b65d6b56fb
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
55 lines
2.9 KiB
C++
55 lines
2.9 KiB
C++
/*************************************************************************/
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/* step_3d_sw.h */
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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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#ifndef STEP_SW_H
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#define STEP_SW_H
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#include "space_3d_sw.h"
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#include "core/templates/local_vector.h"
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class Step3DSW {
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uint64_t _step;
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LocalVector<LocalVector<Body3DSW *>> body_islands;
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LocalVector<LocalVector<Constraint3DSW *>> constraint_islands;
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void _populate_island(Body3DSW *p_body, LocalVector<Body3DSW *> &p_body_island, LocalVector<Constraint3DSW *> &p_constraint_island);
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void _setup_island(LocalVector<Constraint3DSW *> &p_constraint_island, real_t p_delta);
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void _solve_island(LocalVector<Constraint3DSW *> &p_constraint_island, int p_iterations, real_t p_delta);
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void _check_suspend(const LocalVector<Body3DSW *> &p_body_island, real_t p_delta);
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public:
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void step(Space3DSW *p_space, real_t p_delta, int p_iterations);
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Step3DSW();
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};
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#endif // STEP__SW_H
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