e9fdf3e61f
Updating the broadphase to find new collision pairs was done after checking for collision islands, so it was working in most cases due to the pairing margin used in the BVH, but in case of teleported objects the narrowphase collision could be skipped. Now it's done before checking for collision islands, so we can ensure that broadphase pairing has been done at the same time as objects are marked as moved so their collision can be checked properly. This issue didn't happen in the Octree/HashGrid because they do nothing on update and trigger pairs directly when objects move instead.
306 lines
9.1 KiB
C++
306 lines
9.1 KiB
C++
/*************************************************************************/
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/* step_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 "step_2d_sw.h"
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#include "core/os/os.h"
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void Step2DSW::_populate_island(Body2DSW *p_body, Body2DSW **p_island, Constraint2DSW **p_constraint_island) {
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p_body->set_island_step(_step);
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p_body->set_island_next(*p_island);
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*p_island = p_body;
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for (Map<Constraint2DSW *, int>::Element *E = p_body->get_constraint_map().front(); E; E = E->next()) {
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Constraint2DSW *c = (Constraint2DSW *)E->key();
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if (c->get_island_step() == _step) {
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continue; //already processed
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}
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c->set_island_step(_step);
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c->set_island_next(*p_constraint_island);
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*p_constraint_island = c;
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for (int i = 0; i < c->get_body_count(); i++) {
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if (i == E->get()) {
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continue;
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}
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Body2DSW *b = c->get_body_ptr()[i];
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if (b->get_island_step() == _step || b->get_mode() == Physics2DServer::BODY_MODE_STATIC || b->get_mode() == Physics2DServer::BODY_MODE_KINEMATIC) {
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continue; //no go
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}
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_populate_island(c->get_body_ptr()[i], p_island, p_constraint_island);
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}
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}
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}
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bool Step2DSW::_setup_island(Constraint2DSW *p_island, real_t p_delta) {
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Constraint2DSW *ci = p_island;
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Constraint2DSW *prev_ci = nullptr;
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bool removed_root = false;
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while (ci) {
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bool process = ci->setup(p_delta);
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if (!process) {
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//remove from island if process fails
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if (prev_ci) {
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prev_ci->set_island_next(ci->get_island_next());
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} else {
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removed_root = true;
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prev_ci = ci;
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}
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} else {
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prev_ci = ci;
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}
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ci = ci->get_island_next();
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}
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return removed_root;
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}
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void Step2DSW::_solve_island(Constraint2DSW *p_island, int p_iterations, real_t p_delta) {
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for (int i = 0; i < p_iterations; i++) {
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Constraint2DSW *ci = p_island;
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while (ci) {
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ci->solve(p_delta);
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ci = ci->get_island_next();
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}
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}
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}
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void Step2DSW::_check_suspend(Body2DSW *p_island, real_t p_delta) {
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bool can_sleep = true;
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Body2DSW *b = p_island;
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while (b) {
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if (b->get_mode() == Physics2DServer::BODY_MODE_STATIC || b->get_mode() == Physics2DServer::BODY_MODE_KINEMATIC) {
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b = b->get_island_next();
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continue; //ignore for static
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}
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if (!b->sleep_test(p_delta)) {
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can_sleep = false;
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}
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b = b->get_island_next();
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}
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//put all to sleep or wake up everyoen
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b = p_island;
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while (b) {
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if (b->get_mode() == Physics2DServer::BODY_MODE_STATIC || b->get_mode() == Physics2DServer::BODY_MODE_KINEMATIC) {
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b = b->get_island_next();
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continue; //ignore for static
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}
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bool active = b->is_active();
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if (active == can_sleep) {
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b->set_active(!can_sleep);
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}
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b = b->get_island_next();
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}
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}
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void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
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p_space->lock(); // can't access space during this
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p_space->setup(); //update inertias, etc
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const SelfList<Body2DSW>::List *body_list = &p_space->get_active_body_list();
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/* INTEGRATE FORCES */
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uint64_t profile_begtime = OS::get_singleton()->get_ticks_usec();
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uint64_t profile_endtime = 0;
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int active_count = 0;
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const SelfList<Body2DSW> *b = body_list->first();
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while (b) {
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b->self()->integrate_forces(p_delta);
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b = b->next();
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active_count++;
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}
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p_space->set_active_objects(active_count);
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// Update the broadphase to register collision pairs.
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p_space->update();
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{ //profile
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profile_endtime = OS::get_singleton()->get_ticks_usec();
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p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_INTEGRATE_FORCES, profile_endtime - profile_begtime);
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profile_begtime = profile_endtime;
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}
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/* GENERATE CONSTRAINT ISLANDS */
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Body2DSW *island_list = nullptr;
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Constraint2DSW *constraint_island_list = nullptr;
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b = body_list->first();
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int island_count = 0;
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while (b) {
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Body2DSW *body = b->self();
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if (body->get_island_step() != _step) {
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Body2DSW *island = nullptr;
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Constraint2DSW *constraint_island = nullptr;
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_populate_island(body, &island, &constraint_island);
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island->set_island_list_next(island_list);
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island_list = island;
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if (constraint_island) {
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constraint_island->set_island_list_next(constraint_island_list);
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constraint_island_list = constraint_island;
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island_count++;
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}
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}
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b = b->next();
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}
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p_space->set_island_count(island_count);
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const SelfList<Area2DSW>::List &aml = p_space->get_moved_area_list();
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while (aml.first()) {
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for (const Set<Constraint2DSW *>::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) {
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Constraint2DSW *c = E->get();
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if (c->get_island_step() == _step) {
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continue;
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}
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c->set_island_step(_step);
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c->set_island_next(nullptr);
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c->set_island_list_next(constraint_island_list);
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constraint_island_list = c;
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}
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p_space->area_remove_from_moved_list((SelfList<Area2DSW> *)aml.first()); //faster to remove here
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}
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{ //profile
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profile_endtime = OS::get_singleton()->get_ticks_usec();
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p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime);
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profile_begtime = profile_endtime;
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}
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/* SETUP CONSTRAINT ISLANDS */
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{
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Constraint2DSW *ci = constraint_island_list;
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Constraint2DSW *prev_ci = nullptr;
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while (ci) {
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if (_setup_island(ci, p_delta)) {
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//removed the root from the island graph because it is not to be processed
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Constraint2DSW *next = ci->get_island_next();
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if (next) {
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//root from list being deleted no longer exists, replace by next
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next->set_island_list_next(ci->get_island_list_next());
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if (prev_ci) {
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prev_ci->set_island_list_next(next);
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} else {
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constraint_island_list = next;
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}
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prev_ci = next;
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} else {
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//list is empty, just skip
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if (prev_ci) {
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prev_ci->set_island_list_next(ci->get_island_list_next());
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} else {
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constraint_island_list = ci->get_island_list_next();
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}
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}
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} else {
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prev_ci = ci;
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}
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ci = ci->get_island_list_next();
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}
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}
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{ //profile
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profile_endtime = OS::get_singleton()->get_ticks_usec();
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p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_SETUP_CONSTRAINTS, profile_endtime - profile_begtime);
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profile_begtime = profile_endtime;
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}
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/* SOLVE CONSTRAINT ISLANDS */
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{
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Constraint2DSW *ci = constraint_island_list;
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while (ci) {
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//iterating each island separatedly improves cache efficiency
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_solve_island(ci, p_iterations, p_delta);
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ci = ci->get_island_list_next();
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}
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}
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{ //profile
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profile_endtime = OS::get_singleton()->get_ticks_usec();
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p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_SOLVE_CONSTRAINTS, profile_endtime - profile_begtime);
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profile_begtime = profile_endtime;
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}
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/* INTEGRATE VELOCITIES */
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b = body_list->first();
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while (b) {
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const SelfList<Body2DSW> *n = b->next();
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b->self()->integrate_velocities(p_delta);
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b = n; // in case it shuts itself down
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}
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/* SLEEP / WAKE UP ISLANDS */
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{
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Body2DSW *bi = island_list;
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while (bi) {
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_check_suspend(bi, p_delta);
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bi = bi->get_island_list_next();
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}
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}
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{ //profile
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profile_endtime = OS::get_singleton()->get_ticks_usec();
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p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_INTEGRATE_VELOCITIES, profile_endtime - profile_begtime);
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//profile_begtime=profile_endtime;
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}
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p_space->unlock();
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_step++;
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}
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Step2DSW::Step2DSW() {
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_step = 1;
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}
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