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Merge branch 'rot-colliders' of https://github.com/Tryibion/FlaxEngine into Tryibion-rot-colliders

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# Conflicts:
#	Source/Engine/Physics/Colliders/CapsuleCollider.cpp
#	Source/Engine/Physics/Colliders/Collider.cpp
This commit is contained in:
Wojtek Figat
2024-03-04 20:12:32 +01:00
parent 44ce444932 c4c55bfb61
commit b4fe3a44aa
4 changed files with 124 additions and 12 deletions
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34
Source/Engine/Physics/Colliders/CapsuleCollider.cpp
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@@ -6,7 +6,9 @@ CapsuleCollider::CapsuleCollider(const SpawnParams& params)
: Collider(params)
, _radius(20.0f)
, _height(100.0f)
, _direction(ColliderOrientationDirection::YAxis)
{
SetColliderDirection(_direction);
}
void CapsuleCollider::SetRadius(const float value)
@@ -31,6 +33,24 @@ void CapsuleCollider::SetHeight(const float value)
UpdateBounds();
}
void CapsuleCollider::SetColliderDirection(ColliderOrientationDirection value)
{
_direction = value;
switch (value)
{
case ColliderOrientationDirection::XAxis:
SetColliderOrientation(Quaternion::Identity);
break;
case ColliderOrientationDirection::YAxis:
SetColliderOrientation(Quaternion::Euler(0, 0, 90));
break;
case ColliderOrientationDirection::ZAxis:
SetColliderOrientation(Quaternion::Euler(0, 90, 0));
break;
default: ;
}
}
#if USE_EDITOR
#include "Engine/Debug/DebugDraw.h"
@@ -41,8 +61,10 @@ void CapsuleCollider::DrawPhysicsDebug(RenderView& view)
const BoundingSphere sphere(_sphere.Center - view.Origin, _sphere.Radius);
if (!view.CullingFrustum.Intersects(sphere))
return;
Quaternion collRot;
Quaternion::Multiply( _colliderOrientation, Quaternion::Euler(0, 90, 0), collRot);
Quaternion rotation;
Quaternion::Multiply(_transform.Orientation, Quaternion::Euler(0, 90, 0), rotation);
Quaternion::Multiply(_transform.Orientation, collRot, rotation);
const float scaling = _cachedScale.GetAbsolute().MaxValue();
const float minSize = 0.001f;
const float radius = Math::Max(Math::Abs(_radius) * scaling, minSize);
@@ -55,8 +77,10 @@ void CapsuleCollider::DrawPhysicsDebug(RenderView& view)
void CapsuleCollider::OnDebugDrawSelected()
{
Quaternion collRot;
Quaternion::Multiply( _colliderOrientation, Quaternion::Euler(0, 90, 0), collRot);
Quaternion rotation;
Quaternion::Multiply(_transform.Orientation, Quaternion::Euler(0, 90, 0), rotation);
Quaternion::Multiply(_transform.Orientation, collRot, rotation);
const float scaling = _cachedScale.GetAbsolute().MaxValue();
const float minSize = 0.001f;
const float radius = Math::Max(Math::Abs(_radius) * scaling, minSize);
@@ -85,7 +109,11 @@ void CapsuleCollider::UpdateBounds()
// Cache bounds
const float radiusTwice = _radius * 2.0f;
OrientedBoundingBox::CreateCentered(_center, Vector3(_height + radiusTwice, radiusTwice, radiusTwice), _orientedBox);
_orientedBox.Transform(_transform);
Transform transform = _transform;
Quaternion rot;
Quaternion::Multiply(transform.Orientation, _colliderOrientation, rot);
transform.Orientation = rot;
_orientedBox.Transform(transform);
_orientedBox.GetBoundingBox(_box);
BoundingSphere::FromBox(_box, _sphere);
}

36
Source/Engine/Physics/Colliders/CapsuleCollider.h
View File

@@ -5,6 +5,27 @@
#include "Collider.h"
#include "Engine/Core/Math/OrientedBoundingBox.h"
/// <summary>
/// The collider orientation direction.
/// </summary>
API_ENUM() enum class ColliderOrientationDirection
{
/// <summary>
/// Orient to the X-Axis.
/// </summary>
XAxis,
/// <summary>
/// Orient to the Y-Axis.
/// </summary>
YAxis,
/// <summary>
/// Orient to the Z-Axis.
/// </summary>
ZAxis
};
/// <summary>
/// A capsule-shaped primitive collider.
/// </summary>
@@ -19,6 +40,7 @@ private:
float _radius;
float _height;
OrientedBoundingBox _orientedBox;
ColliderOrientationDirection _direction;
public:
/// <summary>
@@ -53,6 +75,20 @@ public:
/// <remarks>The capsule height will be scaled by the actor's world scale.</remarks>
API_PROPERTY() void SetHeight(float value);
/// <summary>
/// Gets the orientation direction of the capsule collider.
/// </summary>
API_PROPERTY(Attributes="EditorOrder(111), DefaultValue(typeof(ColliderOrientationDirection), \"YAxis\"), EditorDisplay(\"Collider\")")
FORCE_INLINE ColliderOrientationDirection GetColliderDirection() const
{
return _direction;
}
/// <summary>
/// Sets the orientation direction of the capsule collider.
/// </summary>
API_PROPERTY() void SetColliderDirection(ColliderOrientationDirection value);
public:
// [Collider]
#if USE_EDITOR

52
Source/Engine/Physics/Colliders/Collider.cpp
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@@ -14,6 +14,7 @@
Collider::Collider(const SpawnParams& params)
: PhysicsColliderActor(params)
, _center(Float3::Zero)
, _colliderOrientation(Quaternion::Identity)
, _isTrigger(false)
, _shape(nullptr)
, _staticActor(nullptr)
@@ -44,11 +45,36 @@ void Collider::SetCenter(const Vector3& value)
_center = value;
if (_staticActor)
{
PhysicsBackend::SetShapeLocalPose(_shape, _center, Quaternion::Identity);
Quaternion result;
Quaternion::Multiply(Quaternion::Identity, _colliderOrientation, result);
PhysicsBackend::SetShapeLocalPose(_shape, _center, result);
}
else if (const RigidBody* rigidBody = GetAttachedRigidBody())
{
PhysicsBackend::SetShapeLocalPose(_shape, (_localTransform.Translation + _localTransform.Orientation * _center) * rigidBody->GetScale(), _localTransform.Orientation);
Quaternion result;
Quaternion::Multiply(_localTransform.Orientation, _colliderOrientation, result);
PhysicsBackend::SetShapeLocalPose(_shape, (_localTransform.Translation + result * _center) * rigidBody->GetScale(), result);
}
UpdateBounds();
}
void Collider::SetColliderOrientation(const Quaternion& value)
{
if (Quaternion::NearEqual(value, _colliderOrientation))
return;
_colliderOrientation = value;
if (_staticActor)
{
Quaternion result;
Quaternion::Multiply(Quaternion::Identity, _colliderOrientation, result);
PhysicsBackend::SetShapeLocalPose(_shape, _center, result);
}
else if (const RigidBody* rigidBody = GetAttachedRigidBody())
{
Quaternion result;
Quaternion::Multiply(_localTransform.Orientation, _colliderOrientation, result);
PhysicsBackend::SetShapeLocalPose(_shape, (_localTransform.Translation + result * _center) * rigidBody->GetScale(), result);
}
UpdateBounds();
}
@@ -168,8 +194,10 @@ void Collider::Attach(RigidBody* rigidBody)
// Attach
PhysicsBackend::AttachShape(_shape, rigidBody->GetPhysicsActor());
_cachedLocalPosePos = (_localTransform.Translation + _localTransform.Orientation * _center) * rigidBody->GetScale();
_cachedLocalPoseRot = _localTransform.Orientation;
Quaternion result;
Quaternion::Multiply(_localTransform.Orientation, _colliderOrientation, result);
_cachedLocalPosePos = (_localTransform.Translation + result * _center) * rigidBody->GetScale();
_cachedLocalPoseRot = result;
PhysicsBackend::SetShapeLocalPose(_shape, _cachedLocalPosePos, _cachedLocalPoseRot);
if (rigidBody->IsDuringPlay())
{
@@ -261,7 +289,9 @@ void Collider::CreateStaticActor()
_staticActor = PhysicsBackend::CreateRigidStaticActor(nullptr, _transform.Translation, _transform.Orientation, scene);
// Reset local pos of the shape and link it to the actor
PhysicsBackend::SetShapeLocalPose(_shape, _center, Quaternion::Identity);
Quaternion result;
Quaternion::Multiply(Quaternion::Identity, _colliderOrientation, result);
PhysicsBackend::SetShapeLocalPose(_shape, _center, result);
PhysicsBackend::AttachShape(_shape, _staticActor);
PhysicsBackend::AddSceneActor(scene, _staticActor);
@@ -404,15 +434,19 @@ void Collider::OnTransformChanged()
if (_staticActor)
{
PhysicsBackend::SetRigidActorPose(_staticActor, _transform.Translation, _transform.Orientation);
Quaternion result;
Quaternion::Multiply(_localTransform.Orientation, _colliderOrientation, result);
PhysicsBackend::SetRigidActorPose(_staticActor, _transform.Translation, result);
}
else if (const RigidBody* rigidBody = GetAttachedRigidBody())
{
const Vector3 localPosePos = (_localTransform.Translation + _localTransform.Orientation * _center) * rigidBody->GetScale();
if (_cachedLocalPosePos != localPosePos || _cachedLocalPoseRot != _localTransform.Orientation)
Quaternion result;
Quaternion::Multiply(_localTransform.Orientation, _colliderOrientation, result);
const Vector3 localPosePos = (_localTransform.Translation + result * _center) * rigidBody->GetScale();
if (_cachedLocalPosePos != localPosePos || _cachedLocalPoseRot != result)
{
_cachedLocalPosePos = localPosePos;
_cachedLocalPoseRot = _localTransform.Orientation;
_cachedLocalPoseRot = result;
PhysicsBackend::SetShapeLocalPose(_shape, localPosePos, _cachedLocalPoseRot);
}
}

14
Source/Engine/Physics/Colliders/Collider.h
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@@ -21,6 +21,7 @@ API_CLASS(Abstract) class FLAXENGINE_API Collider : public PhysicsColliderActor
DECLARE_SCENE_OBJECT_ABSTRACT(Collider);
protected:
Vector3 _center;
Quaternion _colliderOrientation;
bool _isTrigger;
void* _shape;
void* _staticActor;
@@ -77,6 +78,19 @@ public:
/// </summary>
API_PROPERTY() void SetContactOffset(float value);
/// <summary>
/// Gets the collider's orientation, measured in the object's local space.
/// </summary>
FORCE_INLINE Quaternion GetColliderOrientation() const
{
return _colliderOrientation;
}
/// <summary>
/// Sets the orientation of the collider, measured in the object's local space.
/// </summary>
void SetColliderOrientation(const Quaternion& value);
/// <summary>
/// The physical material used to define the collider physical properties.
/// </summary>