JoltPhysics/Jolt/Physics/SoftBody/SoftBodySharedSettings.cpp

// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2023 Jorrit Rouwe
// SPDX-License-Identifier: MIT

#include <Jolt/Jolt.h>

#include <Jolt/Physics/SoftBody/SoftBodySharedSettings.h>
#include <Jolt/Physics/SoftBody/SoftBodyUpdateContext.h>
#include <Jolt/ObjectStream/TypeDeclarations.h>
#include <Jolt/Core/StreamIn.h>
#include <Jolt/Core/StreamOut.h>
#include <Jolt/Core/QuickSort.h>

JPH_NAMESPACE_BEGIN

JPH_IMPLEMENT_SERIALIZABLE_NON_VIRTUAL(SoftBodySharedSettings::Vertex)
{
	JPH_ADD_ATTRIBUTE(SoftBodySharedSettings::Vertex, mPosition)
	JPH_ADD_ATTRIBUTE(SoftBodySharedSettings::Vertex, mVelocity)
	JPH_ADD_ATTRIBUTE(SoftBodySharedSettings::Vertex, mInvMass)
}

JPH_IMPLEMENT_SERIALIZABLE_NON_VIRTUAL(SoftBodySharedSettings::Face)
{
	JPH_ADD_ATTRIBUTE(SoftBodySharedSettings::Face, mVertex)
	JPH_ADD_ATTRIBUTE(SoftBodySharedSettings::Face, mMaterialIndex)
}

JPH_IMPLEMENT_SERIALIZABLE_NON_VIRTUAL(SoftBodySharedSettings::Edge)
{
	JPH_ADD_ATTRIBUTE(SoftBodySharedSettings::Edge, mVertex)
	JPH_ADD_ATTRIBUTE(SoftBodySharedSettings::Edge, mRestLength)
	JPH_ADD_ATTRIBUTE(SoftBodySharedSettings::Edge, mCompliance)
}

JPH_IMPLEMENT_SERIALIZABLE_NON_VIRTUAL(SoftBodySharedSettings::Volume)
{
	JPH_ADD_ATTRIBUTE(SoftBodySharedSettings::Volume, mVertex)
	JPH_ADD_ATTRIBUTE(SoftBodySharedSettings::Volume, mSixRestVolume)
	JPH_ADD_ATTRIBUTE(SoftBodySharedSettings::Volume, mCompliance)
}

JPH_IMPLEMENT_SERIALIZABLE_NON_VIRTUAL(SoftBodySharedSettings)
{
	JPH_ADD_ATTRIBUTE(SoftBodySharedSettings, mVertices)
	JPH_ADD_ATTRIBUTE(SoftBodySharedSettings, mFaces)
	JPH_ADD_ATTRIBUTE(SoftBodySharedSettings, mEdgeConstraints)
	JPH_ADD_ATTRIBUTE(SoftBodySharedSettings, mEdgeGroupEndIndices)
	JPH_ADD_ATTRIBUTE(SoftBodySharedSettings, mVolumeConstraints)
	JPH_ADD_ATTRIBUTE(SoftBodySharedSettings, mMaterials)
	JPH_ADD_ATTRIBUTE(SoftBodySharedSettings, mVertexRadius)
}

void SoftBodySharedSettings::CalculateEdgeLengths()
{
	for (Edge &e : mEdgeConstraints)
	{
		e.mRestLength = (Vec3(mVertices[e.mVertex[1]].mPosition) - Vec3(mVertices[e.mVertex[0]].mPosition)).Length();
		JPH_ASSERT(e.mRestLength > 0.0f);
	}
}

void SoftBodySharedSettings::CalculateVolumeConstraintVolumes()
{
	for (Volume &v : mVolumeConstraints)
	{
		Vec3 x1(mVertices[v.mVertex[0]].mPosition);
		Vec3 x2(mVertices[v.mVertex[1]].mPosition);
		Vec3 x3(mVertices[v.mVertex[2]].mPosition);
		Vec3 x4(mVertices[v.mVertex[3]].mPosition);

		Vec3 x1x2 = x2 - x1;
		Vec3 x1x3 = x3 - x1;
		Vec3 x1x4 = x4 - x1;

		v.mSixRestVolume = abs(x1x2.Cross(x1x3).Dot(x1x4));
	}
}

void SoftBodySharedSettings::Optimize(OptimizationResults &outResults)
{
	const uint cMaxNumGroups = 32;
	const uint cNonParallelGroupIdx = cMaxNumGroups - 1;
	const uint cMinimumSize = 2 * SoftBodyUpdateContext::cEdgeConstraintBatch; // There should be at least 2 batches, otherwise there's no point in parallelizing

	// Assign edges to non-overlapping groups
	Array<uint32> masks;
	masks.resize(mVertices.size(), 0);
	Array<uint> edge_groups[cMaxNumGroups];
	for (const Edge &e : mEdgeConstraints)
	{
		uint32 &mask1 = masks[e.mVertex[0]];
		uint32 &mask2 = masks[e.mVertex[1]];
		uint group = min(CountTrailingZeros((~mask1) & (~mask2)), cNonParallelGroupIdx);
		uint32 mask = uint32(1U << group);
		mask1 |= mask;
		mask2 |= mask;
		edge_groups[group].push_back(uint(&e - mEdgeConstraints.data()));
	}

	// Merge groups that are too small into the non-parallel group
	for (uint i = 0; i < cNonParallelGroupIdx; ++i)
		if (edge_groups[i].size() < cMinimumSize)
		{
			edge_groups[cNonParallelGroupIdx].insert(edge_groups[cNonParallelGroupIdx].end(), edge_groups[i].begin(), edge_groups[i].end());
			edge_groups[i].clear();
		}

	// Order the edges so that the ones with the smallest index go first (hoping to get better cache locality when we process the edges).
	// Note we could also re-order the vertices but that would be much more of a burden to the end user
	for (Array<uint> &group : edge_groups)
		QuickSort(group.begin(), group.end(), [this](uint inLHS, uint inRHS)
			{
				const Edge &e1 = mEdgeConstraints[inLHS];
				const Edge &e2 = mEdgeConstraints[inRHS];
				return min(e1.mVertex[0], e1.mVertex[1]) < min(e2.mVertex[0], e2.mVertex[1]);
			});

	// Assign the edges to groups and reorder them
	Array<Edge> temp_edges;
	temp_edges.swap(mEdgeConstraints);
	mEdgeConstraints.reserve(temp_edges.size());
	for (const Array<uint> &group : edge_groups)
		if (!group.empty())
		{
			for (uint idx : group)
			{
				mEdgeConstraints.push_back(temp_edges[idx]);
				outResults.mEdgeRemap.push_back(idx);
			}
			mEdgeGroupEndIndices.push_back((uint)mEdgeConstraints.size());
		}

	// If there is no non-parallel group then add an empty group at the end
	if (edge_groups[cNonParallelGroupIdx].empty())
		mEdgeGroupEndIndices.push_back((uint)mEdgeConstraints.size());
}

void SoftBodySharedSettings::SaveBinaryState(StreamOut &inStream) const
{
	inStream.Write(mVertices);
	inStream.Write(mFaces);
	inStream.Write(mEdgeConstraints);
	inStream.Write(mEdgeGroupEndIndices);
	inStream.Write(mVolumeConstraints);
	inStream.Write(mVertexRadius);
}

void SoftBodySharedSettings::RestoreBinaryState(StreamIn &inStream)
{
	inStream.Read(mVertices);
	inStream.Read(mFaces);
	inStream.Read(mEdgeConstraints);
	inStream.Read(mEdgeGroupEndIndices);
	inStream.Read(mVolumeConstraints);
	inStream.Read(mVertexRadius);
}

void SoftBodySharedSettings::SaveWithMaterials(StreamOut &inStream, SharedSettingsToIDMap &ioSettingsMap, MaterialToIDMap &ioMaterialMap) const
{
	SharedSettingsToIDMap::const_iterator settings_iter = ioSettingsMap.find(this);
	if (settings_iter == ioSettingsMap.end())
	{
		// Write settings ID
		uint32 settings_id = (uint32)ioSettingsMap.size();
		ioSettingsMap[this] = settings_id;
		inStream.Write(settings_id);

		// Write the settings
		SaveBinaryState(inStream);

		// Write materials
		StreamUtils::SaveObjectArray(inStream, mMaterials, &ioMaterialMap);
	}
	else
	{
		// Known settings, just write the ID
		inStream.Write(settings_iter->second);
	}
}

SoftBodySharedSettings::SettingsResult SoftBodySharedSettings::sRestoreWithMaterials(StreamIn &inStream, IDToSharedSettingsMap &ioSettingsMap, IDToMaterialMap &ioMaterialMap)
{
	SettingsResult result;

	// Read settings id
	uint32 settings_id;
	inStream.Read(settings_id);
	if (inStream.IsEOF() || inStream.IsFailed())
	{
		result.SetError("Failed to read settings id");
		return result;
	}

	// Check nullptr settings
	if (settings_id == ~uint32(0))
	{
		result.Set(nullptr);
		return result;
	}

	// Check if we already read this settings
	if (settings_id < ioSettingsMap.size())
	{
		result.Set(ioSettingsMap[settings_id]);
		return result;
	}

	// Create new object
	Ref<SoftBodySharedSettings> settings = new SoftBodySharedSettings;

	// Read state
	settings->RestoreBinaryState(inStream);

	// Read materials
	Result mlresult = StreamUtils::RestoreObjectArray<PhysicsMaterialList>(inStream, ioMaterialMap);
	if (mlresult.HasError())
	{
		result.SetError(mlresult.GetError());
		return result;
	}
	settings->mMaterials = mlresult.Get();

	// Add the settings to the map
	ioSettingsMap.push_back(settings);

	result.Set(settings);
	return result;
}

JPH_NAMESPACE_END