godot/modules/jolt_physics/spaces/jolt_space_3d.cpp

/**************************************************************************/
/*  jolt_space_3d.cpp                                                     */
/**************************************************************************/
/*                         This file is part of:                          */
/*                             GODOT ENGINE                               */
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
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#include "jolt_space_3d.h"

#include "../joints/jolt_joint_3d.h"
#include "../jolt_physics_server_3d.h"
#include "../jolt_project_settings.h"
#include "../misc/jolt_stream_wrappers.h"
#include "../objects/jolt_area_3d.h"
#include "../objects/jolt_body_3d.h"
#include "../shapes/jolt_custom_shape_type.h"
#include "../shapes/jolt_shape_3d.h"
#include "jolt_contact_listener_3d.h"
#include "jolt_layers.h"
#include "jolt_physics_direct_space_state_3d.h"
#include "jolt_temp_allocator.h"

#include "core/io/file_access.h"
#include "core/os/time.h"
#include "core/string/print_string.h"
#include "core/variant/variant_utility.h"

#include "Jolt/Physics/PhysicsScene.h"

namespace {

constexpr double DEFAULT_CONTACT_RECYCLE_RADIUS = 0.01;
constexpr double DEFAULT_CONTACT_MAX_SEPARATION = 0.05;
constexpr double DEFAULT_CONTACT_MAX_ALLOWED_PENETRATION = 0.01;
constexpr double DEFAULT_CONTACT_DEFAULT_BIAS = 0.8;
constexpr double DEFAULT_SLEEP_THRESHOLD_LINEAR = 0.1;
constexpr double DEFAULT_SLEEP_THRESHOLD_ANGULAR = 8.0 * Math::PI / 180;
constexpr double DEFAULT_SOLVER_ITERATIONS = 8;

} // namespace

void JoltSpace3D::_pre_step(float p_step) {
	while (needs_optimization_list.first()) {
		JoltShapedObject3D *object = needs_optimization_list.first()->self();
		needs_optimization_list.remove(needs_optimization_list.first());
		object->commit_shapes(true);
	}

	contact_listener->pre_step();

	const JPH::BodyLockInterface &lock_iface = get_lock_iface();
	const JPH::BodyID *active_rigid_bodies = physics_system->GetActiveBodiesUnsafe(JPH::EBodyType::RigidBody);
	const JPH::uint32 active_rigid_body_count = physics_system->GetNumActiveBodies(JPH::EBodyType::RigidBody);

	for (JPH::uint32 i = 0; i < active_rigid_body_count; i++) {
		JPH::Body *jolt_body = lock_iface.TryGetBody(active_rigid_bodies[i]);
		JoltObject3D *object = reinterpret_cast<JoltObject3D *>(jolt_body->GetUserData());
		object->pre_step(p_step, *jolt_body);
	}
}

void JoltSpace3D::_post_step(float p_step) {
	contact_listener->post_step();

	while (shapes_changed_list.first()) {
		JoltShapedObject3D *object = shapes_changed_list.first()->self();
		shapes_changed_list.remove(shapes_changed_list.first());
		object->clear_previous_shape();
	}
}

JoltSpace3D::JoltSpace3D(JPH::JobSystem *p_job_system) :
		job_system(p_job_system),
		temp_allocator(new JoltTempAllocator()),
		layers(new JoltLayers()),
		contact_listener(new JoltContactListener3D(this)),
		physics_system(new JPH::PhysicsSystem()) {
	physics_system->Init((JPH::uint)JoltProjectSettings::max_bodies, 0, (JPH::uint)JoltProjectSettings::max_body_pairs, (JPH::uint)JoltProjectSettings::max_contact_constraints, *layers, *layers, *layers);

	JPH::PhysicsSettings settings;
	settings.mBaumgarte = JoltProjectSettings::baumgarte_stabilization_factor;
	settings.mSpeculativeContactDistance = JoltProjectSettings::speculative_contact_distance;
	settings.mPenetrationSlop = JoltProjectSettings::penetration_slop;
	settings.mLinearCastThreshold = JoltProjectSettings::ccd_movement_threshold;
	settings.mLinearCastMaxPenetration = JoltProjectSettings::ccd_max_penetration;
	settings.mBodyPairCacheMaxDeltaPositionSq = JoltProjectSettings::body_pair_cache_distance_sq;
	settings.mBodyPairCacheCosMaxDeltaRotationDiv2 = JoltProjectSettings::body_pair_cache_angle_cos_div2;
	settings.mNumVelocitySteps = (JPH::uint)JoltProjectSettings::simulation_velocity_steps;
	settings.mNumPositionSteps = (JPH::uint)JoltProjectSettings::simulation_position_steps;
	settings.mMinVelocityForRestitution = JoltProjectSettings::bounce_velocity_threshold;
	settings.mTimeBeforeSleep = JoltProjectSettings::sleep_time_threshold;
	settings.mPointVelocitySleepThreshold = JoltProjectSettings::sleep_velocity_threshold;
	settings.mUseBodyPairContactCache = JoltProjectSettings::body_pair_contact_cache_enabled;
	settings.mAllowSleeping = JoltProjectSettings::sleep_allowed;

	physics_system->SetPhysicsSettings(settings);
	physics_system->SetGravity(JPH::Vec3::sZero());
	physics_system->SetContactListener(contact_listener);
	physics_system->SetSoftBodyContactListener(contact_listener);

	physics_system->SetCombineFriction([](const JPH::Body &p_body1, const JPH::SubShapeID &p_sub_shape_id1, const JPH::Body &p_body2, const JPH::SubShapeID &p_sub_shape_id2) {
		return Math::abs(MIN(p_body1.GetFriction(), p_body2.GetFriction()));
	});

	physics_system->SetCombineRestitution([](const JPH::Body &p_body1, const JPH::SubShapeID &p_sub_shape_id1, const JPH::Body &p_body2, const JPH::SubShapeID &p_sub_shape_id2) {
		return CLAMP(p_body1.GetRestitution() + p_body2.GetRestitution(), 0.0f, 1.0f);
	});
}

JoltSpace3D::~JoltSpace3D() {
	if (direct_state != nullptr) {
		memdelete(direct_state);
		direct_state = nullptr;
	}

	if (physics_system != nullptr) {
		delete physics_system;
		physics_system = nullptr;
	}

	if (contact_listener != nullptr) {
		delete contact_listener;
		contact_listener = nullptr;
	}

	if (layers != nullptr) {
		delete layers;
		layers = nullptr;
	}

	if (temp_allocator != nullptr) {
		delete temp_allocator;
		temp_allocator = nullptr;
	}
}

void JoltSpace3D::step(float p_step) {
	stepping = true;
	last_step = p_step;

	_pre_step(p_step);

	const JPH::EPhysicsUpdateError update_error = physics_system->Update(p_step, 1, temp_allocator, job_system);

	if ((update_error & JPH::EPhysicsUpdateError::ManifoldCacheFull) != JPH::EPhysicsUpdateError::None) {
		WARN_PRINT_ONCE(vformat("Jolt Physics manifold cache exceeded capacity and contacts were ignored. "
								"Consider increasing maximum number of contact constraints in project settings. "
								"Maximum number of contact constraints is currently set to %d.",
				JoltProjectSettings::max_contact_constraints));
	}

	if ((update_error & JPH::EPhysicsUpdateError::BodyPairCacheFull) != JPH::EPhysicsUpdateError::None) {
		WARN_PRINT_ONCE(vformat("Jolt Physics body pair cache exceeded capacity and contacts were ignored. "
								"Consider increasing maximum number of body pairs in project settings. "
								"Maximum number of body pairs is currently set to %d.",
				JoltProjectSettings::max_body_pairs));
	}

	if ((update_error & JPH::EPhysicsUpdateError::ContactConstraintsFull) != JPH::EPhysicsUpdateError::None) {
		WARN_PRINT_ONCE(vformat("Jolt Physics contact constraint buffer exceeded capacity and contacts were ignored. "
								"Consider increasing maximum number of contact constraints in project settings. "
								"Maximum number of contact constraints is currently set to %d.",
				JoltProjectSettings::max_contact_constraints));
	}

	_post_step(p_step);

	bodies_added_since_optimizing = 0;
	stepping = false;
}

void JoltSpace3D::call_queries() {
	while (body_call_queries_list.first()) {
		JoltBody3D *body = body_call_queries_list.first()->self();
		body_call_queries_list.remove(body_call_queries_list.first());
		body->call_queries();
	}

	while (area_call_queries_list.first()) {
		JoltArea3D *body = area_call_queries_list.first()->self();
		area_call_queries_list.remove(area_call_queries_list.first());
		body->call_queries();
	}
}

double JoltSpace3D::get_param(PhysicsServer3D::SpaceParameter p_param) const {
	switch (p_param) {
		case PhysicsServer3D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: {
			return DEFAULT_CONTACT_RECYCLE_RADIUS;
		}
		case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_SEPARATION: {
			return DEFAULT_CONTACT_MAX_SEPARATION;
		}
		case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION: {
			return DEFAULT_CONTACT_MAX_ALLOWED_PENETRATION;
		}
		case PhysicsServer3D::SPACE_PARAM_CONTACT_DEFAULT_BIAS: {
			return DEFAULT_CONTACT_DEFAULT_BIAS;
		}
		case PhysicsServer3D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: {
			return DEFAULT_SLEEP_THRESHOLD_LINEAR;
		}
		case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: {
			return DEFAULT_SLEEP_THRESHOLD_ANGULAR;
		}
		case PhysicsServer3D::SPACE_PARAM_BODY_TIME_TO_SLEEP: {
			return JoltProjectSettings::sleep_time_threshold;
		}
		case PhysicsServer3D::SPACE_PARAM_SOLVER_ITERATIONS: {
			return DEFAULT_SOLVER_ITERATIONS;
		}
		default: {
			ERR_FAIL_V_MSG(0.0, vformat("Unhandled space parameter: '%d'. This should not happen. Please report this.", p_param));
		}
	}
}

void JoltSpace3D::set_param(PhysicsServer3D::SpaceParameter p_param, double p_value) {
	switch (p_param) {
		case PhysicsServer3D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: {
			WARN_PRINT("Space-specific contact recycle radius is not supported when using Jolt Physics. Any such value will be ignored.");
		} break;
		case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_SEPARATION: {
			WARN_PRINT("Space-specific contact max separation is not supported when using Jolt Physics. Any such value will be ignored.");
		} break;
		case PhysicsServer3D::SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION: {
			WARN_PRINT("Space-specific contact max allowed penetration is not supported when using Jolt Physics. Any such value will be ignored.");
		} break;
		case PhysicsServer3D::SPACE_PARAM_CONTACT_DEFAULT_BIAS: {
			WARN_PRINT("Space-specific contact default bias is not supported when using Jolt Physics. Any such value will be ignored.");
		} break;
		case PhysicsServer3D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: {
			WARN_PRINT("Space-specific linear velocity sleep threshold is not supported when using Jolt Physics. Any such value will be ignored.");
		} break;
		case PhysicsServer3D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: {
			WARN_PRINT("Space-specific angular velocity sleep threshold is not supported when using Jolt Physics. Any such value will be ignored.");
		} break;
		case PhysicsServer3D::SPACE_PARAM_BODY_TIME_TO_SLEEP: {
			WARN_PRINT("Space-specific body sleep time is not supported when using Jolt Physics. Any such value will be ignored.");
		} break;
		case PhysicsServer3D::SPACE_PARAM_SOLVER_ITERATIONS: {
			WARN_PRINT("Space-specific solver iterations is not supported when using Jolt Physics. Any such value will be ignored.");
		} break;
		default: {
			ERR_FAIL_MSG(vformat("Unhandled space parameter: '%d'. This should not happen. Please report this.", p_param));
		} break;
	}
}

JPH::BodyInterface &JoltSpace3D::get_body_iface() {
	return physics_system->GetBodyInterfaceNoLock();
}

const JPH::BodyInterface &JoltSpace3D::get_body_iface() const {
	return physics_system->GetBodyInterfaceNoLock();
}

const JPH::BodyLockInterface &JoltSpace3D::get_lock_iface() const {
	return physics_system->GetBodyLockInterfaceNoLock();
}

const JPH::BroadPhaseQuery &JoltSpace3D::get_broad_phase_query() const {
	return physics_system->GetBroadPhaseQuery();
}

const JPH::NarrowPhaseQuery &JoltSpace3D::get_narrow_phase_query() const {
	return physics_system->GetNarrowPhaseQueryNoLock();
}

JPH::ObjectLayer JoltSpace3D::map_to_object_layer(JPH::BroadPhaseLayer p_broad_phase_layer, uint32_t p_collision_layer, uint32_t p_collision_mask) {
	return layers->to_object_layer(p_broad_phase_layer, p_collision_layer, p_collision_mask);
}

void JoltSpace3D::map_from_object_layer(JPH::ObjectLayer p_object_layer, JPH::BroadPhaseLayer &r_broad_phase_layer, uint32_t &r_collision_layer, uint32_t &r_collision_mask) const {
	layers->from_object_layer(p_object_layer, r_broad_phase_layer, r_collision_layer, r_collision_mask);
}

JPH::Body *JoltSpace3D::try_get_jolt_body(const JPH::BodyID &p_body_id) const {
	return get_lock_iface().TryGetBody(p_body_id);
}

JoltObject3D *JoltSpace3D::try_get_object(const JPH::BodyID &p_body_id) const {
	const JPH::Body *jolt_body = try_get_jolt_body(p_body_id);
	if (unlikely(jolt_body == nullptr)) {
		return nullptr;
	}

	return reinterpret_cast<JoltObject3D *>(jolt_body->GetUserData());
}

JoltShapedObject3D *JoltSpace3D::try_get_shaped(const JPH::BodyID &p_body_id) const {
	JoltObject3D *object = try_get_object(p_body_id);
	if (unlikely(object == nullptr)) {
		return nullptr;
	}

	return object->as_shaped();
}

JoltBody3D *JoltSpace3D::try_get_body(const JPH::BodyID &p_body_id) const {
	JoltObject3D *object = try_get_object(p_body_id);
	if (unlikely(object == nullptr)) {
		return nullptr;
	}

	return object->as_body();
}

JoltArea3D *JoltSpace3D::try_get_area(const JPH::BodyID &p_body_id) const {
	JoltObject3D *object = try_get_object(p_body_id);
	if (unlikely(object == nullptr)) {
		return nullptr;
	}

	return object->as_area();
}

JoltSoftBody3D *JoltSpace3D::try_get_soft_body(const JPH::BodyID &p_body_id) const {
	JoltObject3D *object = try_get_object(p_body_id);
	if (unlikely(object == nullptr)) {
		return nullptr;
	}

	return object->as_soft_body();
}

JoltPhysicsDirectSpaceState3D *JoltSpace3D::get_direct_state() {
	if (direct_state == nullptr) {
		direct_state = memnew(JoltPhysicsDirectSpaceState3D(this));
	}

	return direct_state;
}

void JoltSpace3D::set_default_area(JoltArea3D *p_area) {
	if (default_area == p_area) {
		return;
	}

	if (default_area != nullptr) {
		default_area->set_default_area(false);
	}

	default_area = p_area;

	if (default_area != nullptr) {
		default_area->set_default_area(true);
	}
}

JPH::Body *JoltSpace3D::add_rigid_body(const JoltObject3D &p_object, const JPH::BodyCreationSettings &p_settings, bool p_sleeping) {
	JPH::BodyInterface &body_iface = get_body_iface();
	JPH::Body *jolt_body = body_iface.CreateBody(p_settings);
	if (unlikely(jolt_body == nullptr)) {
		ERR_PRINT_ONCE(vformat("Failed to create underlying Jolt Physics body for '%s'. "
							   "Consider increasing maximum number of bodies in project settings. "
							   "Maximum number of bodies is currently set to %d.",
				p_object.to_string(), JoltProjectSettings::max_bodies));

		return nullptr;
	}

	body_iface.AddBody(jolt_body->GetID(), p_sleeping ? JPH::EActivation::DontActivate : JPH::EActivation::Activate);
	bodies_added_since_optimizing += 1;

	return jolt_body;
}

JPH::Body *JoltSpace3D::add_soft_body(const JoltObject3D &p_object, const JPH::SoftBodyCreationSettings &p_settings, bool p_sleeping) {
	JPH::BodyInterface &body_iface = get_body_iface();
	JPH::Body *jolt_body = body_iface.CreateSoftBody(p_settings);
	if (unlikely(jolt_body == nullptr)) {
		ERR_PRINT_ONCE(vformat("Failed to create underlying Jolt Physics body for '%s'. "
							   "Consider increasing maximum number of bodies in project settings. "
							   "Maximum number of bodies is currently set to %d.",
				p_object.to_string(), JoltProjectSettings::max_bodies));

		return nullptr;
	}

	body_iface.AddBody(jolt_body->GetID(), p_sleeping ? JPH::EActivation::DontActivate : JPH::EActivation::Activate);
	bodies_added_since_optimizing += 1;

	return jolt_body;
}

void JoltSpace3D::remove_body(const JPH::BodyID &p_body_id) {
	JPH::BodyInterface &body_iface = get_body_iface();

	body_iface.RemoveBody(p_body_id);
	body_iface.DestroyBody(p_body_id);
}

void JoltSpace3D::try_optimize() {
	// This makes assumptions about the underlying acceleration structure of Jolt's broad-phase, which currently uses a
	// quadtree, and which gets walked with a fixed-size node stack of 128. This means that when the quadtree is
	// completely unbalanced, as is the case if we add bodies one-by-one without ever stepping the simulation, like in
	// the editor viewport, we would exceed this stack size (resulting in an incomplete search) as soon as we perform a
	// physics query after having added somewhere in the order of 128 * 3 bodies. We leave a hefty margin just in case.

	if (likely(bodies_added_since_optimizing < 128)) {
		return;
	}

	physics_system->OptimizeBroadPhase();

	bodies_added_since_optimizing = 0;
}

void JoltSpace3D::enqueue_call_queries(SelfList<JoltBody3D> *p_body) {
	if (!p_body->in_list()) {
		body_call_queries_list.add(p_body);
	}
}

void JoltSpace3D::enqueue_call_queries(SelfList<JoltArea3D> *p_area) {
	if (!p_area->in_list()) {
		area_call_queries_list.add(p_area);
	}
}

void JoltSpace3D::dequeue_call_queries(SelfList<JoltBody3D> *p_body) {
	if (p_body->in_list()) {
		body_call_queries_list.remove(p_body);
	}
}

void JoltSpace3D::dequeue_call_queries(SelfList<JoltArea3D> *p_area) {
	if (p_area->in_list()) {
		area_call_queries_list.remove(p_area);
	}
}

void JoltSpace3D::enqueue_shapes_changed(SelfList<JoltShapedObject3D> *p_object) {
	if (!p_object->in_list()) {
		shapes_changed_list.add(p_object);
	}
}

void JoltSpace3D::dequeue_shapes_changed(SelfList<JoltShapedObject3D> *p_object) {
	if (p_object->in_list()) {
		shapes_changed_list.remove(p_object);
	}
}

void JoltSpace3D::enqueue_needs_optimization(SelfList<JoltShapedObject3D> *p_object) {
	if (!p_object->in_list()) {
		needs_optimization_list.add(p_object);
	}
}

void JoltSpace3D::dequeue_needs_optimization(SelfList<JoltShapedObject3D> *p_object) {
	if (p_object->in_list()) {
		needs_optimization_list.remove(p_object);
	}
}

void JoltSpace3D::add_joint(JPH::Constraint *p_jolt_ref) {
	physics_system->AddConstraint(p_jolt_ref);
}

void JoltSpace3D::add_joint(JoltJoint3D *p_joint) {
	add_joint(p_joint->get_jolt_ref());
}

void JoltSpace3D::remove_joint(JPH::Constraint *p_jolt_ref) {
	physics_system->RemoveConstraint(p_jolt_ref);
}

void JoltSpace3D::remove_joint(JoltJoint3D *p_joint) {
	remove_joint(p_joint->get_jolt_ref());
}

#ifdef DEBUG_ENABLED

void JoltSpace3D::dump_debug_snapshot(const String &p_dir) {
	const Dictionary datetime = Time::get_singleton()->get_datetime_dict_from_system();
	const String datetime_str = vformat("%04d-%02d-%02d_%02d-%02d-%02d", datetime["year"], datetime["month"], datetime["day"], datetime["hour"], datetime["minute"], datetime["second"]);
	const String path = p_dir + vformat("/jolt_snapshot_%s_%d.bin", datetime_str, rid.get_id());

	Ref<FileAccess> file_access = FileAccess::open(path, FileAccess::ModeFlags::WRITE);
	ERR_FAIL_COND_MSG(file_access.is_null(), vformat("Failed to open '%s' for writing when saving snapshot of physics space with RID '%d'.", path, rid.get_id()));

	JPH::PhysicsScene physics_scene;
	physics_scene.FromPhysicsSystem(physics_system);

	for (JPH::BodyCreationSettings &settings : physics_scene.GetBodies()) {
		const JoltObject3D *object = reinterpret_cast<const JoltObject3D *>(settings.mUserData);

		if (const JoltBody3D *body = object->as_body()) {
			// Since we do our own integration of gravity and damping, while leaving Jolt's own values at zero, we need to transfer over the correct values.
			settings.mGravityFactor = body->get_gravity_scale();
			settings.mLinearDamping = body->get_total_linear_damp();
			settings.mAngularDamping = body->get_total_angular_damp();
		}

		settings.SetShape(JoltShape3D::without_custom_shapes(settings.GetShape()));
	}

	JoltStreamOutputWrapper output_stream(file_access);
	physics_scene.SaveBinaryState(output_stream, true, false);

	ERR_FAIL_COND_MSG(file_access->get_error() != OK, vformat("Writing snapshot of physics space with RID '%d' to '%s' failed with error '%s'.", rid.get_id(), path, VariantUtilityFunctions::error_string(file_access->get_error())));

	print_line(vformat("Snapshot of physics space with RID '%d' saved to '%s'.", rid.get_id(), path));
}

const PackedVector3Array &JoltSpace3D::get_debug_contacts() const {
	return contact_listener->get_debug_contacts();
}

int JoltSpace3D::get_debug_contact_count() const {
	return contact_listener->get_debug_contact_count();
}

int JoltSpace3D::get_max_debug_contacts() const {
	return contact_listener->get_max_debug_contacts();
}

void JoltSpace3D::set_max_debug_contacts(int p_count) {
	contact_listener->set_max_debug_contacts(p_count);
}

#endif