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Upgrade to PhysX 5.1.3

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This commit is contained in:
Wojtek Figat
2023-03-03 17:13:46 +01:00
parent 0112f70c05
commit a26d0d03eb
452 changed files with 58188 additions and 8646 deletions
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94
Source/Engine/Physics/PhysX/PhysicsBackendPhysX.cpp
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@@ -51,7 +51,7 @@
#define PHYSX_DEBUG_NAMING 0
// Temporary result buffer size
#define PHYSX_HIT_BUFFER_SIZE 128
#define PHYSX_HIT_BUFFER_SIZE 128
struct ActionDataPhysX
{
@@ -75,7 +75,8 @@ struct ScenePhysX
Array<ActionDataPhysX> Actions;
#if WITH_VEHICLE
Array<WheeledVehicle*> WheelVehicles;
PxBatchQuery* WheelRaycastBatchQuery = nullptr;
PxBatchQueryExt* WheelRaycastBatchQuery = nullptr;
int32 WheelRaycastBatchQuerySize = 0;
#endif
};
@@ -83,6 +84,7 @@ class AllocatorPhysX : public PxAllocatorCallback
{
void* allocate(size_t size, const char* typeName, const char* filename, int line) override
{
ASSERT(size < 1024 * 1024 * 32); // Prevent invalid allocation size
return Allocator::Allocate(size, 16);
}
@@ -124,7 +126,7 @@ class QueryFilterPhysX : public PxQueryFilterCallback
return blockSingle ? PxQueryHitType::eBLOCK : PxQueryHitType::eTOUCH;
}
PxQueryHitType::Enum postFilter(const PxFilterData& filterData, const PxQueryHit& hit) override
PxQueryHitType::Enum postFilter(const PxFilterData& filterData, const PxQueryHit& hit, const PxShape* shape, const PxRigidActor* actor) override
{
// Not used
return PxQueryHitType::eNONE;
@@ -151,7 +153,7 @@ class CharacterQueryFilterPhysX : public PxQueryFilterCallback
return PxQueryHitType::eNONE;
}
PxQueryHitType::Enum postFilter(const PxFilterData& filterData, const PxQueryHit& hit) override
PxQueryHitType::Enum postFilter(const PxFilterData& filterData, const PxQueryHit& hit, const PxShape* shape, const PxRigidActor* actor) override
{
// Not used
return PxQueryHitType::eNONE;
@@ -200,6 +202,35 @@ class CharacterControllerFilterPhysX : public PxControllerFilterCallback
}
};
#if WITH_VEHICLE
class WheelFilterPhysX : public PxQueryFilterCallback
{
public:
PxQueryHitType::Enum preFilter(const PxFilterData& filterData, const PxShape* shape, const PxRigidActor* actor, PxHitFlags& queryFlags) override
{
if (!shape)
return PxQueryHitType::eNONE;
const PxFilterData shapeFilter = shape->getQueryFilterData();
// Hardcoded id for vehicle shapes masking
if (filterData.word3 == shapeFilter.word3)
{
return PxQueryHitType::eNONE;
}
// Collide for pairs (A,B) where the filtermask of A contains the ID of B and vice versa
if ((filterData.word0 & shapeFilter.word1) && (shapeFilter.word0 & filterData.word1))
{
return PxQueryHitType::eBLOCK;
}
return PxQueryHitType::eNONE;
}
};
#endif
class WriteStreamPhysX : public PxOutputStream
{
public:
@@ -363,13 +394,12 @@ namespace
#if WITH_VEHICLE
bool VehicleSDKInitialized = false;
Array<PxVehicleWheels*> WheelVehiclesCache;
Array<PxRaycastQueryResult> WheelQueryResults;
Array<PxRaycastHit> WheelHitResults;
Array<PxWheelQueryResult> WheelVehiclesResultsPerWheel;
Array<PxVehicleWheelQueryResult> WheelVehiclesResultsPerVehicle;
PxVehicleDrivableSurfaceToTireFrictionPairs* WheelTireFrictions = nullptr;
bool WheelTireFrictionsDirty = false;
Array<float> WheelTireTypes;
WheelFilterPhysX WheelRaycastFilter;
#endif
}
@@ -482,23 +512,6 @@ void InitVehicleSDK()
}
}
PxQueryHitType::Enum WheelRaycastPreFilter(PxFilterData filterData0, PxFilterData filterData1, const void* constantBlock, PxU32 constantBlockSize, PxHitFlags& queryFlags)
{
// Hardcoded id for vehicle shapes masking
if (filterData0.word3 == filterData1.word3)
{
return PxQueryHitType::eNONE;
}
// Collide for pairs (A,B) where the filtermask of A contains the ID of B and vice versa
if ((filterData0.word0 & filterData1.word1) && (filterData1.word0 & filterData0.word1))
{
return PxQueryHitType::eBLOCK;
}
return PxQueryHitType::eNONE;
}
#endif
void* PhysicalMaterial::GetPhysicsMaterial()
@@ -757,8 +770,6 @@ void PhysicsBackend::Shutdown()
// Cleanup any resources
#if WITH_VEHICLE
RELEASE_PHYSX(WheelTireFrictions);
WheelQueryResults.Resize(0);
WheelHitResults.Resize(0);
WheelVehiclesResultsPerWheel.Resize(0);
WheelVehiclesResultsPerVehicle.Resize(0);
#endif
@@ -794,7 +805,6 @@ void PhysicsBackend::ApplySettings(const PhysicsSettings& settings)
_frictionCombineMode = settings.FrictionCombineMode;
_restitutionCombineMode = settings.RestitutionCombineMode;
// TODO: setting eADAPTIVE_FORCE requires PxScene setup (physx docs: This flag is not mutable, and must be set in PxSceneDesc at scene creation.)
// TODO: update all shapes filter data
// TODO: update all shapes flags
@@ -824,11 +834,10 @@ void* PhysicsBackend::CreateScene(const PhysicsSettings& settings)
sceneDesc.flags |= PxSceneFlag::eENABLE_ACTIVE_ACTORS;
if (!settings.DisableCCD)
sceneDesc.flags |= PxSceneFlag::eENABLE_CCD;
if (settings.EnableAdaptiveForce)
sceneDesc.flags |= PxSceneFlag::eADAPTIVE_FORCE;
sceneDesc.simulationEventCallback = &scenePhysX->EventsCallback;
sceneDesc.filterShader = FilterShader;
sceneDesc.bounceThresholdVelocity = settings.BounceThresholdVelocity;
sceneDesc.solverType = PxSolverType::ePGS;
if (sceneDesc.cpuDispatcher == nullptr)
{
scenePhysX->CpuDispatcher = PxDefaultCpuDispatcherCreate(Math::Clamp<uint32>(Platform::GetCPUInfo().ProcessorCoreCount - 1, 1, 4));
@@ -870,6 +879,7 @@ void PhysicsBackend::DestroyScene(void* scene)
SceneOrigins.Remove(scenePhysX->Scene);
#if WITH_VEHICLE
RELEASE_PHYSX(scenePhysX->WheelRaycastBatchQuery);
scenePhysX->WheelRaycastBatchQuerySize = 0;
#endif
RELEASE_PHYSX(scenePhysX->ControllerManager);
SAFE_DELETE(scenePhysX->CpuDispatcher);
@@ -1108,18 +1118,12 @@ void PhysicsBackend::EndSimulateScene(void* scene)
}
// Update batches queries cache
if (wheelsCount > WheelQueryResults.Count())
if (wheelsCount > scenePhysX->WheelRaycastBatchQuerySize)
{
if (scenePhysX->WheelRaycastBatchQuery)
scenePhysX->WheelRaycastBatchQuery->release();
WheelQueryResults.Resize(wheelsCount, false);
WheelHitResults.Resize(wheelsCount, false);
PxBatchQueryDesc desc(wheelsCount, 0, 0);
desc.queryMemory.userRaycastResultBuffer = WheelQueryResults.Get();
desc.queryMemory.userRaycastTouchBuffer = WheelHitResults.Get();
desc.queryMemory.raycastTouchBufferSize = wheelsCount;
desc.preFilterShader = WheelRaycastPreFilter;
scenePhysX->WheelRaycastBatchQuery = scenePhysX->Scene->createBatchQuery(desc);
scenePhysX->WheelRaycastBatchQuerySize = wheelsCount;
scenePhysX->WheelRaycastBatchQuery = PxCreateBatchQueryExt(*scenePhysX->Scene, &WheelRaycastFilter, wheelsCount, wheelsCount, 0, 0, 0, 0);
}
// Update lookup table that maps wheel type into the surface friction
@@ -1169,7 +1173,7 @@ void PhysicsBackend::EndSimulateScene(void* scene)
// Update vehicles
if (WheelVehiclesCache.Count() != 0)
{
PxVehicleSuspensionRaycasts(scenePhysX->WheelRaycastBatchQuery, WheelVehiclesCache.Count(), WheelVehiclesCache.Get(), WheelQueryResults.Count(), WheelQueryResults.Get());
PxVehicleSuspensionRaycasts(scenePhysX->WheelRaycastBatchQuery, WheelVehiclesCache.Count(), WheelVehiclesCache.Get());
PxVehicleUpdates(scenePhysX->LastDeltaTime, scenePhysX->Scene->getGravity(), *WheelTireFrictions, WheelVehiclesCache.Count(), WheelVehiclesCache.Get(), WheelVehiclesResultsPerVehicle.Get());
}
@@ -2045,7 +2049,7 @@ bool PhysicsBackend::ComputeShapesPenetration(void* shapeA, void* shapeB, const
const PxTransform poseA(C2P(positionA), C2P(orientationA));
const PxTransform poseB(C2P(positionB), C2P(orientationB));
PxVec3 dir = C2P(direction);
const bool result = PxGeometryQuery::computePenetration(dir, distance, shapeAPhysX->getGeometry().any(), poseA, shapeBPhysX->getGeometry().any(), poseB);
const bool result = PxGeometryQuery::computePenetration(dir, distance, shapeAPhysX->getGeometry(), poseA, shapeBPhysX->getGeometry(), poseB);
direction = P2C(dir);
return result;
}
@@ -2054,7 +2058,7 @@ float PhysicsBackend::ComputeShapeSqrDistanceToPoint(void* shape, const Vector3&
{
auto shapePhysX = (PxShape*)shape;
const PxTransform trans(C2P(position), C2P(orientation));
return PxGeometryQuery::pointDistance(C2P(point), shapePhysX->getGeometry().any(), trans, (PxVec3*)closestPoint);
return PxGeometryQuery::pointDistance(C2P(point), shapePhysX->getGeometry(), trans, (PxVec3*)closestPoint);
}
bool PhysicsBackend::RayCastShape(void* shape, const Vector3& position, const Quaternion& orientation, const Vector3& origin, const Vector3& direction, float& resultHitDistance, float maxDistance)
@@ -2064,7 +2068,7 @@ bool PhysicsBackend::RayCastShape(void* shape, const Vector3& position, const Qu
const PxTransform trans(C2P(position - sceneOrigin), C2P(orientation));
const PxHitFlags hitFlags = (PxHitFlags)0;
PxRaycastHit hit;
if (PxGeometryQuery::raycast(C2P(origin - sceneOrigin), C2P(direction), shapePhysX->getGeometry().any(), trans, maxDistance, hitFlags, 1, &hit) != 0)
if (PxGeometryQuery::raycast(C2P(origin - sceneOrigin), C2P(direction), shapePhysX->getGeometry(), trans, maxDistance, hitFlags, 1, &hit) != 0)
{
resultHitDistance = hit.distance;
return true;
@@ -2079,7 +2083,7 @@ bool PhysicsBackend::RayCastShape(void* shape, const Vector3& position, const Qu
const PxTransform trans(C2P(position - sceneOrigin), C2P(orientation));
const PxHitFlags hitFlags = PxHitFlag::ePOSITION | PxHitFlag::eNORMAL | PxHitFlag::eFACE_INDEX | PxHitFlag::eUV;
PxRaycastHit hit;
if (PxGeometryQuery::raycast(C2P(origin - sceneOrigin), C2P(direction), shapePhysX->getGeometry().any(), trans, maxDistance, hitFlags, 1, &hit) == 0)
if (PxGeometryQuery::raycast(C2P(origin - sceneOrigin), C2P(direction), shapePhysX->getGeometry(), trans, maxDistance, hitFlags, 1, &hit) == 0)
return false;
P2C(hit, hitInfo);
hitInfo.Point += sceneOrigin;
@@ -2905,7 +2909,8 @@ void* PhysicsBackend::CreateConvexMesh(byte* data, int32 dataSize, BoundingBox&
{
PxDefaultMemoryInputData input(data, dataSize);
PxConvexMesh* convexMesh = PhysX->createConvexMesh(input);
localBounds = P2C(convexMesh->getLocalBounds());
if (convexMesh)
localBounds = P2C(convexMesh->getLocalBounds());
return convexMesh;
}
@@ -2913,7 +2918,8 @@ void* PhysicsBackend::CreateTriangleMesh(byte* data, int32 dataSize, BoundingBox
{
PxDefaultMemoryInputData input(data, dataSize);
PxTriangleMesh* triangleMesh = PhysX->createTriangleMesh(input);
localBounds = P2C(triangleMesh->getLocalBounds());
if (triangleMesh)
localBounds = P2C(triangleMesh->getLocalBounds());
return triangleMesh;
}

2
Source/Engine/Physics/PhysX/PhysicsStepperPhysX.cpp
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@@ -32,7 +32,7 @@ bool MultiThreadStepper::advance(PxScene* scene, PxReal dt, void* scratchBlock,
mScratchBlockSize = scratchBlockSize;
if (!mSync)
mSync = New<shdfnd::Sync>();
mSync = New<PxSync>();
substepStrategy(dt, mNbSubSteps, mSubStepSize);

4
Source/Engine/Physics/PhysX/PhysicsStepperPhysX.h
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@@ -7,7 +7,7 @@
#include "Types.h"
#include <ThirdParty/PhysX/task/PxTask.h>
#include <ThirdParty/PhysX/foundation/PxSimpleTypes.h>
#include <ThirdParty/PhysX/foundation/PsSync.h>
#include <ThirdParty/PhysX/foundation/PxSync.h>
class MultiThreadStepper;
@@ -135,7 +135,7 @@ protected:
StepperTaskSimulate mSimulateTask;
StepperTask mCompletion0, mCompletion1;
PxScene* mScene;
shdfnd::Sync* mSync;
PxSync* mSync;
PxU32 mCurrentSubStep;
PxU32 mNbSubSteps;

38
Source/Engine/Physics/PhysX/Types.h
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@@ -21,16 +21,44 @@
namespace physx
{
template<class Type>
class PxVec2T;
typedef PxVec2T<float> PxVec2;
template<class Type>
class PxVec3T;
typedef PxVec3T<float> PxVec3;
template<class Type>
class PxVec4T;
typedef PxVec4T<float> PxVec4;
template<class Type>
class PxQuatT;
typedef PxQuatT<float> PxQuat;
template<class Type>
class PxMat33T;
typedef PxMat33T<float> PxMat33;
template<class Type>
class PxMat34T;
typedef PxMat34T<float> PxMat34;
template<class Type>
class PxMat44T;
typedef PxMat44T<float> PxMat44;
template<class Type>
class PxTransformT;
typedef PxTransformT<float> PxTransform;
class PxScene;
class PxConvexMesh;
class PxTriangleMesh;
class PxCooking;
class PxPhysics;
class PxVec3;
class PxVec4;
class PxTransform;
class PxJoint;
class PxMat44;
class PxCpuDispatcher;
class PxGpuDispatcher;
class PxSimulationEventCallback;
@@ -55,6 +83,8 @@ namespace physx
class PxQueryFilterCallback;
class PxControllerFilterCallback;
class PxHeightField;
class PxPlane;
class PxBounds3;
struct PxFilterData;
struct PxRaycastHit;
struct PxSweepHit;