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Refactor Physics to separate PhysicsBackend

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#673
This commit is contained in:
Wojtek Figat
2022-01-20 23:28:43 +01:00
parent cf1af53ab8
commit 427846f73b
66 changed files with 4803 additions and 4327 deletions
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127
Source/Engine/Physics/Colliders/CharacterController.cpp
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@@ -1,18 +1,12 @@
// Copyright (c) 2012-2021 Wojciech Figat. All rights reserved.
#include "CharacterController.h"
#include "Engine/Physics/Utilities.h"
#include "Engine/Physics/Colliders/Collider.h"
#include "Engine/Physics/Physics.h"
#include "Engine/Physics/PhysicsBackend.h"
#include "Engine/Physics/PhysicsScene.h"
#include "Engine/Serialization/Serialization.h"
#include "Engine/Engine/Time.h"
#include "Engine/Physics/PhysicalMaterial.h"
#include "Engine/Physics/PhysicsScene.h"
#include <ThirdParty/PhysX/PxRigidActor.h>
#include <ThirdParty/PhysX/PxRigidDynamic.h>
#include <ThirdParty/PhysX/characterkinematic/PxController.h>
#include <ThirdParty/PhysX/characterkinematic/PxControllerManager.h>
#include <ThirdParty/PhysX/characterkinematic//PxCapsuleController.h>
CharacterController::CharacterController(const SpawnParams& params)
: Collider(params)
@@ -27,7 +21,6 @@ CharacterController::CharacterController(const SpawnParams& params)
, _nonWalkableMode(NonWalkableModes::PreventClimbing)
, _lastFlags(CollisionFlags::None)
{
static_assert(sizeof(_filterData) == sizeof(PxFilterData), "Invalid filter data size.");
}
float CharacterController::GetRadius() const
@@ -72,11 +65,9 @@ void CharacterController::SetSlopeLimit(float value)
value = Math::Clamp(value, 0.0f, 89.0f);
if (Math::NearEqual(value, _slopeLimit))
return;
_slopeLimit = value;
if (_controller)
_controller->setSlopeLimit(Math::Cos(value * DegreesToRadians));
PhysicsBackend::SetControllerSlopeLimit(_controller, value);
}
CharacterController::NonWalkableModes CharacterController::GetNonWalkableMode() const
@@ -86,10 +77,11 @@ CharacterController::NonWalkableModes CharacterController::GetNonWalkableMode()
void CharacterController::SetNonWalkableMode(NonWalkableModes value)
{
if (_nonWalkableMode == value)
return;
_nonWalkableMode = value;
if (_controller)
_controller->setNonWalkableMode(static_cast<PxControllerNonWalkableMode::Enum>(value));
PhysicsBackend::SetControllerNonWalkableMode(_controller, (int32)value);
}
float CharacterController::GetStepOffset() const
@@ -111,15 +103,15 @@ void CharacterController::SetStepOffset(float value)
const float minSize = 0.001f;
const float height = Math::Max(Math::Abs(_height) * scaling, minSize);
const float radius = Math::Max(Math::Abs(_radius) * scaling - contactOffset, minSize);
_controller->setStepOffset(Math::Min(value, height + radius * 2.0f - minSize));
PhysicsBackend::SetControllerStepOffset(_controller, Math::Min(value, height + radius * 2.0f - minSize));
}
}
void CharacterController::SetUpDirection(const Vector3& up)
{
if (_controller)
_controller->setUpDirection(C2P(up));
_upDirection = up;
if (_controller)
PhysicsBackend::SetControllerUpDirection(_controller, up);
}
float CharacterController::GetMinMoveDistance() const
@@ -129,7 +121,7 @@ float CharacterController::GetMinMoveDistance() const
Vector3 CharacterController::GetUpDirection() const
{
return _controller ? P2C(_controller->getUpDirection()) : _upDirection;
return _controller ? PhysicsBackend::GetControllerUpDirection(_controller) : _upDirection;
}
void CharacterController::SetMinMoveDistance(float value)
@@ -139,7 +131,7 @@ void CharacterController::SetMinMoveDistance(float value)
Vector3 CharacterController::GetVelocity() const
{
return _controller ? P2C(_controller->getActor()->getLinearVelocity()) : Vector3::Zero;
return _controller ? PhysicsBackend::GetRigidDynamicActorLinearVelocity(PhysicsBackend::GetControllerRigidDynamicActor(_controller)) : Vector3::Zero;
}
bool CharacterController::IsGrounded() const
@@ -165,30 +157,16 @@ CharacterController::CollisionFlags CharacterController::SimpleMove(const Vector
CharacterController::CollisionFlags CharacterController::Move(const Vector3& displacement)
{
CollisionFlags result = CollisionFlags::None;
if (_controller)
{
const float deltaTime = Time::GetCurrentSafe()->DeltaTime.GetTotalSeconds();
PxControllerFilters filters;
filters.mFilterData = (PxFilterData*)&_filterData;
filters.mFilterCallback = GetPhysicsScene()->GetCharacterQueryFilterCallback();
filters.mFilterFlags = PxQueryFlag::eDYNAMIC | PxQueryFlag::eSTATIC | PxQueryFlag::ePREFILTER;
filters.mCCTFilterCallback = GetPhysicsScene()->GetCharacterControllerFilterCallback();
result = (CollisionFlags)(byte)_controller->move(C2P(displacement), _minMoveDistance, deltaTime, filters);
result = (CollisionFlags)PhysicsBackend::MoveController(_controller, _shape, displacement, _minMoveDistance, deltaTime);
_lastFlags = result;
SetPosition(P2C(_controller->getPosition()));
SetPosition(PhysicsBackend::GetControllerPosition(_controller));
}
return result;
}
PxRigidDynamic* CharacterController::GetPhysXRigidActor() const
{
return _controller ? _controller->getActor() : nullptr;
}
#if USE_EDITOR
#include "Engine/Debug/DebugDraw.h"
@@ -222,41 +200,16 @@ void CharacterController::OnDebugDrawSelected()
void CharacterController::CreateController()
{
// Create controller
ASSERT(_controller == nullptr && _shape == nullptr);
PxCapsuleControllerDesc desc;
desc.userData = this;
desc.contactOffset = Math::Max(_contactOffset, ZeroTolerance);
desc.position = PxExtendedVec3(_transform.Translation.X, _transform.Translation.Y, _transform.Translation.Z);
desc.slopeLimit = Math::Cos(_slopeLimit * DegreesToRadians);
desc.nonWalkableMode = static_cast<PxControllerNonWalkableMode::Enum>(_nonWalkableMode);
desc.climbingMode = PxCapsuleClimbingMode::eEASY;
if (Material && !Material->WaitForLoaded())
desc.material = ((PhysicalMaterial*)Material->Instance)->GetPhysXMaterial();
else
desc.material = Physics::GetDefaultMaterial();
_cachedScale = GetScale();
const float scaling = _cachedScale.GetAbsolute().MaxValue();
const float minSize = 0.001f;
desc.height = Math::Max(Math::Abs(_height) * scaling, minSize);
desc.radius = Math::Max(Math::Abs(_radius) * scaling - desc.contactOffset, minSize);
desc.stepOffset = Math::Min(_stepOffset, desc.height + desc.radius * 2.0f - minSize);
_controller = PhysicsBackend::CreateController(GetPhysicsScene()->GetPhysicsScene(), this, this, _contactOffset, _transform.Translation, _slopeLimit, (int32)_nonWalkableMode, Material.Get(), Math::Abs(_radius) * scaling, Math::Abs(_height) * scaling, _stepOffset, _shape);
// Create controller
_controller = (PxCapsuleController*)GetPhysicsScene()->GetControllerManager()->createController(desc);
ASSERT(_controller);
_controller->setUpDirection(C2P(_upDirection));
const auto actor = _controller->getActor();
ASSERT(actor && actor->getNbShapes() == 1);
actor->getShapes(&_shape, 1);
actor->userData = this;
_shape->userData = this;
// Apply additional shape properties
_shape->setLocalPose(PxTransform(C2P(_center)));
// Setup
PhysicsBackend::SetControllerUpDirection(_shape, _upDirection);
PhysicsBackend::SetShapeLocalPose(_shape, _center, Quaternion::Identity);
UpdateLayerBits();
// Update cached data
UpdateBounds();
}
@@ -264,12 +217,10 @@ void CharacterController::DeleteController()
{
if (_controller)
{
_shape->userData = nullptr;
_controller->getActor()->userData = nullptr;
_controller->release();
PhysicsBackend::DestroyController(_controller);
_controller = nullptr;
_shape = nullptr;
}
_shape = nullptr;
}
void CharacterController::UpdateSize() const
@@ -280,9 +231,7 @@ void CharacterController::UpdateSize() const
const float minSize = 0.001f;
const float radius = Math::Max(Math::Abs(_radius) * scaling - Math::Max(_contactOffset, ZeroTolerance), minSize);
const float height = Math::Max(Math::Abs(_height) * scaling, minSize);
_controller->setRadius(radius);
_controller->resize(height);
PhysicsBackend::SetControllerSize(_controller, radius, height);
}
}
@@ -293,10 +242,9 @@ void CharacterController::CreateShape()
void CharacterController::UpdateBounds()
{
const auto actor = GetPhysXRigidActor();
const float boundsScale = 1.03f;
void* actor = PhysicsBackend::GetShapeActor(_shape);
if (actor)
_box = P2C(actor->getWorldBounds(boundsScale));
PhysicsBackend::GetActorBounds(actor, _box);
else
_box = BoundingBox(_transform.Translation);
BoundingSphere::FromBox(_box, _sphere);
@@ -322,22 +270,24 @@ RigidBody* CharacterController::GetAttachedRigidBody() const
return nullptr;
}
void CharacterController::OnActiveTransformChanged(const PxTransform& transform)
void CharacterController::OnActiveTransformChanged()
{
// Change actor transform (but with locking)
ASSERT(!_isUpdatingTransform);
_isUpdatingTransform = true;
Transform t = _transform;
t.Translation = P2C(transform.p);
SetTransform(t);
Transform transform;
PhysicsBackend::GetRigidActorPose(PhysicsBackend::GetShapeActor(_shape), transform.Translation, transform.Orientation);
transform.Orientation = _transform.Orientation;
transform.Scale = _transform.Scale;
SetTransform(transform);
_isUpdatingTransform = false;
UpdateBounds();
}
PxRigidActor* CharacterController::GetRigidActor()
void* CharacterController::GetPhysicsActor() const
{
return _shape ? _shape->getActor() : nullptr;
return _shape ? PhysicsBackend::GetShapeActor(_shape) : nullptr;
}
void CharacterController::UpdateGeometry()
@@ -351,20 +301,11 @@ void CharacterController::UpdateGeometry()
UpdateSize();
}
void CharacterController::GetGeometry(PxGeometryHolder& geometry)
void CharacterController::GetGeometry(CollisionShape& collision)
{
// Unused
}
void CharacterController::UpdateLayerBits()
{
// Base
Collider::UpdateLayerBits();
// Cache filter data
*(PxFilterData*)&_filterData = _shape->getSimulationFilterData();
}
void CharacterController::BeginPlay(SceneBeginData* data)
{
if (IsActiveInHierarchy())
@@ -418,9 +359,7 @@ void CharacterController::OnTransformChanged()
// Update physics
if (!_isUpdatingTransform && _controller)
{
const PxExtendedVec3 pos(_transform.Translation.X, _transform.Translation.Y, _transform.Translation.Z);
_controller->setPosition(pos);
PhysicsBackend::SetControllerPosition(_controller, _transform.Translation);
const Vector3 scale = GetScale();
if (!Vector3::NearEqual(_cachedScale, scale))
UpdateGeometry();