b65d6b56fb
Several optimizations in the way solver islands are processed in both 2D and 3D physics: - Use LocalVector instead of linked list to avoid cache misses (with persistent storage based on worst case scenario) - Remove pairs when setup fails (no valid contact) to avoid unnecessary solving of non-colliding rigid bodies just to return immediately
71 lines
3.4 KiB
C++
71 lines
3.4 KiB
C++
/*************************************************************************/
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/* constraint_2d_sw.h */
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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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#ifndef CONSTRAINT_2D_SW_H
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#define CONSTRAINT_2D_SW_H
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#include "body_2d_sw.h"
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class Constraint2DSW {
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Body2DSW **_body_ptr;
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int _body_count;
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uint64_t island_step;
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bool disabled_collisions_between_bodies;
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RID self;
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protected:
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Constraint2DSW(Body2DSW **p_body_ptr = nullptr, int p_body_count = 0) {
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_body_ptr = p_body_ptr;
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_body_count = p_body_count;
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island_step = 0;
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disabled_collisions_between_bodies = true;
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}
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public:
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_FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; }
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_FORCE_INLINE_ RID get_self() const { return self; }
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_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
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_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }
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_FORCE_INLINE_ Body2DSW **get_body_ptr() const { return _body_ptr; }
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_FORCE_INLINE_ int get_body_count() const { return _body_count; }
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_FORCE_INLINE_ void disable_collisions_between_bodies(const bool p_disabled) { disabled_collisions_between_bodies = p_disabled; }
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_FORCE_INLINE_ bool is_disabled_collisions_between_bodies() const { return disabled_collisions_between_bodies; }
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virtual bool setup(real_t p_step) = 0;
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virtual void solve(real_t p_step) = 0;
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virtual ~Constraint2DSW() {}
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};
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#endif // CONSTRAINT_2D_SW_H
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