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Merge pull request #12093 from AndrewMeadows/simulation-ownership-004

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more stable simulation ownership for system of constraints
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Andrew Meadows 2018-01-05 14:17:53 -08:00 committed by GitHub
commit 4745a0e32d
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2 changed files with 52 additions and 2 deletions
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53
libraries/physics/src/PhysicsEngine.cpp
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@ -317,6 +317,7 @@ void PhysicsEngine::stepSimulation() {
auto onSubStep = [this]() {
this->updateContactMap();
this->doOwnershipInfectionForConstraints();
};
int numSubsteps = _dynamicsWorld->stepSimulationWithSubstepCallback(timeStep, PHYSICS_ENGINE_MAX_NUM_SUBSTEPS,
@ -451,7 +452,7 @@ void PhysicsEngine::doOwnershipInfection(const btCollisionObject* objectA, const
// NOTE: we might own the simulation of a kinematic object (A)
// but we don't claim ownership of kinematic objects (B) based on collisions here.
if (!objectB->isStaticOrKinematicObject() && motionStateB->getSimulatorID() != Physics::getSessionUUID()) {
quint8 priorityA = motionStateA ? motionStateA->getSimulationPriority() : PERSONAL_SIMULATION_PRIORITY;
uint8_t priorityA = motionStateA ? motionStateA->getSimulationPriority() : PERSONAL_SIMULATION_PRIORITY;
motionStateB->bump(priorityA);
}
} else if (motionStateA &&
@ -460,7 +461,7 @@ void PhysicsEngine::doOwnershipInfection(const btCollisionObject* objectA, const
// SIMILARLY: we might own the simulation of a kinematic object (B)
// but we don't claim ownership of kinematic objects (A) based on collisions here.
if (!objectA->isStaticOrKinematicObject() && motionStateA->getSimulatorID() != Physics::getSessionUUID()) {
quint8 priorityB = motionStateB ? motionStateB->getSimulationPriority() : PERSONAL_SIMULATION_PRIORITY;
uint8_t priorityB = motionStateB ? motionStateB->getSimulationPriority() : PERSONAL_SIMULATION_PRIORITY;
motionStateA->bump(priorityB);
}
}
@ -501,6 +502,54 @@ void PhysicsEngine::updateContactMap() {
}
}
void PhysicsEngine::doOwnershipInfectionForConstraints() {
BT_PROFILE("ownershipInfectionForConstraints");
const btCollisionObject* characterObject = _myAvatarController ? _myAvatarController->getCollisionObject() : nullptr;
foreach(const auto& dynamic, _objectDynamics) {
if (!dynamic) {
continue;
}
QList<btRigidBody*> bodies = std::static_pointer_cast<ObjectDynamic>(dynamic)->getRigidBodies();
if (bodies.size() > 1) {
int32_t numOwned = 0;
int32_t numStatic = 0;
uint8_t priority = VOLUNTEER_SIMULATION_PRIORITY;
foreach(btRigidBody* body, bodies) {
ObjectMotionState* motionState = static_cast<ObjectMotionState*>(body->getUserPointer());
if (body->isStaticObject()) {
++numStatic;
} else if (motionState->getType() == MOTIONSTATE_TYPE_AVATAR) {
// we can never take ownership of this constraint
numOwned = 0;
break;
} else {
if (motionState && motionState->getSimulatorID() == Physics::getSessionUUID()) {
priority = glm::max(priority, motionState->getSimulationPriority());
} else if (body == characterObject) {
priority = glm::max(priority, PERSONAL_SIMULATION_PRIORITY);
}
numOwned++;
}
}
if (numOwned > 0) {
if (numOwned + numStatic != bodies.size()) {
// we have partial ownership but it isn't complete so we walk each object
// and bump the simulation priority to the highest priority we encountered earlier
foreach(btRigidBody* body, bodies) {
ObjectMotionState* motionState = static_cast<ObjectMotionState*>(body->getUserPointer());
if (motionState) {
// NOTE: we submit priority+1 because the default behavior of bump() is to actually use priority - 1
// and we want all priorities of the objects to be at the SAME level
motionState->bump(priority + 1);
}
}
}
}
}
}
}
const CollisionEvents& PhysicsEngine::getCollisionEvents() {
_collisionEvents.clear();

1
libraries/physics/src/PhysicsEngine.h
View file

@ -64,6 +64,7 @@ public:
void harvestPerformanceStats();
void printPerformanceStatsToFile(const QString& filename);
void updateContactMap();
void doOwnershipInfectionForConstraints();
bool hasOutgoingChanges() const { return _hasOutgoingChanges; }