godot/servers/physics_2d/step_2d_sw.cpp
Ferenc Arn eae94ba1c8 Use real_t as floating point type in physics code.
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.
2017-02-13 17:42:02 -06:00

331 lines
8.8 KiB
C++

/*************************************************************************/
/* step_2d_sw.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2017 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_2d_sw.h"
#include "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;
for(Map<Constraint2DSW*,int>::Element *E=p_body->get_constraint_map().front();E;E=E->next()) {
Constraint2DSW *c=(Constraint2DSW*)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;
Body2DSW *b = c->get_body_ptr()[i];
if (b->get_island_step()==_step || b->get_mode()==Physics2DServer::BODY_MODE_STATIC || b->get_mode()==Physics2DServer::BODY_MODE_KINEMATIC)
continue; //no go
_populate_island(c->get_body_ptr()[i],p_island,p_constraint_island);
}
}
}
bool Step2DSW::_setup_island(Constraint2DSW *p_island,real_t p_delta) {
Constraint2DSW *ci=p_island;
Constraint2DSW *prev_ci=NULL;
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;
}
ci=ci->get_island_next();
}
return removed_root;
}
void Step2DSW::_solve_island(Constraint2DSW *p_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();
}
}
}
void Step2DSW::_check_suspend(Body2DSW *p_island,real_t p_delta) {
bool can_sleep=true;
Body2DSW *b = p_island;
while(b) {
if (b->get_mode()==Physics2DServer::BODY_MODE_STATIC || b->get_mode()==Physics2DServer::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()==Physics2DServer::BODY_MODE_STATIC || b->get_mode()==Physics2DServer::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 Step2DSW::step(Space2DSW* p_space,real_t p_delta,int p_iterations) {
p_space->lock(); // can't access space during this
p_space->setup(); //update inertias, etc
const SelfList<Body2DSW>::List * body_list = &p_space->get_active_body_list();
/* INTEGRATE FORCES */
uint64_t profile_begtime = OS::get_singleton()->get_ticks_usec();
uint64_t profile_endtime=0;
int active_count=0;
const SelfList<Body2DSW>*b = body_list->first();
while(b) {
b->self()->integrate_forces(p_delta);
b=b->next();
active_count++;
}
p_space->set_active_objects(active_count);
{ //profile
profile_endtime=OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_INTEGRATE_FORCES,profile_endtime-profile_begtime);
profile_begtime=profile_endtime;
}
/* GENERATE CONSTRAINT ISLANDS */
Body2DSW *island_list=NULL;
Constraint2DSW *constraint_island_list=NULL;
b = body_list->first();
int island_count=0;
while(b) {
Body2DSW *body = b->self();
if (body->get_island_step()!=_step) {
Body2DSW *island=NULL;
Constraint2DSW *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<Area2DSW>::List &aml = p_space->get_moved_area_list();
while(aml.first()) {
for(const Set<Constraint2DSW*>::Element *E=aml.first()->self()->get_constraints().front();E;E=E->next()) {
Constraint2DSW*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<Area2DSW>*)aml.first()); //faster to remove here
}
//print_line("island count: "+itos(island_count)+" active count: "+itos(active_count));
{ //profile
profile_endtime=OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_GENERATE_ISLANDS,profile_endtime-profile_begtime);
profile_begtime=profile_endtime;
}
/* SETUP CONSTRAINT ISLANDS */
{
Constraint2DSW *ci=constraint_island_list;
Constraint2DSW *prev_ci=NULL;
while(ci) {
if (_setup_island(ci,p_delta)==true) {
//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();
}
}
{ //profile
profile_endtime=OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_SETUP_CONSTRAINTS,profile_endtime-profile_begtime);
profile_begtime=profile_endtime;
}
/* 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();
}
}
{ //profile
profile_endtime=OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_SOLVE_CONSTRAINTS,profile_endtime-profile_begtime);
profile_begtime=profile_endtime;
}
/* INTEGRATE VELOCITIES */
b = body_list->first();
while(b) {
const SelfList<Body2DSW>*n=b->next();
b->self()->integrate_velocities(p_delta);
b=n; // in case it shuts itself down
}
/* SLEEP / WAKE UP ISLANDS */
{
Body2DSW *bi=island_list;
while(bi) {
_check_suspend(bi,p_delta);
bi=bi->get_island_list_next();
}
}
{ //profile
profile_endtime=OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_INTEGRATE_VELOCITIES,profile_endtime-profile_begtime);
//profile_begtime=profile_endtime;
}
p_space->update();
p_space->unlock();
_step++;
}
Step2DSW::Step2DSW() {
_step=1;
}