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auto sort wheels based on wheel position

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This commit is contained in:
Mr. Capybara
2023-12-31 22:11:30 -04:00
parent d016305690
commit 6a2d7e9444
3 changed files with 37 additions and 32 deletions
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7
Source/Engine/Physics/Actors/WheeledVehicle.cpp
View File

@@ -59,9 +59,7 @@ void WheeledVehicle::SetWheels(const Array<Wheel> &value)
{
auto &oldWheel = _wheels.Get()[wheelIndex];
auto &newWheel = value.Get()[wheelIndex];
if (oldWheel.Type != newWheel.Type ||
Math::NotNearEqual(oldWheel.SuspensionForceOffset, newWheel.SuspensionForceOffset) ||
oldWheel.Collider != newWheel.Collider)
if (Math::NotNearEqual(oldWheel.SuspensionForceOffset, newWheel.SuspensionForceOffset) || oldWheel.Collider != newWheel.Collider)
{
softUpdate = false;
break;
@@ -352,6 +350,9 @@ void WheeledVehicle::OnDebugDrawSelected()
// Draw wheels axes
if (wheelIndex % 2 == 0 && wheelIndex + 1 < _wheels.Count())
{
if (!_wheels[wheelIndex].Collider || !_wheels[wheelIndex + 1].Collider)
continue;
const Vector3 wheelPos = _wheels[wheelIndex].Collider->GetPosition();
const Vector3 nextWheelPos = _wheels[wheelIndex + 1].Collider->GetPosition();
DEBUG_DRAW_LINE(wheelPos, nextWheelPos, Color::Yellow, 0, false);

22
Source/Engine/Physics/Actors/WheeledVehicle.h
View File

@@ -158,23 +158,6 @@ API_CLASS(Attributes="ActorContextMenu(\"New/Physics/Wheeled Vehicle\"), ActorTo
API_FIELD(Attributes="Limit(0)") float ClutchStrength = 10.0f;
};
/// <summary>
/// Vehicle wheel types.
/// </summary>
API_ENUM() enum class WheelTypes
{
// Left wheel of the front axle.
FrontLeft,
// Right wheel of the front axle.
FrontRight,
// Left wheel of the rear axle.
RearLeft,
// Right wheel of the rear axle.
RearRight,
// Non-drivable wheel.
NoDrive,
};
/// <summary>
/// Vehicle wheel settings.
/// </summary>
@@ -183,11 +166,6 @@ API_CLASS(Attributes="ActorContextMenu(\"New/Physics/Wheeled Vehicle\"), ActorTo
DECLARE_SCRIPTING_TYPE_MINIMAL(Wheel);
API_AUTO_SERIALIZATION();
/// <summary>
/// Wheel placement type.
/// </summary>
API_FIELD(Attributes="EditorOrder(0)") WheelTypes Type = WheelTypes::FrontLeft;
/// <summary>
/// Combined mass of the wheel and the tire in kg. Typically, a wheel has mass between 20Kg and 80Kg but can be lower and higher depending on the vehicle.
/// </summary>

40
Source/Engine/Physics/PhysX/PhysicsBackendPhysX.cpp
View File

@@ -58,7 +58,9 @@
#if WITH_PVD
#include <ThirdParty/PhysX/pvd/PxPvd.h>
#endif
#if USE_EDITOR
#include "Editor/Editor.h"
#endif
// Temporary memory size used by the PhysX during the simulation. Must be multiply of 4kB and 16bit aligned.
#define PHYSX_SCRATCH_BLOCK_SIZE (1024 * 128)
@@ -3367,18 +3369,42 @@ PxVehicleAckermannGeometryData CreatePxVehicleAckermannGeometryData(PxVehicleWhe
return ackermann;
}
bool SortWheels(WheeledVehicle::Wheel const& a, WheeledVehicle::Wheel const& b)
bool SortWheelsFrontToBack(WheeledVehicle::Wheel const& a, WheeledVehicle::Wheel const& b)
{
return (int32)a.Type < (int32)b.Type;
return a.Collider && b.Collider && a.Collider->GetLocalPosition().Z > b.Collider->GetLocalPosition().Z;
}
void* PhysicsBackend::CreateVehicle(WheeledVehicle* actor)
{
// TODO: handle PxVehicleDrive4WWheelOrder internally rather than sorting wheels directly on the vehicle
if (actor->_driveType == WheeledVehicle::DriveTypes::Drive4W)
#if USE_EDITOR
if (Editor::IsPlayMode)
#endif
{
// Drive4W requires wheels to match order from PxVehicleDrive4WWheelOrder enum
Sorting::QuickSort(actor->_wheels.Get(), actor->_wheels.Count(), SortWheels);
// Physx vehicles needs to have all wheels sorted to apply controls correctly.
// Its needs to know what wheels are on front to turn wheel to correctly side
// and needs to know wheel side to apply throttle to correctly direction for each track when using tanks.
if (actor->_driveType == WheeledVehicle::DriveTypes::Drive4W)
Sorting::QuickSort(actor->_wheels.Get(), actor->_wheels.Count(), SortWheelsFrontToBack);
// sort wheels by side
if (actor->_driveType == WheeledVehicle::DriveTypes::Tank)
{
for (int i = 0; i < actor->_wheels.Count() - 1; i += 2)
{
auto a = actor->_wheels[i];
auto b = actor->_wheels[i + 1];
if (!a.Collider || !b.Collider)
continue;
if (a.Collider->GetLocalPosition().X > b.Collider->GetLocalPosition().X)
{
actor->_wheels[i] = b;
actor->_wheels[i + 1] = a;
}
}
}
}
// Get wheels