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refactor(physics): asynchronous rigidbody update

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This commit is contained in:
maelstrom 2025-07-01 14:41:37 +02:00
parent ce851aaa5e
commit e829b0c279
3 changed files with 23 additions and 15 deletions
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6
core/src/objects/part.h
View file

@ -110,11 +110,7 @@ public:
rp::RigidBody* rigidBody = nullptr;
SimulationTicket simulationTicket;
enum {
PART_SYNCED,
PART_QUEUED_ADD,
PART_QUEUED_REMOVE,
} queueState = PART_SYNCED;
bool rigidBodyDirty = true;
inline SurfaceType GetSurfaceFromFace(NormalId face) { return surfaceFromFace(face); }
float GetSurfaceParamA(Vector3 face);

28
core/src/objects/service/workspace.cpp
View file

@ -84,7 +84,6 @@ void Workspace::InitService() {
std::shared_ptr<Instance> obj = *it;
if (!obj->IsA<Part>()) continue;
std::shared_ptr<Part> part = obj->CastTo<Part>().expect();
this->SyncPartPhysics(part);
part->MakeJoints();
}
@ -103,11 +102,7 @@ void Workspace::InitService() {
}
}
void Workspace::SyncPartPhysics(std::shared_ptr<Part> part) {
printf("SyncPartPhysics-lck\n");
std::scoped_lock lock(globalPhysicsLock);
printf("SyncPartPhysics-post\n");
void Workspace::updatePartPhysics(std::shared_ptr<Part> part) {
rp::Transform transform = part->cframe;
if (!part->rigidBody) {
part->rigidBody = physicsWorld->createRigidBody(transform);
@ -148,6 +143,15 @@ void Workspace::SyncPartPhysics(std::shared_ptr<Part> part) {
part->rigidBody->setUserData(&*part);
}
void Workspace::SyncPartPhysics(std::shared_ptr<Part> part) {
if (globalPhysicsLock.try_lock()) {
updatePartPhysics(part);
globalPhysicsLock.unlock();
} else {
part->rigidBodyDirty = true;
}
}
tu_time_t physTime;
void Workspace::PhysicsStep(float deltaTime) {
tu_time_t startTime = tu_clock_micros();
@ -170,6 +174,13 @@ void Workspace::PhysicsStep(float deltaTime) {
// TODO: Add list of tracked parts in workspace based on their ancestry using inWorkspace property of Instance
for (std::shared_ptr<Part> 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
@ -251,9 +262,7 @@ public:
};
std::optional<const RaycastResult> Workspace::CastRayNearest(glm::vec3 point, glm::vec3 rotation, float maxLength, std::optional<RaycastFilter> filter, unsigned short categoryMaskBits) {
printf("Raycast-lck\n");
std::scoped_lock lock(globalPhysicsLock);
printf("Raycast-post\n");
// std::scoped_lock lock(globalPhysicsLock);
rp::Ray ray(glmToRp(point), glmToRp(glm::normalize(rotation)) * maxLength);
NearestRayHit rayHit(glmToRp(point), filter);
physicsWorld->raycast(ray, &rayHit, categoryMaskBits);
@ -280,6 +289,7 @@ rp::Joint* Workspace::CreateJoint(const rp::JointInfo& jointInfo) {
void Workspace::AddBody(std::shared_ptr<Part> part) {
queueLock.lock();
bodyQueue.push_back({part, QueueItem::QUEUEITEM_ADD});
part->rigidBodyDirty = true;
queueLock.unlock();
}

4
core/src/objects/service/workspace.h
View file

@ -71,6 +71,8 @@ class DEF_INST_SERVICE_(explorer_icon="workspace") Workspace : public Service {
rp::PhysicsWorld* physicsWorld;
static rp::PhysicsCommon* physicsCommon;
PhysicsEventListener physicsEventListener;
void updatePartPhysics(std::shared_ptr<Part> part);
protected:
void InitService() override;
bool initialized = false;
@ -89,8 +91,8 @@ public:
void AddBody(std::shared_ptr<Part> part);
void RemoveBody(std::shared_ptr<Part> part);
void SyncPartPhysics(std::shared_ptr<Part> part);
void DestroyRigidBody(rp::RigidBody* rigidBody);
void SyncPartPhysics(std::shared_ptr<Part> part);
rp::Joint* CreateJoint(const rp::JointInfo& jointInfo);
void DestroyJoint(rp::Joint* joint);