From 1612d90cd338049736b725f91038e1dd5b4a5e51 Mon Sep 17 00:00:00 2001 From: Andrew Meadows Date: Thu, 19 Apr 2018 15:15:42 -0700 Subject: [PATCH] minor DynamicsWorld optimizations and track global steps count therein --- libraries/physics/src/EntityMotionState.cpp | 4 +- libraries/physics/src/PhysicsEngine.cpp | 8 +-- libraries/physics/src/PhysicsEngine.h | 3 +- .../physics/src/ThreadSafeDynamicsWorld.cpp | 63 +++++++------------ .../physics/src/ThreadSafeDynamicsWorld.h | 2 + 5 files changed, 28 insertions(+), 52 deletions(-) diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp index 30bbcd1fb8..deb779b1f8 100644 --- a/libraries/physics/src/EntityMotionState.cpp +++ b/libraries/physics/src/EntityMotionState.cpp @@ -252,11 +252,9 @@ void EntityMotionState::getWorldTransform(btTransform& worldTrans) const { uint32_t thisStep = ObjectMotionState::getWorldSimulationStep(); float dt = (thisStep - _lastKinematicStep) * PHYSICS_ENGINE_FIXED_SUBSTEP; + _lastKinematicStep = thisStep; _entity->stepKinematicMotion(dt); - // bypass const-ness so we can remember the step - const_cast(this)->_lastKinematicStep = thisStep; - // and set the acceleration-matches-gravity count high so that if we send an update // it will use the correct acceleration for remote simulations _accelerationNearlyGravityCount = (uint8_t)(-1); diff --git a/libraries/physics/src/PhysicsEngine.cpp b/libraries/physics/src/PhysicsEngine.cpp index 9aab27c3e9..21b5b38b13 100644 --- a/libraries/physics/src/PhysicsEngine.cpp +++ b/libraries/physics/src/PhysicsEngine.cpp @@ -71,8 +71,8 @@ void PhysicsEngine::init() { } } -uint32_t PhysicsEngine::getNumSubsteps() { - return _numSubsteps; +uint32_t PhysicsEngine::getNumSubsteps() const { + return _dynamicsWorld->getNumSubsteps(); } // private @@ -329,13 +329,9 @@ void PhysicsEngine::stepSimulation() { PHYSICS_ENGINE_FIXED_SUBSTEP, onSubStep); if (numSubsteps > 0) { BT_PROFILE("postSimulation"); - _numSubsteps += (uint32_t)numSubsteps; - ObjectMotionState::setWorldSimulationStep(_numSubsteps); - if (_myAvatarController) { _myAvatarController->postSimulation(); } - _hasOutgoingChanges = true; } diff --git a/libraries/physics/src/PhysicsEngine.h b/libraries/physics/src/PhysicsEngine.h index 0dfe3a7a7c..2ac195956a 100644 --- a/libraries/physics/src/PhysicsEngine.h +++ b/libraries/physics/src/PhysicsEngine.h @@ -52,7 +52,7 @@ public: ~PhysicsEngine(); void init(); - uint32_t getNumSubsteps(); + uint32_t getNumSubsteps() const; void removeObjects(const VectorOfMotionStates& objects); void removeSetOfObjects(const SetOfMotionStates& objects); // only called during teardown @@ -135,7 +135,6 @@ private: CharacterController* _myAvatarController; uint32_t _numContactFrames = 0; - uint32_t _numSubsteps; bool _dumpNextStats { false }; bool _saveNextStats { false }; diff --git a/libraries/physics/src/ThreadSafeDynamicsWorld.cpp b/libraries/physics/src/ThreadSafeDynamicsWorld.cpp index 3f24851dce..07d5ceb9ac 100644 --- a/libraries/physics/src/ThreadSafeDynamicsWorld.cpp +++ b/libraries/physics/src/ThreadSafeDynamicsWorld.cpp @@ -59,14 +59,11 @@ int ThreadSafeDynamicsWorld::stepSimulationWithSubstepCallback(btScalar timeStep } } - /*//process some debugging flags - if (getDebugDrawer()) { - btIDebugDraw* debugDrawer = getDebugDrawer(); - gDisableDeactivation = (debugDrawer->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0; - }*/ if (subSteps) { //clamp the number of substeps, to prevent simulation grinding spiralling down to a halt int clampedSimulationSteps = (subSteps > maxSubSteps)? maxSubSteps : subSteps; + _numSubsteps += clampedSimulationSteps; + ObjectMotionState::setWorldSimulationStep(_numSubsteps); saveKinematicState(fixedTimeStep*clampedSimulationSteps); @@ -98,28 +95,24 @@ int ThreadSafeDynamicsWorld::stepSimulationWithSubstepCallback(btScalar timeStep // call this instead of non-virtual btDiscreteDynamicsWorld::synchronizeSingleMotionState() void ThreadSafeDynamicsWorld::synchronizeMotionState(btRigidBody* body) { btAssert(body); - if (body->getMotionState() && !body->isStaticObject()) { - //we need to call the update at least once, even for sleeping objects - //otherwise the 'graphics' transform never updates properly - ///@todo: add 'dirty' flag - //if (body->getActivationState() != ISLAND_SLEEPING) - { - if (body->isKinematicObject()) { - ObjectMotionState* objectMotionState = static_cast(body->getMotionState()); - if (objectMotionState->hasInternalKinematicChanges()) { - objectMotionState->clearInternalKinematicChanges(); - body->getMotionState()->setWorldTransform(body->getWorldTransform()); - } - return; - } - btTransform interpolatedTransform; - btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(), - body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(), - (m_latencyMotionStateInterpolation && m_fixedTimeStep) ? m_localTime - m_fixedTimeStep : m_localTime*body->getHitFraction(), - interpolatedTransform); - body->getMotionState()->setWorldTransform(interpolatedTransform); + btAssert(body->getMotionState()); + + if (body->isKinematicObject()) { + ObjectMotionState* objectMotionState = static_cast(body->getMotionState()); + if (objectMotionState->hasInternalKinematicChanges()) { + // this is a special case where the kinematic motion has been updated by an Action + // so we supply the body's current transform to the MotionState + objectMotionState->clearInternalKinematicChanges(); + body->getMotionState()->setWorldTransform(body->getWorldTransform()); } + return; } + btTransform interpolatedTransform; + btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(), + body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(), + (m_latencyMotionStateInterpolation && m_fixedTimeStep) ? m_localTime - m_fixedTimeStep : m_localTime*body->getHitFraction(), + interpolatedTransform); + body->getMotionState()->setWorldTransform(interpolatedTransform); } void ThreadSafeDynamicsWorld::synchronizeMotionStates() { @@ -164,24 +157,12 @@ void ThreadSafeDynamicsWorld::synchronizeMotionStates() { } void ThreadSafeDynamicsWorld::saveKinematicState(btScalar timeStep) { -///would like to iterate over m_nonStaticRigidBodies, but unfortunately old API allows -///to switch status _after_ adding kinematic objects to the world -///fix it for Bullet 3.x release DETAILED_PROFILE_RANGE(simulation_physics, "saveKinematicState"); BT_PROFILE("saveKinematicState"); - for (int i=0;igetActivationState() != ISLAND_SLEEPING) - { - if (body->isKinematicObject()) - { - //to calculate velocities next frame - body->saveKinematicState(timeStep); - } + for (int i=0;iisKinematicObject() && body->getActivationState() != ISLAND_SLEEPING) { + body->saveKinematicState(timeStep); } } } - - diff --git a/libraries/physics/src/ThreadSafeDynamicsWorld.h b/libraries/physics/src/ThreadSafeDynamicsWorld.h index 54c3ddb756..d8cee4d2de 100644 --- a/libraries/physics/src/ThreadSafeDynamicsWorld.h +++ b/libraries/physics/src/ThreadSafeDynamicsWorld.h @@ -37,6 +37,7 @@ public: btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration); + int getNumSubsteps() const { return _numSubsteps; } int stepSimulationWithSubstepCallback(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.)/btScalar(60.), SubStepCallback onSubStep = []() { }); @@ -61,6 +62,7 @@ private: VectorOfMotionStates _deactivatedStates; SetOfMotionStates _activeStates; SetOfMotionStates _lastActiveStates; + int _numSubsteps { 0 }; }; #endif // hifi_ThreadSafeDynamicsWorld_h