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Merge remote-tracking branch 'origin/master' into 1.7

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This commit is contained in:
Wojtek Figat
2023-09-02 19:02:52 +02:00
parent 8ff96723db 36dca16991
commit 6a5e660c2e
11 changed files with 678 additions and 257 deletions
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175
Source/Engine/Physics/PhysX/PhysicsBackendPhysX.cpp
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@@ -29,6 +29,7 @@
#include <ThirdParty/PhysX/extensions/PxFixedJoint.h>
#include <ThirdParty/PhysX/extensions/PxSphericalJoint.h>
#if WITH_VEHICLE
#include "Engine/Core/Collections/Sorting.h"
#include "Engine/Physics/Actors/WheeledVehicle.h"
#include <ThirdParty/PhysX/vehicle/PxVehicleSDK.h>
#include <ThirdParty/PhysX/vehicle/PxVehicleUpdate.h>
@@ -1351,7 +1352,7 @@ void PhysicsBackend::EndSimulateScene(void* scene)
int32 wheelsCount = 0;
for (auto wheelVehicle : scenePhysX->WheelVehicles)
{
if (!wheelVehicle->IsActiveInHierarchy())
if (!wheelVehicle->IsActiveInHierarchy() || !wheelVehicle->GetEnableSimulation())
continue;
auto drive = (PxVehicleWheels*)wheelVehicle->_vehicle;
ASSERT(drive);
@@ -1566,7 +1567,7 @@ void PhysicsBackend::EndSimulateScene(void* scene)
for (int32 i = 0, ii = 0; i < scenePhysX->WheelVehicles.Count(); i++)
{
auto wheelVehicle = scenePhysX->WheelVehicles[i];
if (!wheelVehicle->IsActiveInHierarchy())
if (!wheelVehicle->IsActiveInHierarchy() || !wheelVehicle->GetEnableSimulation())
continue;
auto drive = (PxVehicleWheels*)scenePhysX->WheelVehicles[ii]->_vehicle;
auto& perVehicle = WheelVehiclesResultsPerVehicle[ii];
@@ -1587,7 +1588,7 @@ void PhysicsBackend::EndSimulateScene(void* scene)
for (int32 i = 0, ii = 0; i < scenePhysX->WheelVehicles.Count(); i++)
{
auto wheelVehicle = scenePhysX->WheelVehicles[i];
if (!wheelVehicle->IsActiveInHierarchy())
if (!wheelVehicle->IsActiveInHierarchy() || !wheelVehicle->GetEnableSimulation())
continue;
auto drive = WheelVehiclesCache[ii];
auto& perVehicle = WheelVehiclesResultsPerVehicle[ii];
@@ -3058,8 +3059,20 @@ int32 PhysicsBackend::MoveController(void* controller, void* shape, const Vector
#if WITH_VEHICLE
bool SortWheels(WheeledVehicle::Wheel const& a, WheeledVehicle::Wheel const& b)
{
return (int32)a.Type < (int32)b.Type;
}
void* PhysicsBackend::CreateVehicle(WheeledVehicle* actor)
{
// TODO: handle PxVehicleDrive4WWheelOrder internally rather than sorting wheels directly on the vehicle
if (actor->_driveType == WheeledVehicle::DriveTypes::Drive4W)
{
// Drive4W requires wheels to match order from PxVehicleDrive4WWheelOrder enum
Sorting::QuickSort(actor->_wheels.Get(), actor->_wheels.Count(), SortWheels);
}
// Get wheels
Array<WheeledVehicle::Wheel*, FixedAllocation<PX_MAX_NB_WHEELS>> wheels;
for (auto& wheel : actor->_wheels)
@@ -3104,10 +3117,7 @@ void* PhysicsBackend::CreateVehicle(WheeledVehicle* actor)
// Initialize wheels simulation data
PxVec3 offsets[PX_MAX_NB_WHEELS];
for (int32 i = 0; i < wheels.Count(); i++)
{
auto& wheel = *wheels[i];
offsets[i] = C2P(wheel.Collider->GetLocalPosition());
}
offsets[i] = C2P(wheels[i]->Collider->GetLocalPosition());
PxF32 sprungMasses[PX_MAX_NB_WHEELS];
const float mass = actorPhysX->getMass();
// TODO: get gravityDirection from scenePhysX->Scene->getGravity()
@@ -3351,12 +3361,163 @@ void PhysicsBackend::DestroyVehicle(void* vehicle, int32 driveType)
}
}
void PhysicsBackend::UpdateVehicleWheels(WheeledVehicle* actor)
{
auto drive = (PxVehicleWheels*)actor->_vehicle;
PxVehicleWheelsSimData* wheelsSimData = &drive->mWheelsSimData;
for (uint32 i = 0; i < wheelsSimData->getNbWheels(); i++)
{
auto& wheel = actor->_wheels[i];
// Update suspension data
PxVehicleSuspensionData suspensionData = wheelsSimData->getSuspensionData(i);
const float suspensionFrequency = 7.0f;
suspensionData.mMaxCompression = wheel.SuspensionMaxRaise;
suspensionData.mMaxDroop = wheel.SuspensionMaxDrop;
suspensionData.mSpringStrength = Math::Square(suspensionFrequency) * suspensionData.mSprungMass;
suspensionData.mSpringDamperRate = wheel.SuspensionDampingRate * 2.0f * Math::Sqrt(suspensionData.mSpringStrength * suspensionData.mSprungMass);
wheelsSimData->setSuspensionData(i, suspensionData);
// Update tire data
PxVehicleTireData tire;
int32 tireIndex = WheelTireTypes.Find(wheel.TireFrictionScale);
if (tireIndex == -1)
{
// New tire type
tireIndex = WheelTireTypes.Count();
WheelTireTypes.Add(wheel.TireFrictionScale);
WheelTireFrictionsDirty = true;
}
tire.mType = tireIndex;
tire.mLatStiffX = wheel.TireLateralMax;
tire.mLatStiffY = wheel.TireLateralStiffness;
tire.mLongitudinalStiffnessPerUnitGravity = wheel.TireLongitudinalStiffness;
wheelsSimData->setTireData(i, tire);
// Update wheel data
PxVehicleWheelData wheelData;
wheelData.mMass = wheel.Mass;
wheelData.mRadius = wheel.Radius;
wheelData.mWidth = wheel.Width;
wheelData.mMOI = 0.5f * wheelData.mMass * Math::Square(wheelData.mRadius);
wheelData.mDampingRate = M2ToCm2(wheel.DampingRate);
wheelData.mMaxSteer = wheel.MaxSteerAngle * DegreesToRadians;
wheelData.mMaxBrakeTorque = M2ToCm2(wheel.MaxBrakeTorque);
wheelData.mMaxHandBrakeTorque = M2ToCm2(wheel.MaxHandBrakeTorque);
wheelsSimData->setWheelData(i, wheelData);
}
}
void PhysicsBackend::SetVehicleEngine(void* vehicle, const void* value)
{
auto drive = (PxVehicleDrive*)vehicle;
auto& engine = *(const WheeledVehicle::EngineSettings*)value;
switch (drive->getVehicleType())
{
case PxVehicleTypes::eDRIVE4W:
{
auto drive4W = (PxVehicleDrive4W*)drive;
PxVehicleDriveSimData4W& driveSimData = drive4W->mDriveSimData;
PxVehicleEngineData engineData;
engineData.mMOI = M2ToCm2(engine.MOI);
engineData.mPeakTorque = M2ToCm2(engine.MaxTorque);
engineData.mMaxOmega = RpmToRadPerS(engine.MaxRotationSpeed);
engineData.mDampingRateFullThrottle = M2ToCm2(0.15f);
engineData.mDampingRateZeroThrottleClutchEngaged = M2ToCm2(2.0f);
engineData.mDampingRateZeroThrottleClutchDisengaged = M2ToCm2(0.35f);
driveSimData.setEngineData(engineData);
break;
}
case PxVehicleTypes::eDRIVENW:
{
auto drive4W = (PxVehicleDriveNW*)drive;
PxVehicleDriveSimDataNW& driveSimData = drive4W->mDriveSimData;
PxVehicleEngineData engineData;
engineData.mMOI = M2ToCm2(engine.MOI);
engineData.mPeakTorque = M2ToCm2(engine.MaxTorque);
engineData.mMaxOmega = RpmToRadPerS(engine.MaxRotationSpeed);
engineData.mDampingRateFullThrottle = M2ToCm2(0.15f);
engineData.mDampingRateZeroThrottleClutchEngaged = M2ToCm2(2.0f);
engineData.mDampingRateZeroThrottleClutchDisengaged = M2ToCm2(0.35f);
driveSimData.setEngineData(engineData);
break;
}
}
}
void PhysicsBackend::SetVehicleDifferential(void* vehicle, const void* value)
{
auto drive = (PxVehicleDrive*)vehicle;
auto& differential = *(const WheeledVehicle::DifferentialSettings*)value;
switch (drive->getVehicleType())
{
case PxVehicleTypes::eDRIVE4W:
{
auto drive4W = (PxVehicleDrive4W*)drive;
PxVehicleDriveSimData4W& driveSimData = drive4W->mDriveSimData;
PxVehicleDifferential4WData differential4WData;
differential4WData.mType = (PxVehicleDifferential4WData::Enum)differential.Type;
differential4WData.mFrontRearSplit = differential.FrontRearSplit;
differential4WData.mFrontLeftRightSplit = differential.FrontLeftRightSplit;
differential4WData.mRearLeftRightSplit = differential.RearLeftRightSplit;
differential4WData.mCentreBias = differential.CentreBias;
differential4WData.mFrontBias = differential.FrontBias;
differential4WData.mRearBias = differential.RearBias;
driveSimData.setDiffData(differential4WData);
break;
}
}
}
void PhysicsBackend::SetVehicleGearbox(void* vehicle, const void* value)
{
auto drive = (PxVehicleDrive*)vehicle;
auto& gearbox = *(const WheeledVehicle::GearboxSettings*)value;
drive->mDriveDynData.setUseAutoGears(gearbox.AutoGear);
drive->mDriveDynData.setAutoBoxSwitchTime(Math::Max(gearbox.SwitchTime, 0.0f));
switch (drive->getVehicleType())
{
case PxVehicleTypes::eDRIVE4W:
{
auto drive4W = (PxVehicleDrive4W*)drive;
PxVehicleDriveSimData4W& driveSimData = drive4W->mDriveSimData;
// Gears
PxVehicleGearsData gears;
gears.mSwitchTime = Math::Max(gearbox.SwitchTime, 0.0f);
driveSimData.setGearsData(gears);
// Auto Box
PxVehicleAutoBoxData autoBox;
driveSimData.setAutoBoxData(autoBox);
// Clutch
PxVehicleClutchData clutch;
clutch.mStrength = M2ToCm2(gearbox.ClutchStrength);
driveSimData.setClutchData(clutch);
break;
}
case PxVehicleTypes::eDRIVENW:
{
auto drive4W = (PxVehicleDriveNW*)drive;
PxVehicleDriveSimDataNW& driveSimData = drive4W->mDriveSimData;
// Gears
PxVehicleGearsData gears;
gears.mSwitchTime = Math::Max(gearbox.SwitchTime, 0.0f);
driveSimData.setGearsData(gears);
// Auto Box
PxVehicleAutoBoxData autoBox;
driveSimData.setAutoBoxData(autoBox);
// Clutch
PxVehicleClutchData clutch;
clutch.mStrength = M2ToCm2(gearbox.ClutchStrength);
driveSimData.setClutchData(clutch);
break;
}
}
}
int32 PhysicsBackend::GetVehicleTargetGear(void* vehicle)