Merge pull request #39726 from AndreaCatania/add_body_impr_physics

Optimized physics object spawn time

modules/bullet/area_bullet.cpp

@@ -164,7 +164,7 @@ void AreaBullet::main_shape_changed() {
 	btGhost->setCollisionShape(get_main_shape());
 }
 
-void AreaBullet::reload_body() {
+void AreaBullet::do_reload_body() {
 	if (space) {
 		space->remove_area(this);
 		space->add_area(this);
@@ -178,13 +178,15 @@ void AreaBullet::set_space(SpaceBullet *p_space) {
 		isScratched = false;
 
 		// Remove this object form the physics world
+		space->unregister_collision_object(this);
 		space->remove_area(this);
 	}
 
 	space = p_space;
 
 	if (space) {
-		space->add_area(this);
+		space->register_collision_object(this);
+		reload_body();
 	}
 }
 

modules/bullet/area_bullet.h

@@ -140,7 +140,7 @@ class AreaBullet : public RigidCollisionObjectBullet {
 	_FORCE_INLINE_ int get_spOv_priority() { return spOv_priority; }
 
 	virtual void main_shape_changed();
-	virtual void reload_body();
+	virtual void do_reload_body();
 	virtual void set_space(SpaceBullet *p_space);
 
 	virtual void dispatch_callbacks();

modules/bullet/collision_object_bullet.cpp

@@ -79,7 +79,7 @@ btTransform CollisionObjectBullet::ShapeWrapper::get_adjusted_transform() const
 }
 
 void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) {
-	if (!bt_shape) {
+	if (bt_shape == nullptr) {
 		if (active) {
 			bt_shape = shape->create_bt_shape(scale * body_scale);
 		} else {
@@ -88,6 +88,13 @@ void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_s
 	}
 }
 
+void CollisionObjectBullet::ShapeWrapper::release_bt_shape() {
+	if (bt_shape != nullptr) {
+		shape->destroy_bt_shape(bt_shape);
+		bt_shape = nullptr;
+	}
+}
+
 CollisionObjectBullet::CollisionObjectBullet(Type p_type) :
 		RIDBullet(),
 		type(p_type) {}
@@ -158,6 +165,13 @@ bool CollisionObjectBullet::has_collision_exception(const CollisionObjectBullet
 	return !bt_collision_object->checkCollideWith(p_otherCollisionObject->bt_collision_object);
 }
 
+void CollisionObjectBullet::prepare_object_for_dispatch() {
+	if (need_body_reload) {
+		do_reload_body();
+		need_body_reload = false;
+	}
+}
+
 void CollisionObjectBullet::set_collision_enabled(bool p_enabled) {
 	collisionsEnabled = p_enabled;
 	if (collisionsEnabled) {
@@ -319,58 +333,68 @@ bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) {
 	return !shapes[p_index].active;
 }
 
+void RigidCollisionObjectBullet::prepare_object_for_dispatch() {
+	if (need_shape_reload) {
+		do_reload_shapes();
+		need_shape_reload = false;
+	}
+	CollisionObjectBullet::prepare_object_for_dispatch();
+}
+
 void RigidCollisionObjectBullet::shape_changed(int p_shape_index) {
 	ShapeWrapper &shp = shapes.write[p_shape_index];
 	if (shp.bt_shape == mainShape) {
 		mainShape = nullptr;
 	}
-	bulletdelete(shp.bt_shape);
+	shp.release_bt_shape();
 	reload_shapes();
 }
 
 void RigidCollisionObjectBullet::reload_shapes() {
+	need_shape_reload = true;
+}
+
+void RigidCollisionObjectBullet::do_reload_shapes() {
 	if (mainShape && mainShape->isCompound()) {
 		// Destroy compound
 		bulletdelete(mainShape);
 	}
 
 	mainShape = nullptr;
 
-	ShapeWrapper *shpWrapper;
 	const int shape_count = shapes.size();
+	ShapeWrapper *shapes_ptr = shapes.ptrw();
 
-	// Reset shape if required
+	// Reset all shapes if required
 	if (force_shape_reset) {
 		for (int i(0); i < shape_count; ++i) {
-			shpWrapper = &shapes.write[i];
-			bulletdelete(shpWrapper->bt_shape);
+			shapes_ptr[i].release_bt_shape();
 		}
 		force_shape_reset = false;
 	}
 
 	const btVector3 body_scale(get_bt_body_scale());
 
-	// Try to optimize by not using compound
 	if (1 == shape_count) {
-		shpWrapper = &shapes.write[0];
-		btTransform transform = shpWrapper->get_adjusted_transform();
+		// Is it possible to optimize by not using compound?
+		btTransform transform = shapes_ptr[0].get_adjusted_transform();
 		if (transform.getOrigin().isZero() && transform.getBasis() == transform.getBasis().getIdentity()) {
-			shpWrapper->claim_bt_shape(body_scale);
-			mainShape = shpWrapper->bt_shape;
+			shapes_ptr[0].claim_bt_shape(body_scale);
+			mainShape = shapes_ptr[0].bt_shape;
 			main_shape_changed();
+			// Nothing more to do
 			return;
 		}
 	}
 
-	// Optimization not possible use a compound shape
+	// Optimization not possible use a compound shape.
 	btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, shape_count));
 
 	for (int i(0); i < shape_count; ++i) {
-		shpWrapper = &shapes.write[i];
-		shpWrapper->claim_bt_shape(body_scale);
-		btTransform scaled_shape_transform(shpWrapper->get_adjusted_transform());
+		shapes_ptr[i].claim_bt_shape(body_scale);
+		btTransform scaled_shape_transform(shapes_ptr[i].get_adjusted_transform());
 		scaled_shape_transform.getOrigin() *= body_scale;
-		compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape);
+		compoundShape->addChildShape(scaled_shape_transform, shapes_ptr[i].bt_shape);
 	}
 
 	compoundShape->recalculateLocalAabb();
@@ -389,5 +413,5 @@ void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_perm
 	if (shp.bt_shape == mainShape) {
 		mainShape = nullptr;
 	}
-	bulletdelete(shp.bt_shape);
+	shp.release_bt_shape();
 }

modules/bullet/collision_object_bullet.h

@@ -70,11 +70,12 @@ class CollisionObjectBullet : public RIDBullet {
 
 	struct ShapeWrapper {
 		ShapeBullet *shape = nullptr;
-		btCollisionShape *bt_shape = nullptr;
 		btTransform transform;
 		btVector3 scale;
 		bool active = true;
+		btCollisionShape *bt_shape = nullptr;
 
+	public:
 		ShapeWrapper() {}
 
 		ShapeWrapper(ShapeBullet *p_shape, const btTransform &p_transform, bool p_active) :
@@ -107,6 +108,7 @@ class CollisionObjectBullet : public RIDBullet {
 		btTransform get_adjusted_transform() const;
 
 		void claim_bt_shape(const btVector3 &body_scale);
+		void release_bt_shape();
 	};
 
 protected:
@@ -124,12 +126,17 @@ class CollisionObjectBullet : public RIDBullet {
 
 	VSet<RID> exceptions;
 
+	bool need_body_reload = true;
+
 	/// This array is used to know all areas where this Object is overlapped in
 	/// New area is added when overlap with new area (AreaBullet::addOverlap), then is removed when it exit (CollisionObjectBullet::onExitArea)
 	/// This array is used mainly to know which area hold the pointer of this object
 	Vector<AreaBullet *> areasOverlapped;
 	bool isTransformChanged = false;
 
+public:
+	bool is_in_world = false;
+
 public:
 	CollisionObjectBullet(Type p_type);
 	virtual ~CollisionObjectBullet();
@@ -183,13 +190,21 @@ class CollisionObjectBullet : public RIDBullet {
 		return collisionLayer & p_other->collisionMask || p_other->collisionLayer & collisionMask;
 	}
 
-	virtual void reload_body() = 0;
+	bool need_reload_body() const {
+		return need_body_reload;
+	}
+
+	void reload_body() {
+		need_body_reload = true;
+	}
+	virtual void do_reload_body() = 0;
 	virtual void set_space(SpaceBullet *p_space) = 0;
 	_FORCE_INLINE_ SpaceBullet *get_space() const { return space; }
 
 	virtual void on_collision_checker_start() = 0;
 	virtual void on_collision_checker_end() = 0;
 
+	virtual void prepare_object_for_dispatch();
 	virtual void dispatch_callbacks() = 0;
 
 	void set_collision_enabled(bool p_enabled);
@@ -215,6 +230,7 @@ class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwn
 protected:
 	btCollisionShape *mainShape = nullptr;
 	Vector<ShapeWrapper> shapes;
+	bool need_shape_reload = true;
 
 public:
 	RigidCollisionObjectBullet(Type p_type) :
@@ -246,8 +262,12 @@ class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwn
 	void set_shape_disabled(int p_index, bool p_disabled);
 	bool is_shape_disabled(int p_index);
 
+	virtual void prepare_object_for_dispatch();
+
 	virtual void shape_changed(int p_shape_index);
-	virtual void reload_shapes();
+	void reload_shapes();
+	bool need_reload_shapes() const { return need_shape_reload; }
+	virtual void do_reload_shapes();
 
 	virtual void main_shape_changed() = 0;
 	virtual void body_scale_changed();

modules/bullet/rigid_body_bullet.cpp

@@ -237,7 +237,7 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
 			case PhysicsServer3D::SHAPE_CYLINDER:
 			case PhysicsServer3D::SHAPE_CONVEX_POLYGON:
 			case PhysicsServer3D::SHAPE_RAY: {
-				shapes.write[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
+				shapes.write[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->internal_create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
 			} break;
 			default:
 				WARN_PRINT("This shape is not supported for kinematic collision.");
@@ -307,7 +307,7 @@ void RigidBodyBullet::main_shape_changed() {
 	set_continuous_collision_detection(is_continuous_collision_detection_enabled()); // Reset
 }
 
-void RigidBodyBullet::reload_body() {
+void RigidBodyBullet::do_reload_body() {
 	if (space) {
 		space->remove_rigid_body(this);
 		if (get_main_shape()) {
@@ -325,13 +325,15 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) {
 		assert_no_constraints();
 
 		// Remove this object form the physics world
+		space->unregister_collision_object(this);
 		space->remove_rigid_body(this);
 	}
 
 	space = p_space;
 
 	if (space) {
-		space->add_rigid_body(this);
+		space->register_collision_object(this);
+		reload_body();
 	}
 }
 
@@ -803,8 +805,8 @@ const btTransform &RigidBodyBullet::get_transform__bullet() const {
 	}
 }
 
-void RigidBodyBullet::reload_shapes() {
-	RigidCollisionObjectBullet::reload_shapes();
+void RigidBodyBullet::do_reload_shapes() {
+	RigidCollisionObjectBullet::do_reload_shapes();
 
 	const btScalar invMass = btBody->getInvMass();
 	const btScalar mass = invMass == 0 ? 0 : 1 / invMass;

modules/bullet/rigid_body_bullet.h

@@ -236,7 +236,7 @@ class RigidBodyBullet : public RigidCollisionObjectBullet {
 	_FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; }
 
 	virtual void main_shape_changed();
-	virtual void reload_body();
+	virtual void do_reload_body();
 	virtual void set_space(SpaceBullet *p_space);
 
 	virtual void dispatch_callbacks();
@@ -315,7 +315,7 @@ class RigidBodyBullet : public RigidCollisionObjectBullet {
 	virtual void set_transform__bullet(const btTransform &p_global_transform);
 	virtual const btTransform &get_transform__bullet() const;
 
-	virtual void reload_shapes();
+	virtual void do_reload_shapes();
 
 	virtual void on_enter_area(AreaBullet *p_area);
 	virtual void on_exit_area(AreaBullet *p_area);