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[Merged by Bors] - Parallelize forward kinematics animation systems #6785

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2f2df97
Getting it working
james7132 Nov 28, 2022
dab84f9
Fix CI
james7132 Nov 28, 2022
3354811
Cache entity paths
james7132 Nov 29, 2022
0a72c40
Remove accidental LTO added to profile
james7132 Nov 29, 2022
22f7b87
Merge branch 'main' into parallelize-animation
james7132 Dec 25, 2022
45fd8b9
Switch strategies
james7132 Dec 25, 2022
2971806
Fix CI
james7132 Dec 25, 2022
11a095f
Address review comments
james7132 Dec 25, 2022
7240021
Expand on the safety justification.
james7132 Dec 27, 2022
3cc4b2a
Merge branch 'main' into parallelize-animation
james7132 Dec 29, 2022
c77c20b
Remove return type from curves doc comment
james7132 Jan 2, 2023
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4 changes: 4 additions & 0 deletions crates/bevy_animation/Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,4 +19,8 @@ bevy_time = { path = "../bevy_time", version = "0.9.0" }
bevy_utils = { path = "../bevy_utils", version = "0.9.0" }
bevy_ecs = { path = "../bevy_ecs", version = "0.9.0" }
bevy_transform = { path = "../bevy_transform", version = "0.9.0" }
bevy_tasks = { path = "../bevy_tasks", version = "0.9.0" }
bevy_hierarchy = { path = "../bevy_hierarchy", version = "0.9.0" }

smallvec = "1.10"
thread_local = "1.1"
277 changes: 178 additions & 99 deletions crates/bevy_animation/src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -11,11 +11,12 @@ use bevy_ecs::{
change_detection::DetectChanges,
entity::Entity,
prelude::Component,
query::With,
reflect::ReflectComponent,
schedule::IntoSystemDescriptor,
system::{Query, Res},
};
use bevy_hierarchy::Children;
use bevy_hierarchy::{Children, Parent};
use bevy_math::{Quat, Vec3};
use bevy_reflect::{FromReflect, Reflect, TypeUuid};
use bevy_time::Time;
Expand Down Expand Up @@ -63,17 +64,34 @@ pub struct EntityPath {
#[derive(Reflect, FromReflect, Clone, TypeUuid, Debug, Default)]
#[uuid = "d81b7179-0448-4eb0-89fe-c067222725bf"]
pub struct AnimationClip {
curves: HashMap<EntityPath, Vec<VariableCurve>>,
curves: Vec<Vec<VariableCurve>>,
paths: HashMap<EntityPath, usize>,
duration: f32,
}

impl AnimationClip {
#[inline]
/// Hashmap of the [`VariableCurve`]s per [`EntityPath`].
pub fn curves(&self) -> &HashMap<EntityPath, Vec<VariableCurve>> {
pub fn curves(&self) -> &Vec<Vec<VariableCurve>> {
&self.curves
}

/// Gets the curves for a bone.
///
/// Returns `None` if the bone is invalid.
#[inline]
pub fn get_curves(&self, bone_id: usize) -> Option<&'_ Vec<VariableCurve>> {
self.curves.get(bone_id)
}

/// Gets the curves by it's [`EntityPath`].
///
/// Returns `None` if the bone is invalid.
#[inline]
pub fn get_curves_by_path(&self, path: &EntityPath) -> Option<&'_ Vec<VariableCurve>> {
self.paths.get(path).and_then(|id| self.curves.get(*id))
}

/// Duration of the clip, represented in seconds
#[inline]
pub fn duration(&self) -> f32 {
Expand All @@ -86,7 +104,13 @@ impl AnimationClip {
self.duration = self
.duration
.max(*curve.keyframe_timestamps.last().unwrap_or(&0.0));
self.curves.entry(path).or_default().push(curve);
if let Some(bone_id) = self.paths.get(&path) {
self.curves[*bone_id].push(curve);
} else {
let idx = self.curves.len();
self.curves.push(vec![curve]);
self.paths.insert(path, idx);
}
}
}

Expand All @@ -99,6 +123,7 @@ pub struct AnimationPlayer {
speed: f32,
elapsed: f32,
animation_clip: Handle<AnimationClip>,
path_cache: Vec<Vec<Option<Entity>>>,
}

impl Default for AnimationPlayer {
Expand All @@ -109,6 +134,7 @@ impl Default for AnimationPlayer {
speed: 1.0,
elapsed: 0.0,
animation_clip: Default::default(),
path_cache: Vec::new(),
}
}
}
Expand Down Expand Up @@ -181,117 +207,170 @@ impl AnimationPlayer {
}
}

fn find_bone(
root: Entity,
path: &EntityPath,
children: &Query<&Children>,
names: &Query<&Name>,
path_cache: &mut Vec<Option<Entity>>,
) -> Option<Entity> {
// PERF: finding the target entity can be optimised
let mut current_entity = root;
path_cache.resize(path.parts.len(), None);
// Ignore the first name, it is the root node which we already have
for (idx, part) in path.parts.iter().enumerate().skip(1) {
let mut found = false;
let children = children.get(current_entity).ok()?;
if let Some(cached) = path_cache[idx] {
if children.contains(&cached) {
if let Ok(name) = names.get(cached) {
if name == part {
current_entity = cached;
found = true;
}
}
}
}
if !found {
for child in children.deref() {
if let Ok(name) = names.get(*child) {
if name == part {
// Found a children with the right name, continue to the next part
current_entity = *child;
path_cache[idx] = Some(*child);
found = true;
break;
}
}
}
}
if !found {
warn!("Entity not found for path {:?} on part {:?}", path, part);
return None;
}
}
Some(current_entity)
}

/// Verify that there are no ancestors of a given entity that have an `AnimationPlayer`.
fn verify_no_ancestor_player(
player_parent: Option<&Parent>,
parents: &Query<(Option<With<AnimationPlayer>>, Option<&Parent>)>,
) -> bool {
let Some(mut current) = player_parent.map(Parent::get) else { return true };
loop {
let Ok((maybe_player, parent)) = parents.get(current) else { return true };
if maybe_player.is_some() {
return false;
}
if let Some(parent) = parent {
current = parent.get();
} else {
return true;
}
}
}

/// System that will play all animations, using any entity with a [`AnimationPlayer`]
/// and a [`Handle<AnimationClip>`] as an animation root
pub fn animation_player(
time: Res<Time>,
animations: Res<Assets<AnimationClip>>,
mut animation_players: Query<(Entity, &mut AnimationPlayer)>,
names: Query<&Name>,
mut transforms: Query<&mut Transform>,
children: Query<&Children>,
names: Query<&Name>,
transforms: Query<&mut Transform>,
parents: Query<(Option<With<AnimationPlayer>>, Option<&Parent>)>,
mut animation_players: Query<(Entity, Option<&Parent>, &mut AnimationPlayer)>,
) {
for (entity, mut player) in &mut animation_players {
if let Some(animation_clip) = animations.get(&player.animation_clip) {
// Continue if paused unless the `AnimationPlayer` was changed
// This allow the animation to still be updated if the player.elapsed field was manually updated in pause
if player.paused && !player.is_changed() {
continue;
}
if !player.paused {
player.elapsed += time.delta_seconds() * player.speed;
}
let mut elapsed = player.elapsed;
if player.repeat {
elapsed %= animation_clip.duration;
}
if elapsed < 0.0 {
elapsed += animation_clip.duration;
}
'entity: for (path, curves) in &animation_clip.curves {
// PERF: finding the target entity can be optimised
let mut current_entity = entity;
// Ignore the first name, it is the root node which we already have
for part in path.parts.iter().skip(1) {
let mut found = false;
if let Ok(children) = children.get(current_entity) {
for child in children.deref() {
if let Ok(name) = names.get(*child) {
if name == part {
// Found a children with the right name, continue to the next part
current_entity = *child;
found = true;
break;
}
}
animation_players.par_for_each_mut(10, |(root, maybe_parent, mut player)| {
let Some(animation_clip) = animations.get(&player.animation_clip) else { return };
// Continue if paused unless the `AnimationPlayer` was changed
// This allow the animation to still be updated if the player.elapsed field was manually updated in pause
if player.paused && !player.is_changed() {
return;
}
if !player.paused {
player.elapsed += time.delta_seconds() * player.speed;
}
let mut elapsed = player.elapsed;
if player.repeat {
elapsed %= animation_clip.duration;
}
if elapsed < 0.0 {
elapsed += animation_clip.duration;
}
if player.path_cache.len() != animation_clip.paths.len() {
player.path_cache = vec![Vec::new(); animation_clip.paths.len()];
}
if !verify_no_ancestor_player(maybe_parent, &parents) {
warn!("Animation player on {:?} has a conflicting animation player on an ancestor. Cannot safely animate.", root);
return;
}
for (path, bone_id) in &animation_clip.paths {
let cached_path = &mut player.path_cache[*bone_id];
let curves = animation_clip.get_curves(*bone_id).unwrap();
let Some(target) = find_bone(root, path, &children, &names, cached_path) else { continue };
// SAFETY: The verify_no_ancestor_player check above ensures that two animation players cannot alias
// any of their descendant Transforms.
let Ok(mut transform) = (unsafe { transforms.get_unchecked(target) }) else { continue };
for curve in curves {
// Some curves have only one keyframe used to set a transform
if curve.keyframe_timestamps.len() == 1 {
match &curve.keyframes {
Keyframes::Rotation(keyframes) => transform.rotation = keyframes[0],
Keyframes::Translation(keyframes) => {
transform.translation = keyframes[0];
}
Keyframes::Scale(keyframes) => transform.scale = keyframes[0],
}
if !found {
warn!("Entity not found for path {:?} on part {:?}", path, part);
continue 'entity;
}
continue;
}
if let Ok(mut transform) = transforms.get_mut(current_entity) {
for curve in curves {
// Some curves have only one keyframe used to set a transform
if curve.keyframe_timestamps.len() == 1 {
match &curve.keyframes {
Keyframes::Rotation(keyframes) => transform.rotation = keyframes[0],
Keyframes::Translation(keyframes) => {
transform.translation = keyframes[0];
}
Keyframes::Scale(keyframes) => transform.scale = keyframes[0],
}
continue;
}

// Find the current keyframe
// PERF: finding the current keyframe can be optimised
let step_start = match curve
.keyframe_timestamps
.binary_search_by(|probe| probe.partial_cmp(&elapsed).unwrap())
{
Ok(n) if n >= curve.keyframe_timestamps.len() - 1 => continue, // this curve is finished
Ok(i) => i,
Err(0) => continue, // this curve isn't started yet
Err(n) if n > curve.keyframe_timestamps.len() - 1 => continue, // this curve is finished
Err(i) => i - 1,
};
let ts_start = curve.keyframe_timestamps[step_start];
let ts_end = curve.keyframe_timestamps[step_start + 1];
let lerp = (elapsed - ts_start) / (ts_end - ts_start);

// Apply the keyframe
match &curve.keyframes {
Keyframes::Rotation(keyframes) => {
let rot_start = keyframes[step_start];
let mut rot_end = keyframes[step_start + 1];
// Choose the smallest angle for the rotation
if rot_end.dot(rot_start) < 0.0 {
rot_end = -rot_end;
}
// Rotations are using a spherical linear interpolation
transform.rotation =
rot_start.normalize().slerp(rot_end.normalize(), lerp);
}
Keyframes::Translation(keyframes) => {
let translation_start = keyframes[step_start];
let translation_end = keyframes[step_start + 1];
let result = translation_start.lerp(translation_end, lerp);
transform.translation = result;
}
Keyframes::Scale(keyframes) => {
let scale_start = keyframes[step_start];
let scale_end = keyframes[step_start + 1];
let result = scale_start.lerp(scale_end, lerp);
transform.scale = result;
}
// Find the current keyframe
// PERF: finding the current keyframe can be optimised
let step_start = match curve
.keyframe_timestamps
.binary_search_by(|probe| probe.partial_cmp(&elapsed).unwrap())
{
Ok(n) if n >= curve.keyframe_timestamps.len() - 1 => continue, // this curve is finished
Ok(i) => i,
Err(0) => continue, // this curve isn't started yet
Err(n) if n > curve.keyframe_timestamps.len() - 1 => continue, // this curve is finished
Err(i) => i - 1,
};
let ts_start = curve.keyframe_timestamps[step_start];
let ts_end = curve.keyframe_timestamps[step_start + 1];
let lerp = (elapsed - ts_start) / (ts_end - ts_start);

// Apply the keyframe
match &curve.keyframes {
Keyframes::Rotation(keyframes) => {
let rot_start = keyframes[step_start];
let mut rot_end = keyframes[step_start + 1];
// Choose the smallest angle for the rotation
if rot_end.dot(rot_start) < 0.0 {
rot_end = -rot_end;
}
// Rotations are using a spherical linear interpolation
transform.rotation =
rot_start.normalize().slerp(rot_end.normalize(), lerp);
}
Keyframes::Translation(keyframes) => {
let translation_start = keyframes[step_start];
let translation_end = keyframes[step_start + 1];
let result = translation_start.lerp(translation_end, lerp);
transform.translation = result;
}
Keyframes::Scale(keyframes) => {
let scale_start = keyframes[step_start];
let scale_end = keyframes[step_start + 1];
let result = scale_start.lerp(scale_end, lerp);
transform.scale = result;
}
}
}
}
}
});
}

/// Adds animation support to an app
Expand Down
6 changes: 6 additions & 0 deletions crates/bevy_ecs/src/storage/sparse_set.rs
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Expand Up @@ -447,6 +447,12 @@ impl<I: SparseSetIndex, V> SparseSet<I, V> {
})
}

pub fn clear(&mut self) {
self.dense.clear();
self.indices.clear();
self.sparse.clear();
}

pub(crate) fn into_immutable(self) -> ImmutableSparseSet<I, V> {
ImmutableSparseSet {
dense: self.dense.into_boxed_slice(),
Expand Down