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Wojtek Figat
456
Source/Engine/Physics/Colliders/Collider.cpp
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456
Source/Engine/Physics/Colliders/Collider.cpp
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// Copyright (c) 2012-2020 Wojciech Figat. All rights reserved.
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#include "Collider.h"
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#include "Engine/Core/Log.h"
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#include "Engine/Serialization/Serialization.h"
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#include "Engine/Physics/Utilities.h"
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#include "Engine/Physics/PhysicsSettings.h"
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#include "Engine/Physics/Physics.h"
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#include "Engine/Physics/PhysicalMaterial.h"
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#include "Engine/Physics/Actors/RigidBody.h"
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#include <ThirdParty/PhysX/geometry/PxGeometryQuery.h>
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#include <ThirdParty/PhysX/PxShape.h>
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#include <ThirdParty/PhysX/PxPhysics.h>
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#include <ThirdParty/PhysX/PxFiltering.h>
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#include <ThirdParty/PhysX/PxRigidDynamic.h>
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#include <ThirdParty/PhysX/PxRigidStatic.h>
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#include <ThirdParty/PhysX/PxScene.h>
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Collider::Collider(const SpawnParams& params)
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: PhysicsColliderActor(params)
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, _center(Vector3::Zero)
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, _isTrigger(false)
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, _shape(nullptr)
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, _staticActor(nullptr)
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, _cachedScale(1.0f)
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, _contactOffset(10.0f)
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{
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Material.Changed.Bind<Collider, &Collider::OnMaterialChanged>(this);
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}
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void Collider::SetIsTrigger(bool value)
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{
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if (value == _isTrigger || !CanBeTrigger())
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return;
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_isTrigger = value;
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if (_shape)
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{
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const bool isTrigger = _isTrigger && CanBeTrigger();
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const PxShapeFlags shapeFlags = GetShapeFlags(isTrigger, IsActiveInHierarchy());
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_shape->setFlags(shapeFlags);
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}
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}
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void Collider::SetCenter(const Vector3& value)
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{
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if (Vector3::NearEqual(value, _center))
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return;
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_center = value;
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if (_staticActor)
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{
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_shape->setLocalPose(PxTransform(C2P(_center)));
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}
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else if (const RigidBody* rigidBody = GetAttachedRigidBody())
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{
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_shape->setLocalPose(PxTransform(C2P((_localTransform.Translation + _localTransform.Orientation * _center) * rigidBody->GetScale()), C2P(_localTransform.Orientation)));
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}
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UpdateBounds();
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}
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void Collider::SetContactOffset(float value)
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{
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value = Math::Clamp(value, 0.0f, 100.0f);
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if (Math::NearEqual(value, _contactOffset))
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return;
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_contactOffset = value;
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if (_shape)
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{
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_shape->setContactOffset(Math::Max(_shape->getRestOffset() + ZeroTolerance, _contactOffset));
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}
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}
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bool Collider::RayCast(const Vector3& origin, const Vector3& direction, float& resultHitDistance, float maxDistance) const
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{
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resultHitDistance = MAX_float;
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if (_shape == nullptr)
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return false;
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// Prepare data
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const PxTransform trans(C2P(_transform.Translation), C2P(_transform.Orientation));
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const PxHitFlags hitFlags = PxHitFlag::ePOSITION | PxHitFlag::eNORMAL | PxHitFlag::eFACE_INDEX | PxHitFlag::eUV;
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// Perform raycast test
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PxRaycastHit hit;
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if (PxGeometryQuery::raycast(C2P(origin), C2P(direction), _shape->getGeometry().any(), trans, maxDistance, hitFlags, 1, &hit) != 0)
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{
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resultHitDistance = hit.distance;
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return true;
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}
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return false;
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}
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bool Collider::RayCast(const Vector3& origin, const Vector3& direction, RayCastHit& hitInfo, float maxDistance) const
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{
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if (_shape == nullptr)
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return false;
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// Prepare data
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const PxTransform trans(C2P(_transform.Translation), C2P(_transform.Orientation));
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const PxHitFlags hitFlags = PxHitFlag::ePOSITION | PxHitFlag::eNORMAL | PxHitFlag::eUV;
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PxRaycastHit hit;
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// Perform raycast test
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if (PxGeometryQuery::raycast(C2P(origin), C2P(direction), _shape->getGeometry().any(), trans, maxDistance, hitFlags, 1, &hit) == 0)
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return false;
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// Gather results
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hitInfo.Gather(hit);
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return true;
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}
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void Collider::ClosestPoint(const Vector3& position, Vector3& result) const
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{
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if (_shape == nullptr)
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{
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result = Vector3::Maximum;
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return;
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}
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// Prepare data
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const PxTransform trans(C2P(_transform.Translation), C2P(_transform.Orientation));
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PxVec3 closestPoint;
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// Compute distance between a point and a geometry object
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const float distanceSqr = PxGeometryQuery::pointDistance(C2P(position), _shape->getGeometry().any(), trans, &closestPoint);
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if (distanceSqr > 0.0f)
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{
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// Use calculated point
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result = P2C(closestPoint);
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}
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else
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{
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// Fallback to the input location
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result = position;
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}
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}
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bool Collider::ContainsPoint(const Vector3& point) const
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{
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if (_shape)
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{
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const PxTransform trans(C2P(_transform.Translation), C2P(_transform.Orientation));
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const float distanceSqr = PxGeometryQuery::pointDistance(C2P(point), _shape->getGeometry().any(), trans);
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return distanceSqr <= 0.0f;
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}
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return false;
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}
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bool Collider::ComputePenetration(const Collider* colliderA, const Collider* colliderB, Vector3& direction, float& distance)
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{
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direction = Vector3::Zero;
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distance = 0.0f;
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CHECK_RETURN(colliderA && colliderB, false);
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const PxShape* shapeA = colliderA->GetPxShape();
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const PxShape* shapeB = colliderB->GetPxShape();
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if (!shapeA || !shapeB)
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return false;
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const PxTransform poseA(C2P(colliderA->GetPosition()), C2P(colliderA->GetOrientation()));
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const PxTransform poseB(C2P(colliderB->GetPosition()), C2P(colliderB->GetOrientation()));
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return PxGeometryQuery::computePenetration(
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C2P(direction),
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distance,
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shapeA->getGeometry().any(),
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poseA,
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shapeB->getGeometry().any(),
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poseB
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);
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}
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bool Collider::IsAttached() const
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{
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return _shape && _shape->getActor() != nullptr;
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}
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RigidBody* Collider::GetAttachedRigidBody() const
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{
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if (_shape && _staticActor == nullptr)
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{
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auto actor = _shape->getActor();
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if (actor && actor->is<PxRigidDynamic>())
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return static_cast<RigidBody*>(actor->userData);
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}
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return nullptr;
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}
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void Collider::Attach(RigidBody* rigidBody)
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{
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ASSERT(CanAttach(rigidBody));
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// Remove static body if used
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if (_staticActor)
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RemoveStaticActor();
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// Create shape if missing
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if (_shape == nullptr)
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CreateShape();
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// Attach
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rigidBody->GetPhysXRigidActor()->attachShape(*_shape);
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_shape->setLocalPose(PxTransform(C2P((_localTransform.Translation + _localTransform.Orientation * _center) * rigidBody->GetScale()), C2P(_localTransform.Orientation)));
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if (rigidBody->IsDuringPlay())
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rigidBody->UpdateBounds();
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}
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void Collider::UpdateScale()
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{
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const Vector3 scale = GetScale();
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if (Vector3::NearEqual(_cachedScale, scale))
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return;
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// Recreate shape geometry
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UpdateGeometry();
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}
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void Collider::UpdateLayerBits()
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{
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ASSERT(_shape);
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PxFilterData filterData;
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// Own layer ID
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filterData.word0 = GetLayerMask();
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// Own layer mask
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filterData.word1 = PhysicsSettings::Instance()->LayerMasks[GetLayer()];
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_shape->setSimulationFilterData(filterData);
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_shape->setQueryFilterData(filterData);
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}
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void Collider::CreateShapeBase(const PxGeometry& geometry)
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{
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ASSERT(_shape == nullptr);
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// Prepare
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const bool isTrigger = _isTrigger && CanBeTrigger();
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const PxShapeFlags shapeFlags = GetShapeFlags(isTrigger, IsActiveInHierarchy());
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PxMaterial* material = Physics::GetDefaultMaterial();
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if (Material && !Material->WaitForLoaded())
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{
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material = ((PhysicalMaterial*)Material->Instance)->GetPhysXMaterial();
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}
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// Create shape
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_shape = CPhysX->createShape(geometry, *material, true, shapeFlags);
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ASSERT(_shape);
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_shape->userData = this;
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// Setup properties
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_shape->setContactOffset(Math::Max(_shape->getRestOffset() + ZeroTolerance, _contactOffset));
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UpdateLayerBits();
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}
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void Collider::CreateStaticActor()
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{
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ASSERT(_staticActor == nullptr);
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const PxTransform trans(C2P(_transform.Translation), C2P(_transform.Orientation));
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_staticActor = CPhysX->createRigidStatic(trans);
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ASSERT(_staticActor);
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_staticActor->userData = this;
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// Reset local pos of the shape and link it to the actor
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_shape->setLocalPose(PxTransform(C2P(_center)));
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_staticActor->attachShape(*_shape);
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Physics::AddActor(_staticActor);
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}
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void Collider::RemoveStaticActor()
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{
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ASSERT(_staticActor != nullptr);
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Physics::RemoveActor(_staticActor);
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_staticActor = nullptr;
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}
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void Collider::OnMaterialChanged()
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{
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// Update the shape material
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if (_shape)
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{
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PxMaterial* material = Physics::GetDefaultMaterial();
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if (Material)
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{
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if (!Material->WaitForLoaded())
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{
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material = ((PhysicalMaterial*)Material->Instance)->GetPhysXMaterial();
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}
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}
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_shape->setMaterials(&material, 1);
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}
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}
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void Collider::Serialize(SerializeStream& stream, const void* otherObj)
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{
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// Base
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PhysicsColliderActor::Serialize(stream, otherObj);
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SERIALIZE_GET_OTHER_OBJ(Collider);
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SERIALIZE_MEMBER(IsTrigger, _isTrigger);
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SERIALIZE_MEMBER(Center, _center);
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SERIALIZE_MEMBER(ContactOffset, _contactOffset);
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SERIALIZE(Material);
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}
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void Collider::Deserialize(DeserializeStream& stream, ISerializeModifier* modifier)
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{
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// Base
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PhysicsColliderActor::Deserialize(stream, modifier);
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DESERIALIZE_MEMBER(IsTrigger, _isTrigger);
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DESERIALIZE_MEMBER(Center, _center);
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DESERIALIZE_MEMBER(ContactOffset, _contactOffset);
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DESERIALIZE(Material);
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}
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void Collider::BeginPlay(SceneBeginData* data)
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{
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// Check if has no shape created (it means no rigidbody requested it but also collider may be spawned at runtime)
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if (_shape == nullptr)
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{
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CreateShape();
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// Check if parent is a rigidbody
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const auto rigidBody = dynamic_cast<RigidBody*>(GetParent());
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if (rigidBody && CanAttach(rigidBody))
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{
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// Attach to the rigidbody
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Attach(rigidBody);
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}
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else
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{
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// Be a static collider
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CreateStaticActor();
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}
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}
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// Base
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PhysicsColliderActor::BeginPlay(data);
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}
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void Collider::EndPlay()
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{
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if (_shape)
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{
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// Detach from the actor
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auto actor = _shape->getActor();
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if (actor)
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actor->detachShape(*_shape);
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// Check if was using a static actor and cleanup it
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if (_staticActor)
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{
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RemoveStaticActor();
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}
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// Release shape
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Physics::RemoveCollider(this);
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_shape->release();
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_shape = nullptr;
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}
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// Base
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PhysicsColliderActor::EndPlay();
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}
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void Collider::OnActiveInTreeChanged()
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{
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// Base
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PhysicsColliderActor::OnActiveInTreeChanged();
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if (_shape)
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{
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const bool isTrigger = _isTrigger && CanBeTrigger();
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const PxShapeFlags shapeFlags = GetShapeFlags(isTrigger, IsActiveInHierarchy());
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_shape->setFlags(shapeFlags);
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auto rigidBody = GetAttachedRigidBody();
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if (rigidBody)
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{
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rigidBody->UpdateMass();
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// TODO: maybe wake up only if one ore more shapes attached is active?
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//if (rigidBody->GetStartAwake())
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// rigidBody->WakeUp();
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}
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}
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}
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void Collider::OnParentChanged()
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{
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// Base
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PhysicsColliderActor::OnParentChanged();
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// Check reparenting collider case
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if (_shape)
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{
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// Detach from the actor
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auto actor = _shape->getActor();
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if (actor)
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actor->detachShape(*_shape);
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// Check if the new parent is a rigidbody
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const auto rigidBody = dynamic_cast<RigidBody*>(GetParent());
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if (rigidBody && CanAttach(rigidBody))
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{
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// Attach to the rigidbody (will remove static actor if it's n use)
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Attach(rigidBody);
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}
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else
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{
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// Use static actor (if not created yet)
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if (_staticActor == nullptr)
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CreateStaticActor();
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}
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}
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}
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void Collider::OnTransformChanged()
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{
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// Base
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PhysicsColliderActor::OnTransformChanged();
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if (_staticActor)
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{
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_staticActor->setGlobalPose(PxTransform(C2P(_transform.Translation), C2P(_transform.Orientation)));
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}
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else if (const RigidBody* rigidBody = GetAttachedRigidBody())
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{
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_shape->setLocalPose(PxTransform(C2P((_localTransform.Translation + _localTransform.Orientation * _center) * rigidBody->GetScale()), C2P(_localTransform.Orientation)));
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}
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UpdateScale();
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UpdateBounds();
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}
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void Collider::OnLayerChanged()
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{
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// Base
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PhysicsColliderActor::OnLayerChanged();
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if (_shape)
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UpdateLayerBits();
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}
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