mirror of
https://github.com/godotengine/godot.git
synced 2024-12-15 10:12:40 +08:00
eae94ba1c8
This is a continuation of an on-going work for 64-bit floating point builds, started in PR #7528. Covers physics, physics/joints and physics_2d code. Also removed matrixToEulerXYZ function in favor of Basis::get_euler.
331 lines
8.8 KiB
C++
331 lines
8.8 KiB
C++
/*************************************************************************/
|
|
/* step_2d_sw.cpp */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* http://www.godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2017 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_2d_sw.h"
|
|
#include "os/os.h"
|
|
|
|
void Step2DSW::_populate_island(Body2DSW* p_body,Body2DSW** p_island,Constraint2DSW **p_constraint_island) {
|
|
|
|
p_body->set_island_step(_step);
|
|
p_body->set_island_next(*p_island);
|
|
*p_island=p_body;
|
|
|
|
for(Map<Constraint2DSW*,int>::Element *E=p_body->get_constraint_map().front();E;E=E->next()) {
|
|
|
|
Constraint2DSW *c=(Constraint2DSW*)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;
|
|
Body2DSW *b = c->get_body_ptr()[i];
|
|
if (b->get_island_step()==_step || b->get_mode()==Physics2DServer::BODY_MODE_STATIC || b->get_mode()==Physics2DServer::BODY_MODE_KINEMATIC)
|
|
continue; //no go
|
|
_populate_island(c->get_body_ptr()[i],p_island,p_constraint_island);
|
|
}
|
|
}
|
|
}
|
|
|
|
bool Step2DSW::_setup_island(Constraint2DSW *p_island,real_t p_delta) {
|
|
|
|
Constraint2DSW *ci=p_island;
|
|
Constraint2DSW *prev_ci=NULL;
|
|
bool removed_root=false;
|
|
while(ci) {
|
|
bool process = ci->setup(p_delta);
|
|
|
|
if (!process) {
|
|
//remove from island if process fails
|
|
if (prev_ci) {
|
|
prev_ci->set_island_next(ci->get_island_next());
|
|
} else {
|
|
removed_root=true;
|
|
prev_ci=ci;
|
|
}
|
|
} else {
|
|
prev_ci=ci;
|
|
}
|
|
ci=ci->get_island_next();
|
|
}
|
|
|
|
return removed_root;
|
|
}
|
|
|
|
void Step2DSW::_solve_island(Constraint2DSW *p_island,int p_iterations,real_t p_delta){
|
|
|
|
|
|
for(int i=0;i<p_iterations;i++) {
|
|
|
|
Constraint2DSW *ci=p_island;
|
|
while(ci) {
|
|
ci->solve(p_delta);
|
|
ci=ci->get_island_next();
|
|
}
|
|
}
|
|
}
|
|
|
|
void Step2DSW::_check_suspend(Body2DSW *p_island,real_t p_delta) {
|
|
|
|
|
|
bool can_sleep=true;
|
|
|
|
Body2DSW *b = p_island;
|
|
while(b) {
|
|
|
|
if (b->get_mode()==Physics2DServer::BODY_MODE_STATIC || b->get_mode()==Physics2DServer::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()==Physics2DServer::BODY_MODE_STATIC || b->get_mode()==Physics2DServer::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 Step2DSW::step(Space2DSW* p_space,real_t p_delta,int p_iterations) {
|
|
|
|
|
|
p_space->lock(); // can't access space during this
|
|
|
|
p_space->setup(); //update inertias, etc
|
|
|
|
const SelfList<Body2DSW>::List * body_list = &p_space->get_active_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<Body2DSW>*b = body_list->first();
|
|
while(b) {
|
|
|
|
b->self()->integrate_forces(p_delta);
|
|
b=b->next();
|
|
active_count++;
|
|
}
|
|
|
|
p_space->set_active_objects(active_count);
|
|
|
|
|
|
{ //profile
|
|
profile_endtime=OS::get_singleton()->get_ticks_usec();
|
|
p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_INTEGRATE_FORCES,profile_endtime-profile_begtime);
|
|
profile_begtime=profile_endtime;
|
|
}
|
|
|
|
/* GENERATE CONSTRAINT ISLANDS */
|
|
|
|
Body2DSW *island_list=NULL;
|
|
Constraint2DSW *constraint_island_list=NULL;
|
|
b = body_list->first();
|
|
|
|
int island_count=0;
|
|
|
|
while(b) {
|
|
Body2DSW *body = b->self();
|
|
|
|
|
|
if (body->get_island_step()!=_step) {
|
|
|
|
Body2DSW *island=NULL;
|
|
Constraint2DSW *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<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);
|
|
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<Area2DSW>*)aml.first()); //faster to remove here
|
|
}
|
|
|
|
//print_line("island count: "+itos(island_count)+" active count: "+itos(active_count));
|
|
|
|
{ //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 */
|
|
|
|
{
|
|
Constraint2DSW *ci=constraint_island_list;
|
|
Constraint2DSW *prev_ci=NULL;
|
|
while(ci) {
|
|
|
|
if (_setup_island(ci,p_delta)==true) {
|
|
|
|
//removed the root from the island graph because it is not to be processed
|
|
|
|
Constraint2DSW *next = ci->get_island_next();
|
|
|
|
if (next) {
|
|
//root from list being deleted no longer exists, replace by next
|
|
next->set_island_list_next(ci->get_island_list_next());
|
|
if (prev_ci) {
|
|
prev_ci->set_island_list_next(next);
|
|
} else {
|
|
constraint_island_list=next;
|
|
|
|
}
|
|
prev_ci=next;
|
|
} else {
|
|
|
|
//list is empty, just skip
|
|
if (prev_ci) {
|
|
prev_ci->set_island_list_next(ci->get_island_list_next());
|
|
|
|
} else {
|
|
constraint_island_list=ci->get_island_list_next();
|
|
}
|
|
|
|
}
|
|
} else {
|
|
prev_ci=ci;
|
|
}
|
|
|
|
ci=ci->get_island_list_next();
|
|
}
|
|
}
|
|
|
|
{ //profile
|
|
profile_endtime=OS::get_singleton()->get_ticks_usec();
|
|
p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_SETUP_CONSTRAINTS,profile_endtime-profile_begtime);
|
|
profile_begtime=profile_endtime;
|
|
}
|
|
|
|
/* SOLVE CONSTRAINT ISLANDS */
|
|
|
|
{
|
|
Constraint2DSW *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();
|
|
}
|
|
}
|
|
|
|
{ //profile
|
|
profile_endtime=OS::get_singleton()->get_ticks_usec();
|
|
p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_SOLVE_CONSTRAINTS,profile_endtime-profile_begtime);
|
|
profile_begtime=profile_endtime;
|
|
}
|
|
|
|
/* INTEGRATE VELOCITIES */
|
|
|
|
b = body_list->first();
|
|
while(b) {
|
|
|
|
const SelfList<Body2DSW>*n=b->next();
|
|
b->self()->integrate_velocities(p_delta);
|
|
b=n; // in case it shuts itself down
|
|
}
|
|
|
|
/* SLEEP / WAKE UP ISLANDS */
|
|
|
|
{
|
|
Body2DSW *bi=island_list;
|
|
while(bi) {
|
|
|
|
_check_suspend(bi,p_delta);
|
|
bi=bi->get_island_list_next();
|
|
}
|
|
}
|
|
|
|
{ //profile
|
|
profile_endtime=OS::get_singleton()->get_ticks_usec();
|
|
p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_INTEGRATE_VELOCITIES,profile_endtime-profile_begtime);
|
|
//profile_begtime=profile_endtime;
|
|
}
|
|
|
|
p_space->update();
|
|
p_space->unlock();
|
|
_step++;
|
|
|
|
|
|
|
|
}
|
|
|
|
Step2DSW::Step2DSW() {
|
|
|
|
_step=1;
|
|
}
|