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Add support for Physics Scene origin shifting

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This commit is contained in:
Wojtek Figat
2022-07-04 20:04:11 +02:00
parent e34e4caf08
commit 3070493729
7 changed files with 129 additions and 60 deletions
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137
Source/Engine/Physics/PhysX/PhysicsBackendPhysX.cpp
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@@ -65,6 +65,7 @@ struct ScenePhysX
PxCpuDispatcher* CpuDispatcher = nullptr;
PxControllerManager* ControllerManager = nullptr;
void* ScratchMemory = nullptr;
Vector3 Origin = Vector3::Zero;
float LastDeltaTime = 0.0f;
FixedStepper Stepper;
SimulationEventCallback EventsCallback;
@@ -303,7 +304,8 @@ protected:
DynamicHitBuffer<PxOverlapHit> buffer
#define SCENE_QUERY_COLLECT_SINGLE() const auto& hit = buffer.getAnyHit(0); \
P2C(hit, hitInfo)
P2C(hit, hitInfo); \
hitInfo.Point += scenePhysX->Origin
#define SCENE_QUERY_COLLECT_ALL() results.Clear(); \
results.Resize(buffer.getNbAnyHits(), false); \
@@ -311,6 +313,7 @@ protected:
{ \
const auto& hit = buffer.getAnyHit(i); \
P2C(hit, results[i]); \
results[i].Point += scenePhysX->Origin; \
}
#define SCENE_QUERY_COLLECT_OVERLAP() results.Clear(); \
@@ -348,6 +351,7 @@ namespace
QueryFilterPhysX QueryFilter;
CharacterQueryFilterPhysX CharacterQueryFilter;
CharacterControllerFilterPhysX CharacterControllerFilter;
Dictionary<PxScene*, Vector3, InlinedAllocation<32>> SceneOrigins;
CriticalSection FlushLocker;
Array<PxBase*> DeleteObjects;
@@ -721,6 +725,9 @@ bool PhysicsBackend::Init()
// Create default material
DefaultMaterial = PhysX->createMaterial(0.7f, 0.7f, 0.3f);
// Return origin 0,0,0 for invalid/null scenes
SceneOrigins.Add((PxScene*)nullptr, Vector3::Zero);
return false;
}
@@ -772,6 +779,7 @@ void PhysicsBackend::Shutdown()
RELEASE_PHYSX(PVD);
#endif
RELEASE_PHYSX(Foundation);
SceneOrigins.Clear();
}
void PhysicsBackend::ApplySettings(const PhysicsSettings& settings)
@@ -825,6 +833,7 @@ void* PhysicsBackend::CreateScene(const PhysicsSettings& settings)
// Create scene
scenePhysX->Scene = PhysX->createScene(sceneDesc);
CHECK_INIT(scenePhysX->Scene, "createScene failed!");
SceneOrigins[scenePhysX->Scene] = Vector3::Zero;
#if WITH_PVD
auto pvdClient = scenePhysX->Scene->getScenePvdClient();
if (pvdClient)
@@ -852,6 +861,7 @@ void PhysicsBackend::DestroyScene(void* scene)
FlushRequests(scene);
// Release resources
SceneOrigins.Remove(scenePhysX->Scene);
#if WITH_VEHICLE
RELEASE_PHYSX(scenePhysX->WheelRaycastBatchQuery);
#endif
@@ -1182,15 +1192,15 @@ void PhysicsBackend::EndSimulateScene(void* scene)
auto& state = wheelData.State;
state.IsInAir = perWheel.isInAir;
state.TireContactCollider = perWheel.tireContactShape ? static_cast<PhysicsColliderActor*>(perWheel.tireContactShape->userData) : nullptr;
state.TireContactPoint = P2C(perWheel.tireContactPoint);
state.TireContactPoint = P2C(perWheel.tireContactPoint) + scenePhysX->Origin;
state.TireContactNormal = P2C(perWheel.tireContactNormal);
state.TireFriction = perWheel.tireFriction;
state.SteerAngle = RadiansToDegrees * perWheel.steerAngle;
state.RotationAngle = -RadiansToDegrees * drive->mWheelsDynData.getWheelRotationAngle(j);
state.SuspensionOffset = perWheel.suspJounce;
#if USE_EDITOR
state.SuspensionTraceStart = P2C(perWheel.suspLineStart);
state.SuspensionTraceEnd = P2C(perWheel.suspLineStart + perWheel.suspLineDir * perWheel.suspLineLength);
state.SuspensionTraceStart = P2C(perWheel.suspLineStart) + scenePhysX->Origin;
state.SuspensionTraceEnd = P2C(perWheel.suspLineStart + perWheel.suspLineDir * perWheel.suspLineLength) + scenePhysX->Origin;
#endif
if (!wheelData.Collider)
@@ -1274,6 +1284,26 @@ void PhysicsBackend::SetSceneBounceThresholdVelocity(void* scene, float value)
scenePhysX->Scene->setBounceThresholdVelocity(value);
}
void PhysicsBackend::SetSceneOrigin(void* scene, const Vector3& oldOrigin, const Vector3& newOrigin)
{
auto scenePhysX = (ScenePhysX*)scene;
const PxVec3 shift = C2P(newOrigin - oldOrigin);
scenePhysX->Origin = newOrigin;
scenePhysX->Scene->shiftOrigin(shift);
scenePhysX->ControllerManager->shiftOrigin(shift);
WheelVehiclesCache.Clear();
for (auto wheelVehicle : scenePhysX->WheelVehicles)
{
if (!wheelVehicle->IsActiveInHierarchy())
continue;
auto drive = (PxVehicleWheels*)wheelVehicle->_vehicle;
ASSERT(drive);
WheelVehiclesCache.Add(drive);
}
PxVehicleShiftOrigin(shift, WheelVehiclesCache.Count(), WheelVehiclesCache.Get());
SceneOrigins[scenePhysX->Scene] = newOrigin;
}
void PhysicsBackend::AddSceneActor(void* scene, void* actor)
{
auto scenePhysX = (ScenePhysX*)scene;
@@ -1304,14 +1334,14 @@ bool PhysicsBackend::RayCast(void* scene, const Vector3& origin, const Vector3&
{
SCENE_QUERY_SETUP(true);
PxRaycastBuffer buffer;
return scenePhysX->Scene->raycast(C2P(origin), C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter);
return scenePhysX->Scene->raycast(C2P(origin - scenePhysX->Origin), C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter);
}
bool PhysicsBackend::RayCast(void* scene, const Vector3& origin, const Vector3& direction, RayCastHit& hitInfo, const float maxDistance, uint32 layerMask, bool hitTriggers)
{
SCENE_QUERY_SETUP(true);
PxRaycastBuffer buffer;
if (!scenePhysX->Scene->raycast(C2P(origin), C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter))
if (!scenePhysX->Scene->raycast(C2P(origin - scenePhysX->Origin), C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter))
return false;
SCENE_QUERY_COLLECT_SINGLE();
return true;
@@ -1321,7 +1351,7 @@ bool PhysicsBackend::RayCastAll(void* scene, const Vector3& origin, const Vector
{
SCENE_QUERY_SETUP(false);
DynamicHitBuffer<PxRaycastHit> buffer;
if (!scenePhysX->Scene->raycast(C2P(origin), C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter))
if (!scenePhysX->Scene->raycast(C2P(origin - scenePhysX->Origin), C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter))
return false;
SCENE_QUERY_COLLECT_ALL();
return true;
@@ -1330,7 +1360,7 @@ bool PhysicsBackend::RayCastAll(void* scene, const Vector3& origin, const Vector
bool PhysicsBackend::BoxCast(void* scene, const Vector3& center, const Vector3& halfExtents, const Vector3& direction, const Quaternion& rotation, const float maxDistance, uint32 layerMask, bool hitTriggers)
{
SCENE_QUERY_SETUP_SWEEP_1();
const PxTransform pose(C2P(center), C2P(rotation));
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxBoxGeometry geometry(C2P(halfExtents));
return scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter);
}
@@ -1338,7 +1368,7 @@ bool PhysicsBackend::BoxCast(void* scene, const Vector3& center, const Vector3&
bool PhysicsBackend::BoxCast(void* scene, const Vector3& center, const Vector3& halfExtents, const Vector3& direction, RayCastHit& hitInfo, const Quaternion& rotation, const float maxDistance, uint32 layerMask, bool hitTriggers)
{
SCENE_QUERY_SETUP_SWEEP_1();
const PxTransform pose(C2P(center), C2P(rotation));
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxBoxGeometry geometry(C2P(halfExtents));
if (!scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter))
return false;
@@ -1349,7 +1379,7 @@ bool PhysicsBackend::BoxCast(void* scene, const Vector3& center, const Vector3&
bool PhysicsBackend::BoxCastAll(void* scene, const Vector3& center, const Vector3& halfExtents, const Vector3& direction, Array<RayCastHit>& results, const Quaternion& rotation, const float maxDistance, uint32 layerMask, bool hitTriggers)
{
SCENE_QUERY_SETUP_SWEEP();
const PxTransform pose(C2P(center), C2P(rotation));
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxBoxGeometry geometry(C2P(halfExtents));
if (!scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter))
return false;
@@ -1360,7 +1390,7 @@ bool PhysicsBackend::BoxCastAll(void* scene, const Vector3& center, const Vector
bool PhysicsBackend::SphereCast(void* scene, const Vector3& center, const float radius, const Vector3& direction, const float maxDistance, uint32 layerMask, bool hitTriggers)
{
SCENE_QUERY_SETUP_SWEEP_1();
const PxTransform pose(C2P(center));
const PxTransform pose(C2P(center - scenePhysX->Origin));
const PxSphereGeometry geometry(radius);
return scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter);
}
@@ -1368,7 +1398,7 @@ bool PhysicsBackend::SphereCast(void* scene, const Vector3& center, const float
bool PhysicsBackend::SphereCast(void* scene, const Vector3& center, const float radius, const Vector3& direction, RayCastHit& hitInfo, const float maxDistance, uint32 layerMask, bool hitTriggers)
{
SCENE_QUERY_SETUP_SWEEP_1();
const PxTransform pose(C2P(center));
const PxTransform pose(C2P(center - scenePhysX->Origin));
const PxSphereGeometry geometry(radius);
if (!scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter))
return false;
@@ -1379,7 +1409,7 @@ bool PhysicsBackend::SphereCast(void* scene, const Vector3& center, const float
bool PhysicsBackend::SphereCastAll(void* scene, const Vector3& center, const float radius, const Vector3& direction, Array<RayCastHit>& results, const float maxDistance, uint32 layerMask, bool hitTriggers)
{
SCENE_QUERY_SETUP_SWEEP();
const PxTransform pose(C2P(center));
const PxTransform pose(C2P(center - scenePhysX->Origin));
const PxSphereGeometry geometry(radius);
if (!scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter))
return false;
@@ -1390,7 +1420,7 @@ bool PhysicsBackend::SphereCastAll(void* scene, const Vector3& center, const flo
bool PhysicsBackend::CapsuleCast(void* scene, const Vector3& center, const float radius, const float height, const Vector3& direction, const Quaternion& rotation, const float maxDistance, uint32 layerMask, bool hitTriggers)
{
SCENE_QUERY_SETUP_SWEEP_1();
const PxTransform pose(C2P(center), C2P(rotation));
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxCapsuleGeometry geometry(radius, height * 0.5f);
return scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter);
}
@@ -1398,7 +1428,7 @@ bool PhysicsBackend::CapsuleCast(void* scene, const Vector3& center, const float
bool PhysicsBackend::CapsuleCast(void* scene, const Vector3& center, const float radius, const float height, const Vector3& direction, RayCastHit& hitInfo, const Quaternion& rotation, const float maxDistance, uint32 layerMask, bool hitTriggers)
{
SCENE_QUERY_SETUP_SWEEP_1();
const PxTransform pose(C2P(center), C2P(rotation));
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxCapsuleGeometry geometry(radius, height * 0.5f);
if (!scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter))
return false;
@@ -1409,7 +1439,7 @@ bool PhysicsBackend::CapsuleCast(void* scene, const Vector3& center, const float
bool PhysicsBackend::CapsuleCastAll(void* scene, const Vector3& center, const float radius, const float height, const Vector3& direction, Array<RayCastHit>& results, const Quaternion& rotation, const float maxDistance, uint32 layerMask, bool hitTriggers)
{
SCENE_QUERY_SETUP_SWEEP();
const PxTransform pose(C2P(center), C2P(rotation));
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxCapsuleGeometry geometry(radius, height * 0.5f);
if (!scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter))
return false;
@@ -1421,7 +1451,7 @@ bool PhysicsBackend::ConvexCast(void* scene, const Vector3& center, const Collis
{
CHECK_RETURN(convexMesh && convexMesh->GetOptions().Type == CollisionDataType::ConvexMesh, false)
SCENE_QUERY_SETUP_SWEEP_1();
const PxTransform pose(C2P(center), C2P(rotation));
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxConvexMeshGeometry geometry((PxConvexMesh*)convexMesh->GetConvex(), PxMeshScale(C2P(scale)));
return scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter);
}
@@ -1430,7 +1460,7 @@ bool PhysicsBackend::ConvexCast(void* scene, const Vector3& center, const Collis
{
CHECK_RETURN(convexMesh && convexMesh->GetOptions().Type == CollisionDataType::ConvexMesh, false)
SCENE_QUERY_SETUP_SWEEP_1();
const PxTransform pose(C2P(center), C2P(rotation));
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxConvexMeshGeometry geometry((PxConvexMesh*)convexMesh->GetConvex(), PxMeshScale(C2P(scale)));
if (!scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter))
return false;
@@ -1442,7 +1472,7 @@ bool PhysicsBackend::ConvexCastAll(void* scene, const Vector3& center, const Col
{
CHECK_RETURN(convexMesh && convexMesh->GetOptions().Type == CollisionDataType::ConvexMesh, false)
SCENE_QUERY_SETUP_SWEEP();
const PxTransform pose(C2P(center), C2P(rotation));
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxConvexMeshGeometry geometry((PxConvexMesh*)convexMesh->GetConvex(), PxMeshScale(C2P(scale)));
if (!scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter))
return false;
@@ -1453,7 +1483,7 @@ bool PhysicsBackend::ConvexCastAll(void* scene, const Vector3& center, const Col
bool PhysicsBackend::CheckBox(void* scene, const Vector3& center, const Vector3& halfExtents, const Quaternion& rotation, uint32 layerMask, bool hitTriggers)
{
SCENE_QUERY_SETUP_OVERLAP_1();
const PxTransform pose(C2P(center), C2P(rotation));
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxBoxGeometry geometry(C2P(halfExtents));
return scenePhysX->Scene->overlap(geometry, pose, buffer, filterData, &QueryFilter);
}
@@ -1461,7 +1491,7 @@ bool PhysicsBackend::CheckBox(void* scene, const Vector3& center, const Vector3&
bool PhysicsBackend::CheckSphere(void* scene, const Vector3& center, const float radius, uint32 layerMask, bool hitTriggers)
{
SCENE_QUERY_SETUP_OVERLAP_1();
const PxTransform pose(C2P(center));
const PxTransform pose(C2P(center - scenePhysX->Origin));
const PxSphereGeometry geometry(radius);
return scenePhysX->Scene->overlap(geometry, pose, buffer, filterData, &QueryFilter);
}
@@ -1469,7 +1499,7 @@ bool PhysicsBackend::CheckSphere(void* scene, const Vector3& center, const float
bool PhysicsBackend::CheckCapsule(void* scene, const Vector3& center, const float radius, const float height, const Quaternion& rotation, uint32 layerMask, bool hitTriggers)
{
SCENE_QUERY_SETUP_OVERLAP_1();
const PxTransform pose(C2P(center), C2P(rotation));
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxCapsuleGeometry geometry(radius, height * 0.5f);
return scenePhysX->Scene->overlap(geometry, pose, buffer, filterData, &QueryFilter);
}
@@ -1478,7 +1508,7 @@ bool PhysicsBackend::CheckConvex(void* scene, const Vector3& center, const Colli
{
CHECK_RETURN(convexMesh && convexMesh->GetOptions().Type == CollisionDataType::ConvexMesh, false)
SCENE_QUERY_SETUP_OVERLAP_1();
const PxTransform pose(C2P(center), C2P(rotation));
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxConvexMeshGeometry geometry((PxConvexMesh*)convexMesh->GetConvex(), PxMeshScale(C2P(scale)));
return scenePhysX->Scene->overlap(geometry, pose, buffer, filterData, &QueryFilter);
}
@@ -1486,7 +1516,7 @@ bool PhysicsBackend::CheckConvex(void* scene, const Vector3& center, const Colli
bool PhysicsBackend::OverlapBox(void* scene, const Vector3& center, const Vector3& halfExtents, Array<Collider*>& results, const Quaternion& rotation, uint32 layerMask, bool hitTriggers)
{
SCENE_QUERY_SETUP_OVERLAP();
const PxTransform pose(C2P(center), C2P(rotation));
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxBoxGeometry geometry(C2P(halfExtents));
if (!scenePhysX->Scene->overlap(geometry, pose, buffer, filterData, &QueryFilter))
return false;
@@ -1497,7 +1527,7 @@ bool PhysicsBackend::OverlapBox(void* scene, const Vector3& center, const Vector
bool PhysicsBackend::OverlapSphere(void* scene, const Vector3& center, const float radius, Array<Collider*>& results, uint32 layerMask, bool hitTriggers)
{
SCENE_QUERY_SETUP_OVERLAP();
const PxTransform pose(C2P(center));
const PxTransform pose(C2P(center - scenePhysX->Origin));
const PxSphereGeometry geometry(radius);
if (!scenePhysX->Scene->overlap(geometry, pose, buffer, filterData, &QueryFilter))
return false;
@@ -1508,7 +1538,7 @@ bool PhysicsBackend::OverlapSphere(void* scene, const Vector3& center, const flo
bool PhysicsBackend::OverlapCapsule(void* scene, const Vector3& center, const float radius, const float height, Array<Collider*>& results, const Quaternion& rotation, uint32 layerMask, bool hitTriggers)
{
SCENE_QUERY_SETUP_OVERLAP();
const PxTransform pose(C2P(center), C2P(rotation));
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxCapsuleGeometry geometry(radius, height * 0.5f);
if (!scenePhysX->Scene->overlap(geometry, pose, buffer, filterData, &QueryFilter))
return false;
@@ -1520,7 +1550,7 @@ bool PhysicsBackend::OverlapConvex(void* scene, const Vector3& center, const Col
{
CHECK_RETURN(convexMesh && convexMesh->GetOptions().Type == CollisionDataType::ConvexMesh, false)
SCENE_QUERY_SETUP_OVERLAP();
const PxTransform pose(C2P(center), C2P(rotation));
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxConvexMeshGeometry geometry((PxConvexMesh*)convexMesh->GetConvex(), PxMeshScale(C2P(scale)));
if (!scenePhysX->Scene->overlap(geometry, pose, buffer, filterData, &QueryFilter))
return false;
@@ -1531,7 +1561,7 @@ bool PhysicsBackend::OverlapConvex(void* scene, const Vector3& center, const Col
bool PhysicsBackend::OverlapBox(void* scene, const Vector3& center, const Vector3& halfExtents, Array<PhysicsColliderActor*>& results, const Quaternion& rotation, uint32 layerMask, bool hitTriggers)
{
SCENE_QUERY_SETUP_OVERLAP();
const PxTransform pose(C2P(center), C2P(rotation));
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxBoxGeometry geometry(C2P(halfExtents));
if (!scenePhysX->Scene->overlap(geometry, pose, buffer, filterData, &QueryFilter))
return false;
@@ -1542,7 +1572,7 @@ bool PhysicsBackend::OverlapBox(void* scene, const Vector3& center, const Vector
bool PhysicsBackend::OverlapSphere(void* scene, const Vector3& center, const float radius, Array<PhysicsColliderActor*>& results, uint32 layerMask, bool hitTriggers)
{
SCENE_QUERY_SETUP_OVERLAP();
const PxTransform pose(C2P(center));
const PxTransform pose(C2P(center - scenePhysX->Origin));
const PxSphereGeometry geometry(radius);
if (!scenePhysX->Scene->overlap(geometry, pose, buffer, filterData, &QueryFilter))
return false;
@@ -1553,7 +1583,7 @@ bool PhysicsBackend::OverlapSphere(void* scene, const Vector3& center, const flo
bool PhysicsBackend::OverlapCapsule(void* scene, const Vector3& center, const float radius, const float height, Array<PhysicsColliderActor*>& results, const Quaternion& rotation, uint32 layerMask, bool hitTriggers)
{
SCENE_QUERY_SETUP_OVERLAP();
const PxTransform pose(C2P(center), C2P(rotation));
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxCapsuleGeometry geometry(radius, height * 0.5f);
if (!scenePhysX->Scene->overlap(geometry, pose, buffer, filterData, &QueryFilter))
return false;
@@ -1565,7 +1595,7 @@ bool PhysicsBackend::OverlapConvex(void* scene, const Vector3& center, const Col
{
CHECK_RETURN(convexMesh && convexMesh->GetOptions().Type == CollisionDataType::ConvexMesh, false)
SCENE_QUERY_SETUP_OVERLAP();
const PxTransform pose(C2P(center), C2P(rotation));
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxConvexMeshGeometry geometry((PxConvexMesh*)convexMesh->GetConvex(), PxMeshScale(C2P(scale)));
if (!scenePhysX->Scene->overlap(geometry, pose, buffer, filterData, &QueryFilter))
return false;
@@ -1604,6 +1634,9 @@ void PhysicsBackend::GetActorBounds(void* actor, BoundingBox& bounds)
auto actorPhysX = (PxActor*)actor;
const float boundsScale = 1.02f;
bounds = P2C(actorPhysX->getWorldBounds(boundsScale));
const Vector3 sceneOrigin = SceneOrigins[actorPhysX->getScene()];
bounds.Minimum += sceneOrigin;
bounds.Maximum += sceneOrigin;
}
int32 PhysicsBackend::GetRigidActorShapesCount(void* actor)
@@ -1612,9 +1645,10 @@ int32 PhysicsBackend::GetRigidActorShapesCount(void* actor)
return actorPhysX->getNbShapes();
}
void* PhysicsBackend::CreateRigidDynamicActor(IPhysicsActor* actor, const Vector3& position, const Quaternion& orientation)
void* PhysicsBackend::CreateRigidDynamicActor(IPhysicsActor* actor, const Vector3& position, const Quaternion& orientation, void* scene)
{
const PxTransform trans(C2P(position), C2P(orientation));
const Vector3 sceneOrigin = SceneOrigins[scene ? ( (ScenePhysX*)scene)->Scene : nullptr];
const PxTransform trans(C2P(position - sceneOrigin), C2P(orientation));
PxRigidDynamic* actorPhysX = PhysX->createRigidDynamic(trans);
actorPhysX->userData = actor;
#if PHYSX_DEBUG_NAMING
@@ -1626,9 +1660,10 @@ void* PhysicsBackend::CreateRigidDynamicActor(IPhysicsActor* actor, const Vector
return actorPhysX;
}
void* PhysicsBackend::CreateRigidStaticActor(IPhysicsActor* actor, const Vector3& position, const Quaternion& orientation)
void* PhysicsBackend::CreateRigidStaticActor(IPhysicsActor* actor, const Vector3& position, const Quaternion& orientation, void* scene)
{
const PxTransform trans(C2P(position), C2P(orientation));
const Vector3 sceneOrigin = SceneOrigins[scene ? ( (ScenePhysX*)scene)->Scene : nullptr];
const PxTransform trans(C2P(position - sceneOrigin), C2P(orientation));
PxRigidStatic* actorPhysX = PhysX->createRigidStatic(trans);
actorPhysX->userData = actor;
#if PHYSX_DEBUG_NAMING
@@ -1667,13 +1702,15 @@ void PhysicsBackend::GetRigidActorPose(void* actor, Vector3& position, Quaternio
{
auto actorPhysX = (PxRigidActor*)actor;
auto pose = actorPhysX->getGlobalPose();
position = P2C(pose.p);
const Vector3 sceneOrigin = SceneOrigins[actorPhysX->getScene()];
position = P2C(pose.p) + sceneOrigin;
orientation = P2C(pose.q);
}
void PhysicsBackend::SetRigidActorPose(void* actor, const Vector3& position, const Quaternion& orientation, bool kinematic, bool wakeUp)
{
const PxTransform trans(C2P(position), C2P(orientation));
const Vector3 sceneOrigin = SceneOrigins[((PxActor*)actor)->getScene()];
const PxTransform trans(C2P(position - sceneOrigin), C2P(orientation));
if (kinematic)
{
auto actorPhysX = (PxRigidDynamic*)actor;
@@ -1852,7 +1889,8 @@ void PhysicsBackend::AddRigidDynamicActorForce(void* actor, const Vector3& force
void PhysicsBackend::AddRigidDynamicActorForceAtPosition(void* actor, const Vector3& force, const Vector3& position, ForceMode mode)
{
auto actorPhysX = (PxRigidDynamic*)actor;
PxRigidBodyExt::addForceAtPos(*actorPhysX, C2P(force), C2P(position), static_cast<PxForceMode::Enum>(mode));
const Vector3 sceneOrigin = SceneOrigins[actorPhysX->getScene()];
PxRigidBodyExt::addForceAtPos(*actorPhysX, C2P(force), C2P(position - sceneOrigin), static_cast<PxForceMode::Enum>(mode));
}
void PhysicsBackend::AddRigidDynamicActorTorque(void* actor, const Vector3& torque, ForceMode mode)
@@ -1907,7 +1945,8 @@ void PhysicsBackend::GetShapePose(void* shape, Vector3& position, Quaternion& or
auto shapePhysX = (PxShape*)shape;
PxRigidActor* actorPhysX = shapePhysX->getActor();
PxTransform pose = actorPhysX->getGlobalPose().transform(shapePhysX->getLocalPose());
position = P2C(pose.p);
const Vector3 sceneOrigin = SceneOrigins[actorPhysX->getScene()];
position = P2C(pose.p) + sceneOrigin;
orientation = P2C(pose.q);
}
@@ -2015,10 +2054,11 @@ float PhysicsBackend::ComputeShapeSqrDistanceToPoint(void* shape, const Vector3&
bool PhysicsBackend::RayCastShape(void* shape, const Vector3& position, const Quaternion& orientation, const Vector3& origin, const Vector3& direction, float& resultHitDistance, float maxDistance)
{
auto shapePhysX = (PxShape*)shape;
const PxTransform trans(C2P(position), C2P(orientation));
const Vector3 sceneOrigin = SceneOrigins[shapePhysX->getActor() ? shapePhysX->getActor()->getScene() : nullptr];
const PxTransform trans(C2P(position - sceneOrigin), C2P(orientation));
const PxHitFlags hitFlags = (PxHitFlags)0;
PxRaycastHit hit;
if (PxGeometryQuery::raycast(C2P(origin), C2P(direction), shapePhysX->getGeometry().any(), trans, maxDistance, hitFlags, 1, &hit) != 0)
if (PxGeometryQuery::raycast(C2P(origin - sceneOrigin), C2P(direction), shapePhysX->getGeometry().any(), trans, maxDistance, hitFlags, 1, &hit) != 0)
{
resultHitDistance = hit.distance;
return true;
@@ -2029,12 +2069,14 @@ bool PhysicsBackend::RayCastShape(void* shape, const Vector3& position, const Qu
bool PhysicsBackend::RayCastShape(void* shape, const Vector3& position, const Quaternion& orientation, const Vector3& origin, const Vector3& direction, RayCastHit& hitInfo, float maxDistance)
{
auto shapePhysX = (PxShape*)shape;
const PxTransform trans(C2P(position), C2P(orientation));
const Vector3 sceneOrigin = SceneOrigins[shapePhysX->getActor() ? shapePhysX->getActor()->getScene() : nullptr];
const PxTransform trans(C2P(position - sceneOrigin), C2P(orientation));
const PxHitFlags hitFlags = PxHitFlag::ePOSITION | PxHitFlag::eNORMAL | PxHitFlag::eFACE_INDEX | PxHitFlag::eUV;
PxRaycastHit hit;
if (PxGeometryQuery::raycast(C2P(origin), C2P(direction), shapePhysX->getGeometry().any(), trans, maxDistance, hitFlags, 1, &hit) == 0)
if (PxGeometryQuery::raycast(C2P(origin - sceneOrigin), C2P(direction), shapePhysX->getGeometry().any(), trans, maxDistance, hitFlags, 1, &hit) == 0)
return false;
P2C(hit, hitInfo);
hitInfo.Point += sceneOrigin;
return true;
}
@@ -2390,10 +2432,11 @@ float PhysicsBackend::GetD6JointSwingZ(void* joint)
void* PhysicsBackend::CreateController(void* scene, IPhysicsActor* actor, PhysicsColliderActor* collider, float contactOffset, const Vector3& position, float slopeLimit, int32 nonWalkableMode, JsonAsset* material, float radius, float height, float stepOffset, void*& shape)
{
auto scenePhysX = (ScenePhysX*)scene;
const Vector3 sceneOrigin = SceneOrigins[scenePhysX->Scene];
PxCapsuleControllerDesc desc;
desc.userData = actor;
desc.contactOffset = Math::Max(contactOffset, ZeroTolerance);
desc.position = PxExtendedVec3(position.X, position.Y, position.Z);
desc.position = PxExtendedVec3(position.X - sceneOrigin.X, position.Y - sceneOrigin.Y, position.Z - sceneOrigin.Z);
desc.slopeLimit = Math::Cos(slopeLimit * DegreesToRadians);
desc.nonWalkableMode = static_cast<PxControllerNonWalkableMode::Enum>(nonWalkableMode);
desc.climbingMode = PxCapsuleClimbingMode::eEASY;
@@ -2465,13 +2508,15 @@ void PhysicsBackend::SetControllerUpDirection(void* controller, const Vector3& v
Vector3 PhysicsBackend::GetControllerPosition(void* controller)
{
auto controllerPhysX = (PxCapsuleController*)controller;
return P2C(controllerPhysX->getPosition());
const Vector3 origin = SceneOrigins[controllerPhysX->getScene()];
return P2C(controllerPhysX->getPosition()) + origin;
}
void PhysicsBackend::SetControllerPosition(void* controller, const Vector3& value)
{
auto controllerPhysX = (PxCapsuleController*)controller;
controllerPhysX->setPosition(PxExtendedVec3(value.X, value.Y, value.Z));
const Vector3 sceneOrigin = SceneOrigins[controllerPhysX->getScene()];
controllerPhysX->setPosition(PxExtendedVec3(value.X - sceneOrigin.X, value.Y - sceneOrigin.Y, value.Z - sceneOrigin.Z));
}
int32 PhysicsBackend::MoveController(void* controller, void* shape, const Vector3& displacement, float minMoveDistance, float deltaTime)