eae94ba1c8
This is a continuation of an on-going work for 64-bit floating point builds, started in PR #7528. Covers physics, physics/joints and physics_2d code. Also removed matrixToEulerXYZ function in favor of Basis::get_euler.
309 lines
8.2 KiB
C++
309 lines
8.2 KiB
C++
/*************************************************************************/
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/* step_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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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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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_sw.h"
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#include "joints_sw.h"
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#include "os/os.h"
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void StepSW::_populate_island(BodySW* p_body,BodySW** p_island,ConstraintSW **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<ConstraintSW*,int>::Element *E=p_body->get_constraint_map().front();E;E=E->next()) {
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ConstraintSW *c=(ConstraintSW*)E->key();
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if (c->get_island_step()==_step)
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continue; //already processed
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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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BodySW *b = c->get_body_ptr()[i];
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if (b->get_island_step()==_step || b->get_mode()==PhysicsServer::BODY_MODE_STATIC || b->get_mode()==PhysicsServer::BODY_MODE_KINEMATIC)
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continue; //no go
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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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void StepSW::_setup_island(ConstraintSW *p_island,real_t p_delta) {
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ConstraintSW *ci=p_island;
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while(ci) {
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bool process = ci->setup(p_delta);
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//todo remove from island if process fails
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ci=ci->get_island_next();
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}
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}
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void StepSW::_solve_island(ConstraintSW *p_island,int p_iterations,real_t p_delta){
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int at_priority=1;
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while(p_island) {
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for(int i=0;i<p_iterations;i++) {
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ConstraintSW *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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at_priority++;
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{
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ConstraintSW *ci=p_island;
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ConstraintSW *prev=NULL;
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while(ci) {
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if (ci->get_priority()<at_priority) {
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if (prev) {
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prev->set_island_next(ci->get_island_next()); //remove
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} else {
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p_island=ci->get_island_next();
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}
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} else {
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prev=ci;
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}
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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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}
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void StepSW::_check_suspend(BodySW *p_island,real_t p_delta) {
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bool can_sleep=true;
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BodySW *b = p_island;
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while(b) {
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if (b->get_mode()==PhysicsServer::BODY_MODE_STATIC || b->get_mode()==PhysicsServer::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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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()==PhysicsServer::BODY_MODE_STATIC || b->get_mode()==PhysicsServer::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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b=b->get_island_next();
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}
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}
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void StepSW::step(SpaceSW* 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<BodySW>::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<BodySW>*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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{ //profile
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profile_endtime=OS::get_singleton()->get_ticks_usec();
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p_space->set_elapsed_time(SpaceSW::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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BodySW *island_list=NULL;
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ConstraintSW *constraint_island_list=NULL;
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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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BodySW *body = b->self();
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if (body->get_island_step()!=_step) {
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BodySW *island=NULL;
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ConstraintSW *constraint_island=NULL;
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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<AreaSW>::List &aml = p_space->get_moved_area_list();
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while(aml.first()) {
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for(const Set<ConstraintSW*>::Element *E=aml.first()->self()->get_constraints().front();E;E=E->next()) {
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ConstraintSW*c=E->get();
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if (c->get_island_step()==_step)
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continue;
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c->set_island_step(_step);
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c->set_island_next(NULL);
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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<AreaSW>*)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(SpaceSW::ELAPSED_TIME_GENERATE_ISLANDS,profile_endtime-profile_begtime);
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profile_begtime=profile_endtime;
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}
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//print_line("island count: "+itos(island_count)+" active count: "+itos(active_count));
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/* SETUP CONSTRAINT ISLANDS */
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{
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ConstraintSW *ci=constraint_island_list;
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while(ci) {
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_setup_island(ci,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(SpaceSW::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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ConstraintSW *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(SpaceSW::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<BodySW>*n=b->next();
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b->self()->integrate_velocities(p_delta);
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b=n;
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}
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/* SLEEP / WAKE UP ISLANDS */
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{
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BodySW *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(SpaceSW::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->update();
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p_space->unlock();
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_step++;
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}
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StepSW::StepSW() {
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_step=1;
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}
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