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Merge branch 'Tryibion-fix-terrain-closest-point'

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Wojtek Figat
2026-01-30 16:43:52 +01:00
parent 205a8b2ebe afc04dc41c
commit e2f2d3e6f6
1 changed files with 63 additions and 0 deletions
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63
Source/Engine/Physics/PhysX/PhysicsBackendPhysX.cpp
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@@ -2784,6 +2784,69 @@ float PhysicsBackend::ComputeShapeSqrDistanceToPoint(void* shape, const Vector3&
{
auto shapePhysX = (PxShape*)shape;
const PxTransform trans(C2P(position), C2P(orientation));
// Special case for heightfield collider (not implemented in PhysX)
if (shapePhysX->getGeometryType() == PxGeometryType::eHEIGHTFIELD)
{
// Do a bunch of raycasts in all directions to find the closest point on the heightfield
PxVec3 origin = C2P(point);
Array<PxVec3> unitDirections;
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++)
{
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::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 * closestDistance; // Result is squared distance
}
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);