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Upgrade to Jolt 5.3.1, user extension support, and miscellaneous fixes #10

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c1cddc3
Add support for adding user-specified C/C++ source files to the joltc…
kcbanner Mar 22, 2025
7017fa2
Update Jolt to 600dae51122682afb1df96c392c4acb7f7e31836
kcbanner Mar 22, 2025
b0ad38a
- Add type safety to AddConstraint / RemoveConstraint
kcbanner Mar 25, 2025
85c6d82
- Add accessor for JPH::Body:sFixedToWorld
kcbanner Mar 25, 2025
cf48eb9
- Add missing VTableHeader for ContactListener
kcbanner Mar 25, 2025
2e54368
- Add DestroyTriangleBatch
kcbanner Apr 3, 2025
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42 changes: 22 additions & 20 deletions build.zig
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,12 @@ pub fn build(b: *std.Build) void {
) orelse true,
};

const user_extensions = b.option(
[]const std.Build.LazyPath,
"user_extensions",
"List of user source files to add to the joltc library",
) orelse &.{};

const options_step = b.addOptions();
inline for (std.meta.fields(@TypeOf(options))) |field| {
options_step.addOption(field.type, field.name, @field(options, field.name));
Expand Down Expand Up @@ -98,9 +104,9 @@ pub fn build(b: *std.Build) void {
src_dir ++ "/Core/Color.cpp",
src_dir ++ "/Core/Factory.cpp",
src_dir ++ "/Core/IssueReporting.cpp",
src_dir ++ "/Core/JobSystemSingleThreaded.cpp",
src_dir ++ "/Core/JobSystemThreadPool.cpp",
src_dir ++ "/Core/JobSystemWithBarrier.cpp",
src_dir ++ "/Core/JobSystemSingleThreaded.cpp",
src_dir ++ "/Core/LinearCurve.cpp",
src_dir ++ "/Core/Memory.cpp",
src_dir ++ "/Core/Profiler.cpp",
Expand All @@ -123,16 +129,11 @@ pub fn build(b: *std.Build) void {
src_dir ++ "/ObjectStream/SerializableObject.cpp",
src_dir ++ "/ObjectStream/TypeDeclarations.cpp",
src_dir ++ "/Physics/Body/Body.cpp",
src_dir ++ "/Physics/Body/BodyAccess.cpp",
src_dir ++ "/Physics/Body/BodyCreationSettings.cpp",
src_dir ++ "/Physics/Body/BodyInterface.cpp",
src_dir ++ "/Physics/Body/BodyManager.cpp",
src_dir ++ "/Physics/Body/MassProperties.cpp",
src_dir ++ "/Physics/Body/MotionProperties.cpp",
src_dir ++ "/Physics/SoftBody/SoftBodyCreationSettings.cpp",
src_dir ++ "/Physics/SoftBody/SoftBodyMotionProperties.cpp",
src_dir ++ "/Physics/SoftBody/SoftBodyShape.cpp",
src_dir ++ "/Physics/SoftBody/SoftBodySharedSettings.cpp",
src_dir ++ "/Physics/Character/Character.cpp",
src_dir ++ "/Physics/Character/CharacterBase.cpp",
src_dir ++ "/Physics/Character/CharacterVirtual.cpp",
Expand All @@ -146,6 +147,7 @@ pub fn build(b: *std.Build) void {
src_dir ++ "/Physics/Collision/CollideSphereVsTriangles.cpp",
src_dir ++ "/Physics/Collision/CollisionDispatch.cpp",
src_dir ++ "/Physics/Collision/CollisionGroup.cpp",
src_dir ++ "/Physics/Collision/EstimateCollisionResponse.cpp",
src_dir ++ "/Physics/Collision/GroupFilter.cpp",
src_dir ++ "/Physics/Collision/GroupFilterTable.cpp",
src_dir ++ "/Physics/Collision/ManifoldBetweenTwoFaces.cpp",
Expand All @@ -160,16 +162,19 @@ pub fn build(b: *std.Build) void {
src_dir ++ "/Physics/Collision/Shape/ConvexShape.cpp",
src_dir ++ "/Physics/Collision/Shape/CylinderShape.cpp",
src_dir ++ "/Physics/Collision/Shape/DecoratedShape.cpp",
src_dir ++ "/Physics/Collision/Shape/EmptyShape.cpp",
src_dir ++ "/Physics/Collision/Shape/HeightFieldShape.cpp",
src_dir ++ "/Physics/Collision/Shape/MeshShape.cpp",
src_dir ++ "/Physics/Collision/Shape/MutableCompoundShape.cpp",
src_dir ++ "/Physics/Collision/Shape/OffsetCenterOfMassShape.cpp",
src_dir ++ "/Physics/Collision/Shape/PlaneShape.cpp",
src_dir ++ "/Physics/Collision/Shape/RotatedTranslatedShape.cpp",
src_dir ++ "/Physics/Collision/Shape/ScaledShape.cpp",
src_dir ++ "/Physics/Collision/Shape/Shape.cpp",
src_dir ++ "/Physics/Collision/Shape/SphereShape.cpp",
src_dir ++ "/Physics/Collision/Shape/StaticCompoundShape.cpp",
src_dir ++ "/Physics/Collision/Shape/TaperedCapsuleShape.cpp",
src_dir ++ "/Physics/Collision/Shape/TaperedCylinderShape.cpp",
src_dir ++ "/Physics/Collision/Shape/TriangleShape.cpp",
src_dir ++ "/Physics/Collision/TransformedShape.cpp",
src_dir ++ "/Physics/Constraints/ConeConstraint.cpp",
Expand All @@ -185,21 +190,26 @@ pub fn build(b: *std.Build) void {
src_dir ++ "/Physics/Constraints/PathConstraintPath.cpp",
src_dir ++ "/Physics/Constraints/PathConstraintPathHermite.cpp",
src_dir ++ "/Physics/Constraints/PointConstraint.cpp",
src_dir ++ "/Physics/Constraints/PulleyConstraint.cpp",
src_dir ++ "/Physics/Constraints/RackAndPinionConstraint.cpp",
src_dir ++ "/Physics/Constraints/SixDOFConstraint.cpp",
src_dir ++ "/Physics/Constraints/SliderConstraint.cpp",
src_dir ++ "/Physics/Constraints/SpringSettings.cpp",
src_dir ++ "/Physics/Constraints/SwingTwistConstraint.cpp",
src_dir ++ "/Physics/Constraints/TwoBodyConstraint.cpp",
src_dir ++ "/Physics/Constraints/PulleyConstraint.cpp",
src_dir ++ "/Physics/Constraints/SpringSettings.cpp",
src_dir ++ "/Physics/DeterminismLog.cpp",
src_dir ++ "/Physics/IslandBuilder.cpp",
src_dir ++ "/Physics/LargeIslandSplitter.cpp",
src_dir ++ "/Physics/PhysicsScene.cpp",
src_dir ++ "/Physics/PhysicsSystem.cpp",
src_dir ++ "/Physics/PhysicsUpdateContext.cpp",
src_dir ++ "/Physics/Ragdoll/Ragdoll.cpp",
src_dir ++ "/Physics/SoftBody/SoftBodyCreationSettings.cpp",
src_dir ++ "/Physics/SoftBody/SoftBodyMotionProperties.cpp",
src_dir ++ "/Physics/SoftBody/SoftBodyShape.cpp",
src_dir ++ "/Physics/SoftBody/SoftBodySharedSettings.cpp",
src_dir ++ "/Physics/StateRecorderImpl.cpp",
src_dir ++ "/Physics/Vehicle/MotorcycleController.cpp",
src_dir ++ "/Physics/Vehicle/TrackedVehicleController.cpp",
src_dir ++ "/Physics/Vehicle/VehicleAntiRollBar.cpp",
src_dir ++ "/Physics/Vehicle/VehicleCollisionTester.cpp",
Expand All @@ -211,33 +221,25 @@ pub fn build(b: *std.Build) void {
src_dir ++ "/Physics/Vehicle/VehicleTransmission.cpp",
src_dir ++ "/Physics/Vehicle/Wheel.cpp",
src_dir ++ "/Physics/Vehicle/WheeledVehicleController.cpp",
src_dir ++ "/Physics/Vehicle/MotorcycleController.cpp",
src_dir ++ "/RegisterTypes.cpp",
src_dir ++ "/Renderer/DebugRenderer.cpp",
src_dir ++ "/Renderer/DebugRendererSimple.cpp",
src_dir ++ "/Renderer/DebugRendererPlayback.cpp",
src_dir ++ "/Renderer/DebugRendererRecorder.cpp",
src_dir ++ "/Renderer/DebugRendererSimple.cpp",
src_dir ++ "/Skeleton/SkeletalAnimation.cpp",
src_dir ++ "/Skeleton/Skeleton.cpp",
src_dir ++ "/Skeleton/SkeletonMapper.cpp",
src_dir ++ "/Skeleton/SkeletonPose.cpp",
src_dir ++ "/TriangleGrouper/TriangleGrouperClosestCentroid.cpp",
src_dir ++ "/TriangleGrouper/TriangleGrouperMorton.cpp",
src_dir ++ "/TriangleSplitter/TriangleSplitter.cpp",
src_dir ++ "/TriangleSplitter/TriangleSplitterBinning.cpp",
src_dir ++ "/TriangleSplitter/TriangleSplitterFixedLeafSize.cpp",
src_dir ++ "/TriangleSplitter/TriangleSplitterLongestAxis.cpp",
src_dir ++ "/TriangleSplitter/TriangleSplitterMean.cpp",
src_dir ++ "/TriangleSplitter/TriangleSplitterMorton.cpp",
},
.flags = c_flags,
});

if (target.result.abi != .msvc or optimize != .Debug) {
joltc.addCSourceFiles(.{
.files = &.{
src_dir ++ "/Physics/PhysicsLock.cpp",
},
for (user_extensions) |user_extension| {
joltc.addCSourceFile(.{
.file = user_extension,
.flags = c_flags,
});
}
Expand Down
123 changes: 63 additions & 60 deletions libs/Jolt/AABBTree/AABBTreeBuilder.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,84 +8,72 @@

JPH_NAMESPACE_BEGIN

AABBTreeBuilder::Node::Node()
{
mChild[0] = nullptr;
mChild[1] = nullptr;
}

AABBTreeBuilder::Node::~Node()
{
delete mChild[0];
delete mChild[1];
}

uint AABBTreeBuilder::Node::GetMinDepth() const
uint AABBTreeBuilder::Node::GetMinDepth(const Array<Node> &inNodes) const
{
if (HasChildren())
{
uint left = mChild[0]->GetMinDepth();
uint right = mChild[1]->GetMinDepth();
uint left = inNodes[mChild[0]].GetMinDepth(inNodes);
uint right = inNodes[mChild[1]].GetMinDepth(inNodes);
return min(left, right) + 1;
}
else
return 1;
}

uint AABBTreeBuilder::Node::GetMaxDepth() const
uint AABBTreeBuilder::Node::GetMaxDepth(const Array<Node> &inNodes) const
{
if (HasChildren())
{
uint left = mChild[0]->GetMaxDepth();
uint right = mChild[1]->GetMaxDepth();
uint left = inNodes[mChild[0]].GetMaxDepth(inNodes);
uint right = inNodes[mChild[1]].GetMaxDepth(inNodes);
return max(left, right) + 1;
}
else
return 1;
}

uint AABBTreeBuilder::Node::GetNodeCount() const
uint AABBTreeBuilder::Node::GetNodeCount(const Array<Node> &inNodes) const
{
if (HasChildren())
return mChild[0]->GetNodeCount() + mChild[1]->GetNodeCount() + 1;
return inNodes[mChild[0]].GetNodeCount(inNodes) + inNodes[mChild[1]].GetNodeCount(inNodes) + 1;
else
return 1;
}

uint AABBTreeBuilder::Node::GetLeafNodeCount() const
uint AABBTreeBuilder::Node::GetLeafNodeCount(const Array<Node> &inNodes) const
{
if (HasChildren())
return mChild[0]->GetLeafNodeCount() + mChild[1]->GetLeafNodeCount();
return inNodes[mChild[0]].GetLeafNodeCount(inNodes) + inNodes[mChild[1]].GetLeafNodeCount(inNodes);
else
return 1;
}

uint AABBTreeBuilder::Node::GetTriangleCountInTree() const
uint AABBTreeBuilder::Node::GetTriangleCountInTree(const Array<Node> &inNodes) const
{
if (HasChildren())
return mChild[0]->GetTriangleCountInTree() + mChild[1]->GetTriangleCountInTree();
return inNodes[mChild[0]].GetTriangleCountInTree(inNodes) + inNodes[mChild[1]].GetTriangleCountInTree(inNodes);
else
return GetTriangleCount();
}

void AABBTreeBuilder::Node::GetTriangleCountPerNode(float &outAverage, uint &outMin, uint &outMax) const
void AABBTreeBuilder::Node::GetTriangleCountPerNode(const Array<Node> &inNodes, float &outAverage, uint &outMin, uint &outMax) const
{
outMin = INT_MAX;
outMax = 0;
outAverage = 0;
uint avg_divisor = 0;
GetTriangleCountPerNodeInternal(outAverage, avg_divisor, outMin, outMax);
GetTriangleCountPerNodeInternal(inNodes, outAverage, avg_divisor, outMin, outMax);
if (avg_divisor > 0)
outAverage /= avg_divisor;
}

float AABBTreeBuilder::Node::CalculateSAHCost(float inCostTraversal, float inCostLeaf) const
float AABBTreeBuilder::Node::CalculateSAHCost(const Array<Node> &inNodes, float inCostTraversal, float inCostLeaf) const
{
float surface_area = mBounds.GetSurfaceArea();
return surface_area > 0.0f? CalculateSAHCostInternal(inCostTraversal / surface_area, inCostLeaf / surface_area) : 0.0f;
return surface_area > 0.0f? CalculateSAHCostInternal(inNodes, inCostTraversal / surface_area, inCostLeaf / surface_area) : 0.0f;
}

void AABBTreeBuilder::Node::GetNChildren(uint inN, Array<const Node *> &outChildren) const
void AABBTreeBuilder::Node::GetNChildren(const Array<Node> &inNodes, uint inN, Array<const Node*> &outChildren) const
{
JPH_ASSERT(outChildren.empty());

Expand All @@ -94,8 +82,8 @@ void AABBTreeBuilder::Node::GetNChildren(uint inN, Array<const Node *> &outChild
return;

// Start with the children of this node
outChildren.push_back(mChild[0]);
outChildren.push_back(mChild[1]);
outChildren.push_back(&inNodes[mChild[0]]);
outChildren.push_back(&inNodes[mChild[1]]);

size_t next = 0;
bool all_triangles = true;
Expand All @@ -116,8 +104,8 @@ void AABBTreeBuilder::Node::GetNChildren(uint inN, Array<const Node *> &outChild
if (to_expand->HasChildren())
{
outChildren.erase(outChildren.begin() + next);
outChildren.push_back(to_expand->mChild[0]);
outChildren.push_back(to_expand->mChild[1]);
outChildren.push_back(&inNodes[to_expand->mChild[0]]);
outChildren.push_back(&inNodes[to_expand->mChild[1]]);
all_triangles = false;
}
else
Expand All @@ -127,22 +115,22 @@ void AABBTreeBuilder::Node::GetNChildren(uint inN, Array<const Node *> &outChild
}
}

float AABBTreeBuilder::Node::CalculateSAHCostInternal(float inCostTraversalDivSurfaceArea, float inCostLeafDivSurfaceArea) const
float AABBTreeBuilder::Node::CalculateSAHCostInternal(const Array<Node> &inNodes, float inCostTraversalDivSurfaceArea, float inCostLeafDivSurfaceArea) const
{
if (HasChildren())
return inCostTraversalDivSurfaceArea * mBounds.GetSurfaceArea()
+ mChild[0]->CalculateSAHCostInternal(inCostTraversalDivSurfaceArea, inCostLeafDivSurfaceArea)
+ mChild[1]->CalculateSAHCostInternal(inCostTraversalDivSurfaceArea, inCostLeafDivSurfaceArea);
+ inNodes[mChild[0]].CalculateSAHCostInternal(inNodes, inCostTraversalDivSurfaceArea, inCostLeafDivSurfaceArea)
+ inNodes[mChild[1]].CalculateSAHCostInternal(inNodes, inCostTraversalDivSurfaceArea, inCostLeafDivSurfaceArea);
else
return inCostLeafDivSurfaceArea * mBounds.GetSurfaceArea() * GetTriangleCount();
}

void AABBTreeBuilder::Node::GetTriangleCountPerNodeInternal(float &outAverage, uint &outAverageDivisor, uint &outMin, uint &outMax) const
void AABBTreeBuilder::Node::GetTriangleCountPerNodeInternal(const Array<Node> &inNodes, float &outAverage, uint &outAverageDivisor, uint &outMin, uint &outMax) const
{
if (HasChildren())
{
mChild[0]->GetTriangleCountPerNodeInternal(outAverage, outAverageDivisor, outMin, outMax);
mChild[1]->GetTriangleCountPerNodeInternal(outAverage, outAverageDivisor, outMin, outMax);
inNodes[mChild[0]].GetTriangleCountPerNodeInternal(inNodes, outAverage, outAverageDivisor, outMin, outMax);
inNodes[mChild[1]].GetTriangleCountPerNodeInternal(inNodes, outAverage, outAverageDivisor, outMin, outMax);
}
else
{
Expand All @@ -162,28 +150,36 @@ AABBTreeBuilder::AABBTreeBuilder(TriangleSplitter &inSplitter, uint inMaxTriangl
AABBTreeBuilder::Node *AABBTreeBuilder::Build(AABBTreeBuilderStats &outStats)
{
TriangleSplitter::Range initial = mTriangleSplitter.GetInitialRange();
Node *root = BuildInternal(initial);

// Worst case for number of nodes: 1 leaf node per triangle. At each level above, the number of nodes is half that of the level below.
// This means that at most we'll be allocating 2x the number of triangles in nodes.
mNodes.reserve(2 * initial.Count());
mTriangles.reserve(initial.Count());

// Build the tree
Node &root = mNodes[BuildInternal(initial)];

// Collect stats
float avg_triangles_per_leaf;
uint min_triangles_per_leaf, max_triangles_per_leaf;
root->GetTriangleCountPerNode(avg_triangles_per_leaf, min_triangles_per_leaf, max_triangles_per_leaf);
root.GetTriangleCountPerNode(mNodes, avg_triangles_per_leaf, min_triangles_per_leaf, max_triangles_per_leaf);

mTriangleSplitter.GetStats(outStats.mSplitterStats);

outStats.mSAHCost = root->CalculateSAHCost(1.0f, 1.0f);
outStats.mMinDepth = root->GetMinDepth();
outStats.mMaxDepth = root->GetMaxDepth();
outStats.mNodeCount = root->GetNodeCount();
outStats.mLeafNodeCount = root->GetLeafNodeCount();
outStats.mSAHCost = root.CalculateSAHCost(mNodes, 1.0f, 1.0f);
outStats.mMinDepth = root.GetMinDepth(mNodes);
outStats.mMaxDepth = root.GetMaxDepth(mNodes);
outStats.mNodeCount = root.GetNodeCount(mNodes);
outStats.mLeafNodeCount = root.GetLeafNodeCount(mNodes);
outStats.mMaxTrianglesPerLeaf = mMaxTrianglesPerLeaf;
outStats.mTreeMinTrianglesPerLeaf = min_triangles_per_leaf;
outStats.mTreeMaxTrianglesPerLeaf = max_triangles_per_leaf;
outStats.mTreeAvgTrianglesPerLeaf = avg_triangles_per_leaf;

return root;
return &root;
}

AABBTreeBuilder::Node *AABBTreeBuilder::BuildInternal(const TriangleSplitter::Range &inTriangles)
uint AABBTreeBuilder::BuildInternal(const TriangleSplitter::Range &inTriangles)
{
// Check if there are too many triangles left
if (inTriangles.Count() > mMaxTrianglesPerLeaf)
Expand Down Expand Up @@ -214,26 +210,33 @@ AABBTreeBuilder::Node *AABBTreeBuilder::BuildInternal(const TriangleSplitter::Ra
}

// Recursively build
Node *node = new Node();
node->mChild[0] = BuildInternal(left);
node->mChild[1] = BuildInternal(right);
node->mBounds = node->mChild[0]->mBounds;
node->mBounds.Encapsulate(node->mChild[1]->mBounds);
return node;
const uint node_index = (uint)mNodes.size();
mNodes.push_back(Node());
uint left_index = BuildInternal(left);
uint right_index = BuildInternal(right);
Node &node = mNodes[node_index];
node.mChild[0] = left_index;
node.mChild[1] = right_index;
node.mBounds = mNodes[node.mChild[0]].mBounds;
node.mBounds.Encapsulate(mNodes[node.mChild[1]].mBounds);
return node_index;
}

// Create leaf node
Node *node = new Node();
node->mTriangles.reserve(inTriangles.Count());
const uint node_index = (uint)mNodes.size();
mNodes.push_back(Node());
Node &node = mNodes.back();
node.mTrianglesBegin = (uint)mTriangles.size();
node.mNumTriangles = inTriangles.mEnd - inTriangles.mBegin;
const VertexList &v = mTriangleSplitter.GetVertices();
for (uint i = inTriangles.mBegin; i < inTriangles.mEnd; ++i)
{
const IndexedTriangle &t = mTriangleSplitter.GetTriangle(i);
const VertexList &v = mTriangleSplitter.GetVertices();
node->mTriangles.push_back(t);
node->mBounds.Encapsulate(v, t);
mTriangles.push_back(t);
node.mBounds.Encapsulate(v, t);
}

return node;
return node_index;
}

JPH_NAMESPACE_END
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