feat: modules moved and engine moved to submodule
This commit is contained in:
Jan van der Weide
parent
dfb5e645cd
commit
c33d2130cc
5136 changed files with 225275 additions and 64485 deletions
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@ -77,13 +77,15 @@ PhysicsSystem::~PhysicsSystem()
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void PhysicsSystem::Init(uint inMaxBodies, uint inNumBodyMutexes, uint inMaxBodyPairs, uint inMaxContactConstraints, const BroadPhaseLayerInterface &inBroadPhaseLayerInterface, const ObjectVsBroadPhaseLayerFilter &inObjectVsBroadPhaseLayerFilter, const ObjectLayerPairFilter &inObjectLayerPairFilter)
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{
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JPH_ASSERT(inMaxBodies <= BodyID::cMaxBodyIndex, "Cannot support this many bodies");
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// Clamp max bodies
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uint max_bodies = min(inMaxBodies, cMaxBodiesLimit);
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JPH_ASSERT(max_bodies == inMaxBodies, "Cannot support this many bodies!");
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mObjectVsBroadPhaseLayerFilter = &inObjectVsBroadPhaseLayerFilter;
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mObjectLayerPairFilter = &inObjectLayerPairFilter;
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// Initialize body manager
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mBodyManager.Init(inMaxBodies, inNumBodyMutexes, inBroadPhaseLayerInterface);
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mBodyManager.Init(max_bodies, inNumBodyMutexes, inBroadPhaseLayerInterface);
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// Create broadphase
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mBroadPhase = new BROAD_PHASE();
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@ -93,7 +95,7 @@ void PhysicsSystem::Init(uint inMaxBodies, uint inNumBodyMutexes, uint inMaxBody
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mContactManager.Init(inMaxBodyPairs, inMaxContactConstraints);
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// Init islands builder
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mIslandBuilder.Init(inMaxBodies);
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mIslandBuilder.Init(max_bodies);
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// Initialize body interface
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mBodyInterfaceLocking.Init(mBodyLockInterfaceLocking, mBodyManager, *mBroadPhase);
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@ -139,10 +141,10 @@ EPhysicsUpdateError PhysicsSystem::Update(float inDeltaTime, int inCollisionStep
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// Sync point for the broadphase. This will allow it to do clean up operations without having any mutexes locked yet.
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mBroadPhase->FrameSync();
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// If there are no active bodies or there's no time delta
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// If there are no active bodies (and no step listener to wake them up) or there's no time delta
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uint32 num_active_rigid_bodies = mBodyManager.GetNumActiveBodies(EBodyType::RigidBody);
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uint32 num_active_soft_bodies = mBodyManager.GetNumActiveBodies(EBodyType::SoftBody);
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if ((num_active_rigid_bodies == 0 && num_active_soft_bodies == 0) || inDeltaTime <= 0.0f)
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if ((num_active_rigid_bodies == 0 && num_active_soft_bodies == 0 && mStepListeners.empty()) || inDeltaTime <= 0.0f)
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{
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mBodyManager.LockAllBodies();
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@ -152,8 +154,9 @@ EPhysicsUpdateError PhysicsSystem::Update(float inDeltaTime, int inCollisionStep
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mBroadPhase->UpdateFinalize(update_state);
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mBroadPhase->UnlockModifications();
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// Call contact removal callbacks from contacts that existed in the previous update
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mContactManager.FinalizeContactCacheAndCallContactPointRemovedCallbacks(0, 0);
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// If time has passed, call contact removal callbacks from contacts that existed in the previous update
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if (inDeltaTime > 0.0f)
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mContactManager.FinalizeContactCacheAndCallContactPointRemovedCallbacks(0, 0);
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mBodyManager.UnlockAllBodies();
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return EPhysicsUpdateError::None;
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@ -844,6 +847,9 @@ void PhysicsSystem::JobFindCollisions(PhysicsUpdateContext::Step *ioStep, int in
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// (always start looking at results from the next job)
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int read_queue_idx = (inJobIndex + 1) % ioStep->mBodyPairQueues.size();
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// Allocate space to temporarily store a batch of active bodies
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BodyID *active_bodies = (BodyID *)JPH_STACK_ALLOC(cActiveBodiesBatchSize * sizeof(BodyID));
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for (;;)
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{
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// Check if there are active bodies to be processed
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@ -895,7 +901,6 @@ void PhysicsSystem::JobFindCollisions(PhysicsUpdateContext::Step *ioStep, int in
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// Copy active bodies to temporary array, broadphase will reorder them
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uint32 batch_size = active_bodies_read_idx_end - active_bodies_read_idx;
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BodyID *active_bodies = (BodyID *)JPH_STACK_ALLOC(batch_size * sizeof(BodyID));
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memcpy(active_bodies, mBodyManager.GetActiveBodiesUnsafe(EBodyType::RigidBody) + active_bodies_read_idx, batch_size * sizeof(BodyID));
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// Find pairs in the broadphase
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@ -960,6 +965,23 @@ void PhysicsSystem::JobFindCollisions(PhysicsUpdateContext::Step *ioStep, int in
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}
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}
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void PhysicsSystem::sDefaultSimCollideBodyVsBody(const Body &inBody1, const Body &inBody2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, CollideShapeSettings &ioCollideShapeSettings, CollideShapeCollector &ioCollector, const ShapeFilter &inShapeFilter)
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{
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SubShapeIDCreator part1, part2;
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if (inBody1.GetEnhancedInternalEdgeRemovalWithBody(inBody2))
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{
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// Collide with enhanced internal edge removal
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ioCollideShapeSettings.mActiveEdgeMode = EActiveEdgeMode::CollideWithAll;
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InternalEdgeRemovingCollector::sCollideShapeVsShape(inBody1.GetShape(), inBody2.GetShape(), Vec3::sOne(), Vec3::sOne(), inCenterOfMassTransform1, inCenterOfMassTransform2, part1, part2, ioCollideShapeSettings, ioCollector, inShapeFilter);
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}
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else
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{
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// Regular collide
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CollisionDispatch::sCollideShapeVsShape(inBody1.GetShape(), inBody2.GetShape(), Vec3::sOne(), Vec3::sOne(), inCenterOfMassTransform1, inCenterOfMassTransform2, part1, part2, ioCollideShapeSettings, ioCollector, inShapeFilter);
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}
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}
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void PhysicsSystem::ProcessBodyPair(ContactAllocator &ioContactAllocator, const BodyPair &inBodyPair)
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{
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JPH_PROFILE_FUNCTION();
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@ -1003,13 +1025,10 @@ void PhysicsSystem::ProcessBodyPair(ContactAllocator &ioContactAllocator, const
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if (body_pair_handle == nullptr)
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return; // Out of cache space
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// If we want enhanced active edge detection for this body pair
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bool enhanced_active_edges = body1->GetEnhancedInternalEdgeRemovalWithBody(*body2);
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// Create the query settings
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CollideShapeSettings settings;
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settings.mCollectFacesMode = ECollectFacesMode::CollectFaces;
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settings.mActiveEdgeMode = mPhysicsSettings.mCheckActiveEdges && !enhanced_active_edges? EActiveEdgeMode::CollideOnlyWithActive : EActiveEdgeMode::CollideWithAll;
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settings.mActiveEdgeMode = mPhysicsSettings.mCheckActiveEdges? EActiveEdgeMode::CollideOnlyWithActive : EActiveEdgeMode::CollideWithAll;
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settings.mMaxSeparationDistance = body1->IsSensor() || body2->IsSensor()? 0.0f : mPhysicsSettings.mSpeculativeContactDistance;
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settings.mActiveEdgeMovementDirection = body1->GetLinearVelocity() - body2->GetLinearVelocity();
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@ -1121,7 +1140,7 @@ void PhysicsSystem::ProcessBodyPair(ContactAllocator &ioContactAllocator, const
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// Determine contact points
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const PhysicsSettings &settings = mSystem->mPhysicsSettings;
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ManifoldBetweenTwoFaces(inResult.mContactPointOn1, inResult.mContactPointOn2, inResult.mPenetrationAxis, Square(settings.mSpeculativeContactDistance) + settings.mManifoldToleranceSq, inResult.mShape1Face, inResult.mShape2Face, manifold->mRelativeContactPointsOn1, manifold->mRelativeContactPointsOn2 JPH_IF_DEBUG_RENDERER(, mBody1->GetCenterOfMassPosition()));
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ManifoldBetweenTwoFaces(inResult.mContactPointOn1, inResult.mContactPointOn2, inResult.mPenetrationAxis, settings.mSpeculativeContactDistance + settings.mManifoldTolerance, inResult.mShape1Face, inResult.mShape2Face, manifold->mRelativeContactPointsOn1, manifold->mRelativeContactPointsOn2 JPH_IF_DEBUG_RENDERER(, mBody1->GetCenterOfMassPosition()));
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// Prune if we have more than 32 points (this means we could run out of space in the next iteration)
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if (manifold->mRelativeContactPointsOn1.size() > 32)
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@ -1137,9 +1156,7 @@ void PhysicsSystem::ProcessBodyPair(ContactAllocator &ioContactAllocator, const
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ReductionCollideShapeCollector collector(this, body1, body2);
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// Perform collision detection between the two shapes
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SubShapeIDCreator part1, part2;
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auto f = enhanced_active_edges? InternalEdgeRemovingCollector::sCollideShapeVsShape : CollisionDispatch::sCollideShapeVsShape;
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f(body1->GetShape(), body2->GetShape(), Vec3::sReplicate(1.0f), Vec3::sReplicate(1.0f), transform1, transform2, part1, part2, settings, collector, shape_filter);
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mSimCollideBodyVsBody(*body1, *body2, transform1, transform2, settings, collector, shape_filter);
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// Add the contacts
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for (ContactManifold &manifold : collector.mManifolds)
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@ -1207,7 +1224,7 @@ void PhysicsSystem::ProcessBodyPair(ContactAllocator &ioContactAllocator, const
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ContactManifold manifold;
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manifold.mBaseOffset = mBody1->GetCenterOfMassPosition();
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const PhysicsSettings &settings = mSystem->mPhysicsSettings;
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ManifoldBetweenTwoFaces(inResult.mContactPointOn1, inResult.mContactPointOn2, inResult.mPenetrationAxis, Square(settings.mSpeculativeContactDistance) + settings.mManifoldToleranceSq, inResult.mShape1Face, inResult.mShape2Face, manifold.mRelativeContactPointsOn1, manifold.mRelativeContactPointsOn2 JPH_IF_DEBUG_RENDERER(, manifold.mBaseOffset));
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ManifoldBetweenTwoFaces(inResult.mContactPointOn1, inResult.mContactPointOn2, inResult.mPenetrationAxis, settings.mSpeculativeContactDistance + settings.mManifoldTolerance, inResult.mShape1Face, inResult.mShape2Face, manifold.mRelativeContactPointsOn1, manifold.mRelativeContactPointsOn2 JPH_IF_DEBUG_RENDERER(, manifold.mBaseOffset));
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// Calculate normal
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manifold.mWorldSpaceNormal = inResult.mPenetrationAxis.Normalized();
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@ -1238,9 +1255,7 @@ void PhysicsSystem::ProcessBodyPair(ContactAllocator &ioContactAllocator, const
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NonReductionCollideShapeCollector collector(this, ioContactAllocator, body1, body2, body_pair_handle);
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// Perform collision detection between the two shapes
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SubShapeIDCreator part1, part2;
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auto f = enhanced_active_edges? InternalEdgeRemovingCollector::sCollideShapeVsShape : CollisionDispatch::sCollideShapeVsShape;
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f(body1->GetShape(), body2->GetShape(), Vec3::sReplicate(1.0f), Vec3::sReplicate(1.0f), transform1, transform2, part1, part2, settings, collector, shape_filter);
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mSimCollideBodyVsBody(*body1, *body2, transform1, transform2, settings, collector, shape_filter);
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constraint_created = collector.mConstraintCreated;
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}
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@ -1709,9 +1724,9 @@ void PhysicsSystem::JobFindCCDContacts(const PhysicsUpdateContext *ioContext, Ph
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if (sDrawMotionQualityLinearCast)
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{
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RMat44 com = body.GetCenterOfMassTransform();
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body.GetShape()->Draw(DebugRenderer::sInstance, com, Vec3::sReplicate(1.0f), Color::sGreen, false, true);
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body.GetShape()->Draw(DebugRenderer::sInstance, com, Vec3::sOne(), Color::sGreen, false, true);
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DebugRenderer::sInstance->DrawArrow(com.GetTranslation(), com.GetTranslation() + ccd_body.mDeltaPosition, Color::sGreen, 0.1f);
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body.GetShape()->Draw(DebugRenderer::sInstance, com.PostTranslated(ccd_body.mDeltaPosition), Vec3::sReplicate(1.0f), Color::sRed, false, true);
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body.GetShape()->Draw(DebugRenderer::sInstance, com.PostTranslated(ccd_body.mDeltaPosition), Vec3::sOne(), Color::sRed, false, true);
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}
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#endif // JPH_DEBUG_RENDERER
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@ -1917,7 +1932,7 @@ void PhysicsSystem::JobFindCCDContacts(const PhysicsUpdateContext *ioContext, Ph
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SimShapeFilterWrapper &shape_filter = shape_filter_union.GetSimShapeFilterWrapper();
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// Check if we collide with any other body. Note that we use the non-locking interface as we know the broadphase cannot be modified at this point.
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RShapeCast shape_cast(body.GetShape(), Vec3::sReplicate(1.0f), body.GetCenterOfMassTransform(), ccd_body.mDeltaPosition);
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RShapeCast shape_cast(body.GetShape(), Vec3::sOne(), body.GetCenterOfMassTransform(), ccd_body.mDeltaPosition);
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CCDBroadPhaseCollector bp_collector(ccd_body, body, shape_cast, settings, shape_filter, np_collector, mBodyManager, ioStep, ioContext->mStepDeltaTime);
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mBroadPhase->CastAABoxNoLock({ shape_cast.mShapeWorldBounds, shape_cast.mDirection }, bp_collector, broadphase_layer_filter, object_layer_filter);
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@ -1929,7 +1944,7 @@ void PhysicsSystem::JobFindCCDContacts(const PhysicsUpdateContext *ioContext, Ph
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// Determine contact manifold
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ContactManifold manifold;
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manifold.mBaseOffset = shape_cast.mCenterOfMassStart.GetTranslation();
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ManifoldBetweenTwoFaces(cast_shape_result.mContactPointOn1, cast_shape_result.mContactPointOn2, cast_shape_result.mPenetrationAxis, mPhysicsSettings.mManifoldToleranceSq, cast_shape_result.mShape1Face, cast_shape_result.mShape2Face, manifold.mRelativeContactPointsOn1, manifold.mRelativeContactPointsOn2 JPH_IF_DEBUG_RENDERER(, manifold.mBaseOffset));
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ManifoldBetweenTwoFaces(cast_shape_result.mContactPointOn1, cast_shape_result.mContactPointOn2, cast_shape_result.mPenetrationAxis, mPhysicsSettings.mManifoldTolerance, cast_shape_result.mShape1Face, cast_shape_result.mShape2Face, manifold.mRelativeContactPointsOn1, manifold.mRelativeContactPointsOn2 JPH_IF_DEBUG_RENDERER(, manifold.mBaseOffset));
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manifold.mSubShapeID1 = cast_shape_result.mSubShapeID1;
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manifold.mSubShapeID2 = cast_shape_result.mSubShapeID2;
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manifold.mPenetrationDepth = cast_shape_result.mPenetrationDepth;
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@ -2184,11 +2199,11 @@ void PhysicsSystem::JobResolveCCDContacts(PhysicsUpdateContext *ioContext, Physi
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{
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// Draw the collision location
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RMat44 collision_transform = body1.GetCenterOfMassTransform().PostTranslated(ccd_body->mFraction * ccd_body->mDeltaPosition);
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body1.GetShape()->Draw(DebugRenderer::sInstance, collision_transform, Vec3::sReplicate(1.0f), Color::sYellow, false, true);
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body1.GetShape()->Draw(DebugRenderer::sInstance, collision_transform, Vec3::sOne(), Color::sYellow, false, true);
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// Draw the collision location + slop
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RMat44 collision_transform_plus_slop = body1.GetCenterOfMassTransform().PostTranslated(ccd_body->mFractionPlusSlop * ccd_body->mDeltaPosition);
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body1.GetShape()->Draw(DebugRenderer::sInstance, collision_transform_plus_slop, Vec3::sReplicate(1.0f), Color::sOrange, false, true);
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body1.GetShape()->Draw(DebugRenderer::sInstance, collision_transform_plus_slop, Vec3::sOne(), Color::sOrange, false, true);
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// Draw contact normal
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DebugRenderer::sInstance->DrawArrow(ccd_body->mContactPointOn2, ccd_body->mContactPointOn2 - ccd_body->mContactNormal, Color::sYellow, 0.1f);
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