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Minor cleanup and fix

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#3733
This commit is contained in:
Wojtek Figat
2026-01-30 16:43:48 +01:00
parent bdfa503c05
commit afc04dc41c
1 changed files with 10 additions and 11 deletions
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21
Source/Engine/Physics/PhysX/PhysicsBackendPhysX.cpp
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@@ -2785,21 +2785,21 @@ float PhysicsBackend::ComputeShapeSqrDistanceToPoint(void* shape, const Vector3&
auto shapePhysX = (PxShape*)shape;
const PxTransform trans(C2P(position), C2P(orientation));
// Special case for heightfield collider
// Special case for heightfield collider (not implemented in PhysX)
if (shapePhysX->getGeometryType() == PxGeometryType::eHEIGHTFIELD)
{
// Do a bunch of raycasts... because for some reason pointDistance does not support height fields...
// Do a bunch of raycasts in all directions to find the closest point on the heightfield
PxVec3 origin = C2P(point);
// Get all unit directions based on resolution value
Array<PxVec3> unitDirections;
int32 resolution = 32;
for (int32 i = 0; i <= resolution; i++) {
constexpr int32 resolution = 32;
unitDirections.EnsureCapacity((resolution + 1) * (resolution + 1));
for (int32 i = 0; i <= resolution; i++)
{
float phi = PI * (float)i / resolution;
float sinPhi = Math::Sin(phi);
float cosPhi = Math::Cos(phi);
for (int32 j = 0; j <= resolution; j++) {
for (int32 j = 0; j <= resolution; j++)
{
float theta = 2.0f * PI * (float)j / resolution;
float cosTheta = Math::Cos(theta);
float sinTheta = Math::Sin(theta);
@@ -2815,10 +2815,9 @@ float PhysicsBackend::ComputeShapeSqrDistanceToPoint(void* shape, const Vector3&
}
PxReal maxDistance = PX_MAX_REAL; // Search indefinitely
PxQueryFilterData filterData;
filterData.data.word0 = (PxU32)shapePhysX->getSimulationFilterData().word0;
PxHitFlags hitFlags = PxHitFlag::ePOSITION | PxHitFlag::eNORMAL | PxHitFlag::eMESH_BOTH_SIDES; // Both sides added for if it is underneath the height field
PxHitFlags hitFlags = PxHitFlag::ePOSITION | PxHitFlag::eMESH_BOTH_SIDES; // Both sides added for if it is underneath the height field
PxRaycastBuffer buffer;
auto scene = shapePhysX->getActor()->getScene();
@@ -2841,7 +2840,7 @@ float PhysicsBackend::ComputeShapeSqrDistanceToPoint(void* shape, const Vector3&
if (closestDistance < maxDistance)
{
*closestPoint = P2C(tempClosestPoint);
return closestDistance;
return closestDistance * closestDistance; // Result is squared distance
}
return -1.0f;