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Minor tweaks

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This commit is contained in:
Wojtek Figat
2023-09-13 10:52:46 +02:00
parent 6bdbaecc18
commit 682ff2fb3a
3 changed files with 57 additions and 60 deletions
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115
Source/Engine/Physics/PhysX/SimulationEventCallbackPhysX.cpp
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@@ -13,8 +13,6 @@ namespace
{
void ClearColliderFromCollection(const PhysicsColliderActor* collider, Array<SimulationEventCallback::CollidersPair>& collection)
{
if (collection.IsEmpty())
return;
for (int32 i = 0; i < collection.Count(); i++)
{
if (collection[i].First == collider || collection[i].Second == collider)
@@ -122,79 +120,78 @@ void SimulationEventCallback::onContact(const PxContactPairHeader& pairHeader, c
}
Collision c;
PxContactPairExtraDataIterator j(pairHeader.extraDataStream, pairHeader.extraDataStreamSize);
// Extract collision pairs
for (PxU32 pairIndex = 0; pairIndex < nbPairs; pairIndex++)
{
PxContactPairExtraDataIterator j(pairHeader.extraDataStream, pairHeader.extraDataStreamSize);
const PxContactPair& pair = pairs[pairIndex];
PxContactStreamIterator i(pair.contactPatches, pair.contactPoints, pair.getInternalFaceIndices(), pair.patchCount, pair.contactCount);
// Extract collision pairs
for (PxU32 pairIndex = 0; pairIndex < nbPairs; pairIndex++)
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(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);
// Extract contact points
while (i.hasNextPatch())
{
const PxContactPair& pair = pairs[pairIndex];
PxContactStreamIterator i(pair.contactPatches, pair.contactPoints, pair.getInternalFaceIndices(), pair.patchCount, pair.contactCount);
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())
i.nextPatch();
while (i.hasNextContact() && nbContacts < COLLISION_NAX_CONTACT_POINTS)
{
i.nextPatch();
while (i.hasNextContact() && nbContacts < COLLISION_NAX_CONTACT_POINTS)
{
i.nextContact();
i.nextContact();
const PxVec3 point = i.getContactPoint();
const PxVec3 normal = i.getContactNormal();
if (hasImpulses)
totalImpulse += normal * impulses[nbContacts];
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();
//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();
ContactPoint& contact = c.Contacts[nbContacts];
contact.Point = P2C(point);
contact.Normal = P2C(normal);
contact.Separation = i.getSeparation();
nbContacts++;
}
nbContacts++;
}
}
// Extract velocities
if (j.nextItemSet())
// Extract velocities
if (j.nextItemSet())
{
ASSERT(j.contactPairIndex == pairIndex);
if (j.postSolverVelocity)
{
ASSERT(j.contactPairIndex == pairIndex);
if (j.postSolverVelocity)
{
const PxVec3 linearVelocityActor0 = j.postSolverVelocity->linearVelocity[0];
const PxVec3 linearVelocityActor1 = j.postSolverVelocity->linearVelocity[1];
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.ThisVelocity = P2C(linearVelocityActor0);
c.OtherVelocity = P2C(linearVelocityActor1);
}
c.ContactsCount = nbContacts;
c.Impulse = P2C(totalImpulse);
if (pair.flags & PxContactPairFlag::eACTOR_PAIR_HAS_FIRST_TOUCH)
else
{
NewCollisions.Add(c);
}
else if (pair.flags & PxContactPairFlag::eACTOR_PAIR_LOST_TOUCH)
{
RemovedCollisions.Add(c);
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);
}
}
}