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Optimize PhysX collision event handling and onContact callback

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This commit is contained in:
Ari Vuollet
2023-09-02 23:03:42 +03:00
parent 6a5e660c2e
commit 6278fea496
3 changed files with 75 additions and 120 deletions
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177
Source/Engine/Physics/PhysX/SimulationEventCallbackPhysX.cpp
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@@ -23,26 +23,10 @@ namespace
}
}
}
void ClearColliderFromCollection(PhysicsColliderActor* collider, SimulationEventCallback::CollisionsPool& collection)
{
for (auto i = collection.Begin(); i.IsNotEnd(); ++i)
{
if (i->Key.First == collider || i->Key.Second == collider)
{
collection.Remove(i);
if (collection.IsEmpty())
break;
}
}
}
}
void SimulationEventCallback::Clear()
{
PrevCollisions.Swap(Collisions);
Collisions.Clear();
NewCollisions.Clear();
RemovedCollisions.Clear();
@@ -54,57 +38,35 @@ void SimulationEventCallback::Clear()
void SimulationEventCallback::CollectResults()
{
// Generate new collisions
for (auto i = Collisions.Begin(); i.IsNotEnd(); ++i)
{
if (!PrevCollisions.ContainsKey(i->Key))
NewCollisions.Add(i->Key);
}
// Generate removed collisions
for (auto i = PrevCollisions.Begin(); i.IsNotEnd(); ++i)
{
if (!Collisions.ContainsKey(i->Key))
RemovedCollisions.Add(i->Key);
}
}
void SimulationEventCallback::SendCollisionEvents()
{
for (int32 i = 0; i < RemovedCollisions.Count(); i++)
for (auto& c : RemovedCollisions)
{
const auto pair = RemovedCollisions[i];
auto& c = PrevCollisions[pair];
pair.First->OnCollisionExit(c);
c.ThisActor->OnCollisionExit(c);
c.SwapObjects();
pair.Second->OnCollisionExit(c);
c.ThisActor->OnCollisionExit(c);
c.SwapObjects();
}
for (int32 i = 0; i < NewCollisions.Count(); i++)
for (auto& c : NewCollisions)
{
const auto pair = NewCollisions[i];
auto& c = Collisions[pair];
pair.First->OnCollisionEnter(c);
c.ThisActor->OnCollisionEnter(c);
c.SwapObjects();
pair.Second->OnCollisionEnter(c);
c.ThisActor->OnCollisionEnter(c);
c.SwapObjects();
}
}
void SimulationEventCallback::SendTriggerEvents()
{
for (int32 i = 0; i < LostTriggerPairs.Count(); i++)
for (const auto& c : LostTriggerPairs)
{
const auto c = LostTriggerPairs[i];
c.First->OnTriggerExit(c.Second);
c.Second->OnTriggerExit(c.First);
}
for (int32 i = 0; i < NewTriggerPairs.Count(); i++)
for (const auto& c : NewTriggerPairs)
{
const auto c = NewTriggerPairs[i];
c.First->OnTriggerEnter(c.Second);
c.Second->OnTriggerEnter(c.First);
}
@@ -120,9 +82,6 @@ void SimulationEventCallback::SendJointEvents()
void SimulationEventCallback::OnColliderRemoved(PhysicsColliderActor* collider)
{
ClearColliderFromCollection(collider, Collisions);
ClearColliderFromCollection(collider, PrevCollisions);
ClearColliderFromCollection(collider, RemovedCollisions);
ClearColliderFromCollection(collider, NewTriggerPairs);
ClearColliderFromCollection(collider, LostTriggerPairs);
}
@@ -161,70 +120,78 @@ void SimulationEventCallback::onContact(const PxContactPairHeader& pairHeader, c
}
Collision c;
c.ThisVelocity = c.OtherVelocity = Vector3::Zero;
// Extract collision pairs
for (PxU32 pairIndex = 0; pairIndex < nbPairs; pairIndex++)
{
const PxContactPair& pair = pairs[pairIndex];
PxContactStreamIterator i(pair.contactPatches, pair.contactPoints, pair.getInternalFaceIndices(), pair.patchCount, pair.contactCount);
PxContactPairExtraDataIterator j(pairHeader.extraDataStream, pairHeader.extraDataStreamSize);
const PxReal* impulses = pair.contactImpulses;
//const PxU32 flippedContacts = (pair.flags & PxContactPairFlag::eINTERNAL_CONTACTS_ARE_FLIPPED);
const PxU32 hasImpulses = (pair.flags & PxContactPairFlag::eINTERNAL_HAS_IMPULSES);
PxU32 nbContacts = 0;
PxVec3 totalImpulse = PxVec3(0.0f);
c.ThisActor = static_cast<PhysicsColliderActor*>(pair.shapes[0]->userData);
c.OtherActor = static_cast<PhysicsColliderActor*>(pair.shapes[1]->userData);
ASSERT_LOW_LAYER(c.ThisActor && c.OtherActor);
while (i.hasNextPatch())
// Extract collision pairs
for (PxU32 pairIndex = 0; pairIndex < nbPairs; pairIndex++)
{
i.nextPatch();
while (i.hasNextContact() && nbContacts < COLLISION_NAX_CONTACT_POINTS)
{
i.nextContact();
const PxContactPair& pair = pairs[pairIndex];
PxContactStreamIterator i(pair.contactPatches, pair.contactPoints, pair.getInternalFaceIndices(), pair.patchCount, pair.contactCount);
const PxVec3 point = i.getContactPoint();
const PxVec3 normal = i.getContactNormal();
if (hasImpulses)
totalImpulse += normal * impulses[nbContacts];
const PxReal* impulses = pair.contactImpulses;
//const PxU32 flippedContacts = (pair.flags & PxContactPairFlag::eINTERNAL_CONTACTS_ARE_FLIPPED);
const PxU32 hasImpulses = (pair.flags & PxContactPairFlag::eINTERNAL_HAS_IMPULSES);
PxU32 nbContacts = 0;
PxVec3 totalImpulse = PxVec3(0.0f);
//PxU32 internalFaceIndex0 = flippedContacts ? iter.getFaceIndex1() : iter.getFaceIndex0();
//PxU32 internalFaceIndex1 = flippedContacts ? iter.getFaceIndex0() : iter.getFaceIndex1();
ContactPoint& contact = c.Contacts[nbContacts];
contact.Point = P2C(point);
contact.Normal = P2C(normal);
contact.Separation = i.getSeparation();
nbContacts++;
}
}
c.ContactsCount = nbContacts;
c.Impulse = P2C(totalImpulse);
Collisions[CollidersPair(c.ThisActor, c.OtherActor)] = c;
}
// Extract velocities
PxContactPairExtraDataIterator i(pairHeader.extraDataStream, pairHeader.extraDataStreamSize);
while (i.nextItemSet())
{
if (i.postSolverVelocity)
{
const PxVec3 linearVelocityActor0 = i.postSolverVelocity->linearVelocity[0];
const PxVec3 linearVelocityActor1 = i.postSolverVelocity->linearVelocity[1];
const PxContactPair& pair = pairs[i.contactPairIndex];
c.ThisActor = static_cast<PhysicsColliderActor*>(pair.shapes[0]->userData);
c.OtherActor = static_cast<PhysicsColliderActor*>(pair.shapes[1]->userData);
ASSERT(c.ThisActor && c.OtherActor);
Collision& collision = Collisions[CollidersPair(c.ThisActor, c.OtherActor)];
ASSERT_LOW_LAYER(c.ThisActor && c.OtherActor);
collision.ThisVelocity = P2C(linearVelocityActor0);
collision.OtherVelocity = P2C(linearVelocityActor1);
while (i.hasNextPatch())
{
i.nextPatch();
while (i.hasNextContact() && nbContacts < COLLISION_NAX_CONTACT_POINTS)
{
i.nextContact();
const PxVec3 point = i.getContactPoint();
const PxVec3 normal = i.getContactNormal();
if (hasImpulses)
totalImpulse += normal * impulses[nbContacts];
//PxU32 internalFaceIndex0 = flippedContacts ? iter.getFaceIndex1() : iter.getFaceIndex0();
//PxU32 internalFaceIndex1 = flippedContacts ? iter.getFaceIndex0() : iter.getFaceIndex1();
ContactPoint& contact = c.Contacts[nbContacts];
contact.Point = P2C(point);
contact.Normal = P2C(normal);
contact.Separation = i.getSeparation();
nbContacts++;
}
}
// Extract velocities
if (j.nextItemSet())
{
ASSERT(j.contactPairIndex == pairIndex);
if (j.postSolverVelocity)
{
const PxVec3 linearVelocityActor0 = j.postSolverVelocity->linearVelocity[0];
const PxVec3 linearVelocityActor1 = j.postSolverVelocity->linearVelocity[1];
c.ThisVelocity = P2C(linearVelocityActor0);
c.OtherVelocity = P2C(linearVelocityActor1);
}
else
{
c.ThisVelocity = c.OtherVelocity = Vector3::Zero;
}
}
c.ContactsCount = nbContacts;
c.Impulse = P2C(totalImpulse);
if (pair.flags & PxContactPairFlag::eACTOR_PAIR_HAS_FIRST_TOUCH)
{
NewCollisions.Add(c);
}
else if (pair.flags & PxContactPairFlag::eACTOR_PAIR_LOST_TOUCH)
{
RemovedCollisions.Add(c);
}
}
}
}