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Deterministic constraint map in Godot Physics solver #48497

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Deterministic constraint map in Godot Physics solver #48497

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14 changes: 0 additions & 14 deletions servers/physics_2d/area_2d_sw.h
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Original file line number Diff line number Diff line change
Expand Up @@ -34,11 +34,9 @@
#include "collision_object_2d_sw.h"
#include "core/templates/self_list.h"
#include "servers/physics_server_2d.h"
//#include "servers/physics_3d/query_sw.h"

class Space2DSW;
class Body2DSW;
class Constraint2DSW;

class Area2DSW : public CollisionObject2DSW {
PhysicsServer2D::AreaSpaceOverrideMode space_override_mode;
Expand Down Expand Up @@ -94,17 +92,10 @@ class Area2DSW : public CollisionObject2DSW {
Map<BodyKey, BodyState> monitored_bodies;
Map<BodyKey, BodyState> monitored_areas;

//virtual void shape_changed_notify(Shape2DSW *p_shape);
//virtual void shape_deleted_notify(Shape2DSW *p_shape);
Set<Constraint2DSW *> constraints;

virtual void _shapes_changed();
void _queue_monitor_update();

public:
//_FORCE_INLINE_ const Matrix32& get_inverse_transform() const { return inverse_transform; }
//_FORCE_INLINE_ SpaceSW* get_owner() { return owner; }

void set_monitor_callback(ObjectID p_id, const StringName &p_method);
_FORCE_INLINE_ bool has_monitor_callback() const { return monitor_callback_id.is_valid(); }

Expand Down Expand Up @@ -147,11 +138,6 @@ class Area2DSW : public CollisionObject2DSW {
_FORCE_INLINE_ void set_priority(int p_priority) { priority = p_priority; }
_FORCE_INLINE_ int get_priority() const { return priority; }

_FORCE_INLINE_ void add_constraint(Constraint2DSW *p_constraint) { constraints.insert(p_constraint); }
_FORCE_INLINE_ void remove_constraint(Constraint2DSW *p_constraint) { constraints.erase(p_constraint); }
_FORCE_INLINE_ const Set<Constraint2DSW *> &get_constraints() const { return constraints; }
_FORCE_INLINE_ void clear_constraints() { constraints.clear(); }

void set_monitorable(bool p_monitorable);
_FORCE_INLINE_ bool is_monitorable() const { return monitorable; }

Expand Down
4 changes: 2 additions & 2 deletions servers/physics_2d/area_pair_2d_sw.cpp
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Expand Up @@ -89,7 +89,7 @@ AreaPair2DSW::AreaPair2DSW(Body2DSW *p_body, int p_body_shape, Area2DSW *p_area,
area = p_area;
body_shape = p_body_shape;
area_shape = p_area_shape;
body->add_constraint(this, 0);
body->add_constraint(this);
area->add_constraint(this);
if (p_body->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC) { //need to be active to process pair
p_body->set_active(true);
Expand All @@ -105,7 +105,7 @@ AreaPair2DSW::~AreaPair2DSW() {
area->remove_body_from_query(body, body_shape, area_shape);
}
}
body->remove_constraint(this, 0);
body->remove_constraint(this);
area->remove_constraint(this);
}

Expand Down
22 changes: 12 additions & 10 deletions servers/physics_2d/body_2d_sw.cpp
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Expand Up @@ -541,22 +541,24 @@ void Body2DSW::integrate_velocities(real_t p_step) {
}

void Body2DSW::wakeup_neighbours() {
for (List<Pair<Constraint2DSW *, int>>::Element *E = constraint_list.front(); E; E = E->next()) {
const Constraint2DSW *c = E->get().first;
Body2DSW **n = c->get_body_ptr();
int bc = c->get_body_count();
for (const CollisionObject2DSW::T_ConstraintMap::Element *E = get_constraint_map().front(); E; E = E->next()) {
const Constraint2DSW *constraint = E->get();

for (int i = 0; i < bc; i++) {
if (i == E->get().second) {
Body2DSW **bodies = constraint->get_body_ptr();
int body_count = constraint->get_body_count();
for (int i = 0; i < body_count; i++) {
Body2DSW *body = bodies[i];

if (body == this) {
continue;
}
Body2DSW *b = n[i];
if (b->mode != PhysicsServer2D::BODY_MODE_RIGID) {

if (body->mode != PhysicsServer2D::BODY_MODE_RIGID) {
continue;
}

if (!b->is_active()) {
b->set_active(true);
if (!body->is_active()) {
body->set_active(true);
}
}
}
Expand Down
11 changes: 0 additions & 11 deletions servers/physics_2d/body_2d_sw.h
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Expand Up @@ -33,12 +33,8 @@

#include "area_2d_sw.h"
#include "collision_object_2d_sw.h"
#include "core/templates/list.h"
#include "core/templates/pair.h"
#include "core/templates/vset.h"

class Constraint2DSW;

class Body2DSW : public CollisionObject2DSW {
PhysicsServer2D::BodyMode mode;

Expand Down Expand Up @@ -85,8 +81,6 @@ class Body2DSW : public CollisionObject2DSW {
virtual void _shapes_changed();
Transform2D new_transform;

List<Pair<Constraint2DSW *, int>> constraint_list;

struct AreaCMP {
Area2DSW *area;
int refCount;
Expand Down Expand Up @@ -172,11 +166,6 @@ class Body2DSW : public CollisionObject2DSW {
_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_ void add_constraint(Constraint2DSW *p_constraint, int p_pos) { constraint_list.push_back({ p_constraint, p_pos }); }
_FORCE_INLINE_ void remove_constraint(Constraint2DSW *p_constraint, int p_pos) { constraint_list.erase({ p_constraint, p_pos }); }
const List<Pair<Constraint2DSW *, int>> &get_constraint_list() const { return constraint_list; }
_FORCE_INLINE_ void clear_constraint_list() { constraint_list.clear(); }

_FORCE_INLINE_ void set_omit_force_integration(bool p_omit_force_integration) { omit_force_integration = p_omit_force_integration; }
_FORCE_INLINE_ bool get_omit_force_integration() const { return omit_force_integration; }

Expand Down
8 changes: 4 additions & 4 deletions servers/physics_2d/body_pair_2d_sw.cpp
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Expand Up @@ -534,11 +534,11 @@ BodyPair2DSW::BodyPair2DSW(Body2DSW *p_A, int p_shape_A, Body2DSW *p_B, int p_sh
shape_A = p_shape_A;
shape_B = p_shape_B;
space = A->get_space();
A->add_constraint(this, 0);
B->add_constraint(this, 1);
A->add_constraint(this);
B->add_constraint(this);
}

BodyPair2DSW::~BodyPair2DSW() {
A->remove_constraint(this, 0);
B->remove_constraint(this, 1);
A->remove_constraint(this);
B->remove_constraint(this);
}
11 changes: 11 additions & 0 deletions servers/physics_2d/collision_object_2d_sw.h
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Expand Up @@ -32,6 +32,8 @@
#define COLLISION_OBJECT_2D_SW_H

#include "broad_phase_2d_sw.h"
#include "constraint_2d_sw.h"
#include "core/templates/map.h"
#include "core/templates/self_list.h"
#include "servers/physics_server_2d.h"
#include "shape_2d_sw.h"
Expand All @@ -45,6 +47,8 @@ class CollisionObject2DSW : public ShapeOwner2DSW {
TYPE_BODY
};

typedef Map<uint32_t, Constraint2DSW *> T_ConstraintMap;

private:
Type type;
RID self;
Expand Down Expand Up @@ -77,6 +81,8 @@ class CollisionObject2DSW : public ShapeOwner2DSW {
uint32_t collision_layer;
bool _static;

T_ConstraintMap constraint_map;

SelfList<CollisionObject2DSW> pending_shape_update_list;

void _update_shapes();
Expand Down Expand Up @@ -183,6 +189,11 @@ class CollisionObject2DSW : public ShapeOwner2DSW {
void remove_shape(Shape2DSW *p_shape);
void remove_shape(int p_index);

_FORCE_INLINE_ void add_constraint(Constraint2DSW *p_constraint) { constraint_map.insert(p_constraint->get_constraint_id(), p_constraint); }
_FORCE_INLINE_ void remove_constraint(Constraint2DSW *p_constraint) { constraint_map.erase(p_constraint->get_constraint_id()); }
const T_ConstraintMap &get_constraint_map() const { return constraint_map; }
_FORCE_INLINE_ void clear_constraint_map() { constraint_map.clear(); }

virtual void set_space(Space2DSW *p_space) = 0;

_FORCE_INLINE_ bool is_static() const { return _static; }
Expand Down
33 changes: 33 additions & 0 deletions servers/physics_2d/constraint_2d_sw.cpp
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@@ -0,0 +1,33 @@
/*************************************************************************/
/* constraint_2d_sw.cpp */
/*************************************************************************/
/* 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). */
/* */
/* 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 "constraint_2d_sw.h"

SafeNumeric<uint32_t> Constraint2DSW::constraint_id_counter;
12 changes: 11 additions & 1 deletion servers/physics_2d/constraint_2d_sw.h
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Expand Up @@ -31,7 +31,11 @@
#ifndef CONSTRAINT_2D_SW_H
#define CONSTRAINT_2D_SW_H

#include "body_2d_sw.h"
#include "core/math/math_defs.h"
#include "core/templates/rid.h"
#include "core/templates/safe_refcount.h"

class Body2DSW;

class Constraint2DSW {
Body2DSW **_body_ptr;
Expand All @@ -41,18 +45,24 @@ class Constraint2DSW {

RID self;

static SafeNumeric<uint32_t> constraint_id_counter;
uint32_t constraint_id = 0;

protected:
Constraint2DSW(Body2DSW **p_body_ptr = nullptr, int p_body_count = 0) {
_body_ptr = p_body_ptr;
_body_count = p_body_count;
island_step = 0;
disabled_collisions_between_bodies = true;
constraint_id = constraint_id_counter.increment();
}

public:
_FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; }
_FORCE_INLINE_ RID get_self() const { return self; }

_FORCE_INLINE_ uint32_t get_constraint_id() const { return constraint_id; }

_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; }

Expand Down
12 changes: 6 additions & 6 deletions servers/physics_2d/joints_2d_sw.cpp
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Expand Up @@ -215,9 +215,9 @@ PinJoint2DSW::PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p

softness = 0;

p_body_a->add_constraint(this, 0);
p_body_a->add_constraint(this);
if (p_body_b) {
p_body_b->add_constraint(this, 1);
p_body_b->add_constraint(this);
}
}

Expand Down Expand Up @@ -370,8 +370,8 @@ GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_
B_anchor = B->get_inv_transform().xform(p_b_anchor);
A_groove_normal = -(A_groove_2 - A_groove_1).normalized().orthogonal();

A->add_constraint(this, 0);
B->add_constraint(this, 1);
A->add_constraint(this);
B->add_constraint(this);
}

//////////////////////////////////////////////
Expand Down Expand Up @@ -482,6 +482,6 @@ DampedSpringJoint2DSW::DampedSpringJoint2DSW(const Vector2 &p_anchor_a, const Ve
stiffness = 20;
damping = 1.5;

A->add_constraint(this, 0);
B->add_constraint(this, 1);
A->add_constraint(this);
B->add_constraint(this);
}
2 changes: 1 addition & 1 deletion servers/physics_2d/joints_2d_sw.h
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Expand Up @@ -70,7 +70,7 @@ class Joint2DSW : public Constraint2DSW {
for (int i = 0; i < get_body_count(); i++) {
Body2DSW *body = get_body_ptr()[i];
if (body) {
body->remove_constraint(this, i);
body->remove_constraint(this);
}
}
};
Expand Down
4 changes: 2 additions & 2 deletions servers/physics_2d/physics_server_2d_sw.cpp
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Expand Up @@ -304,7 +304,7 @@ void PhysicsServer2DSW::area_set_space(RID p_area, RID p_space) {
return; //pointless
}

area->clear_constraints();
area->clear_constraint_map();
area->set_space(space);
};

Expand Down Expand Up @@ -548,7 +548,7 @@ void PhysicsServer2DSW::body_set_space(RID p_body, RID p_space) {
return; //pointless
}

body->clear_constraint_list();
body->clear_constraint_map();
body->set_space(space);
};

Expand Down
22 changes: 13 additions & 9 deletions servers/physics_2d/step_2d_sw.cpp
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Expand Up @@ -46,26 +46,30 @@ void Step2DSW::_populate_island(Body2DSW *p_body, LocalVector<Body2DSW *> &p_bod
p_body_island.push_back(p_body);
}

for (const List<Pair<Constraint2DSW *, int>>::Element *E = p_body->get_constraint_list().front(); E; E = E->next()) {
Constraint2DSW *constraint = (Constraint2DSW *)E->get().first;
for (const CollisionObject2DSW::T_ConstraintMap::Element *E = p_body->get_constraint_map().front(); E; E = E->next()) {
Constraint2DSW *constraint = E->get();
if (constraint->get_island_step() == _step) {
continue; // Already processed.
}
constraint->set_island_step(_step);
p_constraint_island.push_back(constraint);

all_constraints.push_back(constraint);

for (int i = 0; i < constraint->get_body_count(); i++) {
if (i == E->get().second) {
continue;
}
Body2DSW *other_body = constraint->get_body_ptr()[i];
// Find connected rigid bodies.
Body2DSW **bodies = constraint->get_body_ptr();
int body_count = constraint->get_body_count();
for (int i = 0; i < body_count; i++) {
Body2DSW *other_body = bodies[i];

if (other_body->get_island_step() == _step) {
continue; // Already processed.
continue; // Already processed (can be this body).
}

if (other_body->get_mode() == PhysicsServer2D::BODY_MODE_STATIC) {
continue; // Static bodies don't connect islands.
}

_populate_island(other_body, p_body_island, p_constraint_island);
}
}
Expand Down Expand Up @@ -163,7 +167,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
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()) {
for (const CollisionObject2DSW::T_ConstraintMap::Element *E = aml.first()->self()->get_constraint_map().front(); E; E = E->next()) {
Constraint2DSW *constraint = E->get();
if (constraint->get_island_step() == _step) {
continue;
Expand Down