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Move collider shape raycasting utilities to the PhysicsColliderActor class

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This commit is contained in:
Wojtek Figat
2024-02-16 17:19:51 +01:00
parent 42b4443e14
commit 85f2910718
6 changed files with 55 additions and 70 deletions
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35
Source/Engine/Physics/Actors/PhysicsColliderActor.h
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@@ -5,6 +5,7 @@
#include "Engine/Level/Actor.h"
#include "Engine/Physics/Collisions.h"
struct RayCastHit;
struct Collision;
/// <summary>
@@ -42,6 +43,40 @@ public:
/// <returns>The rigid body or null.</returns>
API_PROPERTY() virtual RigidBody* GetAttachedRigidBody() const = 0;
/// <summary>
/// Performs a raycast against this collider shape.
/// </summary>
/// <param name="origin">The origin of the ray.</param>
/// <param name="direction">The normalized direction of the ray.</param>
/// <param name="resultHitDistance">The raycast result hit position distance from the ray origin. Valid only if raycast hits anything.</param>
/// <param name="maxDistance">The maximum distance the ray should check for collisions.</param>
/// <returns>True if ray hits an object, otherwise false.</returns>
API_FUNCTION(Sealed) virtual bool RayCast(const Vector3& origin, const Vector3& direction, API_PARAM(Out) float& resultHitDistance, float maxDistance = MAX_float) const = 0;
/// <summary>
/// Performs a raycast against this collider, returns results in a RaycastHit structure.
/// </summary>
/// <param name="origin">The origin of the ray.</param>
/// <param name="direction">The normalized direction of the ray.</param>
/// <param name="hitInfo">The result hit information. Valid only when method returns true.</param>
/// <param name="maxDistance">The maximum distance the ray should check for collisions.</param>
/// <returns>True if ray hits an object, otherwise false.</returns>
API_FUNCTION(Sealed) virtual bool RayCast(const Vector3& origin, const Vector3& direction, API_PARAM(Out) RayCastHit& hitInfo, float maxDistance = MAX_float) const = 0;
/// <summary>
/// Gets a point on the collider that is closest to a given location. Can be used to find a hit location or position to apply explosion force or any other special effects.
/// </summary>
/// <param name="point">The position to find the closest point to it.</param>
/// <param name="result">The result point on the collider that is closest to the specified location.</param>
API_FUNCTION(Sealed) virtual void ClosestPoint(const Vector3& point, API_PARAM(Out) Vector3& result) const = 0;
/// <summary>
/// Checks if a point is inside the collider.
/// </summary>
/// <param name="point">The point to check if is contained by the collider shape (in world-space).</param>
/// <returns>True if collider shape contains a given point, otherwise false.</returns>
API_FUNCTION(Sealed) virtual bool ContainsPoint(const Vector3& point) const = 0;
public:
/// <summary>
/// Called when a collision start gets registered for this collider (it collides with something).

38
Source/Engine/Physics/Colliders/Collider.h
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@@ -84,40 +84,6 @@ public:
JsonAssetReference<PhysicalMaterial> Material;
public:
/// <summary>
/// Performs a raycast against this collider shape.
/// </summary>
/// <param name="origin">The origin of the ray.</param>
/// <param name="direction">The normalized direction of the ray.</param>
/// <param name="resultHitDistance">The raycast result hit position distance from the ray origin. Valid only if raycast hits anything.</param>
/// <param name="maxDistance">The maximum distance the ray should check for collisions.</param>
/// <returns>True if ray hits an object, otherwise false.</returns>
API_FUNCTION() bool RayCast(const Vector3& origin, const Vector3& direction, API_PARAM(Out) float& resultHitDistance, float maxDistance = MAX_float) const;
/// <summary>
/// Performs a raycast against this collider, returns results in a RaycastHit structure.
/// </summary>
/// <param name="origin">The origin of the ray.</param>
/// <param name="direction">The normalized direction of the ray.</param>
/// <param name="hitInfo">The result hit information. Valid only when method returns true.</param>
/// <param name="maxDistance">The maximum distance the ray should check for collisions.</param>
/// <returns>True if ray hits an object, otherwise false.</returns>
API_FUNCTION() bool RayCast(const Vector3& origin, const Vector3& direction, API_PARAM(Out) RayCastHit& hitInfo, float maxDistance = MAX_float) const;
/// <summary>
/// Gets a point on the collider that is closest to a given location. Can be used to find a hit location or position to apply explosion force or any other special effects.
/// </summary>
/// <param name="point">The position to find the closest point to it.</param>
/// <param name="result">The result point on the collider that is closest to the specified location.</param>
API_FUNCTION() void ClosestPoint(const Vector3& point, API_PARAM(Out) Vector3& result) const;
/// <summary>
/// Checks if a point is inside the collider.
/// </summary>
/// <param name="point">The point to check if is contained by the collider shape (in world-space).</param>
/// <returns>True if collider shape contains a given point, otherwise false.</returns>
API_FUNCTION() bool ContainsPoint(const Vector3& point) const;
/// <summary>
/// Computes minimum translational distance between two geometry objects.
/// Translating the first collider by direction * distance will separate the colliders apart if the function returned true. Otherwise, direction and distance are not defined.
@@ -198,6 +164,10 @@ private:
public:
// [PhysicsColliderActor]
RigidBody* GetAttachedRigidBody() const override;
bool RayCast(const Vector3& origin, const Vector3& direction, float& resultHitDistance, float maxDistance = MAX_float) const final;
bool RayCast(const Vector3& origin, const Vector3& direction, RayCastHit& hitInfo, float maxDistance = MAX_float) const final;
void ClosestPoint(const Vector3& point, Vector3& result) const final;
bool ContainsPoint(const Vector3& point) const final;
protected:
// [PhysicsColliderActor]

1
Source/Engine/Physics/PhysX/PhysicsBackendPhysX.cpp
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@@ -2630,6 +2630,7 @@ bool PhysicsBackend::RayCastShape(void* shape, const Vector3& position, const Qu
PxRaycastHit hit;
if (PxGeometryQuery::raycast(C2P(origin - sceneOrigin), C2P(direction), shapePhysX->getGeometry(), trans, maxDistance, SCENE_QUERY_FLAGS, 1, &hit) == 0)
return false;
hit.shape = shapePhysX;
P2C(hit, hitInfo);
hitInfo.Point += sceneOrigin;
return true;

9
Source/Engine/Physics/PhysX/SimulationEventCallbackPhysX.cpp
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@@ -163,14 +163,11 @@ void SimulationEventCallback::onContact(const PxContactPairHeader& pairHeader, c
c.ThisVelocity = c.OtherVelocity = Vector3::Zero;
if (hasPostVelocities && j.nextItemSet())
{
ASSERT(j.contactPairIndex == pairIndex);
ASSERT_LOW_LAYER(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);
c.ThisVelocity = P2C(j.postSolverVelocity->linearVelocity[0]);
c.OtherVelocity = P2C(j.postSolverVelocity->linearVelocity[1]);
}
}

11
Source/Engine/Terrain/Terrain.cpp
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@@ -185,7 +185,7 @@ bool Terrain::RayCast(const Vector3& origin, const Vector3& direction, RayCastHi
return result;
}
void Terrain::ClosestPoint(const Vector3& position, Vector3& result) const
void Terrain::ClosestPoint(const Vector3& point, Vector3& result) const
{
Real minDistance = MAX_Real;
Vector3 tmp;
@@ -194,8 +194,8 @@ void Terrain::ClosestPoint(const Vector3& position, Vector3& result) const
const auto patch = _patches[pathIndex];
if (patch->HasCollision())
{
patch->ClosestPoint(position, tmp);
const auto distance = Vector3::DistanceSquared(position, tmp);
patch->ClosestPoint(point, tmp);
const auto distance = Vector3::DistanceSquared(point, tmp);
if (distance < minDistance)
{
minDistance = distance;
@@ -205,6 +205,11 @@ void Terrain::ClosestPoint(const Vector3& position, Vector3& result) const
}
}
bool Terrain::ContainsPoint(const Vector3& point) const
{
return false;
}
void Terrain::DrawPatch(const RenderContext& renderContext, const Int2& patchCoord, MaterialBase* material, int32 lodIndex) const
{
auto patch = GetPatch(patchCoord);

31
Source/Engine/Terrain/Terrain.h
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@@ -367,16 +367,6 @@ public:
void RemoveLightmap();
public:
/// <summary>
/// Performs a raycast against this terrain collision shape.
/// </summary>
/// <param name="origin">The origin of the ray.</param>
/// <param name="direction">The normalized direction of the ray.</param>
/// <param name="resultHitDistance">The raycast result hit position distance from the ray origin. Valid only if raycast hits anything.</param>
/// <param name="maxDistance">The maximum distance the ray should check for collisions.</param>
/// <returns>True if ray hits an object, otherwise false.</returns>
API_FUNCTION() bool RayCast(const Vector3& origin, const Vector3& direction, float& resultHitDistance, float maxDistance = MAX_float) const;
/// <summary>
/// Performs a raycast against this terrain collision shape. Returns the hit chunk.
/// </summary>
@@ -399,23 +389,6 @@ public:
/// <returns>True if ray hits an object, otherwise false.</returns>
API_FUNCTION() bool RayCast(const Ray& ray, API_PARAM(Out) float& resultHitDistance, API_PARAM(Out) Int2& resultPatchCoord, API_PARAM(Out) Int2& resultChunkCoord, float maxDistance = MAX_float) const;
/// <summary>
/// Performs a raycast against terrain collision, returns results in a RayCastHit structure.
/// </summary>
/// <param name="origin">The origin of the ray.</param>
/// <param name="direction">The normalized direction of the ray.</param>
/// <param name="hitInfo">The result hit information. Valid only when method returns true.</param>
/// <param name="maxDistance">The maximum distance the ray should check for collisions.</param>
/// <returns>True if ray hits an object, otherwise false.</returns>
API_FUNCTION() bool RayCast(const Vector3& origin, const Vector3& direction, API_PARAM(Out) RayCastHit& hitInfo, float maxDistance = MAX_float) const;
/// <summary>
/// Gets a point on the terrain collider that is closest to a given location. Can be used to find a hit location or position to apply explosion force or any other special effects.
/// </summary>
/// <param name="position">The position to find the closest point to it.</param>
/// <param name="result">The result point on the collider that is closest to the specified location.</param>
API_FUNCTION() void ClosestPoint(const Vector3& position, API_PARAM(Out) Vector3& result) const;
/// <summary>
/// Draws the terrain patch.
/// </summary>
@@ -451,6 +424,10 @@ public:
void Serialize(SerializeStream& stream, const void* otherObj) override;
void Deserialize(DeserializeStream& stream, ISerializeModifier* modifier) override;
RigidBody* GetAttachedRigidBody() const override;
bool RayCast(const Vector3& origin, const Vector3& direction, float& resultHitDistance, float maxDistance = MAX_float) const final;
bool RayCast(const Vector3& origin, const Vector3& direction, RayCastHit& hitInfo, float maxDistance = MAX_float) const final;
void ClosestPoint(const Vector3& point, Vector3& result) const final;
bool ContainsPoint(const Vector3& point) const final;
protected:
// [PhysicsColliderActor]