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448c41a3e4
Use ThreadWorkPool to process physics step tasks in multiple threads. Collisions are all processed in parallel and solving impulses is processed in parallel for rigid body islands. Additional changes: - Proper islands for soft bodies linked to active bodies - All moving areas are on separate islands (can be parallelized) - Fix inconsistencies with body islands (Kinematic bodies could link bodies together or not depending on the processing order) - Completely prevent static bodies to be active (it could cause islands to be wrongly created and cause dangerous multi-threading operations as well as inconsistencies in created islands) - Apply impulses only on dynamic bodies to avoid unsafe multi-threaded operations (static bodies can be on multiple islands) - Removed inverted iterations when populating body islands, it's now faster in regular order (maybe after fixing inconsistencies)
69 lines
3.2 KiB
C++
69 lines
3.2 KiB
C++
/*************************************************************************/
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/* joints_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 JOINTS_SW_H
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#define JOINTS_SW_H
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#include "body_3d_sw.h"
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#include "constraint_3d_sw.h"
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class Joint3DSW : public Constraint3DSW {
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protected:
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bool dynamic_A = false;
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bool dynamic_B = false;
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public:
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virtual bool setup(real_t p_step) override { return false; }
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virtual bool pre_solve(real_t p_step) override { return true; }
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virtual void solve(real_t p_step) override {}
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void copy_settings_from(Joint3DSW *p_joint) {
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set_self(p_joint->get_self());
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set_priority(p_joint->get_priority());
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disable_collisions_between_bodies(p_joint->is_disabled_collisions_between_bodies());
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}
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virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_TYPE_MAX; }
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_FORCE_INLINE_ Joint3DSW(Body3DSW **p_body_ptr = nullptr, int p_body_count = 0) :
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Constraint3DSW(p_body_ptr, p_body_count) {
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}
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virtual ~Joint3DSW() {
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for (int i = 0; i < get_body_count(); i++) {
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Body3DSW *body = get_body_ptr()[i];
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if (body) {
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body->remove_constraint(this);
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}
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}
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}
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};
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#endif // JOINTS_SW_H
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