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path: root/servers/physics_3d/step_3d_sw.cpp
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Diffstat (limited to 'servers/physics_3d/step_3d_sw.cpp')
-rw-r--r--servers/physics_3d/step_3d_sw.cpp194
1 files changed, 100 insertions, 94 deletions
diff --git a/servers/physics_3d/step_3d_sw.cpp b/servers/physics_3d/step_3d_sw.cpp
index 2133a38670..06f3227eab 100644
--- a/servers/physics_3d/step_3d_sw.cpp
+++ b/servers/physics_3d/step_3d_sw.cpp
@@ -33,19 +33,23 @@
#include "core/os/os.h"
-void Step3DSW::_populate_island(Body3DSW *p_body, Body3DSW **p_island, Constraint3DSW **p_constraint_island) {
+#define BODY_ISLAND_COUNT_RESERVE 128
+#define BODY_ISLAND_SIZE_RESERVE 512
+#define ISLAND_COUNT_RESERVE 128
+#define ISLAND_SIZE_RESERVE 512
+
+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->set_island_next(*p_island);
- *p_island = p_body;
+ p_body_island.push_back(p_body);
- for (Map<Constraint3DSW *, int>::Element *E = p_body->get_constraint_map().front(); E; E = E->next()) {
+ // 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
}
c->set_island_step(_step);
- c->set_island_next(*p_constraint_island);
- *p_constraint_island = c;
+ p_constraint_island.push_back(c);
for (int i = 0; i < c->get_body_count(); i++) {
if (i == E->get()) {
@@ -55,87 +59,79 @@ void Step3DSW::_populate_island(Body3DSW *p_body, Body3DSW **p_island, Constrain
if (b->get_island_step() == _step || b->get_mode() == PhysicsServer3D::BODY_MODE_STATIC || b->get_mode() == PhysicsServer3D::BODY_MODE_KINEMATIC) {
continue; //no go
}
- _populate_island(c->get_body_ptr()[i], p_island, p_constraint_island);
+ _populate_island(c->get_body_ptr()[i], p_body_island, p_constraint_island);
}
}
}
-void Step3DSW::_setup_island(Constraint3DSW *p_island, real_t p_delta) {
- Constraint3DSW *ci = p_island;
- while (ci) {
- ci->setup(p_delta);
- //todo remove from island if process fails
- ci = ci->get_island_next();
+void Step3DSW::_setup_island(LocalVector<Constraint3DSW *> &p_constraint_island, real_t p_delta) {
+ 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)) {
+ // Keep this constraint for solving.
+ p_constraint_island[valid_constraint_count++] = constraint;
+ }
}
+ p_constraint_island.resize(valid_constraint_count);
}
-void Step3DSW::_solve_island(Constraint3DSW *p_island, int p_iterations, real_t p_delta) {
- int at_priority = 1;
+void Step3DSW::_solve_island(LocalVector<Constraint3DSW *> &p_constraint_island, int p_iterations, real_t p_delta) {
+ int current_priority = 1;
- while (p_island) {
+ uint32_t constraint_count = p_constraint_island.size();
+ while (constraint_count > 0) {
for (int i = 0; i < p_iterations; i++) {
- Constraint3DSW *ci = p_island;
- while (ci) {
- ci->solve(p_delta);
- ci = ci->get_island_next();
+ // Go through all iterations.
+ for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
+ p_constraint_island[constraint_index]->solve(p_delta);
}
}
- at_priority++;
-
- {
- Constraint3DSW *ci = p_island;
- Constraint3DSW *prev = nullptr;
- while (ci) {
- if (ci->get_priority() < at_priority) {
- if (prev) {
- prev->set_island_next(ci->get_island_next()); //remove
- } else {
- p_island = ci->get_island_next();
- }
- } else {
- prev = ci;
- }
-
- ci = ci->get_island_next();
+ // Check priority to keep only higher priority constraints.
+ uint32_t priority_constraint_count = 0;
+ ++current_priority;
+ for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
+ Constraint3DSW *constraint = p_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_count = priority_constraint_count;
}
}
-void Step3DSW::_check_suspend(Body3DSW *p_island, real_t p_delta) {
+void Step3DSW::_check_suspend(const LocalVector<Body3DSW *> &p_body_island, real_t p_delta) {
bool can_sleep = true;
- Body3DSW *b = p_island;
- while (b) {
- if (b->get_mode() == PhysicsServer3D::BODY_MODE_STATIC || b->get_mode() == PhysicsServer3D::BODY_MODE_KINEMATIC) {
- b = b->get_island_next();
- continue; //ignore for static
+ 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 (!b->sleep_test(p_delta)) {
+ if (!body->sleep_test(p_delta)) {
can_sleep = false;
}
-
- b = b->get_island_next();
}
- //put all to sleep or wake up everyoen
+ // Put all to sleep or wake up everyone.
+ for (uint32_t body_index = 0; body_index < body_count; ++body_index) {
+ Body3DSW *body = p_body_island[body_index];
- b = p_island;
- while (b) {
- if (b->get_mode() == PhysicsServer3D::BODY_MODE_STATIC || b->get_mode() == PhysicsServer3D::BODY_MODE_KINEMATIC) {
- b = b->get_island_next();
- continue; //ignore for static
+ if (body->get_mode() == PhysicsServer3D::BODY_MODE_STATIC || body->get_mode() == PhysicsServer3D::BODY_MODE_KINEMATIC) {
+ continue; // Ignore for static.
}
- bool active = b->is_active();
+ bool active = body->is_active();
if (active == can_sleep) {
- b->set_active(!can_sleep);
+ body->set_active(!can_sleep);
}
-
- b = b->get_island_next();
}
}
@@ -181,33 +177,43 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
/* GENERATE CONSTRAINT ISLANDS */
- Body3DSW *island_list = nullptr;
- Constraint3DSW *constraint_island_list = nullptr;
b = body_list->first();
- int island_count = 0;
+ uint32_t body_island_count = 0;
+ uint32_t island_count = 0;
while (b) {
Body3DSW *body = b->self();
if (body->get_island_step() != _step) {
- Body3DSW *island = nullptr;
- Constraint3DSW *constraint_island = nullptr;
- _populate_island(body, &island, &constraint_island);
+ ++body_island_count;
+ if (body_islands.size() < body_island_count) {
+ body_islands.resize(body_island_count);
+ }
+ LocalVector<Body3DSW *> &body_island = body_islands[body_island_count - 1];
+ body_island.clear();
+ body_island.reserve(BODY_ISLAND_SIZE_RESERVE);
- island->set_island_list_next(island_list);
- island_list = island;
+ ++island_count;
+ if (constraint_islands.size() < island_count) {
+ constraint_islands.resize(island_count);
+ }
+ LocalVector<Constraint3DSW *> &constraint_island = constraint_islands[island_count - 1];
+ constraint_island.clear();
+ constraint_island.reserve(ISLAND_SIZE_RESERVE);
- if (constraint_island) {
- constraint_island->set_island_list_next(constraint_island_list);
- constraint_island_list = constraint_island;
- island_count++;
+ _populate_island(body, body_island, constraint_island);
+
+ body_islands.push_back(body_island);
+
+ if (constraint_island.is_empty()) {
+ --island_count;
}
}
b = b->next();
}
- p_space->set_island_count(island_count);
+ p_space->set_island_count((int)island_count);
const SelfList<Area3DSW>::List &aml = p_space->get_moved_area_list();
@@ -218,9 +224,13 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
continue;
}
c->set_island_step(_step);
- c->set_island_next(nullptr);
- c->set_island_list_next(constraint_island_list);
- constraint_island_list = c;
+ ++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
}
@@ -233,9 +243,13 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
continue;
}
c->set_island_step(_step);
- c->set_island_next(nullptr);
- c->set_island_list_next(constraint_island_list);
- constraint_island_list = c;
+ ++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);
}
sb = sb->next();
}
@@ -248,12 +262,8 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
/* SETUP CONSTRAINT ISLANDS */
- {
- Constraint3DSW *ci = constraint_island_list;
- while (ci) {
- _setup_island(ci, p_delta);
- ci = ci->get_island_list_next();
- }
+ for (uint32_t island_index = 0; island_index < island_count; ++island_index) {
+ _setup_island(constraint_islands[island_index], p_delta);
}
{ //profile
@@ -264,13 +274,10 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
/* SOLVE CONSTRAINT ISLANDS */
- {
- Constraint3DSW *ci = constraint_island_list;
- while (ci) {
- //iterating each island separatedly improves cache efficiency
- _solve_island(ci, p_iterations, p_delta);
- ci = ci->get_island_list_next();
- }
+ 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);
}
{ //profile
@@ -290,12 +297,8 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
/* SLEEP / WAKE UP ISLANDS */
- {
- Body3DSW *bi = island_list;
- while (bi) {
- _check_suspend(bi, p_delta);
- bi = bi->get_island_list_next();
- }
+ for (uint32_t island_index = 0; island_index < body_island_count; ++island_index) {
+ _check_suspend(body_islands[island_index], p_delta);
}
/* UPDATE SOFT BODY CONSTRAINTS */
@@ -319,4 +322,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
Step3DSW::Step3DSW() {
_step = 1;
+
+ body_islands.reserve(BODY_ISLAND_COUNT_RESERVE);
+ constraint_islands.reserve(ISLAND_COUNT_RESERVE);
}
generated by cgit v1.2.3 (git 2.25.1) at 2025-02-17 12:50:59 +0000