refactor(physics): made physics single-threaded again

core/src/objects/part/basepart.cpp

@@ -53,8 +53,6 @@ void BasePart::OnWorkspaceAdded(std::optional<std::shared_ptr<Workspace>> oldWor
 }
 
 void BasePart::OnWorkspaceRemoved(std::shared_ptr<Workspace> oldWorkspace) {
-    if (simulationTicket.has_value())
-        oldWorkspace->RemoveBody(shared<BasePart>());
 }
 
 void BasePart::onUpdated(std::string property) {

core/src/objects/part/basepart.h

@@ -34,12 +34,6 @@ struct PartConstructParams {
 
 class Workspace;
 
-#ifndef __SIMULATION_TICKET
-#define __SIMULATION_TICKET
-class BasePart;
-typedef std::list<std::shared_ptr<BasePart>>::iterator SimulationTicket;
-#endif
-
 class DEF_INST_ABSTRACT_(explorer_icon="part") BasePart : public PVInstance {
     AUTOGEN_PREAMBLE
 protected:
@@ -117,8 +111,6 @@ public:
     DEF_SIGNAL SignalSource TouchEnded;
 
     rp::RigidBody* rigidBody = nullptr;
-    std::optional<SimulationTicket> simulationTicket;
-    bool rigidBodyDirty = true;
     
     inline SurfaceType GetSurfaceFromFace(NormalId face) { return surfaceFromFace(face); }
     float GetSurfaceParamA(Vector3 face);

core/src/objects/service/workspace.cpp

@@ -157,12 +157,7 @@ void Workspace::ProcessContactEvents() {
 }
 
 void Workspace::SyncPartPhysics(std::shared_ptr<BasePart> part) {
-    if (globalPhysicsLock.try_lock()) {
+    updatePartPhysics(part);
-        updatePartPhysics(part);
-        globalPhysicsLock.unlock();
-    } else {
-        part->rigidBodyDirty = true;
-    }
 }
 
 tu_time_t physTime;
@@ -172,28 +167,8 @@ void Workspace::PhysicsStep(float deltaTime) {
     std::scoped_lock lock(globalPhysicsLock);
     physicsWorld->update(std::min(deltaTime / 2, (1/60.f)));
 
-    // Update queued objects
-    queueLock.lock();
-    for (QueueItem item : bodyQueue) {
-        if (item.action == QueueItem::QUEUEITEM_ADD) {
-            simulatedBodies.push_back(item.part);
-            item.part->simulationTicket = --simulatedBodies.end();
-        } else if (item.part->simulationTicket.has_value()) {
-            simulatedBodies.erase(item.part->simulationTicket.value());
-            item.part->simulationTicket = std::nullopt;
-        }
-    }
-    queueLock.unlock();
-
     // TODO: Add list of tracked parts in workspace based on their ancestry using inWorkspace property of Instance
     for (std::shared_ptr<BasePart> part : simulatedBodies) {
-        // If the part's body is dirty, update it now instead
-        if (part->rigidBodyDirty) {
-            updatePartPhysics(part);
-            part->rigidBodyDirty = false;
-            continue;
-        }
-
         if (!part->rigidBody) continue;
 
         // Sync properties
@@ -300,14 +275,10 @@ rp::Joint* Workspace::CreateJoint(const rp::JointInfo& jointInfo) {
 }
 
 void Workspace::AddBody(std::shared_ptr<BasePart> part) {
-    queueLock.lock();
+    simulatedBodies.push_back(part);
-    bodyQueue.push_back({part, QueueItem::QUEUEITEM_ADD});
-    part->rigidBodyDirty = true;
-    queueLock.unlock();
 }
 
 void Workspace::RemoveBody(std::shared_ptr<BasePart> part) {
-    queueLock.lock();
+    auto it = std::find(simulatedBodies.begin(), simulatedBodies.end(), part);
-    bodyQueue.push_back({part, QueueItem::QUEUEITEM_REMOVE});
+    simulatedBodies.erase(it);
-    queueLock.unlock();
 }

core/src/objects/service/workspace.h

@@ -38,11 +38,6 @@ class Weld;
 class Rotate;
 class RotateV;
 
-#ifndef __SIMULATION_TICKET
-#define __SIMULATION_TICKET
-typedef std::list<std::shared_ptr<BasePart>>::iterator SimulationTicket;
-#endif
-
 typedef std::function<FilterResult(std::shared_ptr<BasePart>)> RaycastFilter;
 
 struct QueueItem {
@@ -79,7 +74,6 @@ class DEF_INST_SERVICE_(explorer_icon="workspace") Workspace : public Service {
     friend PhysicsEventListener;
     
     std::list<std::shared_ptr<BasePart>> simulatedBodies;
-    std::list<QueueItem> bodyQueue;
     std::queue<ContactItem> contactQueue;
     std::mutex contactQueueLock;
     rp::PhysicsWorld* physicsWorld;

editor/placedocument.cpp

@@ -23,36 +23,6 @@
 #include "objects/service/selection.h"
 #include "timeutil.h"
 
-class PlaceDocumentPhysicsWorker {
-public:
-    std::mutex sync;
-    std::thread thread;
-    std::condition_variable runningCond;
-    bool running = false;
-    bool quit = false;
-
-    PlaceDocumentPhysicsWorker() : thread(&PlaceDocumentPhysicsWorker::doWork, this) {}
-private:
-    tu_time_t lastTime = tu_clock_micros();
-    void doWork() {
-        do {
-            tu_time_t deltaTime = tu_clock_micros() - lastTime;
-            lastTime = tu_clock_micros();
-
-            // First frame is always empty
-            if (deltaTime > 100) {
-                gWorkspace()->PhysicsStep(float(deltaTime)/1'000'000);
-            }
-
-            std::this_thread::sleep_for(std::chrono::microseconds(16'667 - deltaTime));
-
-            std::unique_lock lock(sync);
-            runningCond.wait(lock, [&]{ return running || quit; });
-            lock.unlock();
-        } while (!quit);
-    }
-};
-
 PlaceDocument::PlaceDocument(QWidget* parent):
     QMdiSubWindow(parent) {
     placeWidget = new MainGLWidget;
@@ -62,29 +32,15 @@ PlaceDocument::PlaceDocument(QWidget* parent):
 
     _runState = RUN_STOPPED;
     updateSelectionListeners(gDataModel->GetService<Selection>());
-
-    worker = new PlaceDocumentPhysicsWorker();
 }
 
 PlaceDocument::~PlaceDocument() {
-    worker->quit = true;
-    worker->runningCond.notify_all();
-    worker->thread.join();
-}
-
-void PlaceDocument::updatePhysicsWorker() {
-    {
-        std::lock_guard lock(worker->sync);
-        worker->running = _runState == RUN_RUNNING;
-    }
-    worker->runningCond.notify_all();
 }
 
 void PlaceDocument::setRunState(RunState newState) {
     if (newState == RUN_RUNNING && _runState != RUN_RUNNING) {
         if (_runState == RUN_PAUSED) {
             _runState = RUN_RUNNING;
-            updatePhysicsWorker();
             return;
         }
 
@@ -103,8 +59,6 @@ void PlaceDocument::setRunState(RunState newState) {
         gDataModel = editModeDataModel;
         updateSelectionListeners(gDataModel->GetService<Selection>());
     }
-
-    updatePhysicsWorker();
 }
 
 void PlaceDocument::updateSelectionListeners(std::shared_ptr<Selection> selection) {
@@ -130,7 +84,6 @@ void PlaceDocument::closeEvent(QCloseEvent *closeEvent) {
     closeEvent->ignore();
 }
 
-std::shared_ptr<BasePart> shit;
 void PlaceDocument::timerEvent(QTimerEvent* evt) {
     if (evt->timerId() != timer.timerId()) {
         QWidget::timerEvent(evt);
@@ -140,6 +93,7 @@ void PlaceDocument::timerEvent(QTimerEvent* evt) {
     placeWidget->repaint();
     placeWidget->updateCycle();
     gDataModel->GetService<ScriptContext>()->RunSleepingThreads();
+    if (_runState == RUN_RUNNING) gDataModel->GetService<Workspace>()->PhysicsStep(0.033);
     gDataModel->GetService<Workspace>()->ProcessContactEvents();
 }
 

editor/placedocument.h

@@ -13,7 +13,6 @@
 #include <type_traits>
 
 class Selection;
-class PlaceDocumentPhysicsWorker;
 
 enum RunState {
     RUN_STOPPED,
@@ -25,14 +24,10 @@ class PlaceDocument : public QMdiSubWindow {
     QBasicTimer timer;
     RunState _runState;
 
-    PlaceDocumentPhysicsWorker* worker;
-
     std::weak_ptr<SignalConnection> selectionConnection;
 
     void timerEvent(QTimerEvent*) override;
     void updateSelectionListeners(std::shared_ptr<Selection>);
-
-    void updatePhysicsWorker();
 public:
     MainGLWidget* placeWidget;
     PlaceDocument(QWidget* parent = nullptr);