Improved Bullet Physics flush algorithm, Lazy collision filter reload, Shape reload regression fix. #40252

AndreaCatania · 2020-07-10T07:32:16Z

Improved flush algorithm, so now when a RigidBody goes into sleeping mode, it's flush is not executed (as should have be).
Added pre flush list, used by areas, so their notifications arrives to RigidBody before those get flushed.
Make sure to correctly fetch gravity when the integrate_forces function is used
Lazy reload body when layer and mask changes
Shapes are reloaded just before the physics step starts.
Improved some other parts of the code.
Removed std::vector and Vector in favour of the recently added LocalVector.

Check this PR: #40186
Improves this: #40127

madmiraal

I don't think trying to control the order that the flush happens is the right approach; especially not by creating multiple queues, which significantly increases the complexity of the flush system without the flexibility of varying the number of priorities.

Also, as highlighted below, your solution appears to require the Standard Template Library's std::vector, which I thought we shouldn't be using.

modules/bullet/rigid_body_bullet.h

modules/bullet/space_bullet.cpp

modules/bullet/space_bullet.h

AndreaCatania · 2020-07-14T15:50:35Z

The old solution was really bad because all the rigid bodies are processed, even the one that are not needed. Instead, the queue allows to only process the bodys that need to. Exactly like the Godot nodes are processed.

The solution of single queue, has the big disadvantage that before its use it must be sorted. This is acceptable when each element can have N priorities. For this use case, we have just 2 priorities (and this is unlikely to change), so use two separate queues is much more convenient.

Regarding the std::vector: Back when I've implemented it, the Vector was not using COW and it was perfect for this use case. However, later COW got implemented and that added a significant overhead for this use case.
Since avoid the Vector copy on write makes the code more complex, and since as far as I know is fine use std::vector into modules, I preferred use the std version.

AndreaCatania · 2020-07-19T16:52:25Z

Update: Rebased and fixed some bugs listed in the main post.

AndreaCatania · 2020-07-20T13:37:23Z

Removed std::vector and Vector in favour of the recently added LocalVector.

modules/bullet/collision_object_bullet.h

AndreaCatania · 2020-07-20T14:02:17Z

Force push: Removed invalid comment, It was no more valid since std::vector is gone.

madmiraal

I haven't tested whether or not this PR solves the issues indicated, but aside from the few minor points below I think the changes look good. 👍

modules/bullet/area_bullet.cpp

modules/bullet/area_bullet.h

modules/bullet/collision_object_bullet.cpp

modules/bullet/collision_object_bullet.h

modules/bullet/rigid_body_bullet.cpp

modules/bullet/rigid_body_bullet.h

modules/bullet/space_bullet.cpp

- Flushing Areas before anything else. - Make sure to correctly fetch gravity when the integrate_forces function is used - Lazy reload body when layer and mask changes - Shapes are reloaded just before the physics step starts. - Improved some other parts of the code. - Added override keyword - Using LocalVector

AndreaCatania · 2020-07-27T10:25:30Z

All fixed

akien-mga · 2020-07-27T11:57:52Z

Thanks!

akien-mga · 2020-07-29T21:01:06Z

Two apparent regressions from this PR: #40840 #40848.

aaronfranke · 2020-08-03T04:35:48Z

modules/bullet/space_bullet.h

-	Vector<Vector3> contactDebug;
-	int contactDebugCount = 0;
+	LocalVector<Vector3> contactDebug;
+	uint32_t contactDebugCount = 0;


Shouldn't these be snake_case?

Yep, it should be. Also I would check if make sense remove it (now that we have LocalVector)

Reverted physics body spawn optimization #39726 #40252

AndreaCatania added enhancement topic:physics labels Jul 10, 2020

AndreaCatania added this to the 4.0 milestone Jul 10, 2020

AndreaCatania requested a review from madmiraal July 10, 2020 07:32

AndreaCatania mentioned this pull request Jul 10, 2020

Call reload_space_override_modificator() directly when processing a body entering or leaving an area. #40186

Closed

akien-mga added the cherrypick:3.x Considered for cherry-picking into a future 3.x release label Jul 10, 2020

madmiraal suggested changes Jul 14, 2020

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AndreaCatania force-pushed the flush branch 2 times, most recently from e7a3453 to d0b8d3d Compare July 19, 2020 16:49

This was referenced Jul 19, 2020

Crash in Bullet when changing a CollisionShape #40311

Closed

Project crashes when using CSGBox and calculating tangents #40506

Closed

[Bullet] Gravity is applied to RigidBody even with custom_integrator turned on #40508

Closed

AndreaCatania changed the title ~~Improved Bullet Physics flush algorithm~~ Improved Bullet Physics flush algorithm, Lazy collision filter reload, Shape reload regression fix. Jul 19, 2020

AndreaCatania force-pushed the flush branch from d0b8d3d to 6de13d4 Compare July 20, 2020 07:20

akien-mga requested a review from reduz July 20, 2020 12:00

AndreaCatania force-pushed the flush branch from 6de13d4 to 858e8c2 Compare July 20, 2020 13:35

akien-mga reviewed Jul 20, 2020

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AndreaCatania force-pushed the flush branch from 858e8c2 to 8eb94a9 Compare July 20, 2020 13:43

akien-mga requested a review from madmiraal July 20, 2020 13:54

AndreaCatania force-pushed the flush branch from 8eb94a9 to 73a0ddf Compare July 20, 2020 13:59

madmiraal reviewed Jul 22, 2020

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AndreaCatania force-pushed the flush branch from 73a0ddf to 8d0d6d6 Compare July 27, 2020 06:26

madmiraal approved these changes Jul 27, 2020

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akien-mga merged commit 3e87022 into godotengine:master Jul 27, 2020

madmiraal mentioned this pull request Jul 27, 2020

[3.x] Call reload_space_override_modificator() directly when processing a body entering or leaving an area. #40187

Open

AndreaCatania deleted the flush branch July 27, 2020 12:02

akien-mga added the bug label Jul 27, 2020

akien-mga mentioned this pull request Jul 28, 2020

[3.2] Move Bullet physics query flush from Bullet space pre-tick callback to Bullet physics flush_queries() #40185

Merged

madmiraal mentioned this pull request Jul 28, 2020

[3.x] Move Bullet physics query flush from Bullet space pre-tick callback to Bullet physics flush_queries() again. #40788

Open

3 tasks

briansemrau mentioned this pull request Jul 29, 2020

Runtime crash when calling KinematicBody3D.move_and_slide with Bullet physics #40840

Closed

qarmin mentioned this pull request Jul 29, 2020

Invalid read when running editor #40848

Closed

aaronfranke reviewed Aug 3, 2020

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aaronfranke mentioned this pull request Aug 3, 2020

[3.2] Optimized physics object spawn time #40188

Closed

This was referenced Aug 5, 2020

Optimized physics object spawn time #39726

Merged

Fix multiple recent Bullet physics crashing issues. #41082

Closed

madmiraal mentioned this pull request Sep 16, 2020

Correctly flush dirty bodies - physics. #41096

Closed

AndreaCatania mentioned this pull request Oct 8, 2020

Reverted physics body spawn optimization #39726 #40252 #42639

Merged

akien-mga added a commit that referenced this pull request Oct 8, 2020

Merge pull request #42639 from AndreaCatania/revert_1

899b900

Reverted physics body spawn optimization #39726 #40252

AndreaCatania mentioned this pull request Oct 8, 2020

Optimized physics object spawn time, improved bullet physics server code. #42643

Closed

madmiraal mentioned this pull request Oct 8, 2020

Do not set gravity and damping when Custom Integrator is enabled. #42650

Closed

akien-mga removed the cherrypick:3.x Considered for cherry-picking into a future 3.x release label Jun 3, 2021

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Improved Bullet Physics flush algorithm, Lazy collision filter reload, Shape reload regression fix. #40252

Improved Bullet Physics flush algorithm, Lazy collision filter reload, Shape reload regression fix. #40252

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AndreaCatania Aug 3, 2020

Improved Bullet Physics flush algorithm, Lazy collision filter reload, Shape reload regression fix. #40252

Improved Bullet Physics flush algorithm, Lazy collision filter reload, Shape reload regression fix. #40252

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