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//! Manages sleeping and waking for bodies, automatically deactivating them to save computational resources.
//!
//! See [`SleepingPlugin`].
use crate::prelude::*;
use bevy::{
ecs::{component::Tick, system::SystemChangeTick},
prelude::*,
};
/// Manages sleeping and waking for bodies, automatically deactivating them to save computational resources.
///
/// Bodies are marked as [`Sleeping`] when their linear and angular velocities are below the [`SleepingThreshold`]
/// for a duration indicated by [`DeactivationTime`].
///
/// Bodies are woken up when an active body or constraint interacts with them, or when gravity changes,
/// or when the body's position, rotation, velocity, or external forces are changed.
///
/// This plugin does *not* handle constraints waking up bodies. That is done by the [solver](dynamics::solver).
///
/// The sleeping systems run in [`PhysicsStepSet::Sleeping`].
pub struct SleepingPlugin;
impl Plugin for SleepingPlugin {
fn build(&self, app: &mut App) {
app.init_resource::<SleepingThreshold>()
.init_resource::<DeactivationTime>()
.init_resource::<LastPhysicsTick>();
let physics_schedule = app
.get_schedule_mut(PhysicsSchedule)
.expect("add PhysicsSchedule first");
// TODO: Where exactly should this be in the schedule?
physics_schedule.add_systems(
(
wake_on_changed,
wake_all_sleeping_bodies.run_if(resource_changed::<Gravity>),
mark_sleeping_bodies,
)
.chain()
.after(PhysicsStepSet::First)
.before(PhysicsStepSet::BroadPhase),
);
physics_schedule
.add_systems(wake_on_collision_ended.in_set(PhysicsStepSet::ReportContacts));
physics_schedule.add_systems(
(|mut last_physics_tick: ResMut<LastPhysicsTick>,
system_change_tick: SystemChangeTick| {
last_physics_tick.0 = system_change_tick.this_run();
})
.after(PhysicsStepSet::Last),
);
}
}
/// A threshold that indicates the maximum linear and angular velocity allowed for a body to be deactivated.
///
/// Setting a negative sleeping threshold disables sleeping entirely.
///
/// See [`Sleeping`] for further information about sleeping.
#[derive(Reflect, Resource, Clone, Copy, PartialEq, PartialOrd, Debug)]
#[cfg_attr(feature = "serialize", derive(serde::Serialize, serde::Deserialize))]
#[cfg_attr(feature = "serialize", reflect(Serialize, Deserialize))]
#[reflect(Debug, Resource, PartialEq)]
pub struct SleepingThreshold {
/// The maximum linear velocity allowed for a body to be marked as sleeping.
///
/// This is implicitly scaled by the [`PhysicsLengthUnit`].
///
/// Default: `0.15`
pub linear: Scalar,
/// The maximum angular velocity allowed for a body to be marked as sleeping.
///
/// Default: `0.15`
pub angular: Scalar,
}
impl Default for SleepingThreshold {
fn default() -> Self {
Self {
linear: 0.15,
angular: 0.15,
}
}
}
/// How long in seconds the linear and angular velocity of a body need to be below
/// the [`SleepingThreshold`] before the body is deactivated. Defaults to 1 second.
///
/// See [`Sleeping`] for further information about sleeping.
///
/// Default: `0.5`
#[derive(Reflect, Resource, Clone, Copy, PartialEq, PartialOrd, Debug)]
#[cfg_attr(feature = "serialize", derive(serde::Serialize, serde::Deserialize))]
#[cfg_attr(feature = "serialize", reflect(Serialize, Deserialize))]
#[reflect(Debug, Default, PartialEq)]
pub struct DeactivationTime(pub Scalar);
impl Default for DeactivationTime {
fn default() -> Self {
Self(0.5)
}
}
/// Adds the [`Sleeping`] component to bodies whose linear and anigular velocities have been
/// under the [`SleepingThreshold`] for a duration indicated by [`DeactivationTime`].
#[allow(clippy::type_complexity)]
pub fn mark_sleeping_bodies(
mut commands: Commands,
mut query: Query<
(
Entity,
&RigidBody,
&mut LinearVelocity,
&mut AngularVelocity,
&mut TimeSleeping,
&CollidingEntities,
),
(Without<Sleeping>, Without<SleepingDisabled>),
>,
rb_query: Query<&RigidBody>,
deactivation_time: Res<DeactivationTime>,
sleep_threshold: Res<SleepingThreshold>,
length_unit: Res<PhysicsLengthUnit>,
time: Res<Time>,
) {
let length_unit_sq = length_unit.powi(2);
let delta_secs = time.delta_seconds_adjusted();
for (entity, rb, mut lin_vel, mut ang_vel, mut time_sleeping, colliding_entities) in &mut query
{
// Only dynamic bodies can sleep, and only if they are not
// in contact with other dynamic bodies.
//
// Contacts with other types of bodies will be allowed once
// sleeping/waking is implemented with simulation islands.
if !rb.is_dynamic()
|| rb_query
.iter_many(colliding_entities.iter())
.any(|rb| rb.is_dynamic())
{
continue;
}
let lin_vel_sq = lin_vel.length_squared();
#[cfg(feature = "2d")]
let ang_vel_sq = ang_vel.0.powi(2);
#[cfg(feature = "3d")]
let ang_vel_sq = ang_vel.0.dot(ang_vel.0);
// Negative thresholds indicate that sleeping is disabled.
let lin_sleeping_threshold_sq =
length_unit_sq * sleep_threshold.linear * sleep_threshold.linear.abs();
let ang_sleeping_threshold_sq = sleep_threshold.angular * sleep_threshold.angular.abs();
// If linear and angular velocity are below the sleeping threshold,
// add delta time to the time sleeping, i.e. the time that the body has remained still.
if lin_vel_sq < lin_sleeping_threshold_sq && ang_vel_sq < ang_sleeping_threshold_sq {
time_sleeping.0 += delta_secs;
} else {
time_sleeping.0 = 0.0;
}
// If the body has been still for long enough, set it to sleep and reset velocities.
if time_sleeping.0 > deactivation_time.0 {
commands.entity(entity).try_insert(Sleeping);
*lin_vel = LinearVelocity::ZERO;
*ang_vel = AngularVelocity::ZERO;
}
}
}
/// A [`Tick`] corresponding to the end of the previous run of the [`PhysicsSchedule`].
#[derive(Resource, Reflect, Default)]
#[reflect(Resource, Default)]
pub(crate) struct LastPhysicsTick(pub Tick);
/// Removes the [`Sleeping`] component from sleeping bodies when properties like
/// position, rotation, velocity and external forces are changed by the user.
#[allow(clippy::type_complexity)]
pub(crate) fn wake_on_changed(
mut commands: Commands,
mut query: ParamSet<(
// These could've been changed by physics too.
// We need to ignore non-user changes.
Query<
(
Entity,
Ref<Position>,
Ref<Rotation>,
Ref<LinearVelocity>,
Ref<AngularVelocity>,
&mut TimeSleeping,
),
(
With<Sleeping>,
Or<(
Changed<Position>,
Changed<Rotation>,
Changed<LinearVelocity>,
Changed<AngularVelocity>,
)>,
),
>,
// These are not modified by the physics engine
// and don't need special handling.
Query<
(Entity, &mut TimeSleeping),
Or<(
Changed<ExternalForce>,
Changed<ExternalTorque>,
Changed<ExternalImpulse>,
Changed<ExternalAngularImpulse>,
Changed<GravityScale>,
)>,
>,
)>,
last_physics_tick: Res<LastPhysicsTick>,
system_tick: SystemChangeTick,
) {
let this_run = system_tick.this_run();
for (entity, pos, rot, lin_vel, ang_vel, mut time_sleeping) in &mut query.p0() {
if is_changed_after_tick(pos, last_physics_tick.0, this_run)
|| is_changed_after_tick(rot, last_physics_tick.0, this_run)
|| is_changed_after_tick(lin_vel, last_physics_tick.0, this_run)
|| is_changed_after_tick(ang_vel, last_physics_tick.0, this_run)
{
commands.entity(entity).remove::<Sleeping>();
time_sleeping.0 = 0.0;
}
}
for (entity, mut time_sleeping) in &mut query.p1() {
commands.entity(entity).remove::<Sleeping>();
time_sleeping.0 = 0.0;
}
}
fn is_changed_after_tick<C: Component>(component_ref: Ref<C>, tick: Tick, this_run: Tick) -> bool {
let last_changed = component_ref.last_changed();
component_ref.is_changed() && last_changed.is_newer_than(tick, this_run)
}
/// Removes the [`Sleeping`] component from all sleeping bodies.
/// Triggered automatically when [`Gravity`] is changed.
fn wake_all_sleeping_bodies(
mut commands: Commands,
mut bodies: Query<(Entity, &mut TimeSleeping), With<Sleeping>>,
) {
for (entity, mut time_sleeping) in &mut bodies {
commands.entity(entity).remove::<Sleeping>();
time_sleeping.0 = 0.0;
}
}
/// Wakes up bodies when they stop colliding.
#[allow(clippy::type_complexity)]
fn wake_on_collision_ended(
mut commands: Commands,
moved_bodies: Query<Ref<Position>, (Changed<Position>, Without<Sleeping>)>,
colliders: Query<(&ColliderParent, Ref<ColliderTransform>)>,
collisions: Res<Collisions>,
mut sleeping: Query<(Entity, &mut TimeSleeping)>,
) {
// Wake up bodies when a body they're colliding with moves.
for (entity, mut time_sleeping) in &mut sleeping {
// Here we could use CollidingEntities, but it'd be empty if the ContactReportingPlugin was disabled.
let mut colliding_entities = collisions.collisions_with_entity(entity).map(|c| {
if entity == c.entity1 {
c.entity2
} else {
c.entity1
}
});
if colliding_entities.any(|other_entity| {
colliders.get(other_entity).is_ok_and(|(p, transform)| {
transform.is_changed()
|| moved_bodies.get(p.get()).is_ok_and(|pos| pos.is_changed())
})
}) {
commands.entity(entity).remove::<Sleeping>();
time_sleeping.0 = 0.0;
}
}
// Wake up bodies when a collision ends, for example when one of the bodies is despawned.
for contacts in collisions.get_internal().values() {
if contacts.during_current_frame || !contacts.during_previous_frame {
continue;
}
if let Ok((_, mut time_sleeping)) = sleeping.get_mut(contacts.entity1) {
commands.entity(contacts.entity1).remove::<Sleeping>();
time_sleeping.0 = 0.0;
}
if let Ok((_, mut time_sleeping)) = sleeping.get_mut(contacts.entity2) {
commands.entity(contacts.entity2).remove::<Sleeping>();
time_sleeping.0 = 0.0;
}
}
}