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Diffstat (limited to 'servers/physics_3d/godot_step_3d.cpp')
| -rw-r--r-- | servers/physics_3d/godot_step_3d.cpp | 418 |
1 files changed, 418 insertions, 0 deletions
diff --git a/servers/physics_3d/godot_step_3d.cpp b/servers/physics_3d/godot_step_3d.cpp new file mode 100644 index 0000000000..6332532f6e --- /dev/null +++ b/servers/physics_3d/godot_step_3d.cpp @@ -0,0 +1,418 @@ +/*************************************************************************/ +/* godot_step_3d.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#include "godot_step_3d.h" + +#include "godot_joint_3d.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 GodotStep3D::_populate_island(GodotBody3D *p_body, LocalVector<GodotBody3D *> &p_body_island, LocalVector<GodotConstraint3D *> &p_constraint_island) { + p_body->set_island_step(_step); + + if (p_body->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC) { + // Only dynamic bodies are tested for activation. + p_body_island.push_back(p_body); + } + + for (const KeyValue<GodotConstraint3D *, int> &E : p_body->get_constraint_map()) { + GodotConstraint3D *constraint = (GodotConstraint3D *)E.key; + if (constraint->get_island_step() == _step) { + continue; // Already processed. + } + constraint->set_island_step(_step); + p_constraint_island.push_back(constraint); + + all_constraints.push_back(constraint); + + // Find connected rigid bodies. + for (int i = 0; i < constraint->get_body_count(); i++) { + if (i == E.value) { + continue; + } + GodotBody3D *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++) { + GodotSoftBody3D *soft_body = constraint->get_soft_body_ptr(i); + if (soft_body->get_island_step() == _step) { + continue; // Already processed. + } + _populate_island_soft_body(soft_body, p_body_island, p_constraint_island); + } + } +} + +void GodotStep3D::_populate_island_soft_body(GodotSoftBody3D *p_soft_body, LocalVector<GodotBody3D *> &p_body_island, LocalVector<GodotConstraint3D *> &p_constraint_island) { + p_soft_body->set_island_step(_step); + + for (Set<GodotConstraint3D *>::Element *E = p_soft_body->get_constraints().front(); E; E = E->next()) { + GodotConstraint3D *constraint = (GodotConstraint3D *)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++) { + GodotBody3D *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 GodotStep3D::_setup_contraint(uint32_t p_constraint_index, void *p_userdata) { + GodotConstraint3D *constraint = all_constraints[p_constraint_index]; + constraint->setup(delta); +} + +void GodotStep3D::_pre_solve_island(LocalVector<GodotConstraint3D *> &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) { + GodotConstraint3D *constraint = p_constraint_island[constraint_index]; + if (p_constraint_island[constraint_index]->pre_solve(delta)) { + // Keep this constraint for solving. + p_constraint_island[valid_constraint_count++] = constraint; + } + } + p_constraint_island.resize(valid_constraint_count); +} + +void GodotStep3D::_solve_island(uint32_t p_island_index, void *p_userdata) { + LocalVector<GodotConstraint3D *> &constraint_island = constraint_islands[p_island_index]; + + int current_priority = 1; + + uint32_t constraint_count = constraint_island.size(); + while (constraint_count > 0) { + for (int i = 0; i < iterations; i++) { + // Go through all iterations. + for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) { + constraint_island[constraint_index]->solve(delta); + } + } + + // Check priority to keep only higher priority constraints. + uint32_t priority_constraint_count = 0; + ++current_priority; + for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) { + GodotConstraint3D *constraint = constraint_island[constraint_index]; + if (constraint->get_priority() >= current_priority) { + // Keep this constraint for the next iteration. + constraint_island[priority_constraint_count++] = constraint; + } + } + constraint_count = priority_constraint_count; + } +} + +void GodotStep3D::_check_suspend(const LocalVector<GodotBody3D *> &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) { + GodotBody3D *body = p_body_island[body_index]; + + if (!body->sleep_test(delta)) { + can_sleep = false; + } + } + + // Put all to sleep or wake up everyone. + for (uint32_t body_index = 0; body_index < body_count; ++body_index) { + GodotBody3D *body = p_body_island[body_index]; + + bool active = body->is_active(); + + if (active == can_sleep) { + body->set_active(!can_sleep); + } + } +} + +void GodotStep3D::step(GodotSpace3D *p_space, real_t p_delta) { + p_space->lock(); // can't access space during this + + p_space->setup(); //update inertias, etc + + p_space->set_last_step(p_delta); + + iterations = p_space->get_solver_iterations(); + delta = p_delta; + + const SelfList<GodotBody3D>::List *body_list = &p_space->get_active_body_list(); + + const SelfList<GodotSoftBody3D>::List *soft_body_list = &p_space->get_active_soft_body_list(); + + /* INTEGRATE FORCES */ + + uint64_t profile_begtime = OS::get_singleton()->get_ticks_usec(); + uint64_t profile_endtime = 0; + + int active_count = 0; + + const SelfList<GodotBody3D> *b = body_list->first(); + while (b) { + b->self()->integrate_forces(p_delta); + b = b->next(); + active_count++; + } + + /* UPDATE SOFT BODY MOTION */ + + const SelfList<GodotSoftBody3D> *sb = soft_body_list->first(); + while (sb) { + sb->self()->predict_motion(p_delta); + sb = sb->next(); + active_count++; + } + + p_space->set_active_objects(active_count); + + // Update the broadphase to register collision pairs. + p_space->update(); + + { //profile + profile_endtime = OS::get_singleton()->get_ticks_usec(); + p_space->set_elapsed_time(GodotSpace3D::ELAPSED_TIME_INTEGRATE_FORCES, profile_endtime - profile_begtime); + profile_begtime = profile_endtime; + } + + /* GENERATE CONSTRAINT ISLANDS FOR MOVING AREAS */ + + uint32_t island_count = 0; + + const SelfList<GodotArea3D>::List &aml = p_space->get_moved_area_list(); + + while (aml.first()) { + for (const Set<GodotConstraint3D *>::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) { + GodotConstraint3D *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<GodotConstraint3D *> &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<GodotArea3D> *)aml.first()); //faster to remove here + } + + /* GENERATE CONSTRAINT ISLANDS FOR ACTIVE RIGID BODIES */ + + b = body_list->first(); + + uint32_t body_island_count = 0; + + while (b) { + GodotBody3D *body = b->self(); + + if (body->get_island_step() != _step) { + ++body_island_count; + if (body_islands.size() < body_island_count) { + body_islands.resize(body_island_count); + } + LocalVector<GodotBody3D *> &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<GodotConstraint3D *> &constraint_island = constraint_islands[island_count - 1]; + constraint_island.clear(); + constraint_island.reserve(ISLAND_SIZE_RESERVE); + + _populate_island(body, body_island, constraint_island); + + if (body_island.is_empty()) { + --body_island_count; + } + + if (constraint_island.is_empty()) { + --island_count; + } + } + b = b->next(); + } + + /* GENERATE CONSTRAINT ISLANDS FOR ACTIVE SOFT BODIES */ + + sb = soft_body_list->first(); + while (sb) { + GodotSoftBody3D *soft_body = sb->self(); + + if (soft_body->get_island_step() != _step) { + ++body_island_count; + if (body_islands.size() < body_island_count) { + body_islands.resize(body_island_count); + } + LocalVector<GodotBody3D *> &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<GodotConstraint3D *> &constraint_island = constraint_islands[island_count - 1]; + constraint_island.clear(); + constraint_island.reserve(ISLAND_SIZE_RESERVE); + + _populate_island_soft_body(soft_body, body_island, constraint_island); + + if (body_island.is_empty()) { + --body_island_count; + } + + if (constraint_island.is_empty()) { + --island_count; + } + } + sb = sb->next(); + } + + p_space->set_island_count((int)island_count); + + { //profile + profile_endtime = OS::get_singleton()->get_ticks_usec(); + p_space->set_elapsed_time(GodotSpace3D::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime); + profile_begtime = profile_endtime; + } + + /* SETUP CONSTRAINTS / PROCESS COLLISIONS */ + + uint32_t total_contraint_count = all_constraints.size(); + work_pool.do_work(total_contraint_count, this, &GodotStep3D::_setup_contraint, nullptr); + + { //profile + profile_endtime = OS::get_singleton()->get_ticks_usec(); + p_space->set_elapsed_time(GodotSpace3D::ELAPSED_TIME_SETUP_CONSTRAINTS, profile_endtime - profile_begtime); + profile_begtime = profile_endtime; + } + + /* PRE-SOLVE CONSTRAINT ISLANDS */ + + // Warning: This doesn't run on threads, because it involves thread-unsafe processing. + for (uint32_t island_index = 0; island_index < island_count; ++island_index) { + _pre_solve_island(constraint_islands[island_index]); + } + + /* SOLVE CONSTRAINT ISLANDS */ + + // Warning: _solve_island modifies the constraint islands for optimization purpose, + // their content is not reliable after these calls and shouldn't be used anymore. + work_pool.do_work(island_count, this, &GodotStep3D::_solve_island, nullptr); + + { //profile + profile_endtime = OS::get_singleton()->get_ticks_usec(); + p_space->set_elapsed_time(GodotSpace3D::ELAPSED_TIME_SOLVE_CONSTRAINTS, profile_endtime - profile_begtime); + profile_begtime = profile_endtime; + } + + /* INTEGRATE VELOCITIES */ + + b = body_list->first(); + while (b) { + const SelfList<GodotBody3D> *n = b->next(); + b->self()->integrate_velocities(p_delta); + b = n; + } + + /* SLEEP / WAKE UP ISLANDS */ + + for (uint32_t island_index = 0; island_index < body_island_count; ++island_index) { + _check_suspend(body_islands[island_index]); + } + + /* UPDATE SOFT BODY CONSTRAINTS */ + + sb = soft_body_list->first(); + while (sb) { + sb->self()->solve_constraints(p_delta); + sb = sb->next(); + } + + { //profile + profile_endtime = OS::get_singleton()->get_ticks_usec(); + p_space->set_elapsed_time(GodotSpace3D::ELAPSED_TIME_INTEGRATE_VELOCITIES, profile_endtime - profile_begtime); + profile_begtime = profile_endtime; + } + + all_constraints.clear(); + + p_space->unlock(); + _step++; +} + +GodotStep3D::GodotStep3D() { + body_islands.reserve(BODY_ISLAND_COUNT_RESERVE); + constraint_islands.reserve(ISLAND_COUNT_RESERVE); + all_constraints.reserve(CONSTRAINT_COUNT_RESERVE); + + work_pool.init(); +} + +GodotStep3D::~GodotStep3D() { + work_pool.finish(); +} |