implement threaded physics (decoupled from rendering thread) - not yet integrated

CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.25)
 project(MassSprings)
 
-set(CMAKE_CXX_STANDARD 23)
+set(CMAKE_CXX_STANDARD 26)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 find_package(raylib REQUIRED)

include/physics.hpp

@@ -1,9 +1,14 @@
 #ifndef __PHYSICS_HPP_
 #define __PHYSICS_HPP_
 
+#include <atomic>
+#include <mutex>
+#include <queue>
 #include <raylib.h>
 #include <raymath.h>
+#include <thread>
 #include <unordered_map>
+#include <variant>
 #include <vector>
 
 #include "config.hpp"
@@ -105,14 +110,13 @@ private:
 #endif
 
 public:
-  auto AddMass(float mass, bool fixed, const State &state) -> void;
+  auto AddMass(const State &state) -> void;
 
   auto GetMass(const State &state) -> Mass &;
 
   auto GetMass(const State &state) const -> const Mass &;
 
-  auto AddSpring(const State &massA, const State &massB, float spring_constant,
-                 float dampening_constant, float rest_length) -> void;
+  auto AddSpring(const State &massA, const State &massB) -> void;
 
   auto Clear() -> void;
 
@@ -129,4 +133,58 @@ public:
 #endif
 };
 
+class ThreadedPhysics {
+  struct AddMass {
+    State s;
+  };
+  struct AddSpring {
+    State a;
+    State b;
+  };
+  struct ClearGraph {};
+
+  using Command = std::variant<AddMass, AddSpring, ClearGraph>;
+
+  struct PhysicsState {
+    std::mutex command_mtx;
+    std::queue<Command> pending_commands;
+
+    std::mutex pos_mtx;
+    std::vector<Mass> masses;                    // Read by renderer
+    std::unordered_map<State, int> state_masses; // Read by renderer
+    std::vector<Spring> springs;                 // Read by renderer
+    std::unordered_map<std::pair<State, State>, int>
+        state_springs; // Read by renderer
+
+    std::atomic<bool> running{true};
+  };
+
+private:
+  PhysicsState state;
+  std::thread physics;
+
+public:
+  ThreadedPhysics() : physics(PhysicsThread, std::ref(state)) {}
+
+  ThreadedPhysics(const ThreadedPhysics &copy) = delete;
+  ThreadedPhysics &operator=(const ThreadedPhysics &copy) = delete;
+  ThreadedPhysics(ThreadedPhysics &&move) = delete;
+  ThreadedPhysics &operator=(ThreadedPhysics &&move) = delete;
+
+  ~ThreadedPhysics() {
+    state.running = false;
+    physics.join();
+  }
+
+private:
+  static auto PhysicsThread(PhysicsState &state) -> void;
+
+public:
+};
+
+// https://en.cppreference.com/w/cpp/utility/variant/visit
+template <class... Ts> struct overloads : Ts... {
+  using Ts::operator()...;
+};
+
 #endif

src/main.cpp

@@ -1,3 +1,7 @@
+#include <raylib.h>
+#include <raymath.h>
+#include <tracy/Tracy.hpp>
+
 #include "config.hpp"
 #include "input.hpp"
 #include "physics.hpp"
@@ -5,10 +9,6 @@
 #include "state.hpp"
 #include "tracy.hpp"
 
-#include <raylib.h>
-#include <raymath.h>
-#include <tracy/Tracy.hpp>
-
 // TODO: Klotski state file loading
 //       - File should contain a single state per line, multiple lines possible
 //       - If a file is loaded, the presets should be replaced with the states
@@ -18,7 +18,7 @@
 // TODO: Graph interaction
 //       - Click states to display them in the board
 //       - Find shortest path to any winning state and mark it in the graph
-//         - Also mark the next move along the path on the board
+//       - Also mark the next move along the path on the board
 
 auto main(int argc, char *argv[]) -> int {
   // if (argc < 2) {

src/physics.cpp

@@ -5,6 +5,7 @@
 #include <algorithm>
 #include <cfloat>
 #include <cstddef>
+#include <mutex>
 #include <raylib.h>
 #include <raymath.h>
 #include <tracy/Tracy.hpp>
@@ -69,8 +70,7 @@ auto Spring::CalculateSpringForce(Mass &_mass_a, Mass &_mass_b) const -> void {
   _mass_b.force = Vector3Add(_mass_b.force, force_b);
 }
 
-auto MassSpringSystem::AddMass(float mass, bool fixed, const State &state)
-    -> void {
+auto MassSpringSystem::AddMass(const State &state) -> void {
   if (!state_masses.contains(state)) {
     masses.emplace_back(Vector3Zero());
     std::size_t idx = masses.size() - 1;
@@ -86,9 +86,7 @@ auto MassSpringSystem::GetMass(const State &state) const -> const Mass & {
   return masses.at(state_masses.at(state));
 }
 
-auto MassSpringSystem::AddSpring(const State &state_a, const State &state_b,
-                                 float spring_constant,
-                                 float dampening_constant, float rest_length)
+auto MassSpringSystem::AddSpring(const State &state_a, const State &state_b)
     -> void {
   std::pair<State, State> key = std::make_pair(state_a, state_b);
   if (!state_springs.contains(key)) {
@@ -340,3 +338,46 @@ auto MassSpringSystem::InvalidateGrid() -> void {
   last_springs_count = 0;
 }
 #endif
+
+auto ThreadedPhysics::PhysicsThread(ThreadedPhysics::PhysicsState &state)
+    -> void {
+  MassSpringSystem mass_springs;
+
+  const auto visitor = overloads{
+      [&](const AddMass &am) { mass_springs.AddMass(am.s); },
+      [&](const AddSpring &as) { mass_springs.AddSpring(as.a, as.b); },
+      [&](const ClearGraph &cg) { mass_springs.Clear(); },
+  };
+
+  while (state.running) {
+    // Handle queued commands
+    {
+      std::lock_guard<std::mutex> lock(state.command_mtx);
+      while (!state.pending_commands.empty()) {
+        Command &cmd = state.pending_commands.front();
+        cmd.visit(visitor);
+        state.pending_commands.pop();
+      }
+    }
+
+    if (mass_springs.masses.empty()) {
+      std::this_thread::sleep_for(std::chrono::milliseconds(1));
+      continue;
+    }
+
+    // Physics update
+    mass_springs.ClearForces();
+    mass_springs.CalculateSpringForces();
+    mass_springs.CalculateRepulsionForces();
+    mass_springs.VerletUpdate(TIMESTEP * SIM_SPEED);
+
+    // Publish the positions for the renderer (copy)
+    {
+      std::lock_guard<std::mutex> lock(state.pos_mtx);
+      state.masses = mass_springs.masses;
+      state.state_masses = mass_springs.state_masses;
+      state.springs = mass_springs.springs;
+      state.state_springs = mass_springs.state_springs;
+    }
+  }
+}