[4.3] Add Jolt Physics as an alternative 3D physics engine

COPYRIGHT.txt

@@ -68,6 +68,13 @@ Copyright: 2011, Ole Kniemeyer, MAXON, www.maxon.net
  2007-2014, Juan Linietsky, Ariel Manzur
 License: Expat and Zlib
 
+Files: ./modules/jolt_physics/spaces/jolt_temp_allocator.cpp
+Comment: Jolt Physics
+Copyright: 2021, Jorrit Rouwe
+ 2014-present, Godot Engine contributors
+ 2007-2014, Juan Linietsky, Ariel Manzur
+License: Expat
+
 Files: ./modules/lightmapper_rd/lm_compute.glsl
 Comment: Joint Non-Local Means (JNLM) denoiser
 Copyright: 2020, Manuel Prandini
@@ -297,6 +304,11 @@ Comment: International Components for Unicode
 Copyright: 2016-2024, Unicode, Inc.
 License: Unicode
 
+Files: ./thirdparty/jolt_physics/
+Comment: Jolt Physics
+Copyright: 2021, Jorrit Rouwe
+License: Expat
+
 Files: ./thirdparty/jpeg-compressor/
 Comment: jpeg-compressor
 Copyright: 2012, Rich Geldreich

SConstruct

@@ -693,6 +693,13 @@ elif methods.using_clang(env):
         print_warning("Clang < 10 doesn't support -ffile-prefix-map, disabling `debug_paths_relative` option.")
         env["debug_paths_relative"] = False
 
+# Default architecture flags.
+if env["arch"] == "x86_32":
+    if env.msvc:
+        env.Append(CCFLAGS=["/arch:SSE2"])
+    else:
+        env.Append(CCFLAGS=["-msse2"])
+
 # Set optimize and debug_symbols flags.
 # "custom" means do nothing and let users set their own optimization flags.
 # Needs to happen after configure to have `env.msvc` defined.

core/os/memory.cpp

@@ -37,6 +37,7 @@
 
 #include <stdio.h>
 #include <stdlib.h>
+#include <string.h>
 
 void *operator new(size_t p_size, const char *p_description) {
 	return Memory::alloc_static(p_size, false);
@@ -67,6 +68,38 @@ SafeNumeric<uint64_t> Memory::max_usage;
 
 SafeNumeric<uint64_t> Memory::alloc_count;
 
+inline bool is_power_of_2(size_t x) { return x && ((x & (x - 1U)) == 0U); }
+
+void *Memory::alloc_aligned_static(size_t p_bytes, size_t p_alignment) {
+	DEV_ASSERT(is_power_of_2(p_alignment));
+
+	void *p1, *p2;
+	if ((p1 = (void *)malloc(p_bytes + p_alignment - 1 + sizeof(uint32_t))) == nullptr) {
+		return nullptr;
+	}
+
+	p2 = (void *)(((uintptr_t)p1 + sizeof(uint32_t) + p_alignment - 1) & ~((p_alignment)-1));
+	*((uint32_t *)p2 - 1) = (uint32_t)((uintptr_t)p2 - (uintptr_t)p1);
+	return p2;
+}
+
+void *Memory::realloc_aligned_static(void *p_memory, size_t p_bytes, size_t p_prev_bytes, size_t p_alignment) {
+	if (p_memory == nullptr) {
+		return alloc_aligned_static(p_bytes, p_alignment);
+	}
+
+	void *ret = alloc_aligned_static(p_bytes, p_alignment);
+	memcpy(ret, p_memory, p_prev_bytes);
+	free_aligned_static(p_memory);
+	return ret;
+}
+
+void Memory::free_aligned_static(void *p_memory) {
+	uint32_t offset = *((uint32_t *)p_memory - 1);
+	void *p = (void *)((uint8_t *)p_memory - offset);
+	free(p);
+}
+
 void *Memory::alloc_static(size_t p_bytes, bool p_pad_align) {
 #ifdef DEBUG_ENABLED
 	bool prepad = true;

core/os/memory.h

@@ -64,6 +64,30 @@ class Memory {
 	static void *realloc_static(void *p_memory, size_t p_bytes, bool p_pad_align = false);
 	static void free_static(void *p_ptr, bool p_pad_align = false);
 
+	//	                            ↓ return value of alloc_aligned_static
+	//	┌─────────────────┬─────────┬─────────┬──────────────────┐
+	//	│ padding (up to  │ uint32_t│ void*   │ padding (up to   │
+	//	│ p_alignment - 1)│ offset  │ p_bytes │ p_alignment - 1) │
+	//	└─────────────────┴─────────┴─────────┴──────────────────┘
+	//
+	// alloc_aligned_static will allocate p_bytes + p_alignment - 1 + sizeof(uint32_t) and
+	// then offset the pointer until alignment is satisfied.
+	//
+	// This offset is stored before the start of the returned ptr so we can retrieve the original/real
+	// start of the ptr in order to free it.
+	//
+	// The rest is wasted as padding in the beginning and end of the ptr. The sum of padding at
+	// both start and end of the block must add exactly to p_alignment - 1.
+	//
+	// p_alignment MUST be a power of 2.
+	static void *alloc_aligned_static(size_t p_bytes, size_t p_alignment);
+	static void *realloc_aligned_static(void *p_memory, size_t p_bytes, size_t p_prev_bytes, size_t p_alignment);
+	// Pass the ptr returned by alloc_aligned_static to free it.
+	// e.g.
+	//	void *data = realloc_aligned_static( bytes, 16 );
+	//  free_aligned_static( data );
+	static void free_aligned_static(void *p_memory);
+
 	static uint64_t get_mem_available();
 	static uint64_t get_mem_usage();
 	static uint64_t get_mem_max_usage();
@@ -100,10 +124,10 @@ _ALWAYS_INLINE_ T *_post_initialize(T *p_obj) {
 	return p_obj;
 }
 
-#define memnew(m_class) _post_initialize(new ("") m_class)
+#define memnew(m_class) _post_initialize(::new ("") m_class)
 
-#define memnew_allocator(m_class, m_allocator) _post_initialize(new (m_allocator::alloc) m_class)
-#define memnew_placement(m_placement, m_class) _post_initialize(new (m_placement) m_class)
+#define memnew_allocator(m_class, m_allocator) _post_initialize(::new (m_allocator::alloc) m_class)
+#define memnew_placement(m_placement, m_class) _post_initialize(::new (m_placement) m_class)
 
 _ALWAYS_INLINE_ bool predelete_handler(void *) {
 	return true;
@@ -167,7 +191,7 @@ T *memnew_arr_template(size_t p_elements) {
 
 		/* call operator new */
 		for (size_t i = 0; i < p_elements; i++) {
-			new (&elems[i]) T;
+			::new (&elems[i]) T;
 		}
 	}