asgardius/virtualx-engine
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

make 2d constraint solving more deterministic by solving in push order

Browse source 
(cherry picked from commit 043b6c2d93)
This commit is contained in:
Jordan Schidlowsky 2020-12-04 22:12:47 -06:00 committed by Rémi Verschelde
parent 11b8b8ad27
commit 266314ba26
No known key found for this signature in database
GPG key ID: C3336907360768E1
7 changed files with 27 additions and 31 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

2
servers/physics_2d/area_pair_2d_sw.cpp
View file

@ -89,7 +89,7 @@ AreaPair2DSW::~AreaPair2DSW() {
if (area->has_monitor_callback()) if (area->has_monitor_callback())
area->remove_body_from_query(body, body_shape, area_shape); area->remove_body_from_query(body, body_shape, area_shape);
} }
body->remove_constraint(this); body->remove_constraint(this, 0);
area->remove_constraint(this); area->remove_constraint(this);
} }

9
servers/physics_2d/body_2d_sw.cpp
View file

@ -576,16 +576,13 @@ void Body2DSW::integrate_velocities(real_t p_step) {
} }
void Body2DSW::wakeup_neighbours() { void Body2DSW::wakeup_neighbours() {
for (List<Pair<Constraint2DSW *, int> >::Element *E = constraint_list.front(); E; E = E->next()) {
for (Map<Constraint2DSW *, int>::Element *E = constraint_map.front(); E; E = E->next()) { const Constraint2DSW *c = E->get().first;
const Constraint2DSW *c = E->key();
Body2DSW **n = c->get_body_ptr(); Body2DSW **n = c->get_body_ptr();
int bc = c->get_body_count(); int bc = c->get_body_count();
for (int i = 0; i < bc; i++) { for (int i = 0; i < bc; i++) {
if (i == E->get().second)
if (i == E->get())
continue; continue;
Body2DSW *b = n[i]; Body2DSW *b = n[i];
if (b->mode != Physics2DServer::BODY_MODE_RIGID) if (b->mode != Physics2DServer::BODY_MODE_RIGID)

12
servers/physics_2d/body_2d_sw.h
View file

@ -33,6 +33,8 @@
#include "area_2d_sw.h" #include "area_2d_sw.h"
#include "collision_object_2d_sw.h" #include "collision_object_2d_sw.h"
#include "core/list.h"
#include "core/pair.h"
#include "core/vset.h" #include "core/vset.h"
class Constraint2DSW; class Constraint2DSW;
@ -84,7 +86,7 @@ class Body2DSW : public CollisionObject2DSW {
virtual void _shapes_changed(); virtual void _shapes_changed();
Transform2D new_transform; Transform2D new_transform;
Map<Constraint2DSW *, int> constraint_map; List<Pair<Constraint2DSW *, int> > constraint_list;
struct AreaCMP { struct AreaCMP {
@ -180,10 +182,10 @@ public:
_FORCE_INLINE_ Body2DSW *get_island_list_next() const { return island_list_next; } _FORCE_INLINE_ Body2DSW *get_island_list_next() const { return island_list_next; }
_FORCE_INLINE_ void set_island_list_next(Body2DSW *p_next) { island_list_next = p_next; } _FORCE_INLINE_ void set_island_list_next(Body2DSW *p_next) { island_list_next = p_next; }
_FORCE_INLINE_ void add_constraint(Constraint2DSW *p_constraint, int p_pos) { constraint_map[p_constraint] = p_pos; } _FORCE_INLINE_ void add_constraint(Constraint2DSW *p_constraint, int p_pos) { constraint_list.push_back({ p_constraint, p_pos }); }
_FORCE_INLINE_ void remove_constraint(Constraint2DSW *p_constraint) { constraint_map.erase(p_constraint); } _FORCE_INLINE_ void remove_constraint(Constraint2DSW *p_constraint, int p_pos) { constraint_list.erase({ p_constraint, p_pos }); }
const Map<Constraint2DSW *, int> &get_constraint_map() const { return constraint_map; } const List<Pair<Constraint2DSW *, int> > &get_constraint_list() const { return constraint_list; }
_FORCE_INLINE_ void clear_constraint_map() { constraint_map.clear(); } _FORCE_INLINE_ void clear_constraint_list() { constraint_list.clear(); }
_FORCE_INLINE_ void set_omit_force_integration(bool p_omit_force_integration) { omit_force_integration = p_omit_force_integration; } _FORCE_INLINE_ void set_omit_force_integration(bool p_omit_force_integration) { omit_force_integration = p_omit_force_integration; }
_FORCE_INLINE_ bool get_omit_force_integration() const { return omit_force_integration; } _FORCE_INLINE_ bool get_omit_force_integration() const { return omit_force_integration; }

5
servers/physics_2d/body_pair_2d_sw.cpp
View file

@ -516,7 +516,6 @@ BodyPair2DSW::BodyPair2DSW(Body2DSW *p_A, int p_shape_A, Body2DSW *p_B, int p_sh
} }
BodyPair2DSW::~BodyPair2DSW() { BodyPair2DSW::~BodyPair2DSW() {
A->remove_constraint(this, 0);
A->remove_constraint(this); B->remove_constraint(this, 1);
B->remove_constraint(this);
} }

21
servers/physics_2d/joints_2d_sw.cpp
View file

@ -204,11 +204,12 @@ PinJoint2DSW::PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p
} }
PinJoint2DSW::~PinJoint2DSW() { PinJoint2DSW::~PinJoint2DSW() {
if (A) {
if (A) A->remove_constraint(this, 0);
A->remove_constraint(this); }
if (B) if (B) {
B->remove_constraint(this); B->remove_constraint(this, 1);
}
} }
////////////////////////////////////////////// //////////////////////////////////////////////
@ -350,9 +351,8 @@ GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_
} }
GrooveJoint2DSW::~GrooveJoint2DSW() { GrooveJoint2DSW::~GrooveJoint2DSW() {
A->remove_constraint(this, 0);
A->remove_constraint(this); B->remove_constraint(this, 1);
B->remove_constraint(this);
} }
////////////////////////////////////////////// //////////////////////////////////////////////
@ -463,7 +463,6 @@ DampedSpringJoint2DSW::DampedSpringJoint2DSW(const Vector2 &p_anchor_a, const Ve
} }
DampedSpringJoint2DSW::~DampedSpringJoint2DSW() { DampedSpringJoint2DSW::~DampedSpringJoint2DSW() {
A->remove_constraint(this, 0);
A->remove_constraint(this); B->remove_constraint(this, 1);
B->remove_constraint(this);
} }

2
servers/physics_2d/physics_2d_server_sw.cpp
View file

@ -598,7 +598,7 @@ void Physics2DServerSW::body_set_space(RID p_body, RID p_space) {
if (body->get_space() == space) if (body->get_space() == space)
return; //pointless return; //pointless
body->clear_constraint_map(); body->clear_constraint_list();
body->set_space(space); body->set_space(space);
}; };

7
servers/physics_2d/step_2d_sw.cpp
View file

@ -37,9 +37,8 @@ void Step2DSW::_populate_island(Body2DSW *p_body, Body2DSW **p_island, Constrain
p_body->set_island_next(*p_island); p_body->set_island_next(*p_island);
*p_island = p_body; *p_island = p_body;
for (Map<Constraint2DSW *, int>::Element *E = p_body->get_constraint_map().front(); E; E = E->next()) { for (const List<Pair<Constraint2DSW *, int> >::Element *E = p_body->get_constraint_list().front(); E; E = E->next()) {
Constraint2DSW *c = (Constraint2DSW *)E->get().first;
Constraint2DSW *c = (Constraint2DSW *)E->key();
if (c->get_island_step() == _step) if (c->get_island_step() == _step)
continue; //already processed continue; //already processed
c->set_island_step(_step); c->set_island_step(_step);
@ -47,7 +46,7 @@ void Step2DSW::_populate_island(Body2DSW *p_body, Body2DSW **p_island, Constrain
*p_constraint_island = c; *p_constraint_island = c;
for (int i = 0; i < c->get_body_count(); i++) { for (int i = 0; i < c->get_body_count(); i++) {
if (i == E->get()) if (i == E->get().second)
continue; continue;
Body2DSW *b = c->get_body_ptr()[i]; 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) if (b->get_island_step() == _step || b->get_mode() == Physics2DServer::BODY_MODE_STATIC || b->get_mode() == Physics2DServer::BODY_MODE_KINEMATIC)