@bloomengine/engine 0.4.0 → 0.4.2

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

@@ -1,582 +0,0 @@
-// SPDX-FileCopyrightText: 2023 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#include <Jolt/Jolt.h>
-
-#include <Jolt/Physics/LargeIslandSplitter.h>
-#include <Jolt/Physics/IslandBuilder.h>
-#include <Jolt/Physics/Constraints/CalculateSolverSteps.h>
-#include <Jolt/Physics/Constraints/Constraint.h>
-#include <Jolt/Physics/Constraints/ContactConstraintManager.h>
-#include <Jolt/Physics/Body/BodyManager.h>
-#include <Jolt/Core/Profiler.h>
-#include <Jolt/Core/TempAllocator.h>
-
-//#define JPH_LARGE_ISLAND_SPLITTER_DEBUG
-
-JPH_NAMESPACE_BEGIN
-
-LargeIslandSplitter::EStatus LargeIslandSplitter::Splits::FetchNextBatch(uint32 &outConstraintsBegin, uint32 &outConstraintsEnd, uint32 &outContactsBegin, uint32 &outContactsEnd, bool &outFirstIteration)
-{
-	{
-		// First check if we can get a new batch (doing a read to avoid hammering an atomic with an atomic subtract)
-		// Note this also avoids overflowing the status counter if we're done but there's still one thread processing items
-		uint64 status = mStatus.load(memory_order_acquire);
-
-		// Check for special value that indicates that the splits are still being built
-		// (note we do not check for this condition again below as we reset all splits before kicking off jobs that fetch batches of work)
-		if (status == StatusItemMask)
-			return EStatus::WaitingForBatch;
-
-		// Next check if all items have been processed. Note that we do this after checking if the job can be started
-		// as mNumIterations is not initialized until the split is started.
-		if (sGetIteration(status) >= mNumIterations)
-			return EStatus::AllBatchesDone;
-
-		uint item = sGetItem(status);
-		uint split_index = sGetSplit(status);
-		if (split_index == cNonParallelSplitIdx)
-		{
-			// Non parallel split needs to be taken as a single batch, only the thread that takes element 0 will do it
-			if (item != 0)
-				return EStatus::WaitingForBatch;
-		}
-		else
-		{
-			// Parallel split is split into batches
-			JPH_ASSERT(split_index < mNumSplits);
-			const Split &split = mSplits[split_index];
-			if (item >= split.GetNumItems())
-				return EStatus::WaitingForBatch;
-		}
-	}
-
-	// Then try to actually get the batch
-	uint64 status = mStatus.fetch_add(cBatchSize, memory_order_acquire);
-	int iteration = sGetIteration(status);
-	if (iteration >= mNumIterations)
-		return EStatus::AllBatchesDone;
-
-	uint split_index = sGetSplit(status);
-	JPH_ASSERT(split_index < mNumSplits || split_index == cNonParallelSplitIdx);
-	const Split &split = mSplits[split_index];
-	uint item_begin = sGetItem(status);
-	if (split_index == cNonParallelSplitIdx)
-	{
-		if (item_begin == 0)
-		{
-			// Non-parallel split always goes as a single batch
-			outConstraintsBegin = split.mConstraintBufferBegin;
-			outConstraintsEnd = split.mConstraintBufferEnd;
-			outContactsBegin = split.mContactBufferBegin;
-			outContactsEnd = split.mContactBufferEnd;
-			outFirstIteration = iteration == 0;
-			return EStatus::BatchRetrieved;
-		}
-		else
-		{
-			// Otherwise we're done with this split
-			return EStatus::WaitingForBatch;
-		}
-	}
-
-	// Parallel split is split into batches
-	uint num_constraints = split.GetNumConstraints();
-	uint num_contacts = split.GetNumContacts();
-	uint num_items = num_constraints + num_contacts;
-	if (item_begin >= num_items)
-		return EStatus::WaitingForBatch;
-
-	uint item_end = min(item_begin + cBatchSize, num_items);
-	if (item_end >= num_constraints)
-	{
-		if (item_begin < num_constraints)
-		{
-			// Partially from constraints and partially from contacts
-			outConstraintsBegin = split.mConstraintBufferBegin + item_begin;
-			outConstraintsEnd = split.mConstraintBufferEnd;
-		}
-		else
-		{
-			// Only contacts
-			outConstraintsBegin = 0;
-			outConstraintsEnd = 0;
-		}
-
-		outContactsBegin = split.mContactBufferBegin + (max(item_begin, num_constraints) - num_constraints);
-		outContactsEnd = split.mContactBufferBegin + (item_end - num_constraints);
-	}
-	else
-	{
-		// Only constraints
-		outConstraintsBegin = split.mConstraintBufferBegin + item_begin;
-		outConstraintsEnd = split.mConstraintBufferBegin + item_end;
-
-		outContactsBegin = 0;
-		outContactsEnd = 0;
-	}
-
-	outFirstIteration = iteration == 0;
-	return EStatus::BatchRetrieved;
-}
-
-void LargeIslandSplitter::Splits::MarkBatchProcessed(uint inNumProcessed, bool &outLastIteration, bool &outFinalBatch)
-{
-	// We fetched this batch, nobody should change the split and or iteration until we mark the last batch as processed so we can safely get the current status
-	uint64 status = mStatus.load(memory_order_relaxed);
-	uint split_index = sGetSplit(status);
-	JPH_ASSERT(split_index < mNumSplits || split_index == cNonParallelSplitIdx);
-	const Split &split = mSplits[split_index];
-	uint num_items_in_split = split.GetNumItems();
-
-	// Determine if this is the last iteration before possibly incrementing it
-	int iteration = sGetIteration(status);
-	outLastIteration = iteration == mNumIterations - 1;
-
-	// Add the number of items we processed to the total number of items processed
-	// Note: This needs to happen after we read the status as other threads may update the status after we mark items as processed
-	JPH_ASSERT(inNumProcessed > 0); // Logic will break if we mark a block of 0 items as processed
-	uint total_items_processed = mItemsProcessed.fetch_add(inNumProcessed, memory_order_acq_rel) + inNumProcessed;
-
-	// Check if we're at the end of the split
-	if (total_items_processed >= num_items_in_split)
-	{
-		JPH_ASSERT(total_items_processed == num_items_in_split); // Should not overflow, that means we're retiring more items than we should process
-
-		// Set items processed back to 0 for the next split/iteration
-		mItemsProcessed.store(0, memory_order_release);
-
-		// Determine next split
-		do
-		{
-			if (split_index == cNonParallelSplitIdx)
-			{
-				// At start of next iteration
-				split_index = 0;
-				++iteration;
-			}
-			else
-			{
-				// At start of next split
-				++split_index;
-			}
-
-			// If we're beyond the end of splits, go to the non-parallel split
-			if (split_index >= mNumSplits)
-				split_index = cNonParallelSplitIdx;
-		}
-		while (iteration < mNumIterations
-			&& mSplits[split_index].GetNumItems() == 0); // We don't support processing empty splits, skip to the next split in this case
-
-		mStatus.store((uint64(iteration) << StatusIterationShift) | (uint64(split_index) << StatusSplitShift), memory_order_release);
-	}
-
-	// Track if this is the final batch
-	outFinalBatch = iteration >= mNumIterations;
-}
-
-LargeIslandSplitter::~LargeIslandSplitter()
-{
-	JPH_ASSERT(mSplitMasks == nullptr);
-	JPH_ASSERT(mContactAndConstraintsSplitIdx == nullptr);
-	JPH_ASSERT(mContactAndConstraintIndices == nullptr);
-	JPH_ASSERT(mSplitIslands == nullptr);
-}
-
-void LargeIslandSplitter::Prepare(const IslandBuilder &inIslandBuilder, uint32 inNumActiveBodies, TempAllocator *inTempAllocator)
-{
-	JPH_PROFILE_FUNCTION();
-
-	// Count the total number of constraints and contacts that we will be putting in splits
-	mContactAndConstraintsSize = 0;
-	for (uint32 island = 0; island < inIslandBuilder.GetNumIslands(); ++island)
-	{
-		// Get the contacts in this island
-		uint32 *contacts_start, *contacts_end;
-		inIslandBuilder.GetContactsInIsland(island, contacts_start, contacts_end);
-		uint num_contacts_in_island = uint(contacts_end - contacts_start);
-
-		// Get the constraints in this island
-		uint32 *constraints_start, *constraints_end;
-		inIslandBuilder.GetConstraintsInIsland(island, constraints_start, constraints_end);
-		uint num_constraints_in_island = uint(constraints_end - constraints_start);
-
-		uint island_size = num_contacts_in_island + num_constraints_in_island;
-		if (island_size >= cLargeIslandTreshold)
-		{
-			mNumSplitIslands++;
-			mContactAndConstraintsSize += island_size;
-		}
-		else
-			break; // If this island doesn't have enough constraints, the next islands won't either since they're sorted from big to small
-	}
-
-	if (mContactAndConstraintsSize > 0)
-	{
-		mNumActiveBodies = inNumActiveBodies;
-
-		// Allocate split mask buffer
-		mSplitMasks = (SplitMask *)inTempAllocator->Allocate(mNumActiveBodies * sizeof(SplitMask));
-
-		// Allocate contact and constraint buffer
-		uint contact_and_constraint_indices_size = mContactAndConstraintsSize * sizeof(uint32);
-		mContactAndConstraintsSplitIdx = (uint32 *)inTempAllocator->Allocate(contact_and_constraint_indices_size);
-		mContactAndConstraintIndices = (uint32 *)inTempAllocator->Allocate(contact_and_constraint_indices_size);
-
-		// Allocate island split buffer
-		mSplitIslands = (Splits *)inTempAllocator->Allocate(mNumSplitIslands * sizeof(Splits));
-
-		// Prevent any of the splits from being picked up as work
-		for (uint i = 0; i < mNumSplitIslands; ++i)
-			mSplitIslands[i].ResetStatus();
-	}
-}
-
-uint LargeIslandSplitter::AssignSplit(const Body *inBody1, const Body *inBody2)
-{
-	uint32 idx1 = inBody1->GetIndexInActiveBodiesInternal();
-	uint32 idx2 = inBody2->GetIndexInActiveBodiesInternal();
-
-	// Test if either index is negative
-	if (idx1 == Body::cInactiveIndex || !inBody1->IsDynamic())
-	{
-		// Body 1 is not active or a kinematic body, so we only need to set 1 body
-		JPH_ASSERT(idx2 < mNumActiveBodies);
-		SplitMask &mask = mSplitMasks[idx2];
-		uint split = min(CountTrailingZeros(~uint32(mask)), cNonParallelSplitIdx);
-		mask |= SplitMask(1U << split);
-		return split;
-	}
-	else if (idx2 == Body::cInactiveIndex || !inBody2->IsDynamic())
-	{
-		// Body 2 is not active or a kinematic body, so we only need to set 1 body
-		JPH_ASSERT(idx1 < mNumActiveBodies);
-		SplitMask &mask = mSplitMasks[idx1];
-		uint split = min(CountTrailingZeros(~uint32(mask)), cNonParallelSplitIdx);
-		mask |= SplitMask(1U << split);
-		return split;
-	}
-	else
-	{
-		// If both bodies are active, we need to set 2 bodies
-		JPH_ASSERT(idx1 < mNumActiveBodies);
-		JPH_ASSERT(idx2 < mNumActiveBodies);
-		SplitMask &mask1 = mSplitMasks[idx1];
-		SplitMask &mask2 = mSplitMasks[idx2];
-		uint split = min(CountTrailingZeros((~uint32(mask1)) & (~uint32(mask2))), cNonParallelSplitIdx);
-		SplitMask mask = SplitMask(1U << split);
-		mask1 |= mask;
-		mask2 |= mask;
-		return split;
-	}
-}
-
-uint LargeIslandSplitter::AssignToNonParallelSplit(const Body *inBody)
-{
-	uint32 idx = inBody->GetIndexInActiveBodiesInternal();
-	if (idx != Body::cInactiveIndex)
-	{
-		JPH_ASSERT(idx < mNumActiveBodies);
-		mSplitMasks[idx] |= 1U << cNonParallelSplitIdx;
-	}
-
-	return cNonParallelSplitIdx;
-}
-
-bool LargeIslandSplitter::SplitIsland(uint32 inIslandIndex, const IslandBuilder &inIslandBuilder, const BodyManager &inBodyManager, const ContactConstraintManager &inContactManager, Constraint **inActiveConstraints, CalculateSolverSteps &ioStepsCalculator)
-{
-	JPH_PROFILE_FUNCTION();
-
-	// Get the contacts in this island
-	uint32 *contacts_start, *contacts_end;
-	inIslandBuilder.GetContactsInIsland(inIslandIndex, contacts_start, contacts_end);
-	uint num_contacts_in_island = uint(contacts_end - contacts_start);
-
-	// Get the constraints in this island
-	uint32 *constraints_start, *constraints_end;
-	inIslandBuilder.GetConstraintsInIsland(inIslandIndex, constraints_start, constraints_end);
-	uint num_constraints_in_island = uint(constraints_end - constraints_start);
-
-	// Check if it exceeds the threshold
-	uint island_size = num_contacts_in_island + num_constraints_in_island;
-	if (island_size < cLargeIslandTreshold)
-		return false;
-
-	// Get bodies in this island
-	BodyID *bodies_start, *bodies_end;
-	inIslandBuilder.GetBodiesInIsland(inIslandIndex, bodies_start, bodies_end);
-
-	// Reset the split mask for all bodies in this island
-	Body const * const *bodies = inBodyManager.GetBodies().data();
-	for (const BodyID *b = bodies_start; b < bodies_end; ++b)
-		mSplitMasks[bodies[b->GetIndex()]->GetIndexInActiveBodiesInternal()] = 0;
-
-	// Count the number of contacts and constraints per split
-	uint num_contacts_in_split[cNumSplits] = { };
-	uint num_constraints_in_split[cNumSplits] = { };
-
-	// Get space to store split indices
-	uint offset = mContactAndConstraintsNextFree.fetch_add(island_size, memory_order_relaxed);
-	uint32 *contact_split_idx = mContactAndConstraintsSplitIdx + offset;
-	uint32 *constraint_split_idx = contact_split_idx + num_contacts_in_island;
-
-	// Assign the contacts to a split
-	uint32 *cur_contact_split_idx = contact_split_idx;
-	for (const uint32 *c = contacts_start; c < contacts_end; ++c)
-	{
-		const Body *body1, *body2;
-		inContactManager.GetAffectedBodies(*c, body1, body2);
-		uint split = AssignSplit(body1, body2);
-		num_contacts_in_split[split]++;
-		*cur_contact_split_idx++ = split;
-
-		if (body1->IsDynamic())
-			ioStepsCalculator(body1->GetMotionPropertiesUnchecked());
-		if (body2->IsDynamic())
-			ioStepsCalculator(body2->GetMotionPropertiesUnchecked());
-	}
-
-	// Assign the constraints to a split
-	uint32 *cur_constraint_split_idx = constraint_split_idx;
-	for (const uint32 *c = constraints_start; c < constraints_end; ++c)
-	{
-		const Constraint *constraint = inActiveConstraints[*c];
-		uint split = constraint->BuildIslandSplits(*this);
-		num_constraints_in_split[split]++;
-		*cur_constraint_split_idx++ = split;
-
-		ioStepsCalculator(constraint);
-	}
-
-	ioStepsCalculator.Finalize();
-
-	// Start with 0 splits
-	uint split_remap_table[cNumSplits];
-	uint new_split_idx = mNextSplitIsland.fetch_add(1, memory_order_relaxed);
-	JPH_ASSERT(new_split_idx < mNumSplitIslands);
-	Splits &splits = mSplitIslands[new_split_idx];
-	splits.mIslandIndex = inIslandIndex;
-	splits.mNumSplits = 0;
-	splits.mNumIterations = ioStepsCalculator.GetNumVelocitySteps() + 1; // Iteration 0 is used for warm starting
-	splits.mNumVelocitySteps = ioStepsCalculator.GetNumVelocitySteps();
-	splits.mNumPositionSteps = ioStepsCalculator.GetNumPositionSteps();
-	splits.mItemsProcessed.store(0, memory_order_release);
-
-	// Allocate space to store the sorted constraint and contact indices per split
-	uint32 *constraint_buffer_cur[cNumSplits], *contact_buffer_cur[cNumSplits];
-	for (uint s = 0; s < cNumSplits; ++s)
-	{
-		// If this split doesn't contain enough constraints and contacts, we will combine it with the non parallel split
-		if (num_constraints_in_split[s] + num_contacts_in_split[s] < cSplitCombineTreshold
-			&& s < cNonParallelSplitIdx) // The non-parallel split cannot merge into itself
-		{
-			// Remap it
-			split_remap_table[s] = cNonParallelSplitIdx;
-
-			// Add the counts to the non parallel split
-			num_contacts_in_split[cNonParallelSplitIdx] += num_contacts_in_split[s];
-			num_constraints_in_split[cNonParallelSplitIdx] += num_constraints_in_split[s];
-		}
-		else
-		{
-			// This split is valid, map it to the next empty slot
-			uint target_split;
-			if (s < cNonParallelSplitIdx)
-				target_split = splits.mNumSplits++;
-			else
-				target_split = cNonParallelSplitIdx;
-			Split &split = splits.mSplits[target_split];
-			split_remap_table[s] = target_split;
-
-			// Allocate space for contacts
-			split.mContactBufferBegin = offset;
-			split.mContactBufferEnd = split.mContactBufferBegin + num_contacts_in_split[s];
-
-			// Allocate space for constraints
-			split.mConstraintBufferBegin = split.mContactBufferEnd;
-			split.mConstraintBufferEnd = split.mConstraintBufferBegin + num_constraints_in_split[s];
-
-			// Store start for each split
-			contact_buffer_cur[target_split] = mContactAndConstraintIndices + split.mContactBufferBegin;
-			constraint_buffer_cur[target_split] = mContactAndConstraintIndices + split.mConstraintBufferBegin;
-
-			// Update offset
-			offset = split.mConstraintBufferEnd;
-		}
-	}
-
-	// Split the contacts
-	for (uint c = 0; c < num_contacts_in_island; ++c)
-	{
-		uint split = split_remap_table[contact_split_idx[c]];
-		*contact_buffer_cur[split]++ = contacts_start[c];
-	}
-
-	// Split the constraints
-	for (uint c = 0; c < num_constraints_in_island; ++c)
-	{
-		uint split = split_remap_table[constraint_split_idx[c]];
-		*constraint_buffer_cur[split]++ = constraints_start[c];
-	}
-
-#ifdef JPH_LARGE_ISLAND_SPLITTER_DEBUG
-	// Trace the size of all splits
-	uint sum = 0;
-	String stats;
-	for (uint s = 0; s < cNumSplits; ++s)
-	{
-		// If we've processed all splits, jump to the non-parallel split
-		if (s >= splits.GetNumSplits())
-			s = cNonParallelSplitIdx;
-
-		const Split &split = splits.mSplits[s];
-		stats += StringFormat("g:%d:%d:%d, ", s, split.GetNumContacts(), split.GetNumConstraints());
-		sum += split.GetNumItems();
-	}
-	stats += StringFormat("sum: %d", sum);
-	Trace(stats.c_str());
-#endif // JPH_LARGE_ISLAND_SPLITTER_DEBUG
-
-#ifdef JPH_ENABLE_ASSERTS
-	for (uint s = 0; s < cNumSplits; ++s)
-	{
-		// If there are no more splits, process the non-parallel split
-		if (s >= splits.mNumSplits)
-			s = cNonParallelSplitIdx;
-
-		// Check that we wrote all elements
-		Split &split = splits.mSplits[s];
-		JPH_ASSERT(contact_buffer_cur[s] == mContactAndConstraintIndices + split.mContactBufferEnd);
-		JPH_ASSERT(constraint_buffer_cur[s] == mContactAndConstraintIndices + split.mConstraintBufferEnd);
-	}
-
-#ifdef JPH_DEBUG
-	// Validate that the splits are indeed not touching the same body
-	for (uint s = 0; s < splits.mNumSplits; ++s)
-	{
-		Array<bool> body_used(mNumActiveBodies, false);
-
-		// Validate contacts
-		uint32 split_contacts_begin, split_contacts_end;
-		splits.GetContactsInSplit(s, split_contacts_begin, split_contacts_end);
-		for (uint32 *c = mContactAndConstraintIndices + split_contacts_begin; c < mContactAndConstraintIndices + split_contacts_end; ++c)
-		{
-			const Body *body1, *body2;
-			inContactManager.GetAffectedBodies(*c, body1, body2);
-
-			uint32 idx1 = body1->GetIndexInActiveBodiesInternal();
-			if (idx1 != Body::cInactiveIndex && body1->IsDynamic())
-			{
-				JPH_ASSERT(!body_used[idx1]);
-				body_used[idx1] = true;
-			}
-
-			uint32 idx2 = body2->GetIndexInActiveBodiesInternal();
-			if (idx2 != Body::cInactiveIndex && body2->IsDynamic())
-			{
-				JPH_ASSERT(!body_used[idx2]);
-				body_used[idx2] = true;
-			}
-		}
-	}
-#endif // JPH_DEBUG
-#endif // JPH_ENABLE_ASSERTS
-
-	// Allow other threads to pick up this split island now
-	splits.StartFirstBatch();
-	return true;
-}
-
-LargeIslandSplitter::EStatus LargeIslandSplitter::FetchNextBatch(uint &outSplitIslandIndex, uint32 *&outConstraintsBegin, uint32 *&outConstraintsEnd, uint32 *&outContactsBegin, uint32 *&outContactsEnd, bool &outFirstIteration)
-{
-	// We can't be done when all islands haven't been submitted yet
-	uint num_splits_created = mNextSplitIsland.load(memory_order_acquire);
-	bool all_done = num_splits_created == mNumSplitIslands;
-
-	// Loop over all split islands to find work
-	uint32 constraints_begin, constraints_end, contacts_begin, contacts_end;
-	for (Splits *s = mSplitIslands; s < mSplitIslands + num_splits_created; ++s)
-		switch (s->FetchNextBatch(constraints_begin, constraints_end, contacts_begin, contacts_end, outFirstIteration))
-		{
-		case EStatus::AllBatchesDone:
-			break;
-
-		case EStatus::WaitingForBatch:
-			all_done = false;
-			break;
-
-		case EStatus::BatchRetrieved:
-			outSplitIslandIndex = uint(s - mSplitIslands);
-			outConstraintsBegin = mContactAndConstraintIndices + constraints_begin;
-			outConstraintsEnd = mContactAndConstraintIndices + constraints_end;
-			outContactsBegin = mContactAndConstraintIndices + contacts_begin;
-			outContactsEnd = mContactAndConstraintIndices + contacts_end;
-			return EStatus::BatchRetrieved;
-		}
-
-	return all_done? EStatus::AllBatchesDone : EStatus::WaitingForBatch;
-}
-
-void LargeIslandSplitter::MarkBatchProcessed(uint inSplitIslandIndex, const uint32 *inConstraintsBegin, const uint32 *inConstraintsEnd, const uint32 *inContactsBegin, const uint32 *inContactsEnd, bool &outLastIteration, bool &outFinalBatch)
-{
-	uint num_items_processed = uint(inConstraintsEnd - inConstraintsBegin) + uint(inContactsEnd - inContactsBegin);
-
-	JPH_ASSERT(inSplitIslandIndex < mNextSplitIsland.load(memory_order_relaxed));
-	Splits &splits = mSplitIslands[inSplitIslandIndex];
-	splits.MarkBatchProcessed(num_items_processed, outLastIteration, outFinalBatch);
-}
-
-void LargeIslandSplitter::PrepareForSolvePositions()
-{
-	for (Splits *s = mSplitIslands, *s_end = mSplitIslands + mNumSplitIslands; s < s_end; ++s)
-	{
-		// Set the number of iterations to the number of position steps
-		s->mNumIterations = s->mNumPositionSteps;
-
-		// We can start again from the first batch
-		s->StartFirstBatch();
-	}
-}
-
-void LargeIslandSplitter::Reset(TempAllocator *inTempAllocator)
-{
-	JPH_PROFILE_FUNCTION();
-
-	// Everything should have been used
-	JPH_ASSERT(mContactAndConstraintsNextFree.load(memory_order_relaxed) == mContactAndConstraintsSize);
-	JPH_ASSERT(mNextSplitIsland.load(memory_order_relaxed) == mNumSplitIslands);
-
-	// Free split islands
-	if (mNumSplitIslands > 0)
-	{
-		inTempAllocator->Free(mSplitIslands, mNumSplitIslands * sizeof(Splits));
-		mSplitIslands = nullptr;
-
-		mNumSplitIslands = 0;
-		mNextSplitIsland.store(0, memory_order_relaxed);
-	}
-
-	// Free contact and constraint buffers
-	if (mContactAndConstraintsSize > 0)
-	{
-		inTempAllocator->Free(mContactAndConstraintIndices, mContactAndConstraintsSize * sizeof(uint32));
-		mContactAndConstraintIndices = nullptr;
-
-		inTempAllocator->Free(mContactAndConstraintsSplitIdx, mContactAndConstraintsSize * sizeof(uint32));
-		mContactAndConstraintsSplitIdx = nullptr;
-
-		mContactAndConstraintsSize = 0;
-		mContactAndConstraintsNextFree.store(0, memory_order_relaxed);
-	}
-
-	// Free split masks
-	if (mSplitMasks != nullptr)
-	{
-		inTempAllocator->Free(mSplitMasks, mNumActiveBodies * sizeof(SplitMask));
-		mSplitMasks = nullptr;
-
-		mNumActiveBodies = 0;
-	}
-}
-
-JPH_NAMESPACE_END