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Remove no-op locking in Jolt Physics module
This commit is contained in:
Mikael Hermansson
parent
28089c40c1
commit
2b88477efc
18 changed files with 253 additions and 926 deletions
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@ -144,12 +144,12 @@ void JoltBody3D::_add_to_space() {
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jolt_settings->SetShape(jolt_shape);
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const JPH::BodyID new_jolt_id = space->add_rigid_body(*this, *jolt_settings, sleep_initially);
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if (new_jolt_id.IsInvalid()) {
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JPH::Body *new_jolt_body = space->add_rigid_body(*this, *jolt_settings, sleep_initially);
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if (new_jolt_body == nullptr) {
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return;
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}
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jolt_id = new_jolt_id;
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jolt_body = new_jolt_body;
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delete jolt_settings;
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jolt_settings = nullptr;
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@ -295,14 +295,9 @@ JPH::MassProperties JoltBody3D::_calculate_mass_properties() const {
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}
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void JoltBody3D::_update_mass_properties() {
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if (!in_space()) {
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return;
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if (in_space()) {
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jolt_body->GetMotionPropertiesUnchecked()->SetMassProperties(_calculate_allowed_dofs(), _calculate_mass_properties());
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}
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const JoltWritableBody3D body = space->write_body(jolt_id);
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ERR_FAIL_COND(body.is_invalid());
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body->GetMotionPropertiesUnchecked()->SetMassProperties(_calculate_allowed_dofs(), _calculate_mass_properties());
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}
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void JoltBody3D::_update_gravity(JPH::Body &p_jolt_body) {
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@ -407,10 +402,7 @@ void JoltBody3D::_update_possible_kinematic_contacts() {
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if (!in_space()) {
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jolt_settings->mCollideKinematicVsNonDynamic = value;
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} else {
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const JoltWritableBody3D body = space->write_body(jolt_id);
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ERR_FAIL_COND(body.is_invalid());
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body->SetCollideKinematicVsNonDynamic(value);
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jolt_body->SetCollideKinematicVsNonDynamic(value);
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}
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}
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@ -419,13 +411,9 @@ void JoltBody3D::_update_sleep_allowed() {
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if (!in_space()) {
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jolt_settings->mAllowSleeping = value;
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return;
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} else {
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jolt_body->SetAllowSleeping(value);
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}
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const JoltWritableBody3D body = space->write_body(jolt_id);
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ERR_FAIL_COND(body.is_invalid());
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body->SetAllowSleeping(value);
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}
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void JoltBody3D::_destroy_joint_constraints() {
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@ -435,8 +423,10 @@ void JoltBody3D::_destroy_joint_constraints() {
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}
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void JoltBody3D::_exit_all_areas() {
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ERR_FAIL_COND(!in_space());
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for (JoltArea3D *area : areas) {
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area->body_exited(jolt_id, false);
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area->body_exited(jolt_body->GetID(), false);
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}
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areas.clear();
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@ -447,13 +437,9 @@ void JoltBody3D::_update_group_filter() {
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if (!in_space()) {
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jolt_settings->mCollisionGroup.SetGroupFilter(group_filter);
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return;
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} else {
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jolt_body->GetCollisionGroup().SetGroupFilter(group_filter);
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}
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const JoltWritableBody3D body = space->write_body(jolt_id);
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ERR_FAIL_COND(body.is_invalid());
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body->GetCollisionGroup().SetGroupFilter(group_filter);
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}
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void JoltBody3D::_mode_changed() {
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@ -559,7 +545,7 @@ void JoltBody3D::set_transform(Transform3D p_transform) {
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} else if (is_kinematic()) {
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kinematic_transform = p_transform;
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} else {
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space->get_body_iface().SetPositionAndRotation(jolt_id, to_jolt_r(p_transform.origin), to_jolt(p_transform.basis), JPH::EActivation::DontActivate);
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space->get_body_iface().SetPositionAndRotation(jolt_body->GetID(), to_jolt_r(p_transform.origin), to_jolt(p_transform.basis), JPH::EActivation::DontActivate);
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}
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_transform_changed();
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@ -694,29 +680,20 @@ void JoltBody3D::set_custom_integrator(bool p_enabled) {
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custom_integrator = p_enabled;
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if (!in_space()) {
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_motion_changed();
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return;
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if (in_space()) {
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jolt_body->ResetForce();
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jolt_body->ResetTorque();
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}
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const JoltWritableBody3D body = space->write_body(jolt_id);
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ERR_FAIL_COND(body.is_invalid());
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body->ResetForce();
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body->ResetTorque();
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_motion_changed();
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}
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bool JoltBody3D::is_sleeping() const {
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if (!in_space()) {
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return sleep_initially;
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} else {
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return !jolt_body->IsActive();
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}
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const JoltReadableBody3D body = space->read_body(jolt_id);
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ERR_FAIL_COND_V(body.is_invalid(), false);
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return !body->IsActive();
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}
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bool JoltBody3D::is_sleep_actually_allowed() const {
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@ -726,15 +703,12 @@ bool JoltBody3D::is_sleep_actually_allowed() const {
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void JoltBody3D::set_is_sleeping(bool p_enabled) {
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if (!in_space()) {
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sleep_initially = p_enabled;
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return;
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}
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JPH::BodyInterface &body_iface = space->get_body_iface();
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if (p_enabled) {
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body_iface.DeactivateBody(jolt_id);
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} else {
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body_iface.ActivateBody(jolt_id);
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if (p_enabled) {
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space->get_body_iface().DeactivateBody(jolt_body->GetID());
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} else {
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space->get_body_iface().ActivateBody(jolt_body->GetID());
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}
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}
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}
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@ -749,85 +723,60 @@ void JoltBody3D::set_is_sleep_allowed(bool p_enabled) {
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}
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Basis JoltBody3D::get_principal_inertia_axes() const {
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ERR_FAIL_NULL_V_MSG(space, Basis(), vformat("Failed to retrieve principal inertia axes of '%s'. Doing so without a physics space is not supported when using Jolt Physics. If this relates to a node, try adding the node to a scene tree first.", to_string()));
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ERR_FAIL_COND_V_MSG(!in_space(), Basis(), vformat("Failed to retrieve principal inertia axes of '%s'. Doing so without a physics space is not supported when using Jolt Physics. If this relates to a node, try adding the node to a scene tree first.", to_string()));
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if (unlikely(is_static() || is_kinematic())) {
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return Basis();
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}
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const JoltReadableBody3D body = space->read_body(jolt_id);
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ERR_FAIL_COND_V(body.is_invalid(), Basis());
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return to_godot(body->GetRotation() * body->GetMotionProperties()->GetInertiaRotation());
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return to_godot(jolt_body->GetRotation() * jolt_body->GetMotionPropertiesUnchecked()->GetInertiaRotation());
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}
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Vector3 JoltBody3D::get_inverse_inertia() const {
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ERR_FAIL_NULL_V_MSG(space, Vector3(), vformat("Failed to retrieve inverse inertia of '%s'. Doing so without a physics space is not supported when using Jolt Physics. If this relates to a node, try adding the node to a scene tree first.", to_string()));
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ERR_FAIL_COND_V_MSG(!in_space(), Vector3(), vformat("Failed to retrieve inverse inertia of '%s'. Doing so without a physics space is not supported when using Jolt Physics. If this relates to a node, try adding the node to a scene tree first.", to_string()));
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if (unlikely(is_static() || is_kinematic())) {
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return Vector3();
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}
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const JoltReadableBody3D body = space->read_body(jolt_id);
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ERR_FAIL_COND_V(body.is_invalid(), Vector3());
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const JPH::MotionProperties &motion_properties = *body->GetMotionPropertiesUnchecked();
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return to_godot(motion_properties.GetLocalSpaceInverseInertia().GetDiagonal3());
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return to_godot(jolt_body->GetMotionPropertiesUnchecked()->GetLocalSpaceInverseInertia().GetDiagonal3());
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}
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Basis JoltBody3D::get_inverse_inertia_tensor() const {
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ERR_FAIL_NULL_V_MSG(space, Basis(), vformat("Failed to retrieve inverse inertia tensor of '%s'. Doing so without a physics space is not supported when using Jolt Physics. If this relates to a node, try adding the node to a scene tree first.", to_string()));
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ERR_FAIL_COND_V_MSG(!in_space(), Basis(), vformat("Failed to retrieve inverse inertia tensor of '%s'. Doing so without a physics space is not supported when using Jolt Physics. If this relates to a node, try adding the node to a scene tree first.", to_string()));
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if (unlikely(is_static() || is_kinematic())) {
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return Basis();
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}
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const JoltReadableBody3D body = space->read_body(jolt_id);
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ERR_FAIL_COND_V(body.is_invalid(), Basis());
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return to_godot(body->GetInverseInertia()).basis;
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return to_godot(jolt_body->GetInverseInertia()).basis;
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}
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void JoltBody3D::set_linear_velocity(const Vector3 &p_velocity) {
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if (is_static() || is_kinematic()) {
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linear_surface_velocity = p_velocity;
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_motion_changed();
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return;
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} else {
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if (!in_space()) {
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jolt_settings->mLinearVelocity = to_jolt(p_velocity);
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} else {
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jolt_body->GetMotionPropertiesUnchecked()->SetLinearVelocityClamped(to_jolt(p_velocity));
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}
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}
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if (!in_space()) {
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jolt_settings->mLinearVelocity = to_jolt(p_velocity);
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_motion_changed();
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return;
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}
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const JoltWritableBody3D body = space->write_body(jolt_id);
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ERR_FAIL_COND(body.is_invalid());
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body->GetMotionPropertiesUnchecked()->SetLinearVelocityClamped(to_jolt(p_velocity));
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_motion_changed();
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}
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void JoltBody3D::set_angular_velocity(const Vector3 &p_velocity) {
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if (is_static() || is_kinematic()) {
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angular_surface_velocity = p_velocity;
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_motion_changed();
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return;
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} else {
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if (!in_space()) {
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jolt_settings->mAngularVelocity = to_jolt(p_velocity);
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} else {
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jolt_body->GetMotionPropertiesUnchecked()->SetAngularVelocityClamped(to_jolt(p_velocity));
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}
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}
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if (!in_space()) {
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jolt_settings->mAngularVelocity = to_jolt(p_velocity);
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_motion_changed();
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return;
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}
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const JoltWritableBody3D body = space->write_body(jolt_id);
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ERR_FAIL_COND(body.is_invalid());
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body->GetMotionPropertiesUnchecked()->SetAngularVelocityClamped(to_jolt(p_velocity));
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_motion_changed();
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}
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@ -840,9 +789,6 @@ void JoltBody3D::set_axis_velocity(const Vector3 &p_axis_velocity) {
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linear_velocity += p_axis_velocity;
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jolt_settings->mLinearVelocity = to_jolt(linear_velocity);
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} else {
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const JoltWritableBody3D body = space->write_body(jolt_id);
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ERR_FAIL_COND(body.is_invalid());
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Vector3 linear_velocity = get_linear_velocity();
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linear_velocity -= axis * axis.dot(linear_velocity);
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linear_velocity += p_axis_velocity;
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@ -857,14 +803,10 @@ Vector3 JoltBody3D::get_velocity_at_position(const Vector3 &p_position) const {
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return Vector3();
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}
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const JoltReadableBody3D body = space->read_body(jolt_id);
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ERR_FAIL_COND_V(body.is_invalid(), Vector3());
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const JPH::MotionProperties &motion_properties = *body->GetMotionPropertiesUnchecked();
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const JPH::MotionProperties &motion_properties = *jolt_body->GetMotionPropertiesUnchecked();
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const Vector3 total_linear_velocity = to_godot(motion_properties.GetLinearVelocity()) + linear_surface_velocity;
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const Vector3 total_angular_velocity = to_godot(motion_properties.GetAngularVelocity()) + angular_surface_velocity;
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const Vector3 com_to_pos = p_position - to_godot(body->GetCenterOfMassPosition());
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const Vector3 com_to_pos = p_position - to_godot(jolt_body->GetCenterOfMassPosition());
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return total_linear_velocity + total_angular_velocity.cross(com_to_pos);
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}
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@ -894,14 +836,10 @@ void JoltBody3D::set_max_contacts_reported(int p_count) {
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if (!in_space()) {
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jolt_settings->mUseManifoldReduction = use_manifold_reduction;
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_contact_reporting_changed();
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return;
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} else {
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space->get_body_iface().SetUseManifoldReduction(jolt_body->GetID(), use_manifold_reduction);
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}
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JPH::BodyInterface &body_iface = space->get_body_iface();
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body_iface.SetUseManifoldReduction(jolt_id, use_manifold_reduction);
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_contact_reporting_changed();
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}
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@ -963,115 +901,73 @@ void JoltBody3D::reset_mass_properties() {
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}
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void JoltBody3D::apply_force(const Vector3 &p_force, const Vector3 &p_position) {
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ERR_FAIL_NULL_MSG(space, vformat("Failed to apply force to '%s'. Doing so without a physics space is not supported when using Jolt Physics. If this relates to a node, try adding the node to a scene tree first.", to_string()));
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ERR_FAIL_COND_MSG(!in_space(), vformat("Failed to apply force to '%s'. Doing so without a physics space is not supported when using Jolt Physics. If this relates to a node, try adding the node to a scene tree first.", to_string()));
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if (unlikely(!is_rigid())) {
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if (unlikely(!is_rigid()) || custom_integrator || p_force == Vector3()) {
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return;
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}
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if (custom_integrator || p_force == Vector3()) {
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return;
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}
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const JoltWritableBody3D body = space->write_body(jolt_id);
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ERR_FAIL_COND(body.is_invalid());
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body->AddForce(to_jolt(p_force), body->GetPosition() + to_jolt(p_position));
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jolt_body->AddForce(to_jolt(p_force), jolt_body->GetPosition() + to_jolt(p_position));
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_motion_changed();
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}
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void JoltBody3D::apply_central_force(const Vector3 &p_force) {
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ERR_FAIL_NULL_MSG(space, vformat("Failed to apply central force to '%s'. Doing so without a physics space is not supported when using Jolt Physics. If this relates to a node, try adding the node to a scene tree first.", to_string()));
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ERR_FAIL_COND_MSG(!in_space(), vformat("Failed to apply central force to '%s'. Doing so without a physics space is not supported when using Jolt Physics. If this relates to a node, try adding the node to a scene tree first.", to_string()));
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if (unlikely(!is_rigid())) {
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if (unlikely(!is_rigid()) || custom_integrator || p_force == Vector3()) {
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return;
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}
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if (custom_integrator || p_force == Vector3()) {
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return;
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}
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const JoltWritableBody3D body = space->write_body(jolt_id);
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ERR_FAIL_COND(body.is_invalid());
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body->AddForce(to_jolt(p_force));
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jolt_body->AddForce(to_jolt(p_force));
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_motion_changed();
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}
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void JoltBody3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
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ERR_FAIL_NULL_MSG(space, vformat("Failed to apply impulse to '%s'. Doing so without a physics space is not supported when using Jolt Physics. If this relates to a node, try adding the node to a scene tree first.", to_string()));
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ERR_FAIL_COND_MSG(!in_space(), vformat("Failed to apply impulse to '%s'. Doing so without a physics space is not supported when using Jolt Physics. If this relates to a node, try adding the node to a scene tree first.", to_string()));
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if (unlikely(!is_rigid())) {
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if (unlikely(!is_rigid()) || p_impulse == Vector3()) {
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return;
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}
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if (p_impulse == Vector3()) {
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return;
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}
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const JoltWritableBody3D body = space->write_body(jolt_id);
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ERR_FAIL_COND(body.is_invalid());
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body->AddImpulse(to_jolt(p_impulse), body->GetPosition() + to_jolt(p_position));
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jolt_body->AddImpulse(to_jolt(p_impulse), jolt_body->GetPosition() + to_jolt(p_position));
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_motion_changed();
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}
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void JoltBody3D::apply_central_impulse(const Vector3 &p_impulse) {
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ERR_FAIL_NULL_MSG(space, vformat("Failed to apply central impulse to '%s'. Doing so without a physics space is not supported when using Jolt Physics. If this relates to a node, try adding the node to a scene tree first.", to_string()));
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ERR_FAIL_COND_MSG(!in_space(), vformat("Failed to apply central impulse to '%s'. Doing so without a physics space is not supported when using Jolt Physics. If this relates to a node, try adding the node to a scene tree first.", to_string()));
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if (unlikely(!is_rigid())) {
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if (unlikely(!is_rigid()) || p_impulse == Vector3()) {
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return;
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}
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if (p_impulse == Vector3()) {
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return;
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}
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const JoltWritableBody3D body = space->write_body(jolt_id);
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ERR_FAIL_COND(body.is_invalid());
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body->AddImpulse(to_jolt(p_impulse));
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jolt_body->AddImpulse(to_jolt(p_impulse));
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_motion_changed();
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}
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void JoltBody3D::apply_torque(const Vector3 &p_torque) {
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ERR_FAIL_NULL_MSG(space, vformat("Failed to apply torque to '%s'. Doing so without a physics space is not supported when using Jolt Physics. If this relates to a node, try adding the node to a scene tree first.", to_string()));
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ERR_FAIL_COND_MSG(!in_space(), vformat("Failed to apply torque to '%s'. Doing so without a physics space is not supported when using Jolt Physics. If this relates to a node, try adding the node to a scene tree first.", to_string()));
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if (unlikely(!is_rigid())) {
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if (unlikely(!is_rigid()) || custom_integrator || p_torque == Vector3()) {
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return;
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}
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if (custom_integrator || p_torque == Vector3()) {
|
||||
return;
|
||||
}
|
||||
|
||||
const JoltWritableBody3D body = space->write_body(jolt_id);
|
||||
ERR_FAIL_COND(body.is_invalid());
|
||||
|
||||
body->AddTorque(to_jolt(p_torque));
|
||||
jolt_body->AddTorque(to_jolt(p_torque));
|
||||
|
||||
_motion_changed();
|
||||
}
|
||||
|
||||
void JoltBody3D::apply_torque_impulse(const Vector3 &p_impulse) {
|
||||
ERR_FAIL_NULL_MSG(space, vformat("Failed to apply torque impulse to '%s'. Doing so without a physics space is not supported when using Jolt Physics. If this relates to a node, try adding the node to a scene tree first.", to_string()));
|
||||
ERR_FAIL_COND_MSG(!in_space(), vformat("Failed to apply torque impulse to '%s'. Doing so without a physics space is not supported when using Jolt Physics. If this relates to a node, try adding the node to a scene tree first.", to_string()));
|
||||
|
||||
if (unlikely(!is_rigid())) {
|
||||
if (unlikely(!is_rigid()) || p_impulse == Vector3()) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (p_impulse == Vector3()) {
|
||||
return;
|
||||
}
|
||||
|
||||
const JoltWritableBody3D body = space->write_body(jolt_id);
|
||||
ERR_FAIL_COND(body.is_invalid());
|
||||
|
||||
body->AddAngularImpulse(to_jolt(p_impulse));
|
||||
jolt_body->AddAngularImpulse(to_jolt(p_impulse));
|
||||
|
||||
_motion_changed();
|
||||
}
|
||||
|
|
@ -1091,9 +987,6 @@ void JoltBody3D::add_constant_force(const Vector3 &p_force, const Vector3 &p_pos
|
|||
return;
|
||||
}
|
||||
|
||||
const JoltWritableBody3D body = space->write_body(jolt_id);
|
||||
ERR_FAIL_COND(body.is_invalid());
|
||||
|
||||
constant_force += p_force;
|
||||
constant_torque += (p_position - get_center_of_mass_relative()).cross(p_force);
|
||||
|
||||
|
|
@ -1260,22 +1153,19 @@ void JoltBody3D::set_mode(PhysicsServer3D::BodyMode p_mode) {
|
|||
|
||||
const JPH::EMotionType motion_type = _get_motion_type();
|
||||
|
||||
const JoltWritableBody3D body = space->write_body(jolt_id);
|
||||
ERR_FAIL_COND(body.is_invalid());
|
||||
|
||||
if (motion_type == JPH::EMotionType::Static) {
|
||||
put_to_sleep();
|
||||
}
|
||||
|
||||
body->SetMotionType(motion_type);
|
||||
jolt_body->SetMotionType(motion_type);
|
||||
|
||||
if (motion_type != JPH::EMotionType::Static) {
|
||||
wake_up();
|
||||
}
|
||||
|
||||
if (motion_type == JPH::EMotionType::Kinematic) {
|
||||
body->SetLinearVelocity(JPH::Vec3::sZero());
|
||||
body->SetAngularVelocity(JPH::Vec3::sZero());
|
||||
jolt_body->SetLinearVelocity(JPH::Vec3::sZero());
|
||||
jolt_body->SetAngularVelocity(JPH::Vec3::sZero());
|
||||
}
|
||||
|
||||
linear_surface_velocity = Vector3();
|
||||
|
|
@ -1287,11 +1177,9 @@ void JoltBody3D::set_mode(PhysicsServer3D::BodyMode p_mode) {
|
|||
bool JoltBody3D::is_ccd_enabled() const {
|
||||
if (!in_space()) {
|
||||
return jolt_settings->mMotionQuality == JPH::EMotionQuality::LinearCast;
|
||||
} else {
|
||||
return space->get_body_iface().GetMotionQuality(jolt_body->GetID()) == JPH::EMotionQuality::LinearCast;
|
||||
}
|
||||
|
||||
const JPH::BodyInterface &body_iface = space->get_body_iface();
|
||||
|
||||
return body_iface.GetMotionQuality(jolt_id) == JPH::EMotionQuality::LinearCast;
|
||||
}
|
||||
|
||||
void JoltBody3D::set_ccd_enabled(bool p_enabled) {
|
||||
|
|
@ -1299,12 +1187,9 @@ void JoltBody3D::set_ccd_enabled(bool p_enabled) {
|
|||
|
||||
if (!in_space()) {
|
||||
jolt_settings->mMotionQuality = motion_quality;
|
||||
return;
|
||||
} else {
|
||||
space->get_body_iface().SetMotionQuality(jolt_body->GetID(), motion_quality);
|
||||
}
|
||||
|
||||
JPH::BodyInterface &body_iface = space->get_body_iface();
|
||||
|
||||
body_iface.SetMotionQuality(jolt_id, motion_quality);
|
||||
}
|
||||
|
||||
void JoltBody3D::set_mass(float p_mass) {
|
||||
|
|
@ -1324,47 +1209,33 @@ void JoltBody3D::set_inertia(const Vector3 &p_inertia) {
|
|||
float JoltBody3D::get_bounce() const {
|
||||
if (!in_space()) {
|
||||
return jolt_settings->mRestitution;
|
||||
} else {
|
||||
return jolt_body->GetRestitution();
|
||||
}
|
||||
|
||||
const JoltReadableBody3D body = space->read_body(jolt_id);
|
||||
ERR_FAIL_COND_V(body.is_invalid(), 0.0f);
|
||||
|
||||
return body->GetRestitution();
|
||||
}
|
||||
|
||||
void JoltBody3D::set_bounce(float p_bounce) {
|
||||
if (!in_space()) {
|
||||
jolt_settings->mRestitution = p_bounce;
|
||||
return;
|
||||
} else {
|
||||
jolt_body->SetRestitution(p_bounce);
|
||||
}
|
||||
|
||||
const JoltWritableBody3D body = space->write_body(jolt_id);
|
||||
ERR_FAIL_COND(body.is_invalid());
|
||||
|
||||
body->SetRestitution(p_bounce);
|
||||
}
|
||||
|
||||
float JoltBody3D::get_friction() const {
|
||||
if (!in_space()) {
|
||||
return jolt_settings->mFriction;
|
||||
} else {
|
||||
return jolt_body->GetFriction();
|
||||
}
|
||||
|
||||
const JoltReadableBody3D body = space->read_body(jolt_id);
|
||||
ERR_FAIL_COND_V(body.is_invalid(), 0.0f);
|
||||
|
||||
return body->GetFriction();
|
||||
}
|
||||
|
||||
void JoltBody3D::set_friction(float p_friction) {
|
||||
if (!in_space()) {
|
||||
jolt_settings->mFriction = p_friction;
|
||||
return;
|
||||
} else {
|
||||
jolt_body->SetFriction(p_friction);
|
||||
}
|
||||
|
||||
const JoltWritableBody3D body = space->write_body(jolt_id);
|
||||
ERR_FAIL_COND(body.is_invalid());
|
||||
|
||||
body->SetFriction(p_friction);
|
||||
}
|
||||
|
||||
void JoltBody3D::set_gravity_scale(float p_scale) {
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue