RobustToolbox/Robust.Shared/GameObjects/Systems/SharedPhysicsSystem.cs

using System;
using System.Collections.Generic;
using System.Linq;
using Prometheus;
using Robust.Shared.Configuration;
using Robust.Shared.Containers;
using Robust.Shared.ContentPack;
using Robust.Shared.IoC;
using Robust.Shared.Map;
using Robust.Shared.Maths;
using Robust.Shared.Physics;
using Robust.Shared.Physics.Collision;
using Robust.Shared.Physics.Controllers;
using Robust.Shared.Physics.Dynamics;
using Robust.Shared.Physics.Dynamics.Joints;
using Robust.Shared.Reflection;
using Robust.Shared.Timing;
using Robust.Shared.Utility;
using DependencyAttribute = Robust.Shared.IoC.DependencyAttribute;
using Logger = Robust.Shared.Log.Logger;

namespace Robust.Shared.GameObjects
{
    public abstract class SharedPhysicsSystem : EntitySystem
    {
        /*
         * TODO:
         * Port acruid's box solver in to reduce allocs for building manifolds (this one is important for perf to remove the disgusting ctors and casts)
         * Raycasts for non-box shapes.
         * SetTransformIgnoreContacts for teleports (and anything else left on the physics body in Farseer)
         * Actual center of mass for shapes (currently just assumes center coordinate)
         * Circle offsets to entity.
         * TOI Solver (continuous collision detection)
         * Poly cutting
         * Chain shape
         * (Content) grenade launcher grenades that explode after time rather than impact.
         * pulling prediction
         * PVS + Collide allocations / performance
         * When someone yeets out of disposals need to have no collision on that object until they stop colliding
         * A bunch of objects have collision on round start
         * Need a way to specify conditional non-hard collisions (i.e. so items collide with players for IThrowCollide but can still be moved through freely but walls can't collide with them)
         */

        /*
         * Multi-threading notes:
         * Sources:
         * https://github.com/VelcroPhysics/VelcroPhysics/issues/29
         * Aether2D
         * Rapier
         * https://www.slideshare.net/takahiroharada/solver-34909157
         *
         * SO essentially what we should look at doing from what I can discern:
         * Build islands sequentially and then solve them all in parallel (as static bodies are the only thing shared
         * it should be okay given they're never written to)
         * After this, we can then look at doing narrowphase in parallel maybe (at least Aether2D does it) +
         * position constraints in parallel + velocity constraints in parallel
         *
         * The main issue to tackle is graph colouring; Aether2D just seems to use locks for the parallel constraints solver
         * though rapier has a graph colouring implementation (and because of this we should be able to avoid using locks) which we could try using.
         *
         * Given the kind of game SS14 is (our target game I guess) parallelising the islands will probably be the biggest benefit.
         */

        private static readonly Histogram _tickUsageControllerBeforeSolveHistogram = Metrics.CreateHistogram("robust_entity_physics_controller_before_solve",
            "Amount of time spent running a controller's UpdateBeforeSolve", new HistogramConfiguration
            {
                LabelNames = new[] {"controller"},
                Buckets = Histogram.ExponentialBuckets(0.000_001, 1.5, 25)
            });

        private static readonly Histogram _tickUsageControllerAfterSolveHistogram = Metrics.CreateHistogram("robust_entity_physics_controller_after_solve",
            "Amount of time spent running a controller's UpdateAfterSolve", new HistogramConfiguration
            {
                LabelNames = new[] {"controller"},
                Buckets = Histogram.ExponentialBuckets(0.000_001, 1.5, 25)
            });

        [Dependency] private readonly IMapManager _mapManager = default!;

        public IReadOnlyDictionary<MapId, PhysicsMap> Maps => _maps;
        private Dictionary<MapId, PhysicsMap> _maps = new();

        internal IReadOnlyList<VirtualController> Controllers => _controllers;
        private List<VirtualController> _controllers = new();

        public Action<Fixture, Fixture, float, Vector2>? KinematicControllerCollision;

        public bool MetricsEnabled;
        private readonly Stopwatch _stopwatch = new();

        public override void Initialize()
        {
            base.Initialize();

            // Having a nullspace map just makes a bunch of code easier, we just don't iterate on it.
            var nullMap = new PhysicsMap(MapId.Nullspace);
            _maps[MapId.Nullspace] = nullMap;
            nullMap.Initialize();

            _mapManager.MapCreated += HandleMapCreated;
            _mapManager.MapDestroyed += HandleMapDestroyed;

            SubscribeLocalEvent<GridInitializeEvent>(HandleGridInit);
            SubscribeLocalEvent<PhysicsUpdateMessage>(HandlePhysicsUpdateMessage);
            SubscribeLocalEvent<PhysicsWakeMessage>(HandleWakeMessage);
            SubscribeLocalEvent<PhysicsSleepMessage>(HandleSleepMessage);
            SubscribeLocalEvent<EntMapIdChangedMessage>(HandleMapChange);
            SubscribeLocalEvent<EntInsertedIntoContainerMessage>(HandleContainerInserted);
            SubscribeLocalEvent<EntRemovedFromContainerMessage>(HandleContainerRemoved);
            SubscribeLocalEvent<EntParentChangedMessage>(HandleParentChange);

            BuildControllers();
            Logger.DebugS("physics", $"Found {_controllers.Count} physics controllers.");

            IoCManager.Resolve<IIslandManager>().Initialize();
        }

        private void HandleParentChange(EntParentChangedMessage args)
        {
            var entity = args.Entity;

            if (!entity.Initialized ||
                !entity.TryGetComponent(out PhysicsComponent? body) ||
                entity.IsInContainer()) return;

            var oldParent = args.OldParent;
            var linearVelocityDiff = Vector2.Zero;
            var angularVelocityDiff = 0f;

            if (oldParent != null && oldParent.TryGetComponent(out PhysicsComponent? oldBody))
            {
                var (linear, angular) = oldBody.MapVelocities;

                linearVelocityDiff += linear;
                angularVelocityDiff += angular;
            }

            if (entity.Transform.Parent!.Owner.TryGetComponent(out PhysicsComponent? newBody))
            {
                var (linear, angular) = newBody.MapVelocities;

                linearVelocityDiff -= linear;
                angularVelocityDiff -= angular;
            }

            body.LinearVelocity += linearVelocityDiff;
            body.AngularVelocity += angularVelocityDiff;
        }

        private void HandleGridInit(GridInitializeEvent ev)
        {
            if (!EntityManager.TryGetEntity(ev.EntityUid, out var gridEntity)) return;
            var collideComp = gridEntity.EnsureComponent<PhysicsComponent>();
            collideComp.BodyType = BodyType.Static;
        }

        private void BuildControllers()
        {
            var reflectionManager = IoCManager.Resolve<IReflectionManager>();
            var typeFactory = IoCManager.Resolve<IDynamicTypeFactory>();
            var instantiated = new List<VirtualController>();

            foreach (var type in reflectionManager.GetAllChildren(typeof(VirtualController)))
            {
                if (type.IsAbstract)
                    continue;

                instantiated.Add(typeFactory.CreateInstance<VirtualController>(type));
            }

            var nodes = TopologicalSort.FromBeforeAfter(
                instantiated,
                c => c.GetType(),
                c => c,
                c => c.UpdatesBefore,
                c => c.UpdatesAfter);

            _controllers = TopologicalSort.Sort(nodes).ToList();

            foreach (var controller in _controllers)
            {
                controller.BeforeMonitor = _tickUsageControllerBeforeSolveHistogram.WithLabels(controller.GetType().Name);
                controller.AfterMonitor = _tickUsageControllerAfterSolveHistogram.WithLabels(controller.GetType().Name);
                controller.Initialize();
            }
        }

        public override void Shutdown()
        {
            base.Shutdown();

            _mapManager.MapCreated -= HandleMapCreated;
            _mapManager.MapDestroyed -= HandleMapDestroyed;
        }

        private void HandleMapCreated(object? sender, MapEventArgs eventArgs)
        {
            // Server just creates nullspace map on its own but sends it to client hence we will just ignore it.
            if (_maps.ContainsKey(eventArgs.Map)) return;

            var map = new PhysicsMap(eventArgs.Map);
            _maps.Add(eventArgs.Map, map);
            map.Initialize();
            map.ContactManager.KinematicControllerCollision += KinematicControllerCollision;
            Logger.DebugS("physics", $"Created physics map for {eventArgs.Map}");
        }

        private void HandleMapDestroyed(object? sender, MapEventArgs eventArgs)
        {
            var map = _maps[eventArgs.Map];
            map.ContactManager.KinematicControllerCollision -= KinematicControllerCollision;

            _maps.Remove(eventArgs.Map);
            Logger.DebugS("physics", $"Destroyed physics map for {eventArgs.Map}");
        }

        private void HandleMapChange(EntMapIdChangedMessage message)
        {
            if (!message.Entity.TryGetComponent(out PhysicsComponent? physicsComponent))
                return;

            physicsComponent.ClearJoints();
            var oldMapId = message.OldMapId;
            if (oldMapId != MapId.Nullspace)
            {
                _maps[oldMapId].RemoveBody(physicsComponent);
            }

            var newMapId = message.Entity.Transform.MapID;
            if (newMapId != MapId.Nullspace)
            {
                _maps[newMapId].AddBody(physicsComponent);
            }
        }

        private void HandlePhysicsUpdateMessage(PhysicsUpdateMessage message)
        {
            var mapId = message.Component.Owner.Transform.MapID;

            if (mapId == MapId.Nullspace)
                return;

            if (message.Component.Deleted || !message.Component.CanCollide)
            {
                _maps[mapId].RemoveBody(message.Component);
            }
            else
            {
                _maps[mapId].AddBody(message.Component);
            }
        }

        private void HandleWakeMessage(PhysicsWakeMessage message)
        {
            var mapId = message.Body.Owner.Transform.MapID;

            if (mapId == MapId.Nullspace)
                return;

            _maps[mapId].AddAwakeBody(message.Body);
        }

        private void HandleSleepMessage(PhysicsSleepMessage message)
        {
            var mapId = message.Body.Owner.Transform.MapID;

            if (mapId == MapId.Nullspace)
                return;

            _maps[mapId].RemoveSleepBody(message.Body);
        }

        private void HandleContainerInserted(EntInsertedIntoContainerMessage message)
        {
            if (!message.Entity.TryGetComponent(out PhysicsComponent? physicsComponent)) return;

            var mapId = message.Container.Owner.Transform.MapID;

            physicsComponent.LinearVelocity = Vector2.Zero;
            physicsComponent.AngularVelocity = 0.0f;
            physicsComponent.ClearJoints();
            _maps[mapId].RemoveBody(physicsComponent);
        }

        private void HandleContainerRemoved(EntRemovedFromContainerMessage message)
        {
            if (!message.Entity.TryGetComponent(out PhysicsComponent? physicsComponent)) return;

            var mapId = message.Container.Owner.Transform.MapID;

            _maps[mapId].AddBody(physicsComponent);
        }

        internal void FilterContactsForJoint(Joint joint)
        {
            var bodyA = joint.BodyA;
            var bodyB = joint.BodyB;

            var edge = bodyB.ContactEdges;
            while (edge != null)
            {
                if (edge.Other == bodyA)
                {
                    // Flag the contact for filtering at the next time step (where either
                    // body is awake).
                    edge.Contact!.FilterFlag = true;
                }

                edge = edge.Next;
            }
        }

        /// <summary>
        ///     Simulates the physical world for a given amount of time.
        /// </summary>
        /// <param name="deltaTime">Delta Time in seconds of how long to simulate the world.</param>
        /// <param name="prediction">Should only predicted entities be considered in this simulation step?</param>
        protected void SimulateWorld(float deltaTime, bool prediction)
        {
            foreach (var controller in _controllers)
            {
                if (MetricsEnabled)
                {
                    _stopwatch.Restart();
                }
                controller.UpdateBeforeSolve(prediction, deltaTime);
                if (MetricsEnabled)
                {
                    controller.BeforeMonitor.Observe(_stopwatch.Elapsed.TotalSeconds);
                }
            }

            foreach (var (mapId, map) in _maps)
            {
                if (mapId == MapId.Nullspace) continue;
                map.Step(deltaTime, prediction);
            }

            foreach (var controller in _controllers)
            {
                if (MetricsEnabled)
                {
                    _stopwatch.Restart();
                }
                controller.UpdateAfterSolve(prediction, deltaTime);
                if (MetricsEnabled)
                {
                    controller.AfterMonitor.Observe(_stopwatch.Elapsed.TotalSeconds);
                }
            }

            // Go through and run all of the deferred events now
            foreach (var (mapId, map) in _maps)
            {
                if (mapId == MapId.Nullspace) continue;
                map.ProcessQueue();
            }
        }
    }
}