JoltPhysics/Jolt/Physics/Constraints/ConstraintManager.cpp

// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT

#include <Jolt/Jolt.h>

#include <Jolt/Physics/Constraints/ConstraintManager.h>
#include <Jolt/Physics/IslandBuilder.h>
#include <Jolt/Physics/StateRecorder.h>
#include <Jolt/Physics/PhysicsLock.h>
#include <Jolt/Core/Profiler.h>
#include <Jolt/Core/QuickSort.h>

JPH_NAMESPACE_BEGIN

void ConstraintManager::Add(Constraint **inConstraints, int inNumber)						
{ 
	UniqueLock lock(mConstraintsMutex JPH_IF_ENABLE_ASSERTS(, mLockContext, EPhysicsLockTypes::ConstraintsList));

	mConstraints.reserve(mConstraints.size() + inNumber);

	for (Constraint **c = inConstraints, **c_end = inConstraints + inNumber; c < c_end; ++c)
	{
		Constraint *constraint = *c;

		// Assume this constraint has not been added yet
		JPH_ASSERT(constraint->mConstraintIndex == Constraint::cInvalidConstraintIndex);

		// Add to the list
		constraint->mConstraintIndex = uint32(mConstraints.size());
		mConstraints.push_back(constraint);
	}
}

void ConstraintManager::Remove(Constraint **inConstraints, int inNumber)
{
	UniqueLock lock(mConstraintsMutex JPH_IF_ENABLE_ASSERTS(, mLockContext, EPhysicsLockTypes::ConstraintsList));

	for (Constraint **c = inConstraints, **c_end = inConstraints + inNumber; c < c_end; ++c)
	{
		Constraint *constraint = *c;

		// Reset constraint index for this constraint
		uint32 this_constraint_idx = constraint->mConstraintIndex;
		constraint->mConstraintIndex = Constraint::cInvalidConstraintIndex;
		JPH_ASSERT(this_constraint_idx != Constraint::cInvalidConstraintIndex);

		// Check if this constraint is somewhere in the middle of the constraints, in this case we need to move the last constraint to this position
		uint32 last_constraint_idx = uint32(mConstraints.size() - 1);
		if (this_constraint_idx < last_constraint_idx)
		{
			Constraint *last_constraint = mConstraints[last_constraint_idx];
			last_constraint->mConstraintIndex = this_constraint_idx;
			mConstraints[this_constraint_idx] = last_constraint;
		}

		// Pop last constraint
		mConstraints.pop_back();
	}
}

Constraints ConstraintManager::GetConstraints() const
{
	UniqueLock lock(mConstraintsMutex JPH_IF_ENABLE_ASSERTS(, mLockContext, EPhysicsLockTypes::ConstraintsList));

	Constraints copy = mConstraints;
	return copy;
}

void ConstraintManager::GetActiveConstraints(uint32 inStartConstraintIdx, uint32 inEndConstraintIdx, Constraint **outActiveConstraints, uint32 &outNumActiveConstraints) const
{
	JPH_PROFILE_FUNCTION();

	JPH_ASSERT(inEndConstraintIdx <= mConstraints.size());

	uint32 num_active_constraints = 0;
	for (uint32 constraint_idx = inStartConstraintIdx; constraint_idx < inEndConstraintIdx; ++constraint_idx)
	{
		Constraint *c = mConstraints[constraint_idx];
		JPH_ASSERT(c->mConstraintIndex == constraint_idx);
		if (c->IsActive())
		{
			*(outActiveConstraints++) = c;
			num_active_constraints++;
		}
	}

	outNumActiveConstraints = num_active_constraints;
}

void ConstraintManager::sBuildIslands(Constraint **inActiveConstraints, uint32 inNumActiveConstraints, IslandBuilder &ioBuilder, BodyManager &inBodyManager)
{
	JPH_PROFILE_FUNCTION();

	for (uint32 constraint_idx = 0; constraint_idx < inNumActiveConstraints; ++constraint_idx)
	{
		Constraint *c = inActiveConstraints[constraint_idx];
		c->BuildIslands(constraint_idx, ioBuilder, inBodyManager);
	}
}

void ConstraintManager::sSortConstraints(Constraint **inActiveConstraints, uint32 *inConstraintIdxBegin, uint32 *inConstraintIdxEnd)
{
	JPH_PROFILE_FUNCTION();

	QuickSort(inConstraintIdxBegin, inConstraintIdxEnd, [inActiveConstraints](uint32 inLHS, uint32 inRHS) { return inActiveConstraints[inLHS]->mConstraintIndex < inActiveConstraints[inRHS]->mConstraintIndex; });
}

void ConstraintManager::sSetupVelocityConstraints(Constraint **inActiveConstraints, uint32 inNumActiveConstraints, float inDeltaTime)
{
	JPH_PROFILE_FUNCTION();

	for (Constraint **c = inActiveConstraints, **c_end = inActiveConstraints + inNumActiveConstraints; c < c_end; ++c)
		(*c)->SetupVelocityConstraint(inDeltaTime);
}

void ConstraintManager::sWarmStartVelocityConstraints(Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inWarmStartImpulseRatio)
{
	JPH_PROFILE_FUNCTION();

	for (const uint32 *constraint_idx = inConstraintIdxBegin; constraint_idx < inConstraintIdxEnd; ++constraint_idx)
	{
		Constraint *c = inActiveConstraints[*constraint_idx];
		c->WarmStartVelocityConstraint(inWarmStartImpulseRatio);
	}
}

void ConstraintManager::sWarmStartVelocityConstraints(Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inWarmStartImpulseRatio, int &ioNumVelocitySteps)
{
	JPH_PROFILE_FUNCTION();

	for (const uint32 *constraint_idx = inConstraintIdxBegin; constraint_idx < inConstraintIdxEnd; ++constraint_idx)
	{
		Constraint *c = inActiveConstraints[*constraint_idx];
		ioNumVelocitySteps = max(ioNumVelocitySteps, c->GetNumVelocityStepsOverride());
		c->WarmStartVelocityConstraint(inWarmStartImpulseRatio);
	}
}

bool ConstraintManager::sSolveVelocityConstraints(Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inDeltaTime)
{
	JPH_PROFILE_FUNCTION();

	bool any_impulse_applied = false;

	for (const uint32 *constraint_idx = inConstraintIdxBegin; constraint_idx < inConstraintIdxEnd; ++constraint_idx)
	{
		Constraint *c = inActiveConstraints[*constraint_idx];
		any_impulse_applied |= c->SolveVelocityConstraint(inDeltaTime);
	}

	return any_impulse_applied;
}

bool ConstraintManager::sSolvePositionConstraints(Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inDeltaTime, float inBaumgarte)
{
	JPH_PROFILE_FUNCTION();

	bool any_impulse_applied = false;

	for (const uint32 *constraint_idx = inConstraintIdxBegin; constraint_idx < inConstraintIdxEnd; ++constraint_idx)
	{
		Constraint *c = inActiveConstraints[*constraint_idx];
		any_impulse_applied |= c->SolvePositionConstraint(inDeltaTime, inBaumgarte);
	}

	return any_impulse_applied;
}

bool ConstraintManager::sSolvePositionConstraints(Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inDeltaTime, float inBaumgarte, int &ioNumPositionSteps)
{
	JPH_PROFILE_FUNCTION();

	bool any_impulse_applied = false;

	for (const uint32 *constraint_idx = inConstraintIdxBegin; constraint_idx < inConstraintIdxEnd; ++constraint_idx)
	{
		Constraint *c = inActiveConstraints[*constraint_idx];
		ioNumPositionSteps = max(ioNumPositionSteps, c->GetNumPositionStepsOverride());
		any_impulse_applied |= c->SolvePositionConstraint(inDeltaTime, inBaumgarte);
	}

	return any_impulse_applied;
}

#ifdef JPH_DEBUG_RENDERER
void ConstraintManager::DrawConstraints(DebugRenderer *inRenderer) const
{
	JPH_PROFILE_FUNCTION();

	UniqueLock lock(mConstraintsMutex JPH_IF_ENABLE_ASSERTS(, mLockContext, EPhysicsLockTypes::ConstraintsList));

	for (const Ref<Constraint> &c : mConstraints)			
		c->DrawConstraint(inRenderer);
}

void ConstraintManager::DrawConstraintLimits(DebugRenderer *inRenderer) const
{
	JPH_PROFILE_FUNCTION();

	UniqueLock lock(mConstraintsMutex JPH_IF_ENABLE_ASSERTS(, mLockContext, EPhysicsLockTypes::ConstraintsList));

	for (const Ref<Constraint> &c : mConstraints)
		c->DrawConstraintLimits(inRenderer);
}

void ConstraintManager::DrawConstraintReferenceFrame(DebugRenderer *inRenderer) const
{
	JPH_PROFILE_FUNCTION();

	UniqueLock lock(mConstraintsMutex JPH_IF_ENABLE_ASSERTS(, mLockContext, EPhysicsLockTypes::ConstraintsList));

	for (const Ref<Constraint> &c : mConstraints)
		c->DrawConstraintReferenceFrame(inRenderer);
}
#endif // JPH_DEBUG_RENDERER

void ConstraintManager::SaveState(StateRecorder &inStream) const
{	
	UniqueLock lock(mConstraintsMutex JPH_IF_ENABLE_ASSERTS(, mLockContext, EPhysicsLockTypes::ConstraintsList));

	// Write state of constraints
	size_t num_constraints = mConstraints.size();
	inStream.Write(num_constraints);
	for (const Ref<Constraint> &c : mConstraints)
		c->SaveState(inStream);
}

bool ConstraintManager::RestoreState(StateRecorder &inStream)
{
	UniqueLock lock(mConstraintsMutex JPH_IF_ENABLE_ASSERTS(, mLockContext, EPhysicsLockTypes::ConstraintsList));

	// Read state of constraints
	size_t num_constraints = mConstraints.size(); // Initialize to current value for validation
	inStream.Read(num_constraints);
	if (num_constraints != mConstraints.size())
	{
		JPH_ASSERT(false, "Cannot handle adding/removing constraints");
		return false;
	}

	for (const Ref<Constraint> &c : mConstraints)
		c->RestoreState(inStream);

	return true;
}

JPH_NAMESPACE_END