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#rb Chris.Caulfield, Benn.Gallagher #preflight 60eeb53740ede30001e321b5 #ROBOMERGE-SOURCE: CL 16859513 #ROBOMERGE-BOT: (v836-16769935) [CL 16859514 by bill henderson in ue5-main branch]
544 lines
16 KiB
C++
544 lines
16 KiB
C++
// Copyright Epic Games, Inc. All Rights Reserved.
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#include "Chaos/ChaosScene.h"
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#include "Async/AsyncWork.h"
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#include "Async/ParallelFor.h"
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#include "Misc/CoreDelegates.h"
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#include "Misc/ScopeLock.h"
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#include "ProfilingDebugging/CsvProfiler.h"
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#include "ChaosSolversModule.h"
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#include "ChaosLog.h"
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#include "ChaosStats.h"
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#include "Field/FieldSystem.h"
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#include "PhysicsProxy/PerSolverFieldSystem.h"
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#include "PhysicsProxy/GeometryCollectionPhysicsProxy.h"
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#include "PhysicsProxy/SingleParticlePhysicsProxy.h"
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#include "PhysicsProxy/SkeletalMeshPhysicsProxy.h"
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#include "PhysicsProxy/StaticMeshPhysicsProxy.h"
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#include "Chaos/UniformGrid.h"
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#include "Chaos/BoundingVolume.h"
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#include "Chaos/Framework/DebugSubstep.h"
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#include "Chaos/PBDSpringConstraints.h"
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#include "Chaos/PerParticleGravity.h"
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#include "PBDRigidActiveParticlesBuffer.h"
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#include "Chaos/GeometryParticlesfwd.h"
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#include "Chaos/Box.h"
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#include "Chaos/Public/EventsData.h"
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#include "Chaos/Public/EventManager.h"
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#include "Chaos/Public/RewindData.h"
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#include "PhysicsSettingsCore.h"
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#include "Chaos/PhysicsSolverBaseImpl.h"
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#include "ProfilingDebugging/CsvProfiler.h"
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DECLARE_CYCLE_STAT(TEXT("Update Kinematics On Deferred SkelMeshes"),STAT_UpdateKinematicsOnDeferredSkelMeshesChaos,STATGROUP_Physics);
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CSV_DEFINE_CATEGORY(ChaosPhysics,true);
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// Stat Counters
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DECLARE_DWORD_ACCUMULATOR_STAT(TEXT("NumDirtyAABBTreeElements"), STAT_ChaosCounter_NumDirtyAABBTreeElements, STATGROUP_ChaosCounters);
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DECLARE_DWORD_ACCUMULATOR_STAT(TEXT("NumDirtyGridOverflowElements"), STAT_ChaosCounter_NumDirtyGridOverflowElements, STATGROUP_ChaosCounters);
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DECLARE_DWORD_ACCUMULATOR_STAT(TEXT("NumDirtyElementsTooLargeForGrid"), STAT_ChaosCounter_NumDirtyElementsTooLargeForGrid, STATGROUP_ChaosCounters);
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DECLARE_DWORD_ACCUMULATOR_STAT(TEXT("NumDirtyNonEmptyCellsInGrid"), STAT_ChaosCounter_NumDirtyNonEmptyCellsInGrid, STATGROUP_ChaosCounters);
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TAutoConsoleVariable<int32> CVar_ChaosSimulationEnable(TEXT("P.Chaos.Simulation.Enable"),1,TEXT("Enable / disable chaos simulation. If disabled, physics will not tick."));
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TAutoConsoleVariable<int32> CVar_ApplyProjectSettings(TEXT("p.Chaos.Simulation.ApplySolverProjectSettings"), 1, TEXT("Whether to apply the solver project settings on spawning a solver"));
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FChaosScene::FChaosScene(
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UObject* OwnerPtr
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, Chaos::FReal InAsyncDt
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#if CHAOS_CHECKED
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, const FName& DebugName
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#endif
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)
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: SolverAccelerationStructure(nullptr)
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, ChaosModule(nullptr)
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, SceneSolver(nullptr)
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, Owner(OwnerPtr)
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{
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LLM_SCOPE(ELLMTag::Chaos);
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ChaosModule = FChaosSolversModule::GetModule();
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check(ChaosModule);
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const bool bForceSingleThread = !(FApp::ShouldUseThreadingForPerformance() || FForkProcessHelper::SupportsMultithreadingPostFork());
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Chaos::EThreadingMode ThreadingMode = bForceSingleThread ? Chaos::EThreadingMode::SingleThread : Chaos::EThreadingMode::TaskGraph;
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SceneSolver = ChaosModule->CreateSolver(OwnerPtr, InAsyncDt, ThreadingMode
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#if CHAOS_CHECKED
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,DebugName
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#endif
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);
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check(SceneSolver);
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SceneSolver->PhysSceneHack = this;
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SimCallback = SceneSolver->CreateAndRegisterSimCallbackObject_External<FChaosSceneSimCallback>();
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if(CVar_ApplyProjectSettings.GetValueOnAnyThread() != 0)
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{
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UPhysicsSettingsCore* Settings = UPhysicsSettingsCore::Get();
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SceneSolver->EnqueueCommandImmediate([InSolver = SceneSolver, SolverConfigCopy = Settings->SolverOptions]()
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{
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InSolver->ApplyConfig(SolverConfigCopy);
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});
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}
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// Make sure we have initialized structure on game thread, evolution has already initialized structure, just need to copy.
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CopySolverAccelerationStructure();
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}
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FChaosScene::~FChaosScene()
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{
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if(ensure(SceneSolver))
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{
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Chaos::FEventManager* EventManager = SceneSolver->GetEventManager();
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EventManager->UnregisterHandler(Chaos::EEventType::Collision,this);
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SceneSolver->UnregisterAndFreeSimCallbackObject_External(SimCallback);
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}
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if(ensure(ChaosModule))
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{
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// Destroy our solver
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ChaosModule->DestroySolver(GetSolver());
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}
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SimCallback = nullptr;
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ChaosModule = nullptr;
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SceneSolver = nullptr;
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}
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#if WITH_ENGINE
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void FChaosScene::AddReferencedObjects(FReferenceCollector& Collector)
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{
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#if WITH_EDITOR
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for(UObject* Obj : PieModifiedObjects)
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{
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Collector.AddReferencedObject(Obj);
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}
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#endif
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}
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#endif
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#if WITH_EDITOR
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void FChaosScene::AddPieModifiedObject(UObject* InObj)
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{
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if(GIsPlayInEditorWorld)
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{
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PieModifiedObjects.AddUnique(InObj);
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}
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}
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#endif
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const Chaos::ISpatialAcceleration<Chaos::FAccelerationStructureHandle, Chaos::FReal, 3>* FChaosScene::GetSpacialAcceleration() const
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{
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return SolverAccelerationStructure;
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}
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Chaos::ISpatialAcceleration<Chaos::FAccelerationStructureHandle, Chaos::FReal, 3>* FChaosScene::GetSpacialAcceleration()
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{
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return SolverAccelerationStructure;
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}
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void FChaosScene::CopySolverAccelerationStructure()
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{
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using namespace Chaos;
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if(SceneSolver)
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{
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FPhysicsSceneGuardScopedWrite ScopedWrite(SceneSolver->GetExternalDataLock_External());
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SceneSolver->UpdateExternalAccelerationStructure_External(SolverAccelerationStructure);
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}
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}
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void FChaosScene::Flush()
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{
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check(IsInGameThread());
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Chaos::FPBDRigidsSolver* Solver = GetSolver();
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if(Solver)
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{
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//Make sure any dirty proxy data is pushed
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Solver->AdvanceAndDispatch_External(0); //force commands through
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Solver->WaitOnPendingTasks_External();
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// Populate the spacial acceleration
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Chaos::FPBDRigidsSolver::FPBDRigidsEvolution* Evolution = Solver->GetEvolution();
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if(Evolution)
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{
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Evolution->FlushSpatialAcceleration();
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}
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}
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CopySolverAccelerationStructure();
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}
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void FChaosScene::RemoveActorFromAccelerationStructure(FPhysicsActorHandle& Actor)
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{
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#if WITH_CHAOS
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using namespace Chaos;
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RemoveActorFromAccelerationStructureImp(Actor->GetParticle_LowLevel());
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#endif
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}
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#if WITH_CHAOS
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void FChaosScene::RemoveActorFromAccelerationStructureImp(Chaos::FGeometryParticle* Particle)
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{
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using namespace Chaos;
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if (GetSpacialAcceleration() && Particle->UniqueIdx().IsValid())
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{
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FPhysicsSceneGuardScopedWrite ScopedWrite(SceneSolver->GetExternalDataLock_External());
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Chaos::FAccelerationStructureHandle AccelerationHandle(Particle);
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GetSpacialAcceleration()->RemoveElementFrom(AccelerationHandle, Particle->SpatialIdx());
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}
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}
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#endif
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void FChaosScene::UpdateActorInAccelerationStructure(const FPhysicsActorHandle& Actor)
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{
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#if WITH_CHAOS
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using namespace Chaos;
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if(GetSpacialAcceleration())
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{
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FPhysicsSceneGuardScopedWrite ScopedWrite(SceneSolver->GetExternalDataLock_External());
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auto SpatialAcceleration = GetSpacialAcceleration();
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const Chaos::FRigidBodyHandle_External& Body_External = Actor->GetGameThreadAPI();
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if(SpatialAcceleration)
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{
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FAABB3 WorldBounds;
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const bool bHasBounds = Body_External.Geometry()->HasBoundingBox();
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if(bHasBounds)
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{
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WorldBounds = Body_External.Geometry()->BoundingBox().TransformedAABB(FRigidTransform3(Body_External.X(), Body_External.R()));
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}
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Chaos::FAccelerationStructureHandle AccelerationHandle(Actor->GetParticle_LowLevel());
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SpatialAcceleration->UpdateElementIn(AccelerationHandle,WorldBounds,bHasBounds, Body_External.SpatialIdx());
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}
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GetSolver()->UpdateParticleInAccelerationStructure_External(Actor->GetParticle_LowLevel(),/*bDelete=*/false);
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}
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#endif
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}
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void FChaosScene::UpdateActorsInAccelerationStructure(const TArrayView<FPhysicsActorHandle>& Actors)
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{
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#if WITH_CHAOS
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using namespace Chaos;
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if(GetSpacialAcceleration())
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{
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FPhysicsSceneGuardScopedWrite ScopedWrite(SceneSolver->GetExternalDataLock_External());
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auto SpatialAcceleration = GetSpacialAcceleration();
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if(SpatialAcceleration)
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{
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int32 NumActors = Actors.Num();
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for(int32 ActorIndex = 0; ActorIndex < NumActors; ++ActorIndex)
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{
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const FPhysicsActorHandle& Actor = Actors[ActorIndex];
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if(Actor)
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{
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const Chaos::FRigidBodyHandle_External& Body_External = Actor->GetGameThreadAPI();
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// @todo(chaos): dedupe code in UpdateActorInAccelerationStructure
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FAABB3 WorldBounds;
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const bool bHasBounds = Body_External.Geometry()->HasBoundingBox();
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if(bHasBounds)
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{
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WorldBounds = Body_External.Geometry()->BoundingBox().TransformedAABB(FRigidTransform3(Body_External.X(), Body_External.R()));
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}
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Chaos::FAccelerationStructureHandle AccelerationHandle(Actor->GetParticle_LowLevel());
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SpatialAcceleration->UpdateElementIn(AccelerationHandle,WorldBounds,bHasBounds, Body_External.SpatialIdx());
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}
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}
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}
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for(int32 ActorIndex = 0; ActorIndex < Actors.Num(); ++ActorIndex)
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{
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const FPhysicsActorHandle& Actor = Actors[ActorIndex];
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if(Actor)
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{
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GetSolver()->UpdateParticleInAccelerationStructure_External(Actor->GetParticle_LowLevel(),/*bDelete=*/false);
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}
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}
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}
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#endif
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}
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void FChaosScene::AddActorsToScene_AssumesLocked(TArray<FPhysicsActorHandle>& InHandles,const bool bImmediate)
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{
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#if WITH_CHAOS
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TRACE_CPUPROFILER_EVENT_SCOPE(FChaosScene::AddActorsToScene_AssumesLocked)
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Chaos::FPhysicsSolver* Solver = GetSolver();
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Chaos::ISpatialAcceleration<Chaos::FAccelerationStructureHandle,Chaos::FReal,3>* SpatialAcceleration = GetSpacialAcceleration();
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for(FPhysicsActorHandle& Handle : InHandles)
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{
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FChaosEngineInterface::AddActorToSolver(Handle,Solver);
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// Optionally add this to the game-thread acceleration structure immediately
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if(bImmediate && SpatialAcceleration)
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{
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const Chaos::FRigidBodyHandle_External& Body_External = Handle->GetGameThreadAPI();
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// Get the bounding box for the particle if it has one
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bool bHasBounds = Body_External.Geometry()->HasBoundingBox();
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Chaos::FAABB3 WorldBounds;
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if(bHasBounds)
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{
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const Chaos::FAABB3 LocalBounds = Body_External.Geometry()->BoundingBox();
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WorldBounds = LocalBounds.TransformedAABB(Chaos::FRigidTransform3(Body_External.X(), Body_External.R()));
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}
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// Insert the particle
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Chaos::FAccelerationStructureHandle AccelerationHandle(Handle->GetParticle_LowLevel());
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SpatialAcceleration->UpdateElementIn(AccelerationHandle,WorldBounds,bHasBounds, Body_External.SpatialIdx());
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}
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}
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#endif
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}
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void FChaosSceneSimCallback::OnPreSimulate_Internal()
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{
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if(const FChaosSceneCallbackInput* Input = GetConsumerInput_Internal())
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{
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static_cast<Chaos::FPBDRigidsSolver*>(GetSolver())->GetEvolution()->GetGravityForces().SetAcceleration(Input->Gravity);
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}
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}
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void FChaosScene::SetGravity(const Chaos::FVec3& Acceleration)
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{
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SimCallback->GetProducerInputData_External()->Gravity = Acceleration;
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}
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void FChaosScene::SetUpForFrame(const FVector* NewGrav,float InDeltaSeconds /*= 0.0f*/,float InMinPhysicsDeltaTime /*= 0.0f*/,float InMaxPhysicsDeltaTime /*= 0.0f*/,float InMaxSubstepDeltaTime /*= 0.0f*/,int32 InMaxSubsteps,bool bSubstepping)
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{
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#if WITH_CHAOS
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using namespace Chaos;
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SetGravity(*NewGrav);
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InDeltaSeconds *= MNetworkDeltaTimeScale;
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if(bSubstepping)
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{
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MDeltaTime = FMath::Min(InDeltaSeconds, InMaxSubsteps * InMaxSubstepDeltaTime);
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}
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else
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{
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MDeltaTime = InMaxPhysicsDeltaTime > 0.f ? FMath::Min(InDeltaSeconds, InMaxPhysicsDeltaTime) : InDeltaSeconds;
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}
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if(FPhysicsSolver* Solver = GetSolver())
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{
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if(bSubstepping)
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{
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Solver->SetMaxDeltaTime_External(InMaxSubstepDeltaTime);
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Solver->SetMaxSubSteps_External(InMaxSubsteps);
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}
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else
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{
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Solver->SetMaxDeltaTime_External(InMaxPhysicsDeltaTime);
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Solver->SetMaxSubSteps_External(1);
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}
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Solver->SetMinDeltaTime_External(InMinPhysicsDeltaTime);
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}
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#endif
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}
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void FChaosScene::StartFrame()
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{
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#if WITH_CHAOS
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using namespace Chaos;
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SCOPE_CYCLE_COUNTER(STAT_Scene_StartFrame);
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if(CVar_ChaosSimulationEnable.GetValueOnGameThread() == 0)
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{
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return;
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}
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const float UseDeltaTime = OnStartFrame(MDeltaTime);;
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TArray<FPhysicsSolverBase*> SolverList;
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ChaosModule->GetSolversMutable(Owner,SolverList);
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if(FPhysicsSolver* Solver = GetSolver())
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{
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// Make sure our solver is in the list
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SolverList.AddUnique(Solver);
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}
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for(FPhysicsSolverBase* Solver : SolverList)
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{
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CompletionEvents.Add(Solver->AdvanceAndDispatch_External(UseDeltaTime));
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}
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#endif
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}
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void FChaosScene::OnSyncBodies(Chaos::FPhysicsSolverBase* Solver)
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{
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Solver->PullPhysicsStateForEachDirtyProxy_External([](auto){}, [](auto) {});
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}
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bool FChaosScene::AreAnyTasksPending() const
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{
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const Chaos::FPBDRigidsSolver* Solver = GetSolver();
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if (Solver && Solver->AreAnyTasksPending())
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{
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return true;
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}
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return false;
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}
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void FChaosScene::BeginDestroy()
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{
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Chaos::FPBDRigidsSolver* Solver = GetSolver();
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if (Solver)
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{
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Solver->BeginDestroy();
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}
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}
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bool FChaosScene::IsCompletionEventComplete() const
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{
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for (FGraphEventRef Event : CompletionEvents)
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{
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if (Event && !Event->IsComplete())
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{
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return false;
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}
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}
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return true;
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}
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template <typename TSolver>
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void FChaosScene::SyncBodies(TSolver* Solver)
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{
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#if WITH_CHAOS
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DECLARE_SCOPE_CYCLE_COUNTER(TEXT("SyncBodies"),STAT_SyncBodies,STATGROUP_Physics);
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CSV_SCOPED_TIMING_STAT_EXCLUSIVE(SyncBodies);
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OnSyncBodies(Solver);
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#endif
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}
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// Accumulate all the AABBTree stats
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void GetAABBTreeStats(Chaos::ISpatialAccelerationCollection<Chaos::FAccelerationStructureHandle, Chaos::FReal, 3>& Collection, Chaos::AABBTreeStatistics& OutAABBTreeStatistics)
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{
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using namespace Chaos;
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OutAABBTreeStatistics.Reset();
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TArray<FSpatialAccelerationIdx> SpatialIndices = Collection.GetAllSpatialIndices();
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for (const FSpatialAccelerationIdx SpatialIndex : SpatialIndices)
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{
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auto SubStructure = Collection.GetSubstructure(SpatialIndex);
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if (const auto AABBTree = SubStructure->template As<TAABBTree<FAccelerationStructureHandle, TAABBTreeLeafArray<FAccelerationStructureHandle>>>())
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{
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OutAABBTreeStatistics += AABBTree->GetAABBTreeStatistics();
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}
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else if (const auto AABBTreeBV = SubStructure->template As<TAABBTree<FAccelerationStructureHandle, TBoundingVolume<FAccelerationStructureHandle>>>())
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{
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OutAABBTreeStatistics += AABBTreeBV->GetAABBTreeStatistics();
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}
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}
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}
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void FChaosScene::EndFrame()
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{
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#if WITH_CHAOS
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using namespace Chaos;
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using SpatialAccelerationCollection = ISpatialAccelerationCollection<FAccelerationStructureHandle,FReal,3>;
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SCOPE_CYCLE_COUNTER(STAT_Scene_EndFrame);
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if(CVar_ChaosSimulationEnable.GetValueOnGameThread() == 0 || GetSolver() == nullptr)
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{
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return;
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}
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Chaos::AABBTreeStatistics TreeStats;
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GetAABBTreeStats(GetSpacialAcceleration()->AsChecked<SpatialAccelerationCollection>(), TreeStats);
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CSV_CUSTOM_STAT(ChaosPhysics, AABBTreeDirtyElementCount, TreeStats.StatNumDirtyElements, ECsvCustomStatOp::Set);
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SET_DWORD_STAT(STAT_ChaosCounter_NumDirtyAABBTreeElements, TreeStats.StatNumDirtyElements);
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CSV_CUSTOM_STAT(ChaosPhysics, AABBTreeDirtyGridOverflowCount, TreeStats.StatNumGridOverflowElements, ECsvCustomStatOp::Set);
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SET_DWORD_STAT(STAT_ChaosCounter_NumDirtyGridOverflowElements, TreeStats.StatNumGridOverflowElements);
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CSV_CUSTOM_STAT(ChaosPhysics, AABBTreeDirtyElementTooLargeCount, TreeStats.StatNumElementsTooLargeForGrid, ECsvCustomStatOp::Set);
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SET_DWORD_STAT(STAT_ChaosCounter_NumDirtyElementsTooLargeForGrid, TreeStats.StatNumElementsTooLargeForGrid);
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CSV_CUSTOM_STAT(ChaosPhysics, AABBTreeDirtyElementNonEmptyCellCount, TreeStats.StatNumNonEmptyCellsInGrid, ECsvCustomStatOp::Set);
|
|
SET_DWORD_STAT(STAT_ChaosCounter_NumDirtyNonEmptyCellsInGrid, TreeStats.StatNumNonEmptyCellsInGrid);
|
|
|
|
check(IsCompletionEventComplete())
|
|
//check(PhysicsTickTask->IsComplete());
|
|
CompletionEvents.Reset();
|
|
|
|
// Make a list of solvers to process. This is a list of all solvers registered to our world
|
|
// And our internal base scene solver.
|
|
TArray<FPhysicsSolverBase*> SolverList;
|
|
ChaosModule->GetSolversMutable(Owner,SolverList);
|
|
|
|
{
|
|
// Make sure our solver is in the list
|
|
SolverList.AddUnique(GetSolver());
|
|
}
|
|
|
|
// Flip the buffers over to the game thread and sync
|
|
{
|
|
SCOPE_CYCLE_COUNTER(STAT_FlipResults);
|
|
|
|
//update external SQ structure
|
|
//for now just copy the whole thing, stomping any changes that came from GT
|
|
CopySolverAccelerationStructure();
|
|
|
|
for(FPhysicsSolverBase* Solver : SolverList)
|
|
{
|
|
Solver->CastHelper([&SolverList,this](auto& Concrete)
|
|
{
|
|
SyncBodies(&Concrete);
|
|
Concrete.SyncEvents_GameThread();
|
|
|
|
{
|
|
SCOPE_CYCLE_COUNTER(STAT_SqUpdateMaterials);
|
|
Concrete.SyncQueryMaterials_External();
|
|
}
|
|
});
|
|
}
|
|
}
|
|
|
|
OnPhysScenePostTick.Broadcast(this);
|
|
#endif
|
|
}
|
|
|
|
void FChaosScene::WaitPhysScenes()
|
|
{
|
|
if(!IsCompletionEventComplete())
|
|
{
|
|
QUICK_SCOPE_CYCLE_COUNTER(STAT_FPhysScene_WaitPhysScenes);
|
|
FTaskGraphInterface::Get().WaitUntilTasksComplete(CompletionEvents,ENamedThreads::GameThread);
|
|
}
|
|
}
|
|
|
|
FGraphEventArray FChaosScene::GetCompletionEvents()
|
|
{
|
|
return CompletionEvents;
|
|
}
|