build octree async and reuse tree from last frame (disabled as it breaks physics)

include/config.hpp

@@ -5,6 +5,22 @@
 
 #define THREADPOOL // Enable physics threadpool
 
+#ifdef THREADPOOL
+#if defined(_WIN32)
+#define NOGDI  // All GDI defines and routines
+#define NOUSER // All USER defines and routines
+#endif
+#define BS_THREAD_POOL_NATIVE_EXTENSIONS
+#include <BS_thread_pool.hpp>
+#if defined(_WIN32) // raylib uses these names as function parameters
+#undef near
+#undef far
+#endif
+#endif
+
+// TODO: Using the octree from the last frame completely breaks the physics :/
+// #define ASYNC_OCTREE
+
 // Gets set by CMake
 // #define BACKWARD   // Enable pretty stack traces
 // #define TRACY      // Enable tracy profiling support

include/mass_spring_system.hpp

@@ -2,49 +2,13 @@
 #define MASS_SPRING_SYSTEM_HPP_
 
 #include "octree.hpp"
-#include "util.hpp"
 #include "config.hpp"
 
 #include <raylib.h>
-#include <raymath.h>
-
-#ifdef THREADPOOL
-#if defined(_WIN32)
-#define NOGDI  // All GDI defines and routines
-#define NOUSER // All USER defines and routines
-#endif
-#define BS_THREAD_POOL_NATIVE_EXTENSIONS
-#include <BS_thread_pool.hpp>
-#if defined(_WIN32) // raylib uses these names as function parameters
-#undef near
-#undef far
-#endif
-#endif
 
 class mass_spring_system
 {
 public:
-    class mass
-    {
-    public:
-        Vector3 position = Vector3Zero();
-        Vector3 previous_position = Vector3Zero(); // for verlet integration
-        Vector3 velocity = Vector3Zero();
-        Vector3 force = Vector3Zero();
-
-    public:
-        mass() = delete;
-
-        explicit mass(const Vector3 _position)
-            : position(_position), previous_position(_position) {}
-
-    public:
-        auto clear_force() -> void;
-        auto calculate_velocity(float delta_time) -> void;
-        auto calculate_position(float delta_time) -> void;
-        auto verlet_update(float delta_time) -> void;
-    };
-
     class spring
     {
     public:
@@ -54,9 +18,6 @@ public:
     public:
         spring(const size_t _a, const size_t _b)
             : a(_a), b(_b) {}
-
-    public:
-        static auto calculate_spring_force(mass& _a, mass& _b) -> void;
     };
 
 private:
@@ -65,26 +26,25 @@ private:
     #endif
 
 public:
+    static constexpr int SMALL_TASK_BLOCK_SIZE = 256;
+    static constexpr int LARGE_TASK_BLOCK_SIZE = 256;
+
     octree tree;
 
     // This is the main ownership of all the states/masses/springs.
-    std::vector<mass> masses;
+    std::vector<Vector3> positions;
+    std::vector<Vector3> previous_positions; // for verlet integration
+    std::vector<Vector3> velocities;
+    std::vector<Vector3> forces;
+
     std::vector<spring> springs;
 
 public:
     mass_spring_system()
     #ifdef THREADPOOL
-        : threads(std::thread::hardware_concurrency() - 1, set_thread_name)
+        : threads(std::thread::hardware_concurrency() - 2, set_mass_springs_pool_thread_name)
     #endif
-    {
-        infoln("Using Barnes-Hut + Octree repulsion force calculation.");
-
-        #ifdef THREADPOOL
-        infoln("Thread-pool: {} threads.", threads.get_thread_count());
-        #else
-        infoln("Thread-pool: Disabled.");
-        #endif
-    }
+    {}
 
     mass_spring_system(const mass_spring_system& copy) = delete;
     auto operator=(const mass_spring_system& copy) -> mass_spring_system& = delete;
@@ -93,20 +53,22 @@ public:
 
 private:
     #ifdef THREADPOOL
-    static auto set_thread_name(size_t idx) -> void;
+    static auto set_mass_springs_pool_thread_name(size_t idx) -> void;
     #endif
 
-    auto build_octree() -> void;
-
 public:
     auto clear() -> void;
     auto add_mass() -> void;
     auto add_spring(size_t a, size_t b) -> void;
 
     auto clear_forces() -> void;
+    auto calculate_spring_force(size_t s) -> void;
     auto calculate_spring_forces() -> void;
     auto calculate_repulsion_forces() -> void;
-    auto verlet_update(float delta_time) -> void;
+    auto integrate_velocity(size_t m, float dt) -> void;
+    auto integrate_position(size_t m, float dt) -> void;
+    auto verlet_update(size_t m, float dt) -> void;
+    auto update(float dt) -> void;
 
     auto center_masses() -> void;
 };

include/octree.hpp

@@ -31,22 +31,20 @@ public:
 public:
     octree() = default;
 
-    octree(const octree& copy) = delete;
-    auto operator=(const octree& copy) -> octree& = delete;
-    octree(octree&& move) = delete;
-    auto operator=(octree&& move) -> octree& = delete;
+    // octree(const octree& copy) = delete;
+    // auto operator=(const octree& copy) -> octree& = delete;
+    // octree(octree&& move) = delete;
+    // auto operator=(octree&& move) -> octree& = delete;
 
 public:
-    auto create_empty_leaf(const Vector3& box_min, const Vector3& box_max) -> int;
-
     [[nodiscard]] auto get_octant(int node_idx, const Vector3& pos) const -> int;
-
     [[nodiscard]] auto get_child_bounds(int node_idx, int octant) const
         -> std::pair<Vector3, Vector3>;
-
+    auto create_empty_leaf(const Vector3& box_min, const Vector3& box_max) -> int;
     auto insert(int node_idx, int mass_id, const Vector3& pos, float mass, int depth) -> void;
+    static auto build_octree(octree& t, const std::vector<Vector3>& positions) -> void;
 
     [[nodiscard]] auto calculate_force(int node_idx, const Vector3& pos) const -> Vector3;
 };
 
-#endif
+#endif

include/threaded_physics.hpp

@@ -1,6 +1,8 @@
 #ifndef PHYSICS_HPP_
 #define PHYSICS_HPP_
 
+#include "config.hpp"
+
 #include <atomic>
 #include <condition_variable>
 #include <mutex>
@@ -80,15 +82,16 @@ public:
     }
 
 private:
+    #ifdef ASYNC_OCTREE
+    static auto set_octree_pool_thread_name(size_t idx) -> void;
+    #endif
+
     static auto physics_thread(physics_state& state) -> void;
 
 public:
-    auto add_mass_cmd() -> void;
-
-    auto add_spring_cmd(size_t a, size_t b) -> void;
-
     auto clear_cmd() -> void;
-
+    auto add_mass_cmd() -> void;
+    auto add_spring_cmd(size_t a, size_t b) -> void;
     auto add_mass_springs_cmd(size_t num_masses, const std::vector<std::pair<size_t, size_t>>& springs) -> void;
 };
 

include/util.hpp

@@ -140,6 +140,13 @@ inline auto ansi_reset() -> std::string
 }
 
 // std::println doesn't work with mingw
+template <typename... Args>
+auto traceln(std::format_string<Args...> fmt, Args&&... args) -> void
+{
+    std::cout << std::format("[{}TRACE{}]: ", ansi_bold_fg(fg_cyan), ansi_reset()) << std::format(
+        fmt, std::forward<Args>(args)...) << std::endl;
+}
+
 template <typename... Args>
 auto infoln(std::format_string<Args...> fmt, Args&&... args) -> void
 {