84),char(1),char(13),char(0),char(-83),char(1), +char(7),char(0),char(-82),char(1),char(4),char(0),char(-121),char(1),char(0),char(0),char(-81),char(1),char(94),char(0),char(-128),char(1),char(50),char(0),char(-80),char(1), +char(97),char(0),char(4),char(0),char(50),char(0),char(-79),char(1),char(96),char(0),char(-78),char(1),char(4),char(0),char(-77),char(1),char(0),char(0),char(37),char(0), +char(98),char(0),char(4),char(0),char(48),char(0),char(-79),char(1),char(95),char(0),char(-78),char(1),char(4),char(0),char(-77),char(1),char(0),char(0),char(37),char(0), +}; int sBulletDNAlen= sizeof(sBulletDNAstr); diff --git a/thirdparty/bullet/LinearMath/btSerializer.h b/thirdparty/bullet/LinearMath/btSerializer.h index 89b4d74683..39be3f810e 100644 --- a/thirdparty/bullet/LinearMath/btSerializer.h +++ b/thirdparty/bullet/LinearMath/btSerializer.h @@ -62,7 +62,8 @@ enum btSerializationFlags { BT_SERIALIZE_NO_BVH = 1, BT_SERIALIZE_NO_TRIANGLEINFOMAP = 2, - BT_SERIALIZE_NO_DUPLICATE_ASSERT = 4 + BT_SERIALIZE_NO_DUPLICATE_ASSERT = 4, + BT_SERIALIZE_CONTACT_MANIFOLDS = 8, }; class btSerializer @@ -115,6 +116,7 @@ public: #define BT_MULTIBODY_CODE BT_MAKE_ID('M','B','D','Y') +#define BT_MB_LINKCOLLIDER_CODE BT_MAKE_ID('M','B','L','C') #define BT_SOFTBODY_CODE BT_MAKE_ID('S','B','D','Y') #define BT_COLLISIONOBJECT_CODE BT_MAKE_ID('C','O','B','J') #define BT_RIGIDBODY_CODE BT_MAKE_ID('R','B','D','Y') @@ -127,9 +129,9 @@ public: #define BT_SBMATERIAL_CODE BT_MAKE_ID('S','B','M','T') #define BT_SBNODE_CODE BT_MAKE_ID('S','B','N','D') #define BT_DYNAMICSWORLD_CODE BT_MAKE_ID('D','W','L','D') +#define BT_CONTACTMANIFOLD_CODE BT_MAKE_ID('C','O','N','T') #define BT_DNA_CODE BT_MAKE_ID('D','N','A','1') - struct btPointerUid { union @@ -505,7 +507,7 @@ public: buffer[9] = '2'; buffer[10] = '8'; - buffer[11] = '7'; + buffer[11] = '8'; } diff --git a/thirdparty/bullet/LinearMath/btSerializer64.cpp b/thirdparty/bullet/LinearMath/btSerializer64.cpp index 05f59202d7..0aa5cbf30e 100644 --- a/thirdparty/bullet/LinearMath/btSerializer64.cpp +++ b/thirdparty/bullet/LinearMath/btSerializer64.cpp @@ -1,5 +1,5 @@ char sBulletDNAstr64[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-124),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-76),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111), char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110), @@ -72,528 +72,618 @@ char(105),char(115),char(116),char(97),char(110),char(99),char(101),char(84),cha char(101),char(114),char(111),char(65),char(114),char(101),char(97),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(110), char(101),char(120),char(116),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(104),char(97),char(115),char(104),char(84),char(97),char(98),char(108),char(101),char(83), char(105),char(122),char(101),char(0),char(109),char(95),char(110),char(117),char(109),char(86),char(97),char(108),char(117),char(101),char(115),char(0),char(109),char(95),char(110),char(117), -char(109),char(75),char(101),char(121),char(115),char(0),char(109),char(95),char(103),char(105),char(109),char(112),char(97),char(99),char(116),char(83),char(117),char(98),char(84),char(121), -char(112),char(101),char(0),char(42),char(109),char(95),char(117),char(110),char(115),char(99),char(97),char(108),char(101),char(100),char(80),char(111),char(105),char(110),char(116),char(115), -char(70),char(108),char(111),char(97),char(116),char(80),char(116),char(114),char(0),char(42),char(109),char(95),char(117),char(110),char(115),char(99),char(97),char(108),char(101),char(100), -char(80),char(111),char(105),char(110),char(116),char(115),char(68),char(111),char(117),char(98),char(108),char(101),char(80),char(116),char(114),char(0),char(109),char(95),char(110),char(117), 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+char(7),char(0),char(-94),char(1),char(7),char(0),char(-93),char(1),char(7),char(0),char(-92),char(1),char(0),char(0),char(-91),char(1),char(0),char(0),char(-90),char(1), +char(50),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(95),char(0),char(11),char(0),char(14),char(0),char(-87),char(1),char(16),char(0),char(-86),char(1), +char(14),char(0),char(-85),char(1),char(14),char(0),char(-84),char(1),char(14),char(0),char(-83),char(1),char(8),char(0),char(-82),char(1),char(4),char(0),char(-121),char(1), +char(0),char(0),char(37),char(0),char(0),char(0),char(-81),char(1),char(93),char(0),char(-128),char(1),char(48),char(0),char(-80),char(1),char(96),char(0),char(10),char(0), +char(13),char(0),char(-87),char(1),char(15),char(0),char(-86),char(1),char(13),char(0),char(-85),char(1),char(13),char(0),char(-84),char(1),char(13),char(0),char(-83),char(1), +char(7),char(0),char(-82),char(1),char(4),char(0),char(-121),char(1),char(0),char(0),char(-81),char(1),char(94),char(0),char(-128),char(1),char(50),char(0),char(-80),char(1), +char(97),char(0),char(4),char(0),char(50),char(0),char(-79),char(1),char(96),char(0),char(-78),char(1),char(4),char(0),char(-77),char(1),char(0),char(0),char(37),char(0), +char(98),char(0),char(4),char(0),char(48),char(0),char(-79),char(1),char(95),char(0),char(-78),char(1),char(4),char(0),char(-77),char(1),char(0),char(0),char(37),char(0), +}; int sBulletDNAlen64= sizeof(sBulletDNAstr64); diff --git a/thirdparty/bullet/LinearMath/btThreads.cpp b/thirdparty/bullet/LinearMath/btThreads.cpp index 59a7ea36e9..c037626ffb 100644 --- a/thirdparty/bullet/LinearMath/btThreads.cpp +++ b/thirdparty/bullet/LinearMath/btThreads.cpp @@ -453,6 +453,33 @@ void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBod #endif// #if BT_THREADSAFE } +btScalar btParallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ) +{ +#if BT_THREADSAFE + +#if BT_DETECT_BAD_THREAD_INDEX + if ( !btThreadsAreRunning() ) + { + // clear out thread ids + for ( int i = 0; i < BT_MAX_THREAD_COUNT; ++i ) + { + gDebugThreadIds[ i ] = kInvalidThreadId; + } + } +#endif // #if BT_DETECT_BAD_THREAD_INDEX + + btAssert( gBtTaskScheduler != NULL ); // call btSetTaskScheduler() with a valid task scheduler first! + return gBtTaskScheduler->parallelSum( iBegin, iEnd, grainSize, body ); + +#else // #if BT_THREADSAFE + + // non-parallel version of btParallelSum + btAssert( !"called btParallelFor in non-threadsafe build. enable BT_THREADSAFE" ); + return body.sumLoop( iBegin, iEnd ); + +#endif //#else // #if BT_THREADSAFE +} + /// /// btTaskSchedulerSequential -- non-threaded implementation of task scheduler @@ -470,6 +497,11 @@ public: BT_PROFILE( "parallelFor_sequential" ); body.forLoop( iBegin, iEnd ); } + virtual btScalar parallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ) BT_OVERRIDE + { + BT_PROFILE( "parallelSum_sequential" ); + return body.sumLoop( iBegin, iEnd ); + } }; @@ -514,11 +546,25 @@ public: #pragma omp parallel for schedule( static, 1 ) for ( int i = iBegin; i < iEnd; i += grainSize ) { - BT_PROFILE( "OpenMP_job" ); + BT_PROFILE( "OpenMP_forJob" ); body.forLoop( i, ( std::min )( i + grainSize, iEnd ) ); } btPopThreadsAreRunning(); } + virtual btScalar parallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ) BT_OVERRIDE + { + BT_PROFILE( "parallelFor_OpenMP" ); + btPushThreadsAreRunning(); + btScalar sum = btScalar( 0 ); +#pragma omp parallel for schedule( static, 1 ) reduction(+:sum) + for ( int i = iBegin; i < iEnd; i += grainSize ) + { + BT_PROFILE( "OpenMP_sumJob" ); + sum += body.sumLoop( i, ( std::min )( i + grainSize, iEnd ) ); + } + btPopThreadsAreRunning(); + return sum; + } }; #endif // #if BT_USE_OPENMP && BT_THREADSAFE @@ -571,22 +617,21 @@ public: btResetThreadIndexCounter(); } } - struct BodyAdapter + struct ForBodyAdapter { const btIParallelForBody* mBody; + ForBodyAdapter( const btIParallelForBody* body ) : mBody( body ) {} void operator()( const tbb::blocked_range<int>& range ) const { - BT_PROFILE( "TBB_job" ); + BT_PROFILE( "TBB_forJob" ); mBody->forLoop( range.begin(), range.end() ); } }; virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE { BT_PROFILE( "parallelFor_TBB" ); - // TBB dispatch - BodyAdapter tbbBody; - tbbBody.mBody = &body; + ForBodyAdapter tbbBody( &body ); btPushThreadsAreRunning(); tbb::parallel_for( tbb::blocked_range<int>( iBegin, iEnd, grainSize ), tbbBody, @@ -594,6 +639,29 @@ public: ); btPopThreadsAreRunning(); } + struct SumBodyAdapter + { + const btIParallelSumBody* mBody; + btScalar mSum; + + SumBodyAdapter( const btIParallelSumBody* body ) : mBody( body ), mSum( btScalar( 0 ) ) {} + SumBodyAdapter( const SumBodyAdapter& src, tbb::split ) : mBody( src.mBody ), mSum( btScalar( 0 ) ) {} + void join( const SumBodyAdapter& src ) { mSum += src.mSum; } + void operator()( const tbb::blocked_range<int>& range ) + { + BT_PROFILE( "TBB_sumJob" ); + mSum += mBody->sumLoop( range.begin(), range.end() ); + } + }; + virtual btScalar parallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ) BT_OVERRIDE + { + BT_PROFILE( "parallelSum_TBB" ); + SumBodyAdapter tbbBody( &body ); + btPushThreadsAreRunning(); + tbb::parallel_deterministic_reduce( tbb::blocked_range<int>( iBegin, iEnd, grainSize ), tbbBody ); + btPopThreadsAreRunning(); + return tbbBody.mSum; + } }; #endif // #if BT_USE_TBB && BT_THREADSAFE @@ -605,6 +673,7 @@ public: class btTaskSchedulerPPL : public btITaskScheduler { int m_numThreads; + concurrency::combinable<btScalar> m_sum; // for parallelSum public: btTaskSchedulerPPL() : btITaskScheduler( "PPL" ) { @@ -644,15 +713,16 @@ public: btResetThreadIndexCounter(); } } - struct BodyAdapter + struct ForBodyAdapter { const btIParallelForBody* mBody; int mGrainSize; int mIndexEnd; + ForBodyAdapter( const btIParallelForBody* body, int grainSize, int end ) : mBody( body ), mGrainSize( grainSize ), mIndexEnd( end ) {} void operator()( int i ) const { - BT_PROFILE( "PPL_job" ); + BT_PROFILE( "PPL_forJob" ); mBody->forLoop( i, ( std::min )( i + mGrainSize, mIndexEnd ) ); } }; @@ -660,10 +730,36 @@ public: { BT_PROFILE( "parallelFor_PPL" ); // PPL dispatch - BodyAdapter pplBody; - pplBody.mBody = &body; - pplBody.mGrainSize = grainSize; - pplBody.mIndexEnd = iEnd; + ForBodyAdapter pplBody( &body, grainSize, iEnd ); + btPushThreadsAreRunning(); + // note: MSVC 2010 doesn't support partitioner args, so avoid them + concurrency::parallel_for( iBegin, + iEnd, + grainSize, + pplBody + ); + btPopThreadsAreRunning(); + } + struct SumBodyAdapter + { + const btIParallelSumBody* mBody; + concurrency::combinable<btScalar>* mSum; + int mGrainSize; + int mIndexEnd; + + SumBodyAdapter( const btIParallelSumBody* body, concurrency::combinable<btScalar>* sum, int grainSize, int end ) : mBody( body ), mSum(sum), mGrainSize( grainSize ), mIndexEnd( end ) {} + void operator()( int i ) const + { + BT_PROFILE( "PPL_sumJob" ); + mSum->local() += mBody->sumLoop( i, ( std::min )( i + mGrainSize, mIndexEnd ) ); + } + }; + static btScalar sumFunc( btScalar a, btScalar b ) { return a + b; } + virtual btScalar parallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ) BT_OVERRIDE + { + BT_PROFILE( "parallelSum_PPL" ); + m_sum.clear(); + SumBodyAdapter pplBody( &body, &m_sum, grainSize, iEnd ); btPushThreadsAreRunning(); // note: MSVC 2010 doesn't support partitioner args, so avoid them concurrency::parallel_for( iBegin, @@ -672,6 +768,7 @@ public: pplBody ); btPopThreadsAreRunning(); + return m_sum.combine( sumFunc ); } }; #endif // #if BT_USE_PPL && BT_THREADSAFE diff --git a/thirdparty/bullet/LinearMath/btThreads.h b/thirdparty/bullet/LinearMath/btThreads.h index 05fd15ec82..921fd088c0 100644 --- a/thirdparty/bullet/LinearMath/btThreads.h +++ b/thirdparty/bullet/LinearMath/btThreads.h @@ -28,6 +28,8 @@ subject to the following restrictions: #define BT_OVERRIDE #endif +// Don't set this to larger than 64, without modifying btThreadSupportPosix +// and btThreadSupportWin32. They use UINT64 bit-masks. const unsigned int BT_MAX_THREAD_COUNT = 64; // only if BT_THREADSAFE is 1 // for internal use only @@ -72,6 +74,8 @@ SIMD_FORCE_INLINE void btMutexLock( btSpinMutex* mutex ) { #if BT_THREADSAFE mutex->lock(); +#else + (void)mutex; #endif // #if BT_THREADSAFE } @@ -79,6 +83,8 @@ SIMD_FORCE_INLINE void btMutexUnlock( btSpinMutex* mutex ) { #if BT_THREADSAFE mutex->unlock(); +#else + (void)mutex; #endif // #if BT_THREADSAFE } @@ -87,6 +93,7 @@ SIMD_FORCE_INLINE bool btMutexTryLock( btSpinMutex* mutex ) #if BT_THREADSAFE return mutex->tryLock(); #else + (void)mutex; return true; #endif // #if BT_THREADSAFE } @@ -103,6 +110,17 @@ public: }; // +// btIParallelSumBody -- subclass this to express work that can be done in parallel +// and produces a sum over all loop elements +// +class btIParallelSumBody +{ +public: + virtual ~btIParallelSumBody() {} + virtual btScalar sumLoop( int iBegin, int iEnd ) const = 0; +}; + +// // btITaskScheduler -- subclass this to implement a task scheduler that can dispatch work to // worker threads // @@ -117,6 +135,8 @@ public: virtual int getNumThreads() const = 0; virtual void setNumThreads( int numThreads ) = 0; virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) = 0; + virtual btScalar parallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ) = 0; + virtual void sleepWorkerThreadsHint() {} // hint the task scheduler that we may not be using these threads for a little while // internal use only virtual void activate(); @@ -138,6 +158,9 @@ btITaskScheduler* btGetTaskScheduler(); // get non-threaded task scheduler (always available) btITaskScheduler* btGetSequentialTaskScheduler(); +// create a default task scheduler (Win32 or pthreads based) +btITaskScheduler* btCreateDefaultTaskScheduler(); + // get OpenMP task scheduler (if available, otherwise returns null) btITaskScheduler* btGetOpenMPTaskScheduler(); @@ -151,5 +174,9 @@ btITaskScheduler* btGetPPLTaskScheduler(); // (iterations may be done out of order, so no dependencies are allowed) void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ); +// btParallelSum -- call this to dispatch work like a for-loop, returns the sum of all iterations +// (iterations may be done out of order, so no dependencies are allowed) +btScalar btParallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ); + #endif diff --git a/thirdparty/bullet/LinearMath/btVector3.h b/thirdparty/bullet/LinearMath/btVector3.h index c69effa96e..76024f1236 100644 --- a/thirdparty/bullet/LinearMath/btVector3.h +++ b/thirdparty/bullet/LinearMath/btVector3.h @@ -705,7 +705,9 @@ public: SIMD_FORCE_INLINE void serialize(struct btVector3Data& dataOut) const; - SIMD_FORCE_INLINE void deSerialize(const struct btVector3Data& dataIn); + SIMD_FORCE_INLINE void deSerialize(const struct btVector3DoubleData& dataIn); + + SIMD_FORCE_INLINE void deSerialize(const struct btVector3FloatData& dataIn); SIMD_FORCE_INLINE void serializeFloat(struct btVector3FloatData& dataOut) const; @@ -1236,9 +1238,9 @@ public: ///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization SIMD_FORCE_INLINE void btSwapScalarEndian(const btScalar& sourceVal, btScalar& destVal) { - #ifdef BT_USE_DOUBLE_PRECISION +#ifdef BT_USE_DOUBLE_PRECISION unsigned char* dest = (unsigned char*) &destVal; - unsigned char* src = (unsigned char*) &sourceVal; + const unsigned char* src = (const unsigned char*) &sourceVal; dest[0] = src[7]; dest[1] = src[6]; dest[2] = src[5]; @@ -1249,7 +1251,7 @@ SIMD_FORCE_INLINE void btSwapScalarEndian(const btScalar& sourceVal, btScalar& d dest[7] = src[0]; #else unsigned char* dest = (unsigned char*) &destVal; - unsigned char* src = (unsigned char*) &sourceVal; + const unsigned char* src = (const unsigned char*) &sourceVal; dest[0] = src[3]; dest[1] = src[2]; dest[2] = src[1]; @@ -1354,10 +1356,18 @@ SIMD_FORCE_INLINE void btVector3::serialize(struct btVector3Data& dataOut) const dataOut.m_floats[i] = m_floats[i]; } -SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3Data& dataIn) + +SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3FloatData& dataIn) +{ + for (int i = 0; i<4; i++) + m_floats[i] = (btScalar)dataIn.m_floats[i]; +} + + +SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3DoubleData& dataIn) { for (int i=0;i<4;i++) - m_floats[i] = dataIn.m_floats[i]; + m_floats[i] = (btScalar)dataIn.m_floats[i]; } #endif //BT_VECTOR3_H diff --git a/thirdparty/bullet/clew/clew.c b/thirdparty/bullet/clew/clew.c index a07b0aad75..5afc42a485 100644 --- a/thirdparty/bullet/clew/clew.c +++ b/thirdparty/bullet/clew/clew.c @@ -15,7 +15,7 @@ typedef HMODULE CLEW_DYNLIB_HANDLE; - #define CLEW_DYNLIB_OPEN LoadLibrary + #define CLEW_DYNLIB_OPEN LoadLibraryA #define CLEW_DYNLIB_CLOSE FreeLibrary #define CLEW_DYNLIB_IMPORT GetProcAddress #else |