godot/servers/physics_3d/constraint_3d_sw.h
PouleyKetchoupp 448c41a3e4 Godot Physics collisions and solver processed on threads
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)
2021-04-26 18:26:00 -07:00

82 lines
3.7 KiB
C++

/*************************************************************************/
/* constraint_3d_sw.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/*************************************************************************/
#ifndef CONSTRAINT_SW_H
#define CONSTRAINT_SW_H
class Body3DSW;
class SoftBody3DSW;
class Constraint3DSW {
Body3DSW **_body_ptr;
int _body_count;
uint64_t island_step;
int priority;
bool disabled_collisions_between_bodies;
RID self;
protected:
Constraint3DSW(Body3DSW **p_body_ptr = nullptr, int p_body_count = 0) {
_body_ptr = p_body_ptr;
_body_count = p_body_count;
island_step = 0;
priority = 1;
disabled_collisions_between_bodies = true;
}
public:
_FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; }
_FORCE_INLINE_ RID get_self() const { return self; }
_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_body_ptr() const { return _body_ptr; }
_FORCE_INLINE_ int get_body_count() const { return _body_count; }
virtual SoftBody3DSW *get_soft_body_ptr(int p_index) const { return nullptr; }
virtual int get_soft_body_count() const { return 0; }
_FORCE_INLINE_ void set_priority(int p_priority) { priority = p_priority; }
_FORCE_INLINE_ int get_priority() const { return priority; }
_FORCE_INLINE_ void disable_collisions_between_bodies(const bool p_disabled) { disabled_collisions_between_bodies = p_disabled; }
_FORCE_INLINE_ bool is_disabled_collisions_between_bodies() const { return disabled_collisions_between_bodies; }
virtual bool setup(real_t p_step) = 0;
virtual bool pre_solve(real_t p_step) = 0;
virtual void solve(real_t p_step) = 0;
virtual ~Constraint3DSW() {}
};
#endif // CONSTRAINT__SW_H