350 lines
12 KiB
C
Executable file
350 lines
12 KiB
C
Executable file
/* Copyright (c) 2007 Scott Lembcke
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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#include <string.h>
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#include "chipmunk/chipmunk_private.h"
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//MARK: Sleeping Functions
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void
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cpSpaceActivateBody(cpSpace *space, cpBody *body)
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{
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cpAssertHard(cpBodyGetType(body) == CP_BODY_TYPE_DYNAMIC, "Internal error: Attempting to activate a non-dynamic body.");
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if(space->locked){
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// cpSpaceActivateBody() is called again once the space is unlocked
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if(!cpArrayContains(space->rousedBodies, body)) cpArrayPush(space->rousedBodies, body);
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} else {
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cpAssertSoft(body->sleeping.root == NULL && body->sleeping.next == NULL, "Internal error: Activating body non-NULL node pointers.");
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cpArrayPush(space->dynamicBodies, body);
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CP_BODY_FOREACH_SHAPE(body, shape){
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cpSpatialIndexRemove(space->staticShapes, shape, shape->hashid);
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cpSpatialIndexInsert(space->dynamicShapes, shape, shape->hashid);
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}
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CP_BODY_FOREACH_ARBITER(body, arb){
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cpBody *bodyA = arb->body_a;
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// Arbiters are shared between two bodies that are always woken up together.
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// You only want to restore the arbiter once, so bodyA is arbitrarily chosen to own the arbiter.
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// The edge case is when static bodies are involved as the static bodies never actually sleep.
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// If the static body is bodyB then all is good. If the static body is bodyA, that can easily be checked.
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if(body == bodyA || cpBodyGetType(bodyA) == CP_BODY_TYPE_STATIC){
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int numContacts = arb->count;
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struct cpContact *contacts = arb->contacts;
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// Restore contact values back to the space's contact buffer memory
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arb->contacts = cpContactBufferGetArray(space);
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memcpy(arb->contacts, contacts, numContacts*sizeof(struct cpContact));
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cpSpacePushContacts(space, numContacts);
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// Reinsert the arbiter into the arbiter cache
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const cpShape *a = arb->a, *b = arb->b;
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const cpShape *shape_pair[] = {a, b};
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cpHashValue arbHashID = CP_HASH_PAIR((cpHashValue)a, (cpHashValue)b);
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cpHashSetInsert(space->cachedArbiters, arbHashID, shape_pair, NULL, arb);
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// Update the arbiter's state
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arb->stamp = space->stamp;
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cpArrayPush(space->arbiters, arb);
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cpfree(contacts);
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}
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}
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CP_BODY_FOREACH_CONSTRAINT(body, constraint){
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cpBody *bodyA = constraint->a;
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if(body == bodyA || cpBodyGetType(bodyA) == CP_BODY_TYPE_STATIC) cpArrayPush(space->constraints, constraint);
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}
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}
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}
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static void
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cpSpaceDeactivateBody(cpSpace *space, cpBody *body)
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{
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cpAssertHard(cpBodyGetType(body) == CP_BODY_TYPE_DYNAMIC, "Internal error: Attempting to deactivate a non-dynamic body.");
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cpArrayDeleteObj(space->dynamicBodies, body);
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CP_BODY_FOREACH_SHAPE(body, shape){
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cpSpatialIndexRemove(space->dynamicShapes, shape, shape->hashid);
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cpSpatialIndexInsert(space->staticShapes, shape, shape->hashid);
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}
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CP_BODY_FOREACH_ARBITER(body, arb){
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cpBody *bodyA = arb->body_a;
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if(body == bodyA || cpBodyGetType(bodyA) == CP_BODY_TYPE_STATIC){
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cpSpaceUncacheArbiter(space, arb);
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// Save contact values to a new block of memory so they won't time out
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size_t bytes = arb->count*sizeof(struct cpContact);
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struct cpContact *contacts = (struct cpContact *)cpcalloc(1, bytes);
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memcpy(contacts, arb->contacts, bytes);
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arb->contacts = contacts;
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}
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}
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CP_BODY_FOREACH_CONSTRAINT(body, constraint){
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cpBody *bodyA = constraint->a;
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if(body == bodyA || cpBodyGetType(bodyA) == CP_BODY_TYPE_STATIC) cpArrayDeleteObj(space->constraints, constraint);
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}
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}
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static inline cpBody *
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ComponentRoot(cpBody *body)
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{
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return (body ? body->sleeping.root : NULL);
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}
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void
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cpBodyActivate(cpBody *body)
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{
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if(body != NULL && cpBodyGetType(body) == CP_BODY_TYPE_DYNAMIC){
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body->sleeping.idleTime = 0.0f;
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cpBody *root = ComponentRoot(body);
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if(root && cpBodyIsSleeping(root)){
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// TODO should cpBodyIsSleeping(root) be an assertion?
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cpAssertSoft(cpBodyGetType(root) == CP_BODY_TYPE_DYNAMIC, "Internal Error: Non-dynamic body component root detected.");
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cpSpace *space = root->space;
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cpBody *body = root;
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while(body){
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cpBody *next = body->sleeping.next;
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body->sleeping.idleTime = 0.0f;
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body->sleeping.root = NULL;
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body->sleeping.next = NULL;
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cpSpaceActivateBody(space, body);
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body = next;
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}
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cpArrayDeleteObj(space->sleepingComponents, root);
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}
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CP_BODY_FOREACH_ARBITER(body, arb){
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// Reset the idle timer of things the body is touching as well.
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// That way things don't get left hanging in the air.
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cpBody *other = (arb->body_a == body ? arb->body_b : arb->body_a);
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if(cpBodyGetType(other) != CP_BODY_TYPE_STATIC) other->sleeping.idleTime = 0.0f;
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}
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}
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}
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void
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cpBodyActivateStatic(cpBody *body, cpShape *filter)
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{
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cpAssertHard(cpBodyGetType(body) == CP_BODY_TYPE_STATIC, "cpBodyActivateStatic() called on a non-static body.");
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CP_BODY_FOREACH_ARBITER(body, arb){
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if(!filter || filter == arb->a || filter == arb->b){
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cpBodyActivate(arb->body_a == body ? arb->body_b : arb->body_a);
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}
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}
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// TODO: should also activate joints?
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}
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static inline void
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cpBodyPushArbiter(cpBody *body, cpArbiter *arb)
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{
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cpAssertSoft(cpArbiterThreadForBody(arb, body)->next == NULL, "Internal Error: Dangling contact graph pointers detected. (A)");
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cpAssertSoft(cpArbiterThreadForBody(arb, body)->prev == NULL, "Internal Error: Dangling contact graph pointers detected. (B)");
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cpArbiter *next = body->arbiterList;
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cpAssertSoft(next == NULL || cpArbiterThreadForBody(next, body)->prev == NULL, "Internal Error: Dangling contact graph pointers detected. (C)");
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cpArbiterThreadForBody(arb, body)->next = next;
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if(next) cpArbiterThreadForBody(next, body)->prev = arb;
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body->arbiterList = arb;
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}
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static inline void
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ComponentAdd(cpBody *root, cpBody *body){
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body->sleeping.root = root;
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if(body != root){
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body->sleeping.next = root->sleeping.next;
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root->sleeping.next = body;
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}
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}
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static inline void
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FloodFillComponent(cpBody *root, cpBody *body)
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{
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// Kinematic bodies cannot be put to sleep and prevent bodies they are touching from sleeping.
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// Static bodies are effectively sleeping all the time.
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if(cpBodyGetType(body) == CP_BODY_TYPE_DYNAMIC){
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cpBody *other_root = ComponentRoot(body);
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if(other_root == NULL){
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ComponentAdd(root, body);
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CP_BODY_FOREACH_ARBITER(body, arb) FloodFillComponent(root, (body == arb->body_a ? arb->body_b : arb->body_a));
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CP_BODY_FOREACH_CONSTRAINT(body, constraint) FloodFillComponent(root, (body == constraint->a ? constraint->b : constraint->a));
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} else {
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cpAssertSoft(other_root == root, "Internal Error: Inconsistency dectected in the contact graph.");
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}
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}
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}
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static inline cpBool
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ComponentActive(cpBody *root, cpFloat threshold)
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{
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CP_BODY_FOREACH_COMPONENT(root, body){
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if(body->sleeping.idleTime < threshold) return cpTrue;
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}
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return cpFalse;
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}
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void
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cpSpaceProcessComponents(cpSpace *space, cpFloat dt)
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{
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cpBool sleep = (space->sleepTimeThreshold != INFINITY);
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cpArray *bodies = space->dynamicBodies;
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#ifndef NDEBUG
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for(int i=0; i<bodies->num; i++){
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cpBody *body = (cpBody*)bodies->arr[i];
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cpAssertSoft(body->sleeping.next == NULL, "Internal Error: Dangling next pointer detected in contact graph.");
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cpAssertSoft(body->sleeping.root == NULL, "Internal Error: Dangling root pointer detected in contact graph.");
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}
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#endif
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// Calculate the kinetic energy of all the bodies.
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if(sleep){
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cpFloat dv = space->idleSpeedThreshold;
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cpFloat dvsq = (dv ? dv*dv : cpvlengthsq(space->gravity)*dt*dt);
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// update idling and reset component nodes
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for(int i=0; i<bodies->num; i++){
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cpBody *body = (cpBody*)bodies->arr[i];
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// TODO should make a separate array for kinematic bodies.
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if(cpBodyGetType(body) != CP_BODY_TYPE_DYNAMIC) continue;
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// Need to deal with infinite mass objects
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cpFloat keThreshold = (dvsq ? body->m*dvsq : 0.0f);
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body->sleeping.idleTime = (cpBodyKineticEnergy(body) > keThreshold ? 0.0f : body->sleeping.idleTime + dt);
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}
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}
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// Awaken any sleeping bodies found and then push arbiters to the bodies' lists.
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cpArray *arbiters = space->arbiters;
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for(int i=0, count=arbiters->num; i<count; i++){
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cpArbiter *arb = (cpArbiter*)arbiters->arr[i];
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cpBody *a = arb->body_a, *b = arb->body_b;
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if(sleep){
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// TODO checking cpBodyIsSleepin() redundant?
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if(cpBodyGetType(b) == CP_BODY_TYPE_KINEMATIC || cpBodyIsSleeping(a)) cpBodyActivate(a);
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if(cpBodyGetType(a) == CP_BODY_TYPE_KINEMATIC || cpBodyIsSleeping(b)) cpBodyActivate(b);
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}
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cpBodyPushArbiter(a, arb);
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cpBodyPushArbiter(b, arb);
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}
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if(sleep){
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// Bodies should be held active if connected by a joint to a kinematic.
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cpArray *constraints = space->constraints;
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for(int i=0; i<constraints->num; i++){
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cpConstraint *constraint = (cpConstraint *)constraints->arr[i];
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cpBody *a = constraint->a, *b = constraint->b;
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if(cpBodyGetType(b) == CP_BODY_TYPE_KINEMATIC) cpBodyActivate(a);
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if(cpBodyGetType(a) == CP_BODY_TYPE_KINEMATIC) cpBodyActivate(b);
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}
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// Generate components and deactivate sleeping ones
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for(int i=0; i<bodies->num;){
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cpBody *body = (cpBody*)bodies->arr[i];
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if(ComponentRoot(body) == NULL){
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// Body not in a component yet. Perform a DFS to flood fill mark
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// the component in the contact graph using this body as the root.
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FloodFillComponent(body, body);
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// Check if the component should be put to sleep.
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if(!ComponentActive(body, space->sleepTimeThreshold)){
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cpArrayPush(space->sleepingComponents, body);
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CP_BODY_FOREACH_COMPONENT(body, other) cpSpaceDeactivateBody(space, other);
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// cpSpaceDeactivateBody() removed the current body from the list.
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// Skip incrementing the index counter.
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continue;
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}
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}
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i++;
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// Only sleeping bodies retain their component node pointers.
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body->sleeping.root = NULL;
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body->sleeping.next = NULL;
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}
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}
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}
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void
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cpBodySleep(cpBody *body)
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{
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cpBodySleepWithGroup(body, NULL);
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}
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void
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cpBodySleepWithGroup(cpBody *body, cpBody *group){
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cpAssertHard(cpBodyGetType(body) == CP_BODY_TYPE_DYNAMIC, "Non-dynamic bodies cannot be put to sleep.");
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cpSpace *space = body->space;
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cpAssertHard(!cpSpaceIsLocked(space), "Bodies cannot be put to sleep during a query or a call to cpSpaceStep(). Put these calls into a post-step callback.");
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cpAssertHard(cpSpaceGetSleepTimeThreshold(space) < INFINITY, "Sleeping is not enabled on the space. You cannot sleep a body without setting a sleep time threshold on the space.");
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cpAssertHard(group == NULL || cpBodyIsSleeping(group), "Cannot use a non-sleeping body as a group identifier.");
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if(cpBodyIsSleeping(body)){
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cpAssertHard(ComponentRoot(body) == ComponentRoot(group), "The body is already sleeping and it's group cannot be reassigned.");
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return;
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}
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CP_BODY_FOREACH_SHAPE(body, shape) cpShapeCacheBB(shape);
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cpSpaceDeactivateBody(space, body);
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if(group){
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cpBody *root = ComponentRoot(group);
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body->sleeping.root = root;
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body->sleeping.next = root->sleeping.next;
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body->sleeping.idleTime = 0.0f;
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root->sleeping.next = body;
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} else {
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body->sleeping.root = body;
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body->sleeping.next = NULL;
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body->sleeping.idleTime = 0.0f;
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cpArrayPush(space->sleepingComponents, body);
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}
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cpArrayDeleteObj(space->dynamicBodies, body);
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}
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