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Refactor post-step operations in Jolt module to be done as needed #101815

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Jan 26, 2025
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Refactor post-step operations in Jolt module to be done as needed #101815

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64 changes: 37 additions & 27 deletions modules/jolt_physics/objects/jolt_area_3d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,26 +59,6 @@ JPH::ObjectLayer JoltArea3D::_get_object_layer() const {
return space->map_to_object_layer(_get_broad_phase_layer(), collision_layer, collision_mask);
}

bool JoltArea3D::_has_pending_events() const {
if (body_monitor_callback.is_valid()) {
for (const KeyValue<JPH::BodyID, Overlap> &E : bodies_by_id) {
if (!E.value.pending_added.is_empty() || !E.value.pending_removed.is_empty()) {
return true;
}
}
}

if (area_monitor_callback.is_valid()) {
for (const KeyValue<JPH::BodyID, Overlap> &E : areas_by_id) {
if (!E.value.pending_added.is_empty() || !E.value.pending_removed.is_empty()) {
return true;
}
}
}

return false;
}

void JoltArea3D::_add_to_space() {
jolt_shape = build_shapes(true);

Expand Down Expand Up @@ -136,6 +116,8 @@ void JoltArea3D::_add_shape_pair(Overlap &p_overlap, const JPH::BodyID &p_body_i
shape_indices.self = find_shape_index(p_self_shape_id);

p_overlap.pending_added.push_back(shape_indices);

_events_changed();
}

bool JoltArea3D::_remove_shape_pair(Overlap &p_overlap, const JPH::SubShapeID &p_other_shape_id, const JPH::SubShapeID &p_self_shape_id) {
Expand All @@ -148,6 +130,8 @@ bool JoltArea3D::_remove_shape_pair(Overlap &p_overlap, const JPH::SubShapeID &p
p_overlap.pending_removed.push_back(shape_pair->value);
p_overlap.shape_pairs.remove(shape_pair);

_events_changed();

return true;
}

Expand Down Expand Up @@ -224,10 +208,16 @@ void JoltArea3D::_force_bodies_entered() {
for (KeyValue<JPH::BodyID, Overlap> &E : bodies_by_id) {
Overlap &body = E.value;

if (unlikely(body.shape_pairs.is_empty())) {
continue;
}

for (const KeyValue<ShapeIDPair, ShapeIndexPair> &P : body.shape_pairs) {
body.pending_removed.erase(P.value);
body.pending_added.push_back(P.value);
}

_events_changed();
}
}

Expand All @@ -236,11 +226,17 @@ void JoltArea3D::_force_bodies_exited(bool p_remove) {
const JPH::BodyID &id = E.key;
Overlap &body = E.value;

if (unlikely(body.shape_pairs.is_empty())) {
continue;
}

for (const KeyValue<ShapeIDPair, ShapeIndexPair> &P : body.shape_pairs) {
body.pending_added.erase(P.value);
body.pending_removed.push_back(P.value);
}

_events_changed();

if (p_remove) {
body.shape_pairs.clear();
_notify_body_exited(id);
Expand All @@ -252,22 +248,34 @@ void JoltArea3D::_force_areas_entered() {
for (KeyValue<JPH::BodyID, Overlap> &E : areas_by_id) {
Overlap &area = E.value;

if (unlikely(area.shape_pairs.is_empty())) {
continue;
}

for (const KeyValue<ShapeIDPair, ShapeIndexPair> &P : area.shape_pairs) {
area.pending_removed.erase(P.value);
area.pending_added.push_back(P.value);
}

_events_changed();
}
}

void JoltArea3D::_force_areas_exited(bool p_remove) {
for (KeyValue<JPH::BodyID, Overlap> &E : areas_by_id) {
Overlap &area = E.value;

if (unlikely(area.shape_pairs.is_empty())) {
continue;
}

for (const KeyValue<ShapeIDPair, ShapeIndexPair> &P : area.shape_pairs) {
area.pending_added.erase(P.value);
area.pending_removed.push_back(P.value);
}

_events_changed();

if (p_remove) {
area.shape_pairs.clear();
}
Expand Down Expand Up @@ -313,6 +321,10 @@ void JoltArea3D::_space_changed() {
_update_default_gravity();
}

void JoltArea3D::_events_changed() {
_enqueue_call_queries();
}

void JoltArea3D::_body_monitoring_changed() {
if (has_body_monitor_callback()) {
_force_bodies_entered();
Expand Down Expand Up @@ -664,11 +676,13 @@ void JoltArea3D::body_exited(const JPH::BodyID &p_body_id, bool p_notify) {
return;
}

for (KeyValue<ShapeIDPair, ShapeIndexPair> &E : overlap->shape_pairs) {
for (const KeyValue<ShapeIDPair, ShapeIndexPair> &E : overlap->shape_pairs) {
overlap->pending_added.erase(E.value);
overlap->pending_removed.push_back(E.value);
}

_events_changed();

overlap->shape_pairs.clear();

if (p_notify) {
Expand All @@ -691,16 +705,12 @@ void JoltArea3D::area_exited(const JPH::BodyID &p_body_id) {
overlap->pending_removed.push_back(E.value);
}

_events_changed();

overlap->shape_pairs.clear();
}

void JoltArea3D::call_queries() {
_flush_events(bodies_by_id, body_monitor_callback);
_flush_events(areas_by_id, area_monitor_callback);
}

void JoltArea3D::post_step(float p_step, JPH::Body &p_jolt_body) {
if (_has_pending_events()) {
_enqueue_call_queries();
}
}
5 changes: 1 addition & 4 deletions modules/jolt_physics/objects/jolt_area_3d.h
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Original file line number Diff line number Diff line change
Expand Up @@ -117,8 +117,6 @@ class JoltArea3D final : public JoltShapedObject3D {

virtual JPH::EMotionType _get_motion_type() const override { return JPH::EMotionType::Kinematic; }

bool _has_pending_events() const;

virtual void _add_to_space() override;

void _enqueue_call_queries();
Expand All @@ -145,6 +143,7 @@ class JoltArea3D final : public JoltShapedObject3D {

virtual void _space_changing() override;
virtual void _space_changed() override;
void _events_changed();
void _body_monitoring_changed();
void _area_monitoring_changed();
void _monitorable_changed();
Expand Down Expand Up @@ -228,8 +227,6 @@ class JoltArea3D final : public JoltShapedObject3D {

virtual bool has_custom_center_of_mass() const override { return false; }
virtual Vector3 get_center_of_mass_custom() const override { return Vector3(); }

virtual void post_step(float p_step, JPH::Body &p_jolt_body) override;
};

#endif // JOLT_AREA_3D_H
6 changes: 0 additions & 6 deletions modules/jolt_physics/objects/jolt_object_3d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -136,12 +136,6 @@ bool JoltObject3D::can_interact_with(const JoltObject3D &p_other) const {
}
}

void JoltObject3D::pre_step(float p_step, JPH::Body &p_jolt_body) {
}

void JoltObject3D::post_step(float p_step, JPH::Body &p_jolt_body) {
}

String JoltObject3D::to_string() const {
Object *instance = get_instance();
return instance != nullptr ? instance->to_string() : "<unknown>";
Expand Down
3 changes: 1 addition & 2 deletions modules/jolt_physics/objects/jolt_object_3d.h
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Original file line number Diff line number Diff line change
Expand Up @@ -148,8 +148,7 @@ class JoltObject3D {

virtual bool reports_contacts() const = 0;

virtual void pre_step(float p_step, JPH::Body &p_jolt_body);
virtual void post_step(float p_step, JPH::Body &p_jolt_body);
virtual void pre_step(float p_step, JPH::Body &p_jolt_body) {}

String to_string() const;
};
Expand Down
32 changes: 24 additions & 8 deletions modules/jolt_physics/objects/jolt_shaped_object_3d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -140,14 +140,26 @@ JPH::ShapeRefC JoltShapedObject3D::_try_build_compound_shape(bool p_optimize) {
return shape_result.Get();
}

void JoltShapedObject3D::_enqueue_shapes_changed() {
if (space != nullptr) {
space->enqueue_shapes_changed(&shapes_changed_element);
}
}

void JoltShapedObject3D::_dequeue_shapes_changed() {
if (space != nullptr) {
space->dequeue_shapes_changed(&shapes_changed_element);
}
}

void JoltShapedObject3D::_enqueue_needs_optimization() {
if (!needs_optimization_element.in_list()) {
if (space != nullptr) {
space->enqueue_needs_optimization(&needs_optimization_element);
}
}

void JoltShapedObject3D::_dequeue_needs_optimization() {
if (needs_optimization_element.in_list()) {
if (space != nullptr) {
space->dequeue_needs_optimization(&needs_optimization_element);
}
}
Expand All @@ -160,8 +172,11 @@ void JoltShapedObject3D::_shapes_changed() {
void JoltShapedObject3D::_space_changing() {
JoltObject3D::_space_changing();

_dequeue_shapes_changed();
_dequeue_needs_optimization();

previous_jolt_shape = nullptr;

if (space != nullptr) {
const JoltWritableBody3D body = space->write_body(jolt_id);
ERR_FAIL_COND(body.is_invalid());
Expand All @@ -172,6 +187,7 @@ void JoltShapedObject3D::_space_changing() {

JoltShapedObject3D::JoltShapedObject3D(ObjectType p_object_type) :
JoltObject3D(p_object_type),
shapes_changed_element(this),
needs_optimization_element(this) {
jolt_settings->mAllowSleeping = true;
jolt_settings->mFriction = 1.0f;
Expand Down Expand Up @@ -317,6 +333,8 @@ void JoltShapedObject3D::commit_shapes(bool p_optimize_compound) {

space->get_body_iface().SetShape(jolt_id, jolt_shape, false, JPH::EActivation::DontActivate);

_enqueue_shapes_changed();

if (!p_optimize_compound && jolt_shape->GetType() == JPH::EShapeType::Compound) {
_enqueue_needs_optimization();
} else {
Expand Down Expand Up @@ -369,6 +387,10 @@ void JoltShapedObject3D::clear_shapes() {
_shapes_changed();
}

void JoltShapedObject3D::clear_previous_shape() {
previous_jolt_shape = nullptr;
}

int JoltShapedObject3D::find_shape_index(uint32_t p_shape_instance_id) const {
for (int i = 0; i < (int)shapes.size(); ++i) {
if (shapes[i].get_id() == p_shape_instance_id) {
Expand Down Expand Up @@ -450,9 +472,3 @@ void JoltShapedObject3D::set_shape_disabled(int p_index, bool p_disabled) {

_shapes_changed();
}

void JoltShapedObject3D::post_step(float p_step, JPH::Body &p_jolt_body) {
JoltObject3D::post_step(p_step, p_jolt_body);

previous_jolt_shape = nullptr;
}
7 changes: 5 additions & 2 deletions modules/jolt_physics/objects/jolt_shaped_object_3d.h
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,7 @@ class JoltShapedObject3D : public JoltObject3D {
friend class JoltShape3D;

protected:
SelfList<JoltShapedObject3D> shapes_changed_element;
SelfList<JoltShapedObject3D> needs_optimization_element;

Vector3 scale = Vector3(1, 1, 1);
Expand All @@ -61,6 +62,9 @@ class JoltShapedObject3D : public JoltObject3D {
JPH::ShapeRefC _try_build_single_shape();
JPH::ShapeRefC _try_build_compound_shape(bool p_optimize);

void _enqueue_shapes_changed();
void _dequeue_shapes_changed();

void _enqueue_needs_optimization();
void _dequeue_needs_optimization();

Expand Down Expand Up @@ -106,6 +110,7 @@ class JoltShapedObject3D : public JoltObject3D {
void set_shape(int p_index, JoltShape3D *p_shape);

void clear_shapes();
void clear_previous_shape();

int get_shape_count() const { return shapes.size(); }

Expand All @@ -123,8 +128,6 @@ class JoltShapedObject3D : public JoltObject3D {

bool is_shape_disabled(int p_index) const;
void set_shape_disabled(int p_index, bool p_disabled);

virtual void post_step(float p_step, JPH::Body &p_jolt_body) override;
};

#endif // JOLT_SHAPED_OBJECT_3D_H
26 changes: 16 additions & 10 deletions modules/jolt_physics/spaces/jolt_space_3d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,16 +85,10 @@ void JoltSpace3D::_pre_step(float p_step) {
void JoltSpace3D::_post_step(float p_step) {
contact_listener->post_step();

// WARNING: The list of active bodies may have changed between `pre_step` and `post_step`.

const JPH::BodyLockInterface &lock_iface = get_lock_iface();
const JPH::BodyID *active_rigid_bodies = physics_system->GetActiveBodiesUnsafe(JPH::EBodyType::RigidBody);
const JPH::uint32 active_rigid_body_count = physics_system->GetNumActiveBodies(JPH::EBodyType::RigidBody);

for (JPH::uint32 i = 0; i < active_rigid_body_count; i++) {
JPH::Body *jolt_body = lock_iface.TryGetBody(active_rigid_bodies[i]);
JoltObject3D *object = reinterpret_cast<JoltObject3D *>(jolt_body->GetUserData());
object->post_step(p_step, *jolt_body);
while (shapes_changed_list.first()) {
JoltShapedObject3D *object = shapes_changed_list.first()->self();
shapes_changed_list.remove(shapes_changed_list.first());
object->clear_previous_shape();
}
}

Expand Down Expand Up @@ -433,6 +427,18 @@ void JoltSpace3D::dequeue_call_queries(SelfList<JoltArea3D> *p_area) {
}
}

void JoltSpace3D::enqueue_shapes_changed(SelfList<JoltShapedObject3D> *p_object) {
if (!p_object->in_list()) {
shapes_changed_list.add(p_object);
}
}

void JoltSpace3D::dequeue_shapes_changed(SelfList<JoltShapedObject3D> *p_object) {
if (p_object->in_list()) {
shapes_changed_list.remove(p_object);
}
}

void JoltSpace3D::enqueue_needs_optimization(SelfList<JoltShapedObject3D> *p_object) {
if (!p_object->in_list()) {
needs_optimization_list.add(p_object);
Expand Down
4 changes: 4 additions & 0 deletions modules/jolt_physics/spaces/jolt_space_3d.h
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,7 @@ class JoltShapedObject3D;
class JoltSpace3D {
SelfList<JoltBody3D>::List body_call_queries_list;
SelfList<JoltArea3D>::List area_call_queries_list;
SelfList<JoltShapedObject3D>::List shapes_changed_list;
SelfList<JoltShapedObject3D>::List needs_optimization_list;

RID rid;
Expand Down Expand Up @@ -142,6 +143,9 @@ class JoltSpace3D {
void dequeue_call_queries(SelfList<JoltBody3D> *p_body);
void dequeue_call_queries(SelfList<JoltArea3D> *p_area);

void enqueue_shapes_changed(SelfList<JoltShapedObject3D> *p_object);
void dequeue_shapes_changed(SelfList<JoltShapedObject3D> *p_object);

void enqueue_needs_optimization(SelfList<JoltShapedObject3D> *p_object);
void dequeue_needs_optimization(SelfList<JoltShapedObject3D> *p_object);

Expand Down