fahhh

2026-09-05 05:07:48 +00:00 · 2025-10-28 14:05:46 -04:00
parent 977f1ff4b8
commit c93494f795
452 changed files with 47860 additions and 152 deletions
@@ -0,0 +1,128 @@
+#pragma once
+
+#include "V8Kernel/IStage.h"
+#include "V8Kernel/BodyPvSetter.h"
+#include "boost/scoped_ptr.hpp"
+#include "solver/Solver.h"
+
+namespace RBX {
+
+	namespace Profiling
+	{
+		class CodeProfiler;
+	}
+
+	class Connector;
+	class Body;
+	class Point;
+	class KernelData;
+
+	class Kernel : public IStage,
+				   public BodyPvSetter
+	{
+	private:
+		static int numKernels;
+		int maxBodies;
+		bool inStepCode;
+		int numLastIterations;
+		int numOfMaxIterations;
+		float error;
+		float maxError;
+		bool validateBody(Body* b);
+		bool validateConnector(Connector* connector) const;
+		bool validateConnectorBody(Body* b) const;
+
+		KernelData* kernelData;
+
+		// Funny Physics
+		void stepWorldFunnyPhysics(int worldStepId);
+		void stepFunnyPhysics(const Vector3& move);
+		void stepFunnyPhysicsBody(Body* b, const Vector3& move);
+
+		Point* searchForDuplicatePoint(Point* tempPoint);
+
+		void preStep();
+		void preStepThrottled();
+		void stepWorld( boost::uint64_t distDebugTime );
+		void stepWorldThrottled( boost::uint64_t debugTime );
+
+		bool usingPGSSolver;
+
+	public:
+        PGSSolver pgsSolver;
+		Kernel(IStage* upstream);
+		~Kernel();
+
+		///////////////////////////////////////////
+		// IStage
+		/*override*/ IStage::StageType getStageType() const {return IStage::KERNEL_STAGE;}
+		
+		/*override*/ Kernel* getKernel() {return this;}
+
+		void step(bool throttling, int numThreads, boost::uint64_t debugTime);
+
+		void insertBody(Body* b);
+		void insertPoint(Point* p);
+		void insertConnector(Connector* c);
+
+		void removeBody(Body* b);
+		void removePoint(Point* p);
+		void removeConnector(Connector* c);
+
+		// double up on points if same body, position....
+		// TODO:  move this to the point class - reference counted pointer
+		//
+		Point* newPointLocal(class Body* _body, const Vector3& worldPos);
+		Point* newPoint(class Body* _body, const Vector3& worldPos);
+		void deletePoint(class Point* point);
+
+		////////////////////////////////////////////////////////
+		//
+		// Debugging Stuff
+		//
+		void report();	// system energy to log file
+		static void reportMemorySizes(); 
+
+		float connectorSpringEnergy() const;
+		float bodyPotentialEnergy()  const;
+		float bodyKineticEnergy()  const;
+		float totalEnergy()  const {
+			return connectorSpringEnergy() + bodyPotentialEnergy() + bodyKineticEnergy();
+		}
+		float totalKineticEnergy()  const {
+			return connectorSpringEnergy() + bodyKineticEnergy();
+		}
+
+		int numFreeFallBodies()	const;
+		int numRealTimeBodies() const;
+		int numJointBodies() const;
+		int numContactBodies() const;
+		int numBodies() const			{return numFreeFallBodies() + numRealTimeBodies() + numJointBodies() + numContactBodies();}
+		int numBodiesMax() const		{return maxBodies;}
+		int numLeafBodies()	const;
+		int numPoints()	const;
+		int numConnectors()	const;
+		int numHumanoidConnectors() const;
+		int numRealTimeConnectors() const;
+		int numSecondPassConnectors() const;
+		int numJointConnectors() const;
+		int numBuoyancyConnectors() const;
+		int numContactConnectors() const;
+
+		inline int numIterations() const {return numLastIterations;}
+		inline int numMaxIterations() const {return numOfMaxIterations;}
+		inline float getSolverError() const {return error;}
+		inline float getMaxSolverError() const {return maxError;}
+		int fakeDeceptiveSolverIterations() const;
+		int fakeDeceptiveMatrixSize() const;
+
+		///////////////////////////////////////////
+		// Profiler
+		boost::scoped_ptr<Profiling::CodeProfiler> profilingKernelBodies;
+		boost::scoped_ptr<Profiling::CodeProfiler> profilingKernelConnectors;
+
+		void setUsingPGSSolver(bool pgsOn) { usingPGSSolver = pgsOn; }
+		bool getUsingPGSSolver() const { return usingPGSSolver; }
+        void dumpLog( bool enable ) { pgsSolver.dumpLog( enable ); }
+	};
+} // namespace