Add optimization for many bodies + build fixes

.gitignore

@@ -14,3 +14,4 @@ out/
 .vs/
 build/
 .vscode/
+.cache

.gitmodules

@@ -39,4 +39,4 @@
 	url = https://github.com/freetype/freetype
 [submodule "3rdparty/JoltPhysics"]
 	path = 3rdparty/JoltPhysics
-	url = git@github.com:jrouwe/JoltPhysics.git
+	url = https://github.com/jrouwe/JoltPhysics.git

CMakeLists.txt

@@ -136,6 +136,8 @@ IF(MSVC)
   set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/$<CONFIG> CACHE PATH "")
   # Force multiprocessor compilation for all projects
   add_compile_options($<$<CXX_COMPILER_ID:MSVC>:/MP>)
+  # Force dynamic runtime library to be in debug mode in debug mode.
+  add_compile_options($<$<CONFIG:Debug>:$<$<CXX_COMPILER_ID:MSVC>:/MDd>>)
   # Don't generate a blah.manifest file for each build target.
   add_link_options(LINKER:/MANIFEST:NO)
 ELSEIF(UNIX)

src/ospjolt/activescene/joltinteg.h

@@ -37,22 +37,18 @@ JPH_SUPPRESS_WARNINGS
 
 #include <Jolt/RegisterTypes.h>
 #include <Jolt/Core/Factory.h>
-#include <Jolt/Core/TempAllocator.h>
 #include <Jolt/Core/JobSystemThreadPool.h>
-#include <Jolt/Physics/PhysicsSettings.h>
 #include <Jolt/Physics/PhysicsSystem.h>
 #include <Jolt/Physics/Collision/Shape/BoxShape.h>
 #include <Jolt/Physics/Collision/Shape/SphereShape.h>
 #include <Jolt/Physics/Collision/Shape/CylinderShape.h>
 #include <Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h>
 #include <Jolt/Physics/Body/BodyCreationSettings.h>
-#include <Jolt/Physics/Body/BodyActivationListener.h>
 #include <Jolt/Core/TempAllocator.h>
 #include <Jolt/Physics/Collision/Shape/CompoundShape.h>
 #include <Jolt/Physics/Collision/Shape/ScaledShape.h>
 #include <Jolt/Physics/Collision/Shape/MutableCompoundShape.h>
 #include <Jolt/Physics/PhysicsStepListener.h>
-#include <Jolt/Core/JobSystemSingleThreaded.h>
 
 JPH_SUPPRESS_WARNING_POP
 
@@ -65,10 +61,7 @@ JPH_SUPPRESS_WARNING_POP
 
 #include <iostream>
 #include <cstdarg>
-#include <thread>
 #include <osp/util/logging.h>
-#include <concepts>
-#include <typeindex> 
 
 #include "osp/core/strong_id.h"
 
@@ -240,7 +233,7 @@ class PhysicsStepListenerImpl : public PhysicsStepListener
 {
 public:
     PhysicsStepListenerImpl(ACtxJoltWorld* pContext) : m_context(pContext) {};
-    void OnStep(float inDeltaTime, PhysicsSystem& inPhysicsSystem) override;
+    void OnStep(float inDeltaTime, PhysicsSystem& rPhysicsSystem) override;
 
 private:
     ACtxJoltWorld* m_context;

src/ospjolt/activescene/joltinteg_fn.cpp

@@ -1,6 +1,6 @@
 /**
  * Open Space Program
- * Copyright © 2019-2020 Open Space Program Project
+ * Copyright © 2019-2024 Open Space Program Project
  *
  * MIT License
  *
@@ -99,7 +99,7 @@ void SysJolt::update_world(
 
     rCtxWorld.m_pTransform = std::addressof(rTf);
 
-    uint collisionSteps = 1;
+    int collisionSteps = 1;
     pJoltWorld->Update(timestep, collisionSteps, &rCtxWorld.m_temp_allocator, rCtxWorld.m_joltJobSystem.get());
 }
 
@@ -135,7 +135,7 @@ Ref<Shape> SysJolt::create_primitive(ACtxJoltWorld &rCtxWorld, osp::EShape shape
         return  RotatedTranslatedShapeSettings(
                     Vec3Arg::sZero(), 
                     Quat::sRotation(Vec3::sAxisX(), JPH_PI/2), 
-                    new CylinderShapeSettings(scale.GetY(), 2.0f * scale.GetX())
+                    new CylinderShapeSettings(scale.GetZ(), 2.0f * scale.GetX())
                 ).Create().Get();
 
     default:
@@ -146,7 +146,7 @@ Ref<Shape> SysJolt::create_primitive(ACtxJoltWorld &rCtxWorld, osp::EShape shape
 void SysJolt::scale_shape(Ref<Shape> rShape, Vec3Arg scale) {
     if (rShape->GetSubType() == EShapeSubType::Scaled) {
         ScaledShape* rScaledShape = dynamic_cast<ScaledShape*>(rShape.GetPtr());
-        if (rScaledShape) 
+        if (rScaledShape != nullptr) 
         {
             rShape = new ScaledShape(rScaledShape->GetInnerShape(), scale * rScaledShape->GetScale());
         }
@@ -180,7 +180,7 @@ void SysJolt::find_shapes_recurse(
         ACompTransformStorage_t const&          rTf,
         ActiveEnt                               ent,
         Matrix4 const&                          transform,
-        CompoundShapeSettings&                  pCompound) noexcept
+        CompoundShapeSettings&                  rCompound) noexcept
 {
     // Add jolt shape if exists
     if (rCtxWorld.m_shapes.contains(ent))
@@ -189,7 +189,7 @@ void SysJolt::find_shapes_recurse(
 
         // Set transform relative to root body
         SysJolt::scale_shape(rShape, Vec3MagnumToJolt(transform.scaling()));
-        pCompound.AddShape(
+        rCompound.AddShape(
             Vec3MagnumToJolt(transform.translation()), 
             QuatMagnumToJolt(osp::Quaternion::fromMatrix(transform.rotation())), 
             rShape);
@@ -210,7 +210,7 @@ void SysJolt::find_shapes_recurse(
             Matrix4 const childMatrix = transform * rChildTransform.m_transform;
 
             find_shapes_recurse(
-                    rCtxPhys, rCtxWorld, rScnGraph, rTf, child, childMatrix, pCompound);
+                    rCtxPhys, rCtxWorld, rScnGraph, rTf, child, childMatrix, rCompound);
         }
 
     }
@@ -220,10 +220,10 @@ void SysJolt::find_shapes_recurse(
 //TODO this is locking on all bodies. Is it bad ?
 //The easy fix is to provide multiple step listeners for disjoint sets of bodies, which can then run in parallel.
 //It might not be worth it considering this function should be quite fast.
-void PhysicsStepListenerImpl::OnStep(float inDeltaTime, PhysicsSystem &rJoltWorld)
+void PhysicsStepListenerImpl::OnStep(float inDeltaTime, PhysicsSystem &rPhysicsSystem)
 {
     //no lock as all bodies are already locked
-    BodyInterface &bodyInterface = rJoltWorld.GetBodyInterfaceNoLock();
+    BodyInterface &bodyInterface = rPhysicsSystem.GetBodyInterfaceNoLock();
     for (BodyId bodyId : m_context->m_bodyIds)
     {
         JPH::BodyID joltBodyId = BToJolt(bodyId);

src/ospjolt/activescene/joltinteg_fn.h

@@ -90,7 +90,7 @@ class SysJolt
         }
     }
     //Apply a scale to a shape.
-    static void scale_shape(Ref<Shape> rJoltShap, Vec3Arg scale);
+    static void scale_shape(Ref<Shape> rShape, Vec3Arg scale);
 
     //Get the inverse mass of a jolt body
     static float get_inverse_mass_no_lock(PhysicsSystem& physicsSystem, BodyId bodyId);
@@ -120,4 +120,4 @@ class SysJolt
 
 };
 
-}
+}

src/testapp/sessions/jolt.cpp

@@ -203,7 +203,16 @@ Session setup_phys_shapes_jolt(
         .args({                   idBasic,                idPhysShapes,             idPhys,              idJolt,              idJoltFactors })
         .func([] (ACtxBasic const &rBasic, ACtxPhysShapes& rPhysShapes, ACtxPhysics& rPhys, ACtxJoltWorld& rJolt, ForceFactors_t joltFactors) noexcept
     {
-        for (std::size_t i = 0; i < rPhysShapes.m_spawnRequest.size(); ++i)
+
+        PhysicsSystem *pJoltWorld = rJolt.m_pPhysicsSystem.get();
+        BodyInterface &bodyInterface = pJoltWorld->GetBodyInterface();
+
+        int numBodies = static_cast<int>(rPhysShapes.m_spawnRequest.size());
+
+        std::vector<JPH::BodyID> addedBodies;
+        addedBodies.reserve(numBodies);
+
+        for (std::size_t i = 0; i < numBodies; ++i)
         {
             SpawnShape const &spawn = rPhysShapes.m_spawnRequest[i];
             ActiveEnt const root    = rPhysShapes.m_ents[i * 2];
@@ -235,21 +244,23 @@ Session setup_phys_shapes_jolt(
                 bodyCreation.mObjectLayer = Layers::MOVING;
             }
             //TODO helper function ? 
-            PhysicsSystem *pJoltWorld = rJolt.m_pPhysicsSystem.get();
-            BodyInterface &bodyInterface = pJoltWorld->GetBodyInterface();
+
             JPH::BodyID joltBodyId = BToJolt(bodyId);
             bodyInterface.CreateBodyWithID(joltBodyId, bodyCreation);
-            bodyInterface.AddBody(joltBodyId, EActivation::Activate);
+            addedBodies.push_back(joltBodyId);
 
             rJolt.m_bodyToEnt[bodyId]    = root;
             rJolt.m_bodyFactors[bodyId]  = joltFactors;
             rJolt.m_entToBody.emplace(root, bodyId);
 
         }
+        //Bodies are added all at once for performance reasons.
+        BodyInterface::AddState addState = bodyInterface.AddBodiesPrepare(addedBodies.data(), numBodies);
+        bodyInterface.AddBodiesFinalize(addedBodies.data(), numBodies, addState, EActivation::Activate);
     });
 
     return out;
-} // setup_phys_shapes_newton
+} // setup_phys_shapes_jolt
 
 
 void compound_collect_recurse(
@@ -431,6 +442,11 @@ Session setup_vehicle_spawn_jolt(
         auto const& itWeldOffsetsLast   = std::end(rVehicleSpawn.spawnedWeldOffsets);
         auto itWeldOffsets              = std::begin(rVehicleSpawn.spawnedWeldOffsets);
 
+        PhysicsSystem *pJoltWorld = rJolt.m_pPhysicsSystem.get();
+        BodyInterface &bodyInterface = pJoltWorld->GetBodyInterface();
+
+        std::vector<JPH::BodyID> addedBodies;
+
         for (ACtxVehicleSpawn::TmpToInit const& toInit : rVehicleSpawn.spawnRequest)
         {
             auto const itWeldOffsetsNext = std::next(itWeldOffsets);
@@ -440,7 +456,7 @@ Session setup_vehicle_spawn_jolt(
 
             std::for_each(itWeldsFirst + std::ptrdiff_t{*itWeldOffsets},
                           itWeldsFirst + std::ptrdiff_t{weldOffsetNext},
-                          [&rBasic, &rScnParts, &rVehicleSpawn, &toInit, &rPhys, &rJolt] (WeldId const weld)
+                          [&rBasic, &rScnParts, &rVehicleSpawn, &toInit, &rPhys, &rJolt, &addedBodies] (WeldId const weld)
             {
                 ActiveEnt const weldEnt = rScnParts.weldToActive[weld];
 
@@ -494,13 +510,16 @@ Session setup_vehicle_spawn_jolt(
                 BodyInterface &bodyInterface = pJoltWorld->GetBodyInterface();
                 JPH::BodyID joltBodyId = BToJolt(bodyId);
                 bodyInterface.CreateBodyWithID(joltBodyId, bodyCreation);
-                bodyInterface.AddBody(joltBodyId, EActivation::Activate);
-
+                addedBodies.push_back(joltBodyId);
                 rPhys.m_setVelocity.emplace_back(weldEnt, toInit.velocity);
             });
 
             itWeldOffsets = itWeldOffsetsNext;
         }
+        //Bodies are added all at once for performance reasons.
+        int numBodies = static_cast<int>(addedBodies.size());
+        BodyInterface::AddState addState = bodyInterface.AddBodiesPrepare(addedBodies.data(), numBodies);
+        bodyInterface.AddBodiesFinalize(addedBodies.data(), numBodies, addState, EActivation::Activate);
     });
 
     return out;
@@ -745,5 +764,3 @@ Session setup_rocket_thrust_jolt(
 
 
 } // namespace testapp::scenes
-
-