349 lines
14 KiB
Rust
349 lines
14 KiB
Rust
use crate::data::{BundleSet, ComponentSet, ComponentSetMut, ComponentSetOption};
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use crate::dynamics::{
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JointSet, RigidBodyActivation, RigidBodyColliders, RigidBodyHandle, RigidBodyIds,
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RigidBodyType, RigidBodyVelocity,
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};
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use crate::geometry::{ColliderParent, NarrowPhase};
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use crate::math::Real;
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/// Structure responsible for maintaining the set of active rigid-bodies, and
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/// putting non-moving rigid-bodies to sleep to save computation times.
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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#[derive(Clone, Default)]
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pub struct IslandManager {
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pub(crate) active_dynamic_set: Vec<RigidBodyHandle>,
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pub(crate) active_kinematic_set: Vec<RigidBodyHandle>,
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pub(crate) active_islands: Vec<usize>,
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active_set_timestamp: u32,
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#[cfg_attr(feature = "serde-serialize", serde(skip))]
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can_sleep: Vec<RigidBodyHandle>, // Workspace.
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#[cfg_attr(feature = "serde-serialize", serde(skip))]
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stack: Vec<RigidBodyHandle>, // Workspace.
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}
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impl IslandManager {
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/// Creates a new empty island manager.
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pub fn new() -> Self {
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Self {
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active_dynamic_set: vec![],
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active_kinematic_set: vec![],
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active_islands: vec![],
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active_set_timestamp: 0,
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can_sleep: vec![],
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stack: vec![],
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}
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}
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pub(crate) fn num_islands(&self) -> usize {
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self.active_islands.len() - 1
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}
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/// Update this data-structure after one or multiple rigid-bodies have been removed for `bodies`.
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pub fn cleanup_removed_rigid_bodies(
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&mut self,
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bodies: &mut impl ComponentSetMut<RigidBodyIds>,
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) {
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let mut active_sets = [&mut self.active_kinematic_set, &mut self.active_dynamic_set];
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for active_set in &mut active_sets {
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let mut i = 0;
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while i < active_set.len() {
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let handle = active_set[i];
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if bodies.get(handle.0).is_none() {
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// This rigid-body no longer exists, so we need to remove it from the active set.
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active_set.swap_remove(i);
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if i < active_set.len() {
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bodies.map_mut_internal(active_set[i].0, |rb_ids| rb_ids.active_set_id = i);
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}
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} else {
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i += 1;
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}
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}
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}
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}
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pub(crate) fn rigid_body_removed(
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&mut self,
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removed_handle: RigidBodyHandle,
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removed_ids: &RigidBodyIds,
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bodies: &mut impl ComponentSetMut<RigidBodyIds>,
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) {
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let mut active_sets = [&mut self.active_kinematic_set, &mut self.active_dynamic_set];
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for active_set in &mut active_sets {
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if active_set.get(removed_ids.active_set_id) == Some(&removed_handle) {
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active_set.swap_remove(removed_ids.active_set_id);
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if let Some(replacement) = active_set.get(removed_ids.active_set_id) {
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bodies.map_mut_internal(replacement.0, |ids| {
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ids.active_set_id = removed_ids.active_set_id;
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});
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}
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}
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}
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}
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/// Forces the specified rigid-body to wake up if it is dynamic.
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///
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/// If `strong` is `true` then it is assured that the rigid-body will
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/// remain awake during multiple subsequent timesteps.
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pub fn wake_up<Bodies>(&mut self, bodies: &mut Bodies, handle: RigidBodyHandle, strong: bool)
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where
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Bodies: ComponentSetMut<RigidBodyActivation>
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+ ComponentSetOption<RigidBodyType>
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+ ComponentSetMut<RigidBodyIds>,
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{
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// NOTE: the use an Option here because there are many legitimate cases (like when
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// deleting a joint attached to an already-removed body) where we could be
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// attempting to wake-up a rigid-body that has already been deleted.
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let rb_type: Option<RigidBodyType> = bodies.get(handle.0).copied();
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if rb_type == Some(RigidBodyType::Dynamic) {
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bodies.map_mut_internal(handle.0, |activation: &mut RigidBodyActivation| {
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activation.wake_up(strong)
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});
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bodies.map_mut_internal(handle.0, |ids: &mut RigidBodyIds| {
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if self.active_dynamic_set.get(ids.active_set_id) != Some(&handle) {
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ids.active_set_id = self.active_dynamic_set.len();
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self.active_dynamic_set.push(handle);
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}
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});
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}
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}
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/// Iter through all the active kinematic rigid-bodies on this set.
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pub fn active_kinematic_bodies(&self) -> &[RigidBodyHandle] {
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&self.active_kinematic_set[..]
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}
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/// Iter through all the active dynamic rigid-bodies on this set.
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pub fn active_dynamic_bodies(&self) -> &[RigidBodyHandle] {
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&self.active_dynamic_set[..]
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}
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pub(crate) fn active_island(&self, island_id: usize) -> &[RigidBodyHandle] {
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let island_range = self.active_islands[island_id]..self.active_islands[island_id + 1];
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&self.active_dynamic_set[island_range]
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}
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#[inline(always)]
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pub(crate) fn iter_active_bodies<'a>(&'a self) -> impl Iterator<Item = RigidBodyHandle> + 'a {
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self.active_dynamic_set
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.iter()
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.copied()
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.chain(self.active_kinematic_set.iter().copied())
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}
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/*
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#[cfg(feature = "parallel")]
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#[inline(always)]
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#[allow(dead_code)]
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pub(crate) fn foreach_active_island_body_mut_internal_parallel<Set>(
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&self,
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island_id: usize,
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bodies: &mut Set,
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f: impl Fn(RigidBodyHandle, &mut RigidBody) + Send + Sync,
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) where
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Set: ComponentSet<T>,
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{
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use std::sync::atomic::Ordering;
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let island_range = self.active_islands[island_id]..self.active_islands[island_id + 1];
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let bodies = std::sync::atomic::AtomicPtr::new(&mut bodies as *mut _);
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self.active_dynamic_set[island_range]
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.par_iter()
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.for_each_init(
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|| bodies.load(Ordering::Relaxed),
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|bodies, handle| {
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let bodies: &mut Set = unsafe { std::mem::transmute(*bodies) };
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if let Some(rb) = bodies.get_mut_internal(handle.0) {
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f(*handle, rb)
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}
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},
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);
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}
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*/
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#[cfg(feature = "parallel")]
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pub(crate) fn active_island_range(&self, island_id: usize) -> std::ops::Range<usize> {
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self.active_islands[island_id]..self.active_islands[island_id + 1]
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}
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pub(crate) fn update_active_set_with_contacts<Bodies, Colliders>(
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&mut self,
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bodies: &mut Bodies,
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colliders: &Colliders,
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narrow_phase: &NarrowPhase,
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joints: &JointSet,
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min_island_size: usize,
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) where
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Bodies: ComponentSetMut<RigidBodyIds>
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+ ComponentSetMut<RigidBodyActivation>
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+ ComponentSetMut<RigidBodyVelocity>
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+ ComponentSet<RigidBodyColliders>
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+ ComponentSet<RigidBodyType>,
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Colliders: ComponentSetOption<ColliderParent>,
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{
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assert!(
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min_island_size > 0,
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"The minimum island size must be at least 1."
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);
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// Update the energy of every rigid body and
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// keep only those that may not sleep.
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// let t = instant::now();
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self.active_set_timestamp += 1;
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self.stack.clear();
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self.can_sleep.clear();
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// NOTE: the `.rev()` is here so that two successive timesteps preserve
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// the order of the bodies in the `active_dynamic_set` vec. This reversal
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// does not seem to affect performances nor stability. However it makes
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// debugging slightly nicer so we keep this rev.
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for h in self.active_dynamic_set.drain(..).rev() {
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let can_sleep = &mut self.can_sleep;
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let stack = &mut self.stack;
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let vels: &RigidBodyVelocity = bodies.index(h.0);
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let pseudo_kinetic_energy = vels.pseudo_kinetic_energy();
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bodies.map_mut_internal(h.0, |activation: &mut RigidBodyActivation| {
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update_energy(activation, pseudo_kinetic_energy);
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if activation.energy <= activation.threshold {
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// Mark them as sleeping for now. This will
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// be set to false during the graph traversal
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// if it should not be put to sleep.
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activation.sleeping = true;
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can_sleep.push(h);
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} else {
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stack.push(h);
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}
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});
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}
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// Read all the contacts and push objects touching touching this rigid-body.
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#[inline(always)]
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fn push_contacting_bodies(
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rb_colliders: &RigidBodyColliders,
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colliders: &impl ComponentSetOption<ColliderParent>,
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narrow_phase: &NarrowPhase,
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stack: &mut Vec<RigidBodyHandle>,
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) {
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for collider_handle in &rb_colliders.0 {
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for inter in narrow_phase.contacts_with(*collider_handle) {
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for manifold in &inter.manifolds {
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if !manifold.data.solver_contacts.is_empty() {
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let other = crate::utils::select_other(
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(inter.collider1, inter.collider2),
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*collider_handle,
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);
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if let Some(other_body) = colliders.get(other.0) {
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stack.push(other_body.handle);
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}
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break;
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}
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}
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}
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}
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}
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// Now iterate on all active kinematic bodies and push all the bodies
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// touching them to the stack so they can be woken up.
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for h in self.active_kinematic_set.iter() {
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let (vels, rb_colliders): (&RigidBodyVelocity, _) = bodies.index_bundle(h.0);
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if vels.is_zero() {
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// If the kinematic body does not move, it does not have
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// to wake up any dynamic body.
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continue;
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}
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push_contacting_bodies(rb_colliders, colliders, narrow_phase, &mut self.stack);
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}
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// println!("Selection: {}", instant::now() - t);
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// let t = instant::now();
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// Propagation of awake state and awake island computation through the
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// traversal of the interaction graph.
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self.active_islands.clear();
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self.active_islands.push(0);
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// The max avoid underflow when the stack is empty.
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let mut island_marker = self.stack.len().max(1) - 1;
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while let Some(handle) = self.stack.pop() {
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let (rb_status, rb_ids, rb_colliders): (
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&RigidBodyType,
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&RigidBodyIds,
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&RigidBodyColliders,
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) = bodies.index_bundle(handle.0);
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if rb_ids.active_set_timestamp == self.active_set_timestamp || !rb_status.is_dynamic() {
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// We already visited this body and its neighbors.
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// Also, we don't propagate awake state through static bodies.
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continue;
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}
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if self.stack.len() < island_marker {
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if self.active_dynamic_set.len() - *self.active_islands.last().unwrap()
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>= min_island_size
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{
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// We are starting a new island.
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self.active_islands.push(self.active_dynamic_set.len());
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}
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island_marker = self.stack.len();
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}
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// Transmit the active state to all the rigid-bodies with colliders
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// in contact or joined with this collider.
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push_contacting_bodies(rb_colliders, colliders, narrow_phase, &mut self.stack);
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for inter in joints.joints_with(handle) {
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let other = crate::utils::select_other((inter.0, inter.1), handle);
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self.stack.push(other);
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}
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bodies.map_mut_internal(handle.0, |activation: &mut RigidBodyActivation| {
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activation.wake_up(false);
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});
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bodies.map_mut_internal(handle.0, |ids: &mut RigidBodyIds| {
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ids.active_island_id = self.active_islands.len() - 1;
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ids.active_set_id = self.active_dynamic_set.len();
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ids.active_set_offset =
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ids.active_set_id - self.active_islands[ids.active_island_id];
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ids.active_set_timestamp = self.active_set_timestamp;
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});
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self.active_dynamic_set.push(handle);
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}
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self.active_islands.push(self.active_dynamic_set.len());
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// println!(
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// "Extraction: {}, num islands: {}",
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// instant::now() - t,
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// self.active_islands.len() - 1
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// );
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// Actually put to sleep bodies which have not been detected as awake.
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for h in &self.can_sleep {
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let activation: &RigidBodyActivation = bodies.index(h.0);
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if activation.sleeping {
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bodies.set_internal(h.0, RigidBodyVelocity::zero());
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bodies.map_mut_internal(h.0, |activation: &mut RigidBodyActivation| {
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activation.sleep()
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});
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}
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}
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}
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}
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fn update_energy(activation: &mut RigidBodyActivation, pseudo_kinetic_energy: Real) {
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let mix_factor = 0.01;
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let new_energy = (1.0 - mix_factor) * activation.energy + mix_factor * pseudo_kinetic_energy;
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activation.energy = new_energy.min(activation.threshold.abs() * 4.0);
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}
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