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Various tweaks

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This commit is contained in:
Wojtek Figat
2024-02-14 18:21:30 +01:00
parent ebcc864b06
commit 42363e411e
7 changed files with 38 additions and 62 deletions
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8
Source/Engine/Physics/Collisions.h
View File

@@ -58,9 +58,7 @@ API_STRUCT(NoDefault) struct FLAXENGINE_API Collision
/// <summary> /// <summary>
/// The total impulse applied to this contact pair to resolve the collision. /// The total impulse applied to this contact pair to resolve the collision.
/// </summary> /// </summary>
/// <remarks> /// <remarks>The total impulse is obtained by summing up impulses applied at all contact points in this collision pair.</remarks>
/// The total impulse is obtained by summing up impulses applied at all contact points in this collision pair.
/// </remarks>
API_FIELD() Vector3 Impulse; API_FIELD() Vector3 Impulse;
/// <summary> /// <summary>
@@ -87,9 +85,7 @@ public:
/// <summary> /// <summary>
/// Gets the relative linear velocity of the two colliding objects. /// Gets the relative linear velocity of the two colliding objects.
/// </summary> /// </summary>
/// <remarks> /// <remarks>Can be used to detect stronger collisions. </remarks>
/// Can be used to detect stronger collisions.
/// </remarks>
Vector3 GetRelativeVelocity() const Vector3 GetRelativeVelocity() const
{ {
return ThisVelocity - OtherVelocity; return ThisVelocity - OtherVelocity;

44
Source/Engine/Physics/PhysX/PhysicsBackendPhysX.cpp
View File

@@ -228,9 +228,7 @@ class QueryFilterPhysX : public PxQueryFilterCallback
// Check mask // Check mask
const PxFilterData shapeFilter = shape->getQueryFilterData(); const PxFilterData shapeFilter = shape->getQueryFilterData();
if ((filterData.word0 & shapeFilter.word0) == 0) if ((filterData.word0 & shapeFilter.word0) == 0)
{
return PxQueryHitType::eNONE; return PxQueryHitType::eNONE;
}
// Check if skip triggers // Check if skip triggers
const bool hitTriggers = filterData.word2 != 0; 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; \ #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; \ PxQueryFilterData filterData; \
filterData.flags |= PxQueryFlag::ePREFILTER; \ filterData.flags |= PxQueryFlag::ePREFILTER; \
filterData.data.word0 = layerMask; \ filterData.data.word0 = layerMask; \
@@ -1735,8 +1735,6 @@ void PhysicsBackend::EndSimulateScene(void* scene)
{ {
PROFILE_CPU_NAMED("Physics.SendEvents"); PROFILE_CPU_NAMED("Physics.SendEvents");
scenePhysX->EventsCallback.CollectResults();
scenePhysX->EventsCallback.SendTriggerEvents(); scenePhysX->EventsCallback.SendTriggerEvents();
scenePhysX->EventsCallback.SendCollisionEvents(); scenePhysX->EventsCallback.SendCollisionEvents();
scenePhysX->EventsCallback.SendJointEvents(); scenePhysX->EventsCallback.SendJointEvents();
@@ -1880,14 +1878,14 @@ bool PhysicsBackend::RayCast(void* scene, const Vector3& origin, const Vector3&
{ {
SCENE_QUERY_SETUP(true); SCENE_QUERY_SETUP(true);
PxRaycastBuffer buffer; 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) bool PhysicsBackend::RayCast(void* scene, const Vector3& origin, const Vector3& direction, RayCastHit& hitInfo, const float maxDistance, uint32 layerMask, bool hitTriggers)
{ {
SCENE_QUERY_SETUP(true); SCENE_QUERY_SETUP(true);
PxRaycastBuffer buffer; 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; return false;
SCENE_QUERY_COLLECT_SINGLE(); SCENE_QUERY_COLLECT_SINGLE();
return true; return true;
@@ -1897,7 +1895,7 @@ bool PhysicsBackend::RayCastAll(void* scene, const Vector3& origin, const Vector
{ {
SCENE_QUERY_SETUP(false); SCENE_QUERY_SETUP(false);
DynamicHitBuffer<PxRaycastHit> buffer; DynamicHitBuffer<PxRaycastHit> 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; return false;
SCENE_QUERY_COLLECT_ALL(); SCENE_QUERY_COLLECT_ALL();
return true; return true;
@@ -1908,7 +1906,7 @@ bool PhysicsBackend::BoxCast(void* scene, const Vector3& center, const Vector3&
SCENE_QUERY_SETUP_SWEEP_1(); SCENE_QUERY_SETUP_SWEEP_1();
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation)); const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxBoxGeometry geometry(C2P(halfExtents)); 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) 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(); SCENE_QUERY_SETUP_SWEEP_1();
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation)); const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxBoxGeometry geometry(C2P(halfExtents)); 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; return false;
SCENE_QUERY_COLLECT_SINGLE(); SCENE_QUERY_COLLECT_SINGLE();
return true; return true;
@@ -1927,7 +1925,7 @@ bool PhysicsBackend::BoxCastAll(void* scene, const Vector3& center, const Vector
SCENE_QUERY_SETUP_SWEEP(); SCENE_QUERY_SETUP_SWEEP();
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation)); const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxBoxGeometry geometry(C2P(halfExtents)); 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; return false;
SCENE_QUERY_COLLECT_ALL(); SCENE_QUERY_COLLECT_ALL();
return true; return true;
@@ -1938,7 +1936,7 @@ bool PhysicsBackend::SphereCast(void* scene, const Vector3& center, const float
SCENE_QUERY_SETUP_SWEEP_1(); SCENE_QUERY_SETUP_SWEEP_1();
const PxTransform pose(C2P(center - scenePhysX->Origin)); const PxTransform pose(C2P(center - scenePhysX->Origin));
const PxSphereGeometry geometry(radius); 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) 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(); SCENE_QUERY_SETUP_SWEEP_1();
const PxTransform pose(C2P(center - scenePhysX->Origin)); const PxTransform pose(C2P(center - scenePhysX->Origin));
const PxSphereGeometry geometry(radius); 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; return false;
SCENE_QUERY_COLLECT_SINGLE(); SCENE_QUERY_COLLECT_SINGLE();
return true; return true;
@@ -1957,7 +1955,7 @@ bool PhysicsBackend::SphereCastAll(void* scene, const Vector3& center, const flo
SCENE_QUERY_SETUP_SWEEP(); SCENE_QUERY_SETUP_SWEEP();
const PxTransform pose(C2P(center - scenePhysX->Origin)); const PxTransform pose(C2P(center - scenePhysX->Origin));
const PxSphereGeometry geometry(radius); 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; return false;
SCENE_QUERY_COLLECT_ALL(); SCENE_QUERY_COLLECT_ALL();
return true; return true;
@@ -1968,7 +1966,7 @@ bool PhysicsBackend::CapsuleCast(void* scene, const Vector3& center, const float
SCENE_QUERY_SETUP_SWEEP_1(); SCENE_QUERY_SETUP_SWEEP_1();
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation)); const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxCapsuleGeometry geometry(radius, height * 0.5f); 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) 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(); SCENE_QUERY_SETUP_SWEEP_1();
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation)); const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxCapsuleGeometry geometry(radius, height * 0.5f); 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; return false;
SCENE_QUERY_COLLECT_SINGLE(); SCENE_QUERY_COLLECT_SINGLE();
return true; return true;
@@ -1987,7 +1985,7 @@ bool PhysicsBackend::CapsuleCastAll(void* scene, const Vector3& center, const fl
SCENE_QUERY_SETUP_SWEEP(); SCENE_QUERY_SETUP_SWEEP();
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation)); const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxCapsuleGeometry geometry(radius, height * 0.5f); 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; return false;
SCENE_QUERY_COLLECT_ALL(); SCENE_QUERY_COLLECT_ALL();
return true; return true;
@@ -1999,7 +1997,7 @@ bool PhysicsBackend::ConvexCast(void* scene, const Vector3& center, const Collis
SCENE_QUERY_SETUP_SWEEP_1(); SCENE_QUERY_SETUP_SWEEP_1();
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation)); const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxConvexMeshGeometry geometry((PxConvexMesh*)convexMesh->GetConvex(), PxMeshScale(C2P(scale))); 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) 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(); SCENE_QUERY_SETUP_SWEEP_1();
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation)); const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxConvexMeshGeometry geometry((PxConvexMesh*)convexMesh->GetConvex(), PxMeshScale(C2P(scale))); 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; return false;
SCENE_QUERY_COLLECT_SINGLE(); SCENE_QUERY_COLLECT_SINGLE();
return true; return true;
@@ -2020,7 +2018,7 @@ bool PhysicsBackend::ConvexCastAll(void* scene, const Vector3& center, const Col
SCENE_QUERY_SETUP_SWEEP(); SCENE_QUERY_SETUP_SWEEP();
const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation)); const PxTransform pose(C2P(center - scenePhysX->Origin), C2P(rotation));
const PxConvexMeshGeometry geometry((PxConvexMesh*)convexMesh->GetConvex(), PxMeshScale(C2P(scale))); 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; return false;
SCENE_QUERY_COLLECT_ALL(); SCENE_QUERY_COLLECT_ALL();
return true; return true;
@@ -2608,9 +2606,8 @@ bool PhysicsBackend::RayCastShape(void* shape, const Vector3& position, const Qu
auto shapePhysX = (PxShape*)shape; auto shapePhysX = (PxShape*)shape;
const Vector3 sceneOrigin = SceneOrigins[shapePhysX->getActor() ? shapePhysX->getActor()->getScene() : nullptr]; const Vector3 sceneOrigin = SceneOrigins[shapePhysX->getActor() ? shapePhysX->getActor()->getScene() : nullptr];
const PxTransform trans(C2P(position - sceneOrigin), C2P(orientation)); const PxTransform trans(C2P(position - sceneOrigin), C2P(orientation));
const PxHitFlags hitFlags = (PxHitFlags)0;
PxRaycastHit hit; 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; resultHitDistance = hit.distance;
return true; return true;
@@ -2623,9 +2620,8 @@ bool PhysicsBackend::RayCastShape(void* shape, const Vector3& position, const Qu
auto shapePhysX = (PxShape*)shape; auto shapePhysX = (PxShape*)shape;
const Vector3 sceneOrigin = SceneOrigins[shapePhysX->getActor() ? shapePhysX->getActor()->getScene() : nullptr]; const Vector3 sceneOrigin = SceneOrigins[shapePhysX->getActor() ? shapePhysX->getActor()->getScene() : nullptr];
const PxTransform trans(C2P(position - sceneOrigin), C2P(orientation)); const PxTransform trans(C2P(position - sceneOrigin), C2P(orientation));
const PxHitFlags hitFlags = PxHitFlag::ePOSITION | PxHitFlag::eNORMAL | PxHitFlag::eFACE_INDEX | PxHitFlag::eUV;
PxRaycastHit hit; 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; return false;
P2C(hit, hitInfo); P2C(hit, hitInfo);
hitInfo.Point += sceneOrigin; hitInfo.Point += sceneOrigin;

22
Source/Engine/Physics/PhysX/SimulationEventCallbackPhysX.cpp
View File

@@ -38,10 +38,6 @@ void SimulationEventCallback::Clear()
BrokenJoints.Clear(); BrokenJoints.Clear();
} }
void SimulationEventCallback::CollectResults()
{
}
void SimulationEventCallback::SendCollisionEvents() void SimulationEventCallback::SendCollisionEvents()
{ {
for (auto& c : RemovedCollisions) 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 PxU32 flippedContacts = (pair.flags & PxContactPairFlag::eINTERNAL_CONTACTS_ARE_FLIPPED);
const bool hasImpulses = pair.flags.isSet(PxContactPairFlag::eINTERNAL_HAS_IMPULSES); const bool hasImpulses = pair.flags.isSet(PxContactPairFlag::eINTERNAL_HAS_IMPULSES);
const bool hasPostVelocities = !pair.flags.isSet(PxContactPairFlag::eACTOR_PAIR_LOST_TOUCH); const bool hasPostVelocities = !pair.flags.isSet(PxContactPairFlag::eACTOR_PAIR_LOST_TOUCH);
PxU32 nbContacts = 0;
PxVec3 totalImpulse(0.0f); PxVec3 totalImpulse(0.0f);
c.ThisActor = static_cast<PhysicsColliderActor*>(pair.shapes[0]->userData); c.ThisActor = static_cast<PhysicsColliderActor*>(pair.shapes[0]->userData);
@@ -144,29 +139,25 @@ void SimulationEventCallback::onContact(const PxContactPairHeader& pairHeader, c
} }
// Extract contact points // Extract contact points
c.ContactsCount = 0;
while (i.hasNextPatch()) while (i.hasNextPatch())
{ {
i.nextPatch(); i.nextPatch();
while (i.hasNextContact() && nbContacts < COLLISION_NAX_CONTACT_POINTS) while (i.hasNextContact() && c.ContactsCount < COLLISION_NAX_CONTACT_POINTS)
{ {
i.nextContact(); i.nextContact();
const PxVec3 point = i.getContactPoint(); const PxVec3 point = i.getContactPoint();
const PxVec3 normal = i.getContactNormal(); const PxVec3 normal = i.getContactNormal();
if (hasImpulses) if (hasImpulses)
totalImpulse += normal * impulses[nbContacts]; totalImpulse += normal * impulses[c.ContactsCount];
//PxU32 internalFaceIndex0 = flippedContacts ? iter.getFaceIndex1() : iter.getFaceIndex0(); ContactPoint& contact = c.Contacts[c.ContactsCount++];
//PxU32 internalFaceIndex1 = flippedContacts ? iter.getFaceIndex0() : iter.getFaceIndex1();
ContactPoint& contact = c.Contacts[nbContacts];
contact.Point = P2C(point); contact.Point = P2C(point);
contact.Normal = P2C(normal); contact.Normal = P2C(normal);
contact.Separation = i.getSeparation(); contact.Separation = i.getSeparation();
nbContacts++;
} }
} }
c.Impulse = P2C(totalImpulse);
// Extract velocities // Extract velocities
c.ThisVelocity = c.OtherVelocity = Vector3::Zero; 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) if (pair.flags & PxContactPairFlag::eACTOR_PAIR_HAS_FIRST_TOUCH)
{ {
NewCollisions.Add(c); NewCollisions.Add(c);

5
Source/Engine/Physics/PhysX/SimulationEventCallbackPhysX.h
View File

@@ -49,11 +49,6 @@ public:
/// </summary> /// </summary>
void Clear(); void Clear();
/// <summary>
/// Generates the new/old/removed collisions and a valid trigger pairs.
/// </summary>
void CollectResults();
/// <summary> /// <summary>
/// Sends the collision events to the managed objects. /// Sends the collision events to the managed objects.
/// </summary> /// </summary>

3
Source/Engine/Physics/PhysicalMaterial.h
View File

@@ -9,7 +9,8 @@
/// <summary> /// <summary>
/// Physical materials are used to define the response of a physical object when interacting dynamically with the world. /// Physical materials are used to define the response of a physical object when interacting dynamically with the world.
/// </summary> /// </summary>
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(); API_AUTO_SERIALIZATION();
DECLARE_SCRIPTING_TYPE_MINIMAL(PhysicalMaterial); DECLARE_SCRIPTING_TYPE_MINIMAL(PhysicalMaterial);

10
Source/Engine/Physics/Types.h
View File

@@ -151,17 +151,17 @@ API_STRUCT() struct RayCastHit
/// </summary> /// </summary>
API_FIELD() float Distance; API_FIELD() float Distance;
/// <summary>
/// The point in the world space where ray hit the collider.
/// </summary>
API_FIELD() Vector3 Point;
/// <summary> /// <summary>
/// The index of the face that was hit. Valid only for convex mesh (polygon index), triangle mesh (triangle index) and height field (triangle index). /// The index of the face that was hit. Valid only for convex mesh (polygon index), triangle mesh (triangle index) and height field (triangle index).
/// </summary> /// </summary>
/// <seealso cref="CollisionData.GetModelTriangle" /> /// <seealso cref="CollisionData.GetModelTriangle" />
API_FIELD() uint32 FaceIndex; API_FIELD() uint32 FaceIndex;
/// <summary>
/// The point in the world space where ray hit the collider.
/// </summary>
API_FIELD() Vector3 Point;
/// <summary> /// <summary>
/// The barycentric coordinates of hit triangle. Valid only for triangle mesh and height field. /// The barycentric coordinates of hit triangle. Valid only for triangle mesh and height field.
/// </summary> /// </summary>

8
Source/Engine/Tools/ModelTool/ModelTool.cpp
View File

@@ -1431,7 +1431,7 @@ bool ModelTool::ImportModel(const String& path, ModelData& data, Options& option
Transform srcNode = data.Skeleton.Nodes[nodeIndex].LocalTransform; Transform srcNode = data.Skeleton.Nodes[nodeIndex].LocalTransform;
auto& node = data.Skeleton.Nodes[nodeIndex]; auto& node = data.Skeleton.Nodes[nodeIndex];
if (auto* channel = animation.GetChannel(node.Name)) if (auto* channel = animation.GetChannel(node.Name))
channel->Evaluate(frame, &srcNode, false); channel->Evaluate((float)frame, &srcNode, false);
pose.Nodes[nodeIndex] = srcNode; pose.Nodes[nodeIndex] = srcNode;
} }
@@ -1439,7 +1439,7 @@ bool ModelTool::ImportModel(const String& path, ModelData& data, Options& option
key = Float3::Zero; key = Float3::Zero;
for (int32 nodeIndex = 0; nodeIndex < nodes; nodeIndex++) for (int32 nodeIndex = 0; nodeIndex < nodes; nodeIndex++)
key += pose.GetNodeModelTransformation(data.Skeleton, nodeIndex).Translation; key += pose.GetNodeModelTransformation(data.Skeleton, nodeIndex).Translation;
key /= nodes; key /= (float)nodes;
} }
// Calculate skeleton center of mass movement over the animation frames // 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++) for (int32 frame = 0; frame < frames; frame++)
{ {
auto& key = rootChannel.Position[frame]; auto& key = rootChannel.Position[frame];
key.Time = frame; key.Time = (float)frame;
key.Value = centerOfMass[frame] - centerOfMassRefPose; 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; Transform srcNode = data.Skeleton.Nodes[nodeIndex].LocalTransform;
auto& node = data.Skeleton.Nodes[nodeIndex]; auto& node = data.Skeleton.Nodes[nodeIndex];
if (auto* channel = animation.GetChannel(node.Name)) if (auto* channel = animation.GetChannel(node.Name))
channel->Evaluate(frame, &srcNode, false); channel->Evaluate((float)frame, &srcNode, false);
pose.Nodes[nodeIndex] = srcNode; pose.Nodes[nodeIndex] = srcNode;
} }