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Give each RigidBody its own DirectBodyState wrapper. #42928

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Give each RigidBody its own DirectBodyState wrapper. #42928

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8 changes: 2 additions & 6 deletions modules/bullet/bullet_physics_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -850,8 +850,8 @@ bool BulletPhysicsServer3D::body_is_ray_pickable(RID p_body) const {

PhysicsDirectBodyState3D *BulletPhysicsServer3D::body_get_direct_state(RID p_body) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, nullptr);
return BulletPhysicsDirectBodyState3D::get_singleton(body);
ERR_FAIL_COND_V_MSG(!body, nullptr, "Body with RID " + itos(p_body.get_id()) + " not owned by this server.");
return body->get_direct_state();
}

bool BulletPhysicsServer3D::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result, bool p_exclude_raycast_shapes) {
Expand Down Expand Up @@ -1522,16 +1522,13 @@ void BulletPhysicsServer3D::free(RID p_rid) {
}

void BulletPhysicsServer3D::init() {
BulletPhysicsDirectBodyState3D::initSingleton();
}

void BulletPhysicsServer3D::step(real_t p_deltaTime) {
if (!active) {
return;
}

BulletPhysicsDirectBodyState3D::singleton_setDeltaTime(p_deltaTime);

for (int i = 0; i < active_spaces_count; ++i) {
active_spaces[i]->step(p_deltaTime);
}
Expand All @@ -1548,7 +1545,6 @@ void BulletPhysicsServer3D::flush_queries() {
}

void BulletPhysicsServer3D::finish() {
BulletPhysicsDirectBodyState3D::destroySingleton();
}

int BulletPhysicsServer3D::get_process_info(ProcessInfo p_info) {
Expand Down
15 changes: 9 additions & 6 deletions modules/bullet/rigid_body_bullet.cpp
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Expand Up @@ -48,8 +48,6 @@
@author AndreaCatania
*/

BulletPhysicsDirectBodyState3D *BulletPhysicsDirectBodyState3D::singleton = nullptr;

Vector3 BulletPhysicsDirectBodyState3D::get_total_gravity() const {
Vector3 gVec;
B_TO_G(body->btBody->getGravity(), gVec);
Expand Down Expand Up @@ -194,6 +192,10 @@ Vector3 BulletPhysicsDirectBodyState3D::get_contact_collider_velocity_at_positio
return velocityAtPoint;
}

real_t BulletPhysicsDirectBodyState3D::get_step() const {
return body->get_space()->get_delta_time();
}

PhysicsDirectSpaceState3D *BulletPhysicsDirectBodyState3D::get_space_state() {
return body->get_space()->get_direct_state();
}
Expand Down Expand Up @@ -279,11 +281,14 @@ RigidBodyBullet::RigidBodyBullet() :

prev_collision_traces = &collision_traces_1;
curr_collision_traces = &collision_traces_2;

direct_access = memnew(BulletPhysicsDirectBodyState3D);
direct_access->body = this;
}

RigidBodyBullet::~RigidBodyBullet() {
bulletdelete(godotMotionState);

memdelete(direct_access);
if (force_integration_callback) {
memdelete(force_integration_callback);
}
Expand Down Expand Up @@ -342,9 +347,7 @@ void RigidBodyBullet::dispatch_callbacks() {
btBody->clearForces();
}

BulletPhysicsDirectBodyState3D *bodyDirect = BulletPhysicsDirectBodyState3D::get_singleton(this);

Variant variantBodyDirect = bodyDirect;
Variant variantBodyDirect = direct_access;

Object *obj = ObjectDB::get_instance(force_integration_callback->id);
if (!obj) {
Expand Down
41 changes: 5 additions & 36 deletions modules/bullet/rigid_body_bullet.h
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Expand Up @@ -45,49 +45,15 @@ class AreaBullet;
class SpaceBullet;
class btRigidBody;
class GodotMotionState;
class BulletPhysicsDirectBodyState3D;

/// This class could be used in multi thread with few changes but currently
/// is set to be only in one single thread.
///
/// In the system there is only one object at a time that manage all bodies and is
/// created by BulletPhysicsServer3D and is held by the "singleton" variable of this class
/// Each time something require it, the body must be set again.

class BulletPhysicsDirectBodyState3D : public PhysicsDirectBodyState3D {
GDCLASS(BulletPhysicsDirectBodyState3D, PhysicsDirectBodyState3D);

static BulletPhysicsDirectBodyState3D *singleton;

public:
/// This class avoid the creation of more object of this class
static void initSingleton() {
if (!singleton) {
singleton = memnew(BulletPhysicsDirectBodyState3D);
}
}

static void destroySingleton() {
memdelete(singleton);
singleton = nullptr;
}

static void singleton_setDeltaTime(real_t p_deltaTime) {
singleton->deltaTime = p_deltaTime;
}

static BulletPhysicsDirectBodyState3D *get_singleton(RigidBodyBullet *p_body) {
singleton->body = p_body;
return singleton;
}

public:
RigidBodyBullet *body = nullptr;
real_t deltaTime = 0.0;

private:
BulletPhysicsDirectBodyState3D() {}

public:
virtual Vector3 get_total_gravity() const override;
virtual real_t get_total_angular_damp() const override;
virtual real_t get_total_linear_damp() const override;
Expand Down Expand Up @@ -133,7 +99,7 @@ class BulletPhysicsDirectBodyState3D : public PhysicsDirectBodyState3D {
virtual int get_contact_collider_shape(int p_contact_idx) const override;
virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const override;

virtual real_t get_step() const override { return deltaTime; }
virtual real_t get_step() const override;
virtual void integrate_forces() override {
// Skip the execution of this function
}
Expand Down Expand Up @@ -185,6 +151,7 @@ class RigidBodyBullet : public RigidCollisionObjectBullet {
};

private:
BulletPhysicsDirectBodyState3D *direct_access = nullptr;
friend class BulletPhysicsDirectBodyState3D;

// This is required only for Kinematic movement
Expand Down Expand Up @@ -229,6 +196,8 @@ class RigidBodyBullet : public RigidCollisionObjectBullet {
RigidBodyBullet();
~RigidBodyBullet();

BulletPhysicsDirectBodyState3D *get_direct_state() const { return direct_access; }

void init_kinematic_utilities();
void destroy_kinematic_utilities();
_FORCE_INLINE_ KinematicUtilities *get_kinematic_utilities() const { return kinematic_utilities; }
Expand Down
15 changes: 9 additions & 6 deletions servers/physics_2d/body_2d_sw.cpp
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Expand Up @@ -585,10 +585,7 @@ void Body2DSW::wakeup_neighbours() {

void Body2DSW::call_queries() {
if (fi_callback) {
PhysicsDirectBodyState2DSW *dbs = PhysicsDirectBodyState2DSW::singleton;
dbs->body = this;

Variant v = dbs;
Variant v = direct_access;
const Variant *vp[2] = { &v, &fi_callback->callback_udata };

Object *obj = ObjectDB::get_instance(fi_callback->id);
Expand Down Expand Up @@ -674,20 +671,26 @@ Body2DSW::Body2DSW() :
continuous_cd_mode = PhysicsServer2D::CCD_MODE_DISABLED;
can_sleep = true;
fi_callback = nullptr;

direct_access = memnew(PhysicsDirectBodyState2DSW);
direct_access->body = this;
}

Body2DSW::~Body2DSW() {
memdelete(direct_access);
if (fi_callback) {
memdelete(fi_callback);
}
}

PhysicsDirectBodyState2DSW *PhysicsDirectBodyState2DSW::singleton = nullptr;

PhysicsDirectSpaceState2D *PhysicsDirectBodyState2DSW::get_space_state() {
return body->get_space()->get_direct_state();
}

real_t PhysicsDirectBodyState2DSW::get_step() const {
return body->get_space()->get_step();
}

Variant PhysicsDirectBodyState2DSW::get_contact_collider_shape_metadata(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Variant());

Expand Down
16 changes: 8 additions & 8 deletions servers/physics_2d/body_2d_sw.h
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Expand Up @@ -38,6 +38,7 @@
#include "core/templates/vset.h"

class Constraint2DSW;
class PhysicsDirectBodyState2DSW;

class Body2DSW : public CollisionObject2DSW {
PhysicsServer2D::BodyMode mode;
Expand Down Expand Up @@ -130,6 +131,7 @@ class Body2DSW : public CollisionObject2DSW {

_FORCE_INLINE_ void _compute_area_gravity_and_dampenings(const Area2DSW *p_area);

PhysicsDirectBodyState2DSW *direct_access = nullptr;
friend class PhysicsDirectBodyState2DSW; // i give up, too many functions to expose

public:
Expand Down Expand Up @@ -289,6 +291,8 @@ class Body2DSW : public CollisionObject2DSW {

bool sleep_test(real_t p_step);

PhysicsDirectBodyState2DSW *get_direct_state() const { return direct_access; }

Body2DSW();
~Body2DSW();
};
Expand Down Expand Up @@ -341,9 +345,7 @@ class PhysicsDirectBodyState2DSW : public PhysicsDirectBodyState2D {
GDCLASS(PhysicsDirectBodyState2DSW, PhysicsDirectBodyState2D);

public:
static PhysicsDirectBodyState2DSW *singleton;
Body2DSW *body;
real_t step;
Body2DSW *body = nullptr;

virtual Vector2 get_total_gravity() const override { return body->gravity; } // get gravity vector working on this body space/area
virtual real_t get_total_angular_damp() const override { return body->area_angular_damp; } // get density of this body space/area
Expand Down Expand Up @@ -411,11 +413,9 @@ class PhysicsDirectBodyState2DSW : public PhysicsDirectBodyState2D {

virtual PhysicsDirectSpaceState2D *get_space_state() override;

virtual real_t get_step() const override { return step; }
PhysicsDirectBodyState2DSW() {
singleton = this;
body = nullptr;
}
virtual real_t get_step() const override;

PhysicsDirectBodyState2DSW() {}
};

#endif // BODY_2D_SW_H
20 changes: 3 additions & 17 deletions servers/physics_2d/physics_server_2d_sw.cpp
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Expand Up @@ -968,19 +968,10 @@ int PhysicsServer2DSW::body_test_ray_separation(RID p_body, const Transform2D &p
}

PhysicsDirectBodyState2D *PhysicsServer2DSW::body_get_direct_state(RID p_body) {
ERR_FAIL_COND_V_MSG((using_threads && !doing_sync), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");

if (!body_owner.owns(p_body)) {
return nullptr;
}

Body2DSW *body = body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, nullptr);
ERR_FAIL_COND_V(!body->get_space(), nullptr);
ERR_FAIL_COND_V_MSG(body->get_space()->is_locked(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");

direct_state->body = body;
return direct_state;
ERR_FAIL_COND_V_MSG(!body, nullptr, "Body with RID " + itos(p_body.get_id()) + " not owned by this server.");
ERR_FAIL_COND_V_MSG((using_threads && !doing_sync) || (body->get_space() && body->get_space()->is_locked()), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
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I also think this handles multi-threaded nicely. i.e. if someone uses this incorrectly they will know.

return body->get_direct_state();
}

/* JOINT API */
Expand Down Expand Up @@ -1240,10 +1231,8 @@ void PhysicsServer2DSW::set_active(bool p_active) {

void PhysicsServer2DSW::init() {
doing_sync = false;
last_step = 0.001;
iterations = 8; // 8?
stepper = memnew(Step2DSW);
direct_state = memnew(PhysicsDirectBodyState2DSW);
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I feel it may be a better idea to create this on demand (when requested, if null, create and return)

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It is used to sync the server state with the Godot scene every iteration; so I think there is little point in delaying its creation:

godot/servers/physics_2d/body_2d_sw.cpp

Lines 586 to 592 in a5fa919

void Body2DSW::call_queries() {
if (fi_callback) {
PhysicsDirectBodyState2DSW *dbs = PhysicsDirectBodyState2DSW::singleton;
dbs->body = this;
Variant v = dbs;
const Variant *vp[2] = { &v, &fi_callback->callback_udata };

BTW This PR simplifies this to simply use it's own copy:
DirectAccess

Note: fi_callback is defined during the RigidBody creation:

godot/scene/2d/physics_body_2d.cpp

Line 863 in a5fa919

PhysicsServer2D::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed");

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👍

};

void PhysicsServer2DSW::step(real_t p_step) {
Expand All @@ -1253,8 +1242,6 @@ void PhysicsServer2DSW::step(real_t p_step) {

_update_shapes();

last_step = p_step;
PhysicsDirectBodyState2DSW::singleton->step = p_step;
island_count = 0;
active_objects = 0;
collision_pairs = 0;
Expand Down Expand Up @@ -1326,7 +1313,6 @@ void PhysicsServer2DSW::end_sync() {

void PhysicsServer2DSW::finish() {
memdelete(stepper);
memdelete(direct_state);
};

void PhysicsServer2DSW::_update_shapes() {
Expand Down
3 changes: 0 additions & 3 deletions servers/physics_2d/physics_server_2d_sw.h
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Expand Up @@ -46,7 +46,6 @@ class PhysicsServer2DSW : public PhysicsServer2D {
bool active;
int iterations;
bool doing_sync;
real_t last_step;

int island_count;
int active_objects;
Expand All @@ -59,8 +58,6 @@ class PhysicsServer2DSW : public PhysicsServer2D {
Step2DSW *stepper;
Set<const Space2DSW *> active_spaces;

PhysicsDirectBodyState2DSW *direct_state;

mutable RID_PtrOwner<Shape2DSW, true> shape_owner;
mutable RID_PtrOwner<Space2DSW, true> space_owner;
mutable RID_PtrOwner<Area2DSW, true> area_owner;
Expand Down
2 changes: 1 addition & 1 deletion servers/physics_2d/space_2d_sw.cpp
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Expand Up @@ -803,7 +803,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co
//fix for moving platforms (kinematic and dynamic), margin is increased by how much it moved in the given direction
Vector2 lv = b->get_linear_velocity();
//compute displacement from linear velocity
Vector2 motion = lv * PhysicsDirectBodyState2DSW::singleton->step;
Vector2 motion = lv * step;
real_t motion_len = motion.length();
motion.normalize();
cbk.valid_depth += motion_len * MAX(motion.dot(-cbk.valid_dir), 0.0);
Expand Down
4 changes: 4 additions & 0 deletions servers/physics_2d/space_2d_sw.h
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Expand Up @@ -117,6 +117,7 @@ class Space2DSW {

bool locked;

real_t step;
int island_count;
int active_objects;
int collision_pairs;
Expand All @@ -132,6 +133,9 @@ class Space2DSW {
_FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; }
_FORCE_INLINE_ RID get_self() const { return self; }

_FORCE_INLINE_ void set_step(const real_t &p_step) { step = p_step; }
_FORCE_INLINE_ real_t get_step() const { return step; }

void set_default_area(Area2DSW *p_area) { area = p_area; }
Area2DSW *get_default_area() const { return area; }

Expand Down
2 changes: 1 addition & 1 deletion servers/physics_2d/step_2d_sw.cpp
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Expand Up @@ -130,7 +130,7 @@ void Step2DSW::_check_suspend(Body2DSW *p_island, real_t p_delta) {

void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
p_space->lock(); // can't access space during this

p_space->set_step(p_delta);
p_space->setup(); //update inertias, etc

const SelfList<Body2DSW>::List *body_list = &p_space->get_active_body_list();
Expand Down
15 changes: 9 additions & 6 deletions servers/physics_3d/body_3d_sw.cpp
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Expand Up @@ -682,10 +682,7 @@ void Body3DSW::wakeup_neighbours() {

void Body3DSW::call_queries() {
if (fi_callback) {
PhysicsDirectBodyState3DSW *dbs = PhysicsDirectBodyState3DSW::singleton;
dbs->body = this;

Variant v = dbs;
Variant v = direct_access;

Object *obj = ObjectDB::get_instance(fi_callback->id);
if (!obj) {
Expand Down Expand Up @@ -772,16 +769,22 @@ Body3DSW::Body3DSW() :
continuous_cd = false;
can_sleep = true;
fi_callback = nullptr;

direct_access = memnew(PhysicsDirectBodyState3DSW);
direct_access->body = this;
}

Body3DSW::~Body3DSW() {
memdelete(direct_access);
if (fi_callback) {
memdelete(fi_callback);
}
}

PhysicsDirectBodyState3DSW *PhysicsDirectBodyState3DSW::singleton = nullptr;

PhysicsDirectSpaceState3D *PhysicsDirectBodyState3DSW::get_space_state() {
return body->get_space()->get_direct_state();
}

real_t PhysicsDirectBodyState3DSW::get_step() const {
return body->get_space()->get_step();
}
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