mirror of
https://github.com/godotengine/godot.git
synced 2024-12-09 10:09:20 +08:00
272 lines
7.0 KiB
C++
272 lines
7.0 KiB
C++
/*************************************************************************/
|
|
/* step_sw.cpp */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* http://www.godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2015 Juan Linietsky, Ariel Manzur. */
|
|
/* */
|
|
/* Permission is hereby granted, free of charge, to any person obtaining */
|
|
/* a copy of this software and associated documentation files (the */
|
|
/* "Software"), to deal in the Software without restriction, including */
|
|
/* without limitation the rights to use, copy, modify, merge, publish, */
|
|
/* distribute, sublicense, and/or sell copies of the Software, and to */
|
|
/* permit persons to whom the Software is furnished to do so, subject to */
|
|
/* the following conditions: */
|
|
/* */
|
|
/* The above copyright notice and this permission notice shall be */
|
|
/* included in all copies or substantial portions of the Software. */
|
|
/* */
|
|
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
|
|
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
|
|
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
|
|
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
|
|
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
|
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
|
|
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
|
|
/*************************************************************************/
|
|
#include "step_sw.h"
|
|
#include "joints_sw.h"
|
|
|
|
void StepSW::_populate_island(BodySW* p_body,BodySW** p_island,ConstraintSW **p_constraint_island) {
|
|
|
|
p_body->set_island_step(_step);
|
|
p_body->set_island_next(*p_island);
|
|
*p_island=p_body;
|
|
|
|
for(Map<ConstraintSW*,int>::Element *E=p_body->get_constraint_map().front();E;E=E->next()) {
|
|
|
|
ConstraintSW *c=(ConstraintSW*)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;
|
|
|
|
|
|
for(int i=0;i<c->get_body_count();i++) {
|
|
if (i==E->get())
|
|
continue;
|
|
BodySW *b = c->get_body_ptr()[i];
|
|
if (b->get_island_step()==_step || b->get_mode()==PhysicsServer::BODY_MODE_STATIC || b->get_mode()==PhysicsServer::BODY_MODE_KINEMATIC)
|
|
continue; //no go
|
|
_populate_island(c->get_body_ptr()[i],p_island,p_constraint_island);
|
|
}
|
|
}
|
|
}
|
|
|
|
void StepSW::_setup_island(ConstraintSW *p_island,float p_delta) {
|
|
|
|
ConstraintSW *ci=p_island;
|
|
while(ci) {
|
|
bool process = ci->setup(p_delta);
|
|
//todo remove from island if process fails
|
|
ci=ci->get_island_next();
|
|
}
|
|
}
|
|
|
|
void StepSW::_solve_island(ConstraintSW *p_island,int p_iterations,float p_delta){
|
|
|
|
int at_priority=1;
|
|
|
|
while(p_island) {
|
|
|
|
for(int i=0;i<p_iterations;i++) {
|
|
|
|
ConstraintSW *ci=p_island;
|
|
while(ci) {
|
|
ci->solve(p_delta);
|
|
ci=ci->get_island_next();
|
|
}
|
|
}
|
|
|
|
at_priority++;
|
|
|
|
{
|
|
ConstraintSW *ci=p_island;
|
|
ConstraintSW *prev=NULL;
|
|
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();
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
void StepSW::_check_suspend(BodySW *p_island,float p_delta) {
|
|
|
|
|
|
bool can_sleep=true;
|
|
|
|
BodySW *b = p_island;
|
|
while(b) {
|
|
|
|
if (b->get_mode()==PhysicsServer::BODY_MODE_STATIC || b->get_mode()==PhysicsServer::BODY_MODE_KINEMATIC) {
|
|
b=b->get_island_next();
|
|
continue; //ignore for static
|
|
}
|
|
|
|
if (!b->sleep_test(p_delta))
|
|
can_sleep=false;
|
|
|
|
b=b->get_island_next();
|
|
}
|
|
|
|
//put all to sleep or wake up everyoen
|
|
|
|
b = p_island;
|
|
while(b) {
|
|
|
|
if (b->get_mode()==PhysicsServer::BODY_MODE_STATIC || b->get_mode()==PhysicsServer::BODY_MODE_KINEMATIC) {
|
|
b=b->get_island_next();
|
|
continue; //ignore for static
|
|
}
|
|
|
|
bool active = b->is_active();
|
|
|
|
if (active==can_sleep)
|
|
b->set_active(!can_sleep);
|
|
|
|
b=b->get_island_next();
|
|
}
|
|
}
|
|
|
|
void StepSW::step(SpaceSW* p_space,float p_delta,int p_iterations) {
|
|
|
|
p_space->lock(); // can't access space during this
|
|
|
|
p_space->setup(); //update inertias, etc
|
|
|
|
const SelfList<BodySW>::List * body_list = &p_space->get_active_body_list();
|
|
|
|
/* INTEGRATE FORCES */
|
|
int active_count=0;
|
|
|
|
const SelfList<BodySW>*b = body_list->first();
|
|
while(b) {
|
|
|
|
b->self()->integrate_forces(p_delta);
|
|
b=b->next();
|
|
active_count++;
|
|
}
|
|
|
|
p_space->set_active_objects(active_count);
|
|
|
|
|
|
/* GENERATE CONSTRAINT ISLANDS */
|
|
|
|
BodySW *island_list=NULL;
|
|
ConstraintSW *constraint_island_list=NULL;
|
|
b = body_list->first();
|
|
|
|
int island_count=0;
|
|
|
|
while(b) {
|
|
BodySW *body = b->self();
|
|
|
|
|
|
if (body->get_island_step()!=_step) {
|
|
|
|
BodySW *island=NULL;
|
|
ConstraintSW *constraint_island=NULL;
|
|
_populate_island(body,&island,&constraint_island);
|
|
|
|
island->set_island_list_next(island_list);
|
|
island_list=island;
|
|
|
|
if (constraint_island) {
|
|
constraint_island->set_island_list_next(constraint_island_list);
|
|
constraint_island_list=constraint_island;
|
|
island_count++;
|
|
}
|
|
|
|
}
|
|
b=b->next();
|
|
}
|
|
|
|
p_space->set_island_count(island_count);
|
|
|
|
const SelfList<AreaSW>::List &aml = p_space->get_moved_area_list();
|
|
|
|
while(aml.first()) {
|
|
for(const Set<ConstraintSW*>::Element *E=aml.first()->self()->get_constraints().front();E;E=E->next()) {
|
|
|
|
ConstraintSW*c=E->get();
|
|
if (c->get_island_step()==_step)
|
|
continue;
|
|
c->set_island_step(_step);
|
|
c->set_island_next(NULL);
|
|
c->set_island_list_next(constraint_island_list);
|
|
constraint_island_list=c;
|
|
}
|
|
p_space->area_remove_from_moved_list((SelfList<AreaSW>*)aml.first()); //faster to remove here
|
|
}
|
|
|
|
// print_line("island count: "+itos(island_count)+" active count: "+itos(active_count));
|
|
/* SETUP CONSTRAINT ISLANDS */
|
|
|
|
{
|
|
ConstraintSW *ci=constraint_island_list;
|
|
while(ci) {
|
|
|
|
_setup_island(ci,p_delta);
|
|
ci=ci->get_island_list_next();
|
|
}
|
|
}
|
|
|
|
/* SOLVE CONSTRAINT ISLANDS */
|
|
|
|
{
|
|
ConstraintSW *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();
|
|
}
|
|
}
|
|
|
|
/* INTEGRATE VELOCITIES */
|
|
|
|
b = body_list->first();
|
|
while(b) {
|
|
const SelfList<BodySW>*n=b->next();
|
|
b->self()->integrate_velocities(p_delta);
|
|
b=n;
|
|
}
|
|
|
|
/* SLEEP / WAKE UP ISLANDS */
|
|
|
|
{
|
|
BodySW *bi=island_list;
|
|
while(bi) {
|
|
|
|
_check_suspend(bi,p_delta);
|
|
bi=bi->get_island_list_next();
|
|
}
|
|
}
|
|
|
|
p_space->update();
|
|
p_space->unlock();
|
|
_step++;
|
|
|
|
|
|
|
|
}
|
|
|
|
StepSW::StepSW() {
|
|
|
|
_step=1;
|
|
}
|