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godot/scene/3d/physics_body.h
Daniel Rakos 6dd65c0d67 KinematicBody performance and quality improvements 
With this change finally one can use compound collisions (like those created
by Gridmaps) without serious performance issues. The previous KinematicBody
code for Bullet was practically doing a whole bunch of unnecessary
calculations. Gridmaps with fairly large octant sizes (in my case 32) can get
up to 10000x speedup with this change (literally!). I expect the FPS demo to
get a fair speedup as well.

List of fixes and improvements:

- Fixed a general bug in move_and_slide that affects both GodotPhysics and
  Bullet, where ray shapes would be ignored unless the stop_on_slope parameter
  is disabled. Not sure where that came from, but looking at the 2D physics
  code it was obvious there's a difference.
- Enabled the dynamic AABB tree that Bullet uses to allow broadphase collision
  tests against individual shapes of compound shapes. This is crucial to get
  good performance with Gridmaps and in general improves the performance
  whenever a KinematicBody collides with compound collision shapes.
- Added code to the broadphase collision detection code used by the Bullet
  module for KinematicBodies to also do broadphase on the sub-shapes of
  compound collision shapes. This is possible thanks to the dynamic AABB
  tree that was previously disabled and it's the change that provides the
  biggest performance boost.
- Now broadphase test is only done once per KinematicBody in Bullet instead of
  once per each of its shapes which was completely unnecessary.
- Fixed the way how the ray separation results are populated in Bullet which
  was completely broken previously, overwriting previous results and similar
  non-sense.
- Fixed ray shapes for good now. Previously the margin set in the editor was
  not respected at all, and the KinematicBody code for ray separation was
  complete bogus, thus all previous attempts to fix it were mislead.
- Fixed an obvious bug also in GodotPhysics where an out-of-bounds index was
  used in the ray result array.

There are a whole set of other problems with the KinematicBody code of Bullet
which cost performance and may cause unexpected behavior, but those are not
addressed in this change (need to keep it "simple").

Not sure whether this fixes any outstanding Github issues but I wouldn't be
surprised.
2019-03-27 00:39:47 +01:00

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/*************************************************************************/
/* physics_body.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2019 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. */
/*************************************************************************/
#ifndef PHYSICS_BODY__H
#define PHYSICS_BODY__H
#include "core/vset.h"
#include "scene/3d/collision_object.h"
#include "scene/resources/physics_material.h"
#include "servers/physics_server.h"
#include "skeleton.h"
class PhysicsBody : public CollisionObject {
GDCLASS(PhysicsBody, CollisionObject);
uint32_t collision_layer;
uint32_t collision_mask;
void _set_layers(uint32_t p_mask);
uint32_t _get_layers() const;
protected:
static void _bind_methods();
void _notification(int p_what);
PhysicsBody(PhysicsServer::BodyMode p_mode);
public:
virtual Vector3 get_linear_velocity() const;
virtual Vector3 get_angular_velocity() const;
virtual float get_inverse_mass() const;
void set_collision_layer(uint32_t p_layer);
uint32_t get_collision_layer() const;
void set_collision_mask(uint32_t p_mask);
uint32_t get_collision_mask() const;
void set_collision_layer_bit(int p_bit, bool p_value);
bool get_collision_layer_bit(int p_bit) const;
void set_collision_mask_bit(int p_bit, bool p_value);
bool get_collision_mask_bit(int p_bit) const;
Array get_collision_exceptions();
void add_collision_exception_with(Node *p_node); //must be physicsbody
void remove_collision_exception_with(Node *p_node);
PhysicsBody();
};
class StaticBody : public PhysicsBody {
GDCLASS(StaticBody, PhysicsBody);
Vector3 constant_linear_velocity;
Vector3 constant_angular_velocity;
Ref<PhysicsMaterial> physics_material_override;
protected:
static void _bind_methods();
public:
#ifndef DISABLE_DEPRECATED
void set_friction(real_t p_friction);
real_t get_friction() const;
void set_bounce(real_t p_bounce);
real_t get_bounce() const;
#endif
void set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override);
Ref<PhysicsMaterial> get_physics_material_override() const;
void set_constant_linear_velocity(const Vector3 &p_vel);
void set_constant_angular_velocity(const Vector3 &p_vel);
Vector3 get_constant_linear_velocity() const;
Vector3 get_constant_angular_velocity() const;
StaticBody();
~StaticBody();
private:
void _reload_physics_characteristics();
};
class RigidBody : public PhysicsBody {
GDCLASS(RigidBody, PhysicsBody);
public:
enum Mode {
MODE_RIGID,
MODE_STATIC,
MODE_CHARACTER,
MODE_KINEMATIC,
};
protected:
bool can_sleep;
PhysicsDirectBodyState *state;
Mode mode;
real_t mass;
Ref<PhysicsMaterial> physics_material_override;
Vector3 linear_velocity;
Vector3 angular_velocity;
real_t gravity_scale;
real_t linear_damp;
real_t angular_damp;
bool sleeping;
bool ccd;
int max_contacts_reported;
bool custom_integrator;
struct ShapePair {
int body_shape;
int local_shape;
bool tagged;
bool operator<(const ShapePair &p_sp) const {
if (body_shape == p_sp.body_shape)
return local_shape < p_sp.local_shape;
else
return body_shape < p_sp.body_shape;
}
ShapePair() {}
ShapePair(int p_bs, int p_ls) {
body_shape = p_bs;
local_shape = p_ls;
}
};
struct RigidBody_RemoveAction {
ObjectID body_id;
ShapePair pair;
};
struct BodyState {
//int rc;
bool in_tree;
VSet<ShapePair> shapes;
};
struct ContactMonitor {
bool locked;
Map<ObjectID, BodyState> body_map;
};
ContactMonitor *contact_monitor;
void _body_enter_tree(ObjectID p_id);
void _body_exit_tree(ObjectID p_id);
void _body_inout(int p_status, ObjectID p_instance, int p_body_shape, int p_local_shape);
virtual void _direct_state_changed(Object *p_state);
void _notification(int p_what);
static void _bind_methods();
public:
void set_mode(Mode p_mode);
Mode get_mode() const;
void set_mass(real_t p_mass);
real_t get_mass() const;
virtual float get_inverse_mass() const { return 1.0 / mass; }
void set_weight(real_t p_weight);
real_t get_weight() const;
#ifndef DISABLE_DEPRECATED
void set_friction(real_t p_friction);
real_t get_friction() const;
void set_bounce(real_t p_bounce);
real_t get_bounce() const;
#endif
void set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override);
Ref<PhysicsMaterial> get_physics_material_override() const;
void set_linear_velocity(const Vector3 &p_velocity);
Vector3 get_linear_velocity() const;
void set_axis_velocity(const Vector3 &p_axis);
void set_angular_velocity(const Vector3 &p_velocity);
Vector3 get_angular_velocity() const;
void set_gravity_scale(real_t p_gravity_scale);
real_t get_gravity_scale() const;
void set_linear_damp(real_t p_linear_damp);
real_t get_linear_damp() const;
void set_angular_damp(real_t p_angular_damp);
real_t get_angular_damp() const;
void set_use_custom_integrator(bool p_enable);
bool is_using_custom_integrator();
void set_sleeping(bool p_sleeping);
bool is_sleeping() const;
void set_can_sleep(bool p_active);
bool is_able_to_sleep() const;
void set_contact_monitor(bool p_enabled);
bool is_contact_monitor_enabled() const;
void set_max_contacts_reported(int p_amount);
int get_max_contacts_reported() const;
void set_use_continuous_collision_detection(bool p_enable);
bool is_using_continuous_collision_detection() const;
void set_axis_lock(PhysicsServer::BodyAxis p_axis, bool p_lock);
bool get_axis_lock(PhysicsServer::BodyAxis p_axis) const;
Array get_colliding_bodies() const;
void add_central_force(const Vector3 &p_force);
void add_force(const Vector3 &p_force, const Vector3 &p_pos);
void add_torque(const Vector3 &p_torque);
void apply_central_impulse(const Vector3 &p_impulse);
void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
void apply_torque_impulse(const Vector3 &p_impulse);
virtual String get_configuration_warning() const;
RigidBody();
~RigidBody();
private:
void _reload_physics_characteristics();
};
VARIANT_ENUM_CAST(RigidBody::Mode);
class KinematicCollision;
class KinematicBody : public PhysicsBody {
GDCLASS(KinematicBody, PhysicsBody);
public:
struct Collision {
Vector3 collision;
Vector3 normal;
Vector3 collider_vel;
ObjectID collider;
RID collider_rid;
int collider_shape;
Variant collider_metadata;
Vector3 remainder;
Vector3 travel;
int local_shape;
};
private:
uint16_t locked_axis;
float margin;
Vector3 floor_velocity;
RID on_floor_body;
bool on_floor;
bool on_ceiling;
bool on_wall;
Vector<Collision> colliders;
Vector<Ref<KinematicCollision> > slide_colliders;
Ref<KinematicCollision> motion_cache;
_FORCE_INLINE_ bool _ignores_mode(PhysicsServer::BodyMode) const;
Ref<KinematicCollision> _move(const Vector3 &p_motion, bool p_infinite_inertia = true, bool p_exclude_raycast_shapes = true, bool p_test_only = false);
Ref<KinematicCollision> _get_slide_collision(int p_bounce);
protected:
static void _bind_methods();
public:
bool move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes = true, bool p_test_only = false);
bool test_move(const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia);
bool separate_raycast_shapes(bool p_infinite_inertia, Collision &r_collision);
void set_axis_lock(PhysicsServer::BodyAxis p_axis, bool p_lock);
bool get_axis_lock(PhysicsServer::BodyAxis p_axis) const;
void set_safe_margin(float p_margin);
float get_safe_margin() const;
Vector3 move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_floor_direction = Vector3(0, 0, 0), bool p_stop_on_slope = false, int p_max_slides = 4, float p_floor_max_angle = Math::deg2rad((float)45), bool p_infinite_inertia = true);
Vector3 move_and_slide_with_snap(const Vector3 &p_linear_velocity, const Vector3 &p_snap, const Vector3 &p_floor_direction = Vector3(0, 0, 0), bool p_stop_on_slope = false, int p_max_slides = 4, float p_floor_max_angle = Math::deg2rad((float)45), bool p_infinite_inertia = true);
bool is_on_floor() const;
bool is_on_wall() const;
bool is_on_ceiling() const;
Vector3 get_floor_velocity() const;
int get_slide_count() const;
Collision get_slide_collision(int p_bounce) const;
KinematicBody();
~KinematicBody();
};
class KinematicCollision : public Reference {
GDCLASS(KinematicCollision, Reference);
KinematicBody *owner;
friend class KinematicBody;
KinematicBody::Collision collision;
protected:
static void _bind_methods();
public:
Vector3 get_position() const;
Vector3 get_normal() const;
Vector3 get_travel() const;
Vector3 get_remainder() const;
Object *get_local_shape() const;
Object *get_collider() const;
ObjectID get_collider_id() const;
Object *get_collider_shape() const;
int get_collider_shape_index() const;
Vector3 get_collider_velocity() const;
Variant get_collider_metadata() const;
KinematicCollision();
};
class PhysicalBone : public PhysicsBody {
GDCLASS(PhysicalBone, PhysicsBody);
public:
enum JointType {
JOINT_TYPE_NONE,
JOINT_TYPE_PIN,
JOINT_TYPE_CONE,
JOINT_TYPE_HINGE,
JOINT_TYPE_SLIDER,
JOINT_TYPE_6DOF
};
struct JointData {
virtual JointType get_joint_type() { return JOINT_TYPE_NONE; }
/// "j" is used to set the parameter inside the PhysicsServer
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID());
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
virtual ~JointData() {}
};
struct PinJointData : public JointData {
virtual JointType get_joint_type() { return JOINT_TYPE_PIN; }
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID());
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
real_t bias;
real_t damping;
real_t impulse_clamp;
PinJointData() :
bias(0.3),
damping(1.),
impulse_clamp(0) {}
};
struct ConeJointData : public JointData {
virtual JointType get_joint_type() { return JOINT_TYPE_CONE; }
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID());
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
real_t swing_span;
real_t twist_span;
real_t bias;
real_t softness;
real_t relaxation;
ConeJointData() :
swing_span(Math_PI * 0.25),
twist_span(Math_PI),
bias(0.3),
softness(0.8),
relaxation(1.) {}
};
struct HingeJointData : public JointData {
virtual JointType get_joint_type() { return JOINT_TYPE_HINGE; }
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID());
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
bool angular_limit_enabled;
real_t angular_limit_upper;
real_t angular_limit_lower;
real_t angular_limit_bias;
real_t angular_limit_softness;
real_t angular_limit_relaxation;
HingeJointData() :
angular_limit_enabled(false),
angular_limit_upper(Math_PI * 0.5),
angular_limit_lower(-Math_PI * 0.5),
angular_limit_bias(0.3),
angular_limit_softness(0.9),
angular_limit_relaxation(1.) {}
};
struct SliderJointData : public JointData {
virtual JointType get_joint_type() { return JOINT_TYPE_SLIDER; }
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID());
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
real_t linear_limit_upper;
real_t linear_limit_lower;
real_t linear_limit_softness;
real_t linear_limit_restitution;
real_t linear_limit_damping;
real_t angular_limit_upper;
real_t angular_limit_lower;
real_t angular_limit_softness;
real_t angular_limit_restitution;
real_t angular_limit_damping;
SliderJointData() :
linear_limit_upper(1.),
linear_limit_lower(-1.),
linear_limit_softness(1.),
linear_limit_restitution(0.7),
linear_limit_damping(1.),
angular_limit_upper(0),
angular_limit_lower(0),
angular_limit_softness(1.),
angular_limit_restitution(0.7),
angular_limit_damping(1.) {}
};
struct SixDOFJointData : public JointData {
struct SixDOFAxisData {
bool linear_limit_enabled;
real_t linear_limit_upper;
real_t linear_limit_lower;
real_t linear_limit_softness;
real_t linear_restitution;
real_t linear_damping;
bool linear_spring_enabled;
real_t linear_spring_stiffness;
real_t linear_spring_damping;
real_t linear_equilibrium_point;
bool angular_limit_enabled;
real_t angular_limit_upper;
real_t angular_limit_lower;
real_t angular_limit_softness;
real_t angular_restitution;
real_t angular_damping;
real_t erp;
bool angular_spring_enabled;
real_t angular_spring_stiffness;
real_t angular_spring_damping;
real_t angular_equilibrium_point;
SixDOFAxisData() :
linear_limit_enabled(true),
linear_limit_upper(0),
linear_limit_lower(0),
linear_limit_softness(0.7),
linear_restitution(0.5),
linear_damping(1.),
linear_spring_enabled(false),
linear_spring_stiffness(0),
linear_spring_damping(0),
linear_equilibrium_point(0),
angular_limit_enabled(true),
angular_limit_upper(0),
angular_limit_lower(0),
angular_limit_softness(0.5),
angular_restitution(0),
angular_damping(1.),
erp(0.5),
angular_spring_enabled(false),
angular_spring_stiffness(0),
angular_spring_damping(0.),
angular_equilibrium_point(0) {}
};
virtual JointType get_joint_type() { return JOINT_TYPE_6DOF; }
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID());
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
SixDOFAxisData axis_data[3];
SixDOFJointData() {}
};
private:
#ifdef TOOLS_ENABLED
// if false gizmo move body
bool gizmo_move_joint;
#endif
JointData *joint_data;
Transform joint_offset;
RID joint;
Skeleton *parent_skeleton;
Transform body_offset;
Transform body_offset_inverse;
bool static_body;
bool _internal_static_body;
bool simulate_physics;
bool _internal_simulate_physics;
int bone_id;
String bone_name;
real_t bounce;
real_t mass;
real_t friction;
real_t gravity_scale;
protected:
bool _set(const StringName &p_name, const Variant &p_value);
bool _get(const StringName &p_name, Variant &r_ret) const;
void _get_property_list(List<PropertyInfo> *p_list) const;
void _notification(int p_what);
void _direct_state_changed(Object *p_state);
static void _bind_methods();
private:
static Skeleton *find_skeleton_parent(Node *p_parent);
void _fix_joint_offset();
void _reload_joint();
public:
void _on_bone_parent_changed();
void _set_gizmo_move_joint(bool p_move_joint);
public:
#ifdef TOOLS_ENABLED
virtual Transform get_global_gizmo_transform() const;
virtual Transform get_local_gizmo_transform() const;
#endif
const JointData *get_joint_data() const;
Skeleton *find_skeleton_parent();
int get_bone_id() const { return bone_id; }
void set_joint_type(JointType p_joint_type);
JointType get_joint_type() const;
void set_joint_offset(const Transform &p_offset);
const Transform &get_joint_offset() const;
void set_body_offset(const Transform &p_offset);
const Transform &get_body_offset() const;
void set_static_body(bool p_static);
bool is_static_body();
void set_simulate_physics(bool p_simulate);
bool get_simulate_physics();
bool is_simulating_physics();
void set_bone_name(const String &p_name);
const String &get_bone_name() const;
void set_mass(real_t p_mass);
real_t get_mass() const;
void set_weight(real_t p_weight);
real_t get_weight() const;
void set_friction(real_t p_friction);
real_t get_friction() const;
void set_bounce(real_t p_bounce);
real_t get_bounce() const;
void set_gravity_scale(real_t p_gravity_scale);
real_t get_gravity_scale() const;
PhysicalBone();
~PhysicalBone();
private:
void update_bone_id();
void update_offset();
void reset_to_rest_position();
void _reset_physics_simulation_state();
void _reset_staticness_state();
void _start_physics_simulation();
void _stop_physics_simulation();
};
VARIANT_ENUM_CAST(PhysicalBone::JointType);
#endif // PHYSICS_BODY__H
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