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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@ -106,7 +106,7 @@ void SoftBodyMotionProperties::DetermineCollidingShapes(const SoftBodyUpdateCont
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JPH_PROFILE_FUNCTION();
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// Reset flag prior to collision detection
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mNeedContactCallback = false;
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mNeedContactCallback.store(false, memory_order_relaxed);
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struct Collector : public CollideShapeBodyCollector
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{
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@ -170,7 +170,7 @@ void SoftBodyMotionProperties::DetermineCollidingShapes(const SoftBodyUpdateCont
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Array<LeafShape> mHits;
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};
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LeafShapeCollector collector;
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body.GetShape()->CollectTransformedShapes(mLocalBounds, com.GetTranslation(), com.GetQuaternion(), Vec3::sReplicate(1.0f), SubShapeIDCreator(), collector, mShapeFilter);
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body.GetShape()->CollectTransformedShapes(mLocalBounds, com.GetTranslation(), com.GetQuaternion(), Vec3::sOne(), SubShapeIDCreator(), collector, mShapeFilter);
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if (collector.mHits.empty())
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return;
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@ -236,6 +236,7 @@ void SoftBodyMotionProperties::DetermineCollidingShapes(const SoftBodyUpdateCont
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DefaultBroadPhaseLayerFilter broadphase_layer_filter = inSystem.GetDefaultBroadPhaseLayerFilter(layer);
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DefaultObjectLayerFilter object_layer_filter = inSystem.GetDefaultLayerFilter(layer);
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inSystem.GetBroadPhaseQuery().CollideAABox(world_bounds, collector, broadphase_layer_filter, object_layer_filter);
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mNumSensors = uint(mCollidingSensors.size()); // Workaround for TSAN false positive: store mCollidingSensors.size() in a separate variable.
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}
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void SoftBodyMotionProperties::DetermineCollisionPlanes(uint inVertexStart, uint inNumVertices)
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@ -269,7 +270,7 @@ void SoftBodyMotionProperties::DetermineSensorCollisions(CollidingSensor &ioSens
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// We need a contact callback if one of the sensors collided
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if (ioSensor.mHasContact)
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mNeedContactCallback = true;
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mNeedContactCallback.store(true, memory_order_relaxed);
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}
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void SoftBodyMotionProperties::ApplyPressure(const SoftBodyUpdateContext &inContext)
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@ -315,7 +316,7 @@ void SoftBodyMotionProperties::IntegratePositions(const SoftBodyUpdateContext &i
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// Integrate
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Vec3 sub_step_gravity = inContext.mGravity * dt;
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Vec3 sub_step_impulse = GetAccumulatedForce() * dt;
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Vec3 sub_step_impulse = GetAccumulatedForce() * dt / max(float(mVertices.size()), 1.0f);
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for (Vertex &v : mVertices)
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if (v.mInvMass > 0.0f)
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{
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@ -621,7 +622,7 @@ void SoftBodyMotionProperties::ApplyCollisionConstraintsAndUpdateVelocities(cons
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v.mHasContact = true;
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// We need a contact callback if one of the vertices collided
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mNeedContactCallback = true;
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mNeedContactCallback.store(true, memory_order_relaxed);
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// Note that we already calculated the velocity, so this does not affect the velocity (next iteration starts by setting previous position to current position)
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CollidingShape &cs = mCollidingShapes[v.mCollidingShapeIndex];
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@ -720,7 +721,7 @@ void SoftBodyMotionProperties::UpdateSoftBodyState(SoftBodyUpdateContext &ioCont
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JPH_PROFILE_FUNCTION();
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// Contact callback
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if (mNeedContactCallback && ioContext.mContactListener != nullptr)
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if (mNeedContactCallback.load(memory_order_relaxed) && ioContext.mContactListener != nullptr)
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{
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// Remove non-colliding sensors from the list
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for (int i = int(mCollidingSensors.size()) - 1; i >= 0; --i)
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@ -765,7 +766,7 @@ void SoftBodyMotionProperties::UpdateSoftBodyState(SoftBodyUpdateContext &ioCont
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// Calculate linear/angular velocity of the body by averaging all vertices and bringing the value to world space
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float num_vertices_divider = float(max(int(mVertices.size()), 1));
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SetLinearVelocity(ioContext.mCenterOfMassTransform.Multiply3x3(linear_velocity / num_vertices_divider));
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SetLinearVelocityClamped(ioContext.mCenterOfMassTransform.Multiply3x3(linear_velocity / num_vertices_divider));
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SetAngularVelocity(ioContext.mCenterOfMassTransform.Multiply3x3(angular_velocity / num_vertices_divider));
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if (mUpdatePosition)
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@ -877,7 +878,7 @@ SoftBodyMotionProperties::EStatus SoftBodyMotionProperties::ParallelDetermineCol
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// Process collision planes
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uint num_vertices_to_process = min(SoftBodyUpdateContext::cVertexCollisionBatch, num_vertices - next_vertex);
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DetermineCollisionPlanes(next_vertex, num_vertices_to_process);
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uint vertices_processed = ioContext.mNumCollisionVerticesProcessed.fetch_add(SoftBodyUpdateContext::cVertexCollisionBatch, memory_order_release) + num_vertices_to_process;
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uint vertices_processed = ioContext.mNumCollisionVerticesProcessed.fetch_add(SoftBodyUpdateContext::cVertexCollisionBatch, memory_order_acq_rel) + num_vertices_to_process;
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if (vertices_processed >= num_vertices)
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{
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// Determine next state
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@ -896,19 +897,18 @@ SoftBodyMotionProperties::EStatus SoftBodyMotionProperties::ParallelDetermineCol
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SoftBodyMotionProperties::EStatus SoftBodyMotionProperties::ParallelDetermineSensorCollisions(SoftBodyUpdateContext &ioContext)
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{
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// Do a relaxed read to see if there are more sensors to process
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uint num_sensors = (uint)mCollidingSensors.size();
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if (ioContext.mNextSensorIndex.load(memory_order_relaxed) < num_sensors)
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if (ioContext.mNextSensorIndex.load(memory_order_relaxed) < mNumSensors)
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{
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// Fetch next sensor to process
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uint sensor_index = ioContext.mNextSensorIndex.fetch_add(1, memory_order_acquire);
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if (sensor_index < num_sensors)
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if (sensor_index < mNumSensors)
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{
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// Process this sensor
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DetermineSensorCollisions(mCollidingSensors[sensor_index]);
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// Determine next state
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uint sensors_processed = ioContext.mNumSensorsProcessed.fetch_add(1, memory_order_release) + 1;
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if (sensors_processed >= num_sensors)
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uint sensors_processed = ioContext.mNumSensorsProcessed.fetch_add(1, memory_order_acq_rel) + 1;
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if (sensors_processed >= mNumSensors)
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StartFirstIteration(ioContext);
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return EStatus::DidWork;
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}
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@ -961,7 +961,7 @@ SoftBodyMotionProperties::EStatus SoftBodyMotionProperties::ParallelApplyConstra
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ProcessGroup(ioContext, next_group);
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// Increment total number of groups processed
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num_groups_processed = ioContext.mNumConstraintGroupsProcessed.fetch_add(1, memory_order_relaxed) + 1;
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num_groups_processed = ioContext.mNumConstraintGroupsProcessed.fetch_add(1, memory_order_acq_rel) + 1;
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}
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if (num_groups_processed >= num_groups)
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@ -981,7 +981,7 @@ SoftBodyMotionProperties::EStatus SoftBodyMotionProperties::ParallelApplyConstra
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StartNextIteration(ioContext);
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// Reset group logic
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ioContext.mNumConstraintGroupsProcessed.store(0, memory_order_relaxed);
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ioContext.mNumConstraintGroupsProcessed.store(0, memory_order_release);
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ioContext.mNextConstraintGroup.store(0, memory_order_release);
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}
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else
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@ -1002,7 +1002,7 @@ SoftBodyMotionProperties::EStatus SoftBodyMotionProperties::ParallelApplyConstra
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SoftBodyMotionProperties::EStatus SoftBodyMotionProperties::ParallelUpdate(SoftBodyUpdateContext &ioContext, const PhysicsSettings &inPhysicsSettings)
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{
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switch (ioContext.mState.load(memory_order_relaxed))
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switch (ioContext.mState.load(memory_order_acquire))
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{
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case SoftBodyUpdateContext::EState::DetermineCollisionPlanes:
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return ParallelDetermineCollisionPlanes(ioContext);
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@ -286,10 +286,11 @@ private:
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AABox mLocalBounds; ///< Bounding box of all vertices
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AABox mLocalPredictedBounds; ///< Predicted bounding box for all vertices using extrapolation of velocity by last step delta time
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uint32 mNumIterations; ///< Number of solver iterations
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uint mNumSensors; ///< Workaround for TSAN false positive: store mCollidingSensors.size() in a separate variable.
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float mPressure; ///< n * R * T, amount of substance * ideal gas constant * absolute temperature, see https://en.wikipedia.org/wiki/Pressure
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float mSkinnedMaxDistanceMultiplier = 1.0f; ///< Multiplier applied to Skinned::mMaxDistance to allow tightening or loosening of the skin constraints
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bool mUpdatePosition; ///< Update the position of the body while simulating (set to false for something that is attached to the static world)
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bool mNeedContactCallback = false; ///< True if the soft body has collided with anything in the last update
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atomic<bool> mNeedContactCallback = false; ///< True if the soft body has collided with anything in the last update
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bool mEnableSkinConstraints = true; ///< If skin constraints are enabled
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bool mSkinStatePreviousPositionValid = false; ///< True if the skinning was updated in the last update so that the previous position of the skin state is valid
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};
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@ -328,6 +328,9 @@ void SoftBodyShape::sRegister()
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{
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CollisionDispatch::sRegisterCollideShape(s, EShapeSubType::SoftBody, sCollideConvexVsSoftBody);
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CollisionDispatch::sRegisterCastShape(s, EShapeSubType::SoftBody, sCastConvexVsSoftBody);
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CollisionDispatch::sRegisterCollideShape(EShapeSubType::SoftBody, s, CollisionDispatch::sReversedCollideShape);
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CollisionDispatch::sRegisterCastShape(EShapeSubType::SoftBody, s, CollisionDispatch::sReversedCastShape);
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}
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// Specialized collision functions
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@ -541,6 +541,10 @@ void SoftBodySharedSettings::Optimize(OptimizationResults &outResults)
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if (group_idx[i] == -1)
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bounds.Encapsulate(Vec3(mVertices[i].mPosition));
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// If the bounds are invalid, it means that there were no ungrouped vertices
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if (!bounds.IsValid())
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break;
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// Determine longest and shortest axis
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Vec3 bounds_size = bounds.GetSize();
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uint max_axis = bounds_size.GetHighestComponentIndex();
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@ -1029,4 +1033,147 @@ SoftBodySharedSettings::SettingsResult SoftBodySharedSettings::sRestoreWithMater
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return result;
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}
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Ref<SoftBodySharedSettings> SoftBodySharedSettings::sCreateCube(uint inGridSize, float inGridSpacing)
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{
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const Vec3 cOffset = Vec3::sReplicate(-0.5f * inGridSpacing * (inGridSize - 1));
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// Create settings
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SoftBodySharedSettings *settings = new SoftBodySharedSettings;
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for (uint z = 0; z < inGridSize; ++z)
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for (uint y = 0; y < inGridSize; ++y)
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for (uint x = 0; x < inGridSize; ++x)
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{
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SoftBodySharedSettings::Vertex v;
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(cOffset + Vec3::sReplicate(inGridSpacing) * Vec3(float(x), float(y), float(z))).StoreFloat3(&v.mPosition);
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settings->mVertices.push_back(v);
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}
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// Function to get the vertex index of a point on the cube
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auto vertex_index = [inGridSize](uint inX, uint inY, uint inZ)
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{
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return inX + inY * inGridSize + inZ * inGridSize * inGridSize;
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};
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// Create edges
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for (uint z = 0; z < inGridSize; ++z)
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for (uint y = 0; y < inGridSize; ++y)
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for (uint x = 0; x < inGridSize; ++x)
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{
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SoftBodySharedSettings::Edge e;
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e.mVertex[0] = vertex_index(x, y, z);
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if (x < inGridSize - 1)
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{
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e.mVertex[1] = vertex_index(x + 1, y, z);
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settings->mEdgeConstraints.push_back(e);
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}
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if (y < inGridSize - 1)
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{
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e.mVertex[1] = vertex_index(x, y + 1, z);
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settings->mEdgeConstraints.push_back(e);
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}
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if (z < inGridSize - 1)
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{
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e.mVertex[1] = vertex_index(x, y, z + 1);
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settings->mEdgeConstraints.push_back(e);
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}
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}
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settings->CalculateEdgeLengths();
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// Tetrahedrons to fill a cube
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const int tetra_indices[6][4][3] = {
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{ {0, 0, 0}, {0, 1, 1}, {0, 0, 1}, {1, 1, 1} },
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{ {0, 0, 0}, {0, 1, 0}, {0, 1, 1}, {1, 1, 1} },
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{ {0, 0, 0}, {0, 0, 1}, {1, 0, 1}, {1, 1, 1} },
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{ {0, 0, 0}, {1, 0, 1}, {1, 0, 0}, {1, 1, 1} },
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{ {0, 0, 0}, {1, 1, 0}, {0, 1, 0}, {1, 1, 1} },
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{ {0, 0, 0}, {1, 0, 0}, {1, 1, 0}, {1, 1, 1} }
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};
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// Create volume constraints
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for (uint z = 0; z < inGridSize - 1; ++z)
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for (uint y = 0; y < inGridSize - 1; ++y)
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for (uint x = 0; x < inGridSize - 1; ++x)
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for (uint t = 0; t < 6; ++t)
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{
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SoftBodySharedSettings::Volume v;
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for (uint i = 0; i < 4; ++i)
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v.mVertex[i] = vertex_index(x + tetra_indices[t][i][0], y + tetra_indices[t][i][1], z + tetra_indices[t][i][2]);
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settings->mVolumeConstraints.push_back(v);
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}
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settings->CalculateVolumeConstraintVolumes();
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// Create faces
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for (uint y = 0; y < inGridSize - 1; ++y)
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for (uint x = 0; x < inGridSize - 1; ++x)
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{
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SoftBodySharedSettings::Face f;
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// Face 1
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f.mVertex[0] = vertex_index(x, y, 0);
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f.mVertex[1] = vertex_index(x, y + 1, 0);
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f.mVertex[2] = vertex_index(x + 1, y + 1, 0);
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settings->AddFace(f);
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f.mVertex[1] = vertex_index(x + 1, y + 1, 0);
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f.mVertex[2] = vertex_index(x + 1, y, 0);
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settings->AddFace(f);
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// Face 2
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f.mVertex[0] = vertex_index(x, y, inGridSize - 1);
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f.mVertex[1] = vertex_index(x + 1, y + 1, inGridSize - 1);
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f.mVertex[2] = vertex_index(x, y + 1, inGridSize - 1);
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settings->AddFace(f);
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f.mVertex[1] = vertex_index(x + 1, y, inGridSize - 1);
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f.mVertex[2] = vertex_index(x + 1, y + 1, inGridSize - 1);
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settings->AddFace(f);
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// Face 3
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f.mVertex[0] = vertex_index(x, 0, y);
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f.mVertex[1] = vertex_index(x + 1, 0, y + 1);
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f.mVertex[2] = vertex_index(x, 0, y + 1);
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settings->AddFace(f);
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f.mVertex[1] = vertex_index(x + 1, 0, y);
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f.mVertex[2] = vertex_index(x + 1, 0, y + 1);
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settings->AddFace(f);
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// Face 4
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f.mVertex[0] = vertex_index(x, inGridSize - 1, y);
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f.mVertex[1] = vertex_index(x, inGridSize - 1, y + 1);
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f.mVertex[2] = vertex_index(x + 1, inGridSize - 1, y + 1);
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settings->AddFace(f);
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f.mVertex[1] = vertex_index(x + 1, inGridSize - 1, y + 1);
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f.mVertex[2] = vertex_index(x + 1, inGridSize - 1, y);
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settings->AddFace(f);
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// Face 5
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f.mVertex[0] = vertex_index(0, x, y);
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f.mVertex[1] = vertex_index(0, x, y + 1);
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f.mVertex[2] = vertex_index(0, x + 1, y + 1);
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settings->AddFace(f);
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f.mVertex[1] = vertex_index(0, x + 1, y + 1);
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f.mVertex[2] = vertex_index(0, x + 1, y);
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settings->AddFace(f);
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// Face 6
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f.mVertex[0] = vertex_index(inGridSize - 1, x, y);
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f.mVertex[1] = vertex_index(inGridSize - 1, x + 1, y + 1);
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f.mVertex[2] = vertex_index(inGridSize - 1, x, y + 1);
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settings->AddFace(f);
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f.mVertex[1] = vertex_index(inGridSize - 1, x + 1, y);
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f.mVertex[2] = vertex_index(inGridSize - 1, x + 1, y + 1);
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settings->AddFace(f);
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}
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// Optimize the settings
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settings->Optimize();
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return settings;
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}
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JPH_NAMESPACE_END
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@ -111,6 +111,12 @@ public:
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/// Restore a shape and materials. Pass in an empty map in ioSettingsMap / ioMaterialMap or reuse the same map while reading multiple settings objects from the same stream in order to restore duplicates.
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static SettingsResult sRestoreWithMaterials(StreamIn &inStream, IDToSharedSettingsMap &ioSettingsMap, IDToMaterialMap &ioMaterialMap);
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/// Create a cube. This can be used to create a simple soft body for testing purposes.
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/// It will contain edge constraints, volume constraints and faces.
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/// @param inGridSize Number of points along each axis
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/// @param inGridSpacing Distance between points
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static Ref<SoftBodySharedSettings> sCreateCube(uint inGridSize, float inGridSpacing);
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/// A vertex is a particle, the data in this structure is only used during creation of the soft body and not during simulation
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struct JPH_EXPORT Vertex
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{
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