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Add thickness to cloth to prevent intersecting with colliders

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This commit is contained in:
Wojtek Figat
2023-07-03 14:13:35 +02:00
parent f81989a171
commit 53ee65a5a6
2 changed files with 18 additions and 9 deletions
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5
Source/Engine/Physics/Actors/Cloth.h
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@@ -100,6 +100,11 @@ API_CLASS(Attributes="ActorContextMenu(\"New/Physics/Cloth\"), ActorToolbox(\"Ph
/// </summary>
API_FIELD() bool ContinuousCollisionDetection = false;
/// <summary>
/// Additional thickness of the simulated cloth to prevent intersections with nearby colliders.
/// </summary>
API_FIELD(Attributes="Limit(0)") float CollisionThickness = 1.0f;
/// <summary>
/// The minimum distance that the colliding cloth particles must maintain from each other in meters. 0: self collision disabled.
/// </summary>

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

@@ -152,6 +152,7 @@ struct ClothSettings
{
bool SceneCollisions = false;
float GravityScale = 1.0f;
float CollisionThickness = 0.0f;
Cloth* Actor;
void UpdateBounds(const nv::cloth::Cloth* clothPhysX) const
@@ -1400,6 +1401,7 @@ void PhysicsBackend::EndSimulateScene(void* scene)
DynamicHitBuffer<PxOverlapHit> buffer;
if (scenePhysX->Scene->overlap(overlapGeo, overlapPose, buffer, filterData, &QueryFilter))
{
const float collisionThickness = clothSettings.CollisionThickness;
for (uint32 j = 0; j < buffer.getNbTouches(); j++)
{
const auto& hit = buffer.getTouch(j);
@@ -1413,7 +1415,7 @@ void PhysicsBackend::EndSimulateScene(void* scene)
case PxGeometryType::eSPHERE:
{
const PxSphereGeometry& geoSphere = (const PxSphereGeometry&)geo;
const PxVec4 packedSphere(shapeToCloth.p, geoSphere.radius);
const PxVec4 packedSphere(shapeToCloth.p, geoSphere.radius + collisionThickness);
const nv::cloth::Range<const PxVec4> sphereRange(&packedSphere, &packedSphere + 1);
const uint32_t spheresCount = clothPhysX->getNumSpheres();
if (spheresCount + 1 > MAX_CLOTH_SPHERE_COUNT)
@@ -1425,8 +1427,8 @@ void PhysicsBackend::EndSimulateScene(void* scene)
{
const PxCapsuleGeometry& geomCapsule = (const PxCapsuleGeometry&)geo;
const PxVec4 packedSpheres[2] = {
PxVec4(shapeToCloth.transform(PxVec3(+geomCapsule.halfHeight, 0, 0)), geomCapsule.radius),
PxVec4(shapeToCloth.transform(PxVec3(-geomCapsule.halfHeight, 0, 0)), geomCapsule.radius)
PxVec4(shapeToCloth.transform(PxVec3(+geomCapsule.halfHeight, 0, 0)), geomCapsule.radius + collisionThickness),
PxVec4(shapeToCloth.transform(PxVec3(-geomCapsule.halfHeight, 0, 0)), geomCapsule.radius + collisionThickness)
};
const nv::cloth::Range<const PxVec4> sphereRange(packedSpheres, packedSpheres + 2);
const uint32_t spheresCount = clothPhysX->getNumSpheres();
@@ -1445,12 +1447,12 @@ void PhysicsBackend::EndSimulateScene(void* scene)
if (planesCount + 6 > MAX_CLOTH_PLANE_COUNT)
break;
const PxPlane packedPlanes[6] = {
PxPlane(PxVec3(1, 0, 0), -geomBox.halfExtents.x).transform(shapeToCloth),
PxPlane(PxVec3(-1, 0, 0), -geomBox.halfExtents.x).transform(shapeToCloth),
PxPlane(PxVec3(0, 1, 0), -geomBox.halfExtents.y).transform(shapeToCloth),
PxPlane(PxVec3(0, -1, 0), -geomBox.halfExtents.y).transform(shapeToCloth),
PxPlane(PxVec3(0, 0, 1), -geomBox.halfExtents.z).transform(shapeToCloth),
PxPlane(PxVec3(0, 0, -1), -geomBox.halfExtents.z).transform(shapeToCloth)
PxPlane(PxVec3(1, 0, 0), -geomBox.halfExtents.x - collisionThickness).transform(shapeToCloth),
PxPlane(PxVec3(-1, 0, 0), -geomBox.halfExtents.x - collisionThickness).transform(shapeToCloth),
PxPlane(PxVec3(0, 1, 0), -geomBox.halfExtents.y - collisionThickness).transform(shapeToCloth),
PxPlane(PxVec3(0, -1, 0), -geomBox.halfExtents.y - collisionThickness).transform(shapeToCloth),
PxPlane(PxVec3(0, 0, 1), -geomBox.halfExtents.z - collisionThickness).transform(shapeToCloth),
PxPlane(PxVec3(0, 0, -1), -geomBox.halfExtents.z - collisionThickness).transform(shapeToCloth)
};
clothPhysX->setPlanes(nv::cloth::Range<const PxVec4>((const PxVec4*)packedPlanes, (const PxVec4*)packedPlanes + 6), planesCount, planesCount);
const PxU32 convexMask = PxU32(0x3f << planesCount);
@@ -1472,6 +1474,7 @@ void PhysicsBackend::EndSimulateScene(void* scene)
{
PxHullPolygon polygon;
geomConvexMesh.convexMesh->getPolygonData(k, polygon);
polygon.mPlane[3] -= collisionThickness;
planes[k] = transform(reinterpret_cast<const PxPlane&>(polygon.mPlane), convexToShapeInv).transform(shapeToCloth);
}
clothPhysX->setPlanes(nv::cloth::Range<const PxVec4>((const PxVec4*)planes, (const PxVec4*)planes + convexPlanesCount), planesCount, planesCount);
@@ -3371,6 +3374,7 @@ void PhysicsBackend::SetClothCollisionSettings(void* cloth, const void* settings
clothPhysX->setTriangles(nv::cloth::Range<const PxVec3>(), 0, clothPhysX->getNumTriangles());
}
clothSettings.SceneCollisions = settings.SceneCollisions;
clothSettings.CollisionThickness = settings.CollisionThickness;
}
void PhysicsBackend::SetClothSimulationSettings(void* cloth, const void* settingsPtr)