Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Improve performance with many static/sleeping bodies when using Jolt Physics #100983

Merged
merged 1 commit into from
Jan 3, 2025
+193 −154
Merged

Improve performance with many static/sleeping bodies when using Jolt Physics #100983

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
45 changes: 43 additions & 2 deletions modules/jolt_physics/objects/jolt_area_3d.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,26 @@ JPH::ObjectLayer JoltArea3D::_get_object_layer() const {
return space->map_to_object_layer(_get_broad_phase_layer(), collision_layer, collision_mask);
}

bool JoltArea3D::_has_pending_events() const {
if (body_monitor_callback.is_valid()) {
for (const KeyValue<JPH::BodyID, Overlap> &E : bodies_by_id) {
if (!E.value.pending_added.is_empty() || !E.value.pending_removed.is_empty()) {
return true;
}
}
}

if (area_monitor_callback.is_valid()) {
for (const KeyValue<JPH::BodyID, Overlap> &E : areas_by_id) {
if (!E.value.pending_added.is_empty() || !E.value.pending_removed.is_empty()) {
return true;
}
}
}

return false;
}

void JoltArea3D::_add_to_space() {
jolt_shape = build_shape();

Expand Down Expand Up @@ -90,6 +110,18 @@ void JoltArea3D::_add_to_space() {
jolt_settings = nullptr;
}

void JoltArea3D::_enqueue_call_queries() {
if (space != nullptr) {
space->enqueue_call_queries(&call_queries_element);
}
}

void JoltArea3D::_dequeue_call_queries() {
if (space != nullptr) {
space->dequeue_call_queries(&call_queries_element);
}
}

void JoltArea3D::_add_shape_pair(Overlap &p_overlap, const JPH::BodyID &p_body_id, const JPH::SubShapeID &p_other_shape_id, const JPH::SubShapeID &p_self_shape_id) {
const JoltReadableBody3D other_jolt_body = space->read_body(p_body_id);
const JoltShapedObject3D *other_object = other_jolt_body.as_shaped();
Expand Down Expand Up @@ -270,6 +302,8 @@ void JoltArea3D::_space_changing() {
_force_bodies_exited(true);
_force_areas_exited(true);
}

_dequeue_call_queries();
}

void JoltArea3D::_space_changed() {
Expand Down Expand Up @@ -304,7 +338,8 @@ void JoltArea3D::_gravity_changed() {
}

JoltArea3D::JoltArea3D() :
JoltShapedObject3D(OBJECT_TYPE_AREA) {
JoltShapedObject3D(OBJECT_TYPE_AREA),
call_queries_element(this) {
}

bool JoltArea3D::is_default_area() const {
Expand Down Expand Up @@ -659,7 +694,13 @@ void JoltArea3D::area_exited(const JPH::BodyID &p_body_id) {
overlap->shape_pairs.clear();
}

void JoltArea3D::call_queries(JPH::Body &p_jolt_body) {
void JoltArea3D::call_queries() {
_flush_events(bodies_by_id, body_monitor_callback);
_flush_events(areas_by_id, area_monitor_callback);
}

void JoltArea3D::post_step(float p_step, JPH::Body &p_jolt_body) {
if (_has_pending_events()) {
_enqueue_call_queries();
}
}
11 changes: 10 additions & 1 deletion modules/jolt_physics/objects/jolt_area_3d.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -89,6 +89,8 @@ class JoltArea3D final : public JoltShapedObject3D {

typedef HashMap<JPH::BodyID, Overlap, BodyIDHasher> OverlapsById;

SelfList<JoltArea3D> call_queries_element;

OverlapsById bodies_by_id;
OverlapsById areas_by_id;

Expand All @@ -115,8 +117,13 @@ class JoltArea3D final : public JoltShapedObject3D {

virtual JPH::EMotionType _get_motion_type() const override { return JPH::EMotionType::Kinematic; }

bool _has_pending_events() const;

virtual void _add_to_space() override;

void _enqueue_call_queries();
void _dequeue_call_queries();

void _add_shape_pair(Overlap &p_overlap, const JPH::BodyID &p_body_id, const JPH::SubShapeID &p_other_shape_id, const JPH::SubShapeID &p_self_shape_id);
bool _remove_shape_pair(Overlap &p_overlap, const JPH::SubShapeID &p_other_shape_id, const JPH::SubShapeID &p_self_shape_id);

Expand Down Expand Up @@ -217,10 +224,12 @@ class JoltArea3D final : public JoltShapedObject3D {
void body_exited(const JPH::BodyID &p_body_id, bool p_notify = true);
void area_exited(const JPH::BodyID &p_body_id);

void call_queries(JPH::Body &p_jolt_body);
void call_queries();

virtual bool has_custom_center_of_mass() const override { return false; }
virtual Vector3 get_center_of_mass_custom() const override { return Vector3(); }

virtual void post_step(float p_step, JPH::Body &p_jolt_body) override;
};

#endif // JOLT_AREA_3D_H
96 changes: 51 additions & 45 deletions modules/jolt_physics/objects/jolt_body_3d.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -128,6 +128,7 @@ void JoltBody3D::_add_to_space() {
jolt_settings->mAllowDynamicOrKinematic = true;
jolt_settings->mCollideKinematicVsNonDynamic = reports_all_kinematic_contacts();
jolt_settings->mUseManifoldReduction = !reports_contacts();
jolt_settings->mAllowSleeping = is_sleep_actually_allowed();
jolt_settings->mLinearDamping = 0.0f;
jolt_settings->mAngularDamping = 0.0f;
jolt_settings->mMaxLinearVelocity = JoltProjectSettings::get_max_linear_velocity();
Expand All @@ -153,11 +154,19 @@ void JoltBody3D::_add_to_space() {
jolt_settings = nullptr;
}

void JoltBody3D::_integrate_forces(float p_step, JPH::Body &p_jolt_body) {
if (!p_jolt_body.IsActive()) {
return;
void JoltBody3D::_enqueue_call_queries() {
if (space != nullptr) {
space->enqueue_call_queries(&call_queries_element);
}
}

void JoltBody3D::_dequeue_call_queries() {
if (space != nullptr) {
space->dequeue_call_queries(&call_queries_element);
}
}

void JoltBody3D::_integrate_forces(float p_step, JPH::Body &p_jolt_body) {
_update_gravity(p_jolt_body);

if (!custom_integrator) {
Expand All @@ -182,8 +191,6 @@ void JoltBody3D::_integrate_forces(float p_step, JPH::Body &p_jolt_body) {
p_jolt_body.AddForce(to_jolt(constant_force));
p_jolt_body.AddTorque(to_jolt(constant_torque));
}

sync_state = true;
}

void JoltBody3D::_move_kinematic(float p_step, JPH::Body &p_jolt_body) {
Expand All @@ -201,27 +208,19 @@ void JoltBody3D::_move_kinematic(float p_step, JPH::Body &p_jolt_body) {
}

p_jolt_body.MoveKinematic(new_position, new_rotation, p_step);

sync_state = true;
}

void JoltBody3D::_pre_step_static(float p_step, JPH::Body &p_jolt_body) {
// Nothing to do.
}

void JoltBody3D::_pre_step_rigid(float p_step, JPH::Body &p_jolt_body) {
_integrate_forces(p_step, p_jolt_body);
_enqueue_call_queries();
}

void JoltBody3D::_pre_step_kinematic(float p_step, JPH::Body &p_jolt_body) {
_update_gravity(p_jolt_body);

_move_kinematic(p_step, p_jolt_body);

if (reports_contacts()) {
// This seems to emulate the behavior of Godot Physics, where kinematic bodies are set as active (and thereby
// have their state synchronized on every step) only if its max reported contacts is non-zero.
sync_state = true;
_enqueue_call_queries();
}
}

Expand Down Expand Up @@ -428,6 +427,20 @@ void JoltBody3D::_update_possible_kinematic_contacts() {
}
}

void JoltBody3D::_update_sleep_allowed() {
const bool value = is_sleep_actually_allowed();

if (!in_space()) {
jolt_settings->mAllowSleeping = value;
return;
}

const JoltWritableBody3D body = space->write_body(jolt_id);
ERR_FAIL_COND(body.is_invalid());

body->SetAllowSleeping(value);
}

void JoltBody3D::_destroy_joint_constraints() {
for (JoltJoint3D *joint : joints) {
joint->destroy();
Expand Down Expand Up @@ -460,6 +473,7 @@ void JoltBody3D::_mode_changed() {
_update_object_layer();
_update_kinematic_transform();
_update_mass_properties();
_update_sleep_allowed();
wake_up();
}

Expand All @@ -478,6 +492,7 @@ void JoltBody3D::_space_changing() {

_destroy_joint_constraints();
_exit_all_areas();
_dequeue_call_queries();
}

void JoltBody3D::_space_changed() {
Expand All @@ -486,9 +501,8 @@ void JoltBody3D::_space_changed() {
_update_kinematic_transform();
_update_group_filter();
_update_joint_constraints();
_update_sleep_allowed();
_areas_changed();

sync_state = false;
}

void JoltBody3D::_areas_changed() {
Expand Down Expand Up @@ -519,11 +533,18 @@ void JoltBody3D::_axis_lock_changed() {

void JoltBody3D::_contact_reporting_changed() {
_update_possible_kinematic_contacts();
_update_sleep_allowed();
wake_up();
}

void JoltBody3D::_sleep_allowed_changed() {
_update_sleep_allowed();
wake_up();
}

JoltBody3D::JoltBody3D() :
JoltShapedObject3D(OBJECT_TYPE_BODY) {
JoltShapedObject3D(OBJECT_TYPE_BODY),
call_queries_element(this) {
}

JoltBody3D::~JoltBody3D() {
Expand Down Expand Up @@ -573,7 +594,7 @@ Variant JoltBody3D::get_state(PhysicsServer3D::BodyState p_state) const {
return is_sleeping();
}
case PhysicsServer3D::BODY_STATE_CAN_SLEEP: {
return can_sleep();
return is_sleep_allowed();
}
default: {
ERR_FAIL_V_MSG(Variant(), vformat("Unhandled body state: '%d'. This should not happen. Please report this.", p_state));
Expand All @@ -596,7 +617,7 @@ void JoltBody3D::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_
set_is_sleeping(p_value);
} break;
case PhysicsServer3D::BODY_STATE_CAN_SLEEP: {
set_can_sleep(p_value);
set_is_sleep_allowed(p_value);
} break;
default: {
ERR_FAIL_MSG(vformat("Unhandled body state: '%d'. This should not happen. Please report this.", p_state));
Expand Down Expand Up @@ -712,6 +733,10 @@ bool JoltBody3D::is_sleeping() const {
return !body->IsActive();
}

bool JoltBody3D::is_sleep_actually_allowed() const {
return sleep_allowed && !(is_kinematic() && reports_contacts());
}

void JoltBody3D::set_is_sleeping(bool p_enabled) {
if (!in_space()) {
sleep_initially = p_enabled;
Expand All @@ -727,27 +752,14 @@ void JoltBody3D::set_is_sleeping(bool p_enabled) {
}
}

bool JoltBody3D::can_sleep() const {
if (!in_space()) {
return jolt_settings->mAllowSleeping;
}

const JoltReadableBody3D body = space->read_body(jolt_id);
ERR_FAIL_COND_V(body.is_invalid(), false);

return body->GetAllowSleeping();
}

void JoltBody3D::set_can_sleep(bool p_enabled) {
if (!in_space()) {
jolt_settings->mAllowSleeping = p_enabled;
void JoltBody3D::set_is_sleep_allowed(bool p_enabled) {
if (sleep_allowed == p_enabled) {
return;
}

const JoltWritableBody3D body = space->write_body(jolt_id);
ERR_FAIL_COND(body.is_invalid());
sleep_allowed = p_enabled;

body->SetAllowSleeping(p_enabled);
_sleep_allowed_changed();
}

Basis JoltBody3D::get_principal_inertia_axes() const {
Expand Down Expand Up @@ -1187,11 +1199,7 @@ void JoltBody3D::remove_joint(JoltJoint3D *p_joint) {
_joints_changed();
}

void JoltBody3D::call_queries(JPH::Body &p_jolt_body) {
if (!sync_state) {
return;
}

void JoltBody3D::call_queries() {
if (custom_integration_callback.is_valid()) {
const Variant direct_state_variant = get_direct_state();
const Variant *args[2] = { &direct_state_variant, &custom_integration_userdata };
Expand All @@ -1218,16 +1226,14 @@ void JoltBody3D::call_queries(JPH::Body &p_jolt_body) {
ERR_PRINT_ONCE(vformat("Failed to call state synchronization callback for '%s'. It returned the following error: '%s'.", to_string(), Variant::get_callable_error_text(state_sync_callback, args, 1, ce)));
}
}

sync_state = false;
}

void JoltBody3D::pre_step(float p_step, JPH::Body &p_jolt_body) {
JoltObject3D::pre_step(p_step, p_jolt_body);

switch (mode) {
case PhysicsServer3D::BODY_MODE_STATIC: {
_pre_step_static(p_step, p_jolt_body);
// Will never happen.
} break;
case PhysicsServer3D::BODY_MODE_RIGID:
case PhysicsServer3D::BODY_MODE_RIGID_LINEAR: {
Expand Down
Loading