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Fix WheeledVehicle driving in Drive4W mode when wheels are in custom order

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#1352
This commit is contained in:
Wojtek Figat
2023-09-01 13:43:36 +02:00
parent 5a8944a82d
commit 36dca16991
1 changed files with 15 additions and 5 deletions
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20
Source/Engine/Physics/PhysX/PhysicsBackendPhysX.cpp
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@@ -29,6 +29,7 @@
#include <ThirdParty/PhysX/extensions/PxFixedJoint.h>
#include <ThirdParty/PhysX/extensions/PxSphericalJoint.h>
#if WITH_VEHICLE
#include "Engine/Core/Collections/Sorting.h"
#include "Engine/Physics/Actors/WheeledVehicle.h"
#include <ThirdParty/PhysX/vehicle/PxVehicleSDK.h>
#include <ThirdParty/PhysX/vehicle/PxVehicleUpdate.h>
@@ -2630,8 +2631,20 @@ int32 PhysicsBackend::MoveController(void* controller, void* shape, const Vector
#if WITH_VEHICLE
bool SortWheels(WheeledVehicle::Wheel const& a, WheeledVehicle::Wheel const& b)
{
return (int32)a.Type < (int32)b.Type;
}
void* PhysicsBackend::CreateVehicle(WheeledVehicle* actor)
{
// TODO: handle PxVehicleDrive4WWheelOrder internally rather than sorting wheels directly on the vehicle
if (actor->_driveType == WheeledVehicle::DriveTypes::Drive4W)
{
// Drive4W requires wheels to match order from PxVehicleDrive4WWheelOrder enum
Sorting::QuickSort(actor->_wheels.Get(), actor->_wheels.Count(), SortWheels);
}
// Get wheels
Array<WheeledVehicle::Wheel*, FixedAllocation<PX_MAX_NB_WHEELS>> wheels;
for (auto& wheel : actor->_wheels)
@@ -2676,10 +2689,7 @@ void* PhysicsBackend::CreateVehicle(WheeledVehicle* actor)
// Initialize wheels simulation data
PxVec3 offsets[PX_MAX_NB_WHEELS];
for (int32 i = 0; i < wheels.Count(); i++)
{
auto& wheel = *wheels[i];
offsets[i] = C2P(wheel.Collider->GetLocalPosition());
}
offsets[i] = C2P(wheels[i]->Collider->GetLocalPosition());
PxF32 sprungMasses[PX_MAX_NB_WHEELS];
const float mass = actorPhysX->getMass();
// TODO: get gravityDirection from scenePhysX->Scene->getGravity()
@@ -3043,7 +3053,7 @@ void PhysicsBackend::SetVehicleGearbox(void* vehicle, const void* value)
{
auto drive4W = (PxVehicleDrive4W*)drive;
PxVehicleDriveSimData4W& driveSimData = drive4W->mDriveSimData;
// Gears
PxVehicleGearsData gears;
gears.mSwitchTime = Math::Max(gearbox.SwitchTime, 0.0f);