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448c41a3e4
Use ThreadWorkPool to process physics step tasks in multiple threads. Collisions are all processed in parallel and solving impulses is processed in parallel for rigid body islands. Additional changes: - Proper islands for soft bodies linked to active bodies - All moving areas are on separate islands (can be parallelized) - Fix inconsistencies with body islands (Kinematic bodies could link bodies together or not depending on the processing order) - Completely prevent static bodies to be active (it could cause islands to be wrongly created and cause dangerous multi-threading operations as well as inconsistencies in created islands) - Apply impulses only on dynamic bodies to avoid unsafe multi-threaded operations (static bodies can be on multiple islands) - Removed inverted iterations when populating body islands, it's now faster in regular order (maybe after fixing inconsistencies)
683 lines
19 KiB
C++
683 lines
19 KiB
C++
/*************************************************************************/
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/* body_2d_sw.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "body_2d_sw.h"
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#include "area_2d_sw.h"
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#include "physics_server_2d_sw.h"
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#include "space_2d_sw.h"
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void Body2DSW::_update_inertia() {
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if (!user_inertia && get_space() && !inertia_update_list.in_list()) {
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get_space()->body_add_to_inertia_update_list(&inertia_update_list);
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}
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}
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void Body2DSW::update_inertias() {
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//update shapes and motions
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switch (mode) {
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case PhysicsServer2D::BODY_MODE_RIGID: {
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if (user_inertia) {
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_inv_inertia = inertia > 0 ? (1.0 / inertia) : 0;
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break;
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}
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//update tensor for allshapes, not the best way but should be somehow OK. (inspired from bullet)
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real_t total_area = 0;
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for (int i = 0; i < get_shape_count(); i++) {
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total_area += get_shape_aabb(i).get_area();
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}
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inertia = 0;
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for (int i = 0; i < get_shape_count(); i++) {
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if (is_shape_disabled(i)) {
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continue;
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}
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const Shape2DSW *shape = get_shape(i);
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real_t area = get_shape_aabb(i).get_area();
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real_t mass = area * this->mass / total_area;
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Transform2D mtx = get_shape_transform(i);
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Vector2 scale = mtx.get_scale();
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inertia += shape->get_moment_of_inertia(mass, scale) + mass * mtx.get_origin().length_squared();
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}
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_inv_inertia = inertia > 0 ? (1.0 / inertia) : 0;
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if (mass) {
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_inv_mass = 1.0 / mass;
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} else {
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_inv_mass = 0;
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}
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} break;
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case PhysicsServer2D::BODY_MODE_KINEMATIC:
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case PhysicsServer2D::BODY_MODE_STATIC: {
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_inv_inertia = 0;
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_inv_mass = 0;
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} break;
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case PhysicsServer2D::BODY_MODE_CHARACTER: {
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_inv_inertia = 0;
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_inv_mass = 1.0 / mass;
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} break;
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}
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//_update_inertia_tensor();
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//_update_shapes();
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}
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void Body2DSW::set_active(bool p_active) {
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if (active == p_active) {
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return;
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}
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active = p_active;
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if (active) {
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if (mode == PhysicsServer2D::BODY_MODE_STATIC) {
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// Static bodies can't be active.
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active = false;
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} else if (get_space()) {
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get_space()->body_add_to_active_list(&active_list);
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}
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} else if (get_space()) {
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get_space()->body_remove_from_active_list(&active_list);
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}
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}
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void Body2DSW::set_param(PhysicsServer2D::BodyParameter p_param, real_t p_value) {
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switch (p_param) {
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case PhysicsServer2D::BODY_PARAM_BOUNCE: {
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bounce = p_value;
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} break;
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case PhysicsServer2D::BODY_PARAM_FRICTION: {
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friction = p_value;
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} break;
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case PhysicsServer2D::BODY_PARAM_MASS: {
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ERR_FAIL_COND(p_value <= 0);
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mass = p_value;
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_update_inertia();
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} break;
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case PhysicsServer2D::BODY_PARAM_INERTIA: {
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if (p_value <= 0) {
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user_inertia = false;
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_update_inertia();
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} else {
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user_inertia = true;
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inertia = p_value;
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_inv_inertia = 1.0 / p_value;
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}
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} break;
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case PhysicsServer2D::BODY_PARAM_GRAVITY_SCALE: {
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gravity_scale = p_value;
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} break;
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case PhysicsServer2D::BODY_PARAM_LINEAR_DAMP: {
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linear_damp = p_value;
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} break;
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case PhysicsServer2D::BODY_PARAM_ANGULAR_DAMP: {
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angular_damp = p_value;
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} break;
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default: {
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}
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}
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}
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real_t Body2DSW::get_param(PhysicsServer2D::BodyParameter p_param) const {
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switch (p_param) {
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case PhysicsServer2D::BODY_PARAM_BOUNCE: {
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return bounce;
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}
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case PhysicsServer2D::BODY_PARAM_FRICTION: {
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return friction;
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}
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case PhysicsServer2D::BODY_PARAM_MASS: {
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return mass;
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}
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case PhysicsServer2D::BODY_PARAM_INERTIA: {
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return inertia;
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}
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case PhysicsServer2D::BODY_PARAM_GRAVITY_SCALE: {
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return gravity_scale;
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}
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case PhysicsServer2D::BODY_PARAM_LINEAR_DAMP: {
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return linear_damp;
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}
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case PhysicsServer2D::BODY_PARAM_ANGULAR_DAMP: {
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return angular_damp;
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}
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default: {
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}
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}
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return 0;
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}
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void Body2DSW::set_mode(PhysicsServer2D::BodyMode p_mode) {
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PhysicsServer2D::BodyMode prev = mode;
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mode = p_mode;
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switch (p_mode) {
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//CLEAR UP EVERYTHING IN CASE IT NOT WORKS!
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case PhysicsServer2D::BODY_MODE_STATIC:
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case PhysicsServer2D::BODY_MODE_KINEMATIC: {
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_set_inv_transform(get_transform().affine_inverse());
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_inv_mass = 0;
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_inv_inertia = 0;
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_set_static(p_mode == PhysicsServer2D::BODY_MODE_STATIC);
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set_active(p_mode == PhysicsServer2D::BODY_MODE_KINEMATIC && contacts.size());
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linear_velocity = Vector2();
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angular_velocity = 0;
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if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC && prev != mode) {
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first_time_kinematic = true;
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}
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} break;
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case PhysicsServer2D::BODY_MODE_RIGID: {
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_inv_mass = mass > 0 ? (1.0 / mass) : 0;
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_inv_inertia = inertia > 0 ? (1.0 / inertia) : 0;
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_set_static(false);
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set_active(true);
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} break;
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case PhysicsServer2D::BODY_MODE_CHARACTER: {
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_inv_mass = mass > 0 ? (1.0 / mass) : 0;
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_inv_inertia = 0;
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_set_static(false);
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set_active(true);
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angular_velocity = 0;
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} break;
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}
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if (p_mode == PhysicsServer2D::BODY_MODE_RIGID && _inv_inertia == 0) {
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_update_inertia();
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}
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/*
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if (get_space())
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_update_queries();
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*/
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}
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PhysicsServer2D::BodyMode Body2DSW::get_mode() const {
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return mode;
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}
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void Body2DSW::_shapes_changed() {
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_update_inertia();
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wakeup_neighbours();
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}
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void Body2DSW::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_variant) {
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switch (p_state) {
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case PhysicsServer2D::BODY_STATE_TRANSFORM: {
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if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
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new_transform = p_variant;
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//wakeup_neighbours();
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set_active(true);
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if (first_time_kinematic) {
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_set_transform(p_variant);
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_set_inv_transform(get_transform().affine_inverse());
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first_time_kinematic = false;
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}
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} else if (mode == PhysicsServer2D::BODY_MODE_STATIC) {
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_set_transform(p_variant);
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_set_inv_transform(get_transform().affine_inverse());
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wakeup_neighbours();
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} else {
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Transform2D t = p_variant;
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t.orthonormalize();
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new_transform = get_transform(); //used as old to compute motion
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if (t == new_transform) {
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break;
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}
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_set_transform(t);
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_set_inv_transform(get_transform().inverse());
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}
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wakeup();
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} break;
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case PhysicsServer2D::BODY_STATE_LINEAR_VELOCITY: {
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/*
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if (mode==PhysicsServer2D::BODY_MODE_STATIC)
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break;
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*/
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linear_velocity = p_variant;
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wakeup();
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} break;
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case PhysicsServer2D::BODY_STATE_ANGULAR_VELOCITY: {
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/*
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if (mode!=PhysicsServer2D::BODY_MODE_RIGID)
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break;
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*/
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angular_velocity = p_variant;
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wakeup();
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} break;
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case PhysicsServer2D::BODY_STATE_SLEEPING: {
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//?
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if (mode == PhysicsServer2D::BODY_MODE_STATIC || mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
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break;
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}
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bool do_sleep = p_variant;
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if (do_sleep) {
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linear_velocity = Vector2();
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//biased_linear_velocity=Vector3();
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angular_velocity = 0;
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//biased_angular_velocity=Vector3();
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set_active(false);
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} else {
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if (mode != PhysicsServer2D::BODY_MODE_STATIC) {
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set_active(true);
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}
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}
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} break;
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case PhysicsServer2D::BODY_STATE_CAN_SLEEP: {
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can_sleep = p_variant;
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if (mode == PhysicsServer2D::BODY_MODE_RIGID && !active && !can_sleep) {
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set_active(true);
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}
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} break;
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}
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}
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Variant Body2DSW::get_state(PhysicsServer2D::BodyState p_state) const {
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switch (p_state) {
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case PhysicsServer2D::BODY_STATE_TRANSFORM: {
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return get_transform();
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}
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case PhysicsServer2D::BODY_STATE_LINEAR_VELOCITY: {
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return linear_velocity;
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}
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case PhysicsServer2D::BODY_STATE_ANGULAR_VELOCITY: {
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return angular_velocity;
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}
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case PhysicsServer2D::BODY_STATE_SLEEPING: {
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return !is_active();
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}
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case PhysicsServer2D::BODY_STATE_CAN_SLEEP: {
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return can_sleep;
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}
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}
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return Variant();
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}
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void Body2DSW::set_space(Space2DSW *p_space) {
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if (get_space()) {
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wakeup_neighbours();
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if (inertia_update_list.in_list()) {
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get_space()->body_remove_from_inertia_update_list(&inertia_update_list);
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}
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if (active_list.in_list()) {
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get_space()->body_remove_from_active_list(&active_list);
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}
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if (direct_state_query_list.in_list()) {
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get_space()->body_remove_from_state_query_list(&direct_state_query_list);
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}
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}
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_set_space(p_space);
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if (get_space()) {
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_update_inertia();
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if (active) {
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get_space()->body_add_to_active_list(&active_list);
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}
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}
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first_integration = false;
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}
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void Body2DSW::_compute_area_gravity_and_dampenings(const Area2DSW *p_area) {
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if (p_area->is_gravity_point()) {
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if (p_area->get_gravity_distance_scale() > 0) {
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Vector2 v = p_area->get_transform().xform(p_area->get_gravity_vector()) - get_transform().get_origin();
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gravity += v.normalized() * (p_area->get_gravity() / Math::pow(v.length() * p_area->get_gravity_distance_scale() + 1, 2));
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} else {
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gravity += (p_area->get_transform().xform(p_area->get_gravity_vector()) - get_transform().get_origin()).normalized() * p_area->get_gravity();
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}
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} else {
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gravity += p_area->get_gravity_vector() * p_area->get_gravity();
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}
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area_linear_damp += p_area->get_linear_damp();
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area_angular_damp += p_area->get_angular_damp();
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}
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void Body2DSW::integrate_forces(real_t p_step) {
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if (mode == PhysicsServer2D::BODY_MODE_STATIC) {
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return;
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}
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Area2DSW *def_area = get_space()->get_default_area();
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// Area2DSW *damp_area = def_area;
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ERR_FAIL_COND(!def_area);
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int ac = areas.size();
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bool stopped = false;
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gravity = Vector2(0, 0);
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area_angular_damp = 0;
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area_linear_damp = 0;
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if (ac) {
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areas.sort();
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const AreaCMP *aa = &areas[0];
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// damp_area = aa[ac-1].area;
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for (int i = ac - 1; i >= 0 && !stopped; i--) {
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PhysicsServer2D::AreaSpaceOverrideMode mode = aa[i].area->get_space_override_mode();
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switch (mode) {
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case PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE:
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case PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: {
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_compute_area_gravity_and_dampenings(aa[i].area);
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stopped = mode == PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE;
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} break;
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case PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE:
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case PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: {
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gravity = Vector2(0, 0);
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area_angular_damp = 0;
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area_linear_damp = 0;
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_compute_area_gravity_and_dampenings(aa[i].area);
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stopped = mode == PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE;
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} break;
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default: {
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}
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}
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}
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}
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if (!stopped) {
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_compute_area_gravity_and_dampenings(def_area);
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}
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gravity *= gravity_scale;
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// If less than 0, override dampenings with that of the Body2D
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if (angular_damp >= 0) {
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area_angular_damp = angular_damp;
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}
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/*
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else
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area_angular_damp=damp_area->get_angular_damp();
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*/
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if (linear_damp >= 0) {
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area_linear_damp = linear_damp;
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}
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/*
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else
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area_linear_damp=damp_area->get_linear_damp();
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*/
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Vector2 motion;
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bool do_motion = false;
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if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
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//compute motion, angular and etc. velocities from prev transform
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motion = new_transform.get_origin() - get_transform().get_origin();
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linear_velocity = motion / p_step;
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real_t rot = new_transform.get_rotation() - get_transform().get_rotation();
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angular_velocity = remainder(rot, 2.0 * Math_PI) / p_step;
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do_motion = true;
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/*
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for(int i=0;i<get_shape_count();i++) {
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set_shape_kinematic_advance(i,Vector2());
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set_shape_kinematic_retreat(i,0);
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}
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*/
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} else {
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if (!omit_force_integration && !first_integration) {
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//overridden by direct state query
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Vector2 force = gravity * mass;
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force += applied_force;
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real_t torque = applied_torque;
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real_t damp = 1.0 - p_step * area_linear_damp;
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if (damp < 0) { // reached zero in the given time
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damp = 0;
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}
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real_t angular_damp = 1.0 - p_step * area_angular_damp;
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if (angular_damp < 0) { // reached zero in the given time
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angular_damp = 0;
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}
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linear_velocity *= damp;
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angular_velocity *= angular_damp;
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linear_velocity += _inv_mass * force * p_step;
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angular_velocity += _inv_inertia * torque * p_step;
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}
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if (continuous_cd_mode != PhysicsServer2D::CCD_MODE_DISABLED) {
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motion = linear_velocity * p_step;
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do_motion = true;
|
|
}
|
|
}
|
|
|
|
//motion=linear_velocity*p_step;
|
|
|
|
first_integration = false;
|
|
biased_angular_velocity = 0;
|
|
biased_linear_velocity = Vector2();
|
|
|
|
if (do_motion) { //shapes temporarily extend for raycast
|
|
_update_shapes_with_motion(motion);
|
|
}
|
|
|
|
// damp_area=nullptr; // clear the area, so it is set in the next frame
|
|
def_area = nullptr; // clear the area, so it is set in the next frame
|
|
contact_count = 0;
|
|
}
|
|
|
|
void Body2DSW::integrate_velocities(real_t p_step) {
|
|
if (mode == PhysicsServer2D::BODY_MODE_STATIC) {
|
|
return;
|
|
}
|
|
|
|
if (fi_callback) {
|
|
get_space()->body_add_to_state_query_list(&direct_state_query_list);
|
|
}
|
|
|
|
if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
|
|
_set_transform(new_transform, false);
|
|
_set_inv_transform(new_transform.affine_inverse());
|
|
if (contacts.size() == 0 && linear_velocity == Vector2() && angular_velocity == 0) {
|
|
set_active(false); //stopped moving, deactivate
|
|
}
|
|
return;
|
|
}
|
|
|
|
real_t total_angular_velocity = angular_velocity + biased_angular_velocity;
|
|
Vector2 total_linear_velocity = linear_velocity + biased_linear_velocity;
|
|
|
|
real_t angle = get_transform().get_rotation() + total_angular_velocity * p_step;
|
|
Vector2 pos = get_transform().get_origin() + total_linear_velocity * p_step;
|
|
|
|
_set_transform(Transform2D(angle, pos), continuous_cd_mode == PhysicsServer2D::CCD_MODE_DISABLED);
|
|
_set_inv_transform(get_transform().inverse());
|
|
|
|
if (continuous_cd_mode != PhysicsServer2D::CCD_MODE_DISABLED) {
|
|
new_transform = get_transform();
|
|
}
|
|
|
|
//_update_inertia_tensor();
|
|
}
|
|
|
|
void Body2DSW::wakeup_neighbours() {
|
|
for (List<Pair<Constraint2DSW *, int>>::Element *E = constraint_list.front(); E; E = E->next()) {
|
|
const Constraint2DSW *c = E->get().first;
|
|
Body2DSW **n = c->get_body_ptr();
|
|
int bc = c->get_body_count();
|
|
|
|
for (int i = 0; i < bc; i++) {
|
|
if (i == E->get().second) {
|
|
continue;
|
|
}
|
|
Body2DSW *b = n[i];
|
|
if (b->mode != PhysicsServer2D::BODY_MODE_RIGID) {
|
|
continue;
|
|
}
|
|
|
|
if (!b->is_active()) {
|
|
b->set_active(true);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void Body2DSW::call_queries() {
|
|
if (fi_callback) {
|
|
PhysicsDirectBodyState2DSW *dbs = PhysicsDirectBodyState2DSW::singleton;
|
|
dbs->body = this;
|
|
|
|
Variant v = dbs;
|
|
const Variant *vp[2] = { &v, &fi_callback->callback_udata };
|
|
|
|
Object *obj = fi_callback->callable.get_object();
|
|
if (!obj) {
|
|
set_force_integration_callback(Callable());
|
|
} else {
|
|
Callable::CallError ce;
|
|
Variant rv;
|
|
if (fi_callback->callback_udata.get_type() != Variant::NIL) {
|
|
fi_callback->callable.call(vp, 2, rv, ce);
|
|
|
|
} else {
|
|
fi_callback->callable.call(vp, 1, rv, ce);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
bool Body2DSW::sleep_test(real_t p_step) {
|
|
if (mode == PhysicsServer2D::BODY_MODE_STATIC || mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
|
|
return true; //
|
|
} else if (mode == PhysicsServer2D::BODY_MODE_CHARACTER) {
|
|
return !active; // characters and kinematic bodies don't sleep unless asked to sleep
|
|
} else if (!can_sleep) {
|
|
return false;
|
|
}
|
|
|
|
if (Math::abs(angular_velocity) < get_space()->get_body_angular_velocity_sleep_threshold() && Math::abs(linear_velocity.length_squared()) < get_space()->get_body_linear_velocity_sleep_threshold() * get_space()->get_body_linear_velocity_sleep_threshold()) {
|
|
still_time += p_step;
|
|
|
|
return still_time > get_space()->get_body_time_to_sleep();
|
|
} else {
|
|
still_time = 0; //maybe this should be set to 0 on set_active?
|
|
return false;
|
|
}
|
|
}
|
|
|
|
void Body2DSW::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) {
|
|
if (fi_callback) {
|
|
memdelete(fi_callback);
|
|
fi_callback = nullptr;
|
|
}
|
|
|
|
if (p_callable.get_object()) {
|
|
fi_callback = memnew(ForceIntegrationCallback);
|
|
fi_callback->callable = p_callable;
|
|
fi_callback->callback_udata = p_udata;
|
|
}
|
|
}
|
|
|
|
Body2DSW::Body2DSW() :
|
|
CollisionObject2DSW(TYPE_BODY),
|
|
active_list(this),
|
|
inertia_update_list(this),
|
|
direct_state_query_list(this) {
|
|
mode = PhysicsServer2D::BODY_MODE_RIGID;
|
|
active = true;
|
|
angular_velocity = 0;
|
|
biased_angular_velocity = 0;
|
|
mass = 1;
|
|
inertia = 0;
|
|
user_inertia = false;
|
|
_inv_inertia = 0;
|
|
_inv_mass = 1;
|
|
bounce = 0;
|
|
friction = 1;
|
|
omit_force_integration = false;
|
|
applied_torque = 0;
|
|
island_step = 0;
|
|
_set_static(false);
|
|
first_time_kinematic = false;
|
|
linear_damp = -1;
|
|
angular_damp = -1;
|
|
area_angular_damp = 0;
|
|
area_linear_damp = 0;
|
|
contact_count = 0;
|
|
gravity_scale = 1.0;
|
|
first_integration = false;
|
|
|
|
still_time = 0;
|
|
continuous_cd_mode = PhysicsServer2D::CCD_MODE_DISABLED;
|
|
can_sleep = true;
|
|
fi_callback = nullptr;
|
|
}
|
|
|
|
Body2DSW::~Body2DSW() {
|
|
if (fi_callback) {
|
|
memdelete(fi_callback);
|
|
}
|
|
}
|
|
|
|
PhysicsDirectBodyState2DSW *PhysicsDirectBodyState2DSW::singleton = nullptr;
|
|
|
|
PhysicsDirectSpaceState2D *PhysicsDirectBodyState2DSW::get_space_state() {
|
|
return body->get_space()->get_direct_state();
|
|
}
|
|
|
|
Variant PhysicsDirectBodyState2DSW::get_contact_collider_shape_metadata(int p_contact_idx) const {
|
|
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Variant());
|
|
|
|
if (!PhysicsServer2DSW::singletonsw->body_owner.owns(body->contacts[p_contact_idx].collider)) {
|
|
return Variant();
|
|
}
|
|
Body2DSW *other = PhysicsServer2DSW::singletonsw->body_owner.getornull(body->contacts[p_contact_idx].collider);
|
|
|
|
int sidx = body->contacts[p_contact_idx].collider_shape;
|
|
if (sidx < 0 || sidx >= other->get_shape_count()) {
|
|
return Variant();
|
|
}
|
|
|
|
return other->get_shape_metadata(sidx);
|
|
}
|