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-rw-r--r--.github/workflows/linux_builds.yml17
-rw-r--r--core/string/optimized_translation.cpp1
-rw-r--r--doc/classes/ProjectSettings.xml4
-rw-r--r--editor/import/resource_importer_scene.cpp149
-rw-r--r--editor/import/resource_importer_scene.h2
-rw-r--r--editor/import/scene_importer_mesh.cpp130
-rw-r--r--editor/import/scene_importer_mesh.h2
-rw-r--r--modules/gdscript/gdscript_editor.cpp7
-rw-r--r--modules/lightmapper_rd/lightmapper_rd.cpp86
-rw-r--r--modules/lightmapper_rd/lightmapper_rd.h2
-rw-r--r--modules/lightmapper_rd/lm_common_inc.glsl7
-rw-r--r--modules/lightmapper_rd/lm_compute.glsl21
-rw-r--r--modules/tinyexr/image_saver_tinyexr.cpp2
-rw-r--r--modules/xatlas_unwrap/register_types.cpp210
-rw-r--r--scene/gui/text_edit.cpp16
-rw-r--r--scene/resources/mesh.cpp134
-rw-r--r--scene/resources/mesh.h2
-rw-r--r--servers/physics_2d/area_pair_2d_sw.cpp102
-rw-r--r--servers/physics_2d/area_pair_2d_sw.h32
-rw-r--r--servers/physics_2d/body_2d_sw.cpp35
-rw-r--r--servers/physics_2d/body_pair_2d_sw.cpp89
-rw-r--r--servers/physics_2d/body_pair_2d_sw.h24
-rw-r--r--servers/physics_2d/collision_object_2d_sw.h4
-rw-r--r--servers/physics_2d/constraint_2d_sw.h1
-rw-r--r--servers/physics_2d/joints_2d_sw.cpp92
-rw-r--r--servers/physics_2d/joints_2d_sw.h31
-rw-r--r--servers/physics_2d/step_2d_sw.cpp157
-rw-r--r--servers/physics_2d/step_2d_sw.h15
-rw-r--r--servers/physics_3d/area_pair_3d_sw.cpp102
-rw-r--r--servers/physics_3d/area_pair_3d_sw.h16
-rw-r--r--servers/physics_3d/body_3d_sw.cpp35
-rw-r--r--servers/physics_3d/body_pair_3d_sw.cpp137
-rw-r--r--servers/physics_3d/body_pair_3d_sw.h38
-rw-r--r--servers/physics_3d/constraint_3d_sw.h7
-rw-r--r--servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp29
-rw-r--r--servers/physics_3d/joints/cone_twist_joint_3d_sw.h6
-rw-r--r--servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp25
-rw-r--r--servers/physics_3d/joints/generic_6dof_joint_3d_sw.h9
-rw-r--r--servers/physics_3d/joints/hinge_joint_3d_sw.cpp37
-rw-r--r--servers/physics_3d/joints/hinge_joint_3d_sw.h6
-rw-r--r--servers/physics_3d/joints/pin_joint_3d_sw.cpp13
-rw-r--r--servers/physics_3d/joints/pin_joint_3d_sw.h6
-rw-r--r--servers/physics_3d/joints/slider_joint_3d_sw.cpp45
-rw-r--r--servers/physics_3d/joints/slider_joint_3d_sw.h6
-rw-r--r--servers/physics_3d/joints_3d_sw.h9
-rw-r--r--servers/physics_3d/soft_body_3d_sw.h5
-rw-r--r--servers/physics_3d/step_3d_sw.cpp227
-rw-r--r--servers/physics_3d/step_3d_sw.h16
-rw-r--r--servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.cpp1
-rw-r--r--servers/rendering/renderer_rd/renderer_scene_render_rd.cpp2
-rw-r--r--servers/rendering/renderer_rd/renderer_scene_render_rd.h5
-rw-r--r--servers/rendering/renderer_rd/shaders/light_data_inc.glsl8
-rw-r--r--servers/rendering/renderer_rd/shaders/scene_forward_clustered.glsl12
-rw-r--r--servers/rendering/renderer_scene_cull.cpp2
-rw-r--r--servers/rendering_server.cpp4
-rw-r--r--thirdparty/oidn/core/transfer_function.cpp107
-rw-r--r--thirdparty/oidn/patches/godot-changes-c58c5216.patch68
57 files changed, 1398 insertions, 959 deletions
diff --git a/.github/workflows/linux_builds.yml b/.github/workflows/linux_builds.yml
index 7b144e6e43..0982d768d6 100644
--- a/.github/workflows/linux_builds.yml
+++ b/.github/workflows/linux_builds.yml
@@ -70,6 +70,23 @@ jobs:
run: |
./bin/godot.linuxbsd.opt.tools.64 --test
+ # Download, unzip and setup SwiftShader library [d4550ab8d3f]
+ - name: Download SwiftShader
+ run: |
+ wget https://github.com/qarmin/gtk_library_store/releases/download/3.24.0/swiftshader.zip
+ unzip swiftshader.zip
+ rm swiftshader.zip
+ curr="$(pwd)/libvk_swiftshader.so"
+ sed -i "s|PATH_TO_CHANGE|$curr|" vk_swiftshader_icd.json
+
+ # Check class reference
+ - name: Check for class reference updates
+ run: |
+ echo "Running --doctool to see if this changes the public API without updating the documentation."
+ echo -e "If a diff is shown, it means that your code/doc changes are incomplete and you should update the class reference with --doctool.\n\n"
+ VK_ICD_FILENAMES=$(pwd)/vk_swiftshader_icd.json DRI_PRIME=0 xvfb-run bin/godot.linuxbsd.opt.tools.64 --doctool . 2>&1 > /dev/null || true
+ git diff --color --exit-code
+
- uses: actions/upload-artifact@v2
with:
name: ${{ github.job }}
diff --git a/core/string/optimized_translation.cpp b/core/string/optimized_translation.cpp
index 53d0a8924d..268562d971 100644
--- a/core/string/optimized_translation.cpp
+++ b/core/string/optimized_translation.cpp
@@ -46,6 +46,7 @@ void OptimizedTranslation::generate(const Ref<Translation> &p_from) {
// This method compresses a Translation instance.
// Right now, it doesn't handle context or plurals, so Translation subclasses using plurals or context (i.e TranslationPO) shouldn't be compressed.
#ifdef TOOLS_ENABLED
+ ERR_FAIL_COND(p_from.is_null());
List<StringName> keys;
p_from->get_message_list(&keys);
diff --git a/doc/classes/ProjectSettings.xml b/doc/classes/ProjectSettings.xml
index b123e17576..005873c2ff 100644
--- a/doc/classes/ProjectSettings.xml
+++ b/doc/classes/ProjectSettings.xml
@@ -1579,6 +1579,10 @@
</member>
<member name="rendering/vulkan/descriptor_pools/max_descriptors_per_pool" type="int" setter="" getter="" default="64">
</member>
+ <member name="rendering/vulkan/rendering/back_end" type="int" setter="" getter="" default="0">
+ </member>
+ <member name="rendering/vulkan/rendering/back_end.mobile" type="int" setter="" getter="" default="1">
+ </member>
<member name="rendering/vulkan/staging_buffer/block_size_kb" type="int" setter="" getter="" default="256">
</member>
<member name="rendering/vulkan/staging_buffer/max_size_mb" type="int" setter="" getter="" default="128">
diff --git a/editor/import/resource_importer_scene.cpp b/editor/import/resource_importer_scene.cpp
index 4bb56beaeb..96002400f3 100644
--- a/editor/import/resource_importer_scene.cpp
+++ b/editor/import/resource_importer_scene.cpp
@@ -1136,7 +1136,7 @@ Ref<Animation> ResourceImporterScene::import_animation_from_other_importer(Edito
return importer->import_animation(p_path, p_flags, p_bake_fps);
}
-void ResourceImporterScene::_generate_meshes(Node *p_node, const Dictionary &p_mesh_data, bool p_generate_lods, bool p_create_shadow_meshes, LightBakeMode p_light_bake_mode, float p_lightmap_texel_size, const Vector<uint8_t> &p_src_lightmap_cache, Vector<uint8_t> &r_dst_lightmap_cache) {
+void ResourceImporterScene::_generate_meshes(Node *p_node, const Dictionary &p_mesh_data, bool p_generate_lods, bool p_create_shadow_meshes, LightBakeMode p_light_bake_mode, float p_lightmap_texel_size, const Vector<uint8_t> &p_src_lightmap_cache, Vector<Vector<uint8_t>> &r_lightmap_caches) {
EditorSceneImporterMeshNode3D *src_mesh_node = Object::cast_to<EditorSceneImporterMeshNode3D>(p_node);
if (src_mesh_node) {
//is mesh
@@ -1216,7 +1216,28 @@ void ResourceImporterScene::_generate_meshes(Node *p_node, const Dictionary &p_m
n = n->get_parent_spatial();
}
- //use xf as transform for mesh, and bake it
+ Vector<uint8_t> lightmap_cache;
+ src_mesh_node->get_mesh()->lightmap_unwrap_cached(xf, p_lightmap_texel_size, p_src_lightmap_cache, lightmap_cache);
+
+ if (!lightmap_cache.is_empty()) {
+ if (r_lightmap_caches.is_empty()) {
+ r_lightmap_caches.push_back(lightmap_cache);
+ } else {
+ String new_md5 = String::md5(lightmap_cache.ptr()); // MD5 is stored at the beginning of the cache data
+
+ for (int i = 0; i < r_lightmap_caches.size(); i++) {
+ String md5 = String::md5(r_lightmap_caches[i].ptr());
+ if (new_md5 < md5) {
+ r_lightmap_caches.insert(i, lightmap_cache);
+ break;
+ }
+
+ if (new_md5 == md5) {
+ break;
+ }
+ }
+ }
+ }
}
if (save_to_file != String()) {
@@ -1265,7 +1286,7 @@ void ResourceImporterScene::_generate_meshes(Node *p_node, const Dictionary &p_m
}
for (int i = 0; i < p_node->get_child_count(); i++) {
- _generate_meshes(p_node->get_child(i), p_mesh_data, p_generate_lods, p_create_shadow_meshes, p_light_bake_mode, p_lightmap_texel_size, p_src_lightmap_cache, r_dst_lightmap_cache);
+ _generate_meshes(p_node->get_child(i), p_mesh_data, p_generate_lods, p_create_shadow_meshes, p_light_bake_mode, p_lightmap_texel_size, p_src_lightmap_cache, r_lightmap_caches);
}
}
@@ -1433,7 +1454,7 @@ Error ResourceImporterScene::import(const String &p_source_file, const String &p
float lightmap_texel_size = MAX(0.001, texel_size);
Vector<uint8_t> src_lightmap_cache;
- Vector<uint8_t> dst_lightmap_cache;
+ Vector<Vector<uint8_t>> mesh_lightmap_caches;
{
src_lightmap_cache = FileAccess::get_file_as_array(p_source_file + ".unwrap_cache", &err);
@@ -1446,124 +1467,20 @@ Error ResourceImporterScene::import(const String &p_source_file, const String &p
if (subresources.has("meshes")) {
mesh_data = subresources["meshes"];
}
- _generate_meshes(scene, mesh_data, gen_lods, create_shadow_meshes, LightBakeMode(light_bake_mode), lightmap_texel_size, src_lightmap_cache, dst_lightmap_cache);
+ _generate_meshes(scene, mesh_data, gen_lods, create_shadow_meshes, LightBakeMode(light_bake_mode), lightmap_texel_size, src_lightmap_cache, mesh_lightmap_caches);
- if (dst_lightmap_cache.size()) {
+ if (mesh_lightmap_caches.size()) {
FileAccessRef f = FileAccess::open(p_source_file + ".unwrap_cache", FileAccess::WRITE);
if (f) {
- f->store_buffer(dst_lightmap_cache.ptr(), dst_lightmap_cache.size());
- }
- }
- err = OK;
-
-#if 0
- if (light_bake_mode == 2 /* || generate LOD */) {
- Map<Ref<ArrayMesh>, Transform> meshes;
- _find_meshes(scene, meshes);
-
- String file_id = src_path.get_file();
- String cache_file_path = base_path.plus_file(file_id + ".unwrap_cache");
-
- Vector<unsigned char> cache_data;
-
- if (FileAccess::exists(cache_file_path)) {
- Error err2;
- FileAccess *file = FileAccess::open(cache_file_path, FileAccess::READ, &err2);
-
- if (err2) {
- if (file) {
- memdelete(file);
- }
- } else {
- int cache_size = file->get_len();
- cache_data.resize(cache_size);
- file->get_buffer(cache_data.ptrw(), cache_size);
+ f->store_32(mesh_lightmap_caches.size());
+ for (int i = 0; i < mesh_lightmap_caches.size(); i++) {
+ String md5 = String::md5(mesh_lightmap_caches[i].ptr());
+ f->store_buffer(mesh_lightmap_caches[i].ptr(), mesh_lightmap_caches[i].size());
}
- }
-
- Map<String, unsigned int> used_unwraps;
-
- EditorProgress progress2("gen_lightmaps", TTR("Generating Lightmaps"), meshes.size());
- int step = 0;
- for (Map<Ref<ArrayMesh>, Transform>::Element *E = meshes.front(); E; E = E->next()) {
- Ref<ArrayMesh> mesh = E->key();
- String name = mesh->get_name();
- if (name == "") { //should not happen but..
- name = "Mesh " + itos(step);
- }
-
- progress2.step(TTR("Generating for Mesh: ") + name + " (" + itos(step) + "/" + itos(meshes.size()) + ")", step);
-
- int *ret_cache_data = (int *)cache_data.ptrw();
- unsigned int ret_cache_size = cache_data.size();
- bool ret_used_cache = true; // Tell the unwrapper to use the cache
- Error err2 = mesh->lightmap_unwrap_cached(ret_cache_data, ret_cache_size, ret_used_cache, E->get(), texel_size);
-
- if (err2 != OK) {
- EditorNode::add_io_error("Mesh '" + name + "' failed lightmap generation. Please fix geometry.");
- } else {
-` String hash = String::md5((unsigned char *)ret_cache_data);
- used_unwraps.insert(hash, ret_cache_size);
-
- if (!ret_used_cache) {
- // Cache was not used, add the generated entry to the current cache
- if (cache_data.is_empty()) {
- cache_data.resize(4 + ret_cache_size);
- int *data = (int *)cache_data.ptrw();
- data[0] = 1;
- memcpy(&data[1], ret_cache_data, ret_cache_size);
- } else {
- int current_size = cache_data.size();
- cache_data.resize(cache_data.size() + ret_cache_size);
- unsigned char *ptrw = cache_data.ptrw();
- memcpy(&ptrw[current_size], ret_cache_data, ret_cache_size);
- int *data = (int *)ptrw;
- data[0] += 1;
- }
- }
- }
- step++;
- }
-
- Error err2;
- FileAccess *file = FileAccess::open(cache_file_path, FileAccess::WRITE, &err2);
-
- if (err2) {
- if (file) {
- memdelete(file);
- }
- } else {
- // Store number of entries
- file->store_32(used_unwraps.size());
-
- // Store cache entries
- const int *cache = (int *)cache_data.ptr();
- unsigned int r_idx = 1;
- for (int i = 0; i < cache[0]; ++i) {
- unsigned char *entry_start = (unsigned char *)&cache[r_idx];
- String entry_hash = String::md5(entry_start);
- if (used_unwraps.has(entry_hash)) {
- unsigned int entry_size = used_unwraps[entry_hash];
- file->store_buffer(entry_start, entry_size);
- }
-
- r_idx += 4; // hash
- r_idx += 2; // size hint
-
- int vertex_count = cache[r_idx];
- r_idx += 1; // vertex count
- r_idx += vertex_count; // vertex
- r_idx += vertex_count * 2; // uvs
-
- int index_count = cache[r_idx];
- r_idx += 1; // index count
- r_idx += index_count; // indices
- }
-
- file->close();
+ f->close();
}
}
-#endif
+ err = OK;
progress.step(TTR("Running Custom Script..."), 2);
diff --git a/editor/import/resource_importer_scene.h b/editor/import/resource_importer_scene.h
index 00039f2ac6..8cb84abce2 100644
--- a/editor/import/resource_importer_scene.h
+++ b/editor/import/resource_importer_scene.h
@@ -119,7 +119,7 @@ class ResourceImporterScene : public ResourceImporter {
};
void _replace_owner(Node *p_node, Node *p_scene, Node *p_new_owner);
- void _generate_meshes(Node *p_node, const Dictionary &p_mesh_data, bool p_generate_lods, bool p_create_shadow_meshes, LightBakeMode p_light_bake_mode, float p_lightmap_texel_size, const Vector<uint8_t> &p_src_lightmap_cache, Vector<uint8_t> &r_dst_lightmap_cache);
+ void _generate_meshes(Node *p_node, const Dictionary &p_mesh_data, bool p_generate_lods, bool p_create_shadow_meshes, LightBakeMode p_light_bake_mode, float p_lightmap_texel_size, const Vector<uint8_t> &p_src_lightmap_cache, Vector<Vector<uint8_t>> &r_lightmap_caches);
void _add_shapes(Node *p_node, const List<Ref<Shape3D>> &p_shapes);
public:
diff --git a/editor/import/scene_importer_mesh.cpp b/editor/import/scene_importer_mesh.cpp
index 28fdd4ddbd..bc7e8a1626 100644
--- a/editor/import/scene_importer_mesh.cpp
+++ b/editor/import/scene_importer_mesh.cpp
@@ -583,7 +583,7 @@ Ref<NavigationMesh> EditorSceneImporterMesh::create_navigation_mesh() {
return nm;
}
-extern bool (*array_mesh_lightmap_unwrap_callback)(float p_texel_size, const float *p_vertices, const float *p_normals, int p_vertex_count, const int *p_indices, int p_index_count, float **r_uv, int **r_vertex, int *r_vertex_count, int **r_index, int *r_index_count, int *r_size_hint_x, int *r_size_hint_y, int *&r_cache_data, unsigned int &r_cache_size, bool &r_used_cache);
+extern bool (*array_mesh_lightmap_unwrap_callback)(float p_texel_size, const float *p_vertices, const float *p_normals, int p_vertex_count, const int *p_indices, int p_index_count, const uint8_t *p_cache_data, bool *r_use_cache, uint8_t **r_mesh_cache, int *r_mesh_cache_size, float **r_uv, int **r_vertex, int *r_vertex_count, int **r_index, int *r_index_count, int *r_size_hint_x, int *r_size_hint_y);
struct EditorSceneImporterMeshLightmapSurface {
Ref<Material> material;
@@ -593,22 +593,24 @@ struct EditorSceneImporterMeshLightmapSurface {
String name;
};
-Error EditorSceneImporterMesh::lightmap_unwrap_cached(int *&r_cache_data, unsigned int &r_cache_size, bool &r_used_cache, const Transform &p_base_transform, float p_texel_size) {
+Error EditorSceneImporterMesh::lightmap_unwrap_cached(const Transform &p_base_transform, float p_texel_size, const Vector<uint8_t> &p_src_cache, Vector<uint8_t> &r_dst_cache) {
ERR_FAIL_COND_V(!array_mesh_lightmap_unwrap_callback, ERR_UNCONFIGURED);
ERR_FAIL_COND_V_MSG(blend_shapes.size() != 0, ERR_UNAVAILABLE, "Can't unwrap mesh with blend shapes.");
- Vector<float> vertices;
- Vector<float> normals;
- Vector<int> indices;
- Vector<float> uv;
- Vector<Pair<int, int>> uv_indices;
+ LocalVector<float> vertices;
+ LocalVector<float> normals;
+ LocalVector<int> indices;
+ LocalVector<float> uv;
+ LocalVector<Pair<int, int>> uv_indices;
Vector<EditorSceneImporterMeshLightmapSurface> lightmap_surfaces;
// Keep only the scale
- Transform transform = p_base_transform;
- transform.origin = Vector3();
- transform.looking_at(Vector3(1, 0, 0), Vector3(0, 1, 0));
+ Basis basis = p_base_transform.get_basis();
+ Vector3 scale = Vector3(basis.get_axis(0).length(), basis.get_axis(1).length(), basis.get_axis(2).length());
+
+ Transform transform;
+ transform.scale(scale);
Basis normal_basis = transform.basis.inverse().transposed();
@@ -623,15 +625,10 @@ Error EditorSceneImporterMesh::lightmap_unwrap_cached(int *&r_cache_data, unsign
SurfaceTool::create_vertex_array_from_triangle_arrays(arrays, s.vertices, &s.format);
- Vector<Vector3> rvertices = arrays[Mesh::ARRAY_VERTEX];
+ PackedVector3Array rvertices = arrays[Mesh::ARRAY_VERTEX];
int vc = rvertices.size();
- const Vector3 *r = rvertices.ptr();
-
- Vector<Vector3> rnormals = arrays[Mesh::ARRAY_NORMAL];
-
- ERR_FAIL_COND_V_MSG(rnormals.size() == 0, ERR_UNAVAILABLE, "Normals are required for lightmap unwrap.");
- const Vector3 *rn = rnormals.ptr();
+ PackedVector3Array rnormals = arrays[Mesh::ARRAY_NORMAL];
int vertex_ofs = vertices.size() / 3;
@@ -640,24 +637,29 @@ Error EditorSceneImporterMesh::lightmap_unwrap_cached(int *&r_cache_data, unsign
uv_indices.resize(vertex_ofs + vc);
for (int j = 0; j < vc; j++) {
- Vector3 v = transform.xform(r[j]);
- Vector3 n = normal_basis.xform(rn[j]).normalized();
-
- vertices.write[(j + vertex_ofs) * 3 + 0] = v.x;
- vertices.write[(j + vertex_ofs) * 3 + 1] = v.y;
- vertices.write[(j + vertex_ofs) * 3 + 2] = v.z;
- normals.write[(j + vertex_ofs) * 3 + 0] = n.x;
- normals.write[(j + vertex_ofs) * 3 + 1] = n.y;
- normals.write[(j + vertex_ofs) * 3 + 2] = n.z;
- uv_indices.write[j + vertex_ofs] = Pair<int, int>(i, j);
+ Vector3 v = transform.xform(rvertices[j]);
+ Vector3 n = normal_basis.xform(rnormals[j]).normalized();
+
+ vertices[(j + vertex_ofs) * 3 + 0] = v.x;
+ vertices[(j + vertex_ofs) * 3 + 1] = v.y;
+ vertices[(j + vertex_ofs) * 3 + 2] = v.z;
+ normals[(j + vertex_ofs) * 3 + 0] = n.x;
+ normals[(j + vertex_ofs) * 3 + 1] = n.y;
+ normals[(j + vertex_ofs) * 3 + 2] = n.z;
+ uv_indices[j + vertex_ofs] = Pair<int, int>(i, j);
}
- Vector<int> rindices = arrays[Mesh::ARRAY_INDEX];
+ PackedInt32Array rindices = arrays[Mesh::ARRAY_INDEX];
int ic = rindices.size();
+ float eps = 1.19209290e-7F; // Taken from xatlas.h
if (ic == 0) {
for (int j = 0; j < vc / 3; j++) {
- if (Face3(r[j * 3 + 0], r[j * 3 + 1], r[j * 3 + 2]).is_degenerate()) {
+ Vector3 p0 = transform.xform(rvertices[j * 3 + 0]);
+ Vector3 p1 = transform.xform(rvertices[j * 3 + 1]);
+ Vector3 p2 = transform.xform(rvertices[j * 3 + 2]);
+
+ if ((p0 - p1).length_squared() < eps || (p1 - p2).length_squared() < eps || (p2 - p0).length_squared() < eps) {
continue;
}
@@ -667,15 +669,18 @@ Error EditorSceneImporterMesh::lightmap_unwrap_cached(int *&r_cache_data, unsign
}
} else {
- const int *ri = rindices.ptr();
-
for (int j = 0; j < ic / 3; j++) {
- if (Face3(r[ri[j * 3 + 0]], r[ri[j * 3 + 1]], r[ri[j * 3 + 2]]).is_degenerate()) {
+ Vector3 p0 = transform.xform(rvertices[rindices[j * 3 + 0]]);
+ Vector3 p1 = transform.xform(rvertices[rindices[j * 3 + 1]]);
+ Vector3 p2 = transform.xform(rvertices[rindices[j * 3 + 2]]);
+
+ if ((p0 - p1).length_squared() < eps || (p1 - p2).length_squared() < eps || (p2 - p0).length_squared() < eps) {
continue;
}
- indices.push_back(vertex_ofs + ri[j * 3 + 0]);
- indices.push_back(vertex_ofs + ri[j * 3 + 1]);
- indices.push_back(vertex_ofs + ri[j * 3 + 2]);
+
+ indices.push_back(vertex_ofs + rindices[j * 3 + 0]);
+ indices.push_back(vertex_ofs + rindices[j * 3 + 1]);
+ indices.push_back(vertex_ofs + rindices[j * 3 + 2]);
}
}
@@ -684,6 +689,9 @@ Error EditorSceneImporterMesh::lightmap_unwrap_cached(int *&r_cache_data, unsign
//unwrap
+ bool use_cache = true; // Used to request cache generation and to know if cache was used
+ uint8_t *gen_cache;
+ int gen_cache_size;
float *gen_uvs;
int *gen_vertices;
int *gen_indices;
@@ -692,7 +700,7 @@ Error EditorSceneImporterMesh::lightmap_unwrap_cached(int *&r_cache_data, unsign
int size_x;
int size_y;
- bool ok = array_mesh_lightmap_unwrap_callback(p_texel_size, vertices.ptr(), normals.ptr(), vertices.size() / 3, indices.ptr(), indices.size(), &gen_uvs, &gen_vertices, &gen_vertex_count, &gen_indices, &gen_index_count, &size_x, &size_y, r_cache_data, r_cache_size, r_used_cache);
+ bool ok = array_mesh_lightmap_unwrap_callback(p_texel_size, vertices.ptr(), normals.ptr(), vertices.size() / 3, indices.ptr(), indices.size(), p_src_cache.ptr(), &use_cache, &gen_cache, &gen_cache_size, &gen_uvs, &gen_vertices, &gen_vertex_count, &gen_indices, &gen_index_count, &size_x, &size_y);
if (!ok) {
return ERR_CANT_CREATE;
@@ -702,7 +710,7 @@ Error EditorSceneImporterMesh::lightmap_unwrap_cached(int *&r_cache_data, unsign
clear();
//create surfacetools for each surface..
- Vector<Ref<SurfaceTool>> surfaces_tools;
+ LocalVector<Ref<SurfaceTool>> surfaces_tools;
for (int i = 0; i < lightmap_surfaces.size(); i++) {
Ref<SurfaceTool> st;
@@ -714,11 +722,12 @@ Error EditorSceneImporterMesh::lightmap_unwrap_cached(int *&r_cache_data, unsign
}
print_verbose("Mesh: Gen indices: " + itos(gen_index_count));
+
//go through all indices
for (int i = 0; i < gen_index_count; i += 3) {
- ERR_FAIL_INDEX_V(gen_vertices[gen_indices[i + 0]], uv_indices.size(), ERR_BUG);
- ERR_FAIL_INDEX_V(gen_vertices[gen_indices[i + 1]], uv_indices.size(), ERR_BUG);
- ERR_FAIL_INDEX_V(gen_vertices[gen_indices[i + 2]], uv_indices.size(), ERR_BUG);
+ ERR_FAIL_INDEX_V(gen_vertices[gen_indices[i + 0]], (int)uv_indices.size(), ERR_BUG);
+ ERR_FAIL_INDEX_V(gen_vertices[gen_indices[i + 1]], (int)uv_indices.size(), ERR_BUG);
+ ERR_FAIL_INDEX_V(gen_vertices[gen_indices[i + 2]], (int)uv_indices.size(), ERR_BUG);
ERR_FAIL_COND_V(uv_indices[gen_vertices[gen_indices[i + 0]]].first != uv_indices[gen_vertices[gen_indices[i + 1]]].first || uv_indices[gen_vertices[gen_indices[i + 0]]].first != uv_indices[gen_vertices[gen_indices[i + 2]]].first, ERR_BUG);
@@ -728,49 +737,54 @@ Error EditorSceneImporterMesh::lightmap_unwrap_cached(int *&r_cache_data, unsign
SurfaceTool::Vertex v = lightmap_surfaces[surface].vertices[uv_indices[gen_vertices[gen_indices[i + j]]].second];
if (lightmap_surfaces[surface].format & Mesh::ARRAY_FORMAT_COLOR) {
- surfaces_tools.write[surface]->set_color(v.color);
+ surfaces_tools[surface]->set_color(v.color);
}
if (lightmap_surfaces[surface].format & Mesh::ARRAY_FORMAT_TEX_UV) {
- surfaces_tools.write[surface]->set_uv(v.uv);
+ surfaces_tools[surface]->set_uv(v.uv);
}
if (lightmap_surfaces[surface].format & Mesh::ARRAY_FORMAT_NORMAL) {
- surfaces_tools.write[surface]->set_normal(v.normal);
+ surfaces_tools[surface]->set_normal(v.normal);
}
if (lightmap_surfaces[surface].format & Mesh::ARRAY_FORMAT_TANGENT) {
Plane t;
t.normal = v.tangent;
t.d = v.binormal.dot(v.normal.cross(v.tangent)) < 0 ? -1 : 1;
- surfaces_tools.write[surface]->set_tangent(t);
+ surfaces_tools[surface]->set_tangent(t);
}
if (lightmap_surfaces[surface].format & Mesh::ARRAY_FORMAT_BONES) {
- surfaces_tools.write[surface]->set_bones(v.bones);
+ surfaces_tools[surface]->set_bones(v.bones);
}
if (lightmap_surfaces[surface].format & Mesh::ARRAY_FORMAT_WEIGHTS) {
- surfaces_tools.write[surface]->set_weights(v.weights);
+ surfaces_tools[surface]->set_weights(v.weights);
}
Vector2 uv2(gen_uvs[gen_indices[i + j] * 2 + 0], gen_uvs[gen_indices[i + j] * 2 + 1]);
- surfaces_tools.write[surface]->set_uv2(uv2);
+ surfaces_tools[surface]->set_uv2(uv2);
- surfaces_tools.write[surface]->add_vertex(v.vertex);
+ surfaces_tools[surface]->add_vertex(v.vertex);
}
}
//generate surfaces
-
- for (int i = 0; i < surfaces_tools.size(); i++) {
- surfaces_tools.write[i]->index();
- Array arrays = surfaces_tools.write[i]->commit_to_arrays();
- add_surface(surfaces_tools.write[i]->get_primitive(), arrays, Array(), Dictionary(), surfaces_tools.write[i]->get_material(), surfaces_tools.write[i]->get_meta("name"));
+ for (unsigned int i = 0; i < surfaces_tools.size(); i++) {
+ surfaces_tools[i]->index();
+ Array arrays = surfaces_tools[i]->commit_to_arrays();
+ add_surface(surfaces_tools[i]->get_primitive(), arrays, Array(), Dictionary(), surfaces_tools[i]->get_material(), surfaces_tools[i]->get_meta("name"));
}
set_lightmap_size_hint(Size2(size_x, size_y));
- if (!r_used_cache) {
- //free stuff
- ::free(gen_vertices);
- ::free(gen_indices);
- ::free(gen_uvs);
+ if (gen_cache_size > 0) {
+ r_dst_cache.resize(gen_cache_size);
+ memcpy(r_dst_cache.ptrw(), gen_cache, gen_cache_size);
+ memfree(gen_cache);
+ }
+
+ if (!use_cache) {
+ // Cache was not used, free the buffers
+ memfree(gen_vertices);
+ memfree(gen_indices);
+ memfree(gen_uvs);
}
return OK;
diff --git a/editor/import/scene_importer_mesh.h b/editor/import/scene_importer_mesh.h
index 3326fab55d..b3e8137e0a 100644
--- a/editor/import/scene_importer_mesh.h
+++ b/editor/import/scene_importer_mesh.h
@@ -105,7 +105,7 @@ public:
Vector<Ref<Shape3D>> convex_decompose() const;
Ref<Shape3D> create_trimesh_shape() const;
Ref<NavigationMesh> create_navigation_mesh();
- Error lightmap_unwrap_cached(int *&r_cache_data, unsigned int &r_cache_size, bool &r_used_cache, const Transform &p_base_transform, float p_texel_size);
+ Error lightmap_unwrap_cached(const Transform &p_base_transform, float p_texel_size, const Vector<uint8_t> &p_src_cache, Vector<uint8_t> &r_dst_cache);
void set_lightmap_size_hint(const Size2i &p_size);
Size2i get_lightmap_size_hint() const;
diff --git a/modules/gdscript/gdscript_editor.cpp b/modules/gdscript/gdscript_editor.cpp
index f70020d165..099abd35a7 100644
--- a/modules/gdscript/gdscript_editor.cpp
+++ b/modules/gdscript/gdscript_editor.cpp
@@ -738,7 +738,12 @@ static void _list_available_types(bool p_inherit_only, GDScriptParser::Completio
static void _find_identifiers_in_suite(const GDScriptParser::SuiteNode *p_suite, Map<String, ScriptCodeCompletionOption> &r_result) {
for (int i = 0; i < p_suite->locals.size(); i++) {
- ScriptCodeCompletionOption option(p_suite->locals[i].name, ScriptCodeCompletionOption::KIND_VARIABLE);
+ ScriptCodeCompletionOption option;
+ if (p_suite->locals[i].type == GDScriptParser::SuiteNode::Local::CONSTANT) {
+ option = ScriptCodeCompletionOption(p_suite->locals[i].name, ScriptCodeCompletionOption::KIND_CONSTANT);
+ } else {
+ option = ScriptCodeCompletionOption(p_suite->locals[i].name, ScriptCodeCompletionOption::KIND_VARIABLE);
+ }
r_result.insert(option.display, option);
}
if (p_suite->parent_block) {
diff --git a/modules/lightmapper_rd/lightmapper_rd.cpp b/modules/lightmapper_rd/lightmapper_rd.cpp
index 9394e5c47e..3b0fbb1c47 100644
--- a/modules/lightmapper_rd/lightmapper_rd.cpp
+++ b/modules/lightmapper_rd/lightmapper_rd.cpp
@@ -162,8 +162,8 @@ Lightmapper::BakeError LightmapperRD::_blit_meshes_into_atlas(int p_max_texture_
MeshInstance &mi = mesh_instances.write[m_i];
Size2i s = Size2i(mi.data.albedo_on_uv2->get_width(), mi.data.albedo_on_uv2->get_height());
sizes.push_back(s);
- atlas_size.width = MAX(atlas_size.width, s.width);
- atlas_size.height = MAX(atlas_size.height, s.height);
+ atlas_size.width = MAX(atlas_size.width, s.width + 2);
+ atlas_size.height = MAX(atlas_size.height, s.height + 2);
}
int max = nearest_power_of_2_templated(atlas_size.width);
@@ -186,10 +186,12 @@ Lightmapper::BakeError LightmapperRD::_blit_meshes_into_atlas(int p_max_texture_
//determine best texture array atlas size by bruteforce fitting
while (atlas_size.x <= p_max_texture_size && atlas_size.y <= p_max_texture_size) {
- Vector<Vector2i> source_sizes = sizes;
+ Vector<Vector2i> source_sizes;
Vector<int> source_indices;
- source_indices.resize(source_sizes.size());
+ source_sizes.resize(sizes.size());
+ source_indices.resize(sizes.size());
for (int i = 0; i < source_indices.size(); i++) {
+ source_sizes.write[i] = sizes[i] + Vector2i(2, 2); // Add padding between lightmaps
source_indices.write[i] = i;
}
Vector<Vector3i> atlas_offsets;
@@ -207,7 +209,7 @@ Lightmapper::BakeError LightmapperRD::_blit_meshes_into_atlas(int p_max_texture_
if (ofs.z > 0) {
//valid
ofs.z = slices;
- atlas_offsets.write[sidx] = ofs;
+ atlas_offsets.write[sidx] = ofs + Vector3i(1, 1, 0); // Center lightmap in the reserved oversized region
} else {
new_indices.push_back(sidx);
new_sources.push_back(source_sizes[i]);
@@ -272,7 +274,7 @@ Lightmapper::BakeError LightmapperRD::_blit_meshes_into_atlas(int p_max_texture_
return BAKE_OK;
}
-void LightmapperRD::_create_acceleration_structures(RenderingDevice *rd, Size2i atlas_size, int atlas_slices, AABB &bounds, int grid_size, Vector<Probe> &probe_positions, GenerateProbes p_generate_probes, Vector<int> &slice_triangle_count, Vector<int> &slice_seam_count, RID &vertex_buffer, RID &triangle_buffer, RID &box_buffer, RID &lights_buffer, RID &triangle_cell_indices_buffer, RID &probe_positions_buffer, RID &grid_texture, RID &grid_texture_sdf, RID &seams_buffer, BakeStepFunc p_step_function, void *p_bake_userdata) {
+void LightmapperRD::_create_acceleration_structures(RenderingDevice *rd, Size2i atlas_size, int atlas_slices, AABB &bounds, int grid_size, Vector<Probe> &probe_positions, GenerateProbes p_generate_probes, Vector<int> &slice_triangle_count, Vector<int> &slice_seam_count, RID &vertex_buffer, RID &triangle_buffer, RID &box_buffer, RID &lights_buffer, RID &triangle_cell_indices_buffer, RID &probe_positions_buffer, RID &grid_texture, RID &seams_buffer, BakeStepFunc p_step_function, void *p_bake_userdata) {
HashMap<Vertex, uint32_t, VertexHash> vertex_map;
//fill triangles array and vertex array
@@ -482,14 +484,6 @@ void LightmapperRD::_create_acceleration_structures(RenderingDevice *rd, Size2i
img->save_png("res://grid_layer_" + itos(1000 + i).substr(1, 3) + ".png");
}
#endif
- if (p_step_function) {
- p_step_function(0.45, TTR("Generating Signed Distance Field"), p_bake_userdata, true);
- }
-
- //generate SDF for raytracing
- Vector<uint32_t> euclidean_pos = Geometry3D::generate_edf(solid, Vector3i(grid_size, grid_size, grid_size), false);
- Vector<uint32_t> euclidean_neg = Geometry3D::generate_edf(solid, Vector3i(grid_size, grid_size, grid_size), true);
- Vector<int8_t> sdf8 = Geometry3D::generate_sdf8(euclidean_pos, euclidean_neg);
/*****************************/
/*** CREATE GPU STRUCTURES ***/
@@ -551,10 +545,6 @@ void LightmapperRD::_create_acceleration_structures(RenderingDevice *rd, Size2i
tf.format = RD::DATA_FORMAT_R32G32_UINT;
texdata.write[0] = grid_indices.to_byte_array();
grid_texture = rd->texture_create(tf, RD::TextureView(), texdata);
- //sdf
- tf.format = RD::DATA_FORMAT_R8_SNORM;
- texdata.write[0] = sdf8.to_byte_array();
- grid_texture_sdf = rd->texture_create(tf, RD::TextureView(), texdata);
}
}
@@ -755,8 +745,7 @@ LightmapperRD::BakeError LightmapperRD::bake(BakeQuality p_quality, bool p_use_d
light_environment_tex = rd->texture_create(tfp, RD::TextureView(), tdata);
#ifdef DEBUG_TEXTURES
- panorama_tex->convert(Image::FORMAT_RGB8);
- panorama_tex->save_png("res://0_panorama.png");
+ panorama_tex->save_exr("res://0_panorama.exr", false);
#endif
}
}
@@ -770,7 +759,6 @@ LightmapperRD::BakeError LightmapperRD::bake(BakeQuality p_quality, bool p_use_d
RID lights_buffer;
RID triangle_cell_indices_buffer;
RID grid_texture;
- RID grid_texture_sdf;
RID seams_buffer;
RID probe_positions_buffer;
@@ -783,11 +771,10 @@ LightmapperRD::BakeError LightmapperRD::bake(BakeQuality p_quality, bool p_use_d
rd->free(lights_buffer); \
rd->free(triangle_cell_indices_buffer); \
rd->free(grid_texture); \
- rd->free(grid_texture_sdf); \
rd->free(seams_buffer); \
rd->free(probe_positions_buffer);
- _create_acceleration_structures(rd, atlas_size, atlas_slices, bounds, grid_size, probe_positions, p_generate_probes, slice_triangle_count, slice_seam_count, vertex_buffer, triangle_buffer, box_buffer, lights_buffer, triangle_cell_indices_buffer, probe_positions_buffer, grid_texture, grid_texture_sdf, seams_buffer, p_step_function, p_bake_userdata);
+ _create_acceleration_structures(rd, atlas_size, atlas_slices, bounds, grid_size, probe_positions, p_generate_probes, slice_triangle_count, slice_seam_count, vertex_buffer, triangle_buffer, box_buffer, lights_buffer, triangle_cell_indices_buffer, probe_positions_buffer, grid_texture, seams_buffer, p_step_function, p_bake_userdata);
if (p_step_function) {
p_step_function(0.47, TTR("Preparing shaders"), p_bake_userdata, true);
@@ -883,27 +870,20 @@ LightmapperRD::BakeError LightmapperRD::bake(BakeQuality p_quality, bool p_use_d
RD::Uniform u;
u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
u.binding = 9;
- u.ids.push_back(grid_texture_sdf);
- base_uniforms.push_back(u);
- }
- {
- RD::Uniform u;
- u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
- u.binding = 10;
u.ids.push_back(albedo_array_tex);
base_uniforms.push_back(u);
}
{
RD::Uniform u;
u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
- u.binding = 11;
+ u.binding = 10;
u.ids.push_back(emission_array_tex);
base_uniforms.push_back(u);
}
{
RD::Uniform u;
u.uniform_type = RD::UNIFORM_TYPE_SAMPLER;
- u.binding = 12;
+ u.binding = 11;
u.ids.push_back(sampler);
base_uniforms.push_back(u);
}
@@ -937,13 +917,11 @@ LightmapperRD::BakeError LightmapperRD::bake(BakeQuality p_quality, bool p_use_d
Ref<Image> img;
img.instance();
img->create(atlas_size.width, atlas_size.height, false, Image::FORMAT_RGBAF, s);
- img->convert(Image::FORMAT_RGBA8);
- img->save_png("res://1_position_" + itos(i) + ".png");
+ img->save_exr("res://1_position_" + itos(i) + ".exr", false);
s = rd->texture_get_data(normal_tex, i);
img->create(atlas_size.width, atlas_size.height, false, Image::FORMAT_RGBAH, s);
- img->convert(Image::FORMAT_RGBA8);
- img->save_png("res://1_normal_" + itos(i) + ".png");
+ img->save_exr("res://1_normal_" + itos(i) + ".exr", false);
}
#endif
@@ -966,27 +944,27 @@ LightmapperRD::BakeError LightmapperRD::bake(BakeQuality p_quality, bool p_use_d
}
ERR_FAIL_COND_V(err != OK, BAKE_ERROR_LIGHTMAP_CANT_PRE_BAKE_MESHES);
- //unoccluder
+ // Unoccluder
RID compute_shader_unocclude = rd->shader_create_from_bytecode(compute_shader->get_bytecode("unocclude"));
ERR_FAIL_COND_V(compute_shader_unocclude.is_null(), BAKE_ERROR_LIGHTMAP_CANT_PRE_BAKE_MESHES); // internal check, should not happen
RID compute_shader_unocclude_pipeline = rd->compute_pipeline_create(compute_shader_unocclude);
- //direct light
+ // Direct light
RID compute_shader_primary = rd->shader_create_from_bytecode(compute_shader->get_bytecode("primary"));
ERR_FAIL_COND_V(compute_shader_primary.is_null(), BAKE_ERROR_LIGHTMAP_CANT_PRE_BAKE_MESHES); // internal check, should not happen
RID compute_shader_primary_pipeline = rd->compute_pipeline_create(compute_shader_primary);
- //indirect light
+ // Indirect light
RID compute_shader_secondary = rd->shader_create_from_bytecode(compute_shader->get_bytecode("secondary"));
ERR_FAIL_COND_V(compute_shader_secondary.is_null(), BAKE_ERROR_LIGHTMAP_CANT_PRE_BAKE_MESHES); //internal check, should not happen
RID compute_shader_secondary_pipeline = rd->compute_pipeline_create(compute_shader_secondary);
- //dilate
+ // Dilate
RID compute_shader_dilate = rd->shader_create_from_bytecode(compute_shader->get_bytecode("dilate"));
ERR_FAIL_COND_V(compute_shader_dilate.is_null(), BAKE_ERROR_LIGHTMAP_CANT_PRE_BAKE_MESHES); //internal check, should not happen
RID compute_shader_dilate_pipeline = rd->compute_pipeline_create(compute_shader_dilate);
- //dilate
+ // Light probes
RID compute_shader_light_probes = rd->shader_create_from_bytecode(compute_shader->get_bytecode("light_probes"));
ERR_FAIL_COND_V(compute_shader_light_probes.is_null(), BAKE_ERROR_LIGHTMAP_CANT_PRE_BAKE_MESHES); //internal check, should not happen
RID compute_shader_light_probes_pipeline = rd->compute_pipeline_create(compute_shader_light_probes);
@@ -1153,8 +1131,7 @@ LightmapperRD::BakeError LightmapperRD::bake(BakeQuality p_quality, bool p_use_d
Ref<Image> img;
img.instance();
img->create(atlas_size.width, atlas_size.height, false, Image::FORMAT_RGBAH, s);
- img->convert(Image::FORMAT_RGBA8);
- img->save_png("res://2_light_primary_" + itos(i) + ".png");
+ img->save_exr("res://2_light_primary_" + itos(i) + ".exr", false);
}
#endif
@@ -1212,7 +1189,7 @@ LightmapperRD::BakeError LightmapperRD::bake(BakeQuality p_quality, bool p_use_d
RD::Uniform u;
u.uniform_type = RD::UNIFORM_TYPE_TEXTURE;
u.binding = 6;
- u.ids.push_back(light_environment_tex); //reuse unocclude tex
+ u.ids.push_back(light_environment_tex);
uniforms.push_back(u);
}
}
@@ -1298,7 +1275,15 @@ LightmapperRD::BakeError LightmapperRD::bake(BakeQuality p_quality, bool p_use_d
}
}
}
+
+ if (b == 0) {
+ // This disables the environment for subsequent bounces
+ push_constant.environment_xform[3] = -99.0f;
+ }
}
+
+ // Restore the correct environment transform
+ push_constant.environment_xform[3] = 0.0f;
}
/* LIGHPROBES */
@@ -1449,8 +1434,7 @@ LightmapperRD::BakeError LightmapperRD::bake(BakeQuality p_quality, bool p_use_d
Ref<Image> img;
img.instance();
img->create(atlas_size.width, atlas_size.height, false, Image::FORMAT_RGBAH, s);
- img->convert(Image::FORMAT_RGBA8);
- img->save_png("res://4_light_secondary_" + itos(i) + ".png");
+ img->save_exr("res://4_light_secondary_" + itos(i) + ".exr", false);
}
#endif
@@ -1582,6 +1566,11 @@ LightmapperRD::BakeError LightmapperRD::bake(BakeQuality p_quality, bool p_use_d
clear_colors.push_back(Color(0, 0, 0, 1));
for (int i = 0; i < atlas_slices; i++) {
int subslices = (p_bake_sh ? 4 : 1);
+
+ if (slice_seam_count[i] == 0) {
+ continue;
+ }
+
for (int k = 0; k < subslices; k++) {
RasterSeamsPushConstant seams_push_constant;
seams_push_constant.slice = uint32_t(i * subslices + k);
@@ -1654,8 +1643,7 @@ LightmapperRD::BakeError LightmapperRD::bake(BakeQuality p_quality, bool p_use_d
Ref<Image> img;
img.instance();
img->create(atlas_size.width, atlas_size.height, false, Image::FORMAT_RGBAH, s);
- img->convert(Image::FORMAT_RGBA8);
- img->save_png("res://5_blendseams" + itos(i) + ".png");
+ img->save_exr("res://5_blendseams" + itos(i) + ".exr", false);
}
#endif
if (p_step_function) {
@@ -1682,7 +1670,7 @@ LightmapperRD::BakeError LightmapperRD::bake(BakeQuality p_quality, bool p_use_d
Ref<Image> img2;
img2.instance();
img2->create(probe_values.size(), 1, false, Image::FORMAT_RGBAF, probe_data);
- img2->save_png("res://6_lightprobes.png");
+ img2->save_exr("res://6_lightprobes.exr", false);
}
#endif
}
diff --git a/modules/lightmapper_rd/lightmapper_rd.h b/modules/lightmapper_rd/lightmapper_rd.h
index f2a826a447..7ab7f34464 100644
--- a/modules/lightmapper_rd/lightmapper_rd.h
+++ b/modules/lightmapper_rd/lightmapper_rd.h
@@ -231,7 +231,7 @@ class LightmapperRD : public Lightmapper {
Vector<Color> probe_values;
BakeError _blit_meshes_into_atlas(int p_max_texture_size, Vector<Ref<Image>> &albedo_images, Vector<Ref<Image>> &emission_images, AABB &bounds, Size2i &atlas_size, int &atlas_slices, BakeStepFunc p_step_function, void *p_bake_userdata);
- void _create_acceleration_structures(RenderingDevice *rd, Size2i atlas_size, int atlas_slices, AABB &bounds, int grid_size, Vector<Probe> &probe_positions, GenerateProbes p_generate_probes, Vector<int> &slice_triangle_count, Vector<int> &slice_seam_count, RID &vertex_buffer, RID &triangle_buffer, RID &box_buffer, RID &lights_buffer, RID &triangle_cell_indices_buffer, RID &probe_positions_buffer, RID &grid_texture, RID &grid_texture_sdf, RID &seams_buffer, BakeStepFunc p_step_function, void *p_bake_userdata);
+ void _create_acceleration_structures(RenderingDevice *rd, Size2i atlas_size, int atlas_slices, AABB &bounds, int grid_size, Vector<Probe> &probe_positions, GenerateProbes p_generate_probes, Vector<int> &slice_triangle_count, Vector<int> &slice_seam_count, RID &vertex_buffer, RID &triangle_buffer, RID &box_buffer, RID &lights_buffer, RID &triangle_cell_indices_buffer, RID &probe_positions_buffer, RID &grid_texture, RID &seams_buffer, BakeStepFunc p_step_function, void *p_bake_userdata);
void _raster_geometry(RenderingDevice *rd, Size2i atlas_size, int atlas_slices, int grid_size, AABB bounds, float p_bias, Vector<int> slice_triangle_count, RID position_tex, RID unocclude_tex, RID normal_tex, RID raster_depth_buffer, RID rasterize_shader, RID raster_base_uniform);
public:
diff --git a/modules/lightmapper_rd/lm_common_inc.glsl b/modules/lightmapper_rd/lm_common_inc.glsl
index f8a0cd16de..1581639036 100644
--- a/modules/lightmapper_rd/lm_common_inc.glsl
+++ b/modules/lightmapper_rd/lm_common_inc.glsl
@@ -84,9 +84,8 @@ layout(set = 0, binding = 7, std430) restrict readonly buffer Probes {
probe_positions;
layout(set = 0, binding = 8) uniform utexture3D grid;
-layout(set = 0, binding = 9) uniform texture3D grid_sdf;
-layout(set = 0, binding = 10) uniform texture2DArray albedo_tex;
-layout(set = 0, binding = 11) uniform texture2DArray emission_tex;
+layout(set = 0, binding = 9) uniform texture2DArray albedo_tex;
+layout(set = 0, binding = 10) uniform texture2DArray emission_tex;
-layout(set = 0, binding = 12) uniform sampler linear_sampler;
+layout(set = 0, binding = 11) uniform sampler linear_sampler;
diff --git a/modules/lightmapper_rd/lm_compute.glsl b/modules/lightmapper_rd/lm_compute.glsl
index 3dd96893fb..9ca40535f9 100644
--- a/modules/lightmapper_rd/lm_compute.glsl
+++ b/modules/lightmapper_rd/lm_compute.glsl
@@ -96,15 +96,22 @@ params;
bool ray_hits_triangle(vec3 from, vec3 dir, float max_dist, vec3 p0, vec3 p1, vec3 p2, out float r_distance, out vec3 r_barycentric) {
const vec3 e0 = p1 - p0;
const vec3 e1 = p0 - p2;
- vec3 triangleNormal = cross(e1, e0);
+ vec3 triangle_normal = cross(e1, e0);
- const vec3 e2 = (1.0 / dot(triangleNormal, dir)) * (p0 - from);
+ float n_dot_dir = dot(triangle_normal, dir);
+
+ if (abs(n_dot_dir) < 0.01) {
+ return false;
+ }
+
+ const vec3 e2 = (p0 - from) / n_dot_dir;
const vec3 i = cross(dir, e2);
r_barycentric.y = dot(i, e1);
r_barycentric.z = dot(i, e0);
r_barycentric.x = 1.0 - (r_barycentric.z + r_barycentric.y);
- r_distance = dot(triangleNormal, e2);
+ r_distance = dot(triangle_normal, e2);
+
return (r_distance > params.bias) && (r_distance < max_dist) && all(greaterThanEqual(r_barycentric, vec3(0.0)));
}
@@ -307,8 +314,6 @@ void main() {
continue;
}
- d /= lights.data[i].range;
-
attenuation = get_omni_attenuation(d, 1.0 / lights.data[i].range, lights.data[i].attenuation);
if (lights.data[i].type == LIGHT_TYPE_SPOT) {
@@ -410,7 +415,7 @@ void main() {
uint tidx;
vec3 barycentric;
- vec3 light;
+ vec3 light = vec3(0.0);
if (trace_ray(position + ray_dir * params.bias, position + ray_dir * length(params.world_size), tidx, barycentric)) {
//hit a triangle
vec2 uv0 = vertices.data[triangles.data[tidx].indices.x].uv;
@@ -419,8 +424,8 @@ void main() {
vec3 uvw = vec3(barycentric.x * uv0 + barycentric.y * uv1 + barycentric.z * uv2, float(triangles.data[tidx].slice));
light = textureLod(sampler2DArray(source_light, linear_sampler), uvw, 0.0).rgb;
- } else {
- //did not hit a triangle, reach out for the sky
+ } else if (params.env_transform[0][3] == 0.0) { // Use env_transform[0][3] to indicate when we are computing the first bounce
+ // Did not hit a triangle, reach out for the sky
vec3 sky_dir = normalize(mat3(params.env_transform) * ray_dir);
vec2 st = vec2(
diff --git a/modules/tinyexr/image_saver_tinyexr.cpp b/modules/tinyexr/image_saver_tinyexr.cpp
index f747763248..6a2fb0f666 100644
--- a/modules/tinyexr/image_saver_tinyexr.cpp
+++ b/modules/tinyexr/image_saver_tinyexr.cpp
@@ -169,7 +169,7 @@ Error save_exr(const String &p_path, const Ref<Image> &p_img, bool p_grayscale)
{ 0 }, // R
{ 1, 0 }, // GR
{ 2, 1, 0 }, // BGR
- { 2, 1, 0, 3 } // BGRA
+ { 3, 2, 1, 0 } // ABGR
};
int channel_count = get_channel_count(format);
diff --git a/modules/xatlas_unwrap/register_types.cpp b/modules/xatlas_unwrap/register_types.cpp
index e1f9521a48..8913ef1b65 100644
--- a/modules/xatlas_unwrap/register_types.cpp
+++ b/modules/xatlas_unwrap/register_types.cpp
@@ -29,26 +29,19 @@
/*************************************************************************/
#include "register_types.h"
-
-#include "core/error/error_macros.h"
-
#include "core/crypto/crypto_core.h"
-
#include "thirdparty/xatlas/xatlas.h"
-#include <stdio.h>
-#include <stdlib.h>
+extern bool (*array_mesh_lightmap_unwrap_callback)(float p_texel_size, const float *p_vertices, const float *p_normals, int p_vertex_count, const int *p_indices, int p_index_count, const uint8_t *p_cache_data, bool *r_use_cache, uint8_t **r_mesh_cache, int *r_mesh_cache_size, float **r_uv, int **r_vertex, int *r_vertex_count, int **r_index, int *r_index_count, int *r_size_hint_x, int *r_size_hint_y);
-extern bool (*array_mesh_lightmap_unwrap_callback)(float p_texel_size, const float *p_vertices, const float *p_normals, int p_vertex_count, const int *p_indices, int p_index_count, float **r_uv, int **r_vertex, int *r_vertex_count, int **r_index, int *r_index_count, int *r_size_hint_x, int *r_size_hint_y, int *&r_cache_data, unsigned int &r_cache_size, bool &r_used_cache);
-
-bool xatlas_mesh_lightmap_unwrap_callback(float p_texel_size, const float *p_vertices, const float *p_normals, int p_vertex_count, const int *p_indices, int p_index_count, float **r_uvs, int **r_vertices, int *r_vertex_count, int **r_indices, int *r_index_count, int *r_size_hint_x, int *r_size_hint_y, int *&r_cache_data, unsigned int &r_cache_size, bool &r_used_cache) {
+bool xatlas_mesh_lightmap_unwrap_callback(float p_texel_size, const float *p_vertices, const float *p_normals, int p_vertex_count, const int *p_indices, int p_index_count, const uint8_t *p_cache_data, bool *r_use_cache, uint8_t **r_mesh_cache, int *r_mesh_cache_size, float **r_uv, int **r_vertex, int *r_vertex_count, int **r_index, int *r_index_count, int *r_size_hint_x, int *r_size_hint_y) {
CryptoCore::MD5Context ctx;
ctx.start();
ctx.update((unsigned char *)&p_texel_size, sizeof(float));
ctx.update((unsigned char *)p_indices, sizeof(int) * p_index_count);
- ctx.update((unsigned char *)p_vertices, sizeof(float) * p_vertex_count);
- ctx.update((unsigned char *)p_normals, sizeof(float) * p_vertex_count);
+ ctx.update((unsigned char *)p_vertices, sizeof(float) * p_vertex_count * 3);
+ ctx.update((unsigned char *)p_normals, sizeof(float) * p_vertex_count * 3);
unsigned char hash[16];
ctx.finish(hash);
@@ -56,38 +49,37 @@ bool xatlas_mesh_lightmap_unwrap_callback(float p_texel_size, const float *p_ver
bool cached = false;
unsigned int cache_idx = 0;
- if (r_used_cache && r_cache_size) {
- //Check if hash is in cache data
+ *r_mesh_cache = nullptr;
+ *r_mesh_cache_size = 0;
- int *cache_data = r_cache_data;
+ if (p_cache_data) {
+ //Check if hash is in cache data
+ int *cache_data = (int *)p_cache_data;
int n_entries = cache_data[0];
- unsigned int r_idx = 1;
+ unsigned int read_idx = 1;
for (int i = 0; i < n_entries; ++i) {
- if (memcmp(&cache_data[r_idx], hash, 16) == 0) {
+ if (memcmp(&cache_data[read_idx], hash, 16) == 0) {
cached = true;
- cache_idx = r_idx;
+ cache_idx = read_idx;
break;
}
- r_idx += 4; // hash
- r_idx += 2; // size hint
+ read_idx += 4; // hash
+ read_idx += 2; // size hint
- int vertex_count = cache_data[r_idx];
- r_idx += 1; // vertex count
- r_idx += vertex_count; // vertex
- r_idx += vertex_count * 2; // uvs
+ int vertex_count = cache_data[read_idx];
+ read_idx += 1; // vertex count
+ read_idx += vertex_count; // vertex
+ read_idx += vertex_count * 2; // uvs
- int index_count = cache_data[r_idx];
- r_idx += 1; // index count
- r_idx += index_count; // indices
+ int index_count = cache_data[read_idx];
+ read_idx += 1; // index count
+ read_idx += index_count; // indices
}
}
- if (r_used_cache && cached) {
- int *cache_data = r_cache_data;
-
- // Return cache data pointer to the caller
- r_cache_data = &cache_data[cache_idx];
+ if (cached) {
+ int *cache_data = (int *)p_cache_data;
cache_idx += 4;
@@ -99,96 +91,92 @@ bool xatlas_mesh_lightmap_unwrap_callback(float p_texel_size, const float *p_ver
// Load vertices
*r_vertex_count = cache_data[cache_idx];
cache_idx++;
- *r_vertices = &cache_data[cache_idx];
+ *r_vertex = &cache_data[cache_idx];
cache_idx += *r_vertex_count;
// Load UVs
- *r_uvs = (float *)&cache_data[cache_idx];
+ *r_uv = (float *)&cache_data[cache_idx];
cache_idx += *r_vertex_count * 2;
// Load indices
*r_index_count = cache_data[cache_idx];
cache_idx++;
- *r_indices = &cache_data[cache_idx];
-
- // Return cache data size to the caller
- r_cache_size = sizeof(int) * (4 + 2 + 1 + *r_vertex_count + (*r_vertex_count * 2) + 1 + *r_index_count); // hash + size hint + vertex_count + vertices + uvs + index_count + indices
- r_used_cache = true;
- return true;
- }
-
- //set up input mesh
- xatlas::MeshDecl input_mesh;
- input_mesh.indexData = p_indices;
- input_mesh.indexCount = p_index_count;
- input_mesh.indexFormat = xatlas::IndexFormat::UInt32;
-
- input_mesh.vertexCount = p_vertex_count;
- input_mesh.vertexPositionData = p_vertices;
- input_mesh.vertexPositionStride = sizeof(float) * 3;
- input_mesh.vertexNormalData = p_normals;
- input_mesh.vertexNormalStride = sizeof(uint32_t) * 3;
- input_mesh.vertexUvData = nullptr;
- input_mesh.vertexUvStride = 0;
-
- xatlas::ChartOptions chart_options;
- xatlas::PackOptions pack_options;
-
- pack_options.maxChartSize = 4096;
- pack_options.blockAlign = true;
- pack_options.padding = 1;
- pack_options.texelsPerUnit = 1.0 / p_texel_size;
+ *r_index = &cache_data[cache_idx];
+ } else {
+ // set up input mesh
+ xatlas::MeshDecl input_mesh;
+ input_mesh.indexData = p_indices;
+ input_mesh.indexCount = p_index_count;
+ input_mesh.indexFormat = xatlas::IndexFormat::UInt32;
+
+ input_mesh.vertexCount = p_vertex_count;
+ input_mesh.vertexPositionData = p_vertices;
+ input_mesh.vertexPositionStride = sizeof(float) * 3;
+ input_mesh.vertexNormalData = p_normals;
+ input_mesh.vertexNormalStride = sizeof(uint32_t) * 3;
+ input_mesh.vertexUvData = NULL;
+ input_mesh.vertexUvStride = 0;
+
+ xatlas::ChartOptions chart_options;
+ chart_options.fixWinding = true;
+
+ xatlas::PackOptions pack_options;
+ pack_options.padding = 1;
+ pack_options.maxChartSize = 4094; // Lightmap atlassing needs 2 for padding between meshes, so 4096-2
+ pack_options.blockAlign = true;
+ pack_options.texelsPerUnit = 1.0 / p_texel_size;
+
+ xatlas::Atlas *atlas = xatlas::Create();
+
+ xatlas::AddMeshError err = xatlas::AddMesh(atlas, input_mesh, 1);
+ ERR_FAIL_COND_V_MSG(err != xatlas::AddMeshError::Success, false, xatlas::StringForEnum(err));
+
+ xatlas::Generate(atlas, chart_options, pack_options);
+
+ *r_size_hint_x = atlas->width;
+ *r_size_hint_y = atlas->height;
+
+ float w = *r_size_hint_x;
+ float h = *r_size_hint_y;
+
+ if (w == 0 || h == 0) {
+ xatlas::Destroy(atlas);
+ return false; //could not bake because there is no area
+ }
- xatlas::Atlas *atlas = xatlas::Create();
- printf("Adding mesh..\n");
- xatlas::AddMeshError err = xatlas::AddMesh(atlas, input_mesh, 1);
- ERR_FAIL_COND_V_MSG(err != xatlas::AddMeshError::Success, false, xatlas::StringForEnum(err));
+ const xatlas::Mesh &output = atlas->meshes[0];
+
+ *r_vertex = (int *)memalloc(sizeof(int) * output.vertexCount);
+ ERR_FAIL_NULL_V_MSG(*r_vertex, false, "Out of memory.");
+ *r_uv = (float *)memalloc(sizeof(float) * output.vertexCount * 2);
+ ERR_FAIL_NULL_V_MSG(*r_uv, false, "Out of memory.");
+ *r_index = (int *)memalloc(sizeof(int) * output.indexCount);
+ ERR_FAIL_NULL_V_MSG(*r_index, false, "Out of memory.");
+
+ float max_x = 0;
+ float max_y = 0;
+ for (uint32_t i = 0; i < output.vertexCount; i++) {
+ (*r_vertex)[i] = output.vertexArray[i].xref;
+ (*r_uv)[i * 2 + 0] = output.vertexArray[i].uv[0] / w;
+ (*r_uv)[i * 2 + 1] = output.vertexArray[i].uv[1] / h;
+ max_x = MAX(max_x, output.vertexArray[i].uv[0]);
+ max_y = MAX(max_y, output.vertexArray[i].uv[1]);
+ }
- printf("Generate..\n");
- xatlas::Generate(atlas, chart_options, pack_options);
+ *r_vertex_count = output.vertexCount;
- *r_size_hint_x = atlas->width;
- *r_size_hint_y = atlas->height;
+ for (uint32_t i = 0; i < output.indexCount; i++) {
+ (*r_index)[i] = output.indexArray[i];
+ }
- float w = *r_size_hint_x;
- float h = *r_size_hint_y;
+ *r_index_count = output.indexCount;
- if (w == 0 || h == 0) {
xatlas::Destroy(atlas);
- return false; //could not bake because there is no area
- }
-
- const xatlas::Mesh &output = atlas->meshes[0];
-
- *r_vertices = (int *)malloc(sizeof(int) * output.vertexCount);
- ERR_FAIL_NULL_V_MSG(*r_vertices, false, "Out of memory.");
- *r_uvs = (float *)malloc(sizeof(float) * output.vertexCount * 2);
- ERR_FAIL_NULL_V_MSG(*r_uvs, false, "Out of memory.");
- *r_indices = (int *)malloc(sizeof(int) * output.indexCount);
- ERR_FAIL_NULL_V_MSG(*r_indices, false, "Out of memory.");
-
- float max_x = 0.0;
- float max_y = 0.0;
- for (uint32_t i = 0; i < output.vertexCount; i++) {
- (*r_vertices)[i] = output.vertexArray[i].xref;
- (*r_uvs)[i * 2 + 0] = output.vertexArray[i].uv[0] / w;
- (*r_uvs)[i * 2 + 1] = output.vertexArray[i].uv[1] / h;
- max_x = MAX(max_x, output.vertexArray[i].uv[0]);
- max_y = MAX(max_y, output.vertexArray[i].uv[1]);
}
- printf("Final texture size: %f,%f - max %f,%f\n", w, h, max_x, max_y);
- *r_vertex_count = output.vertexCount;
+ if (*r_use_cache) {
+ // Build cache data for current mesh
- for (uint32_t i = 0; i < output.indexCount; i++) {
- (*r_indices)[i] = output.indexArray[i];
- }
-
- *r_index_count = output.indexCount;
-
- xatlas::Destroy(atlas);
-
- if (r_used_cache) {
unsigned int new_cache_size = 4 + 2 + 1 + *r_vertex_count + (*r_vertex_count * 2) + 1 + *r_index_count; // hash + size hint + vertex_count + vertices + uvs + index_count + indices
new_cache_size *= sizeof(int);
int *new_cache_data = (int *)memalloc(new_cache_size);
@@ -208,11 +196,11 @@ bool xatlas_mesh_lightmap_unwrap_callback(float p_texel_size, const float *p_ver
new_cache_idx++;
// vertices
- memcpy(&new_cache_data[new_cache_idx], *r_vertices, sizeof(int) * *r_vertex_count);
+ memcpy(&new_cache_data[new_cache_idx], *r_vertex, sizeof(int) * (*r_vertex_count));
new_cache_idx += *r_vertex_count;
// uvs
- memcpy(&new_cache_data[new_cache_idx], *r_uvs, sizeof(float) * *r_vertex_count * 2);
+ memcpy(&new_cache_data[new_cache_idx], *r_uv, sizeof(float) * (*r_vertex_count) * 2);
new_cache_idx += *r_vertex_count * 2;
// index count
@@ -220,15 +208,15 @@ bool xatlas_mesh_lightmap_unwrap_callback(float p_texel_size, const float *p_ver
new_cache_idx++;
// indices
- memcpy(&new_cache_data[new_cache_idx], *r_indices, sizeof(int) * *r_index_count);
- new_cache_idx += *r_index_count;
+ memcpy(&new_cache_data[new_cache_idx], *r_index, sizeof(int) * (*r_index_count));
// Return cache data to the caller
- r_cache_data = new_cache_data;
- r_cache_size = new_cache_size;
- r_used_cache = false;
+ *r_mesh_cache = (uint8_t *)new_cache_data;
+ *r_mesh_cache_size = new_cache_size;
}
+ *r_use_cache = cached; // Return whether cache was used.
+
return true;
}
diff --git a/scene/gui/text_edit.cpp b/scene/gui/text_edit.cpp
index 4f508423b3..0713df9955 100644
--- a/scene/gui/text_edit.cpp
+++ b/scene/gui/text_edit.cpp
@@ -2054,6 +2054,7 @@ void TextEdit::indent_selected_lines_left() {
if (is_selection_active() && get_selection_to_column() == 0) {
end_line--;
}
+ String first_line_text = get_line(start_line);
String last_line_text = get_line(end_line);
for (int i = start_line; i <= end_line; i++) {
@@ -2078,10 +2079,17 @@ void TextEdit::indent_selected_lines_left() {
}
}
- // Fix selection and cursor being off by one on the last line.
- if (is_selection_active() && last_line_text != get_line(end_line)) {
- select(selection.from_line, selection.from_column - removed_characters,
- selection.to_line, initial_selection_end_column - removed_characters);
+ if (is_selection_active()) {
+ // Fix selection being off by one on the first line.
+ if (first_line_text != get_line(start_line)) {
+ select(selection.from_line, selection.from_column - removed_characters,
+ selection.to_line, initial_selection_end_column);
+ }
+ // Fix selection being off by one on the last line.
+ if (last_line_text != get_line(end_line)) {
+ select(selection.from_line, selection.from_column,
+ selection.to_line, initial_selection_end_column - removed_characters);
+ }
}
cursor_set_column(initial_cursor_column - removed_characters, false);
end_complex_operation();
diff --git a/scene/resources/mesh.cpp b/scene/resources/mesh.cpp
index d31dbc877b..33ad15b938 100644
--- a/scene/resources/mesh.cpp
+++ b/scene/resources/mesh.cpp
@@ -1401,7 +1401,7 @@ void ArrayMesh::regen_normal_maps() {
}
//dirty hack
-bool (*array_mesh_lightmap_unwrap_callback)(float p_texel_size, const float *p_vertices, const float *p_normals, int p_vertex_count, const int *p_indices, int p_index_count, float **r_uv, int **r_vertex, int *r_vertex_count, int **r_index, int *r_index_count, int *r_size_hint_x, int *r_size_hint_y, int *&r_cache_data, unsigned int &r_cache_size, bool &r_used_cache);
+bool (*array_mesh_lightmap_unwrap_callback)(float p_texel_size, const float *p_vertices, const float *p_normals, int p_vertex_count, const int *p_indices, int p_index_count, const uint8_t *p_cache_data, bool *r_use_cache, uint8_t **r_mesh_cache, int *r_mesh_cache_size, float **r_uv, int **r_vertex, int *r_vertex_count, int **r_index, int *r_index_count, int *r_size_hint_x, int *r_size_hint_y) = NULL;
struct ArrayMeshLightmapSurface {
Ref<Material> material;
@@ -1411,28 +1411,28 @@ struct ArrayMeshLightmapSurface {
};
Error ArrayMesh::lightmap_unwrap(const Transform &p_base_transform, float p_texel_size) {
- int *cache_data = nullptr;
- unsigned int cache_size = 0;
- bool use_cache = false; // Don't use cache
- return lightmap_unwrap_cached(cache_data, cache_size, use_cache, p_base_transform, p_texel_size);
+ Vector<uint8_t> null_cache;
+ return lightmap_unwrap_cached(p_base_transform, p_texel_size, null_cache, null_cache, false);
}
-Error ArrayMesh::lightmap_unwrap_cached(int *&r_cache_data, unsigned int &r_cache_size, bool &r_used_cache, const Transform &p_base_transform, float p_texel_size) {
+Error ArrayMesh::lightmap_unwrap_cached(const Transform &p_base_transform, float p_texel_size, const Vector<uint8_t> &p_src_cache, Vector<uint8_t> &r_dst_cache, bool p_generate_cache) {
ERR_FAIL_COND_V(!array_mesh_lightmap_unwrap_callback, ERR_UNCONFIGURED);
ERR_FAIL_COND_V_MSG(blend_shapes.size() != 0, ERR_UNAVAILABLE, "Can't unwrap mesh with blend shapes.");
- Vector<float> vertices;
- Vector<float> normals;
- Vector<int> indices;
- Vector<float> uv;
- Vector<Pair<int, int>> uv_indices;
+ LocalVector<float> vertices;
+ LocalVector<float> normals;
+ LocalVector<int> indices;
+ LocalVector<float> uv;
+ LocalVector<Pair<int, int>> uv_indices;
Vector<ArrayMeshLightmapSurface> lightmap_surfaces;
// Keep only the scale
- Transform transform = p_base_transform;
- transform.origin = Vector3();
- transform.looking_at(Vector3(1, 0, 0), Vector3(0, 1, 0));
+ Basis basis = p_base_transform.get_basis();
+ Vector3 scale = Vector3(basis.get_axis(0).length(), basis.get_axis(1).length(), basis.get_axis(2).length());
+
+ Transform transform;
+ transform.scale(scale);
Basis normal_basis = transform.basis.inverse().transposed();
@@ -1446,14 +1446,12 @@ Error ArrayMesh::lightmap_unwrap_cached(int *&r_cache_data, unsigned int &r_cach
Array arrays = surface_get_arrays(i);
s.material = surface_get_material(i);
- SurfaceTool::create_vertex_array_from_triangle_arrays(arrays, s.vertices);
+ SurfaceTool::create_vertex_array_from_triangle_arrays(arrays, s.vertices, &s.format);
- Vector<Vector3> rvertices = arrays[Mesh::ARRAY_VERTEX];
+ PackedVector3Array rvertices = arrays[Mesh::ARRAY_VERTEX];
int vc = rvertices.size();
- const Vector3 *r = rvertices.ptr();
- Vector<Vector3> rnormals = arrays[Mesh::ARRAY_NORMAL];
- const Vector3 *rn = rnormals.ptr();
+ PackedVector3Array rnormals = arrays[Mesh::ARRAY_NORMAL];
int vertex_ofs = vertices.size() / 3;
@@ -1462,24 +1460,29 @@ Error ArrayMesh::lightmap_unwrap_cached(int *&r_cache_data, unsigned int &r_cach
uv_indices.resize(vertex_ofs + vc);
for (int j = 0; j < vc; j++) {
- Vector3 v = transform.xform(r[j]);
- Vector3 n = normal_basis.xform(rn[j]).normalized();
-
- vertices.write[(j + vertex_ofs) * 3 + 0] = v.x;
- vertices.write[(j + vertex_ofs) * 3 + 1] = v.y;
- vertices.write[(j + vertex_ofs) * 3 + 2] = v.z;
- normals.write[(j + vertex_ofs) * 3 + 0] = n.x;
- normals.write[(j + vertex_ofs) * 3 + 1] = n.y;
- normals.write[(j + vertex_ofs) * 3 + 2] = n.z;
- uv_indices.write[j + vertex_ofs] = Pair<int, int>(i, j);
+ Vector3 v = transform.xform(rvertices[j]);
+ Vector3 n = normal_basis.xform(rnormals[j]).normalized();
+
+ vertices[(j + vertex_ofs) * 3 + 0] = v.x;
+ vertices[(j + vertex_ofs) * 3 + 1] = v.y;
+ vertices[(j + vertex_ofs) * 3 + 2] = v.z;
+ normals[(j + vertex_ofs) * 3 + 0] = n.x;
+ normals[(j + vertex_ofs) * 3 + 1] = n.y;
+ normals[(j + vertex_ofs) * 3 + 2] = n.z;
+ uv_indices[j + vertex_ofs] = Pair<int, int>(i, j);
}
- Vector<int> rindices = arrays[Mesh::ARRAY_INDEX];
+ PackedInt32Array rindices = arrays[Mesh::ARRAY_INDEX];
int ic = rindices.size();
+ float eps = 1.19209290e-7F; // Taken from xatlas.h
if (ic == 0) {
for (int j = 0; j < vc / 3; j++) {
- if (Face3(r[j * 3 + 0], r[j * 3 + 1], r[j * 3 + 2]).is_degenerate()) {
+ Vector3 p0 = transform.xform(rvertices[j * 3 + 0]);
+ Vector3 p1 = transform.xform(rvertices[j * 3 + 1]);
+ Vector3 p2 = transform.xform(rvertices[j * 3 + 2]);
+
+ if ((p0 - p1).length_squared() < eps || (p1 - p2).length_squared() < eps || (p2 - p0).length_squared() < eps) {
continue;
}
@@ -1489,15 +1492,18 @@ Error ArrayMesh::lightmap_unwrap_cached(int *&r_cache_data, unsigned int &r_cach
}
} else {
- const int *ri = rindices.ptr();
-
for (int j = 0; j < ic / 3; j++) {
- if (Face3(r[ri[j * 3 + 0]], r[ri[j * 3 + 1]], r[ri[j * 3 + 2]]).is_degenerate()) {
+ Vector3 p0 = transform.xform(rvertices[rindices[j * 3 + 0]]);
+ Vector3 p1 = transform.xform(rvertices[rindices[j * 3 + 1]]);
+ Vector3 p2 = transform.xform(rvertices[rindices[j * 3 + 2]]);
+
+ if ((p0 - p1).length_squared() < eps || (p1 - p2).length_squared() < eps || (p2 - p0).length_squared() < eps) {
continue;
}
- indices.push_back(vertex_ofs + ri[j * 3 + 0]);
- indices.push_back(vertex_ofs + ri[j * 3 + 1]);
- indices.push_back(vertex_ofs + ri[j * 3 + 2]);
+
+ indices.push_back(vertex_ofs + rindices[j * 3 + 0]);
+ indices.push_back(vertex_ofs + rindices[j * 3 + 1]);
+ indices.push_back(vertex_ofs + rindices[j * 3 + 2]);
}
}
@@ -1506,6 +1512,9 @@ Error ArrayMesh::lightmap_unwrap_cached(int *&r_cache_data, unsigned int &r_cach
//unwrap
+ bool use_cache = p_generate_cache; // Used to request cache generation and to know if cache was used
+ uint8_t *gen_cache;
+ int gen_cache_size;
float *gen_uvs;
int *gen_vertices;
int *gen_indices;
@@ -1514,17 +1523,16 @@ Error ArrayMesh::lightmap_unwrap_cached(int *&r_cache_data, unsigned int &r_cach
int size_x;
int size_y;
- bool ok = array_mesh_lightmap_unwrap_callback(p_texel_size, vertices.ptr(), normals.ptr(), vertices.size() / 3, indices.ptr(), indices.size(), &gen_uvs, &gen_vertices, &gen_vertex_count, &gen_indices, &gen_index_count, &size_x, &size_y, r_cache_data, r_cache_size, r_used_cache);
+ bool ok = array_mesh_lightmap_unwrap_callback(p_texel_size, vertices.ptr(), normals.ptr(), vertices.size() / 3, indices.ptr(), indices.size(), p_src_cache.ptr(), &use_cache, &gen_cache, &gen_cache_size, &gen_uvs, &gen_vertices, &gen_vertex_count, &gen_indices, &gen_index_count, &size_x, &size_y);
if (!ok) {
return ERR_CANT_CREATE;
}
- //remove surfaces
clear_surfaces();
//create surfacetools for each surface..
- Vector<Ref<SurfaceTool>> surfaces_tools;
+ LocalVector<Ref<SurfaceTool>> surfaces_tools;
for (int i = 0; i < lightmap_surfaces.size(); i++) {
Ref<SurfaceTool> st;
@@ -1535,11 +1543,12 @@ Error ArrayMesh::lightmap_unwrap_cached(int *&r_cache_data, unsigned int &r_cach
}
print_verbose("Mesh: Gen indices: " + itos(gen_index_count));
+
//go through all indices
for (int i = 0; i < gen_index_count; i += 3) {
- ERR_FAIL_INDEX_V(gen_vertices[gen_indices[i + 0]], uv_indices.size(), ERR_BUG);
- ERR_FAIL_INDEX_V(gen_vertices[gen_indices[i + 1]], uv_indices.size(), ERR_BUG);
- ERR_FAIL_INDEX_V(gen_vertices[gen_indices[i + 2]], uv_indices.size(), ERR_BUG);
+ ERR_FAIL_INDEX_V(gen_vertices[gen_indices[i + 0]], (int)uv_indices.size(), ERR_BUG);
+ ERR_FAIL_INDEX_V(gen_vertices[gen_indices[i + 1]], (int)uv_indices.size(), ERR_BUG);
+ ERR_FAIL_INDEX_V(gen_vertices[gen_indices[i + 2]], (int)uv_indices.size(), ERR_BUG);
ERR_FAIL_COND_V(uv_indices[gen_vertices[gen_indices[i + 0]]].first != uv_indices[gen_vertices[gen_indices[i + 1]]].first || uv_indices[gen_vertices[gen_indices[i + 0]]].first != uv_indices[gen_vertices[gen_indices[i + 2]]].first, ERR_BUG);
@@ -1549,48 +1558,53 @@ Error ArrayMesh::lightmap_unwrap_cached(int *&r_cache_data, unsigned int &r_cach
SurfaceTool::Vertex v = lightmap_surfaces[surface].vertices[uv_indices[gen_vertices[gen_indices[i + j]]].second];
if (lightmap_surfaces[surface].format & ARRAY_FORMAT_COLOR) {
- surfaces_tools.write[surface]->set_color(v.color);
+ surfaces_tools[surface]->set_color(v.color);
}
if (lightmap_surfaces[surface].format & ARRAY_FORMAT_TEX_UV) {
- surfaces_tools.write[surface]->set_uv(v.uv);
+ surfaces_tools[surface]->set_uv(v.uv);
}
if (lightmap_surfaces[surface].format & ARRAY_FORMAT_NORMAL) {
- surfaces_tools.write[surface]->set_normal(v.normal);
+ surfaces_tools[surface]->set_normal(v.normal);
}
if (lightmap_surfaces[surface].format & ARRAY_FORMAT_TANGENT) {
Plane t;
t.normal = v.tangent;
t.d = v.binormal.dot(v.normal.cross(v.tangent)) < 0 ? -1 : 1;
- surfaces_tools.write[surface]->set_tangent(t);
+ surfaces_tools[surface]->set_tangent(t);
}
if (lightmap_surfaces[surface].format & ARRAY_FORMAT_BONES) {
- surfaces_tools.write[surface]->set_bones(v.bones);
+ surfaces_tools[surface]->set_bones(v.bones);
}
if (lightmap_surfaces[surface].format & ARRAY_FORMAT_WEIGHTS) {
- surfaces_tools.write[surface]->set_weights(v.weights);
+ surfaces_tools[surface]->set_weights(v.weights);
}
Vector2 uv2(gen_uvs[gen_indices[i + j] * 2 + 0], gen_uvs[gen_indices[i + j] * 2 + 1]);
- surfaces_tools.write[surface]->set_uv2(uv2);
+ surfaces_tools[surface]->set_uv2(uv2);
- surfaces_tools.write[surface]->add_vertex(v.vertex);
+ surfaces_tools[surface]->add_vertex(v.vertex);
}
}
//generate surfaces
-
- for (int i = 0; i < surfaces_tools.size(); i++) {
- surfaces_tools.write[i]->index();
- surfaces_tools.write[i]->commit(Ref<ArrayMesh>((ArrayMesh *)this), lightmap_surfaces[i].format);
+ for (unsigned int i = 0; i < surfaces_tools.size(); i++) {
+ surfaces_tools[i]->index();
+ surfaces_tools[i]->commit(Ref<ArrayMesh>((ArrayMesh *)this), lightmap_surfaces[i].format);
}
set_lightmap_size_hint(Size2(size_x, size_y));
- if (!r_used_cache) {
- //free stuff
- ::free(gen_vertices);
- ::free(gen_indices);
- ::free(gen_uvs);
+ if (gen_cache_size > 0) {
+ r_dst_cache.resize(gen_cache_size);
+ memcpy(r_dst_cache.ptrw(), gen_cache, gen_cache_size);
+ memfree(gen_cache);
+ }
+
+ if (!use_cache) {
+ // Cache was not used, free the buffers
+ memfree(gen_vertices);
+ memfree(gen_indices);
+ memfree(gen_uvs);
}
return OK;
diff --git a/scene/resources/mesh.h b/scene/resources/mesh.h
index 13019c691d..aa830d7b50 100644
--- a/scene/resources/mesh.h
+++ b/scene/resources/mesh.h
@@ -263,7 +263,7 @@ public:
void regen_normal_maps();
Error lightmap_unwrap(const Transform &p_base_transform = Transform(), float p_texel_size = 0.05);
- Error lightmap_unwrap_cached(int *&r_cache_data, unsigned int &r_cache_size, bool &r_used_cache, const Transform &p_base_transform = Transform(), float p_texel_size = 0.05);
+ Error lightmap_unwrap_cached(const Transform &p_base_transform, float p_texel_size, const Vector<uint8_t> &p_src_cache, Vector<uint8_t> &r_dst_cache, bool p_generate_cache = true);
virtual void reload_from_file() override;
diff --git a/servers/physics_2d/area_pair_2d_sw.cpp b/servers/physics_2d/area_pair_2d_sw.cpp
index 21ad57e344..eb9fc0e800 100644
--- a/servers/physics_2d/area_pair_2d_sw.cpp
+++ b/servers/physics_2d/area_pair_2d_sw.cpp
@@ -40,31 +40,48 @@ bool AreaPair2DSW::setup(real_t p_step) {
result = true;
}
+ process_collision = false;
if (result != colliding) {
- if (result) {
- if (area->get_space_override_mode() != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED) {
- body->add_area(area);
- }
- if (area->has_monitor_callback()) {
- area->add_body_to_query(body, body_shape, area_shape);
- }
-
- } else {
- if (area->get_space_override_mode() != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED) {
- body->remove_area(area);
- }
- if (area->has_monitor_callback()) {
- area->remove_body_from_query(body, body_shape, area_shape);
- }
+ if (area->get_space_override_mode() != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED) {
+ process_collision = true;
+ } else if (area->has_monitor_callback()) {
+ process_collision = true;
}
colliding = result;
}
- return false; //never do any post solving
+ return process_collision;
+}
+
+bool AreaPair2DSW::pre_solve(real_t p_step) {
+ if (!process_collision) {
+ return false;
+ }
+
+ if (colliding) {
+ if (area->get_space_override_mode() != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED) {
+ body->add_area(area);
+ }
+
+ if (area->has_monitor_callback()) {
+ area->add_body_to_query(body, body_shape, area_shape);
+ }
+ } else {
+ if (area->get_space_override_mode() != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED) {
+ body->remove_area(area);
+ }
+
+ if (area->has_monitor_callback()) {
+ area->remove_body_from_query(body, body_shape, area_shape);
+ }
+ }
+
+ return false; // Never do any post solving.
}
void AreaPair2DSW::solve(real_t p_step) {
+ // Nothing to do.
}
AreaPair2DSW::AreaPair2DSW(Body2DSW *p_body, int p_body_shape, Area2DSW *p_area, int p_area_shape) {
@@ -72,7 +89,6 @@ AreaPair2DSW::AreaPair2DSW(Body2DSW *p_body, int p_body_shape, Area2DSW *p_area,
area = p_area;
body_shape = p_body_shape;
area_shape = p_area_shape;
- colliding = false;
body->add_constraint(this, 0);
area->add_constraint(this);
if (p_body->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC) { //need to be active to process pair
@@ -103,33 +119,48 @@ bool Area2Pair2DSW::setup(real_t p_step) {
result = true;
}
+ process_collision = false;
if (result != colliding) {
- if (result) {
- if (area_b->has_area_monitor_callback() && area_a->is_monitorable()) {
- area_b->add_area_to_query(area_a, shape_a, shape_b);
- }
-
- if (area_a->has_area_monitor_callback() && area_b->is_monitorable()) {
- area_a->add_area_to_query(area_b, shape_b, shape_a);
- }
-
- } else {
- if (area_b->has_area_monitor_callback() && area_a->is_monitorable()) {
- area_b->remove_area_from_query(area_a, shape_a, shape_b);
- }
-
- if (area_a->has_area_monitor_callback() && area_b->is_monitorable()) {
- area_a->remove_area_from_query(area_b, shape_b, shape_a);
- }
+ if (area_b->has_area_monitor_callback() && area_a->is_monitorable()) {
+ process_collision = true;
+ } else if (area_a->has_area_monitor_callback() && area_b->is_monitorable()) {
+ process_collision = true;
}
colliding = result;
}
- return false; //never do any post solving
+ return process_collision;
+}
+
+bool Area2Pair2DSW::pre_solve(real_t p_step) {
+ if (!process_collision) {
+ return false;
+ }
+
+ if (colliding) {
+ if (area_b->has_area_monitor_callback() && area_a->is_monitorable()) {
+ area_b->add_area_to_query(area_a, shape_a, shape_b);
+ }
+
+ if (area_a->has_area_monitor_callback() && area_b->is_monitorable()) {
+ area_a->add_area_to_query(area_b, shape_b, shape_a);
+ }
+ } else {
+ if (area_b->has_area_monitor_callback() && area_a->is_monitorable()) {
+ area_b->remove_area_from_query(area_a, shape_a, shape_b);
+ }
+
+ if (area_a->has_area_monitor_callback() && area_b->is_monitorable()) {
+ area_a->remove_area_from_query(area_b, shape_b, shape_a);
+ }
+ }
+
+ return false; // Never do any post solving.
}
void Area2Pair2DSW::solve(real_t p_step) {
+ // Nothing to do.
}
Area2Pair2DSW::Area2Pair2DSW(Area2DSW *p_area_a, int p_shape_a, Area2DSW *p_area_b, int p_shape_b) {
@@ -137,7 +168,6 @@ Area2Pair2DSW::Area2Pair2DSW(Area2DSW *p_area_a, int p_shape_a, Area2DSW *p_area
area_b = p_area_b;
shape_a = p_shape_a;
shape_b = p_shape_b;
- colliding = false;
area_a->add_constraint(this);
area_b->add_constraint(this);
}
diff --git a/servers/physics_2d/area_pair_2d_sw.h b/servers/physics_2d/area_pair_2d_sw.h
index 4015aad5d1..4632a307d9 100644
--- a/servers/physics_2d/area_pair_2d_sw.h
+++ b/servers/physics_2d/area_pair_2d_sw.h
@@ -36,30 +36,34 @@
#include "constraint_2d_sw.h"
class AreaPair2DSW : public Constraint2DSW {
- Body2DSW *body;
- Area2DSW *area;
- int body_shape;
- int area_shape;
- bool colliding;
+ Body2DSW *body = nullptr;
+ Area2DSW *area = nullptr;
+ int body_shape = 0;
+ int area_shape = 0;
+ bool colliding = false;
+ bool process_collision = false;
public:
- bool setup(real_t p_step);
- void solve(real_t p_step);
+ virtual bool setup(real_t p_step) override;
+ virtual bool pre_solve(real_t p_step) override;
+ virtual void solve(real_t p_step) override;
AreaPair2DSW(Body2DSW *p_body, int p_body_shape, Area2DSW *p_area, int p_area_shape);
~AreaPair2DSW();
};
class Area2Pair2DSW : public Constraint2DSW {
- Area2DSW *area_a;
- Area2DSW *area_b;
- int shape_a;
- int shape_b;
- bool colliding;
+ Area2DSW *area_a = nullptr;
+ Area2DSW *area_b = nullptr;
+ int shape_a = 0;
+ int shape_b = 0;
+ bool colliding = false;
+ bool process_collision = false;
public:
- bool setup(real_t p_step);
- void solve(real_t p_step);
+ virtual bool setup(real_t p_step) override;
+ virtual bool pre_solve(real_t p_step) override;
+ virtual void solve(real_t p_step) override;
Area2Pair2DSW(Area2DSW *p_area_a, int p_shape_a, Area2DSW *p_area_b, int p_shape_b);
~Area2Pair2DSW();
diff --git a/servers/physics_2d/body_2d_sw.cpp b/servers/physics_2d/body_2d_sw.cpp
index 9306fea70c..f78a487e27 100644
--- a/servers/physics_2d/body_2d_sw.cpp
+++ b/servers/physics_2d/body_2d_sw.cpp
@@ -104,31 +104,17 @@ void Body2DSW::set_active(bool p_active) {
}
active = p_active;
- if (!p_active) {
- if (get_space()) {
- get_space()->body_remove_from_active_list(&active_list);
- }
- } else {
+
+ if (active) {
if (mode == PhysicsServer2D::BODY_MODE_STATIC) {
- return; //static bodies can't become active
- }
- if (get_space()) {
+ // Static bodies can't be active.
+ active = false;
+ } else if (get_space()) {
get_space()->body_add_to_active_list(&active_list);
}
-
- //still_time=0;
- }
- /*
- if (!space)
- return;
-
- for(int i=0;i<get_shape_count();i++) {
- Shape &s=shapes[i];
- if (s.bpid>0) {
- get_space()->get_broadphase()->set_active(s.bpid,active);
- }
+ } else if (get_space()) {
+ get_space()->body_remove_from_active_list(&active_list);
}
-*/
}
void Body2DSW::set_param(PhysicsServer2D::BodyParameter p_param, real_t p_value) {
@@ -370,13 +356,6 @@ void Body2DSW::set_space(Space2DSW *p_space) {
if (active) {
get_space()->body_add_to_active_list(&active_list);
}
- /*
- _update_queries();
- if (is_active()) {
- active=false;
- set_active(true);
- }
- */
}
first_integration = false;
diff --git a/servers/physics_2d/body_pair_2d_sw.cpp b/servers/physics_2d/body_pair_2d_sw.cpp
index da70ac7d4b..ff31825b83 100644
--- a/servers/physics_2d/body_pair_2d_sw.cpp
+++ b/servers/physics_2d/body_pair_2d_sw.cpp
@@ -87,10 +87,13 @@ void BodyPair2DSW::_contact_added_callback(const Vector2 &p_point_A, const Vecto
int least_deep = -1;
real_t min_depth = 1e10;
+ const Transform2D &transform_A = A->get_transform();
+ const Transform2D &transform_B = B->get_transform();
+
for (int i = 0; i <= contact_count; i++) {
Contact &c = (i == contact_count) ? contact : contacts[i];
- Vector2 global_A = A->get_transform().basis_xform(c.local_A);
- Vector2 global_B = B->get_transform().basis_xform(c.local_B) + offset_B;
+ Vector2 global_A = transform_A.basis_xform(c.local_A);
+ Vector2 global_B = transform_B.basis_xform(c.local_B) + offset_B;
Vector2 axis = global_A - global_B;
real_t depth = axis.dot(c.normal);
@@ -124,6 +127,9 @@ void BodyPair2DSW::_validate_contacts() {
real_t max_separation = space->get_contact_max_separation();
real_t max_separation2 = max_separation * max_separation;
+ const Transform2D &transform_A = A->get_transform();
+ const Transform2D &transform_B = B->get_transform();
+
for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i];
@@ -134,8 +140,8 @@ void BodyPair2DSW::_validate_contacts() {
} else {
c.reused = false;
- Vector2 global_A = A->get_transform().basis_xform(c.local_A);
- Vector2 global_B = B->get_transform().basis_xform(c.local_B) + offset_B;
+ Vector2 global_A = transform_A.basis_xform(c.local_A);
+ Vector2 global_B = transform_B.basis_xform(c.local_B) + offset_B;
Vector2 axis = global_A - global_B;
real_t depth = axis.dot(c.normal);
@@ -220,14 +226,16 @@ real_t combine_friction(Body2DSW *A, Body2DSW *B) {
}
bool BodyPair2DSW::setup(real_t p_step) {
- //cannot collide
+ dynamic_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
+ dynamic_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
+
if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) {
collided = false;
return false;
}
- bool report_contacts_only = false;
- if ((A->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC)) {
+ report_contacts_only = false;
+ if (!dynamic_A && !dynamic_B) {
if ((A->get_max_contacts_reported() > 0) || (B->get_max_contacts_reported() > 0)) {
report_contacts_only = true;
} else {
@@ -246,12 +254,12 @@ bool BodyPair2DSW::setup(real_t p_step) {
_validate_contacts();
- Vector2 offset_A = A->get_transform().get_origin();
+ const Vector2 &offset_A = A->get_transform().get_origin();
Transform2D xform_Au = A->get_transform().untranslated();
Transform2D xform_A = xform_Au * A->get_shape_transform(shape_A);
Transform2D xform_Bu = B->get_transform();
- xform_Bu.elements[2] -= A->get_transform().get_origin();
+ xform_Bu.elements[2] -= offset_A;
Transform2D xform_B = xform_Bu * B->get_shape_transform(shape_B);
Shape2DSW *shape_A_ptr = A->get_shape(shape_A);
@@ -272,13 +280,13 @@ bool BodyPair2DSW::setup(real_t p_step) {
if (!collided) {
//test ccd (currently just a raycast)
- if (A->get_continuous_collision_detection_mode() == PhysicsServer2D::CCD_MODE_CAST_RAY && A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC) {
+ if (A->get_continuous_collision_detection_mode() == PhysicsServer2D::CCD_MODE_CAST_RAY && dynamic_A) {
if (_test_ccd(p_step, A, shape_A, xform_A, B, shape_B, xform_B)) {
collided = true;
}
}
- if (B->get_continuous_collision_detection_mode() == PhysicsServer2D::CCD_MODE_CAST_RAY && B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC) {
+ if (B->get_continuous_collision_detection_mode() == PhysicsServer2D::CCD_MODE_CAST_RAY && dynamic_B) {
if (_test_ccd(p_step, B, shape_B, xform_B, A, shape_A, xform_A, true)) {
collided = true;
}
@@ -338,9 +346,21 @@ bool BodyPair2DSW::setup(real_t p_step) {
}
}
+ return true;
+}
+
+bool BodyPair2DSW::pre_solve(real_t p_step) {
+ if (!collided || oneway_disabled) {
+ return false;
+ }
+
real_t max_penetration = space->get_contact_max_allowed_penetration();
real_t bias = 0.3;
+
+ Shape2DSW *shape_A_ptr = A->get_shape(shape_A);
+ Shape2DSW *shape_B_ptr = B->get_shape(shape_B);
+
if (shape_A_ptr->get_custom_bias() || shape_B_ptr->get_custom_bias()) {
if (shape_A_ptr->get_custom_bias() == 0) {
bias = shape_B_ptr->get_custom_bias();
@@ -351,21 +371,23 @@ bool BodyPair2DSW::setup(real_t p_step) {
}
}
- cc = 0;
-
real_t inv_dt = 1.0 / p_step;
bool do_process = false;
+ const Vector2 &offset_A = A->get_transform().get_origin();
+ const Transform2D &transform_A = A->get_transform();
+ const Transform2D &transform_B = B->get_transform();
+
for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i];
-
c.active = false;
- Vector2 global_A = xform_Au.xform(c.local_A);
- Vector2 global_B = xform_Bu.xform(c.local_B);
+ Vector2 global_A = transform_A.basis_xform(c.local_A);
+ Vector2 global_B = transform_B.basis_xform(c.local_B) + offset_B;
- real_t depth = c.normal.dot(global_A - global_B);
+ Vector2 axis = global_A - global_B;
+ real_t depth = axis.dot(c.normal);
if (depth <= 0 || !c.reused) {
continue;
@@ -396,8 +418,6 @@ bool BodyPair2DSW::setup(real_t p_step) {
continue;
}
- c.active = true;
-
// Precompute normal mass, tangent mass, and bias.
real_t rnA = c.rA.dot(c.normal);
real_t rnB = c.rB.dot(c.normal);
@@ -421,8 +441,12 @@ bool BodyPair2DSW::setup(real_t p_step) {
// Apply normal + friction impulse
Vector2 P = c.acc_normal_impulse * c.normal + c.acc_tangent_impulse * tangent;
- A->apply_impulse(-P, c.rA);
- B->apply_impulse(P, c.rB);
+ if (dynamic_A) {
+ A->apply_impulse(-P, c.rA);
+ }
+ if (dynamic_B) {
+ B->apply_impulse(P, c.rB);
+ }
}
#endif
@@ -434,6 +458,7 @@ bool BodyPair2DSW::setup(real_t p_step) {
c.bounce = c.bounce * dv.dot(c.normal);
}
+ c.active = true;
do_process = true;
}
@@ -441,13 +466,12 @@ bool BodyPair2DSW::setup(real_t p_step) {
}
void BodyPair2DSW::solve(real_t p_step) {
- if (!collided) {
+ if (!collided || oneway_disabled) {
return;
}
for (int i = 0; i < contact_count; ++i) {
Contact &c = contacts[i];
- cc++;
if (!c.active) {
continue;
@@ -474,8 +498,12 @@ void BodyPair2DSW::solve(real_t p_step) {
Vector2 jb = c.normal * (c.acc_bias_impulse - jbnOld);
- A->apply_bias_impulse(-jb, c.rA);
- B->apply_bias_impulse(jb, c.rB);
+ if (dynamic_A) {
+ A->apply_bias_impulse(-jb, c.rA);
+ }
+ if (dynamic_B) {
+ B->apply_bias_impulse(jb, c.rB);
+ }
real_t jn = -(c.bounce + vn) * c.mass_normal;
real_t jnOld = c.acc_normal_impulse;
@@ -490,8 +518,12 @@ void BodyPair2DSW::solve(real_t p_step) {
Vector2 j = c.normal * (c.acc_normal_impulse - jnOld) + tangent * (c.acc_tangent_impulse - jtOld);
- A->apply_impulse(-j, c.rA);
- B->apply_impulse(j, c.rB);
+ if (dynamic_A) {
+ A->apply_impulse(-j, c.rA);
+ }
+ if (dynamic_B) {
+ B->apply_impulse(j, c.rB);
+ }
}
}
@@ -504,9 +536,6 @@ BodyPair2DSW::BodyPair2DSW(Body2DSW *p_A, int p_shape_A, Body2DSW *p_B, int p_sh
space = A->get_space();
A->add_constraint(this, 0);
B->add_constraint(this, 1);
- contact_count = 0;
- collided = false;
- oneway_disabled = false;
}
BodyPair2DSW::~BodyPair2DSW() {
diff --git a/servers/physics_2d/body_pair_2d_sw.h b/servers/physics_2d/body_pair_2d_sw.h
index 31ab9b9017..4b42b44c92 100644
--- a/servers/physics_2d/body_pair_2d_sw.h
+++ b/servers/physics_2d/body_pair_2d_sw.h
@@ -44,13 +44,16 @@ class BodyPair2DSW : public Constraint2DSW {
Body2DSW *B;
};
- Body2DSW *_arr[2];
+ Body2DSW *_arr[2] = { nullptr, nullptr };
};
- int shape_A;
- int shape_B;
+ int shape_A = 0;
+ int shape_B = 0;
- Space2DSW *space;
+ bool dynamic_A = false;
+ bool dynamic_B = false;
+
+ Space2DSW *space = nullptr;
struct Contact {
Vector2 position;
@@ -73,10 +76,10 @@ class BodyPair2DSW : public Constraint2DSW {
Vector2 sep_axis;
Contact contacts[MAX_CONTACTS];
- int contact_count;
- bool collided;
- bool oneway_disabled;
- int cc;
+ int contact_count = 0;
+ bool collided = false;
+ bool oneway_disabled = false;
+ bool report_contacts_only = false;
bool _test_ccd(real_t p_step, Body2DSW *p_A, int p_shape_A, const Transform2D &p_xform_A, Body2DSW *p_B, int p_shape_B, const Transform2D &p_xform_B, bool p_swap_result = false);
void _validate_contacts();
@@ -84,8 +87,9 @@ class BodyPair2DSW : public Constraint2DSW {
_FORCE_INLINE_ void _contact_added_callback(const Vector2 &p_point_A, const Vector2 &p_point_B);
public:
- bool setup(real_t p_step);
- void solve(real_t p_step);
+ virtual bool setup(real_t p_step) override;
+ virtual bool pre_solve(real_t p_step) override;
+ virtual void solve(real_t p_step) override;
BodyPair2DSW(Body2DSW *p_A, int p_shape_A, Body2DSW *p_B, int p_shape_B);
~BodyPair2DSW();
diff --git a/servers/physics_2d/collision_object_2d_sw.h b/servers/physics_2d/collision_object_2d_sw.h
index 2db3961f41..c395e59694 100644
--- a/servers/physics_2d/collision_object_2d_sw.h
+++ b/servers/physics_2d/collision_object_2d_sw.h
@@ -143,8 +143,8 @@ public:
return shapes[p_index].metadata;
}
- _FORCE_INLINE_ Transform2D get_transform() const { return transform; }
- _FORCE_INLINE_ Transform2D get_inv_transform() const { return inv_transform; }
+ _FORCE_INLINE_ const Transform2D &get_transform() const { return transform; }
+ _FORCE_INLINE_ const Transform2D &get_inv_transform() const { return inv_transform; }
_FORCE_INLINE_ Space2DSW *get_space() const { return space; }
void set_shape_as_disabled(int p_idx, bool p_disabled);
diff --git a/servers/physics_2d/constraint_2d_sw.h b/servers/physics_2d/constraint_2d_sw.h
index b724deb48e..5e8dfbe570 100644
--- a/servers/physics_2d/constraint_2d_sw.h
+++ b/servers/physics_2d/constraint_2d_sw.h
@@ -63,6 +63,7 @@ public:
_FORCE_INLINE_ bool is_disabled_collisions_between_bodies() const { return disabled_collisions_between_bodies; }
virtual bool setup(real_t p_step) = 0;
+ virtual bool pre_solve(real_t p_step) = 0;
virtual void solve(real_t p_step) = 0;
virtual ~Constraint2DSW() {}
diff --git a/servers/physics_2d/joints_2d_sw.cpp b/servers/physics_2d/joints_2d_sw.cpp
index 20d4b9aa1a..eaec582f9b 100644
--- a/servers/physics_2d/joints_2d_sw.cpp
+++ b/servers/physics_2d/joints_2d_sw.cpp
@@ -97,7 +97,10 @@ normal_relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB, Vecto
}
bool PinJoint2DSW::setup(real_t p_step) {
- if ((A->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC)) {
+ dynamic_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
+ dynamic_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
+
+ if (!dynamic_A && !dynamic_B) {
return false;
}
@@ -148,12 +151,6 @@ bool PinJoint2DSW::setup(real_t p_step) {
bias = delta * -(get_bias() == 0 ? space->get_constraint_bias() : get_bias()) * (1.0 / p_step);
- // apply accumulated impulse
- A->apply_impulse(-P, rA);
- if (B) {
- B->apply_impulse(P, rB);
- }
-
return true;
}
@@ -161,6 +158,18 @@ inline Vector2 custom_cross(const Vector2 &p_vec, real_t p_other) {
return Vector2(p_other * p_vec.y, -p_other * p_vec.x);
}
+bool PinJoint2DSW::pre_solve(real_t p_step) {
+ // Apply accumulated impulse.
+ if (dynamic_A) {
+ A->apply_impulse(-P, rA);
+ }
+ if (B && dynamic_B) {
+ B->apply_impulse(P, rB);
+ }
+
+ return true;
+}
+
void PinJoint2DSW::solve(real_t p_step) {
// compute relative velocity
Vector2 vA = A->get_linear_velocity() - custom_cross(rA, A->get_angular_velocity());
@@ -174,8 +183,10 @@ void PinJoint2DSW::solve(real_t p_step) {
Vector2 impulse = M.basis_xform(bias - rel_vel - Vector2(softness, softness) * P);
- A->apply_impulse(-impulse, rA);
- if (B) {
+ if (dynamic_A) {
+ A->apply_impulse(-impulse, rA);
+ }
+ if (B && dynamic_B) {
B->apply_impulse(impulse, rB);
}
@@ -262,14 +273,19 @@ mult_k(const Vector2 &vr, const Vector2 &k1, const Vector2 &k2) {
}
bool GrooveJoint2DSW::setup(real_t p_step) {
- if ((A->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC)) {
+ dynamic_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
+ dynamic_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
+
+ if (!dynamic_A && !dynamic_B) {
return false;
}
+ Space2DSW *space = A->get_space();
+ ERR_FAIL_COND_V(!space, false);
+
// calculate endpoints in worldspace
Vector2 ta = A->get_transform().xform(A_groove_1);
Vector2 tb = A->get_transform().xform(A_groove_2);
- Space2DSW *space = A->get_space();
// calculate axis
Vector2 n = -(tb - ta).orthogonal().normalized();
@@ -308,14 +324,22 @@ bool GrooveJoint2DSW::setup(real_t p_step) {
real_t _b = get_bias();
gbias = (delta * -(_b == 0 ? space->get_constraint_bias() : _b) * (1.0 / p_step)).clamped(get_max_bias());
- // apply accumulated impulse
- A->apply_impulse(-jn_acc, rA);
- B->apply_impulse(jn_acc, rB);
-
correct = true;
return true;
}
+bool GrooveJoint2DSW::pre_solve(real_t p_step) {
+ // Apply accumulated impulse.
+ if (dynamic_A) {
+ A->apply_impulse(-jn_acc, rA);
+ }
+ if (dynamic_B) {
+ B->apply_impulse(jn_acc, rB);
+ }
+
+ return true;
+}
+
void GrooveJoint2DSW::solve(real_t p_step) {
// compute impulse
Vector2 vr = relative_velocity(A, B, rA, rB);
@@ -328,8 +352,12 @@ void GrooveJoint2DSW::solve(real_t p_step) {
j = jn_acc - jOld;
- A->apply_impulse(-j, rA);
- B->apply_impulse(j, rB);
+ if (dynamic_A) {
+ A->apply_impulse(-j, rA);
+ }
+ if (dynamic_B) {
+ B->apply_impulse(j, rB);
+ }
}
GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, Body2DSW *p_body_a, Body2DSW *p_body_b) :
@@ -351,7 +379,10 @@ GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_
//////////////////////////////////////////////
bool DampedSpringJoint2DSW::setup(real_t p_step) {
- if ((A->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC)) {
+ dynamic_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
+ dynamic_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
+
+ if (!dynamic_A && !dynamic_B) {
return false;
}
@@ -373,12 +404,21 @@ bool DampedSpringJoint2DSW::setup(real_t p_step) {
target_vrn = 0.0f;
v_coef = 1.0f - Math::exp(-damping * (p_step)*k);
- // apply spring force
+ // Calculate spring force.
real_t f_spring = (rest_length - dist) * stiffness;
- Vector2 j = n * f_spring * (p_step);
+ j = n * f_spring * (p_step);
- A->apply_impulse(-j, rA);
- B->apply_impulse(j, rB);
+ return true;
+}
+
+bool DampedSpringJoint2DSW::pre_solve(real_t p_step) {
+ // Apply spring force.
+ if (dynamic_A) {
+ A->apply_impulse(-j, rA);
+ }
+ if (dynamic_B) {
+ B->apply_impulse(j, rB);
+ }
return true;
}
@@ -393,8 +433,12 @@ void DampedSpringJoint2DSW::solve(real_t p_step) {
target_vrn = vrn + v_damp;
Vector2 j = n * v_damp * n_mass;
- A->apply_impulse(-j, rA);
- B->apply_impulse(j, rB);
+ if (dynamic_A) {
+ A->apply_impulse(-j, rA);
+ }
+ if (dynamic_B) {
+ B->apply_impulse(j, rB);
+ }
}
void DampedSpringJoint2DSW::set_param(PhysicsServer2D::DampedSpringParam p_param, real_t p_value) {
diff --git a/servers/physics_2d/joints_2d_sw.h b/servers/physics_2d/joints_2d_sw.h
index 628de972ae..ccc5c585a0 100644
--- a/servers/physics_2d/joints_2d_sw.h
+++ b/servers/physics_2d/joints_2d_sw.h
@@ -39,6 +39,10 @@ class Joint2DSW : public Constraint2DSW {
real_t bias;
real_t max_bias;
+protected:
+ bool dynamic_A = false;
+ bool dynamic_B = false;
+
public:
_FORCE_INLINE_ void set_max_force(real_t p_force) { max_force = p_force; }
_FORCE_INLINE_ real_t get_max_force() const { return max_force; }
@@ -49,8 +53,9 @@ public:
_FORCE_INLINE_ void set_max_bias(real_t p_bias) { max_bias = p_bias; }
_FORCE_INLINE_ real_t get_max_bias() const { return max_bias; }
- virtual bool setup(real_t p_step) { return false; }
- virtual void solve(real_t p_step) {}
+ virtual bool setup(real_t p_step) override { return false; }
+ virtual bool pre_solve(real_t p_step) override { return false; }
+ virtual void solve(real_t p_step) override {}
void copy_settings_from(Joint2DSW *p_joint);
@@ -90,10 +95,11 @@ class PinJoint2DSW : public Joint2DSW {
real_t softness;
public:
- virtual PhysicsServer2D::JointType get_type() const { return PhysicsServer2D::JOINT_TYPE_PIN; }
+ virtual PhysicsServer2D::JointType get_type() const override { return PhysicsServer2D::JOINT_TYPE_PIN; }
- virtual bool setup(real_t p_step);
- virtual void solve(real_t p_step);
+ virtual bool setup(real_t p_step) override;
+ virtual bool pre_solve(real_t p_step) override;
+ virtual void solve(real_t p_step) override;
void set_param(PhysicsServer2D::PinJointParam p_param, real_t p_value);
real_t get_param(PhysicsServer2D::PinJointParam p_param) const;
@@ -126,10 +132,11 @@ class GrooveJoint2DSW : public Joint2DSW {
bool correct;
public:
- virtual PhysicsServer2D::JointType get_type() const { return PhysicsServer2D::JOINT_TYPE_GROOVE; }
+ virtual PhysicsServer2D::JointType get_type() const override { return PhysicsServer2D::JOINT_TYPE_GROOVE; }
- virtual bool setup(real_t p_step);
- virtual void solve(real_t p_step);
+ virtual bool setup(real_t p_step) override;
+ virtual bool pre_solve(real_t p_step) override;
+ virtual void solve(real_t p_step) override;
GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, Body2DSW *p_body_a, Body2DSW *p_body_b);
};
@@ -153,15 +160,17 @@ class DampedSpringJoint2DSW : public Joint2DSW {
Vector2 rA, rB;
Vector2 n;
+ Vector2 j;
real_t n_mass;
real_t target_vrn;
real_t v_coef;
public:
- virtual PhysicsServer2D::JointType get_type() const { return PhysicsServer2D::JOINT_TYPE_DAMPED_SPRING; }
+ virtual PhysicsServer2D::JointType get_type() const override { return PhysicsServer2D::JOINT_TYPE_DAMPED_SPRING; }
- virtual bool setup(real_t p_step);
- virtual void solve(real_t p_step);
+ virtual bool setup(real_t p_step) override;
+ virtual bool pre_solve(real_t p_step) override;
+ virtual void solve(real_t p_step) override;
void set_param(PhysicsServer2D::DampedSpringParam p_param, real_t p_value);
real_t get_param(PhysicsServer2D::DampedSpringParam p_param) const;
diff --git a/servers/physics_2d/step_2d_sw.cpp b/servers/physics_2d/step_2d_sw.cpp
index 406d750776..b8cb4cddc5 100644
--- a/servers/physics_2d/step_2d_sw.cpp
+++ b/servers/physics_2d/step_2d_sw.cpp
@@ -29,45 +29,59 @@
/*************************************************************************/
#include "step_2d_sw.h"
+
#include "core/os/os.h"
#define BODY_ISLAND_COUNT_RESERVE 128
#define BODY_ISLAND_SIZE_RESERVE 512
#define ISLAND_COUNT_RESERVE 128
#define ISLAND_SIZE_RESERVE 512
+#define CONSTRAINT_COUNT_RESERVE 1024
void Step2DSW::_populate_island(Body2DSW *p_body, LocalVector<Body2DSW *> &p_body_island, LocalVector<Constraint2DSW *> &p_constraint_island) {
p_body->set_island_step(_step);
- p_body_island.push_back(p_body);
- // Faster with reversed iterations.
- for (const List<Pair<Constraint2DSW *, int>>::Element *E = p_body->get_constraint_list().back(); E; E = E->prev()) {
- Constraint2DSW *c = (Constraint2DSW *)E->get().first;
- if (c->get_island_step() == _step) {
- continue; //already processed
+ if (p_body->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC) {
+ // Only dynamic bodies are tested for activation.
+ p_body_island.push_back(p_body);
+ }
+
+ for (const List<Pair<Constraint2DSW *, int>>::Element *E = p_body->get_constraint_list().front(); E; E = E->next()) {
+ Constraint2DSW *constraint = (Constraint2DSW *)E->get().first;
+ if (constraint->get_island_step() == _step) {
+ continue; // Already processed.
}
- c->set_island_step(_step);
- p_constraint_island.push_back(c);
+ constraint->set_island_step(_step);
+ p_constraint_island.push_back(constraint);
+ all_constraints.push_back(constraint);
- for (int i = 0; i < c->get_body_count(); i++) {
+ for (int i = 0; i < constraint->get_body_count(); i++) {
if (i == E->get().second) {
continue;
}
- Body2DSW *b = c->get_body_ptr()[i];
- if (b->get_island_step() == _step || b->get_mode() == PhysicsServer2D::BODY_MODE_STATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC) {
- continue; //no go
+ Body2DSW *other_body = constraint->get_body_ptr()[i];
+ if (other_body->get_island_step() == _step) {
+ continue; // Already processed.
+ }
+ if (other_body->get_mode() == PhysicsServer2D::BODY_MODE_STATIC) {
+ continue; // Static bodies don't connect islands.
}
- _populate_island(c->get_body_ptr()[i], p_body_island, p_constraint_island);
+ _populate_island(other_body, p_body_island, p_constraint_island);
}
}
}
-void Step2DSW::_setup_island(LocalVector<Constraint2DSW *> &p_constraint_island, real_t p_delta) {
+void Step2DSW::_setup_contraint(uint32_t p_constraint_index, void *p_userdata) {
+ Constraint2DSW *constraint = all_constraints[p_constraint_index];
+ constraint->setup(delta);
+}
+
+void Step2DSW::_pre_solve_island(LocalVector<Constraint2DSW *> &p_constraint_island) const {
uint32_t constraint_count = p_constraint_island.size();
uint32_t valid_constraint_count = 0;
for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
Constraint2DSW *constraint = p_constraint_island[constraint_index];
- if (p_constraint_island[constraint_index]->setup(p_delta)) {
+ if (p_constraint_island[constraint_index]->pre_solve(delta)) {
// Keep this constraint for solving.
p_constraint_island[valid_constraint_count++] = constraint;
}
@@ -75,27 +89,25 @@ void Step2DSW::_setup_island(LocalVector<Constraint2DSW *> &p_constraint_island,
p_constraint_island.resize(valid_constraint_count);
}
-void Step2DSW::_solve_island(LocalVector<Constraint2DSW *> &p_constraint_island, int p_iterations, real_t p_delta) {
- for (int i = 0; i < p_iterations; i++) {
- uint32_t constraint_count = p_constraint_island.size();
+void Step2DSW::_solve_island(uint32_t p_island_index, void *p_userdata) const {
+ const LocalVector<Constraint2DSW *> &constraint_island = constraint_islands[p_island_index];
+
+ for (int i = 0; i < iterations; i++) {
+ uint32_t constraint_count = constraint_island.size();
for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
- p_constraint_island[constraint_index]->solve(p_delta);
+ constraint_island[constraint_index]->solve(delta);
}
}
}
-void Step2DSW::_check_suspend(const LocalVector<Body2DSW *> &p_body_island, real_t p_delta) {
+void Step2DSW::_check_suspend(LocalVector<Body2DSW *> &p_body_island) const {
bool can_sleep = true;
uint32_t body_count = p_body_island.size();
for (uint32_t body_index = 0; body_index < body_count; ++body_index) {
Body2DSW *body = p_body_island[body_index];
- if (body->get_mode() == PhysicsServer2D::BODY_MODE_STATIC || body->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC) {
- continue; // Ignore for static.
- }
-
- if (!body->sleep_test(p_delta)) {
+ if (!body->sleep_test(delta)) {
can_sleep = false;
}
}
@@ -104,10 +116,6 @@ void Step2DSW::_check_suspend(const LocalVector<Body2DSW *> &p_body_island, real
for (uint32_t body_index = 0; body_index < body_count; ++body_index) {
Body2DSW *body = p_body_island[body_index];
- if (body->get_mode() == PhysicsServer2D::BODY_MODE_STATIC || body->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC) {
- continue; // Ignore for static.
- }
-
bool active = body->is_active();
if (active == can_sleep) {
@@ -121,6 +129,9 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
p_space->setup(); //update inertias, etc
+ iterations = p_iterations;
+ delta = p_delta;
+
const SelfList<Body2DSW>::List *body_list = &p_space->get_active_body_list();
/* INTEGRATE FORCES */
@@ -145,12 +156,39 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
profile_begtime = profile_endtime;
}
- /* GENERATE CONSTRAINT ISLANDS */
+ /* GENERATE CONSTRAINT ISLANDS FOR MOVING AREAS */
+
+ uint32_t island_count = 0;
+
+ const SelfList<Area2DSW>::List &aml = p_space->get_moved_area_list();
+
+ while (aml.first()) {
+ for (const Set<Constraint2DSW *>::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) {
+ Constraint2DSW *constraint = E->get();
+ if (constraint->get_island_step() == _step) {
+ continue;
+ }
+ constraint->set_island_step(_step);
+
+ // Each constraint can be on a separate island for areas as there's no solving phase.
+ ++island_count;
+ if (constraint_islands.size() < island_count) {
+ constraint_islands.resize(island_count);
+ }
+ LocalVector<Constraint2DSW *> &constraint_island = constraint_islands[island_count - 1];
+ constraint_island.clear();
+
+ all_constraints.push_back(constraint);
+ constraint_island.push_back(constraint);
+ }
+ p_space->area_remove_from_moved_list((SelfList<Area2DSW> *)aml.first()); //faster to remove here
+ }
+
+ /* GENERATE CONSTRAINT ISLANDS FOR ACTIVE RIGID BODIES */
b = body_list->first();
uint32_t body_island_count = 0;
- uint32_t island_count = 0;
while (b) {
Body2DSW *body = b->self();
@@ -174,7 +212,9 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
_populate_island(body, body_island, constraint_island);
- body_islands.push_back(body_island);
+ if (body_island.is_empty()) {
+ --body_island_count;
+ }
if (constraint_island.is_empty()) {
--island_count;
@@ -185,37 +225,16 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
p_space->set_island_count((int)island_count);
- const SelfList<Area2DSW>::List &aml = p_space->get_moved_area_list();
-
- while (aml.first()) {
- for (const Set<Constraint2DSW *>::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) {
- Constraint2DSW *c = E->get();
- if (c->get_island_step() == _step) {
- continue;
- }
- c->set_island_step(_step);
- ++island_count;
- if (constraint_islands.size() < island_count) {
- constraint_islands.resize(island_count);
- }
- LocalVector<Constraint2DSW *> &constraint_island = constraint_islands[island_count - 1];
- constraint_island.clear();
- constraint_island.push_back(c);
- }
- p_space->area_remove_from_moved_list((SelfList<Area2DSW> *)aml.first()); //faster to remove here
- }
-
{ //profile
profile_endtime = OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime);
profile_begtime = profile_endtime;
}
- /* SETUP CONSTRAINT ISLANDS */
+ /* SETUP CONSTRAINTS / PROCESS COLLISIONS */
- for (uint32_t island_index = 0; island_index < island_count; ++island_index) {
- _setup_island(constraint_islands[island_index], p_delta);
- }
+ uint32_t total_contraint_count = all_constraints.size();
+ work_pool.do_work(total_contraint_count, this, &Step2DSW::_setup_contraint, nullptr);
{ //profile
profile_endtime = OS::get_singleton()->get_ticks_usec();
@@ -223,10 +242,21 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
profile_begtime = profile_endtime;
}
- /* SOLVE CONSTRAINT ISLANDS */
+ /* PRE-SOLVE CONSTRAINT ISLANDS */
+ // Warning: This doesn't run on threads, because it involves thread-unsafe processing.
for (uint32_t island_index = 0; island_index < island_count; ++island_index) {
- _solve_island(constraint_islands[island_index], p_iterations, p_delta);
+ _pre_solve_island(constraint_islands[island_index]);
+ }
+
+ /* SOLVE CONSTRAINT ISLANDS */
+
+ // Warning: _solve_island modifies the constraint islands for optimization purpose,
+ // their content is not reliable after these calls and shouldn't be used anymore.
+ if (island_count > 1) {
+ work_pool.do_work(island_count, this, &Step2DSW::_solve_island, nullptr);
+ } else if (island_count > 0) {
+ _solve_island(0);
}
{ //profile
@@ -247,7 +277,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
/* SLEEP / WAKE UP ISLANDS */
for (uint32_t island_index = 0; island_index < body_island_count; ++island_index) {
- _check_suspend(body_islands[island_index], p_delta);
+ _check_suspend(body_islands[island_index]);
}
{ //profile
@@ -256,6 +286,8 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
//profile_begtime=profile_endtime;
}
+ all_constraints.clear();
+
p_space->update();
p_space->unlock();
_step++;
@@ -266,4 +298,11 @@ Step2DSW::Step2DSW() {
body_islands.reserve(BODY_ISLAND_COUNT_RESERVE);
constraint_islands.reserve(ISLAND_COUNT_RESERVE);
+ all_constraints.reserve(CONSTRAINT_COUNT_RESERVE);
+
+ work_pool.init();
+}
+
+Step2DSW::~Step2DSW() {
+ work_pool.finish();
}
diff --git a/servers/physics_2d/step_2d_sw.h b/servers/physics_2d/step_2d_sw.h
index 5af4a36f52..c51fd73a79 100644
--- a/servers/physics_2d/step_2d_sw.h
+++ b/servers/physics_2d/step_2d_sw.h
@@ -34,21 +34,30 @@
#include "space_2d_sw.h"
#include "core/templates/local_vector.h"
+#include "core/templates/thread_work_pool.h"
class Step2DSW {
uint64_t _step;
+ int iterations = 0;
+ real_t delta = 0.0;
+
+ ThreadWorkPool work_pool;
+
LocalVector<LocalVector<Body2DSW *>> body_islands;
LocalVector<LocalVector<Constraint2DSW *>> constraint_islands;
+ LocalVector<Constraint2DSW *> all_constraints;
void _populate_island(Body2DSW *p_body, LocalVector<Body2DSW *> &p_body_island, LocalVector<Constraint2DSW *> &p_constraint_island);
- void _setup_island(LocalVector<Constraint2DSW *> &p_constraint_island, real_t p_delta);
- void _solve_island(LocalVector<Constraint2DSW *> &p_constraint_island, int p_iterations, real_t p_delta);
- void _check_suspend(const LocalVector<Body2DSW *> &p_body_island, real_t p_delta);
+ void _setup_contraint(uint32_t p_constraint_index, void *p_userdata = nullptr);
+ void _pre_solve_island(LocalVector<Constraint2DSW *> &p_constraint_island) const;
+ void _solve_island(uint32_t p_island_index, void *p_userdata = nullptr) const;
+ void _check_suspend(LocalVector<Body2DSW *> &p_body_island) const;
public:
void step(Space2DSW *p_space, real_t p_delta, int p_iterations);
Step2DSW();
+ ~Step2DSW();
};
#endif // STEP_2D_SW_H
diff --git a/servers/physics_3d/area_pair_3d_sw.cpp b/servers/physics_3d/area_pair_3d_sw.cpp
index 4de5f1ba47..2073df7dee 100644
--- a/servers/physics_3d/area_pair_3d_sw.cpp
+++ b/servers/physics_3d/area_pair_3d_sw.cpp
@@ -40,31 +40,48 @@ bool AreaPair3DSW::setup(real_t p_step) {
result = true;
}
+ process_collision = false;
if (result != colliding) {
- if (result) {
- if (area->get_space_override_mode() != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED) {
- body->add_area(area);
- }
- if (area->has_monitor_callback()) {
- area->add_body_to_query(body, body_shape, area_shape);
- }
-
- } else {
- if (area->get_space_override_mode() != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED) {
- body->remove_area(area);
- }
- if (area->has_monitor_callback()) {
- area->remove_body_from_query(body, body_shape, area_shape);
- }
+ if (area->get_space_override_mode() != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED) {
+ process_collision = true;
+ } else if (area->has_monitor_callback()) {
+ process_collision = true;
}
colliding = result;
}
- return false; //never do any post solving
+ return process_collision;
+}
+
+bool AreaPair3DSW::pre_solve(real_t p_step) {
+ if (!process_collision) {
+ return false;
+ }
+
+ if (colliding) {
+ if (area->get_space_override_mode() != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED) {
+ body->add_area(area);
+ }
+
+ if (area->has_monitor_callback()) {
+ area->add_body_to_query(body, body_shape, area_shape);
+ }
+ } else {
+ if (area->get_space_override_mode() != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED) {
+ body->remove_area(area);
+ }
+
+ if (area->has_monitor_callback()) {
+ area->remove_body_from_query(body, body_shape, area_shape);
+ }
+ }
+
+ return false; // Never do any post solving.
}
void AreaPair3DSW::solve(real_t p_step) {
+ // Nothing to do.
}
AreaPair3DSW::AreaPair3DSW(Body3DSW *p_body, int p_body_shape, Area3DSW *p_area, int p_area_shape) {
@@ -72,7 +89,6 @@ AreaPair3DSW::AreaPair3DSW(Body3DSW *p_body, int p_body_shape, Area3DSW *p_area,
area = p_area;
body_shape = p_body_shape;
area_shape = p_area_shape;
- colliding = false;
body->add_constraint(this, 0);
area->add_constraint(this);
if (p_body->get_mode() == PhysicsServer3D::BODY_MODE_KINEMATIC) {
@@ -103,33 +119,48 @@ bool Area2Pair3DSW::setup(real_t p_step) {
result = true;
}
+ process_collision = false;
if (result != colliding) {
- if (result) {
- if (area_b->has_area_monitor_callback() && area_a->is_monitorable()) {
- area_b->add_area_to_query(area_a, shape_a, shape_b);
- }
-
- if (area_a->has_area_monitor_callback() && area_b->is_monitorable()) {
- area_a->add_area_to_query(area_b, shape_b, shape_a);
- }
-
- } else {
- if (area_b->has_area_monitor_callback() && area_a->is_monitorable()) {
- area_b->remove_area_from_query(area_a, shape_a, shape_b);
- }
-
- if (area_a->has_area_monitor_callback() && area_b->is_monitorable()) {
- area_a->remove_area_from_query(area_b, shape_b, shape_a);
- }
+ if (area_b->has_area_monitor_callback() && area_a->is_monitorable()) {
+ process_collision = true;
+ } else if (area_a->has_area_monitor_callback() && area_b->is_monitorable()) {
+ process_collision = true;
}
colliding = result;
}
- return false; //never do any post solving
+ return process_collision;
+}
+
+bool Area2Pair3DSW::pre_solve(real_t p_step) {
+ if (!process_collision) {
+ return false;
+ }
+
+ if (colliding) {
+ if (area_b->has_area_monitor_callback() && area_a->is_monitorable()) {
+ area_b->add_area_to_query(area_a, shape_a, shape_b);
+ }
+
+ if (area_a->has_area_monitor_callback() && area_b->is_monitorable()) {
+ area_a->add_area_to_query(area_b, shape_b, shape_a);
+ }
+ } else {
+ if (area_b->has_area_monitor_callback() && area_a->is_monitorable()) {
+ area_b->remove_area_from_query(area_a, shape_a, shape_b);
+ }
+
+ if (area_a->has_area_monitor_callback() && area_b->is_monitorable()) {
+ area_a->remove_area_from_query(area_b, shape_b, shape_a);
+ }
+ }
+
+ return false; // Never do any post solving.
}
void Area2Pair3DSW::solve(real_t p_step) {
+ // Nothing to do.
}
Area2Pair3DSW::Area2Pair3DSW(Area3DSW *p_area_a, int p_shape_a, Area3DSW *p_area_b, int p_shape_b) {
@@ -137,7 +168,6 @@ Area2Pair3DSW::Area2Pair3DSW(Area3DSW *p_area_a, int p_shape_a, Area3DSW *p_area
area_b = p_area_b;
shape_a = p_shape_a;
shape_b = p_shape_b;
- colliding = false;
area_a->add_constraint(this);
area_b->add_constraint(this);
}
diff --git a/servers/physics_3d/area_pair_3d_sw.h b/servers/physics_3d/area_pair_3d_sw.h
index fbdaa25cbb..596d893082 100644
--- a/servers/physics_3d/area_pair_3d_sw.h
+++ b/servers/physics_3d/area_pair_3d_sw.h
@@ -40,11 +40,13 @@ class AreaPair3DSW : public Constraint3DSW {
Area3DSW *area;
int body_shape;
int area_shape;
- bool colliding;
+ bool colliding = false;
+ bool process_collision = false;
public:
- bool setup(real_t p_step);
- void solve(real_t p_step);
+ virtual bool setup(real_t p_step) override;
+ virtual bool pre_solve(real_t p_step) override;
+ virtual void solve(real_t p_step) override;
AreaPair3DSW(Body3DSW *p_body, int p_body_shape, Area3DSW *p_area, int p_area_shape);
~AreaPair3DSW();
@@ -55,11 +57,13 @@ class Area2Pair3DSW : public Constraint3DSW {
Area3DSW *area_b;
int shape_a;
int shape_b;
- bool colliding;
+ bool colliding = false;
+ bool process_collision = false;
public:
- bool setup(real_t p_step);
- void solve(real_t p_step);
+ virtual bool setup(real_t p_step) override;
+ virtual bool pre_solve(real_t p_step) override;
+ virtual void solve(real_t p_step) override;
Area2Pair3DSW(Area3DSW *p_area_a, int p_shape_a, Area3DSW *p_area_b, int p_shape_b);
~Area2Pair3DSW();
diff --git a/servers/physics_3d/body_3d_sw.cpp b/servers/physics_3d/body_3d_sw.cpp
index d54345821d..4357c474e4 100644
--- a/servers/physics_3d/body_3d_sw.cpp
+++ b/servers/physics_3d/body_3d_sw.cpp
@@ -145,31 +145,17 @@ void Body3DSW::set_active(bool p_active) {
}
active = p_active;
- if (!p_active) {
- if (get_space()) {
- get_space()->body_remove_from_active_list(&active_list);
- }
- } else {
+
+ if (active) {
if (mode == PhysicsServer3D::BODY_MODE_STATIC) {
- return; //static bodies can't become active
- }
- if (get_space()) {
+ // Static bodies can't be active.
+ active = false;
+ } else if (get_space()) {
get_space()->body_add_to_active_list(&active_list);
}
-
- //still_time=0;
+ } else if (get_space()) {
+ get_space()->body_remove_from_active_list(&active_list);
}
- /*
- if (!space)
- return;
-
- for(int i=0;i<get_shape_count();i++) {
- Shape &s=shapes[i];
- if (s.bpid>0) {
- get_space()->get_broadphase()->set_active(s.bpid,active);
- }
- }
-*/
}
void Body3DSW::set_param(PhysicsServer3D::BodyParameter p_param, real_t p_value) {
@@ -392,13 +378,6 @@ void Body3DSW::set_space(Space3DSW *p_space) {
if (active) {
get_space()->body_add_to_active_list(&active_list);
}
- /*
- _update_queries();
- if (is_active()) {
- active=false;
- set_active(true);
- }
- */
}
first_integration = true;
diff --git a/servers/physics_3d/body_pair_3d_sw.cpp b/servers/physics_3d/body_pair_3d_sw.cpp
index 28c854466f..cdb3da665e 100644
--- a/servers/physics_3d/body_pair_3d_sw.cpp
+++ b/servers/physics_3d/body_pair_3d_sw.cpp
@@ -212,14 +212,16 @@ real_t combine_friction(Body3DSW *A, Body3DSW *B) {
}
bool BodyPair3DSW::setup(real_t p_step) {
- //cannot collide
+ dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
+ dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
+
if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) {
collided = false;
return false;
}
- bool report_contacts_only = false;
- if ((A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC)) {
+ report_contacts_only = false;
+ if (!dynamic_A && !dynamic_B) {
if ((A->get_max_contacts_reported() > 0) || (B->get_max_contacts_reported() > 0)) {
report_contacts_only = true;
} else {
@@ -237,7 +239,7 @@ bool BodyPair3DSW::setup(real_t p_step) {
validate_contacts();
- Vector3 offset_A = A->get_transform().get_origin();
+ const Vector3 &offset_A = A->get_transform().get_origin();
Transform xform_Au = Transform(A->get_transform().basis, Vector3());
Transform xform_A = xform_Au * A->get_shape_transform(shape_A);
@@ -248,27 +250,37 @@ bool BodyPair3DSW::setup(real_t p_step) {
Shape3DSW *shape_A_ptr = A->get_shape(shape_A);
Shape3DSW *shape_B_ptr = B->get_shape(shape_B);
- bool collided = CollisionSolver3DSW::solve_static(shape_A_ptr, xform_A, shape_B_ptr, xform_B, _contact_added_callback, this, &sep_axis);
- this->collided = collided;
+ collided = CollisionSolver3DSW::solve_static(shape_A_ptr, xform_A, shape_B_ptr, xform_B, _contact_added_callback, this, &sep_axis);
if (!collided) {
//test ccd (currently just a raycast)
- if (A->is_continuous_collision_detection_enabled() && A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC && B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC) {
+ if (A->is_continuous_collision_detection_enabled() && dynamic_A && !dynamic_B) {
_test_ccd(p_step, A, shape_A, xform_A, B, shape_B, xform_B);
}
- if (B->is_continuous_collision_detection_enabled() && B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC && A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC) {
+ if (B->is_continuous_collision_detection_enabled() && dynamic_B && !dynamic_A) {
_test_ccd(p_step, B, shape_B, xform_B, A, shape_A, xform_A);
}
return false;
}
+ return true;
+}
+
+bool BodyPair3DSW::pre_solve(real_t p_step) {
+ if (!collided) {
+ return false;
+ }
+
real_t max_penetration = space->get_contact_max_allowed_penetration();
real_t bias = (real_t)0.3;
+ Shape3DSW *shape_A_ptr = A->get_shape(shape_A);
+ Shape3DSW *shape_B_ptr = B->get_shape(shape_B);
+
if (shape_A_ptr->get_custom_bias() || shape_B_ptr->get_custom_bias()) {
if (shape_A_ptr->get_custom_bias() == 0) {
bias = shape_B_ptr->get_custom_bias();
@@ -283,22 +295,26 @@ bool BodyPair3DSW::setup(real_t p_step) {
bool do_process = false;
+ const Basis &basis_A = A->get_transform().basis;
+ const Basis &basis_B = B->get_transform().basis;
+
for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i];
c.active = false;
- Vector3 global_A = xform_Au.xform(c.local_A);
- Vector3 global_B = xform_Bu.xform(c.local_B);
+ Vector3 global_A = basis_A.xform(c.local_A);
+ Vector3 global_B = basis_B.xform(c.local_B) + offset_B;
- real_t depth = c.normal.dot(global_A - global_B);
+ Vector3 axis = global_A - global_B;
+ real_t depth = axis.dot(c.normal);
if (depth <= 0) {
continue;
}
#ifdef DEBUG_ENABLED
-
if (space->is_debugging_contacts()) {
+ const Vector3 &offset_A = A->get_transform().get_origin();
space->add_debug_contact(global_A + offset_A);
space->add_debug_contact(global_B + offset_A);
}
@@ -338,8 +354,12 @@ bool BodyPair3DSW::setup(real_t p_step) {
c.depth = depth;
Vector3 j_vec = c.normal * c.acc_normal_impulse + c.acc_tangent_impulse;
- A->apply_impulse(-j_vec, c.rA + A->get_center_of_mass());
- B->apply_impulse(j_vec, c.rB + B->get_center_of_mass());
+ if (dynamic_A) {
+ A->apply_impulse(-j_vec, c.rA + A->get_center_of_mass());
+ }
+ if (dynamic_B) {
+ B->apply_impulse(j_vec, c.rB + B->get_center_of_mass());
+ }
c.acc_bias_impulse = 0;
c.acc_bias_impulse_center_of_mass = 0;
@@ -361,6 +381,8 @@ void BodyPair3DSW::solve(real_t p_step) {
return;
}
+ const real_t max_bias_av = MAX_BIAS_ROTATION / p_step;
+
for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i];
if (!c.active) {
@@ -384,8 +406,12 @@ void BodyPair3DSW::solve(real_t p_step) {
Vector3 jb = c.normal * (c.acc_bias_impulse - jbnOld);
- A->apply_bias_impulse(-jb, c.rA + A->get_center_of_mass(), MAX_BIAS_ROTATION / p_step);
- B->apply_bias_impulse(jb, c.rB + B->get_center_of_mass(), MAX_BIAS_ROTATION / p_step);
+ if (dynamic_A) {
+ A->apply_bias_impulse(-jb, c.rA + A->get_center_of_mass(), max_bias_av);
+ }
+ if (dynamic_B) {
+ B->apply_bias_impulse(jb, c.rB + B->get_center_of_mass(), max_bias_av);
+ }
crbA = A->get_biased_angular_velocity().cross(c.rA);
crbB = B->get_biased_angular_velocity().cross(c.rB);
@@ -400,8 +426,12 @@ void BodyPair3DSW::solve(real_t p_step) {
Vector3 jb_com = c.normal * (c.acc_bias_impulse_center_of_mass - jbnOld_com);
- A->apply_bias_impulse(-jb_com, A->get_center_of_mass(), 0.0f);
- B->apply_bias_impulse(jb_com, B->get_center_of_mass(), 0.0f);
+ if (dynamic_A) {
+ A->apply_bias_impulse(-jb_com, A->get_center_of_mass(), 0.0f);
+ }
+ if (dynamic_B) {
+ B->apply_bias_impulse(jb_com, B->get_center_of_mass(), 0.0f);
+ }
}
c.active = true;
@@ -421,8 +451,12 @@ void BodyPair3DSW::solve(real_t p_step) {
Vector3 j = c.normal * (c.acc_normal_impulse - jnOld);
- A->apply_impulse(-j, c.rA + A->get_center_of_mass());
- B->apply_impulse(j, c.rB + B->get_center_of_mass());
+ if (dynamic_A) {
+ A->apply_impulse(-j, c.rA + A->get_center_of_mass());
+ }
+ if (dynamic_B) {
+ B->apply_impulse(j, c.rB + B->get_center_of_mass());
+ }
c.active = true;
}
@@ -464,8 +498,12 @@ void BodyPair3DSW::solve(real_t p_step) {
jt = c.acc_tangent_impulse - jtOld;
- A->apply_impulse(-jt, c.rA + A->get_center_of_mass());
- B->apply_impulse(jt, c.rB + B->get_center_of_mass());
+ if (dynamic_A) {
+ A->apply_impulse(-jt, c.rA + A->get_center_of_mass());
+ }
+ if (dynamic_B) {
+ B->apply_impulse(jt, c.rB + B->get_center_of_mass());
+ }
c.active = true;
}
@@ -481,8 +519,6 @@ BodyPair3DSW::BodyPair3DSW(Body3DSW *p_A, int p_shape_A, Body3DSW *p_B, int p_sh
space = A->get_space();
A->add_constraint(this, 0);
B->add_constraint(this, 1);
- contact_count = 0;
- collided = false;
}
BodyPair3DSW::~BodyPair3DSW() {
@@ -564,6 +600,8 @@ void BodySoftBodyPair3DSW::validate_contacts() {
}
bool BodySoftBodyPair3DSW::setup(real_t p_step) {
+ body_dynamic = (body->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
+
if (!body->test_collision_mask(soft_body) || body->has_exception(soft_body->get_self()) || soft_body->has_exception(body->get_self())) {
collided = false;
return false;
@@ -585,12 +623,22 @@ bool BodySoftBodyPair3DSW::setup(real_t p_step) {
Shape3DSW *shape_A_ptr = body->get_shape(body_shape);
Shape3DSW *shape_B_ptr = soft_body->get_shape(0);
- bool collided = CollisionSolver3DSW::solve_static(shape_A_ptr, xform_A, shape_B_ptr, xform_B, _contact_added_callback, this, &sep_axis);
- this->collided = collided;
+ collided = CollisionSolver3DSW::solve_static(shape_A_ptr, xform_A, shape_B_ptr, xform_B, _contact_added_callback, this, &sep_axis);
+
+ return collided;
+}
+
+bool BodySoftBodyPair3DSW::pre_solve(real_t p_step) {
+ if (!collided) {
+ return false;
+ }
real_t max_penetration = space->get_contact_max_allowed_penetration();
real_t bias = (real_t)0.3;
+
+ Shape3DSW *shape_A_ptr = body->get_shape(body_shape);
+
if (shape_A_ptr->get_custom_bias()) {
bias = shape_A_ptr->get_custom_bias();
}
@@ -599,6 +647,8 @@ bool BodySoftBodyPair3DSW::setup(real_t p_step) {
bool do_process = false;
+ const Transform &transform_A = body->get_transform();
+
uint32_t contact_count = contacts.size();
for (uint32_t contact_index = 0; contact_index < contact_count; ++contact_index) {
Contact &c = contacts[contact_index];
@@ -609,10 +659,10 @@ bool BodySoftBodyPair3DSW::setup(real_t p_step) {
continue;
}
- Vector3 global_A = xform_Au.xform(c.local_A);
+ Vector3 global_A = transform_A.xform(c.local_A);
Vector3 global_B = soft_body->get_node_position(c.index_B) + c.local_B;
-
- real_t depth = c.normal.dot(global_A - global_B);
+ Vector3 axis = global_A - global_B;
+ real_t depth = axis.dot(c.normal);
if (depth <= 0) {
continue;
@@ -629,7 +679,7 @@ bool BodySoftBodyPair3DSW::setup(real_t p_step) {
}
#endif
- c.rA = global_A - xform_Au.origin - body->get_center_of_mass();
+ c.rA = global_A - transform_A.origin - body->get_center_of_mass();
c.rB = global_B;
if (body->can_report_contacts()) {
@@ -637,7 +687,7 @@ bool BodySoftBodyPair3DSW::setup(real_t p_step) {
body->add_contact(global_A, -c.normal, depth, body_shape, global_B, 0, soft_body->get_instance_id(), soft_body->get_self(), crA);
}
- if (body->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC) {
+ if (body_dynamic) {
body->set_active(true);
}
@@ -651,7 +701,9 @@ bool BodySoftBodyPair3DSW::setup(real_t p_step) {
c.depth = depth;
Vector3 j_vec = c.normal * c.acc_normal_impulse + c.acc_tangent_impulse;
- body->apply_impulse(-j_vec, c.rA + body->get_center_of_mass());
+ if (body_dynamic) {
+ body->apply_impulse(-j_vec, c.rA + body->get_center_of_mass());
+ }
soft_body->apply_node_impulse(c.index_B, j_vec);
c.acc_bias_impulse = 0;
c.acc_bias_impulse_center_of_mass = 0;
@@ -675,6 +727,8 @@ void BodySoftBodyPair3DSW::solve(real_t p_step) {
return;
}
+ const real_t max_bias_av = MAX_BIAS_ROTATION / p_step;
+
uint32_t contact_count = contacts.size();
for (uint32_t contact_index = 0; contact_index < contact_count; ++contact_index) {
Contact &c = contacts[contact_index];
@@ -697,7 +751,9 @@ void BodySoftBodyPair3DSW::solve(real_t p_step) {
Vector3 jb = c.normal * (c.acc_bias_impulse - jbnOld);
- body->apply_bias_impulse(-jb, c.rA + body->get_center_of_mass(), MAX_BIAS_ROTATION / p_step);
+ if (body_dynamic) {
+ body->apply_bias_impulse(-jb, c.rA + body->get_center_of_mass(), max_bias_av);
+ }
soft_body->apply_node_bias_impulse(c.index_B, jb);
crbA = body->get_biased_angular_velocity().cross(c.rA);
@@ -712,7 +768,9 @@ void BodySoftBodyPair3DSW::solve(real_t p_step) {
Vector3 jb_com = c.normal * (c.acc_bias_impulse_center_of_mass - jbnOld_com);
- body->apply_bias_impulse(-jb_com, body->get_center_of_mass(), 0.0f);
+ if (body_dynamic) {
+ body->apply_bias_impulse(-jb_com, body->get_center_of_mass(), 0.0f);
+ }
soft_body->apply_node_bias_impulse(c.index_B, jb_com);
}
@@ -732,7 +790,9 @@ void BodySoftBodyPair3DSW::solve(real_t p_step) {
Vector3 j = c.normal * (c.acc_normal_impulse - jnOld);
- body->apply_impulse(-j, c.rA + body->get_center_of_mass());
+ if (body_dynamic) {
+ body->apply_impulse(-j, c.rA + body->get_center_of_mass());
+ }
soft_body->apply_node_impulse(c.index_B, j);
c.active = true;
@@ -773,7 +833,9 @@ void BodySoftBodyPair3DSW::solve(real_t p_step) {
jt = c.acc_tangent_impulse - jtOld;
- body->apply_impulse(-jt, c.rA + body->get_center_of_mass());
+ if (body_dynamic) {
+ body->apply_impulse(-jt, c.rA + body->get_center_of_mass());
+ }
soft_body->apply_node_impulse(c.index_B, jt);
c.active = true;
@@ -781,7 +843,8 @@ void BodySoftBodyPair3DSW::solve(real_t p_step) {
}
}
-BodySoftBodyPair3DSW::BodySoftBodyPair3DSW(Body3DSW *p_A, int p_shape_A, SoftBody3DSW *p_B) {
+BodySoftBodyPair3DSW::BodySoftBodyPair3DSW(Body3DSW *p_A, int p_shape_A, SoftBody3DSW *p_B) :
+ BodyContact3DSW(&body, 1) {
body = p_A;
soft_body = p_B;
body_shape = p_shape_A;
diff --git a/servers/physics_3d/body_pair_3d_sw.h b/servers/physics_3d/body_pair_3d_sw.h
index 74dddfa6aa..3f425ba2d7 100644
--- a/servers/physics_3d/body_pair_3d_sw.h
+++ b/servers/physics_3d/body_pair_3d_sw.h
@@ -57,9 +57,9 @@ protected:
};
Vector3 sep_axis;
- bool collided;
+ bool collided = false;
- Space3DSW *space;
+ Space3DSW *space = nullptr;
BodyContact3DSW(Body3DSW **p_body_ptr = nullptr, int p_body_count = 0) :
Constraint3DSW(p_body_ptr, p_body_count) {
@@ -77,16 +77,21 @@ class BodyPair3DSW : public BodyContact3DSW {
Body3DSW *B;
};
- Body3DSW *_arr[2];
+ Body3DSW *_arr[2] = { nullptr, nullptr };
};
- int shape_A;
- int shape_B;
+ int shape_A = 0;
+ int shape_B = 0;
+
+ bool dynamic_A = false;
+ bool dynamic_B = false;
+
+ bool report_contacts_only = false;
Vector3 offset_B; //use local A coordinates to avoid numerical issues on collision detection
Contact contacts[MAX_CONTACTS];
- int contact_count;
+ int contact_count = 0;
static void _contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata);
@@ -96,18 +101,21 @@ class BodyPair3DSW : public BodyContact3DSW {
bool _test_ccd(real_t p_step, Body3DSW *p_A, int p_shape_A, const Transform &p_xform_A, Body3DSW *p_B, int p_shape_B, const Transform &p_xform_B);
public:
- bool setup(real_t p_step);
- void solve(real_t p_step);
+ virtual bool setup(real_t p_step) override;
+ virtual bool pre_solve(real_t p_step) override;
+ virtual void solve(real_t p_step) override;
BodyPair3DSW(Body3DSW *p_A, int p_shape_A, Body3DSW *p_B, int p_shape_B);
~BodyPair3DSW();
};
class BodySoftBodyPair3DSW : public BodyContact3DSW {
- Body3DSW *body;
- SoftBody3DSW *soft_body;
+ Body3DSW *body = nullptr;
+ SoftBody3DSW *soft_body = nullptr;
- int body_shape;
+ int body_shape = 0;
+
+ bool body_dynamic = false;
LocalVector<Contact> contacts;
@@ -118,8 +126,12 @@ class BodySoftBodyPair3DSW : public BodyContact3DSW {
void validate_contacts();
public:
- bool setup(real_t p_step);
- void solve(real_t p_step);
+ virtual bool setup(real_t p_step) override;
+ virtual bool pre_solve(real_t p_step) override;
+ virtual void solve(real_t p_step) override;
+
+ virtual SoftBody3DSW *get_soft_body_ptr(int p_index) const override { return soft_body; }
+ virtual int get_soft_body_count() const override { return 1; }
BodySoftBodyPair3DSW(Body3DSW *p_A, int p_shape_A, SoftBody3DSW *p_B);
~BodySoftBodyPair3DSW();
diff --git a/servers/physics_3d/constraint_3d_sw.h b/servers/physics_3d/constraint_3d_sw.h
index 16a31e167d..7b44726ef5 100644
--- a/servers/physics_3d/constraint_3d_sw.h
+++ b/servers/physics_3d/constraint_3d_sw.h
@@ -31,7 +31,8 @@
#ifndef CONSTRAINT_SW_H
#define CONSTRAINT_SW_H
-#include "body_3d_sw.h"
+class Body3DSW;
+class SoftBody3DSW;
class Constraint3DSW {
Body3DSW **_body_ptr;
@@ -61,6 +62,9 @@ public:
_FORCE_INLINE_ Body3DSW **get_body_ptr() const { return _body_ptr; }
_FORCE_INLINE_ int get_body_count() const { return _body_count; }
+ virtual SoftBody3DSW *get_soft_body_ptr(int p_index) const { return nullptr; }
+ virtual int get_soft_body_count() const { return 0; }
+
_FORCE_INLINE_ void set_priority(int p_priority) { priority = p_priority; }
_FORCE_INLINE_ int get_priority() const { return priority; }
@@ -68,6 +72,7 @@ public:
_FORCE_INLINE_ bool is_disabled_collisions_between_bodies() const { return disabled_collisions_between_bodies; }
virtual bool setup(real_t p_step) = 0;
+ virtual bool pre_solve(real_t p_step) = 0;
virtual void solve(real_t p_step) = 0;
virtual ~Constraint3DSW() {}
diff --git a/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp b/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp
index 167f797bfe..e9efddf165 100644
--- a/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp
@@ -109,7 +109,10 @@ ConeTwistJoint3DSW::ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Trans
}
bool ConeTwistJoint3DSW::setup(real_t p_timestep) {
- if ((A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC)) {
+ dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
+ dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
+
+ if (!dynamic_A && !dynamic_B) {
return false;
}
@@ -265,8 +268,12 @@ void ConeTwistJoint3DSW::solve(real_t p_timestep) {
real_t impulse = depth * tau / p_timestep * jacDiagABInv - rel_vel * jacDiagABInv;
m_appliedImpulse += impulse;
Vector3 impulse_vector = normal * impulse;
- A->apply_impulse(impulse_vector, pivotAInW - A->get_transform().origin);
- B->apply_impulse(-impulse_vector, pivotBInW - B->get_transform().origin);
+ if (dynamic_A) {
+ A->apply_impulse(impulse_vector, pivotAInW - A->get_transform().origin);
+ }
+ if (dynamic_B) {
+ B->apply_impulse(-impulse_vector, pivotBInW - B->get_transform().origin);
+ }
}
}
@@ -287,8 +294,12 @@ void ConeTwistJoint3DSW::solve(real_t p_timestep) {
Vector3 impulse = m_swingAxis * impulseMag;
- A->apply_torque_impulse(impulse);
- B->apply_torque_impulse(-impulse);
+ if (dynamic_A) {
+ A->apply_torque_impulse(impulse);
+ }
+ if (dynamic_B) {
+ B->apply_torque_impulse(-impulse);
+ }
}
// solve twist limit
@@ -303,8 +314,12 @@ void ConeTwistJoint3DSW::solve(real_t p_timestep) {
Vector3 impulse = m_twistAxis * impulseMag;
- A->apply_torque_impulse(impulse);
- B->apply_torque_impulse(-impulse);
+ if (dynamic_A) {
+ A->apply_torque_impulse(impulse);
+ }
+ if (dynamic_B) {
+ B->apply_torque_impulse(-impulse);
+ }
}
}
}
diff --git a/servers/physics_3d/joints/cone_twist_joint_3d_sw.h b/servers/physics_3d/joints/cone_twist_joint_3d_sw.h
index 4e4d4e7f0c..b871ea50db 100644
--- a/servers/physics_3d/joints/cone_twist_joint_3d_sw.h
+++ b/servers/physics_3d/joints/cone_twist_joint_3d_sw.h
@@ -102,10 +102,10 @@ public:
bool m_solveSwingLimit;
public:
- virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_TYPE_CONE_TWIST; }
+ virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_CONE_TWIST; }
- virtual bool setup(real_t p_timestep);
- virtual void solve(real_t p_timestep);
+ virtual bool setup(real_t p_step) override;
+ virtual void solve(real_t p_step) override;
ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform &rbAFrame, const Transform &rbBFrame);
diff --git a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp
index a86e8b4e76..7c504764a7 100644
--- a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp
@@ -82,7 +82,7 @@ int G6DOFRotationalLimitMotor3DSW::testLimitValue(real_t test_value) {
real_t G6DOFRotationalLimitMotor3DSW::solveAngularLimits(
real_t timeStep, Vector3 &axis, real_t jacDiagABInv,
- Body3DSW *body0, Body3DSW *body1) {
+ Body3DSW *body0, Body3DSW *body1, bool p_body0_dynamic, bool p_body1_dynamic) {
if (!needApplyTorques()) {
return 0.0f;
}
@@ -138,8 +138,10 @@ real_t G6DOFRotationalLimitMotor3DSW::solveAngularLimits(
Vector3 motorImp = clippedMotorImpulse * axis;
- body0->apply_torque_impulse(motorImp);
- if (body1) {
+ if (p_body0_dynamic) {
+ body0->apply_torque_impulse(motorImp);
+ }
+ if (body1 && p_body1_dynamic) {
body1->apply_torque_impulse(-motorImp);
}
@@ -154,6 +156,7 @@ real_t G6DOFTranslationalLimitMotor3DSW::solveLinearAxis(
real_t jacDiagABInv,
Body3DSW *body1, const Vector3 &pointInA,
Body3DSW *body2, const Vector3 &pointInB,
+ bool p_body1_dynamic, bool p_body2_dynamic,
int limit_index,
const Vector3 &axis_normal_on_a,
const Vector3 &anchorPos) {
@@ -205,8 +208,12 @@ real_t G6DOFTranslationalLimitMotor3DSW::solveLinearAxis(
normalImpulse = m_accumulatedImpulse[limit_index] - oldNormalImpulse;
Vector3 impulse_vector = axis_normal_on_a * normalImpulse;
- body1->apply_impulse(impulse_vector, rel_pos1);
- body2->apply_impulse(-impulse_vector, rel_pos2);
+ if (p_body1_dynamic) {
+ body1->apply_impulse(impulse_vector, rel_pos1);
+ }
+ if (p_body2_dynamic) {
+ body2->apply_impulse(-impulse_vector, rel_pos2);
+ }
return normalImpulse;
}
@@ -303,7 +310,10 @@ bool Generic6DOFJoint3DSW::testAngularLimitMotor(int axis_index) {
}
bool Generic6DOFJoint3DSW::setup(real_t p_timestep) {
- if ((A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC)) {
+ dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
+ dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
+
+ if (!dynamic_A && !dynamic_B) {
return false;
}
@@ -384,6 +394,7 @@ void Generic6DOFJoint3DSW::solve(real_t p_timestep) {
jacDiagABInv,
A, pointInA,
B, pointInB,
+ dynamic_A, dynamic_B,
i, linear_axis, m_AnchorPos);
}
}
@@ -398,7 +409,7 @@ void Generic6DOFJoint3DSW::solve(real_t p_timestep) {
angularJacDiagABInv = real_t(1.) / m_jacAng[i].getDiagonal();
- m_angularLimits[i].solveAngularLimits(m_timeStep, angular_axis, angularJacDiagABInv, A, B);
+ m_angularLimits[i].solveAngularLimits(m_timeStep, angular_axis, angularJacDiagABInv, A, B, dynamic_A, dynamic_B);
}
}
}
diff --git a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h
index d61a033231..8af76cefc2 100644
--- a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h
+++ b/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h
@@ -120,7 +120,7 @@ public:
int testLimitValue(real_t test_value);
//! apply the correction impulses for two bodies
- real_t solveAngularLimits(real_t timeStep, Vector3 &axis, real_t jacDiagABInv, Body3DSW *body0, Body3DSW *body1);
+ real_t solveAngularLimits(real_t timeStep, Vector3 &axis, real_t jacDiagABInv, Body3DSW *body0, Body3DSW *body1, bool p_body0_dynamic, bool p_body1_dynamic);
};
class G6DOFTranslationalLimitMotor3DSW {
@@ -166,6 +166,7 @@ public:
real_t jacDiagABInv,
Body3DSW *body1, const Vector3 &pointInA,
Body3DSW *body2, const Vector3 &pointInB,
+ bool p_body1_dynamic, bool p_body2_dynamic,
int limit_index,
const Vector3 &axis_normal_on_a,
const Vector3 &anchorPos);
@@ -234,10 +235,10 @@ protected:
public:
Generic6DOFJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA);
- virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_TYPE_6DOF; }
+ virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_6DOF; }
- virtual bool setup(real_t p_timestep);
- virtual void solve(real_t p_timestep);
+ virtual bool setup(real_t p_step) override;
+ virtual void solve(real_t p_step) override;
//! Calcs global transform of the offsets
/*!
diff --git a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp b/servers/physics_3d/joints/hinge_joint_3d_sw.cpp
index 90b82f4680..bb8858c28a 100644
--- a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/hinge_joint_3d_sw.cpp
@@ -155,7 +155,10 @@ HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Vector3 &pivo
}
bool HingeJoint3DSW::setup(real_t p_step) {
- if ((A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC)) {
+ dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
+ dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
+
+ if (!dynamic_A && !dynamic_B) {
return false;
}
@@ -279,8 +282,12 @@ void HingeJoint3DSW::solve(real_t p_step) {
real_t impulse = depth * tau / p_step * jacDiagABInv - rel_vel * jacDiagABInv;
m_appliedImpulse += impulse;
Vector3 impulse_vector = normal * impulse;
- A->apply_impulse(impulse_vector, pivotAInW - A->get_transform().origin);
- B->apply_impulse(-impulse_vector, pivotBInW - B->get_transform().origin);
+ if (dynamic_A) {
+ A->apply_impulse(impulse_vector, pivotAInW - A->get_transform().origin);
+ }
+ if (dynamic_B) {
+ B->apply_impulse(-impulse_vector, pivotBInW - B->get_transform().origin);
+ }
}
}
@@ -322,8 +329,12 @@ void HingeJoint3DSW::solve(real_t p_step) {
angularError *= (real_t(1.) / denom2) * relaxation;
}
- A->apply_torque_impulse(-velrelOrthog + angularError);
- B->apply_torque_impulse(velrelOrthog - angularError);
+ if (dynamic_A) {
+ A->apply_torque_impulse(-velrelOrthog + angularError);
+ }
+ if (dynamic_B) {
+ B->apply_torque_impulse(velrelOrthog - angularError);
+ }
// solve limit
if (m_solveLimit) {
@@ -337,8 +348,12 @@ void HingeJoint3DSW::solve(real_t p_step) {
impulseMag = m_accLimitImpulse - temp;
Vector3 impulse = axisA * impulseMag * m_limitSign;
- A->apply_torque_impulse(impulse);
- B->apply_torque_impulse(-impulse);
+ if (dynamic_A) {
+ A->apply_torque_impulse(impulse);
+ }
+ if (dynamic_B) {
+ B->apply_torque_impulse(-impulse);
+ }
}
}
@@ -359,8 +374,12 @@ void HingeJoint3DSW::solve(real_t p_step) {
clippedMotorImpulse = clippedMotorImpulse < -m_maxMotorImpulse ? -m_maxMotorImpulse : clippedMotorImpulse;
Vector3 motorImp = clippedMotorImpulse * axisA;
- A->apply_torque_impulse(motorImp + angularLimit);
- B->apply_torque_impulse(-motorImp - angularLimit);
+ if (dynamic_A) {
+ A->apply_torque_impulse(motorImp + angularLimit);
+ }
+ if (dynamic_B) {
+ B->apply_torque_impulse(-motorImp - angularLimit);
+ }
}
}
}
diff --git a/servers/physics_3d/joints/hinge_joint_3d_sw.h b/servers/physics_3d/joints/hinge_joint_3d_sw.h
index b6117aa0bc..2100f5de44 100644
--- a/servers/physics_3d/joints/hinge_joint_3d_sw.h
+++ b/servers/physics_3d/joints/hinge_joint_3d_sw.h
@@ -96,10 +96,10 @@ class HingeJoint3DSW : public Joint3DSW {
real_t m_appliedImpulse;
public:
- virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_TYPE_HINGE; }
+ virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_HINGE; }
- virtual bool setup(real_t p_step);
- virtual void solve(real_t p_step);
+ virtual bool setup(real_t p_step) override;
+ virtual void solve(real_t p_step) override;
real_t get_hinge_angle();
diff --git a/servers/physics_3d/joints/pin_joint_3d_sw.cpp b/servers/physics_3d/joints/pin_joint_3d_sw.cpp
index 75d87992d1..8eb84d1c2f 100644
--- a/servers/physics_3d/joints/pin_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/pin_joint_3d_sw.cpp
@@ -50,7 +50,10 @@ subject to the following restrictions:
#include "pin_joint_3d_sw.h"
bool PinJoint3DSW::setup(real_t p_step) {
- if ((A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC)) {
+ dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
+ dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
+
+ if (!dynamic_A && !dynamic_B) {
return false;
}
@@ -123,8 +126,12 @@ void PinJoint3DSW::solve(real_t p_step) {
m_appliedImpulse += impulse;
Vector3 impulse_vector = normal * impulse;
- A->apply_impulse(impulse_vector, pivotAInW - A->get_transform().origin);
- B->apply_impulse(-impulse_vector, pivotBInW - B->get_transform().origin);
+ if (dynamic_A) {
+ A->apply_impulse(impulse_vector, pivotAInW - A->get_transform().origin);
+ }
+ if (dynamic_B) {
+ B->apply_impulse(-impulse_vector, pivotBInW - B->get_transform().origin);
+ }
normal[i] = 0;
}
diff --git a/servers/physics_3d/joints/pin_joint_3d_sw.h b/servers/physics_3d/joints/pin_joint_3d_sw.h
index 1875983527..3d91452850 100644
--- a/servers/physics_3d/joints/pin_joint_3d_sw.h
+++ b/servers/physics_3d/joints/pin_joint_3d_sw.h
@@ -74,10 +74,10 @@ class PinJoint3DSW : public Joint3DSW {
Vector3 m_pivotInB;
public:
- virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_TYPE_PIN; }
+ virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_PIN; }
- virtual bool setup(real_t p_step);
- virtual void solve(real_t p_step);
+ virtual bool setup(real_t p_step) override;
+ virtual void solve(real_t p_step) override;
void set_param(PhysicsServer3D::PinJointParam p_param, real_t p_value);
real_t get_param(PhysicsServer3D::PinJointParam p_param) const;
diff --git a/servers/physics_3d/joints/slider_joint_3d_sw.cpp b/servers/physics_3d/joints/slider_joint_3d_sw.cpp
index 2e1ee8e770..8bd1951311 100644
--- a/servers/physics_3d/joints/slider_joint_3d_sw.cpp
+++ b/servers/physics_3d/joints/slider_joint_3d_sw.cpp
@@ -127,7 +127,10 @@ SliderJoint3DSW::SliderJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform &
//-----------------------------------------------------------------------------
bool SliderJoint3DSW::setup(real_t p_step) {
- if ((A->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer3D::BODY_MODE_KINEMATIC)) {
+ dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
+ dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
+
+ if (!dynamic_A && !dynamic_B) {
return false;
}
@@ -200,8 +203,12 @@ void SliderJoint3DSW::solve(real_t p_step) {
// calcutate and apply impulse
real_t normalImpulse = softness * (restitution * depth / p_step - damping * rel_vel) * m_jacLinDiagABInv[i];
Vector3 impulse_vector = normal * normalImpulse;
- A->apply_impulse(impulse_vector, m_relPosA);
- B->apply_impulse(-impulse_vector, m_relPosB);
+ if (dynamic_A) {
+ A->apply_impulse(impulse_vector, m_relPosA);
+ }
+ if (dynamic_B) {
+ B->apply_impulse(-impulse_vector, m_relPosB);
+ }
if (m_poweredLinMotor && (!i)) { // apply linear motor
if (m_accumulatedLinMotorImpulse < m_maxLinMotorForce) {
real_t desiredMotorVel = m_targetLinMotorVelocity;
@@ -221,8 +228,12 @@ void SliderJoint3DSW::solve(real_t p_step) {
m_accumulatedLinMotorImpulse = new_acc;
// apply clamped impulse
impulse_vector = normal * normalImpulse;
- A->apply_impulse(impulse_vector, m_relPosA);
- B->apply_impulse(-impulse_vector, m_relPosB);
+ if (dynamic_A) {
+ A->apply_impulse(impulse_vector, m_relPosA);
+ }
+ if (dynamic_B) {
+ B->apply_impulse(-impulse_vector, m_relPosB);
+ }
}
}
}
@@ -256,8 +267,12 @@ void SliderJoint3DSW::solve(real_t p_step) {
angularError *= (real_t(1.) / denom2) * m_restitutionOrthoAng * m_softnessOrthoAng;
}
// apply impulse
- A->apply_torque_impulse(-velrelOrthog + angularError);
- B->apply_torque_impulse(velrelOrthog - angularError);
+ if (dynamic_A) {
+ A->apply_torque_impulse(-velrelOrthog + angularError);
+ }
+ if (dynamic_B) {
+ B->apply_torque_impulse(velrelOrthog - angularError);
+ }
real_t impulseMag;
//solve angular limits
if (m_solveAngLim) {
@@ -268,8 +283,12 @@ void SliderJoint3DSW::solve(real_t p_step) {
impulseMag *= m_kAngle * m_softnessDirAng;
}
Vector3 impulse = axisA * impulseMag;
- A->apply_torque_impulse(impulse);
- B->apply_torque_impulse(-impulse);
+ if (dynamic_A) {
+ A->apply_torque_impulse(impulse);
+ }
+ if (dynamic_B) {
+ B->apply_torque_impulse(-impulse);
+ }
//apply angular motor
if (m_poweredAngMotor) {
if (m_accumulatedAngMotorImpulse < m_maxAngMotorForce) {
@@ -294,8 +313,12 @@ void SliderJoint3DSW::solve(real_t p_step) {
m_accumulatedAngMotorImpulse = new_acc;
// apply clamped impulse
Vector3 motorImp = angImpulse * axisA;
- A->apply_torque_impulse(motorImp);
- B->apply_torque_impulse(-motorImp);
+ if (dynamic_A) {
+ A->apply_torque_impulse(motorImp);
+ }
+ if (dynamic_B) {
+ B->apply_torque_impulse(-motorImp);
+ }
}
}
} // SliderJointSW::solveConstraint()
diff --git a/servers/physics_3d/joints/slider_joint_3d_sw.h b/servers/physics_3d/joints/slider_joint_3d_sw.h
index f52f6ace27..ef5891d0f9 100644
--- a/servers/physics_3d/joints/slider_joint_3d_sw.h
+++ b/servers/physics_3d/joints/slider_joint_3d_sw.h
@@ -240,10 +240,10 @@ public:
void set_param(PhysicsServer3D::SliderJointParam p_param, real_t p_value);
real_t get_param(PhysicsServer3D::SliderJointParam p_param) const;
- bool setup(real_t p_step);
- void solve(real_t p_step);
+ virtual bool setup(real_t p_step) override;
+ virtual void solve(real_t p_step) override;
- virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_TYPE_SLIDER; }
+ virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_SLIDER; }
};
#endif // SLIDER_JOINT_SW_H
diff --git a/servers/physics_3d/joints_3d_sw.h b/servers/physics_3d/joints_3d_sw.h
index 225a71aca9..e2514674ea 100644
--- a/servers/physics_3d/joints_3d_sw.h
+++ b/servers/physics_3d/joints_3d_sw.h
@@ -35,9 +35,14 @@
#include "constraint_3d_sw.h"
class Joint3DSW : public Constraint3DSW {
+protected:
+ bool dynamic_A = false;
+ bool dynamic_B = false;
+
public:
- virtual bool setup(real_t p_step) { return false; }
- virtual void solve(real_t p_step) {}
+ virtual bool setup(real_t p_step) override { return false; }
+ virtual bool pre_solve(real_t p_step) override { return true; }
+ virtual void solve(real_t p_step) override {}
void copy_settings_from(Joint3DSW *p_joint) {
set_self(p_joint->get_self());
diff --git a/servers/physics_3d/soft_body_3d_sw.h b/servers/physics_3d/soft_body_3d_sw.h
index 6c0451ff45..98e554218b 100644
--- a/servers/physics_3d/soft_body_3d_sw.h
+++ b/servers/physics_3d/soft_body_3d_sw.h
@@ -106,6 +106,8 @@ class SoftBody3DSW : public CollisionObject3DSW {
VSet<RID> exceptions;
+ uint64_t island_step = 0;
+
public:
SoftBody3DSW();
@@ -124,6 +126,9 @@ public:
_FORCE_INLINE_ bool has_exception(const RID &p_exception) const { return exceptions.has(p_exception); }
_FORCE_INLINE_ const VSet<RID> &get_exceptions() const { return exceptions; }
+ _FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
+ _FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }
+
virtual void set_space(Space3DSW *p_space);
void set_mesh(const Ref<Mesh> &p_mesh);
diff --git a/servers/physics_3d/step_3d_sw.cpp b/servers/physics_3d/step_3d_sw.cpp
index 06f3227eab..ba18bac611 100644
--- a/servers/physics_3d/step_3d_sw.cpp
+++ b/servers/physics_3d/step_3d_sw.cpp
@@ -37,39 +37,90 @@
#define BODY_ISLAND_SIZE_RESERVE 512
#define ISLAND_COUNT_RESERVE 128
#define ISLAND_SIZE_RESERVE 512
+#define CONSTRAINT_COUNT_RESERVE 1024
void Step3DSW::_populate_island(Body3DSW *p_body, LocalVector<Body3DSW *> &p_body_island, LocalVector<Constraint3DSW *> &p_constraint_island) {
p_body->set_island_step(_step);
- p_body_island.push_back(p_body);
- // Faster with reversed iterations.
- for (Map<Constraint3DSW *, int>::Element *E = p_body->get_constraint_map().back(); E; E = E->prev()) {
- Constraint3DSW *c = (Constraint3DSW *)E->key();
- if (c->get_island_step() == _step) {
- continue; //already processed
+ if (p_body->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC) {
+ // Only dynamic bodies are tested for activation.
+ p_body_island.push_back(p_body);
+ }
+
+ for (Map<Constraint3DSW *, int>::Element *E = p_body->get_constraint_map().front(); E; E = E->next()) {
+ Constraint3DSW *constraint = (Constraint3DSW *)E->key();
+ if (constraint->get_island_step() == _step) {
+ continue; // Already processed.
}
- c->set_island_step(_step);
- p_constraint_island.push_back(c);
+ constraint->set_island_step(_step);
+ p_constraint_island.push_back(constraint);
+
+ all_constraints.push_back(constraint);
- for (int i = 0; i < c->get_body_count(); i++) {
+ // Find connected rigid bodies.
+ for (int i = 0; i < constraint->get_body_count(); i++) {
if (i == E->get()) {
continue;
}
- Body3DSW *b = c->get_body_ptr()[i];
- if (b->get_island_step() == _step || b->get_mode() == PhysicsServer3D::BODY_MODE_STATIC || b->get_mode() == PhysicsServer3D::BODY_MODE_KINEMATIC) {
- continue; //no go
+ Body3DSW *other_body = constraint->get_body_ptr()[i];
+ if (other_body->get_island_step() == _step) {
+ continue; // Already processed.
+ }
+ if (other_body->get_mode() == PhysicsServer3D::BODY_MODE_STATIC) {
+ continue; // Static bodies don't connect islands.
+ }
+ _populate_island(other_body, p_body_island, p_constraint_island);
+ }
+
+ // Find connected soft bodies.
+ for (int i = 0; i < constraint->get_soft_body_count(); i++) {
+ SoftBody3DSW *soft_body = constraint->get_soft_body_ptr(i);
+ if (soft_body->get_island_step() == _step) {
+ continue; // Already processed.
}
- _populate_island(c->get_body_ptr()[i], p_body_island, p_constraint_island);
+ _populate_island_soft_body(soft_body, p_body_island, p_constraint_island);
}
}
}
-void Step3DSW::_setup_island(LocalVector<Constraint3DSW *> &p_constraint_island, real_t p_delta) {
+void Step3DSW::_populate_island_soft_body(SoftBody3DSW *p_soft_body, LocalVector<Body3DSW *> &p_body_island, LocalVector<Constraint3DSW *> &p_constraint_island) {
+ p_soft_body->set_island_step(_step);
+
+ for (Set<Constraint3DSW *>::Element *E = p_soft_body->get_constraints().front(); E; E = E->next()) {
+ Constraint3DSW *constraint = (Constraint3DSW *)E->get();
+ if (constraint->get_island_step() == _step) {
+ continue; // Already processed.
+ }
+ constraint->set_island_step(_step);
+ p_constraint_island.push_back(constraint);
+
+ all_constraints.push_back(constraint);
+
+ // Find connected rigid bodies.
+ for (int i = 0; i < constraint->get_body_count(); i++) {
+ Body3DSW *body = constraint->get_body_ptr()[i];
+ if (body->get_island_step() == _step) {
+ continue; // Already processed.
+ }
+ if (body->get_mode() == PhysicsServer3D::BODY_MODE_STATIC) {
+ continue; // Static bodies don't connect islands.
+ }
+ _populate_island(body, p_body_island, p_constraint_island);
+ }
+ }
+}
+
+void Step3DSW::_setup_contraint(uint32_t p_constraint_index, void *p_userdata) {
+ Constraint3DSW *constraint = all_constraints[p_constraint_index];
+ constraint->setup(delta);
+}
+
+void Step3DSW::_pre_solve_island(LocalVector<Constraint3DSW *> &p_constraint_island) const {
uint32_t constraint_count = p_constraint_island.size();
uint32_t valid_constraint_count = 0;
for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
Constraint3DSW *constraint = p_constraint_island[constraint_index];
- if (p_constraint_island[constraint_index]->setup(p_delta)) {
+ if (p_constraint_island[constraint_index]->pre_solve(delta)) {
// Keep this constraint for solving.
p_constraint_island[valid_constraint_count++] = constraint;
}
@@ -77,15 +128,17 @@ void Step3DSW::_setup_island(LocalVector<Constraint3DSW *> &p_constraint_island,
p_constraint_island.resize(valid_constraint_count);
}
-void Step3DSW::_solve_island(LocalVector<Constraint3DSW *> &p_constraint_island, int p_iterations, real_t p_delta) {
+void Step3DSW::_solve_island(uint32_t p_island_index, void *p_userdata) {
+ LocalVector<Constraint3DSW *> &constraint_island = constraint_islands[p_island_index];
+
int current_priority = 1;
- uint32_t constraint_count = p_constraint_island.size();
+ uint32_t constraint_count = constraint_island.size();
while (constraint_count > 0) {
- for (int i = 0; i < p_iterations; i++) {
+ for (int i = 0; i < iterations; i++) {
// Go through all iterations.
for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
- p_constraint_island[constraint_index]->solve(p_delta);
+ constraint_island[constraint_index]->solve(delta);
}
}
@@ -93,28 +146,24 @@ void Step3DSW::_solve_island(LocalVector<Constraint3DSW *> &p_constraint_island,
uint32_t priority_constraint_count = 0;
++current_priority;
for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
- Constraint3DSW *constraint = p_constraint_island[constraint_index];
+ Constraint3DSW *constraint = constraint_island[constraint_index];
if (constraint->get_priority() >= current_priority) {
// Keep this constraint for the next iteration.
- p_constraint_island[priority_constraint_count++] = constraint;
+ constraint_island[priority_constraint_count++] = constraint;
}
}
constraint_count = priority_constraint_count;
}
}
-void Step3DSW::_check_suspend(const LocalVector<Body3DSW *> &p_body_island, real_t p_delta) {
+void Step3DSW::_check_suspend(const LocalVector<Body3DSW *> &p_body_island) const {
bool can_sleep = true;
uint32_t body_count = p_body_island.size();
for (uint32_t body_index = 0; body_index < body_count; ++body_index) {
Body3DSW *body = p_body_island[body_index];
- if (body->get_mode() == PhysicsServer3D::BODY_MODE_STATIC || body->get_mode() == PhysicsServer3D::BODY_MODE_KINEMATIC) {
- continue; // Ignore for static.
- }
-
- if (!body->sleep_test(p_delta)) {
+ if (!body->sleep_test(delta)) {
can_sleep = false;
}
}
@@ -123,10 +172,6 @@ void Step3DSW::_check_suspend(const LocalVector<Body3DSW *> &p_body_island, real
for (uint32_t body_index = 0; body_index < body_count; ++body_index) {
Body3DSW *body = p_body_island[body_index];
- if (body->get_mode() == PhysicsServer3D::BODY_MODE_STATIC || body->get_mode() == PhysicsServer3D::BODY_MODE_KINEMATIC) {
- continue; // Ignore for static.
- }
-
bool active = body->is_active();
if (active == can_sleep) {
@@ -140,6 +185,9 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
p_space->setup(); //update inertias, etc
+ iterations = p_iterations;
+ delta = p_delta;
+
const SelfList<Body3DSW>::List *body_list = &p_space->get_active_body_list();
const SelfList<SoftBody3DSW>::List *soft_body_list = &p_space->get_active_soft_body_list();
@@ -175,12 +223,39 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
profile_begtime = profile_endtime;
}
- /* GENERATE CONSTRAINT ISLANDS */
+ /* GENERATE CONSTRAINT ISLANDS FOR MOVING AREAS */
+
+ uint32_t island_count = 0;
+
+ const SelfList<Area3DSW>::List &aml = p_space->get_moved_area_list();
+
+ while (aml.first()) {
+ for (const Set<Constraint3DSW *>::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) {
+ Constraint3DSW *constraint = E->get();
+ if (constraint->get_island_step() == _step) {
+ continue;
+ }
+ constraint->set_island_step(_step);
+
+ // Each constraint can be on a separate island for areas as there's no solving phase.
+ ++island_count;
+ if (constraint_islands.size() < island_count) {
+ constraint_islands.resize(island_count);
+ }
+ LocalVector<Constraint3DSW *> &constraint_island = constraint_islands[island_count - 1];
+ constraint_island.clear();
+
+ all_constraints.push_back(constraint);
+ constraint_island.push_back(constraint);
+ }
+ p_space->area_remove_from_moved_list((SelfList<Area3DSW> *)aml.first()); //faster to remove here
+ }
+
+ /* GENERATE CONSTRAINT ISLANDS FOR ACTIVE RIGID BODIES */
b = body_list->first();
uint32_t body_island_count = 0;
- uint32_t island_count = 0;
while (b) {
Body3DSW *body = b->self();
@@ -204,7 +279,9 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
_populate_island(body, body_island, constraint_island);
- body_islands.push_back(body_island);
+ if (body_island.is_empty()) {
+ --body_island_count;
+ }
if (constraint_island.is_empty()) {
--island_count;
@@ -213,58 +290,54 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
b = b->next();
}
- p_space->set_island_count((int)island_count);
+ /* GENERATE CONSTRAINT ISLANDS FOR ACTIVE SOFT BODIES */
- const SelfList<Area3DSW>::List &aml = p_space->get_moved_area_list();
+ sb = soft_body_list->first();
+ while (sb) {
+ SoftBody3DSW *soft_body = sb->self();
- while (aml.first()) {
- for (const Set<Constraint3DSW *>::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) {
- Constraint3DSW *c = E->get();
- if (c->get_island_step() == _step) {
- continue;
+ if (soft_body->get_island_step() != _step) {
+ ++body_island_count;
+ if (body_islands.size() < body_island_count) {
+ body_islands.resize(body_island_count);
}
- c->set_island_step(_step);
+ LocalVector<Body3DSW *> &body_island = body_islands[body_island_count - 1];
+ body_island.clear();
+ body_island.reserve(BODY_ISLAND_SIZE_RESERVE);
+
++island_count;
if (constraint_islands.size() < island_count) {
constraint_islands.resize(island_count);
}
LocalVector<Constraint3DSW *> &constraint_island = constraint_islands[island_count - 1];
constraint_island.clear();
- constraint_island.push_back(c);
- }
- p_space->area_remove_from_moved_list((SelfList<Area3DSW> *)aml.first()); //faster to remove here
- }
+ constraint_island.reserve(ISLAND_SIZE_RESERVE);
- sb = soft_body_list->first();
- while (sb) {
- for (const Set<Constraint3DSW *>::Element *E = sb->self()->get_constraints().front(); E; E = E->next()) {
- Constraint3DSW *c = E->get();
- if (c->get_island_step() == _step) {
- continue;
+ _populate_island_soft_body(soft_body, body_island, constraint_island);
+
+ if (body_island.is_empty()) {
+ --body_island_count;
}
- c->set_island_step(_step);
- ++island_count;
- if (constraint_islands.size() < island_count) {
- constraint_islands.resize(island_count);
+
+ if (constraint_island.is_empty()) {
+ --island_count;
}
- LocalVector<Constraint3DSW *> &constraint_island = constraint_islands[island_count - 1];
- constraint_island.clear();
- constraint_island.push_back(c);
}
sb = sb->next();
}
+ p_space->set_island_count((int)island_count);
+
{ //profile
profile_endtime = OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime);
profile_begtime = profile_endtime;
}
- /* SETUP CONSTRAINT ISLANDS */
+ /* SETUP CONSTRAINTS / PROCESS COLLISIONS */
- for (uint32_t island_index = 0; island_index < island_count; ++island_index) {
- _setup_island(constraint_islands[island_index], p_delta);
- }
+ uint32_t total_contraint_count = all_constraints.size();
+ work_pool.do_work(total_contraint_count, this, &Step3DSW::_setup_contraint, nullptr);
{ //profile
profile_endtime = OS::get_singleton()->get_ticks_usec();
@@ -272,12 +345,21 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
profile_begtime = profile_endtime;
}
- /* SOLVE CONSTRAINT ISLANDS */
+ /* PRE-SOLVE CONSTRAINT ISLANDS */
+ // Warning: This doesn't run on threads, because it involves thread-unsafe processing.
for (uint32_t island_index = 0; island_index < island_count; ++island_index) {
- // Warning: _solve_island modifies the constraint islands for optimization purpose,
- // their content is not reliable after these calls and shouldn't be used anymore.
- _solve_island(constraint_islands[island_index], p_iterations, p_delta);
+ _pre_solve_island(constraint_islands[island_index]);
+ }
+
+ /* SOLVE CONSTRAINT ISLANDS */
+
+ // Warning: _solve_island modifies the constraint islands for optimization purpose,
+ // their content is not reliable after these calls and shouldn't be used anymore.
+ if (island_count > 1) {
+ work_pool.do_work(island_count, this, &Step3DSW::_solve_island, nullptr);
+ } else if (island_count > 0) {
+ _solve_island(0);
}
{ //profile
@@ -298,7 +380,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
/* SLEEP / WAKE UP ISLANDS */
for (uint32_t island_index = 0; island_index < body_island_count; ++island_index) {
- _check_suspend(body_islands[island_index], p_delta);
+ _check_suspend(body_islands[island_index]);
}
/* UPDATE SOFT BODY CONSTRAINTS */
@@ -315,6 +397,8 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
profile_begtime = profile_endtime;
}
+ all_constraints.clear();
+
p_space->update();
p_space->unlock();
_step++;
@@ -325,4 +409,11 @@ Step3DSW::Step3DSW() {
body_islands.reserve(BODY_ISLAND_COUNT_RESERVE);
constraint_islands.reserve(ISLAND_COUNT_RESERVE);
+ all_constraints.reserve(CONSTRAINT_COUNT_RESERVE);
+
+ work_pool.init();
+}
+
+Step3DSW::~Step3DSW() {
+ work_pool.finish();
}
diff --git a/servers/physics_3d/step_3d_sw.h b/servers/physics_3d/step_3d_sw.h
index f406c35c3a..9c60004b24 100644
--- a/servers/physics_3d/step_3d_sw.h
+++ b/servers/physics_3d/step_3d_sw.h
@@ -34,21 +34,31 @@
#include "space_3d_sw.h"
#include "core/templates/local_vector.h"
+#include "core/templates/thread_work_pool.h"
class Step3DSW {
uint64_t _step;
+ int iterations = 0;
+ real_t delta = 0.0;
+
+ ThreadWorkPool work_pool;
+
LocalVector<LocalVector<Body3DSW *>> body_islands;
LocalVector<LocalVector<Constraint3DSW *>> constraint_islands;
+ LocalVector<Constraint3DSW *> all_constraints;
void _populate_island(Body3DSW *p_body, LocalVector<Body3DSW *> &p_body_island, LocalVector<Constraint3DSW *> &p_constraint_island);
- void _setup_island(LocalVector<Constraint3DSW *> &p_constraint_island, real_t p_delta);
- void _solve_island(LocalVector<Constraint3DSW *> &p_constraint_island, int p_iterations, real_t p_delta);
- void _check_suspend(const LocalVector<Body3DSW *> &p_body_island, real_t p_delta);
+ void _populate_island_soft_body(SoftBody3DSW *p_soft_body, LocalVector<Body3DSW *> &p_body_island, LocalVector<Constraint3DSW *> &p_constraint_island);
+ void _setup_contraint(uint32_t p_constraint_index, void *p_userdata = nullptr);
+ void _pre_solve_island(LocalVector<Constraint3DSW *> &p_constraint_island) const;
+ void _solve_island(uint32_t p_island_index, void *p_userdata = nullptr);
+ void _check_suspend(const LocalVector<Body3DSW *> &p_body_island) const;
public:
void step(Space3DSW *p_space, real_t p_delta, int p_iterations);
Step3DSW();
+ ~Step3DSW();
};
#endif // STEP__SW_H
diff --git a/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.cpp b/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.cpp
index ff57aa94ce..aadb7bac19 100644
--- a/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.cpp
+++ b/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.cpp
@@ -1698,6 +1698,7 @@ void RenderForwardClustered::_render_uv2(const PagedArray<GeometryInstance *> &p
_render_list(draw_list, RD::get_singleton()->framebuffer_get_format(p_framebuffer), &render_list_params, 0, render_list_params.element_count); //first wireframe, for pseudo conservative
}
render_list_params.uv_offset = Vector2();
+ render_list_params.force_wireframe = false;
_render_list(draw_list, RD::get_singleton()->framebuffer_get_format(p_framebuffer), &render_list_params, 0, render_list_params.element_count); //second regular triangles
RD::get_singleton()->draw_list_end();
diff --git a/servers/rendering/renderer_rd/renderer_scene_render_rd.cpp b/servers/rendering/renderer_rd/renderer_scene_render_rd.cpp
index 2d4cd11f37..d7a5d1211c 100644
--- a/servers/rendering/renderer_rd/renderer_scene_render_rd.cpp
+++ b/servers/rendering/renderer_rd/renderer_scene_render_rd.cpp
@@ -2554,6 +2554,7 @@ void RendererSceneRenderRD::_setup_lights(const PagedArray<RID> &p_lights, const
light_data.soft_shadow_scale = storage->light_get_param(base, RS::LIGHT_PARAM_SHADOW_BLUR);
light_data.softshadow_angle = angular_diameter;
+ light_data.bake_mode = storage->light_get_bake_mode(base);
if (angular_diameter <= 0.0) {
light_data.soft_shadow_scale *= directional_shadow_quality_radius_get(); // Only use quality radius for PCF
@@ -2621,6 +2622,7 @@ void RendererSceneRenderRD::_setup_lights(const PagedArray<RID> &p_lights, const
light_data.color[1] = linear_col.g * energy;
light_data.color[2] = linear_col.b * energy;
light_data.specular_amount = storage->light_get_param(base, RS::LIGHT_PARAM_SPECULAR) * 2.0;
+ light_data.bake_mode = storage->light_get_bake_mode(base);
float radius = MAX(0.001, storage->light_get_param(base, RS::LIGHT_PARAM_RANGE));
light_data.inv_radius = 1.0 / radius;
diff --git a/servers/rendering/renderer_rd/renderer_scene_render_rd.h b/servers/rendering/renderer_rd/renderer_scene_render_rd.h
index b289eda58f..7600d6823e 100644
--- a/servers/rendering/renderer_rd/renderer_scene_render_rd.h
+++ b/servers/rendering/renderer_rd/renderer_scene_render_rd.h
@@ -497,7 +497,7 @@ private:
float soft_shadow_scale;
uint32_t mask;
float shadow_volumetric_fog_fade;
- uint32_t pad;
+ uint32_t bake_mode;
float projector_rect[4];
};
@@ -514,7 +514,8 @@ private:
uint32_t shadow_enabled;
float fade_from;
float fade_to;
- uint32_t pad[3];
+ uint32_t pad[2];
+ uint32_t bake_mode;
float shadow_volumetric_fog_fade;
float shadow_bias[4];
float shadow_normal_bias[4];
diff --git a/servers/rendering/renderer_rd/shaders/light_data_inc.glsl b/servers/rendering/renderer_rd/shaders/light_data_inc.glsl
index 46b571a5f5..2fce258cff 100644
--- a/servers/rendering/renderer_rd/shaders/light_data_inc.glsl
+++ b/servers/rendering/renderer_rd/shaders/light_data_inc.glsl
@@ -1,3 +1,6 @@
+#define LIGHT_BAKE_DISABLED 0
+#define LIGHT_BAKE_DYNAMIC 1
+#define LIGHT_BAKE_STATIC 2
struct LightData { //this structure needs to be as packed as possible
vec3 position;
@@ -23,7 +26,7 @@ struct LightData { //this structure needs to be as packed as possible
float soft_shadow_scale; // scales the shadow kernel for blurrier shadows
uint mask;
float shadow_volumetric_fog_fade;
- uint pad;
+ uint bake_mode;
vec4 projector_rect; //projector rect in srgb decal atlas
};
@@ -60,7 +63,8 @@ struct DirectionalLightData {
bool shadow_enabled;
float fade_from;
float fade_to;
- uvec3 pad;
+ uvec2 pad;
+ uint bake_mode;
float shadow_volumetric_fog_fade;
vec4 shadow_bias;
vec4 shadow_normal_bias;
diff --git a/servers/rendering/renderer_rd/shaders/scene_forward_clustered.glsl b/servers/rendering/renderer_rd/shaders/scene_forward_clustered.glsl
index 0bb16a8b29..1d67a3f1df 100644
--- a/servers/rendering/renderer_rd/shaders/scene_forward_clustered.glsl
+++ b/servers/rendering/renderer_rd/shaders/scene_forward_clustered.glsl
@@ -1227,6 +1227,10 @@ void main() {
continue; //not masked
}
+ if (directional_lights.data[i].bake_mode == LIGHT_BAKE_STATIC && bool(instances.data[instance_index].flags & INSTANCE_FLAGS_USE_LIGHTMAP)) {
+ continue; // Statically baked light and object uses lightmap, skip
+ }
+
float shadow = 1.0;
#ifdef USE_SOFT_SHADOWS
@@ -1676,6 +1680,10 @@ void main() {
continue; //not masked
}
+ if (omni_lights.data[light_index].bake_mode == LIGHT_BAKE_STATIC && bool(instances.data[instance_index].flags & INSTANCE_FLAGS_USE_LIGHTMAP)) {
+ continue; // Statically baked light and object uses lightmap, skip
+ }
+
float shadow = light_process_omni_shadow(light_index, vertex, view);
shadow = blur_shadow(shadow);
@@ -1749,6 +1757,10 @@ void main() {
continue; //not masked
}
+ if (spot_lights.data[light_index].bake_mode == LIGHT_BAKE_STATIC && bool(instances.data[instance_index].flags & INSTANCE_FLAGS_USE_LIGHTMAP)) {
+ continue; // Statically baked light and object uses lightmap, skip
+ }
+
float shadow = light_process_spot_shadow(light_index, vertex, view);
shadow = blur_shadow(shadow);
diff --git a/servers/rendering/renderer_scene_cull.cpp b/servers/rendering/renderer_scene_cull.cpp
index aee4d8712a..fcea8e4ffc 100644
--- a/servers/rendering/renderer_scene_cull.cpp
+++ b/servers/rendering/renderer_scene_cull.cpp
@@ -2394,7 +2394,7 @@ void RendererSceneCull::_frustum_cull(CullData &cull_data, FrustumCullResult &cu
cull_result.gi_probes.push_back(RID::from_uint64(idata.instance_data_rid));
} else if (base_type == RS::INSTANCE_LIGHTMAP) {
- cull_result.gi_probes.push_back(RID::from_uint64(idata.instance_data_rid));
+ cull_result.lightmaps.push_back(RID::from_uint64(idata.instance_data_rid));
} else if (((1 << base_type) & RS::INSTANCE_GEOMETRY_MASK) && !(idata.flags & InstanceData::FLAG_CAST_SHADOWS_ONLY)) {
bool keep = true;
diff --git a/servers/rendering_server.cpp b/servers/rendering_server.cpp
index 3605dec1be..a9154603ee 100644
--- a/servers/rendering_server.cpp
+++ b/servers/rendering_server.cpp
@@ -472,8 +472,8 @@ Error RenderingServer::_surface_set_data(Array p_arrays, uint32_t p_format, uint
const Vector2 *src = array.ptr();
for (int i = 0; i < p_vertex_array_len; i++) {
- uint16_t uv[2] = { Math::make_half_float(src[i].x), Math::make_half_float(src[i].y) };
- memcpy(&aw[p_offsets[ai] + i * p_attrib_stride], uv, 2 * 2);
+ float uv[2] = { src[i].x, src[i].y };
+ memcpy(&aw[p_offsets[ai] + i * p_attrib_stride], uv, 2 * 4);
}
} break;
case RS::ARRAY_CUSTOM0:
diff --git a/thirdparty/oidn/core/transfer_function.cpp b/thirdparty/oidn/core/transfer_function.cpp
index 487f0a9f75..ce5deca56b 100644
--- a/thirdparty/oidn/core/transfer_function.cpp
+++ b/thirdparty/oidn/core/transfer_function.cpp
@@ -24,10 +24,6 @@ namespace oidn {
float AutoexposureNode::autoexposure(const Image& color)
{
assert(color.format == Format::Float3);
-// -- GODOT start --
-// We don't want to mess with TTB and we don't use autoexposure, so we disable this code
-#if 0
-// -- GODOT end --
constexpr float key = 0.18f;
constexpr float eps = 1e-8f;
@@ -42,61 +38,66 @@ namespace oidn {
// Compute the average log luminance of the downsampled image
using Sum = std::pair<float, int>;
- Sum sum =
- tbb::parallel_reduce(
- tbb::blocked_range2d<int>(0, HK, 0, WK),
- Sum(0.f, 0),
- [&](const tbb::blocked_range2d<int>& r, Sum sum) -> Sum
+ // -- GODOT start --
+ // Sum sum =
+ // tbb::parallel_reduce(
+ // tbb::blocked_range2d<int>(0, HK, 0, WK),
+ // Sum(0.f, 0),
+ // [&](const tbb::blocked_range2d<int>& r, Sum sum) -> Sum
+ // {
+ // // Iterate over blocks
+ // for (int i = r.rows().begin(); i != r.rows().end(); ++i)
+ // {
+ // for (int j = r.cols().begin(); j != r.cols().end(); ++j)
+ // {
+
+ Sum sum = Sum(0.0f, 0);
+
+ for (int i = 0; i != HK; ++i)
+ {
+ for (int j = 0; j != WK; ++j)
+ {
+ // Compute the average luminance in the current block
+ const int beginH = int(ptrdiff_t(i) * H / HK);
+ const int beginW = int(ptrdiff_t(j) * W / WK);
+ const int endH = int(ptrdiff_t(i+1) * H / HK);
+ const int endW = int(ptrdiff_t(j+1) * W / WK);
+
+ float L = 0.f;
+
+ for (int h = beginH; h < endH; ++h)
{
- // Iterate over blocks
- for (int i = r.rows().begin(); i != r.rows().end(); ++i)
+ for (int w = beginW; w < endW; ++w)
{
- for (int j = r.cols().begin(); j != r.cols().end(); ++j)
- {
- // Compute the average luminance in the current block
- const int beginH = int(ptrdiff_t(i) * H / HK);
- const int beginW = int(ptrdiff_t(j) * W / WK);
- const int endH = int(ptrdiff_t(i+1) * H / HK);
- const int endW = int(ptrdiff_t(j+1) * W / WK);
-
- float L = 0.f;
-
- for (int h = beginH; h < endH; ++h)
- {
- for (int w = beginW; w < endW; ++w)
- {
- const float* rgb = (const float*)color.get(h, w);
-
- const float r = maxSafe(rgb[0], 0.f);
- const float g = maxSafe(rgb[1], 0.f);
- const float b = maxSafe(rgb[2], 0.f);
-
- L += luminance(r, g, b);
- }
- }
-
- L /= (endH - beginH) * (endW - beginW);
-
- // Accumulate the log luminance
- if (L > eps)
- {
- sum.first += log2(L);
- sum.second++;
- }
- }
+ const float* rgb = (const float*)color.get(h, w);
+
+ const float r = maxSafe(rgb[0], 0.f);
+ const float g = maxSafe(rgb[1], 0.f);
+ const float b = maxSafe(rgb[2], 0.f);
+
+ L += luminance(r, g, b);
}
+ }
- return sum;
- },
- [](Sum a, Sum b) -> Sum { return Sum(a.first+b.first, a.second+b.second); },
- tbb::static_partitioner()
- );
+ L /= (endH - beginH) * (endW - beginW);
+
+ // Accumulate the log luminance
+ if (L > eps)
+ {
+ sum.first += log2(L);
+ sum.second++;
+ }
+ }
+ }
+
+ // return sum;
+ // },
+ // [](Sum a, Sum b) -> Sum { return Sum(a.first+b.first, a.second+b.second); },
+ // tbb::static_partitioner()
+ // );
+ // -- GODOT end --
return (sum.second > 0) ? (key / exp2(sum.first / float(sum.second))) : 1.f;
-// -- GODOT start --
-#endif
- return 1.0;
-// -- GODOT end --
}
} // namespace oidn
diff --git a/thirdparty/oidn/patches/godot-changes-c58c5216.patch b/thirdparty/oidn/patches/godot-changes-c58c5216.patch
index 6a54703064..c01f00187b 100644
--- a/thirdparty/oidn/patches/godot-changes-c58c5216.patch
+++ b/thirdparty/oidn/patches/godot-changes-c58c5216.patch
@@ -280,28 +280,58 @@ index 8c2de09..ed8328c 100644
namespace oidn {
diff --git a/core/transfer_function.cpp b/core/transfer_function.cpp
-index 601f814..487f0a9 100644
+index 601f814..ce5deca 100644
--- a/core/transfer_function.cpp
+++ b/core/transfer_function.cpp
-@@ -24,6 +24,10 @@ namespace oidn {
- float AutoexposureNode::autoexposure(const Image& color)
- {
- assert(color.format == Format::Float3);
-+// -- GODOT start --
-+// We don't want to mess with TTB and we don't use autoexposure, so we disable this code
-+#if 0
-+// -- GODOT end --
+@@ -38,16 +38,24 @@ namespace oidn {
+ // Compute the average log luminance of the downsampled image
+ using Sum = std::pair<float, int>;
+
+- Sum sum =
+- tbb::parallel_reduce(
+- tbb::blocked_range2d<int>(0, HK, 0, WK),
+- Sum(0.f, 0),
+- [&](const tbb::blocked_range2d<int>& r, Sum sum) -> Sum
++ // -- GODOT start --
++ // Sum sum =
++ // tbb::parallel_reduce(
++ // tbb::blocked_range2d<int>(0, HK, 0, WK),
++ // Sum(0.f, 0),
++ // [&](const tbb::blocked_range2d<int>& r, Sum sum) -> Sum
++ // {
++ // // Iterate over blocks
++ // for (int i = r.rows().begin(); i != r.rows().end(); ++i)
++ // {
++ // for (int j = r.cols().begin(); j != r.cols().end(); ++j)
++ // {
++
++ Sum sum = Sum(0.0f, 0);
++
++ for (int i = 0; i != HK; ++i)
+ {
+- // Iterate over blocks
+- for (int i = r.rows().begin(); i != r.rows().end(); ++i)
+- {
+- for (int j = r.cols().begin(); j != r.cols().end(); ++j)
++ for (int j = 0; j != WK; ++j)
+ {
+ // Compute the average luminance in the current block
+ const int beginH = int(ptrdiff_t(i) * H / HK);
+@@ -82,11 +90,12 @@ namespace oidn {
+ }
+ }
- constexpr float key = 0.18f;
- constexpr float eps = 1e-8f;
-@@ -89,6 +93,10 @@ namespace oidn {
- );
+- return sum;
+- },
+- [](Sum a, Sum b) -> Sum { return Sum(a.first+b.first, a.second+b.second); },
+- tbb::static_partitioner()
+- );
++ // return sum;
++ // },
++ // [](Sum a, Sum b) -> Sum { return Sum(a.first+b.first, a.second+b.second); },
++ // tbb::static_partitioner()
++ // );
++ // -- GODOT end --
return (sum.second > 0) ? (key / exp2(sum.first / float(sum.second))) : 1.f;
-+// -- GODOT start --
-+#endif
-+ return 1.0;
-+// -- GODOT end --
}
-
- } // namespace oidn