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Merge branch 'fix-terrain-closest-point' of https://github.com/Tryibion/FlaxEngine into Tryibion-fix-terrain-closest-point

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This commit is contained in:
Wojtek Figat
2026-01-30 16:38:50 +01:00
parent 205a8b2ebe 25744986a3
commit bdfa503c05
1 changed files with 64 additions and 0 deletions
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64
Source/Engine/Physics/PhysX/PhysicsBackendPhysX.cpp
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@@ -2784,6 +2784,70 @@ float PhysicsBackend::ComputeShapeSqrDistanceToPoint(void* shape, const Vector3&
{
auto shapePhysX = (PxShape*)shape;
const PxTransform trans(C2P(position), C2P(orientation));
// Special case for heightfield collider
if (shapePhysX->getGeometryType() == PxGeometryType::eHEIGHTFIELD)
{
// Do a bunch of raycasts... because for some reason pointDistance does not support height fields...
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++) {
float phi = PI * (float)i / resolution;
float sinPhi = Math::Sin(phi);
float cosPhi = Math::Cos(phi);
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);
PxVec3 v;
v.x = cosTheta * sinPhi;
v.y = cosPhi;
v.z = sinTheta * sinPhi;
// All generated vectors are unit vectors (length 1)
unitDirections.Add(v);
}
}
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
PxRaycastBuffer buffer;
auto scene = shapePhysX->getActor()->getScene();
PxReal closestDistance = maxDistance;
PxVec3 tempClosestPoint;
for (PxVec3& unitDir : unitDirections)
{
bool hitResult = scene->raycast(origin, unitDir, maxDistance, buffer, hitFlags, filterData);
if (hitResult)
{
auto& hit = buffer.getAnyHit(0);
if (hit.distance < closestDistance && hit.distance > 0.0f)
{
tempClosestPoint = hit.position;
closestDistance = hit.distance;
}
}
}
if (closestDistance < maxDistance)
{
*closestPoint = P2C(tempClosestPoint);
return closestDistance;
}
return -1.0f;
}
// Default point distance for other collider queries
#if USE_LARGE_WORLDS
PxVec3 closestPointPx;
float result = PxGeometryQuery::pointDistance(C2P(point), shapePhysX->getGeometry(), trans, &closestPointPx);