JoltPhysicsDocs/3.0.1/_body_manager_8h_source.html

// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)

// SPDX-FileCopyrightText: 2021 Jorrit Rouwe

// SPDX-License-Identifier: MIT


#pragma once


#include <Jolt/Physics/Body/Body.h>

#include <Jolt/Core/Mutex.h>

#include <Jolt/Core/MutexArray.h>


JPH_NAMESPACE_BEGIN


// Classes

class BodyCreationSettings;

class BodyActivationListener;

struct PhysicsSettings;

#ifdef JPH_DEBUG_RENDERER

class DebugRenderer;

class BodyDrawFilter;

#endif // JPH_DEBUG_RENDERER


using BodyVector = Array<Body *>;


using BodyIDVector = Array<BodyID>;


class BodyManager : public NonCopyable

{

public:

    JPH_OVERRIDE_NEW_DELETE


                                    ~BodyManager();


    void                            Init(uint inMaxBodies, uint inNumBodyMutexes, const BroadPhaseLayerInterface &inLayerInterface);


    uint                            GetNumBodies() const;


    uint                            GetMaxBodies() const                        { return (uint)mBodies.capacity(); }


    struct BodyStats

    {

        uint                        mNumBodies                  = 0;

        uint                        mMaxBodies                  = 0;


        uint                        mNumBodiesStatic            = 0;


        uint                        mNumBodiesDynamic           = 0;

        uint                        mNumActiveBodiesDynamic     = 0;


        uint                        mNumBodiesKinematic         = 0;

        uint                        mNumActiveBodiesKinematic   = 0;

    };


    BodyStats                       GetBodyStats() const;


    Body *                          AllocateBody(const BodyCreationSettings &inBodyCreationSettings) const;


    void                            FreeBody(Body *inBody) const;


    bool                            AddBody(Body *ioBody);


    bool                            AddBodyWithCustomID(Body *ioBody, const BodyID &inBodyID);


    void                            RemoveBodies(const BodyID *inBodyIDs, int inNumber, Body **outBodies);


    void                            DestroyBodies(const BodyID *inBodyIDs, int inNumber);


    void                            ActivateBodies(const BodyID *inBodyIDs, int inNumber);


    void                            DeactivateBodies(const BodyID *inBodyIDs, int inNumber);


    void                            SetMotionQuality(Body &ioBody, EMotionQuality inMotionQuality);


    void                            GetActiveBodies(BodyIDVector &outBodyIDs) const;


    const BodyID *                  GetActiveBodiesUnsafe() const               { return mActiveBodies; }


    uint32                          GetNumActiveBodies() const                  { return mNumActiveBodies; }


    uint32                          GetNumActiveCCDBodies() const               { return mNumActiveCCDBodies; }


    void                            SetBodyActivationListener(BodyActivationListener *inListener);

    BodyActivationListener *        GetBodyActivationListener() const           { return mActivationListener; }


    static inline bool              sIsValidBodyPointer(const Body *inBody)     { return (uintptr_t(inBody) & cIsFreedBody) == 0; }


    const BodyVector &              GetBodies() const                           { return mBodies; }


    BodyVector &                    GetBodies()                                 { return mBodies; }


    void                            GetBodyIDs(BodyIDVector &outBodies) const;


    const Body &                    GetBody(const BodyID &inID) const           { return *mBodies[inID.GetIndex()]; }


    Body &                          GetBody(const BodyID &inID)                 { return *mBodies[inID.GetIndex()]; }


    const Body *                    TryGetBody(const BodyID &inID) const        { const Body *body = mBodies[inID.GetIndex()]; return sIsValidBodyPointer(body) && body->GetID() == inID? body : nullptr; }


    Body *                          TryGetBody(const BodyID &inID)              { Body *body = mBodies[inID.GetIndex()]; return sIsValidBodyPointer(body) && body->GetID() == inID? body : nullptr; }


    SharedMutex &                   GetMutexForBody(const BodyID &inID) const   { return mBodyMutexes.GetMutexByObjectIndex(inID.GetIndex()); }


    using MutexMask = uint64;


    MutexMask                       GetAllBodiesMutexMask() const               { return mBodyMutexes.GetNumMutexes() == sizeof(MutexMask) * 8? ~MutexMask(0) : (MutexMask(1) << mBodyMutexes.GetNumMutexes()) - 1; }

    MutexMask                       GetMutexMask(const BodyID *inBodies, int inNumber) const;

    void                            LockRead(MutexMask inMutexMask) const;

    void                            UnlockRead(MutexMask inMutexMask) const;

    void                            LockWrite(MutexMask inMutexMask) const;

    void                            UnlockWrite(MutexMask inMutexMask) const;


    void                            LockAllBodies() const;


    void                            UnlockAllBodies() const;


    inline void                     SetBodyObjectLayerInternal(Body &ioBody, ObjectLayer inLayer) const { ioBody.mObjectLayer = inLayer; ioBody.mBroadPhaseLayer = mBroadPhaseLayerInterface->GetBroadPhaseLayer(inLayer); }


    void                            InvalidateContactCacheForBody(Body &ioBody);


    void                            ValidateContactCacheForAllBodies();


    void                            SaveState(StateRecorder &inStream) const;


    bool                            RestoreState(StateRecorder &inStream);


    enum class EShapeColor

    {

        InstanceColor,

        ShapeTypeColor,

        MotionTypeColor,

        SleepColor,

        IslandColor,

        MaterialColor,

    };


#ifdef JPH_DEBUG_RENDERER

    struct DrawSettings

    {

        bool                        mDrawGetSupportFunction = false;

        bool                        mDrawSupportDirection = false;

        bool                        mDrawGetSupportingFace = false;

        bool                        mDrawShape = true;

        bool                        mDrawShapeWireframe = false;

        EShapeColor                 mDrawShapeColor = EShapeColor::MotionTypeColor;

        bool                        mDrawBoundingBox = false;

        bool                        mDrawCenterOfMassTransform = false;

        bool                        mDrawWorldTransform = false;

        bool                        mDrawVelocity = false;

        bool                        mDrawMassAndInertia = false;

        bool                        mDrawSleepStats = false;

    };


    void                            Draw(const DrawSettings &inSettings, const PhysicsSettings &inPhysicsSettings, DebugRenderer *inRenderer, const BodyDrawFilter *inBodyFilter = nullptr);

#endif // JPH_DEBUG_RENDERER


#ifdef JPH_ENABLE_ASSERTS

    void                            SetActiveBodiesLocked(bool inLocked)        { mActiveBodiesLocked = inLocked; }


    class GrantActiveBodiesAccess

    {

    public:

        inline GrantActiveBodiesAccess(bool inAllowActivation, bool inAllowDeactivation)

        {

            JPH_ASSERT(!sOverrideAllowActivation);

            sOverrideAllowActivation = inAllowActivation;


            JPH_ASSERT(!sOverrideAllowDeactivation);

            sOverrideAllowDeactivation = inAllowDeactivation;

        }


        inline ~GrantActiveBodiesAccess()

        {

            sOverrideAllowActivation = false;

            sOverrideAllowDeactivation = false;

        }

    };

#endif


#ifdef _DEBUG

    void                            ValidateActiveBodyBounds();

#endif // _DEBUG


private:

#ifdef JPH_COMPILER_CLANG

    __attribute__((no_sanitize("implicit-conversion"))) // We intentionally overflow the uint8 sequence number

#endif

    inline uint8                    GetNextSequenceNumber(int inBodyIndex)      { return ++mBodySequenceNumbers[inBodyIndex]; }


    JPH_INLINE Body *               RemoveBodyInternal(const BodyID &inBodyID);


    inline static void              sDeleteBody(Body *inBody);


#if defined(_DEBUG) && defined(JPH_ENABLE_ASSERTS)

    void                            ValidateFreeList() const;

#endif // defined(_DEBUG) && _defined(JPH_ENABLE_ASSERTS)


    BodyVector                      mBodies;


    uint                            mNumBodies = 0;


    static constexpr uintptr_t      cBodyIDFreeListEnd = ~uintptr_t(0);


    static constexpr uintptr_t      cIsFreedBody = uintptr_t(1);


    static constexpr uint           cFreedBodyIndexShift = 1;


    uintptr_t                       mBodyIDFreeListStart = cBodyIDFreeListEnd;


    mutable Mutex                   mBodiesMutex;


    using BodyMutexes = MutexArray<SharedMutex>;

    mutable BodyMutexes             mBodyMutexes;


    Array<uint8>                    mBodySequenceNumbers;


    mutable Mutex                   mActiveBodiesMutex;


    BodyID *                        mActiveBodies = nullptr;


    atomic<uint32>                  mNumActiveBodies = 0;


    uint32                          mNumActiveCCDBodies = 0;


    mutable Mutex                   mBodiesCacheInvalidMutex;


    BodyIDVector                    mBodiesCacheInvalid;


    BodyActivationListener *        mActivationListener = nullptr;


    const BroadPhaseLayerInterface *mBroadPhaseLayerInterface = nullptr;


#ifdef JPH_ENABLE_ASSERTS

    bool                            mActiveBodiesLocked = false;

    static thread_local bool        sOverrideAllowActivation;

    static thread_local bool        sOverrideAllowDeactivation;

#endif

};


JPH_NAMESPACE_END

Body.h

BodyVector
Array< Body * > BodyVector
Array of bodies.
Definition: BodyManager.h:23

BodyIDVector
Array< BodyID > BodyIDVector
Array of body ID's.
Definition: BodyManager.h:26

uint32
uint32_t uint32
Definition: Core.h:312

uint
unsigned int uint
Definition: Core.h:309

JPH_NAMESPACE_END
#define JPH_NAMESPACE_END
Definition: Core.h:240

uint8
uint8_t uint8
Definition: Core.h:310

uint64
uint64_t uint64
Definition: Core.h:313

JPH_NAMESPACE_BEGIN
#define JPH_NAMESPACE_BEGIN
Definition: Core.h:234

JPH_ASSERT
#define JPH_ASSERT(...)
Definition: IssueReporting.h:33

JPH_OVERRIDE_NEW_DELETE
#define JPH_OVERRIDE_NEW_DELETE
Macro to override the new and delete functions.
Definition: Memory.h:29

EMotionQuality
EMotionQuality
Motion quality, or how well it detects collisions when it has a high velocity.
Definition: MotionQuality.h:11

Mutex.h

MutexArray.h

ObjectLayer
uint16 ObjectLayer
Definition: ObjectLayer.h:16

Array
std::vector< T, STLAllocator< T > > Array
Definition: STLAllocator.h:81

BodyActivationListener
Definition: BodyActivationListener.h:14

BodyCreationSettings
Settings for constructing a rigid body.
Definition: BodyCreationSettings.h:29

BodyDrawFilter
Class function to filter out bodies for debug rendering, returns true if body should be rendered.
Definition: BodyFilter.h:89

Body
Definition: Body.h:33

Body::GetID
const BodyID & GetID() const
Get the id of this body.
Definition: Body.h:44

BodyID
ID of a body. This is a way of reasoning about bodies in a multithreaded simulation while avoiding ra...
Definition: BodyID.h:13

BodyID::GetIndex
uint32 GetIndex() const
Get index in body array.
Definition: BodyID.h:43

BodyManager
Class that contains all bodies.
Definition: BodyManager.h:30

BodyManager::LockWrite
void LockWrite(MutexMask inMutexMask) const
Definition: BodyManager.cpp:583

BodyManager::UnlockWrite
void UnlockWrite(MutexMask inMutexMask) const
Definition: BodyManager.cpp:593

BodyManager::GetNumBodies
uint GetNumBodies() const
Gets the current amount of bodies that are in the body manager.
Definition: BodyManager.cpp:83

BodyManager::RemoveBodies
void RemoveBodies(const BodyID *inBodyIDs, int inNumber, Body **outBodies)
Remove a list of bodies from the body manager.
Definition: BodyManager.cpp:331

BodyManager::sIsValidBodyPointer
static bool sIsValidBodyPointer(const Body *inBody)
Check if this is a valid body pointer. When a body is freed the memory that the pointer occupies is r...
Definition: BodyManager.h:110

BodyManager::GetBody
Body & GetBody(const BodyID &inID)
Access a body (not protected by lock)
Definition: BodyManager.h:125

BodyManager::Init
void Init(uint inMaxBodies, uint inNumBodyMutexes, const BroadPhaseLayerInterface &inLayerInterface)
Initialize the manager.
Definition: BodyManager.cpp:59

BodyManager::InvalidateContactCacheForBody
void InvalidateContactCacheForBody(Body &ioBody)
Set the Body::EFlags::InvalidateContactCache flag for the specified body. This means that the collisi...
Definition: BodyManager.cpp:892

BodyManager::GetBodyActivationListener
BodyActivationListener * GetBodyActivationListener() const
Definition: BodyManager.h:107

BodyManager::UnlockRead
void UnlockRead(MutexMask inMutexMask) const
Definition: BodyManager.cpp:573

BodyManager::LockAllBodies
void LockAllBodies() const
Lock all bodies. This should only be done during PhysicsSystem::Update().
Definition: BodyManager.cpp:603

BodyManager::GetMutexMask
MutexMask GetMutexMask(const BodyID *inBodies, int inNumber) const
Definition: BodyManager.cpp:541

BodyManager::GetNumActiveCCDBodies
uint32 GetNumActiveCCDBodies() const
Get the number of active bodies that are using continuous collision detection.
Definition: BodyManager.h:103

BodyManager::GetAllBodiesMutexMask
MutexMask GetAllBodiesMutexMask() const
Definition: BodyManager.h:141

BodyManager::ValidateContactCacheForAllBodies
void ValidateContactCacheForAllBodies()
Reset the Body::EFlags::InvalidateContactCache flag for all bodies. All contact pairs in the contact ...
Definition: BodyManager.cpp:902

BodyManager::TryGetBody
Body * TryGetBody(const BodyID &inID)
Access a body, will return a nullptr if the body ID is no longer valid (not protected by lock)
Definition: BodyManager.h:131

BodyManager::UnlockAllBodies
void UnlockAllBodies() const
Unlock all bodies. This should only be done during PhysicsSystem::Update().
Definition: BodyManager.cpp:611

BodyManager::DestroyBodies
void DestroyBodies(const BodyID *inBodyIDs, int inNumber)
Remove a set of bodies from the body manager and frees them.
Definition: BodyManager.cpp:364

BodyManager::SetBodyActivationListener
void SetBodyActivationListener(BodyActivationListener *inListener)
Listener that is notified whenever a body is activated/deactivated.
Definition: BodyManager.cpp:534

BodyManager::GetMutexForBody
SharedMutex & GetMutexForBody(const BodyID &inID) const
Access the mutex for a single body.
Definition: BodyManager.h:134

BodyManager::GetNumActiveBodies
uint32 GetNumActiveBodies() const
Get the number of active bodies.
Definition: BodyManager.h:100

BodyManager::GetBodyStats
BodyStats GetBodyStats() const
Get stats about the bodies in the body manager (slow, iterates through all bodies)
Definition: BodyManager.cpp:90

BodyManager::GetActiveBodies
void GetActiveBodies(BodyIDVector &outBodyIDs) const
Get copy of the list of active bodies under protection of a lock.
Definition: BodyManager.cpp:506

BodyManager::SaveState
void SaveState(StateRecorder &inStream) const
Saving state for replay.
Definition: BodyManager.cpp:619

BodyManager::Draw
void Draw(const DrawSettings &inSettings, const PhysicsSettings &inPhysicsSettings, DebugRenderer *inRenderer, const BodyDrawFilter *inBodyFilter=nullptr)
Draw the state of the bodies (debugging purposes)
Definition: BodyManager.cpp:716

BodyManager::GetBodyIDs
void GetBodyIDs(BodyIDVector &outBodies) const
Get all body IDs under the protection of a lock.
Definition: BodyManager.cpp:515

BodyManager::AddBody
bool AddBody(Body *ioBody)
Add a body to the body manager, assigning it the next available ID. Returns false if no more IDs are ...
Definition: BodyManager.cpp:182

BodyManager::AllocateBody
Body * AllocateBody(const BodyCreationSettings &inBodyCreationSettings) const
Create a body using creation settings. The returned body will not be part of the body manager yet.
Definition: BodyManager.cpp:124

BodyManager::LockRead
void LockRead(MutexMask inMutexMask) const
Definition: BodyManager.cpp:563

BodyManager::TryGetBody
const Body * TryGetBody(const BodyID &inID) const
Access a body, will return a nullptr if the body ID is no longer valid (not protected by lock)
Definition: BodyManager.h:128

BodyManager::GetBodies
const BodyVector & GetBodies() const
Get all bodies. Note that this can contain invalid body pointers, call sIsValidBodyPointer to check.
Definition: BodyManager.h:113

BodyManager::GetActiveBodiesUnsafe
const BodyID * GetActiveBodiesUnsafe() const
Get the list of active bodies. Note: Not thread safe. The active bodies list can change at any moment...
Definition: BodyManager.h:97

BodyManager::DeactivateBodies
void DeactivateBodies(const BodyID *inBodyIDs, int inNumber)
Definition: BodyManager.cpp:429

BodyManager::FreeBody
void FreeBody(Body *inBody) const
Free a body that has not been added to the body manager yet (if it has, use DestroyBodies).
Definition: BodyManager.cpp:175

BodyManager::GetBodies
BodyVector & GetBodies()
Get all bodies. Note that this can contain invalid body pointers, call sIsValidBodyPointer to check.
Definition: BodyManager.h:116

BodyManager::GetMaxBodies
uint GetMaxBodies() const
Gets the max bodies that we can support.
Definition: BodyManager.h:44

BodyManager::AddBodyWithCustomID
bool AddBodyWithCustomID(Body *ioBody, const BodyID &inBodyID)
Add a body to the body manager, assigning it a custom ID. Returns false if the ID is not valid.
Definition: BodyManager.cpp:227

BodyManager::EShapeColor
EShapeColor
Definition: BodyManager.h:171

BodyManager::EShapeColor::IslandColor
@ IslandColor
Static = grey, active = random color per island, sleeping = light grey.

BodyManager::EShapeColor::InstanceColor
@ InstanceColor
Random color per instance.

BodyManager::EShapeColor::SleepColor
@ SleepColor
Static = grey, keyframed = green, dynamic = yellow, sleeping = red.

BodyManager::EShapeColor::MotionTypeColor
@ MotionTypeColor
Static = grey, keyframed = green, dynamic = random color per instance.

BodyManager::EShapeColor::ShapeTypeColor
@ ShapeTypeColor
Convex = green, scaled = yellow, compound = orange, mesh = red.

BodyManager::EShapeColor::MaterialColor
@ MaterialColor
Color as defined by the PhysicsMaterial of the shape.

BodyManager::SetBodyObjectLayerInternal
void SetBodyObjectLayerInternal(Body &ioBody, ObjectLayer inLayer) const
Function to update body's layer (should only be called by the BodyInterface since it also requires up...
Definition: BodyManager.h:156

BodyManager::GetBody
const Body & GetBody(const BodyID &inID) const
Access a body (not protected by lock)
Definition: BodyManager.h:122

BodyManager::ActivateBodies
void ActivateBodies(const BodyID *inBodyIDs, int inNumber)
Definition: BodyManager.cpp:390

BodyManager::MutexMask
uint64 MutexMask
Bodies are protected using an array of mutexes (so a fixed number, not 1 per body)....
Definition: BodyManager.h:137

BodyManager::SetMotionQuality
void SetMotionQuality(Body &ioBody, EMotionQuality inMotionQuality)
Update the motion quality for a body.
Definition: BodyManager.cpp:486

BodyManager::RestoreState
bool RestoreState(StateRecorder &inStream)
Restoring state for replay. Returns false if failed.
Definition: BodyManager.cpp:656

BodyManager::~BodyManager
JPH_OVERRIDE_NEW_DELETE ~BodyManager()
Destructor.
Definition: BodyManager.cpp:47

BroadPhaseLayerInterface
Interface that the application should implement to allow mapping object layers to broadphase layers.
Definition: BroadPhaseLayer.h:56

BroadPhaseLayerInterface::GetBroadPhaseLayer
virtual BroadPhaseLayer GetBroadPhaseLayer(ObjectLayer inLayer) const =0
Convert an object layer to the corresponding broadphase layer.

DebugRenderer
Simple triangle renderer for debugging purposes.
Definition: DebugRenderer.h:25

MutexArray
Definition: MutexArray.h:17

MutexArray::GetMutexByObjectIndex
MutexType & GetMutexByObjectIndex(uint32 inObjectIndex)
Get the mutex belonging to a certain object by index.
Definition: MutexArray.h:53

MutexArray::GetNumMutexes
uint GetNumMutexes() const
Get the number of mutexes that were allocated.
Definition: MutexArray.h:40

Mutex
Definition: Mutex.h:122

NonCopyable
Class that makes another class non-copyable. Usage: Inherit from NonCopyable.
Definition: NonCopyable.h:11

SharedMutex
Definition: Mutex.h:166

StateRecorder
Definition: StateRecorder.h:15

BodyManager::BodyStats
Helper struct that counts the number of bodies of each type.
Definition: BodyManager.h:48

BodyManager::BodyStats::mNumBodiesStatic
uint mNumBodiesStatic
Number of static bodies.
Definition: BodyManager.h:52

BodyManager::BodyStats::mNumBodiesDynamic
uint mNumBodiesDynamic
Number of dynamic bodies.
Definition: BodyManager.h:54

BodyManager::BodyStats::mNumActiveBodiesKinematic
uint mNumActiveBodiesKinematic
Number of kinematic bodies that are currently active.
Definition: BodyManager.h:58

BodyManager::BodyStats::mNumActiveBodiesDynamic
uint mNumActiveBodiesDynamic
Number of dynamic bodies that are currently active.
Definition: BodyManager.h:55

BodyManager::BodyStats::mNumBodies
uint mNumBodies
Total number of bodies in the body manager.
Definition: BodyManager.h:49

BodyManager::BodyStats::mNumBodiesKinematic
uint mNumBodiesKinematic
Number of kinematic bodies.
Definition: BodyManager.h:57

BodyManager::BodyStats::mMaxBodies
uint mMaxBodies
Max allowed number of bodies in the body manager (as configured in Init(...))
Definition: BodyManager.h:50

BodyManager::DrawSettings
Draw settings.
Definition: BodyManager.h:183

BodyManager::DrawSettings::mDrawGetSupportFunction
bool mDrawGetSupportFunction
Draw the GetSupport() function, used for convex collision detection.
Definition: BodyManager.h:184

BodyManager::DrawSettings::mDrawWorldTransform
bool mDrawWorldTransform
Draw the world transform (which can be different than the center of mass) for each body.
Definition: BodyManager.h:192

BodyManager::DrawSettings::mDrawShapeWireframe
bool mDrawShapeWireframe
When mDrawShape is true and this is true, the shapes will be drawn in wireframe instead of solid.
Definition: BodyManager.h:188

BodyManager::DrawSettings::mDrawGetSupportingFace
bool mDrawGetSupportingFace
Draw the faces that were found colliding during collision detection.
Definition: BodyManager.h:186

BodyManager::DrawSettings::mDrawShapeColor
EShapeColor mDrawShapeColor
Coloring scheme to use for shapes.
Definition: BodyManager.h:189

BodyManager::DrawSettings::mDrawVelocity
bool mDrawVelocity
Draw the velocity vector for each body.
Definition: BodyManager.h:193

BodyManager::DrawSettings::mDrawMassAndInertia
bool mDrawMassAndInertia
Draw the mass and inertia (as the box equivalent) for each body.
Definition: BodyManager.h:194

BodyManager::DrawSettings::mDrawSleepStats
bool mDrawSleepStats
Draw stats regarding the sleeping algorithm of each body.
Definition: BodyManager.h:195

BodyManager::DrawSettings::mDrawCenterOfMassTransform
bool mDrawCenterOfMassTransform
Draw the center of mass for each body.
Definition: BodyManager.h:191

BodyManager::DrawSettings::mDrawShape
bool mDrawShape
Draw the shapes of all bodies.
Definition: BodyManager.h:187

BodyManager::DrawSettings::mDrawBoundingBox
bool mDrawBoundingBox
Draw a bounding box per body.
Definition: BodyManager.h:190

BodyManager::DrawSettings::mDrawSupportDirection
bool mDrawSupportDirection
When drawing the support function, also draw which direction mapped to a specific support point.
Definition: BodyManager.h:185

PhysicsSettings
Definition: PhysicsSettings.h:28