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547 lines
21 KiB
C++
547 lines
21 KiB
C++
#include <BulletCollision/BroadphaseCollision/btDbvtBroadphase.h>
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#include <BulletCollision/CollisionShapes/btCollisionShape.h>
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#include <osg/Stats>
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#include "components/debug/debuglog.hpp"
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#include <components/misc/barrier.hpp>
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#include "components/misc/convert.hpp"
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#include "components/settings/settings.hpp"
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#include "../mwmechanics/actorutil.hpp"
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#include "../mwmechanics/movement.hpp"
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#include "../mwworld/class.hpp"
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#include "../mwworld/player.hpp"
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#include "actor.hpp"
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#include "contacttestwrapper.h"
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#include "movementsolver.hpp"
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#include "mtphysics.hpp"
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#include "object.hpp"
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#include "physicssystem.hpp"
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#include "projectile.hpp"
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namespace
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{
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/// @brief A scoped lock that is either shared or exclusive depending on configuration
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template<class Mutex>
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class MaybeSharedLock
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{
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public:
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/// @param mutex a shared mutex
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/// @param canBeSharedLock decide wether the lock will be shared or exclusive
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MaybeSharedLock(Mutex& mutex, bool canBeSharedLock) : mMutex(mutex), mCanBeSharedLock(canBeSharedLock)
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{
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if (mCanBeSharedLock)
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mMutex.lock_shared();
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else
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mMutex.lock();
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}
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~MaybeSharedLock()
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{
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if (mCanBeSharedLock)
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mMutex.unlock_shared();
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else
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mMutex.unlock();
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}
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private:
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Mutex& mMutex;
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bool mCanBeSharedLock;
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};
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void handleFall(MWPhysics::ActorFrameData& actorData, bool simulationPerformed)
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{
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const float heightDiff = actorData.mPosition.z() - actorData.mOldHeight;
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const bool isStillOnGround = (simulationPerformed && actorData.mWasOnGround && actorData.mActorRaw->getOnGround());
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if (isStillOnGround || actorData.mFlying || actorData.mSwimming || actorData.mSlowFall < 1)
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actorData.mNeedLand = true;
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else if (heightDiff < 0)
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actorData.mFallHeight += heightDiff;
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}
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void handleJump(const MWWorld::Ptr &ptr)
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{
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const bool isPlayer = (ptr == MWMechanics::getPlayer());
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// Advance acrobatics and set flag for GetPCJumping
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if (isPlayer)
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{
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ptr.getClass().skillUsageSucceeded(ptr, ESM::Skill::Acrobatics, 0);
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MWBase::Environment::get().getWorld()->getPlayer().setJumping(true);
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}
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// Decrease fatigue
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if (!isPlayer || !MWBase::Environment::get().getWorld()->getGodModeState())
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{
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const MWWorld::Store<ESM::GameSetting> &gmst = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>();
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const float fFatigueJumpBase = gmst.find("fFatigueJumpBase")->mValue.getFloat();
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const float fFatigueJumpMult = gmst.find("fFatigueJumpMult")->mValue.getFloat();
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const float normalizedEncumbrance = std::min(1.f, ptr.getClass().getNormalizedEncumbrance(ptr));
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const float fatigueDecrease = fFatigueJumpBase + normalizedEncumbrance * fFatigueJumpMult;
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MWMechanics::DynamicStat<float> fatigue = ptr.getClass().getCreatureStats(ptr).getFatigue();
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fatigue.setCurrent(fatigue.getCurrent() - fatigueDecrease);
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ptr.getClass().getCreatureStats(ptr).setFatigue(fatigue);
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}
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ptr.getClass().getMovementSettings(ptr).mPosition[2] = 0;
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}
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void updateMechanics(MWPhysics::ActorFrameData& actorData)
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{
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auto ptr = actorData.mActorRaw->getPtr();
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if (actorData.mDidJump)
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handleJump(ptr);
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MWMechanics::CreatureStats& stats = ptr.getClass().getCreatureStats(ptr);
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if (actorData.mNeedLand)
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stats.land(ptr == MWMechanics::getPlayer() && (actorData.mFlying || actorData.mSwimming));
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else if (actorData.mFallHeight < 0)
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stats.addToFallHeight(-actorData.mFallHeight);
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}
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osg::Vec3f interpolateMovements(MWPhysics::ActorFrameData& actorData, float timeAccum, float physicsDt)
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{
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const float interpolationFactor = timeAccum / physicsDt;
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return actorData.mPosition * interpolationFactor + actorData.mActorRaw->getPreviousPosition() * (1.f - interpolationFactor);
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}
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struct WorldFrameData
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{
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WorldFrameData() : mIsInStorm(MWBase::Environment::get().getWorld()->isInStorm())
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, mStormDirection(MWBase::Environment::get().getWorld()->getStormDirection())
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{}
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bool mIsInStorm;
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osg::Vec3f mStormDirection;
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};
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namespace Config
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{
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/// @return either the number of thread as configured by the user, or 1 if Bullet doesn't support multithreading
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int computeNumThreads(bool& threadSafeBullet)
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{
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int wantedThread = Settings::Manager::getInt("async num threads", "Physics");
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auto broad = std::make_unique<btDbvtBroadphase>();
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auto maxSupportedThreads = broad->m_rayTestStacks.size();
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threadSafeBullet = (maxSupportedThreads > 1);
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if (!threadSafeBullet && wantedThread > 1)
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{
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Log(Debug::Warning) << "Bullet was not compiled with multithreading support, 1 async thread will be used";
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return 1;
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}
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return std::max(0, wantedThread);
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}
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}
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}
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namespace MWPhysics
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{
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PhysicsTaskScheduler::PhysicsTaskScheduler(float physicsDt, std::shared_ptr<btCollisionWorld> collisionWorld)
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: mPhysicsDt(physicsDt)
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, mTimeAccum(0.f)
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, mCollisionWorld(std::move(collisionWorld))
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, mNumJobs(0)
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, mRemainingSteps(0)
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, mLOSCacheExpiry(Settings::Manager::getInt("lineofsight keep inactive cache", "Physics"))
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, mDeferAabbUpdate(Settings::Manager::getBool("defer aabb update", "Physics"))
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, mNewFrame(false)
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, mAdvanceSimulation(false)
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, mQuit(false)
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, mNextJob(0)
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, mNextLOS(0)
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, mFrameNumber(0)
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, mTimer(osg::Timer::instance())
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{
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mNumThreads = Config::computeNumThreads(mThreadSafeBullet);
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if (mNumThreads >= 1)
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{
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for (int i = 0; i < mNumThreads; ++i)
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mThreads.emplace_back([&] { worker(); } );
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}
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else
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{
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mLOSCacheExpiry = -1;
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mDeferAabbUpdate = false;
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}
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mPreStepBarrier = std::make_unique<Misc::Barrier>(mNumThreads, [&]()
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{
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if (mDeferAabbUpdate)
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updateAabbs();
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for (auto& data : mActorsFrameData)
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if (data.mActor.lock())
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{
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std::unique_lock lock(mCollisionWorldMutex);
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MovementSolver::unstuck(data, mCollisionWorld.get());
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}
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});
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mPostStepBarrier = std::make_unique<Misc::Barrier>(mNumThreads, [&]()
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{
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if (mRemainingSteps)
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--mRemainingSteps;
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mNextJob.store(0, std::memory_order_release);
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updateActorsPositions();
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});
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mPostSimBarrier = std::make_unique<Misc::Barrier>(mNumThreads, [&]()
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{
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mNewFrame = false;
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if (mLOSCacheExpiry >= 0)
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{
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std::unique_lock lock(mLOSCacheMutex);
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mLOSCache.erase(
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std::remove_if(mLOSCache.begin(), mLOSCache.end(),
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[](const LOSRequest& req) { return req.mStale; }),
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mLOSCache.end());
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}
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mTimeEnd = mTimer->tick();
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});
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}
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PhysicsTaskScheduler::~PhysicsTaskScheduler()
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{
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std::unique_lock lock(mSimulationMutex);
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mQuit = true;
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mNumJobs = 0;
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mRemainingSteps = 0;
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lock.unlock();
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mHasJob.notify_all();
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for (auto& thread : mThreads)
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thread.join();
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}
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const std::vector<MWWorld::Ptr>& PhysicsTaskScheduler::moveActors(int numSteps, float timeAccum, std::vector<ActorFrameData>&& actorsData, osg::Timer_t frameStart, unsigned int frameNumber, osg::Stats& stats)
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{
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// This function run in the main thread.
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// While the mSimulationMutex is held, background physics threads can't run.
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std::unique_lock lock(mSimulationMutex);
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mMovedActors.clear();
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// start by finishing previous background computation
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if (mNumThreads != 0)
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{
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for (auto& data : mActorsFrameData)
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{
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const auto actorActive = [&data](const auto& newFrameData) -> bool
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{
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const auto actor = data.mActor.lock();
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return actor && actor->getPtr() == newFrameData.mActorRaw->getPtr();
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};
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// Only return actors that are still part of the scene
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if (std::any_of(actorsData.begin(), actorsData.end(), actorActive))
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{
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updateMechanics(data);
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// these variables are accessed directly from the main thread, update them here to prevent accessing "too new" values
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if (mAdvanceSimulation)
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data.mActorRaw->setStandingOnPtr(data.mStandingOn);
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data.mActorRaw->setSimulationPosition(interpolateMovements(data, mTimeAccum, mPhysicsDt));
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mMovedActors.emplace_back(data.mActorRaw->getPtr());
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}
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}
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updateStats(frameStart, frameNumber, stats);
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}
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// init
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for (auto& data : actorsData)
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data.updatePosition();
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mRemainingSteps = numSteps;
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mTimeAccum = timeAccum;
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mActorsFrameData = std::move(actorsData);
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mAdvanceSimulation = (mRemainingSteps != 0);
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mNewFrame = true;
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mNumJobs = mActorsFrameData.size();
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mNextLOS.store(0, std::memory_order_relaxed);
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mNextJob.store(0, std::memory_order_release);
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if (mAdvanceSimulation)
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mWorldFrameData = std::make_unique<WorldFrameData>();
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if (mNumThreads == 0)
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{
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syncComputation();
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return mMovedActors;
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}
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lock.unlock();
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mHasJob.notify_all();
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return mMovedActors;
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}
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const std::vector<MWWorld::Ptr>& PhysicsTaskScheduler::resetSimulation(const ActorMap& actors)
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{
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std::unique_lock lock(mSimulationMutex);
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mMovedActors.clear();
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mActorsFrameData.clear();
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for (const auto& [_, actor] : actors)
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{
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actor->updatePosition();
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actor->setSimulationPosition(actor->getWorldPosition()); // updatePosition skip next simulation, now we need to "consume" it
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actor->updateCollisionObjectPosition();
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mMovedActors.emplace_back(actor->getPtr());
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}
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return mMovedActors;
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}
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void PhysicsTaskScheduler::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const
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{
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MaybeSharedLock lock(mCollisionWorldMutex, mThreadSafeBullet);
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mCollisionWorld->rayTest(rayFromWorld, rayToWorld, resultCallback);
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}
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void PhysicsTaskScheduler::convexSweepTest(const btConvexShape* castShape, const btTransform& from, const btTransform& to, btCollisionWorld::ConvexResultCallback& resultCallback) const
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{
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MaybeSharedLock lock(mCollisionWorldMutex, mThreadSafeBullet);
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mCollisionWorld->convexSweepTest(castShape, from, to, resultCallback);
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}
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void PhysicsTaskScheduler::contactTest(btCollisionObject* colObj, btCollisionWorld::ContactResultCallback& resultCallback)
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{
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std::shared_lock lock(mCollisionWorldMutex);
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ContactTestWrapper::contactTest(mCollisionWorld.get(), colObj, resultCallback);
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}
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std::optional<btVector3> PhysicsTaskScheduler::getHitPoint(const btTransform& from, btCollisionObject* target)
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{
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MaybeSharedLock lock(mCollisionWorldMutex, mThreadSafeBullet);
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// target the collision object's world origin, this should be the center of the collision object
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btTransform rayTo;
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rayTo.setIdentity();
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rayTo.setOrigin(target->getWorldTransform().getOrigin());
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btCollisionWorld::ClosestRayResultCallback cb(from.getOrigin(), rayTo.getOrigin());
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mCollisionWorld->rayTestSingle(from, rayTo, target, target->getCollisionShape(), target->getWorldTransform(), cb);
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if (!cb.hasHit())
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// didn't hit the target. this could happen if point is already inside the collision box
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return std::nullopt;
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return {cb.m_hitPointWorld};
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}
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void PhysicsTaskScheduler::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
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{
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std::shared_lock lock(mCollisionWorldMutex);
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mCollisionWorld->getBroadphase()->aabbTest(aabbMin, aabbMax, callback);
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}
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void PhysicsTaskScheduler::getAabb(const btCollisionObject* obj, btVector3& min, btVector3& max)
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{
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std::shared_lock lock(mCollisionWorldMutex);
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obj->getCollisionShape()->getAabb(obj->getWorldTransform(), min, max);
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}
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void PhysicsTaskScheduler::setCollisionFilterMask(btCollisionObject* collisionObject, int collisionFilterMask)
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{
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std::unique_lock lock(mCollisionWorldMutex);
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collisionObject->getBroadphaseHandle()->m_collisionFilterMask = collisionFilterMask;
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}
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void PhysicsTaskScheduler::addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup, int collisionFilterMask)
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{
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std::unique_lock lock(mCollisionWorldMutex);
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mCollisionWorld->addCollisionObject(collisionObject, collisionFilterGroup, collisionFilterMask);
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}
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void PhysicsTaskScheduler::removeCollisionObject(btCollisionObject* collisionObject)
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{
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std::unique_lock lock(mCollisionWorldMutex);
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mCollisionWorld->removeCollisionObject(collisionObject);
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}
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void PhysicsTaskScheduler::updateSingleAabb(std::weak_ptr<PtrHolder> ptr, bool immediate)
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{
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if (!mDeferAabbUpdate || immediate)
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{
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std::unique_lock lock(mCollisionWorldMutex);
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updatePtrAabb(ptr);
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}
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else
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{
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std::unique_lock lock(mUpdateAabbMutex);
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mUpdateAabb.insert(std::move(ptr));
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}
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}
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bool PhysicsTaskScheduler::getLineOfSight(const std::weak_ptr<Actor>& actor1, const std::weak_ptr<Actor>& actor2)
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{
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std::unique_lock lock(mLOSCacheMutex);
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auto actorPtr1 = actor1.lock();
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auto actorPtr2 = actor2.lock();
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if (!actorPtr1 || !actorPtr2)
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return false;
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auto req = LOSRequest(actor1, actor2);
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auto result = std::find(mLOSCache.begin(), mLOSCache.end(), req);
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if (result == mLOSCache.end())
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{
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req.mResult = hasLineOfSight(actorPtr1.get(), actorPtr2.get());
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if (mLOSCacheExpiry >= 0)
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mLOSCache.push_back(req);
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return req.mResult;
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}
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result->mAge = 0;
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return result->mResult;
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}
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void PhysicsTaskScheduler::refreshLOSCache()
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{
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std::shared_lock lock(mLOSCacheMutex);
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int job = 0;
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int numLOS = mLOSCache.size();
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while ((job = mNextLOS.fetch_add(1, std::memory_order_relaxed)) < numLOS)
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{
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auto& req = mLOSCache[job];
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auto actorPtr1 = req.mActors[0].lock();
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auto actorPtr2 = req.mActors[1].lock();
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if (req.mAge++ > mLOSCacheExpiry || !actorPtr1 || !actorPtr2)
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req.mStale = true;
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else
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req.mResult = hasLineOfSight(actorPtr1.get(), actorPtr2.get());
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}
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}
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void PhysicsTaskScheduler::updateAabbs()
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{
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std::scoped_lock lock(mCollisionWorldMutex, mUpdateAabbMutex);
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std::for_each(mUpdateAabb.begin(), mUpdateAabb.end(),
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[this](const std::weak_ptr<PtrHolder>& ptr) { updatePtrAabb(ptr); });
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mUpdateAabb.clear();
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}
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void PhysicsTaskScheduler::updatePtrAabb(const std::weak_ptr<PtrHolder>& ptr)
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{
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if (const auto p = ptr.lock())
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{
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if (const auto actor = std::dynamic_pointer_cast<Actor>(p))
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{
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actor->updateCollisionObjectPosition();
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mCollisionWorld->updateSingleAabb(actor->getCollisionObject());
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}
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else if (const auto object = std::dynamic_pointer_cast<Object>(p))
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{
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object->commitPositionChange();
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mCollisionWorld->updateSingleAabb(object->getCollisionObject());
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}
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else if (const auto projectile = std::dynamic_pointer_cast<Projectile>(p))
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{
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projectile->commitPositionChange();
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mCollisionWorld->updateSingleAabb(projectile->getCollisionObject());
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}
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};
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}
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void PhysicsTaskScheduler::worker()
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{
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std::shared_lock lock(mSimulationMutex);
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while (!mQuit)
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{
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if (!mNewFrame)
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mHasJob.wait(lock, [&]() { return mQuit || mNewFrame; });
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mPreStepBarrier->wait();
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int job = 0;
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while (mRemainingSteps && (job = mNextJob.fetch_add(1, std::memory_order_relaxed)) < mNumJobs)
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{
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MaybeSharedLock lockColWorld(mCollisionWorldMutex, mThreadSafeBullet);
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if(const auto actor = mActorsFrameData[job].mActor.lock())
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MovementSolver::move(mActorsFrameData[job], mPhysicsDt, mCollisionWorld.get(), *mWorldFrameData);
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}
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mPostStepBarrier->wait();
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if (!mRemainingSteps)
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{
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while ((job = mNextJob.fetch_add(1, std::memory_order_relaxed)) < mNumJobs)
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{
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if(const auto actor = mActorsFrameData[job].mActor.lock())
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{
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auto& actorData = mActorsFrameData[job];
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handleFall(actorData, mAdvanceSimulation);
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}
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}
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if (mLOSCacheExpiry >= 0)
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refreshLOSCache();
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mPostSimBarrier->wait();
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}
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}
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}
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void PhysicsTaskScheduler::updateActorsPositions()
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{
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std::unique_lock lock(mCollisionWorldMutex);
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|
for (auto& actorData : mActorsFrameData)
|
|
{
|
|
if(const auto actor = actorData.mActor.lock())
|
|
{
|
|
if (actor->setPosition(actorData.mPosition))
|
|
{
|
|
actor->updateCollisionObjectPosition();
|
|
mCollisionWorld->updateSingleAabb(actor->getCollisionObject());
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
bool PhysicsTaskScheduler::hasLineOfSight(const Actor* actor1, const Actor* actor2)
|
|
{
|
|
btVector3 pos1 = Misc::Convert::toBullet(actor1->getCollisionObjectPosition() + osg::Vec3f(0,0,actor1->getHalfExtents().z() * 0.9)); // eye level
|
|
btVector3 pos2 = Misc::Convert::toBullet(actor2->getCollisionObjectPosition() + osg::Vec3f(0,0,actor2->getHalfExtents().z() * 0.9));
|
|
|
|
btCollisionWorld::ClosestRayResultCallback resultCallback(pos1, pos2);
|
|
resultCallback.m_collisionFilterGroup = 0xFF;
|
|
resultCallback.m_collisionFilterMask = CollisionType_World|CollisionType_HeightMap|CollisionType_Door;
|
|
|
|
MaybeSharedLock lockColWorld(mCollisionWorldMutex, mThreadSafeBullet);
|
|
mCollisionWorld->rayTest(pos1, pos2, resultCallback);
|
|
|
|
return !resultCallback.hasHit();
|
|
}
|
|
|
|
void PhysicsTaskScheduler::syncComputation()
|
|
{
|
|
while (mRemainingSteps--)
|
|
{
|
|
for (auto& actorData : mActorsFrameData)
|
|
{
|
|
MovementSolver::unstuck(actorData, mCollisionWorld.get());
|
|
MovementSolver::move(actorData, mPhysicsDt, mCollisionWorld.get(), *mWorldFrameData);
|
|
}
|
|
|
|
updateActorsPositions();
|
|
}
|
|
|
|
for (auto& actorData : mActorsFrameData)
|
|
{
|
|
handleFall(actorData, mAdvanceSimulation);
|
|
actorData.mActorRaw->setSimulationPosition(interpolateMovements(actorData, mTimeAccum, mPhysicsDt));
|
|
updateMechanics(actorData);
|
|
mMovedActors.emplace_back(actorData.mActorRaw->getPtr());
|
|
if (mAdvanceSimulation)
|
|
actorData.mActorRaw->setStandingOnPtr(actorData.mStandingOn);
|
|
}
|
|
}
|
|
|
|
void PhysicsTaskScheduler::updateStats(osg::Timer_t frameStart, unsigned int frameNumber, osg::Stats& stats)
|
|
{
|
|
if (mFrameNumber == frameNumber - 1)
|
|
{
|
|
stats.setAttribute(mFrameNumber, "physicsworker_time_begin", mTimer->delta_s(mFrameStart, mTimeBegin));
|
|
stats.setAttribute(mFrameNumber, "physicsworker_time_taken", mTimer->delta_s(mTimeBegin, mTimeEnd));
|
|
stats.setAttribute(mFrameNumber, "physicsworker_time_end", mTimer->delta_s(mFrameStart, mTimeEnd));
|
|
}
|
|
mFrameStart = frameStart;
|
|
mTimeBegin = mTimer->tick();
|
|
mFrameNumber = frameNumber;
|
|
}
|
|
}
|