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Refactor vehicles to use Z axis as forward instead of X

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#1050
This commit is contained in:
Wojtek Figat
2023-06-13 14:56:03 +02:00
parent bdb65857bc
commit f1c98320fc
5 changed files with 53 additions and 11 deletions
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2
Flax.flaxproj
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@@ -3,7 +3,7 @@
"Version": {
"Major": 1,
"Minor": 5,
"Build": 6339
"Build": 6341
},
"Company": "Flax",
"Copyright": "Copyright (c) 2012-2023 Wojciech Figat. All rights reserved.",

1
Source/Engine/Level/Prefabs/PrefabManager.cpp
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@@ -102,6 +102,7 @@ Actor* PrefabManager::SpawnPrefab(Prefab* prefab, Actor* parent, Dictionary<Guid
CollectionPoolCache<ActorsCache::SceneObjectsListType>::ScopeCache sceneObjects = ActorsCache::SceneObjectsListCache.Get();
sceneObjects->Resize(objectsCount);
CollectionPoolCache<ISerializeModifier, Cache::ISerializeModifierClearCallback>::ScopeCache modifier = Cache::ISerializeModifier.Get();
modifier->EngineBuild = prefab->DataEngineBuild;
modifier->IdsMapping.EnsureCapacity(prefab->ObjectsIds.Count() * 4);
for (int32 i = 0; i < prefab->ObjectsIds.Count(); i++)
{

46
Source/Engine/Physics/Actors/WheeledVehicle.cpp
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@@ -212,7 +212,7 @@ void WheeledVehicle::Setup()
void WheeledVehicle::DrawPhysicsDebug(RenderView& view)
{
// Wheels shapes
for (auto& data : _wheelsData)
for (const auto& data : _wheelsData)
{
int32 wheelIndex = 0;
for (; wheelIndex < _wheels.Count(); wheelIndex++)
@@ -222,7 +222,7 @@ void WheeledVehicle::DrawPhysicsDebug(RenderView& view)
}
if (wheelIndex == _wheels.Count())
break;
auto& wheel = _wheels[wheelIndex];
const auto& wheel = _wheels[wheelIndex];
if (wheel.Collider && wheel.Collider->GetParent() == this && !wheel.Collider->GetIsTrigger())
{
const Vector3 currentPos = wheel.Collider->GetPosition();
@@ -242,7 +242,7 @@ void WheeledVehicle::DrawPhysicsDebug(RenderView& view)
void WheeledVehicle::OnDebugDrawSelected()
{
// Wheels shapes
for (auto& data : _wheelsData)
for (const auto& data : _wheelsData)
{
int32 wheelIndex = 0;
for (; wheelIndex < _wheels.Count(); wheelIndex++)
@@ -252,7 +252,7 @@ void WheeledVehicle::OnDebugDrawSelected()
}
if (wheelIndex == _wheels.Count())
break;
auto& wheel = _wheels[wheelIndex];
const auto& wheel = _wheels[wheelIndex];
if (wheel.Collider && wheel.Collider->GetParent() == this && !wheel.Collider->GetIsTrigger())
{
const Vector3 currentPos = wheel.Collider->GetPosition();
@@ -311,6 +311,9 @@ void WheeledVehicle::Deserialize(DeserializeStream& stream, ISerializeModifier*
DESERIALIZE_MEMBER(Engine, _engine);
DESERIALIZE_MEMBER(Differential, _differential);
DESERIALIZE_MEMBER(Gearbox, _gearbox);
// [Deprecated on 13.06.2023, expires on 13.06.2025]
_fixInvalidForwardDir |= modifier->EngineBuild < 6341;
}
void WheeledVehicle::OnColliderChanged(Collider* c)
@@ -331,6 +334,41 @@ void WheeledVehicle::OnPhysicsSceneChanged(PhysicsScene* previous)
#endif
}
void WheeledVehicle::OnTransformChanged()
{
RigidBody::OnTransformChanged();
// Initially vehicles were using X axis as forward which was kind of bad idea as engine uses Z as forward
// [Deprecated on 13.06.2023, expires on 13.06.2025]
if (_fixInvalidForwardDir)
{
_fixInvalidForwardDir = false;
// Transform all vehicle children around the vehicle origin to fix the vehicle facing direction
const Quaternion rotationDelta(0.0f, -0.7071068f, 0.0f, 0.7071068f);
const Vector3 origin = GetPosition();
for (Actor* child : Children)
{
Transform trans = child->GetTransform();;
const Vector3 pivotOffset = trans.Translation - origin;
if (pivotOffset.IsZero())
{
trans.Orientation *= Quaternion::Invert(trans.Orientation) * rotationDelta * trans.Orientation;
}
else
{
Matrix transWorld, deltaWorld;
Matrix::RotationQuaternion(trans.Orientation, transWorld);
Matrix::RotationQuaternion(rotationDelta, deltaWorld);
Matrix world = transWorld * Matrix::Translation(pivotOffset) * deltaWorld * Matrix::Translation(-pivotOffset);
trans.SetRotation(world);
trans.Translation += world.GetTranslation();
}
child->SetTransform(trans);
}
}
}
void WheeledVehicle::BeginPlay(SceneBeginData* data)
{
RigidBody::BeginPlay(data);

2
Source/Engine/Physics/Actors/WheeledVehicle.h
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@@ -328,6 +328,7 @@ private:
EngineSettings _engine;
DifferentialSettings _differential;
GearboxSettings _gearbox;
bool _fixInvalidForwardDir = false; // [Deprecated on 13.06.2023, expires on 13.06.2025]
public:
/// <summary>
@@ -488,6 +489,7 @@ protected:
void OnPhysicsSceneChanged(PhysicsScene* previous) override;
// [Vehicle]
void OnTransformChanged() override;
void BeginPlay(SceneBeginData* data) override;
void EndPlay() override;
};

13
Source/Engine/Physics/PhysX/PhysicsBackendPhysX.cpp
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@@ -477,7 +477,7 @@ void InitVehicleSDK()
{
VehicleSDKInitialized = true;
PxInitVehicleSDK(*PhysX);
PxVehicleSetBasisVectors(PxVec3(0, 1, 0), PxVec3(1, 0, 0));
PxVehicleSetBasisVectors(PxVec3(0, 1, 0), PxVec3(0, 0, 1));
PxVehicleSetUpdateMode(PxVehicleUpdateMode::eVELOCITY_CHANGE);
}
}
@@ -1018,7 +1018,7 @@ void PhysicsBackend::EndSimulateScene(void* scene)
5.0f, // fall rate eANALOG_INPUT_STEER_RIGHT
}
};
PxVehicleKeySmoothingData keySmoothing =
static constexpr PxVehicleKeySmoothingData keySmoothing =
{
{
3.0f, // rise rate eANALOG_INPUT_ACCEL
@@ -1216,7 +1216,7 @@ void PhysicsBackend::EndSimulateScene(void* scene)
// Update wheel collider transformation
auto localPose = shape->getLocalPose();
Transform t = wheelData.Collider->GetLocalTransform();
t.Orientation = Quaternion::Euler(0, state.SteerAngle, state.RotationAngle) * wheelData.LocalOrientation;
t.Orientation = Quaternion::Euler(-state.RotationAngle, state.SteerAngle, 0) * wheelData.LocalOrientation;
t.Translation = P2C(localPose.p) / wheelVehicle->GetScale() - t.Orientation * wheelData.Collider->GetCenter();
wheelData.Collider->SetLocalTransform(t);
}
@@ -2592,6 +2592,7 @@ void* PhysicsBackend::CreateVehicle(WheeledVehicle* actor)
}
PxF32 sprungMasses[PX_MAX_NB_WHEELS];
const float mass = actorPhysX->getMass();
// TODO: get gravityDirection from scenePhysX->Scene->getGravity()
PxVehicleComputeSprungMasses(wheels.Count(), offsets, centerOfMassOffset.p, mass, 1, sprungMasses);
PxVehicleWheelsSimData* wheelsSimData = PxVehicleWheelsSimData::allocate(wheels.Count());
for (int32 i = 0; i < wheels.Count(); i++)
@@ -2742,9 +2743,9 @@ void* PhysicsBackend::CreateVehicle(WheeledVehicle* actor)
// Ackermann steer accuracy
PxVehicleAckermannGeometryData ackermann;
ackermann.mAxleSeparation = Math::Abs(wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eFRONT_LEFT).x - wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eREAR_LEFT).x);
ackermann.mFrontWidth = Math::Abs(wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eFRONT_RIGHT).z - wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eFRONT_LEFT).z);
ackermann.mRearWidth = Math::Abs(wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eREAR_RIGHT).z - wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eREAR_LEFT).z);
ackermann.mAxleSeparation = Math::Abs(wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eFRONT_LEFT).z - wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eREAR_LEFT).z);
ackermann.mFrontWidth = Math::Abs(wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eFRONT_RIGHT).x - wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eFRONT_LEFT).x);
ackermann.mRearWidth = Math::Abs(wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eREAR_RIGHT).x - wheelsSimData->getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eREAR_LEFT).x);
driveSimData.setAckermannGeometryData(ackermann);
// Create vehicle drive