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Fix joints properties ranges validation

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This commit is contained in:
Wojtek Figat
2021-09-29 10:06:19 +02:00
parent 6ee5f5cc70
commit 8614e171c1
4 changed files with 46 additions and 34 deletions
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68
Source/Engine/Physics/Joints/D6Joint.cpp
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@@ -45,6 +45,7 @@ void D6Joint::SetDrive(const D6JointDriveType index, const D6JointDrive& value)
drive.stiffness = value.Stiffness; drive.stiffness = value.Stiffness;
drive.damping = value.Damping; drive.damping = value.Damping;
drive.forceLimit = value.ForceLimit; drive.forceLimit = value.ForceLimit;
ASSERT_LOW_LAYER(drive.isValid());
joint->setDrive(static_cast<PxD6Drive::Enum>(index), drive); joint->setDrive(static_cast<PxD6Drive::Enum>(index), drive);
} }
} }
@@ -59,11 +60,12 @@ void D6Joint::SetLimitLinear(const LimitLinear& value)
if (_joint) if (_joint)
{ {
auto joint = static_cast<PxD6Joint*>(_joint); auto joint = static_cast<PxD6Joint*>(_joint);
PxJointLinearLimit pxLimit(*Physics::GetTolerancesScale(), value.Extent, value.ContactDist); PxJointLinearLimit limit(*Physics::GetTolerancesScale(), Math::Max(value.Extent, ZeroTolerance), value.ContactDist);
pxLimit.stiffness = value.Spring.Stiffness; limit.stiffness = value.Spring.Stiffness;
pxLimit.damping = value.Spring.Damping; limit.damping = value.Spring.Damping;
pxLimit.restitution = value.Restitution; limit.restitution = value.Restitution;
joint->setLinearLimit(pxLimit); ASSERT_LOW_LAYER(limit.isValid());
joint->setLinearLimit(limit);
} }
} }
@@ -77,11 +79,12 @@ void D6Joint::SetLimitTwist(const LimitAngularRange& value)
if (_joint) if (_joint)
{ {
auto joint = static_cast<PxD6Joint*>(_joint); auto joint = static_cast<PxD6Joint*>(_joint);
PxJointAngularLimitPair pxLimit(value.Lower * DegreesToRadians, value.Upper * DegreesToRadians, value.ContactDist); PxJointAngularLimitPair limit(value.Lower * DegreesToRadians, Math::Max(value.Upper, value.Lower) * DegreesToRadians, value.ContactDist);
pxLimit.stiffness = value.Spring.Stiffness; limit.stiffness = value.Spring.Stiffness;
pxLimit.damping = value.Spring.Damping; limit.damping = value.Spring.Damping;
pxLimit.restitution = value.Restitution; limit.restitution = value.Restitution;
joint->setTwistLimit(pxLimit); ASSERT_LOW_LAYER(limit.isValid());
joint->setTwistLimit(limit);
} }
} }
@@ -95,11 +98,12 @@ void D6Joint::SetLimitSwing(const LimitConeRange& value)
if (_joint) if (_joint)
{ {
auto joint = static_cast<PxD6Joint*>(_joint); auto joint = static_cast<PxD6Joint*>(_joint);
PxJointLimitCone pxLimit(value.YLimitAngle * DegreesToRadians, value.ZLimitAngle * DegreesToRadians, value.ContactDist); PxJointLimitCone limit(Math::Clamp(value.YLimitAngle * DegreesToRadians, ZeroTolerance, PI), Math::Clamp(value.ZLimitAngle * DegreesToRadians, ZeroTolerance, PI), value.ContactDist);
pxLimit.stiffness = value.Spring.Stiffness; limit.stiffness = value.Spring.Stiffness;
pxLimit.damping = value.Spring.Damping; limit.damping = value.Spring.Damping;
pxLimit.restitution = value.Restitution; limit.restitution = value.Restitution;
joint->setSwingLimit(pxLimit); ASSERT_LOW_LAYER(limit.isValid());
joint->setSwingLimit(limit);
} }
} }
@@ -428,34 +432,38 @@ PxJoint* D6Joint::CreateJoint(JointData& data)
drive.stiffness = value.Stiffness; drive.stiffness = value.Stiffness;
drive.damping = value.Damping; drive.damping = value.Damping;
drive.forceLimit = value.ForceLimit; drive.forceLimit = value.ForceLimit;
ASSERT_LOW_LAYER(drive.isValid());
joint->setDrive(static_cast<PxD6Drive::Enum>(i), drive); joint->setDrive(static_cast<PxD6Drive::Enum>(i), drive);
} }
{ {
const auto& value = _limitLinear; const auto& value = _limitLinear;
PxJointLinearLimit pxLimit(*Physics::GetTolerancesScale(), Math::Max(value.Extent, 0.01f), value.ContactDist); PxJointLinearLimit limit(*Physics::GetTolerancesScale(), Math::Max(value.Extent, ZeroTolerance), value.ContactDist);
pxLimit.stiffness = value.Spring.Stiffness; limit.stiffness = value.Spring.Stiffness;
pxLimit.damping = value.Spring.Damping; limit.damping = value.Spring.Damping;
pxLimit.restitution = value.Restitution; limit.restitution = value.Restitution;
joint->setDistanceLimit(pxLimit); ASSERT_LOW_LAYER(limit.isValid());
joint->setDistanceLimit(limit);
} }
{ {
const auto& value = _limitTwist; const auto& value = _limitTwist;
PxJointAngularLimitPair pxLimit(value.Lower * DegreesToRadians, value.Upper * DegreesToRadians, value.ContactDist); PxJointAngularLimitPair limit(value.Lower * DegreesToRadians, Math::Max(value.Upper, value.Lower) * DegreesToRadians, value.ContactDist);
pxLimit.stiffness = value.Spring.Stiffness; limit.stiffness = value.Spring.Stiffness;
pxLimit.damping = value.Spring.Damping; limit.damping = value.Spring.Damping;
pxLimit.restitution = value.Restitution; limit.restitution = value.Restitution;
joint->setTwistLimit(pxLimit); ASSERT_LOW_LAYER(limit.isValid());
joint->setTwistLimit(limit);
} }
{ {
const auto& value = _limitSwing; const auto& value = _limitSwing;
PxJointLimitCone pxLimit(value.YLimitAngle * DegreesToRadians, value.ZLimitAngle * DegreesToRadians, value.ContactDist); PxJointLimitCone limit(Math::Clamp(value.YLimitAngle * DegreesToRadians, ZeroTolerance, PI), Math::Clamp(value.ZLimitAngle * DegreesToRadians, ZeroTolerance, PI), value.ContactDist);
pxLimit.stiffness = value.Spring.Stiffness; limit.stiffness = value.Spring.Stiffness;
pxLimit.damping = value.Spring.Damping; limit.damping = value.Spring.Damping;
pxLimit.restitution = value.Restitution; limit.restitution = value.Restitution;
joint->setSwingLimit(pxLimit); ASSERT_LOW_LAYER(limit.isValid());
joint->setSwingLimit(limit);
} }
return joint; return joint;

6
Source/Engine/Physics/Joints/HingeJoint.cpp
View File

@@ -38,10 +38,11 @@ void HingeJoint::SetLimit(const LimitAngularRange& value)
if (_joint) if (_joint)
{ {
auto joint = static_cast<PxRevoluteJoint*>(_joint); auto joint = static_cast<PxRevoluteJoint*>(_joint);
PxJointAngularLimitPair limit(value.Lower * DegreesToRadians, value.Upper * DegreesToRadians, value.ContactDist); PxJointAngularLimitPair limit(value.Lower * DegreesToRadians, Math::Max(value.Upper, value.Lower) * DegreesToRadians, value.ContactDist);
limit.stiffness = value.Spring.Stiffness; limit.stiffness = value.Spring.Stiffness;
limit.damping = value.Spring.Damping; limit.damping = value.Spring.Damping;
limit.restitution = value.Restitution; limit.restitution = value.Restitution;
ASSERT_LOW_LAYER(limit.isValid());
joint->setLimit(limit); joint->setLimit(limit);
} }
} }
@@ -162,10 +163,11 @@ PxJoint* HingeJoint::CreateJoint(JointData& data)
joint->setDriveVelocity(_drive.Velocity); joint->setDriveVelocity(_drive.Velocity);
joint->setDriveForceLimit(_drive.ForceLimit); joint->setDriveForceLimit(_drive.ForceLimit);
joint->setDriveGearRatio(_drive.GearRatio); joint->setDriveGearRatio(_drive.GearRatio);
PxJointAngularLimitPair limit(_limit.Lower * DegreesToRadians, _limit.Upper * DegreesToRadians, _limit.ContactDist); PxJointAngularLimitPair limit(_limit.Lower * DegreesToRadians, Math::Max(_limit.Upper, _limit.Lower) * DegreesToRadians, _limit.ContactDist);
limit.stiffness = _limit.Spring.Stiffness; limit.stiffness = _limit.Spring.Stiffness;
limit.damping = _limit.Spring.Damping; limit.damping = _limit.Spring.Damping;
limit.restitution = _limit.Restitution; limit.restitution = _limit.Restitution;
ASSERT_LOW_LAYER(limit.isValid());
joint->setLimit(limit); joint->setLimit(limit);
return joint; return joint;

1
Source/Engine/Physics/Joints/SliderJoint.cpp
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@@ -42,6 +42,7 @@ void SliderJoint::SetLimit(const LimitLinearRange& value)
limit.stiffness = value.Spring.Stiffness; limit.stiffness = value.Spring.Stiffness;
limit.damping = value.Spring.Damping; limit.damping = value.Spring.Damping;
limit.restitution = value.Restitution; limit.restitution = value.Restitution;
ASSERT_LOW_LAYER(limit.isValid());
joint->setLimit(limit); joint->setLimit(limit);
} }
} }

5
Source/Engine/Physics/Joints/SphericalJoint.cpp
View File

@@ -35,10 +35,11 @@ void SphericalJoint::SetLimit(const LimitConeRange& value)
if (_joint) if (_joint)
{ {
auto joint = static_cast<PxSphericalJoint*>(_joint); auto joint = static_cast<PxSphericalJoint*>(_joint);
PxJointLimitCone limit(value.YLimitAngle * DegreesToRadians, value.ZLimitAngle * DegreesToRadians, value.ContactDist); PxJointLimitCone limit(Math::Clamp(value.YLimitAngle * DegreesToRadians, ZeroTolerance, PI), Math::Clamp(value.ZLimitAngle * DegreesToRadians, ZeroTolerance, PI), value.ContactDist);
limit.stiffness = value.Spring.Stiffness; limit.stiffness = value.Spring.Stiffness;
limit.damping = value.Spring.Damping; limit.damping = value.Spring.Damping;
limit.restitution = value.Restitution; limit.restitution = value.Restitution;
ASSERT_LOW_LAYER(limit.isValid());
joint->setLimitCone(limit); joint->setLimitCone(limit);
} }
} }
@@ -110,7 +111,7 @@ PxJoint* SphericalJoint::CreateJoint(JointData& data)
if (_flags & SphericalJointFlag::Limit) if (_flags & SphericalJointFlag::Limit)
flags |= PxSphericalJointFlag::eLIMIT_ENABLED; flags |= PxSphericalJointFlag::eLIMIT_ENABLED;
joint->setSphericalJointFlags(static_cast<PxSphericalJointFlag::Enum>(flags)); joint->setSphericalJointFlags(static_cast<PxSphericalJointFlag::Enum>(flags));
PxJointLimitCone limit(_limit.YLimitAngle * DegreesToRadians, _limit.ZLimitAngle * DegreesToRadians, _limit.ContactDist); PxJointLimitCone limit(Math::Clamp(_limit.YLimitAngle * DegreesToRadians, ZeroTolerance, PI), Math::Clamp(_limit.ZLimitAngle * DegreesToRadians, ZeroTolerance, PI), _limit.ContactDist);
limit.stiffness = _limit.Spring.Stiffness; limit.stiffness = _limit.Spring.Stiffness;
limit.damping = _limit.Spring.Damping; limit.damping = _limit.Spring.Damping;
limit.restitution = _limit.Restitution; limit.restitution = _limit.Restitution;