448c41a3e4
Use ThreadWorkPool to process physics step tasks in multiple threads. Collisions are all processed in parallel and solving impulses is processed in parallel for rigid body islands. Additional changes: - Proper islands for soft bodies linked to active bodies - All moving areas are on separate islands (can be parallelized) - Fix inconsistencies with body islands (Kinematic bodies could link bodies together or not depending on the processing order) - Completely prevent static bodies to be active (it could cause islands to be wrongly created and cause dangerous multi-threading operations as well as inconsistencies in created islands) - Apply impulses only on dynamic bodies to avoid unsafe multi-threaded operations (static bodies can be on multiple islands) - Removed inverted iterations when populating body islands, it's now faster in regular order (maybe after fixing inconsistencies)
544 lines
16 KiB
C++
544 lines
16 KiB
C++
/*************************************************************************/
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/* body_pair_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 "body_pair_2d_sw.h"
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#include "collision_solver_2d_sw.h"
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#include "space_2d_sw.h"
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#define POSITION_CORRECTION
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#define ACCUMULATE_IMPULSES
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void BodyPair2DSW::_add_contact(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_self) {
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BodyPair2DSW *self = (BodyPair2DSW *)p_self;
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self->_contact_added_callback(p_point_A, p_point_B);
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}
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void BodyPair2DSW::_contact_added_callback(const Vector2 &p_point_A, const Vector2 &p_point_B) {
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// check if we already have the contact
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Vector2 local_A = A->get_inv_transform().basis_xform(p_point_A);
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Vector2 local_B = B->get_inv_transform().basis_xform(p_point_B - offset_B);
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int new_index = contact_count;
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ERR_FAIL_COND(new_index >= (MAX_CONTACTS + 1));
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Contact contact;
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contact.acc_normal_impulse = 0;
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contact.acc_bias_impulse = 0;
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contact.acc_tangent_impulse = 0;
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contact.local_A = local_A;
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contact.local_B = local_B;
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contact.reused = true;
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contact.normal = (p_point_A - p_point_B).normalized();
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contact.mass_normal = 0; // will be computed in setup()
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// attempt to determine if the contact will be reused
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real_t recycle_radius_2 = space->get_contact_recycle_radius() * space->get_contact_recycle_radius();
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for (int i = 0; i < contact_count; i++) {
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Contact &c = contacts[i];
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if (
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c.local_A.distance_squared_to(local_A) < (recycle_radius_2) &&
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c.local_B.distance_squared_to(local_B) < (recycle_radius_2)) {
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contact.acc_normal_impulse = c.acc_normal_impulse;
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contact.acc_tangent_impulse = c.acc_tangent_impulse;
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contact.acc_bias_impulse = c.acc_bias_impulse;
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new_index = i;
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break;
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}
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}
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// figure out if the contact amount must be reduced to fit the new contact
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if (new_index == MAX_CONTACTS) {
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// remove the contact with the minimum depth
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int least_deep = -1;
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real_t min_depth = 1e10;
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const Transform2D &transform_A = A->get_transform();
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const Transform2D &transform_B = B->get_transform();
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for (int i = 0; i <= contact_count; i++) {
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Contact &c = (i == contact_count) ? contact : contacts[i];
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Vector2 global_A = transform_A.basis_xform(c.local_A);
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Vector2 global_B = transform_B.basis_xform(c.local_B) + offset_B;
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Vector2 axis = global_A - global_B;
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real_t depth = axis.dot(c.normal);
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if (depth < min_depth) {
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min_depth = depth;
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least_deep = i;
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}
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}
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ERR_FAIL_COND(least_deep == -1);
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if (least_deep < contact_count) { //replace the last deep contact by the new one
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contacts[least_deep] = contact;
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}
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return;
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}
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contacts[new_index] = contact;
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if (new_index == contact_count) {
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contact_count++;
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}
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}
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void BodyPair2DSW::_validate_contacts() {
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//make sure to erase contacts that are no longer valid
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real_t max_separation = space->get_contact_max_separation();
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real_t max_separation2 = max_separation * max_separation;
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const Transform2D &transform_A = A->get_transform();
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const Transform2D &transform_B = B->get_transform();
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for (int i = 0; i < contact_count; i++) {
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Contact &c = contacts[i];
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bool erase = false;
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if (!c.reused) {
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//was left behind in previous frame
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erase = true;
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} else {
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c.reused = false;
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Vector2 global_A = transform_A.basis_xform(c.local_A);
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Vector2 global_B = transform_B.basis_xform(c.local_B) + offset_B;
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Vector2 axis = global_A - global_B;
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real_t depth = axis.dot(c.normal);
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if (depth < -max_separation || (global_B + c.normal * depth - global_A).length_squared() > max_separation2) {
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erase = true;
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}
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}
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if (erase) {
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// contact no longer needed, remove
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if ((i + 1) < contact_count) {
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// swap with the last one
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SWAP(contacts[i], contacts[contact_count - 1]);
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}
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i--;
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contact_count--;
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}
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}
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}
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bool BodyPair2DSW::_test_ccd(real_t p_step, Body2DSW *p_A, int p_shape_A, const Transform2D &p_xform_A, Body2DSW *p_B, int p_shape_B, const Transform2D &p_xform_B, bool p_swap_result) {
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Vector2 motion = p_A->get_linear_velocity() * p_step;
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real_t mlen = motion.length();
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if (mlen < CMP_EPSILON) {
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return false;
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}
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Vector2 mnormal = motion / mlen;
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real_t min, max;
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p_A->get_shape(p_shape_A)->project_rangev(mnormal, p_xform_A, min, max);
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bool fast_object = mlen > (max - min) * 0.3; //going too fast in that direction
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if (!fast_object) { //did it move enough in this direction to even attempt raycast? let's say it should move more than 1/3 the size of the object in that axis
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return false;
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}
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//cast a segment from support in motion normal, in the same direction of motion by motion length
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//support is the worst case collision point, so real collision happened before
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int a;
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Vector2 s[2];
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p_A->get_shape(p_shape_A)->get_supports(p_xform_A.basis_xform(mnormal).normalized(), s, a);
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Vector2 from = p_xform_A.xform(s[0]);
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Vector2 to = from + motion;
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Transform2D from_inv = p_xform_B.affine_inverse();
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Vector2 local_from = from_inv.xform(from - mnormal * mlen * 0.1); //start from a little inside the bounding box
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Vector2 local_to = from_inv.xform(to);
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Vector2 rpos, rnorm;
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if (!p_B->get_shape(p_shape_B)->intersect_segment(local_from, local_to, rpos, rnorm)) {
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return false;
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}
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//ray hit something
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Vector2 hitpos = p_xform_B.xform(rpos);
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Vector2 contact_A = to;
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Vector2 contact_B = hitpos;
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//create a contact
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if (p_swap_result) {
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_contact_added_callback(contact_B, contact_A);
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} else {
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_contact_added_callback(contact_A, contact_B);
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}
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return true;
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}
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real_t combine_bounce(Body2DSW *A, Body2DSW *B) {
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return CLAMP(A->get_bounce() + B->get_bounce(), 0, 1);
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}
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real_t combine_friction(Body2DSW *A, Body2DSW *B) {
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return ABS(MIN(A->get_friction(), B->get_friction()));
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}
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bool BodyPair2DSW::setup(real_t p_step) {
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dynamic_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
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dynamic_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
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if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) {
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collided = false;
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return false;
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}
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report_contacts_only = false;
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if (!dynamic_A && !dynamic_B) {
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if ((A->get_max_contacts_reported() > 0) || (B->get_max_contacts_reported() > 0)) {
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report_contacts_only = true;
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} else {
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collided = false;
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return false;
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}
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}
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if (A->is_shape_set_as_disabled(shape_A) || B->is_shape_set_as_disabled(shape_B)) {
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collided = false;
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return false;
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}
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//use local A coordinates to avoid numerical issues on collision detection
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offset_B = B->get_transform().get_origin() - A->get_transform().get_origin();
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_validate_contacts();
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const Vector2 &offset_A = A->get_transform().get_origin();
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Transform2D xform_Au = A->get_transform().untranslated();
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Transform2D xform_A = xform_Au * A->get_shape_transform(shape_A);
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Transform2D xform_Bu = B->get_transform();
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xform_Bu.elements[2] -= offset_A;
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Transform2D xform_B = xform_Bu * B->get_shape_transform(shape_B);
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Shape2DSW *shape_A_ptr = A->get_shape(shape_A);
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Shape2DSW *shape_B_ptr = B->get_shape(shape_B);
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Vector2 motion_A, motion_B;
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if (A->get_continuous_collision_detection_mode() == PhysicsServer2D::CCD_MODE_CAST_SHAPE) {
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motion_A = A->get_motion();
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}
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if (B->get_continuous_collision_detection_mode() == PhysicsServer2D::CCD_MODE_CAST_SHAPE) {
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motion_B = B->get_motion();
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}
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bool prev_collided = collided;
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collided = CollisionSolver2DSW::solve(shape_A_ptr, xform_A, motion_A, shape_B_ptr, xform_B, motion_B, _add_contact, this, &sep_axis);
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if (!collided) {
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//test ccd (currently just a raycast)
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if (A->get_continuous_collision_detection_mode() == PhysicsServer2D::CCD_MODE_CAST_RAY && dynamic_A) {
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if (_test_ccd(p_step, A, shape_A, xform_A, B, shape_B, xform_B)) {
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collided = true;
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}
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}
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if (B->get_continuous_collision_detection_mode() == PhysicsServer2D::CCD_MODE_CAST_RAY && dynamic_B) {
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if (_test_ccd(p_step, B, shape_B, xform_B, A, shape_A, xform_A, true)) {
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collided = true;
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}
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}
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if (!collided) {
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oneway_disabled = false;
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return false;
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}
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}
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if (oneway_disabled) {
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return false;
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}
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if (!prev_collided) {
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if (A->is_shape_set_as_one_way_collision(shape_A)) {
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Vector2 direction = xform_A.get_axis(1).normalized();
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bool valid = false;
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for (int i = 0; i < contact_count; i++) {
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Contact &c = contacts[i];
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if (!c.reused) {
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continue;
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}
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if (c.normal.dot(direction) > -CMP_EPSILON) { //greater (normal inverted)
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continue;
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}
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valid = true;
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break;
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}
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if (!valid) {
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collided = false;
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oneway_disabled = true;
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return false;
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}
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}
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if (B->is_shape_set_as_one_way_collision(shape_B)) {
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Vector2 direction = xform_B.get_axis(1).normalized();
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bool valid = false;
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for (int i = 0; i < contact_count; i++) {
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Contact &c = contacts[i];
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if (!c.reused) {
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continue;
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}
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if (c.normal.dot(direction) < CMP_EPSILON) { //less (normal ok)
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continue;
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}
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valid = true;
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break;
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}
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if (!valid) {
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collided = false;
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oneway_disabled = true;
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return false;
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}
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}
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}
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return true;
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}
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bool BodyPair2DSW::pre_solve(real_t p_step) {
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if (!collided || oneway_disabled) {
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return false;
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}
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real_t max_penetration = space->get_contact_max_allowed_penetration();
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real_t bias = 0.3;
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Shape2DSW *shape_A_ptr = A->get_shape(shape_A);
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Shape2DSW *shape_B_ptr = B->get_shape(shape_B);
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if (shape_A_ptr->get_custom_bias() || shape_B_ptr->get_custom_bias()) {
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if (shape_A_ptr->get_custom_bias() == 0) {
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bias = shape_B_ptr->get_custom_bias();
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} else if (shape_B_ptr->get_custom_bias() == 0) {
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bias = shape_A_ptr->get_custom_bias();
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} else {
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bias = (shape_B_ptr->get_custom_bias() + shape_A_ptr->get_custom_bias()) * 0.5;
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}
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}
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real_t inv_dt = 1.0 / p_step;
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bool do_process = false;
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const Vector2 &offset_A = A->get_transform().get_origin();
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const Transform2D &transform_A = A->get_transform();
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const Transform2D &transform_B = B->get_transform();
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for (int i = 0; i < contact_count; i++) {
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Contact &c = contacts[i];
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c.active = false;
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Vector2 global_A = transform_A.basis_xform(c.local_A);
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Vector2 global_B = transform_B.basis_xform(c.local_B) + offset_B;
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Vector2 axis = global_A - global_B;
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real_t depth = axis.dot(c.normal);
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if (depth <= 0 || !c.reused) {
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continue;
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}
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#ifdef DEBUG_ENABLED
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if (space->is_debugging_contacts()) {
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space->add_debug_contact(global_A + offset_A);
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space->add_debug_contact(global_B + offset_A);
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}
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#endif
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c.rA = global_A;
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c.rB = global_B - offset_B;
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if (A->can_report_contacts()) {
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Vector2 crB(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x);
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A->add_contact(global_A + offset_A, -c.normal, depth, shape_A, global_B + offset_A, shape_B, B->get_instance_id(), B->get_self(), crB + B->get_linear_velocity());
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}
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if (B->can_report_contacts()) {
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Vector2 crA(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x);
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B->add_contact(global_B + offset_A, c.normal, depth, shape_B, global_A + offset_A, shape_A, A->get_instance_id(), A->get_self(), crA + A->get_linear_velocity());
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}
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if (report_contacts_only) {
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collided = false;
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continue;
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}
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// Precompute normal mass, tangent mass, and bias.
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real_t rnA = c.rA.dot(c.normal);
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real_t rnB = c.rB.dot(c.normal);
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real_t kNormal = A->get_inv_mass() + B->get_inv_mass();
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kNormal += A->get_inv_inertia() * (c.rA.dot(c.rA) - rnA * rnA) + B->get_inv_inertia() * (c.rB.dot(c.rB) - rnB * rnB);
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c.mass_normal = 1.0f / kNormal;
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Vector2 tangent = c.normal.orthogonal();
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real_t rtA = c.rA.dot(tangent);
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real_t rtB = c.rB.dot(tangent);
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real_t kTangent = A->get_inv_mass() + B->get_inv_mass();
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kTangent += A->get_inv_inertia() * (c.rA.dot(c.rA) - rtA * rtA) + B->get_inv_inertia() * (c.rB.dot(c.rB) - rtB * rtB);
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c.mass_tangent = 1.0f / kTangent;
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c.bias = -bias * inv_dt * MIN(0.0f, -depth + max_penetration);
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c.depth = depth;
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//c.acc_bias_impulse=0;
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#ifdef ACCUMULATE_IMPULSES
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{
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// Apply normal + friction impulse
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Vector2 P = c.acc_normal_impulse * c.normal + c.acc_tangent_impulse * tangent;
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if (dynamic_A) {
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A->apply_impulse(-P, c.rA);
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}
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if (dynamic_B) {
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B->apply_impulse(P, c.rB);
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}
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}
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#endif
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c.bounce = combine_bounce(A, B);
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if (c.bounce) {
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Vector2 crA(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x);
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Vector2 crB(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x);
|
|
Vector2 dv = B->get_linear_velocity() + crB - A->get_linear_velocity() - crA;
|
|
c.bounce = c.bounce * dv.dot(c.normal);
|
|
}
|
|
|
|
c.active = true;
|
|
do_process = true;
|
|
}
|
|
|
|
return do_process;
|
|
}
|
|
|
|
void BodyPair2DSW::solve(real_t p_step) {
|
|
if (!collided || oneway_disabled) {
|
|
return;
|
|
}
|
|
|
|
for (int i = 0; i < contact_count; ++i) {
|
|
Contact &c = contacts[i];
|
|
|
|
if (!c.active) {
|
|
continue;
|
|
}
|
|
|
|
// Relative velocity at contact
|
|
|
|
Vector2 crA(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x);
|
|
Vector2 crB(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x);
|
|
Vector2 dv = B->get_linear_velocity() + crB - A->get_linear_velocity() - crA;
|
|
|
|
Vector2 crbA(-A->get_biased_angular_velocity() * c.rA.y, A->get_biased_angular_velocity() * c.rA.x);
|
|
Vector2 crbB(-B->get_biased_angular_velocity() * c.rB.y, B->get_biased_angular_velocity() * c.rB.x);
|
|
Vector2 dbv = B->get_biased_linear_velocity() + crbB - A->get_biased_linear_velocity() - crbA;
|
|
|
|
real_t vn = dv.dot(c.normal);
|
|
real_t vbn = dbv.dot(c.normal);
|
|
Vector2 tangent = c.normal.orthogonal();
|
|
real_t vt = dv.dot(tangent);
|
|
|
|
real_t jbn = (c.bias - vbn) * c.mass_normal;
|
|
real_t jbnOld = c.acc_bias_impulse;
|
|
c.acc_bias_impulse = MAX(jbnOld + jbn, 0.0f);
|
|
|
|
Vector2 jb = c.normal * (c.acc_bias_impulse - jbnOld);
|
|
|
|
if (dynamic_A) {
|
|
A->apply_bias_impulse(-jb, c.rA);
|
|
}
|
|
if (dynamic_B) {
|
|
B->apply_bias_impulse(jb, c.rB);
|
|
}
|
|
|
|
real_t jn = -(c.bounce + vn) * c.mass_normal;
|
|
real_t jnOld = c.acc_normal_impulse;
|
|
c.acc_normal_impulse = MAX(jnOld + jn, 0.0f);
|
|
|
|
real_t friction = combine_friction(A, B);
|
|
|
|
real_t jtMax = friction * c.acc_normal_impulse;
|
|
real_t jt = -vt * c.mass_tangent;
|
|
real_t jtOld = c.acc_tangent_impulse;
|
|
c.acc_tangent_impulse = CLAMP(jtOld + jt, -jtMax, jtMax);
|
|
|
|
Vector2 j = c.normal * (c.acc_normal_impulse - jnOld) + tangent * (c.acc_tangent_impulse - jtOld);
|
|
|
|
if (dynamic_A) {
|
|
A->apply_impulse(-j, c.rA);
|
|
}
|
|
if (dynamic_B) {
|
|
B->apply_impulse(j, c.rB);
|
|
}
|
|
}
|
|
}
|
|
|
|
BodyPair2DSW::BodyPair2DSW(Body2DSW *p_A, int p_shape_A, Body2DSW *p_B, int p_shape_B) :
|
|
Constraint2DSW(_arr, 2) {
|
|
A = p_A;
|
|
B = p_B;
|
|
shape_A = p_shape_A;
|
|
shape_B = p_shape_B;
|
|
space = A->get_space();
|
|
A->add_constraint(this, 0);
|
|
B->add_constraint(this, 1);
|
|
}
|
|
|
|
BodyPair2DSW::~BodyPair2DSW() {
|
|
A->remove_constraint(this, 0);
|
|
B->remove_constraint(this, 1);
|
|
}
|