@bloomengine/engine 0.3.3 → 0.4.1

package/native/third_party/JoltPhysics/Jolt/Physics/LargeIslandSplitter.h

@@ -1,187 +0,0 @@
-// SPDX-FileCopyrightText: 2023 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#pragma once
-
-#include <Jolt/Core/NonCopyable.h>
-#include <Jolt/Core/Atomics.h>
-
-JPH_NAMESPACE_BEGIN
-
-class Body;
-class BodyID;
-class IslandBuilder;
-class TempAllocator;
-class Constraint;
-class BodyManager;
-class ContactConstraintManager;
-class CalculateSolverSteps;
-
-/// Assigns bodies in large islands to multiple groups that can run in parallel
-///
-/// This basically implements what is described in: High-Performance Physical Simulations on Next-Generation Architecture with Many Cores by Chen et al.
-/// See: http://web.eecs.umich.edu/~msmelyan/papers/physsim_onmanycore_itj.pdf section "PARALLELIZATION METHODOLOGY"
-///
-/// WARNING: This class is an internal part of PhysicsSystem, it has no functions that can be called by users of the library.
-class LargeIslandSplitter : public NonCopyable
-{
-private:
-	using					SplitMask = uint32;
-
-public:
-	static constexpr uint	cNumSplits = sizeof(SplitMask) * 8;
-	static constexpr uint	cNonParallelSplitIdx = cNumSplits - 1;
-	static constexpr uint	cLargeIslandTreshold = 128;							///< If the number of constraints + contacts in an island is larger than this, we will try to split the island
-
-	/// Status code for retrieving a batch
-	enum class EStatus
-	{
-		WaitingForBatch,														///< Work is expected to be available later
-		BatchRetrieved,															///< Work is being returned
-		AllBatchesDone,															///< No further work is expected from this
-	};
-
-	/// Describes a split of constraints and contacts
-	struct Split
-	{
-		inline uint			GetNumContacts() const								{ return mContactBufferEnd - mContactBufferBegin; }
-		inline uint			GetNumConstraints() const							{ return mConstraintBufferEnd - mConstraintBufferBegin; }
-		inline uint			GetNumItems() const									{ return GetNumContacts() + GetNumConstraints(); }
-
-		uint32				mContactBufferBegin;								///< Begin of the contact buffer (offset relative to mContactAndConstraintIndices)
-		uint32				mContactBufferEnd;									///< End of the contact buffer
-
-		uint32				mConstraintBufferBegin;								///< Begin of the constraint buffer (offset relative to mContactAndConstraintIndices)
-		uint32				mConstraintBufferEnd;								///< End of the constraint buffer
-	};
-
-	/// Structure that describes the resulting splits from the large island splitter
-	class Splits
-	{
-	public:
-		inline uint			GetNumSplits() const
-		{
-			return mNumSplits;
-		}
-
-		inline void			GetConstraintsInSplit(uint inSplitIndex, uint32 &outConstraintsBegin, uint32 &outConstraintsEnd) const
-		{
-			const Split &split = mSplits[inSplitIndex];
-			outConstraintsBegin = split.mConstraintBufferBegin;
-			outConstraintsEnd = split.mConstraintBufferEnd;
-		}
-
-		inline void			GetContactsInSplit(uint inSplitIndex, uint32 &outContactsBegin, uint32 &outContactsEnd) const
-		{
-			const Split &split = mSplits[inSplitIndex];
-			outContactsBegin = split.mContactBufferBegin;
-			outContactsEnd = split.mContactBufferEnd;
-		}
-
-		/// Reset current status so that no work can be picked up from this split
-		inline void			ResetStatus()
-		{
-			mStatus.store(StatusItemMask, memory_order_relaxed);
-		}
-
-		/// Make the first batch available to other threads
-		inline void			StartFirstBatch()
-		{
-			uint split_index = mNumSplits > 0? 0 : cNonParallelSplitIdx;
-			mStatus.store(uint64(split_index) << StatusSplitShift, memory_order_release);
-		}
-
-		/// Fetch the next batch to process
-		EStatus				FetchNextBatch(uint32 &outConstraintsBegin, uint32 &outConstraintsEnd, uint32 &outContactsBegin, uint32 &outContactsEnd, bool &outFirstIteration);
-
-		/// Mark a batch as processed
-		void				MarkBatchProcessed(uint inNumProcessed, bool &outLastIteration, bool &outFinalBatch);
-
-		enum EIterationStatus : uint64
-		{
-			StatusIterationMask		= 0xffff000000000000,
-			StatusIterationShift	= 48,
-			StatusSplitMask			= 0x0000ffff00000000,
-			StatusSplitShift		= 32,
-			StatusItemMask			= 0x00000000ffffffff,
-		};
-
-		static inline int	sGetIteration(uint64 inStatus)
-		{
-			return int((inStatus & StatusIterationMask) >> StatusIterationShift);
-		}
-
-		static inline uint	sGetSplit(uint64 inStatus)
-		{
-			return uint((inStatus & StatusSplitMask) >> StatusSplitShift);
-		}
-
-		static inline uint	sGetItem(uint64 inStatus)
-		{
-			return uint(inStatus & StatusItemMask);
-		}
-
-		Split				mSplits[cNumSplits];								///< Data per split
-		uint32				mIslandIndex;										///< Index of the island that was split
-		uint				mNumSplits;											///< Number of splits that were created (excluding the non-parallel split)
-		int					mNumIterations;										///< Number of iterations to do
-		int					mNumVelocitySteps;									///< Number of velocity steps to do (cached for 2nd sub step)
-		int					mNumPositionSteps;									///< Number of position steps to do
-		atomic<uint64>		mStatus;											///< Status of the split, see EIterationStatus
-		atomic<uint>		mItemsProcessed;									///< Number of items that have been marked as processed
-	};
-
-public:
-	/// Destructor
-							~LargeIslandSplitter();
-
-	/// Prepare the island splitter by allocating memory
-	void					Prepare(const IslandBuilder &inIslandBuilder, uint32 inNumActiveBodies, TempAllocator *inTempAllocator);
-
-	/// Assign two bodies to a split. Returns the split index.
-	uint					AssignSplit(const Body *inBody1, const Body *inBody2);
-
-	/// Force a body to be in a non parallel split. Returns the split index.
-	uint					AssignToNonParallelSplit(const Body *inBody);
-
-	/// Splits up an island, the created splits will be added to the list of batches and can be fetched with FetchNextBatch. Returns false if the island did not need splitting.
-	bool					SplitIsland(uint32 inIslandIndex, const IslandBuilder &inIslandBuilder, const BodyManager &inBodyManager, const ContactConstraintManager &inContactManager, Constraint **inActiveConstraints, CalculateSolverSteps &ioStepsCalculator);
-
-	/// Fetch the next batch to process, returns a handle in outSplitIslandIndex that must be provided to MarkBatchProcessed when complete
-	EStatus					FetchNextBatch(uint &outSplitIslandIndex, uint32 *&outConstraintsBegin, uint32 *&outConstraintsEnd, uint32 *&outContactsBegin, uint32 *&outContactsEnd, bool &outFirstIteration);
-
-	/// Mark a batch as processed
-	void					MarkBatchProcessed(uint inSplitIslandIndex, const uint32 *inConstraintsBegin, const uint32 *inConstraintsEnd, const uint32 *inContactsBegin, const uint32 *inContactsEnd, bool &outLastIteration, bool &outFinalBatch);
-
-	/// Get the island index of the island that was split for a particular split island index
-	inline uint32			GetIslandIndex(uint inSplitIslandIndex) const
-	{
-		JPH_ASSERT(inSplitIslandIndex < mNumSplitIslands);
-		return mSplitIslands[inSplitIslandIndex].mIslandIndex;
-	}
-
-	/// Prepare the island splitter for iterating over the split islands again for position solving. Marks all batches as startable.
-	void					PrepareForSolvePositions();
-
-	/// Reset the island splitter
-	void					Reset(TempAllocator *inTempAllocator);
-
-private:
-	static constexpr uint	cSplitCombineTreshold = 32;							///< If the number of constraints + contacts in a split is lower than this, we will merge this split into the 'non-parallel split'
-	static constexpr uint	cBatchSize = 16;									///< Number of items to process in a constraint batch
-
-	uint32					mNumActiveBodies = 0;								///< Cached number of active bodies
-
-	SplitMask *				mSplitMasks = nullptr;								///< Bits that indicate for each body in the BodyManager::mActiveBodies list which split they already belong to
-
-	uint32 *				mContactAndConstraintsSplitIdx = nullptr;			///< Buffer to store the split index per constraint or contact
-	uint32 *				mContactAndConstraintIndices = nullptr;				///< Buffer to store the ordered constraint indices per split
-	uint					mContactAndConstraintsSize = 0;						///< Total size of mContactAndConstraintsSplitIdx and mContactAndConstraintIndices
-	atomic<uint>			mContactAndConstraintsNextFree { 0 };				///< Next element that is free in both buffers
-
-	uint					mNumSplitIslands = 0;								///< Total number of islands that required splitting
-	Splits *				mSplitIslands = nullptr;							///< List of islands that required splitting
-	atomic<uint>			mNextSplitIsland = 0;								///< Next split island to pick from mSplitIslands
-};
-
-JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Physics/PhysicsLock.h

@@ -1,169 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#pragma once
-
-#include <Jolt/Core/Mutex.h>
-
-JPH_NAMESPACE_BEGIN
-
-#ifdef JPH_ENABLE_ASSERTS
-
-/// This is the list of locks used by the physics engine, they need to be locked in a particular order (from top of the list to bottom of the list) in order to prevent deadlocks
-enum class EPhysicsLockTypes
-{
-	BroadPhaseQuery			= 1 << 0,
-	PerBody					= 1 << 1,
-	BodiesList				= 1 << 2,
-	BroadPhaseUpdate		= 1 << 3,
-	ConstraintsList			= 1 << 4,
-	ActiveBodiesList		= 1 << 5,
-};
-
-/// A token that indicates the context of a lock (we use 1 per physics system and we use the body manager pointer because it's convenient)
-class BodyManager;
-using PhysicsLockContext = const BodyManager *;
-
-#endif // !JPH_ENABLE_ASSERTS
-
-/// Helpers to safely lock the different mutexes that are part of the physics system while preventing deadlock
-/// Class that keeps track per thread which lock are taken and if the order of locking is correct
-class JPH_EXPORT PhysicsLock
-{
-public:
-#ifdef JPH_ENABLE_ASSERTS
-	/// Call before taking the lock
-	static inline void			sCheckLock(PhysicsLockContext inContext, EPhysicsLockTypes inType)
-	{
-		uint32 &mutexes = sGetLockedMutexes(inContext);
-		JPH_ASSERT(uint32(inType) > mutexes, "A lock of same or higher priority was already taken, this can create a deadlock!");
-		mutexes = mutexes | uint32(inType);
-	}
-
-	/// Call after releasing the lock
-	static inline void			sCheckUnlock(PhysicsLockContext inContext, EPhysicsLockTypes inType)
-	{
-		uint32 &mutexes = sGetLockedMutexes(inContext);
-		JPH_ASSERT((mutexes & uint32(inType)) != 0, "Mutex was not locked!");
-		mutexes = mutexes & ~uint32(inType);
-	}
-#endif // !JPH_ENABLE_ASSERTS
-
-	template <class LockType>
-	static inline void			sLock(LockType &inMutex JPH_IF_ENABLE_ASSERTS(, PhysicsLockContext inContext, EPhysicsLockTypes inType))
-	{
-		JPH_IF_ENABLE_ASSERTS(sCheckLock(inContext, inType);)
-		inMutex.lock();
-	}
-
-	template <class LockType>
-	static inline void			sUnlock(LockType &inMutex JPH_IF_ENABLE_ASSERTS(, PhysicsLockContext inContext, EPhysicsLockTypes inType))
-	{
-		JPH_IF_ENABLE_ASSERTS(sCheckUnlock(inContext, inType);)
-		inMutex.unlock();
-	}
-
-	template <class LockType>
-	static inline void			sLockShared(LockType &inMutex JPH_IF_ENABLE_ASSERTS(, PhysicsLockContext inContext, EPhysicsLockTypes inType))
-	{
-		JPH_IF_ENABLE_ASSERTS(sCheckLock(inContext, inType);)
-		inMutex.lock_shared();
-	}
-
-	template <class LockType>
-	static inline void			sUnlockShared(LockType &inMutex JPH_IF_ENABLE_ASSERTS(, PhysicsLockContext inContext, EPhysicsLockTypes inType))
-	{
-		JPH_IF_ENABLE_ASSERTS(sCheckUnlock(inContext, inType);)
-		inMutex.unlock_shared();
-	}
-
-#ifdef JPH_ENABLE_ASSERTS
-private:
-	struct LockData
-	{
-		uint32					mLockedMutexes = 0;
-		PhysicsLockContext		mContext = nullptr;
-	};
-
-	// Helper function to find the locked mutexes for a particular context
-	static uint32 &				sGetLockedMutexes(PhysicsLockContext inContext)
-	{
-		static thread_local LockData sLocks[4];
-
-		// If we find a matching context we can use it
-		for (LockData &l : sLocks)
-			if (l.mContext == inContext)
-				return l.mLockedMutexes;
-
-		// Otherwise we look for an entry that is not in use
-		for (LockData &l : sLocks)
-			if (l.mLockedMutexes == 0)
-			{
-				l.mContext = inContext;
-				return l.mLockedMutexes;
-			}
-
-		JPH_ASSERT(false, "Too many physics systems locked at the same time!");
-		return sLocks[0].mLockedMutexes;
-	}
-#endif // !JPH_ENABLE_ASSERTS
-};
-
-/// Helper class that is similar to std::unique_lock
-template <class LockType>
-class UniqueLock : public NonCopyable
-{
-public:
-	explicit					UniqueLock(LockType &inLock JPH_IF_ENABLE_ASSERTS(, PhysicsLockContext inContext, EPhysicsLockTypes inType)) :
-		mLock(inLock)
-#ifdef JPH_ENABLE_ASSERTS
-		, mContext(inContext),
-		mType(inType)
-#endif // JPH_ENABLE_ASSERTS
-	{
-		PhysicsLock::sLock(mLock JPH_IF_ENABLE_ASSERTS(, mContext, mType));
-	}
-
-								~UniqueLock()
-	{
-		PhysicsLock::sUnlock(mLock JPH_IF_ENABLE_ASSERTS(, mContext, mType));
-	}
-
-private:
-	LockType &					mLock;
-#ifdef JPH_ENABLE_ASSERTS
-	PhysicsLockContext			mContext;
-	EPhysicsLockTypes			mType;
-#endif // JPH_ENABLE_ASSERTS
-};
-
-/// Helper class that is similar to std::shared_lock
-template <class LockType>
-class SharedLock : public NonCopyable
-{
-public:
-	explicit					SharedLock(LockType &inLock JPH_IF_ENABLE_ASSERTS(, PhysicsLockContext inContext, EPhysicsLockTypes inType)) :
-		mLock(inLock)
-#ifdef JPH_ENABLE_ASSERTS
-		, mContext(inContext)
-		, mType(inType)
-#endif // JPH_ENABLE_ASSERTS
-	{
-		PhysicsLock::sLockShared(mLock JPH_IF_ENABLE_ASSERTS(, mContext, mType));
-	}
-
-								~SharedLock()
-	{
-		PhysicsLock::sUnlockShared(mLock JPH_IF_ENABLE_ASSERTS(, mContext, mType));
-	}
-
-private:
-	LockType &					mLock;
-#ifdef JPH_ENABLE_ASSERTS
-	PhysicsLockContext			mContext;
-	EPhysicsLockTypes			mType;
-#endif // JPH_ENABLE_ASSERTS
-};
-
-JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Physics/PhysicsScene.cpp

@@ -1,261 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#include <Jolt/Jolt.h>
-
-#include <Jolt/Physics/PhysicsScene.h>
-#include <Jolt/Physics/PhysicsSystem.h>
-#include <Jolt/Physics/Body/BodyLockMulti.h>
-#include <Jolt/ObjectStream/TypeDeclarations.h>
-
-JPH_NAMESPACE_BEGIN
-
-JPH_IMPLEMENT_SERIALIZABLE_NON_VIRTUAL(PhysicsScene)
-{
-	JPH_ADD_ATTRIBUTE(PhysicsScene, mBodies)
-	JPH_ADD_ATTRIBUTE(PhysicsScene, mConstraints)
-	JPH_ADD_ATTRIBUTE(PhysicsScene, mSoftBodies)
-}
-
-JPH_IMPLEMENT_SERIALIZABLE_NON_VIRTUAL(PhysicsScene::ConnectedConstraint)
-{
-	JPH_ADD_ATTRIBUTE(PhysicsScene::ConnectedConstraint, mSettings)
-	JPH_ADD_ATTRIBUTE(PhysicsScene::ConnectedConstraint, mBody1)
-	JPH_ADD_ATTRIBUTE(PhysicsScene::ConnectedConstraint, mBody2)
-}
-
-void PhysicsScene::AddBody(const BodyCreationSettings &inBody)
-{
-	mBodies.push_back(inBody);
-}
-
-void PhysicsScene::AddConstraint(const TwoBodyConstraintSettings *inConstraint, uint32 inBody1, uint32 inBody2)
-{
-	mConstraints.emplace_back(inConstraint, inBody1, inBody2);
-}
-
-void PhysicsScene::AddSoftBody(const SoftBodyCreationSettings &inSoftBody)
-{
-	mSoftBodies.push_back(inSoftBody);
-}
-
-bool PhysicsScene::FixInvalidScales()
-{
-	const Vec3 unit_scale = Vec3::sOne();
-
-	bool success = true;
-	for (BodyCreationSettings &b : mBodies)
-	{
-		// Test if there is an invalid scale in the shape hierarchy
-		const Shape *shape = b.GetShape();
-		if (!shape->IsValidScale(unit_scale))
-		{
-			// Fix it up
-			Shape::ShapeResult result = shape->ScaleShape(unit_scale);
-			if (result.IsValid())
-				b.SetShape(result.Get());
-			else
-				success = false;
-		}
-	}
-	return success;
-}
-
-bool PhysicsScene::CreateBodies(PhysicsSystem *inSystem) const
-{
-	BodyInterface &bi = inSystem->GetBodyInterface();
-
-	BodyIDVector body_ids;
-	body_ids.reserve(mBodies.size() + mSoftBodies.size());
-
-	// Create bodies
-	for (const BodyCreationSettings &b : mBodies)
-	{
-		const Body *body = bi.CreateBody(b);
-		if (body == nullptr)
-			break;
-		body_ids.push_back(body->GetID());
-	}
-
-	// Create soft bodies
-	for (const SoftBodyCreationSettings &b : mSoftBodies)
-	{
-		const Body *body = bi.CreateSoftBody(b);
-		if (body == nullptr)
-			break;
-		body_ids.push_back(body->GetID());
-	}
-
-	// Batch add bodies
-	BodyIDVector temp_body_ids = body_ids; // Body ID's get shuffled by AddBodiesPrepare
-	BodyInterface::AddState add_state = bi.AddBodiesPrepare(temp_body_ids.data(), (int)temp_body_ids.size());
-	bi.AddBodiesFinalize(temp_body_ids.data(), (int)temp_body_ids.size(), add_state, EActivation::Activate);
-
-	// If not all bodies are created, creating constraints will be unreliable
-	if (body_ids.size() != mBodies.size() + mSoftBodies.size())
-		return false;
-
-	// Create constraints
-	for (const ConnectedConstraint &cc : mConstraints)
-	{
-		BodyID body1_id = cc.mBody1 == cFixedToWorld? BodyID() : body_ids[cc.mBody1];
-		BodyID body2_id = cc.mBody2 == cFixedToWorld? BodyID() : body_ids[cc.mBody2];
-		Constraint *c = bi.CreateConstraint(cc.mSettings, body1_id, body2_id);
-		inSystem->AddConstraint(c);
-	}
-
-	// Everything was created
-	return true;
-}
-
-void PhysicsScene::SaveBinaryState(StreamOut &inStream, bool inSaveShapes, bool inSaveGroupFilter) const
-{
-	BodyCreationSettings::ShapeToIDMap shape_to_id;
-	BodyCreationSettings::MaterialToIDMap material_to_id;
-	BodyCreationSettings::GroupFilterToIDMap group_filter_to_id;
-	SoftBodyCreationSettings::SharedSettingsToIDMap settings_to_id;
-
-	// Save bodies
-	inStream.Write((uint32)mBodies.size());
-	for (const BodyCreationSettings &b : mBodies)
-		b.SaveWithChildren(inStream, inSaveShapes? &shape_to_id : nullptr, inSaveShapes? &material_to_id : nullptr, inSaveGroupFilter? &group_filter_to_id : nullptr);
-
-	// Save constraints
-	inStream.Write((uint32)mConstraints.size());
-	for (const ConnectedConstraint &cc : mConstraints)
-	{
-		cc.mSettings->SaveBinaryState(inStream);
-		inStream.Write(cc.mBody1);
-		inStream.Write(cc.mBody2);
-	}
-
-	// Save soft bodies
-	inStream.Write((uint32)mSoftBodies.size());
-	for (const SoftBodyCreationSettings &b : mSoftBodies)
-		b.SaveWithChildren(inStream, &settings_to_id, &material_to_id, inSaveGroupFilter? &group_filter_to_id : nullptr);
-}
-
-PhysicsScene::PhysicsSceneResult PhysicsScene::sRestoreFromBinaryState(StreamIn &inStream)
-{
-	PhysicsSceneResult result;
-
-	// Create scene
-	Ref<PhysicsScene> scene = new PhysicsScene();
-
-	BodyCreationSettings::IDToShapeMap id_to_shape;
-	BodyCreationSettings::IDToMaterialMap id_to_material;
-	BodyCreationSettings::IDToGroupFilterMap id_to_group_filter;
-	SoftBodyCreationSettings::IDToSharedSettingsMap id_to_settings;
-
-	// Reserve some memory to avoid frequent reallocations
-	id_to_shape.reserve(1024);
-	id_to_material.reserve(128);
-	id_to_group_filter.reserve(128);
-
-	// Read bodies
-	uint32 len = 0;
-	inStream.Read(len);
-	scene->mBodies.resize(len);
-	for (BodyCreationSettings &b : scene->mBodies)
-	{
-		// Read creation settings
-		BodyCreationSettings::BCSResult bcs_result = BodyCreationSettings::sRestoreWithChildren(inStream, id_to_shape, id_to_material, id_to_group_filter);
-		if (bcs_result.HasError())
-		{
-			result.SetError(bcs_result.GetError());
-			return result;
-		}
-		b = bcs_result.Get();
-	}
-
-	// Read constraints
-	len = 0;
-	inStream.Read(len);
-	scene->mConstraints.resize(len);
-	for (ConnectedConstraint &cc : scene->mConstraints)
-	{
-		ConstraintSettings::ConstraintResult c_result = ConstraintSettings::sRestoreFromBinaryState(inStream);
-		if (c_result.HasError())
-		{
-			result.SetError(c_result.GetError());
-			return result;
-		}
-		cc.mSettings = StaticCast<TwoBodyConstraintSettings>(c_result.Get());
-		inStream.Read(cc.mBody1);
-		inStream.Read(cc.mBody2);
-	}
-
-	// Read soft bodies
-	len = 0;
-	inStream.Read(len);
-	scene->mSoftBodies.resize(len);
-	for (SoftBodyCreationSettings &b : scene->mSoftBodies)
-	{
-		// Read creation settings
-		SoftBodyCreationSettings::SBCSResult sbcs_result = SoftBodyCreationSettings::sRestoreWithChildren(inStream, id_to_settings, id_to_material, id_to_group_filter);
-		if (sbcs_result.HasError())
-		{
-			result.SetError(sbcs_result.GetError());
-			return result;
-		}
-		b = sbcs_result.Get();
-	}
-
-	result.Set(scene);
-	return result;
-}
-
-void PhysicsScene::FromPhysicsSystem(const PhysicsSystem *inSystem)
-{
-	// This map will track where each body went in mBodies
-	using BodyIDToIdxMap = UnorderedMap<BodyID, uint32>;
-	BodyIDToIdxMap body_id_to_idx;
-
-	// Map invalid ID
-	body_id_to_idx[BodyID()] = cFixedToWorld;
-
-	// Get all bodies
-	BodyIDVector body_ids;
-	inSystem->GetBodies(body_ids);
-
-	// Loop over all bodies
-	const BodyLockInterface &bli = inSystem->GetBodyLockInterface();
-	for (const BodyID &id : body_ids)
-	{
-		BodyLockRead lock(bli, id);
-		if (lock.Succeeded())
-		{
-			// Store location of body
-			body_id_to_idx[id] = (uint32)mBodies.size();
-
-			const Body &body = lock.GetBody();
-
-			// Convert to body creation settings
-			if (body.IsRigidBody())
-				AddBody(body.GetBodyCreationSettings());
-			else
-				AddSoftBody(body.GetSoftBodyCreationSettings());
-		}
-	}
-
-	// Loop over all constraints
-	Constraints constraints = inSystem->GetConstraints();
-	for (const Constraint *c : constraints)
-		if (c->GetType() == EConstraintType::TwoBodyConstraint)
-		{
-			// Cast to two body constraint
-			const TwoBodyConstraint *tbc = static_cast<const TwoBodyConstraint *>(c);
-
-			// Find the body indices
-			BodyIDToIdxMap::const_iterator b1 = body_id_to_idx.find(tbc->GetBody1()->GetID());
-			BodyIDToIdxMap::const_iterator b2 = body_id_to_idx.find(tbc->GetBody2()->GetID());
-			JPH_ASSERT(b1 != body_id_to_idx.end() && b2 != body_id_to_idx.end());
-
-			// Create constraint settings and add the constraint
-			Ref<ConstraintSettings> settings = c->GetConstraintSettings();
-			AddConstraint(StaticCast<TwoBodyConstraintSettings>(settings), b1->second, b2->second);
-		}
-}
-
-JPH_NAMESPACE_END