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Godot Physics solver optimization

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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
This commit is contained in:
PouleyKetchoupp 2021-04-12 16:22:06 -07:00
parent 075f358fcd
commit b65d6b56fb
11 changed files with 206 additions and 255 deletions
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2
servers/physics_2d/body_2d_sw.cpp
View file

@ -658,8 +658,6 @@ Body2DSW::Body2DSW() :
omit_force_integration = false;
applied_torque = 0;
island_step = 0;
island_next = nullptr;
island_list_next = nullptr;
_set_static(false);
first_time_kinematic = false;
linear_damp = -1;

8
servers/physics_2d/body_2d_sw.h
View file

@ -125,8 +125,6 @@ class Body2DSW : public CollisionObject2DSW {
ForceIntegrationCallback *fi_callback;
uint64_t island_step;
Body2DSW *island_next;
Body2DSW *island_list_next;
_FORCE_INLINE_ void _compute_area_gravity_and_dampenings(const Area2DSW *p_area);
@ -175,12 +173,6 @@ public:
_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }
_FORCE_INLINE_ Body2DSW *get_island_next() const { return island_next; }
_FORCE_INLINE_ void set_island_next(Body2DSW *p_next) { island_next = p_next; }
_FORCE_INLINE_ Body2DSW *get_island_list_next() const { return island_list_next; }
_FORCE_INLINE_ void set_island_list_next(Body2DSW *p_next) { island_list_next = p_next; }
_FORCE_INLINE_ void add_constraint(Constraint2DSW *p_constraint, int p_pos) { constraint_list.push_back({ p_constraint, p_pos }); }
_FORCE_INLINE_ void remove_constraint(Constraint2DSW *p_constraint, int p_pos) { constraint_list.erase({ p_constraint, p_pos }); }
const List<Pair<Constraint2DSW *, int>> &get_constraint_list() const { return constraint_list; }

8
servers/physics_2d/constraint_2d_sw.h
View file

@ -37,8 +37,6 @@ class Constraint2DSW {
Body2DSW **_body_ptr;
int _body_count;
uint64_t island_step;
Constraint2DSW *island_next;
Constraint2DSW *island_list_next;
bool disabled_collisions_between_bodies;
RID self;
@ -58,12 +56,6 @@ public:
_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }
_FORCE_INLINE_ Constraint2DSW *get_island_next() const { return island_next; }
_FORCE_INLINE_ void set_island_next(Constraint2DSW *p_next) { island_next = p_next; }
_FORCE_INLINE_ Constraint2DSW *get_island_list_next() const { return island_list_next; }
_FORCE_INLINE_ void set_island_list_next(Constraint2DSW *p_next) { island_list_next = p_next; }
_FORCE_INLINE_ Body2DSW **get_body_ptr() const { return _body_ptr; }
_FORCE_INLINE_ int get_body_count() const { return _body_count; }

193
servers/physics_2d/step_2d_sw.cpp
View file

@ -31,19 +31,23 @@
#include "step_2d_sw.h"
#include "core/os/os.h"
void Step2DSW::_populate_island(Body2DSW *p_body, Body2DSW **p_island, Constraint2DSW **p_constraint_island) {
p_body->set_island_step(_step);
p_body->set_island_next(*p_island);
*p_island = p_body;
#define BODY_ISLAND_COUNT_RESERVE 128
#define BODY_ISLAND_SIZE_RESERVE 512
#define ISLAND_COUNT_RESERVE 128
#define ISLAND_SIZE_RESERVE 512
for (const List<Pair<Constraint2DSW *, int>>::Element *E = p_body->get_constraint_list().front(); E; E = E->next()) {
void Step2DSW::_populate_island(Body2DSW *p_body, LocalVector<Body2DSW *> &p_body_island, LocalVector<Constraint2DSW *> &p_constraint_island) {
p_body->set_island_step(_step);
p_body_island.push_back(p_body);
// Faster with reversed iterations.
for (const List<Pair<Constraint2DSW *, int>>::Element *E = p_body->get_constraint_list().back(); E; E = E->prev()) {
Constraint2DSW *c = (Constraint2DSW *)E->get().first;
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;
p_constraint_island.push_back(c);
for (int i = 0; i < c->get_body_count(); i++) {
if (i == E->get().second) {
@ -53,78 +57,62 @@ void Step2DSW::_populate_island(Body2DSW *p_body, Body2DSW **p_island, Constrain
if (b->get_island_step() == _step || b->get_mode() == PhysicsServer2D::BODY_MODE_STATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC) {
continue; //no go
}
_populate_island(c->get_body_ptr()[i], p_island, p_constraint_island);
_populate_island(c->get_body_ptr()[i], p_body_island, p_constraint_island);
}
}
}
bool Step2DSW::_setup_island(Constraint2DSW *p_island, real_t p_delta) {
Constraint2DSW *ci = p_island;
Constraint2DSW *prev_ci = nullptr;
bool removed_root = false;
while (ci) {
bool process = ci->setup(p_delta);
if (!process) {
//remove from island if process fails
if (prev_ci) {
prev_ci->set_island_next(ci->get_island_next());
} else {
removed_root = true;
prev_ci = ci;
}
} else {
prev_ci = ci;
void Step2DSW::_setup_island(LocalVector<Constraint2DSW *> &p_constraint_island, real_t p_delta) {
uint32_t constraint_count = p_constraint_island.size();
uint32_t valid_constraint_count = 0;
for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
Constraint2DSW *constraint = p_constraint_island[constraint_index];
if (p_constraint_island[constraint_index]->setup(p_delta)) {
// Keep this constraint for solving.
p_constraint_island[valid_constraint_count++] = constraint;
}
ci = ci->get_island_next();
}
return removed_root;
p_constraint_island.resize(valid_constraint_count);
}
void Step2DSW::_solve_island(Constraint2DSW *p_island, int p_iterations, real_t p_delta) {
void Step2DSW::_solve_island(LocalVector<Constraint2DSW *> &p_constraint_island, int p_iterations, real_t p_delta) {
for (int i = 0; i < p_iterations; i++) {
Constraint2DSW *ci = p_island;
while (ci) {
ci->solve(p_delta);
ci = ci->get_island_next();
uint32_t constraint_count = p_constraint_island.size();
for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
p_constraint_island[constraint_index]->solve(p_delta);
}
}
}
void Step2DSW::_check_suspend(Body2DSW *p_island, real_t p_delta) {
void Step2DSW::_check_suspend(const LocalVector<Body2DSW *> &p_body_island, real_t p_delta) {
bool can_sleep = true;
Body2DSW *b = p_island;
while (b) {
if (b->get_mode() == PhysicsServer2D::BODY_MODE_STATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC) {
b = b->get_island_next();
continue; //ignore for static
uint32_t body_count = p_body_island.size();
for (uint32_t body_index = 0; body_index < body_count; ++body_index) {
Body2DSW *body = p_body_island[body_index];
if (body->get_mode() == PhysicsServer2D::BODY_MODE_STATIC || body->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC) {
continue; // Ignore for static.
}
if (!b->sleep_test(p_delta)) {
if (!body->sleep_test(p_delta)) {
can_sleep = false;
}
b = b->get_island_next();
}
//put all to sleep or wake up everyoen
// Put all to sleep or wake up everyone.
for (uint32_t body_index = 0; body_index < body_count; ++body_index) {
Body2DSW *body = p_body_island[body_index];
b = p_island;
while (b) {
if (b->get_mode() == PhysicsServer2D::BODY_MODE_STATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC) {
b = b->get_island_next();
continue; //ignore for static
if (body->get_mode() == PhysicsServer2D::BODY_MODE_STATIC || body->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC) {
continue; // Ignore for static.
}
bool active = b->is_active();
bool active = body->is_active();
if (active == can_sleep) {
b->set_active(!can_sleep);
body->set_active(!can_sleep);
}
b = b->get_island_next();
}
}
@ -159,33 +147,43 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
/* GENERATE CONSTRAINT ISLANDS */
Body2DSW *island_list = nullptr;
Constraint2DSW *constraint_island_list = nullptr;
b = body_list->first();
int island_count = 0;
uint32_t body_island_count = 0;
uint32_t island_count = 0;
while (b) {
Body2DSW *body = b->self();
if (body->get_island_step() != _step) {
Body2DSW *island = nullptr;
Constraint2DSW *constraint_island = nullptr;
_populate_island(body, &island, &constraint_island);
++body_island_count;
if (body_islands.size() < body_island_count) {
body_islands.resize(body_island_count);
}
LocalVector<Body2DSW *> &body_island = body_islands[body_island_count - 1];
body_island.clear();
body_island.reserve(BODY_ISLAND_SIZE_RESERVE);
island->set_island_list_next(island_list);
island_list = island;
++island_count;
if (constraint_islands.size() < island_count) {
constraint_islands.resize(island_count);
}
LocalVector<Constraint2DSW *> &constraint_island = constraint_islands[island_count - 1];
constraint_island.clear();
constraint_island.reserve(ISLAND_SIZE_RESERVE);
if (constraint_island) {
constraint_island->set_island_list_next(constraint_island_list);
constraint_island_list = constraint_island;
island_count++;
_populate_island(body, body_island, constraint_island);
body_islands.push_back(body_island);
if (constraint_island.is_empty()) {
--island_count;
}
}
b = b->next();
}
p_space->set_island_count(island_count);
p_space->set_island_count((int)island_count);
const SelfList<Area2DSW>::List &aml = p_space->get_moved_area_list();
@ -196,9 +194,13 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
continue;
}
c->set_island_step(_step);
c->set_island_next(nullptr);
c->set_island_list_next(constraint_island_list);
constraint_island_list = c;
++island_count;
if (constraint_islands.size() < island_count) {
constraint_islands.resize(island_count);
}
LocalVector<Constraint2DSW *> &constraint_island = constraint_islands[island_count - 1];
constraint_island.clear();
constraint_island.push_back(c);
}
p_space->area_remove_from_moved_list((SelfList<Area2DSW> *)aml.first()); //faster to remove here
}
@ -211,39 +213,8 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
/* SETUP CONSTRAINT ISLANDS */
{
Constraint2DSW *ci = constraint_island_list;
Constraint2DSW *prev_ci = nullptr;
while (ci) {
if (_setup_island(ci, p_delta)) {
//removed the root from the island graph because it is not to be processed
Constraint2DSW *next = ci->get_island_next();
if (next) {
//root from list being deleted no longer exists, replace by next
next->set_island_list_next(ci->get_island_list_next());
if (prev_ci) {
prev_ci->set_island_list_next(next);
} else {
constraint_island_list = next;
}
prev_ci = next;
} else {
//list is empty, just skip
if (prev_ci) {
prev_ci->set_island_list_next(ci->get_island_list_next());
} else {
constraint_island_list = ci->get_island_list_next();
}
}
} else {
prev_ci = ci;
}
ci = ci->get_island_list_next();
}
for (uint32_t island_index = 0; island_index < island_count; ++island_index) {
_setup_island(constraint_islands[island_index], p_delta);
}
{ //profile
@ -254,13 +225,8 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
/* SOLVE CONSTRAINT ISLANDS */
{
Constraint2DSW *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();
}
for (uint32_t island_index = 0; island_index < island_count; ++island_index) {
_solve_island(constraint_islands[island_index], p_iterations, p_delta);
}
{ //profile
@ -280,12 +246,8 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
/* SLEEP / WAKE UP ISLANDS */
{
Body2DSW *bi = island_list;
while (bi) {
_check_suspend(bi, p_delta);
bi = bi->get_island_list_next();
}
for (uint32_t island_index = 0; island_index < body_island_count; ++island_index) {
_check_suspend(body_islands[island_index], p_delta);
}
{ //profile
@ -301,4 +263,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
Step2DSW::Step2DSW() {
_step = 1;
body_islands.reserve(BODY_ISLAND_COUNT_RESERVE);
constraint_islands.reserve(ISLAND_COUNT_RESERVE);
}

13
servers/physics_2d/step_2d_sw.h
View file

@ -33,13 +33,18 @@
#include "space_2d_sw.h"
#include "core/templates/local_vector.h"
class Step2DSW {
uint64_t _step;
void _populate_island(Body2DSW *p_body, Body2DSW **p_island, Constraint2DSW **p_constraint_island);
bool _setup_island(Constraint2DSW *p_island, real_t p_delta);
void _solve_island(Constraint2DSW *p_island, int p_iterations, real_t p_delta);
void _check_suspend(Body2DSW *p_island, real_t p_delta);
LocalVector<LocalVector<Body2DSW *>> body_islands;
LocalVector<LocalVector<Constraint2DSW *>> constraint_islands;
void _populate_island(Body2DSW *p_body, LocalVector<Body2DSW *> &p_body_island, LocalVector<Constraint2DSW *> &p_constraint_island);
void _setup_island(LocalVector<Constraint2DSW *> &p_constraint_island, real_t p_delta);
void _solve_island(LocalVector<Constraint2DSW *> &p_constraint_island, int p_iterations, real_t p_delta);
void _check_suspend(const LocalVector<Body2DSW *> &p_body_island, real_t p_delta);
public:
void step(Space2DSW *p_space, real_t p_delta, int p_iterations);

2
servers/physics_3d/body_3d_sw.cpp
View file

@ -761,8 +761,6 @@ Body3DSW::Body3DSW() :
omit_force_integration = false;
//applied_torque=0;
island_step = 0;
island_next = nullptr;
island_list_next = nullptr;
first_time_kinematic = false;
first_integration = false;
_set_static(false);

8
servers/physics_3d/body_3d_sw.h
View file

@ -135,8 +135,6 @@ class Body3DSW : public CollisionObject3DSW {
ForceIntegrationCallback *fi_callback;
uint64_t island_step;
Body3DSW *island_next;
Body3DSW *island_list_next;
_FORCE_INLINE_ void _compute_area_gravity_and_dampenings(const Area3DSW *p_area);
@ -189,12 +187,6 @@ public:
_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }
_FORCE_INLINE_ Body3DSW *get_island_next() const { return island_next; }
_FORCE_INLINE_ void set_island_next(Body3DSW *p_next) { island_next = p_next; }
_FORCE_INLINE_ Body3DSW *get_island_list_next() const { return island_list_next; }
_FORCE_INLINE_ void set_island_list_next(Body3DSW *p_next) { island_list_next = p_next; }
_FORCE_INLINE_ void add_constraint(Constraint3DSW *p_constraint, int p_pos) { constraint_map[p_constraint] = p_pos; }
_FORCE_INLINE_ void remove_constraint(Constraint3DSW *p_constraint) { constraint_map.erase(p_constraint); }
const Map<Constraint3DSW *, int> &get_constraint_map() const { return constraint_map; }

10
servers/physics_3d/body_pair_3d_sw.cpp
View file

@ -281,6 +281,8 @@ bool BodyPair3DSW::setup(real_t p_step) {
real_t inv_dt = 1.0 / p_step;
bool do_process = false;
for (int i = 0; i < contact_count; i++) {
Contact &c = contacts[i];
c.active = false;
@ -323,6 +325,7 @@ bool BodyPair3DSW::setup(real_t p_step) {
}
c.active = true;
do_process = true;
// Precompute normal mass, tangent mass, and bias.
Vector3 inertia_A = A->get_inv_inertia_tensor().xform(c.rA.cross(c.normal));
@ -350,7 +353,7 @@ bool BodyPair3DSW::setup(real_t p_step) {
}
}
return true;
return do_process;
}
void BodyPair3DSW::solve(real_t p_step) {
@ -594,6 +597,8 @@ bool BodySoftBodyPair3DSW::setup(real_t p_step) {
real_t inv_dt = 1.0 / p_step;
bool do_process = false;
uint32_t contact_count = contacts.size();
for (uint32_t contact_index = 0; contact_index < contact_count; ++contact_index) {
Contact &c = contacts[contact_index];
@ -614,6 +619,7 @@ bool BodySoftBodyPair3DSW::setup(real_t p_step) {
}
c.active = true;
do_process = true;
#ifdef DEBUG_ENABLED
@ -661,7 +667,7 @@ bool BodySoftBodyPair3DSW::setup(real_t p_step) {
}
}
return true;
return do_process;
}
void BodySoftBodyPair3DSW::solve(real_t p_step) {

8
servers/physics_3d/constraint_3d_sw.h
View file

@ -37,8 +37,6 @@ class Constraint3DSW {
Body3DSW **_body_ptr;
int _body_count;
uint64_t island_step;
Constraint3DSW *island_next;
Constraint3DSW *island_list_next;
int priority;
bool disabled_collisions_between_bodies;
@ -60,12 +58,6 @@ public:
_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }
_FORCE_INLINE_ Constraint3DSW *get_island_next() const { return island_next; }
_FORCE_INLINE_ void set_island_next(Constraint3DSW *p_next) { island_next = p_next; }
_FORCE_INLINE_ Constraint3DSW *get_island_list_next() const { return island_list_next; }
_FORCE_INLINE_ void set_island_list_next(Constraint3DSW *p_next) { island_list_next = p_next; }
_FORCE_INLINE_ Body3DSW **get_body_ptr() const { return _body_ptr; }
_FORCE_INLINE_ int get_body_count() const { return _body_count; }

196
servers/physics_3d/step_3d_sw.cpp
View file

@ -33,19 +33,23 @@
#include "core/os/os.h"
void Step3DSW::_populate_island(Body3DSW *p_body, Body3DSW **p_island, Constraint3DSW **p_constraint_island) {
p_body->set_island_step(_step);
p_body->set_island_next(*p_island);
*p_island = p_body;
#define BODY_ISLAND_COUNT_RESERVE 128
#define BODY_ISLAND_SIZE_RESERVE 512
#define ISLAND_COUNT_RESERVE 128
#define ISLAND_SIZE_RESERVE 512
for (Map<Constraint3DSW *, int>::Element *E = p_body->get_constraint_map().front(); E; E = E->next()) {
void Step3DSW::_populate_island(Body3DSW *p_body, LocalVector<Body3DSW *> &p_body_island, LocalVector<Constraint3DSW *> &p_constraint_island) {
p_body->set_island_step(_step);
p_body_island.push_back(p_body);
// Faster with reversed iterations.
for (Map<Constraint3DSW *, int>::Element *E = p_body->get_constraint_map().back(); E; E = E->prev()) {
Constraint3DSW *c = (Constraint3DSW *)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;
p_constraint_island.push_back(c);
for (int i = 0; i < c->get_body_count(); i++) {
if (i == E->get()) {
@ -55,87 +59,79 @@ void Step3DSW::_populate_island(Body3DSW *p_body, Body3DSW **p_island, Constrain
if (b->get_island_step() == _step || b->get_mode() == PhysicsServer3D::BODY_MODE_STATIC || b->get_mode() == PhysicsServer3D::BODY_MODE_KINEMATIC) {
continue; //no go
}
_populate_island(c->get_body_ptr()[i], p_island, p_constraint_island);
_populate_island(c->get_body_ptr()[i], p_body_island, p_constraint_island);
}
}
}
void Step3DSW::_setup_island(Constraint3DSW *p_island, real_t p_delta) {
Constraint3DSW *ci = p_island;
while (ci) {
ci->setup(p_delta);
//todo remove from island if process fails
ci = ci->get_island_next();
void Step3DSW::_setup_island(LocalVector<Constraint3DSW *> &p_constraint_island, real_t p_delta) {
uint32_t constraint_count = p_constraint_island.size();
uint32_t valid_constraint_count = 0;
for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
Constraint3DSW *constraint = p_constraint_island[constraint_index];
if (p_constraint_island[constraint_index]->setup(p_delta)) {
// Keep this constraint for solving.
p_constraint_island[valid_constraint_count++] = constraint;
}
}
p_constraint_island.resize(valid_constraint_count);
}
void Step3DSW::_solve_island(Constraint3DSW *p_island, int p_iterations, real_t p_delta) {
int at_priority = 1;
void Step3DSW::_solve_island(LocalVector<Constraint3DSW *> &p_constraint_island, int p_iterations, real_t p_delta) {
int current_priority = 1;
while (p_island) {
uint32_t constraint_count = p_constraint_island.size();
while (constraint_count > 0) {
for (int i = 0; i < p_iterations; i++) {
Constraint3DSW *ci = p_island;
while (ci) {
ci->solve(p_delta);
ci = ci->get_island_next();
// Go through all iterations.
for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
p_constraint_island[constraint_index]->solve(p_delta);
}
}
at_priority++;
{
Constraint3DSW *ci = p_island;
Constraint3DSW *prev = nullptr;
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();
// Check priority to keep only higher priority constraints.
uint32_t priority_constraint_count = 0;
++current_priority;
for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
Constraint3DSW *constraint = p_constraint_island[constraint_index];
if (constraint->get_priority() >= current_priority) {
// Keep this constraint for the next iteration.
p_constraint_island[priority_constraint_count++] = constraint;
}
}
constraint_count = priority_constraint_count;
}
}
void Step3DSW::_check_suspend(Body3DSW *p_island, real_t p_delta) {
void Step3DSW::_check_suspend(const LocalVector<Body3DSW *> &p_body_island, real_t p_delta) {
bool can_sleep = true;
Body3DSW *b = p_island;
while (b) {
if (b->get_mode() == PhysicsServer3D::BODY_MODE_STATIC || b->get_mode() == PhysicsServer3D::BODY_MODE_KINEMATIC) {
b = b->get_island_next();
continue; //ignore for static
uint32_t body_count = p_body_island.size();
for (uint32_t body_index = 0; body_index < body_count; ++body_index) {
Body3DSW *body = p_body_island[body_index];
if (body->get_mode() == PhysicsServer3D::BODY_MODE_STATIC || body->get_mode() == PhysicsServer3D::BODY_MODE_KINEMATIC) {
continue; // Ignore for static.
}
if (!b->sleep_test(p_delta)) {
if (!body->sleep_test(p_delta)) {
can_sleep = false;
}
b = b->get_island_next();
}
//put all to sleep or wake up everyoen
// Put all to sleep or wake up everyone.
for (uint32_t body_index = 0; body_index < body_count; ++body_index) {
Body3DSW *body = p_body_island[body_index];
b = p_island;
while (b) {
if (b->get_mode() == PhysicsServer3D::BODY_MODE_STATIC || b->get_mode() == PhysicsServer3D::BODY_MODE_KINEMATIC) {
b = b->get_island_next();
continue; //ignore for static
if (body->get_mode() == PhysicsServer3D::BODY_MODE_STATIC || body->get_mode() == PhysicsServer3D::BODY_MODE_KINEMATIC) {
continue; // Ignore for static.
}
bool active = b->is_active();
bool active = body->is_active();
if (active == can_sleep) {
b->set_active(!can_sleep);
body->set_active(!can_sleep);
}
b = b->get_island_next();
}
}
@ -181,33 +177,43 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
/* GENERATE CONSTRAINT ISLANDS */
Body3DSW *island_list = nullptr;
Constraint3DSW *constraint_island_list = nullptr;
b = body_list->first();
int island_count = 0;
uint32_t body_island_count = 0;
uint32_t island_count = 0;
while (b) {
Body3DSW *body = b->self();
if (body->get_island_step() != _step) {
Body3DSW *island = nullptr;
Constraint3DSW *constraint_island = nullptr;
_populate_island(body, &island, &constraint_island);
++body_island_count;
if (body_islands.size() < body_island_count) {
body_islands.resize(body_island_count);
}
LocalVector<Body3DSW *> &body_island = body_islands[body_island_count - 1];
body_island.clear();
body_island.reserve(BODY_ISLAND_SIZE_RESERVE);
island->set_island_list_next(island_list);
island_list = island;
++island_count;
if (constraint_islands.size() < island_count) {
constraint_islands.resize(island_count);
}
LocalVector<Constraint3DSW *> &constraint_island = constraint_islands[island_count - 1];
constraint_island.clear();
constraint_island.reserve(ISLAND_SIZE_RESERVE);
if (constraint_island) {
constraint_island->set_island_list_next(constraint_island_list);
constraint_island_list = constraint_island;
island_count++;
_populate_island(body, body_island, constraint_island);
body_islands.push_back(body_island);
if (constraint_island.is_empty()) {
--island_count;
}
}
b = b->next();
}
p_space->set_island_count(island_count);
p_space->set_island_count((int)island_count);
const SelfList<Area3DSW>::List &aml = p_space->get_moved_area_list();
@ -218,9 +224,13 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
continue;
}
c->set_island_step(_step);
c->set_island_next(nullptr);
c->set_island_list_next(constraint_island_list);
constraint_island_list = c;
++island_count;
if (constraint_islands.size() < island_count) {
constraint_islands.resize(island_count);
}
LocalVector<Constraint3DSW *> &constraint_island = constraint_islands[island_count - 1];
constraint_island.clear();
constraint_island.push_back(c);
}
p_space->area_remove_from_moved_list((SelfList<Area3DSW> *)aml.first()); //faster to remove here
}
@ -233,9 +243,13 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
continue;
}
c->set_island_step(_step);
c->set_island_next(nullptr);
c->set_island_list_next(constraint_island_list);
constraint_island_list = c;
++island_count;
if (constraint_islands.size() < island_count) {
constraint_islands.resize(island_count);
}
LocalVector<Constraint3DSW *> &constraint_island = constraint_islands[island_count - 1];
constraint_island.clear();
constraint_island.push_back(c);
}
sb = sb->next();
}
@ -248,12 +262,8 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
/* SETUP CONSTRAINT ISLANDS */
{
Constraint3DSW *ci = constraint_island_list;
while (ci) {
_setup_island(ci, p_delta);
ci = ci->get_island_list_next();
}
for (uint32_t island_index = 0; island_index < island_count; ++island_index) {
_setup_island(constraint_islands[island_index], p_delta);
}
{ //profile
@ -264,13 +274,10 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
/* SOLVE CONSTRAINT ISLANDS */
{
Constraint3DSW *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();
}
for (uint32_t island_index = 0; island_index < island_count; ++island_index) {
// Warning: _solve_island modifies the constraint islands for optimization purpose,
// their content is not reliable after these calls and shouldn't be used anymore.
_solve_island(constraint_islands[island_index], p_iterations, p_delta);
}
{ //profile
@ -290,12 +297,8 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
/* SLEEP / WAKE UP ISLANDS */
{
Body3DSW *bi = island_list;
while (bi) {
_check_suspend(bi, p_delta);
bi = bi->get_island_list_next();
}
for (uint32_t island_index = 0; island_index < body_island_count; ++island_index) {
_check_suspend(body_islands[island_index], p_delta);
}
/* UPDATE SOFT BODY CONSTRAINTS */
@ -319,4 +322,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
Step3DSW::Step3DSW() {
_step = 1;
body_islands.reserve(BODY_ISLAND_COUNT_RESERVE);
constraint_islands.reserve(ISLAND_COUNT_RESERVE);
}

13
servers/physics_3d/step_3d_sw.h
View file

@ -33,13 +33,18 @@
#include "space_3d_sw.h"
#include "core/templates/local_vector.h"
class Step3DSW {
uint64_t _step;
void _populate_island(Body3DSW *p_body, Body3DSW **p_island, Constraint3DSW **p_constraint_island);
void _setup_island(Constraint3DSW *p_island, real_t p_delta);
void _solve_island(Constraint3DSW *p_island, int p_iterations, real_t p_delta);
void _check_suspend(Body3DSW *p_island, real_t p_delta);
LocalVector<LocalVector<Body3DSW *>> body_islands;
LocalVector<LocalVector<Constraint3DSW *>> constraint_islands;
void _populate_island(Body3DSW *p_body, LocalVector<Body3DSW *> &p_body_island, LocalVector<Constraint3DSW *> &p_constraint_island);
void _setup_island(LocalVector<Constraint3DSW *> &p_constraint_island, real_t p_delta);
void _solve_island(LocalVector<Constraint3DSW *> &p_constraint_island, int p_iterations, real_t p_delta);
void _check_suspend(const LocalVector<Body3DSW *> &p_body_island, real_t p_delta);
public:
void step(Space3DSW *p_space, real_t p_delta, int p_iterations);