diff --git a/Source/Engine/Physics/Collisions.h b/Source/Engine/Physics/Collisions.h
index 230337bc9..c1a2679a4 100644
--- a/Source/Engine/Physics/Collisions.h
+++ b/Source/Engine/Physics/Collisions.h
@@ -58,9 +58,7 @@ API_STRUCT(NoDefault) struct FLAXENGINE_API Collision
///
/// The total impulse applied to this contact pair to resolve the collision.
///
- ///
- /// The total impulse is obtained by summing up impulses applied at all contact points in this collision pair.
- ///
+ /// The total impulse is obtained by summing up impulses applied at all contact points in this collision pair.
API_FIELD() Vector3 Impulse;
///
@@ -87,9 +85,7 @@ public:
///
/// Gets the relative linear velocity of the two colliding objects.
///
- ///
- /// Can be used to detect stronger collisions.
- ///
+ /// Can be used to detect stronger collisions.
Vector3 GetRelativeVelocity() const
{
return ThisVelocity - OtherVelocity;
diff --git a/Source/Engine/Physics/PhysX/PhysicsBackendPhysX.cpp b/Source/Engine/Physics/PhysX/PhysicsBackendPhysX.cpp
index 99a5abc56..f3e7baed1 100644
--- a/Source/Engine/Physics/PhysX/PhysicsBackendPhysX.cpp
+++ b/Source/Engine/Physics/PhysX/PhysicsBackendPhysX.cpp
@@ -228,9 +228,7 @@ class QueryFilterPhysX : public PxQueryFilterCallback
// Check mask
const PxFilterData shapeFilter = shape->getQueryFilterData();
if ((filterData.word0 & shapeFilter.word0) == 0)
- {
return PxQueryHitType::eNONE;
- }
// Check if skip triggers
const bool hitTriggers = filterData.word2 != 0;
@@ -483,8 +481,10 @@ protected:
}
};
+#define PxHitFlagEmpty (PxHitFlags)0
+#define SCENE_QUERY_FLAGS (PxHitFlag::ePOSITION | PxHitFlag::eNORMAL | PxHitFlag::eFACE_INDEX | PxHitFlag::eUV)
+
#define SCENE_QUERY_SETUP(blockSingle) auto scenePhysX = (ScenePhysX*)scene; if (scene == nullptr) return false; \
- const PxHitFlags hitFlags = PxHitFlag::ePOSITION | PxHitFlag::eNORMAL | PxHitFlag::eUV; \
PxQueryFilterData filterData; \
filterData.flags |= PxQueryFlag::ePREFILTER; \
filterData.data.word0 = layerMask; \
@@ -1735,8 +1735,6 @@ void PhysicsBackend::EndSimulateScene(void* scene)
{
PROFILE_CPU_NAMED("Physics.SendEvents");
-
- scenePhysX->EventsCallback.CollectResults();
scenePhysX->EventsCallback.SendTriggerEvents();
scenePhysX->EventsCallback.SendCollisionEvents();
scenePhysX->EventsCallback.SendJointEvents();
@@ -1880,14 +1878,14 @@ bool PhysicsBackend::RayCast(void* scene, const Vector3& origin, const Vector3&
{
SCENE_QUERY_SETUP(true);
PxRaycastBuffer buffer;
- return scenePhysX->Scene->raycast(C2P(origin - scenePhysX->Origin), C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter);
+ return scenePhysX->Scene->raycast(C2P(origin - scenePhysX->Origin), C2P(direction), maxDistance, buffer, PxHitFlagEmpty, 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 - scenePhysX->Origin), C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter))
+ if (!scenePhysX->Scene->raycast(C2P(origin - scenePhysX->Origin), C2P(direction), maxDistance, buffer, SCENE_QUERY_FLAGS, filterData, &QueryFilter))
return false;
SCENE_QUERY_COLLECT_SINGLE();
return true;
@@ -1897,7 +1895,7 @@ bool PhysicsBackend::RayCastAll(void* scene, const Vector3& origin, const Vector
{
SCENE_QUERY_SETUP(false);
DynamicHitBuffer buffer;
- if (!scenePhysX->Scene->raycast(C2P(origin - scenePhysX->Origin), C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter))
+ if (!scenePhysX->Scene->raycast(C2P(origin - scenePhysX->Origin), C2P(direction), maxDistance, buffer, SCENE_QUERY_FLAGS, filterData, &QueryFilter))
return false;
SCENE_QUERY_COLLECT_ALL();
return true;
@@ -1908,7 +1906,7 @@ bool PhysicsBackend::BoxCast(void* scene, const Vector3& center, const Vector3&
SCENE_QUERY_SETUP_SWEEP_1();
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);
+ return scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, PxHitFlagEmpty, filterData, &QueryFilter);
}
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)
@@ -1916,7 +1914,7 @@ bool PhysicsBackend::BoxCast(void* scene, const Vector3& center, const Vector3&
SCENE_QUERY_SETUP_SWEEP_1();
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))
+ if (!scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, SCENE_QUERY_FLAGS, filterData, &QueryFilter))
return false;
SCENE_QUERY_COLLECT_SINGLE();
return true;
@@ -1927,7 +1925,7 @@ bool PhysicsBackend::BoxCastAll(void* scene, const Vector3& center, const Vector
SCENE_QUERY_SETUP_SWEEP();
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))
+ if (!scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, SCENE_QUERY_FLAGS, filterData, &QueryFilter))
return false;
SCENE_QUERY_COLLECT_ALL();
return true;
@@ -1938,7 +1936,7 @@ bool PhysicsBackend::SphereCast(void* scene, const Vector3& center, const float
SCENE_QUERY_SETUP_SWEEP_1();
const PxTransform pose(C2P(center - scenePhysX->Origin));
const PxSphereGeometry geometry(radius);
- return scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter);
+ return scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, PxHitFlagEmpty, filterData, &QueryFilter);
}
bool PhysicsBackend::SphereCast(void* scene, const Vector3& center, const float radius, const Vector3& direction, RayCastHit& hitInfo, const float maxDistance, uint32 layerMask, bool hitTriggers)
@@ -1946,7 +1944,7 @@ bool PhysicsBackend::SphereCast(void* scene, const Vector3& center, const float
SCENE_QUERY_SETUP_SWEEP_1();
const PxTransform pose(C2P(center - scenePhysX->Origin));
const PxSphereGeometry geometry(radius);
- if (!scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter))
+ if (!scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, SCENE_QUERY_FLAGS, filterData, &QueryFilter))
return false;
SCENE_QUERY_COLLECT_SINGLE();
return true;
@@ -1957,7 +1955,7 @@ bool PhysicsBackend::SphereCastAll(void* scene, const Vector3& center, const flo
SCENE_QUERY_SETUP_SWEEP();
const PxTransform pose(C2P(center - scenePhysX->Origin));
const PxSphereGeometry geometry(radius);
- if (!scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, hitFlags, filterData, &QueryFilter))
+ if (!scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, SCENE_QUERY_FLAGS, filterData, &QueryFilter))
return false;
SCENE_QUERY_COLLECT_ALL();
return true;
@@ -1968,7 +1966,7 @@ bool PhysicsBackend::CapsuleCast(void* scene, const Vector3& center, const float
SCENE_QUERY_SETUP_SWEEP_1();
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);
+ return scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, PxHitFlagEmpty, filterData, &QueryFilter);
}
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)
@@ -1976,7 +1974,7 @@ bool PhysicsBackend::CapsuleCast(void* scene, const Vector3& center, const float
SCENE_QUERY_SETUP_SWEEP_1();
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))
+ if (!scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, SCENE_QUERY_FLAGS, filterData, &QueryFilter))
return false;
SCENE_QUERY_COLLECT_SINGLE();
return true;
@@ -1987,7 +1985,7 @@ bool PhysicsBackend::CapsuleCastAll(void* scene, const Vector3& center, const fl
SCENE_QUERY_SETUP_SWEEP();
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))
+ if (!scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, SCENE_QUERY_FLAGS, filterData, &QueryFilter))
return false;
SCENE_QUERY_COLLECT_ALL();
return true;
@@ -1999,7 +1997,7 @@ bool PhysicsBackend::ConvexCast(void* scene, const Vector3& center, const Collis
SCENE_QUERY_SETUP_SWEEP_1();
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);
+ return scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, PxHitFlagEmpty, filterData, &QueryFilter);
}
bool PhysicsBackend::ConvexCast(void* scene, const Vector3& center, const CollisionData* convexMesh, const Vector3& scale, const Vector3& direction, RayCastHit& hitInfo, const Quaternion& rotation, const float maxDistance, uint32 layerMask, bool hitTriggers)
@@ -2008,7 +2006,7 @@ bool PhysicsBackend::ConvexCast(void* scene, const Vector3& center, const Collis
SCENE_QUERY_SETUP_SWEEP_1();
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))
+ if (!scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, SCENE_QUERY_FLAGS, filterData, &QueryFilter))
return false;
SCENE_QUERY_COLLECT_SINGLE();
return true;
@@ -2020,7 +2018,7 @@ bool PhysicsBackend::ConvexCastAll(void* scene, const Vector3& center, const Col
SCENE_QUERY_SETUP_SWEEP();
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))
+ if (!scenePhysX->Scene->sweep(geometry, pose, C2P(direction), maxDistance, buffer, SCENE_QUERY_FLAGS, filterData, &QueryFilter))
return false;
SCENE_QUERY_COLLECT_ALL();
return true;
@@ -2608,9 +2606,8 @@ bool PhysicsBackend::RayCastShape(void* shape, const Vector3& position, const Qu
auto shapePhysX = (PxShape*)shape;
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 - sceneOrigin), C2P(direction), shapePhysX->getGeometry(), trans, maxDistance, hitFlags, 1, &hit) != 0)
+ if (PxGeometryQuery::raycast(C2P(origin - sceneOrigin), C2P(direction), shapePhysX->getGeometry(), trans, maxDistance, PxHitFlagEmpty, 1, &hit) != 0)
{
resultHitDistance = hit.distance;
return true;
@@ -2623,9 +2620,8 @@ bool PhysicsBackend::RayCastShape(void* shape, const Vector3& position, const Qu
auto shapePhysX = (PxShape*)shape;
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 - sceneOrigin), C2P(direction), shapePhysX->getGeometry(), trans, maxDistance, hitFlags, 1, &hit) == 0)
+ if (PxGeometryQuery::raycast(C2P(origin - sceneOrigin), C2P(direction), shapePhysX->getGeometry(), trans, maxDistance, SCENE_QUERY_FLAGS, 1, &hit) == 0)
return false;
P2C(hit, hitInfo);
hitInfo.Point += sceneOrigin;
diff --git a/Source/Engine/Physics/PhysX/SimulationEventCallbackPhysX.cpp b/Source/Engine/Physics/PhysX/SimulationEventCallbackPhysX.cpp
index 5781e4641..fc33b0dfe 100644
--- a/Source/Engine/Physics/PhysX/SimulationEventCallbackPhysX.cpp
+++ b/Source/Engine/Physics/PhysX/SimulationEventCallbackPhysX.cpp
@@ -38,10 +38,6 @@ void SimulationEventCallback::Clear()
BrokenJoints.Clear();
}
-void SimulationEventCallback::CollectResults()
-{
-}
-
void SimulationEventCallback::SendCollisionEvents()
{
for (auto& c : RemovedCollisions)
@@ -132,7 +128,6 @@ void SimulationEventCallback::onContact(const PxContactPairHeader& pairHeader, c
//const PxU32 flippedContacts = (pair.flags & PxContactPairFlag::eINTERNAL_CONTACTS_ARE_FLIPPED);
const bool hasImpulses = pair.flags.isSet(PxContactPairFlag::eINTERNAL_HAS_IMPULSES);
const bool hasPostVelocities = !pair.flags.isSet(PxContactPairFlag::eACTOR_PAIR_LOST_TOUCH);
- PxU32 nbContacts = 0;
PxVec3 totalImpulse(0.0f);
c.ThisActor = static_cast(pair.shapes[0]->userData);
@@ -144,29 +139,25 @@ void SimulationEventCallback::onContact(const PxContactPairHeader& pairHeader, c
}
// Extract contact points
+ c.ContactsCount = 0;
while (i.hasNextPatch())
{
i.nextPatch();
- while (i.hasNextContact() && nbContacts < COLLISION_NAX_CONTACT_POINTS)
+ while (i.hasNextContact() && c.ContactsCount < COLLISION_NAX_CONTACT_POINTS)
{
i.nextContact();
-
const PxVec3 point = i.getContactPoint();
const PxVec3 normal = i.getContactNormal();
if (hasImpulses)
- totalImpulse += normal * impulses[nbContacts];
+ totalImpulse += normal * impulses[c.ContactsCount];
- //PxU32 internalFaceIndex0 = flippedContacts ? iter.getFaceIndex1() : iter.getFaceIndex0();
- //PxU32 internalFaceIndex1 = flippedContacts ? iter.getFaceIndex0() : iter.getFaceIndex1();
-
- ContactPoint& contact = c.Contacts[nbContacts];
+ ContactPoint& contact = c.Contacts[c.ContactsCount++];
contact.Point = P2C(point);
contact.Normal = P2C(normal);
contact.Separation = i.getSeparation();
-
- nbContacts++;
}
}
+ c.Impulse = P2C(totalImpulse);
// Extract velocities
c.ThisVelocity = c.OtherVelocity = Vector3::Zero;
@@ -183,9 +174,6 @@ void SimulationEventCallback::onContact(const PxContactPairHeader& pairHeader, c
}
}
- c.ContactsCount = nbContacts;
- c.Impulse = P2C(totalImpulse);
-
if (pair.flags & PxContactPairFlag::eACTOR_PAIR_HAS_FIRST_TOUCH)
{
NewCollisions.Add(c);
diff --git a/Source/Engine/Physics/PhysX/SimulationEventCallbackPhysX.h b/Source/Engine/Physics/PhysX/SimulationEventCallbackPhysX.h
index f9081df66..f10f926eb 100644
--- a/Source/Engine/Physics/PhysX/SimulationEventCallbackPhysX.h
+++ b/Source/Engine/Physics/PhysX/SimulationEventCallbackPhysX.h
@@ -49,11 +49,6 @@ public:
///
void Clear();
- ///
- /// Generates the new/old/removed collisions and a valid trigger pairs.
- ///
- void CollectResults();
-
///
/// Sends the collision events to the managed objects.
///
diff --git a/Source/Engine/Physics/PhysicalMaterial.h b/Source/Engine/Physics/PhysicalMaterial.h
index b9c2e4554..ff27437e8 100644
--- a/Source/Engine/Physics/PhysicalMaterial.h
+++ b/Source/Engine/Physics/PhysicalMaterial.h
@@ -9,7 +9,8 @@
///
/// Physical materials are used to define the response of a physical object when interacting dynamically with the world.
///
-API_CLASS(Attributes = "ContentContextMenu(\"New/Physics/Physical Material\")") class FLAXENGINE_API PhysicalMaterial final : public ISerializable
+API_CLASS(Attributes = "ContentContextMenu(\"New/Physics/Physical Material\")")
+class FLAXENGINE_API PhysicalMaterial final : public ISerializable
{
API_AUTO_SERIALIZATION();
DECLARE_SCRIPTING_TYPE_MINIMAL(PhysicalMaterial);
diff --git a/Source/Engine/Physics/Types.h b/Source/Engine/Physics/Types.h
index ed12f8611..1631f694b 100644
--- a/Source/Engine/Physics/Types.h
+++ b/Source/Engine/Physics/Types.h
@@ -151,17 +151,17 @@ API_STRUCT() struct RayCastHit
///
API_FIELD() float Distance;
+ ///
+ /// The point in the world space where ray hit the collider.
+ ///
+ API_FIELD() Vector3 Point;
+
///
/// The index of the face that was hit. Valid only for convex mesh (polygon index), triangle mesh (triangle index) and height field (triangle index).
///
///
API_FIELD() uint32 FaceIndex;
- ///
- /// The point in the world space where ray hit the collider.
- ///
- API_FIELD() Vector3 Point;
-
///
/// The barycentric coordinates of hit triangle. Valid only for triangle mesh and height field.
///
diff --git a/Source/Engine/Tools/ModelTool/ModelTool.cpp b/Source/Engine/Tools/ModelTool/ModelTool.cpp
index 447301f46..9578f6406 100644
--- a/Source/Engine/Tools/ModelTool/ModelTool.cpp
+++ b/Source/Engine/Tools/ModelTool/ModelTool.cpp
@@ -1431,7 +1431,7 @@ bool ModelTool::ImportModel(const String& path, ModelData& data, Options& option
Transform srcNode = data.Skeleton.Nodes[nodeIndex].LocalTransform;
auto& node = data.Skeleton.Nodes[nodeIndex];
if (auto* channel = animation.GetChannel(node.Name))
- channel->Evaluate(frame, &srcNode, false);
+ channel->Evaluate((float)frame, &srcNode, false);
pose.Nodes[nodeIndex] = srcNode;
}
@@ -1439,7 +1439,7 @@ bool ModelTool::ImportModel(const String& path, ModelData& data, Options& option
key = Float3::Zero;
for (int32 nodeIndex = 0; nodeIndex < nodes; nodeIndex++)
key += pose.GetNodeModelTransformation(data.Skeleton, nodeIndex).Translation;
- key /= nodes;
+ key /= (float)nodes;
}
// Calculate skeleton center of mass movement over the animation frames
@@ -1448,7 +1448,7 @@ bool ModelTool::ImportModel(const String& path, ModelData& data, Options& option
for (int32 frame = 0; frame < frames; frame++)
{
auto& key = rootChannel.Position[frame];
- key.Time = frame;
+ key.Time = (float)frame;
key.Value = centerOfMass[frame] - centerOfMassRefPose;
}
@@ -1494,7 +1494,7 @@ bool ModelTool::ImportModel(const String& path, ModelData& data, Options& option
Transform srcNode = data.Skeleton.Nodes[nodeIndex].LocalTransform;
auto& node = data.Skeleton.Nodes[nodeIndex];
if (auto* channel = animation.GetChannel(node.Name))
- channel->Evaluate(frame, &srcNode, false);
+ channel->Evaluate((float)frame, &srcNode, false);
pose.Nodes[nodeIndex] = srcNode;
}