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Physics position optimization

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This commit is contained in:
Dominic Masters
2026-04-14 14:46:07 -05:00
parent c7a3e5601c
commit 87bfb92576
3 changed files with 63 additions and 46 deletions
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src/dusk/entity/component/display/entityposition.c
+9
View File
@@ -115,6 +115,15 @@ void entityPositionSetScale(
entityPositionRebuild(pos);
}
entityposition_t *entityPositionGet(
const entityid_t entityId,
const componentid_t componentId
) {
return componentGetData(
entityId, componentId, COMPONENT_TYPE_POSITION
);
}
void entityPositionRebuild(entityposition_t *pos) {
glm_mat4_identity(pos->transform);
glm_translate(pos->transform, pos->position);
src/dusk/entity/component/display/entityposition.h
+14
View File
@@ -135,6 +135,20 @@ void entityPositionSetScale(
vec3 scale
);
/**
* Returns a direct pointer to the entity position component data.
* After modifying position, rotation, or scale directly, call
* entityPositionRebuild() to update the transform matrix.
*
* @param entityId The entity ID.
* @param componentId The component ID.
* @return Pointer to the entity position component data.
*/
entityposition_t *entityPositionGet(
const entityid_t entityId,
const componentid_t componentId
);
/**
* Internal function to rebuild the transform matrix of the entity position
* component based on the current position, rotation, and scale.
src/dusk/physics/physicsworld.c
+40 -46
View File
@@ -31,13 +31,24 @@ void physicsWorldStep(const float_t dt) {
COMPONENT_TYPE_PHYSICS, physEnts, physComps
);
/* Phase 1: integrate dynamic bodies (gravity + velocity → position). */
/* Pre-fetch all position and physics pointers once. */
entityposition_t *positions[ENTITY_COUNT_MAX];
entityphysics_t *physBodies[ENTITY_COUNT_MAX];
for(entityid_t i = 0; i < physCount; i++) {
entityid_t id = physEnts[i];
componentid_t posComp = entityGetComponent(id, COMPONENT_TYPE_POSITION);
if(posComp == 0xFF) continue;
componentid_t posComp = entityGetComponent(
physEnts[i], COMPONENT_TYPE_POSITION
);
positions[i] = (posComp != 0xFF)
? entityPositionGet(physEnts[i], posComp)
: NULL;
physBodies[i] = entityPhysicsGet(physEnts[i], physComps[i]);
}
entityphysics_t *phys = entityPhysicsGet(id, physComps[i]);
/* Phase 1: integrate dynamic bodies (gravity + velocity → position).
* Writes directly to pos->position — matrix rebuilt at end. */
for(entityid_t i = 0; i < physCount; i++) {
if(!positions[i]) continue;
entityphysics_t *phys = physBodies[i];
if(phys->type != PHYSICS_BODY_DYNAMIC) continue;
phys->onGround = false;
@@ -46,49 +57,35 @@ void physicsWorldStep(const float_t dt) {
phys->velocity[1] += PHYSICS_WORLD.gravity[1] * phys->gravityScale * dt;
phys->velocity[2] += PHYSICS_WORLD.gravity[2] * phys->gravityScale * dt;
vec3 pos;
entityPositionGetPosition(id, posComp, pos);
float_t *pos = positions[i]->position;
pos[0] += phys->velocity[0] * dt;
pos[1] += phys->velocity[1] * dt;
pos[2] += phys->velocity[2] * dt;
entityPositionSetPosition(id, posComp, pos);
}
// Phase 2: Dynamic vs Static/Kinematic.
/* Phase 2: dynamic vs static/kinematic. */
for(entityid_t i = 0; i < physCount; i++) {
entityid_t id = physEnts[i];
componentid_t posComp = entityGetComponent(id, COMPONENT_TYPE_POSITION);
if(posComp == 0xFF) continue;
entityphysics_t *phys = entityPhysicsGet(id, physComps[i]);
if(!positions[i]) continue;
entityphysics_t *phys = physBodies[i];
if(phys->type != PHYSICS_BODY_DYNAMIC) continue;
vec3 pos;
entityPositionGetPosition(id, posComp, pos);
float_t *pos = positions[i]->position;
for(entityid_t j = 0; j < physCount; j++) {
if(i == j) continue;
entityid_t otherId = physEnts[j];
componentid_t otherPosComp = entityGetComponent(
otherId, COMPONENT_TYPE_POSITION
);
if(otherPosComp == 0xFF) continue;
entityphysics_t *otherPhys = entityPhysicsGet(otherId, physComps[j]);
if(i == j || !positions[j]) continue;
entityphysics_t *otherPhys = physBodies[j];
if(otherPhys->type == PHYSICS_BODY_DYNAMIC) continue;
vec3 otherPos;
entityPositionGetPosition(otherId, otherPosComp, otherPos);
vec3 normal; float_t depth;
if(!physicsTestShapeVsShape(
pos, phys->shape, otherPos, otherPhys->shape, normal, &depth
pos, phys->shape,
positions[j]->position, otherPhys->shape,
normal, &depth
)) continue;
pos[0] += normal[0] * depth;
pos[1] += normal[1] * depth;
pos[2] += normal[2] * depth;
entityPositionSetPosition(id, posComp, pos);
float_t vn = glm_vec3_dot(phys->velocity, normal);
if(vn < 0.0f) {
@@ -101,28 +98,20 @@ void physicsWorldStep(const float_t dt) {
}
}
// Phase 3: Dynamic vs Dynamic
/* Phase 3: dynamic vs dynamic. */
for(entityid_t i = 0; i < physCount; i++) {
entityid_t idA = physEnts[i];
componentid_t posCompA = entityGetComponent(idA, COMPONENT_TYPE_POSITION);
if(posCompA == 0xFF) continue;
entityphysics_t *physA = entityPhysicsGet(idA, physComps[i]);
if(!positions[i]) continue;
entityphysics_t *physA = physBodies[i];
if(physA->type != PHYSICS_BODY_DYNAMIC) continue;
vec3 posA;
entityPositionGetPosition(idA, posCompA, posA);
float_t *posA = positions[i]->position;
for(entityid_t j = i + 1; j < physCount; j++) {
entityid_t idB = physEnts[j];
componentid_t posCompB = entityGetComponent(idB, COMPONENT_TYPE_POSITION);
if(posCompB == 0xFF) continue;
entityphysics_t *physB = entityPhysicsGet(idB, physComps[j]);
if(!positions[j]) continue;
entityphysics_t *physB = physBodies[j];
if(physB->type != PHYSICS_BODY_DYNAMIC) continue;
vec3 posB;
entityPositionGetPosition(idB, posCompB, posB);
float_t *posB = positions[j]->position;
vec3 normal; float_t depth;
if(!physicsTestShapeVsShape(
@@ -132,12 +121,10 @@ void physicsWorldStep(const float_t dt) {
posA[0] += normal[0] * depth * 0.5f;
posA[1] += normal[1] * depth * 0.5f;
posA[2] += normal[2] * depth * 0.5f;
entityPositionSetPosition(idA, posCompA, posA);
posB[0] -= normal[0] * depth * 0.5f;
posB[1] -= normal[1] * depth * 0.5f;
posB[2] -= normal[2] * depth * 0.5f;
entityPositionSetPosition(idB, posCompB, posB);
float_t v_rel = glm_vec3_dot(physA->velocity, normal)
- glm_vec3_dot(physB->velocity, normal);
@@ -154,4 +141,11 @@ void physicsWorldStep(const float_t dt) {
if(-normal[1] > PHYSICS_GROUND_THRESHOLD) physB->onGround = true;
}
}
/* Rebuild transforms for all dynamic bodies once, after all phases. */
for(entityid_t i = 0; i < physCount; i++) {
if(!positions[i]) continue;
if(physBodies[i]->type != PHYSICS_BODY_DYNAMIC) continue;
entityPositionRebuild(positions[i]);
}
}