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virtualx-engine/servers/physics/step_sw.cpp
Rémi Verschelde d8223ffa75 Welcome in 2017, dear changelog reader! 
That year should bring the long-awaited OpenGL ES 3.0 compatible renderer
with state-of-the-art rendering techniques tuned to work as low as middle
end handheld devices - without compromising with the possibilities given
for higher end desktop games of course. Great times ahead for the Godot
community and the gamers that will play our games!

(cherry picked from commit c7bc44d5ad)
2017-01-12 19:15:30 +01:00

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8.2 KiB
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/*************************************************************************/
/* step_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_sw.h"
#include "joints_sw.h"
#include "os/os.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 */
uint64_t profile_begtime = OS::get_singleton()->get_ticks_usec();
uint64_t profile_endtime=0;
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);
{ //profile
profile_endtime=OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(SpaceSW::ELAPSED_TIME_INTEGRATE_FORCES,profile_endtime-profile_begtime);
profile_begtime=profile_endtime;
}
/* 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
}
{ //profile
profile_endtime=OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(SpaceSW::ELAPSED_TIME_GENERATE_ISLANDS,profile_endtime-profile_begtime);
profile_begtime=profile_endtime;
}
// 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();
}
}
{ //profile
profile_endtime=OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(SpaceSW::ELAPSED_TIME_SETUP_CONSTRAINTS,profile_endtime-profile_begtime);
profile_begtime=profile_endtime;
}
/* 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();
}
}
{ //profile
profile_endtime=OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(SpaceSW::ELAPSED_TIME_SOLVE_CONSTRAINTS,profile_endtime-profile_begtime);
profile_begtime=profile_endtime;
}
/* 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();
}
}
{ //profile
profile_endtime=OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(SpaceSW::ELAPSED_TIME_INTEGRATE_VELOCITIES,profile_endtime-profile_begtime);
profile_begtime=profile_endtime;
}
p_space->update();
p_space->unlock();
_step++;
}
StepSW::StepSW() {
_step=1;
}
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