godot/servers/physics/step_sw.cpp
Juan Linietsky 1a2cb755e2 3D Physics and Other Stuff
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-New Vehicle (Based on Bullet's RaycastVehicle) - Vehiclebody/VehicleWheel. Demo will come soon, old vehicle (CarBody) will go away soon too.
-A lot of fixes to the 3D physics engine
-Added KinematicBody with demo
-Fixed the space query API for 2D (demo will come soon). 3D is WIP.
-Fixed long-standing bug with body_enter/body_exit for Area and Area2D
-Performance variables now includes physics (active bodies, collision pairs and islands)
-Ability to see what's inside of instanced scenes!
-Fixed Blend Shapes (no bs+skeleton yet)
-Added an Android JavaClassWrapper singleton for using Android native classes directly from GDScript. This is very Alpha!
2014-09-02 23:13:40 -03:00

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6.6 KiB
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/*************************************************************************/
/* step_sw.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "step_sw.h"
void StepSW::_populate_island(BodySW* p_body,BodySW** p_island,ConstraintSW **p_constraint_island) {
p_body->set_island_step(_step);
p_body->set_island_next(*p_island);
*p_island=p_body;
for(Map<ConstraintSW*,int>::Element *E=p_body->get_constraint_map().front();E;E=E->next()) {
ConstraintSW *c=(ConstraintSW*)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;
for(int i=0;i<c->get_body_count();i++) {
if (i==E->get())
continue;
BodySW *b = c->get_body_ptr()[i];
if (b->get_island_step()==_step || b->get_mode()==PhysicsServer::BODY_MODE_STATIC || b->get_mode()==PhysicsServer::BODY_MODE_KINEMATIC)
continue; //no go
_populate_island(c->get_body_ptr()[i],p_island,p_constraint_island);
}
}
}
void StepSW::_setup_island(ConstraintSW *p_island,float p_delta) {
ConstraintSW *ci=p_island;
while(ci) {
bool process = ci->setup(p_delta);
//todo remove from island if process fails
ci=ci->get_island_next();
}
}
void StepSW::_solve_island(ConstraintSW *p_island,int p_iterations,float p_delta){
for(int i=0;i<p_iterations;i++) {
ConstraintSW *ci=p_island;
while(ci) {
ci->solve(p_delta);
ci=ci->get_island_next();
}
}
}
void StepSW::_check_suspend(BodySW *p_island,float p_delta) {
bool can_sleep=true;
BodySW *b = p_island;
while(b) {
if (b->get_mode()==PhysicsServer::BODY_MODE_STATIC || b->get_mode()==PhysicsServer::BODY_MODE_KINEMATIC) {
b=b->get_island_next();
continue; //ignore for static
}
if (!b->sleep_test(p_delta))
can_sleep=false;
b=b->get_island_next();
}
//put all to sleep or wake up everyoen
b = p_island;
while(b) {
if (b->get_mode()==PhysicsServer::BODY_MODE_STATIC || b->get_mode()==PhysicsServer::BODY_MODE_KINEMATIC) {
b=b->get_island_next();
continue; //ignore for static
}
bool active = b->is_active();
if (active==can_sleep)
b->set_active(!can_sleep);
b=b->get_island_next();
}
}
void StepSW::step(SpaceSW* p_space,float p_delta,int p_iterations) {
p_space->lock(); // can't access space during this
p_space->setup(); //update inertias, etc
const SelfList<BodySW>::List * body_list = &p_space->get_active_body_list();
/* INTEGRATE FORCES */
int active_count=0;
const SelfList<BodySW>*b = body_list->first();
while(b) {
b->self()->integrate_forces(p_delta);
b=b->next();
active_count++;
}
p_space->set_active_objects(active_count);
/* GENERATE CONSTRAINT ISLANDS */
BodySW *island_list=NULL;
ConstraintSW *constraint_island_list=NULL;
b = body_list->first();
int island_count=0;
while(b) {
BodySW *body = b->self();
if (body->get_island_step()!=_step) {
BodySW *island=NULL;
ConstraintSW *constraint_island=NULL;
_populate_island(body,&island,&constraint_island);
island->set_island_list_next(island_list);
island_list=island;
if (constraint_island) {
constraint_island->set_island_list_next(constraint_island_list);
constraint_island_list=constraint_island;
island_count++;
}
}
b=b->next();
}
p_space->set_island_count(island_count);
const SelfList<AreaSW>::List &aml = p_space->get_moved_area_list();
while(aml.first()) {
for(const Set<ConstraintSW*>::Element *E=aml.first()->self()->get_constraints().front();E;E=E->next()) {
ConstraintSW*c=E->get();
if (c->get_island_step()==_step)
continue;
c->set_island_step(_step);
c->set_island_next(NULL);
c->set_island_list_next(constraint_island_list);
constraint_island_list=c;
}
p_space->area_remove_from_moved_list((SelfList<AreaSW>*)aml.first()); //faster to remove here
}
// print_line("island count: "+itos(island_count)+" active count: "+itos(active_count));
/* SETUP CONSTRAINT ISLANDS */
{
ConstraintSW *ci=constraint_island_list;
while(ci) {
_setup_island(ci,p_delta);
ci=ci->get_island_list_next();
}
}
/* SOLVE CONSTRAINT ISLANDS */
{
ConstraintSW *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();
}
}
/* INTEGRATE VELOCITIES */
b = body_list->first();
while(b) {
const SelfList<BodySW>*n=b->next();
b->self()->integrate_velocities(p_delta);
b=n;
}
/* SLEEP / WAKE UP ISLANDS */
{
BodySW *bi=island_list;
while(bi) {
_check_suspend(bi,p_delta);
bi=bi->get_island_list_next();
}
}
p_space->update();
p_space->unlock();
_step++;
}
StepSW::StepSW() {
_step=1;
}