819 lines
28 KiB
C++
819 lines
28 KiB
C++
#include "Physics.h"
|
|
#include "PhysicsScene.h"
|
|
#include "PhysicsSettings.h"
|
|
#include "PhysicsStepper.h"
|
|
#include "SimulationEventCallback.h"
|
|
#include "Utilities.h"
|
|
|
|
#include "Actors/IPhysicsActor.h"
|
|
|
|
#include "Engine/Core/Log.h"
|
|
#include "Engine/Platform/CPUInfo.h"
|
|
#include "Engine/Profiler/ProfilerCPU.h"
|
|
#include "Engine/Threading/Threading.h"
|
|
#include <ThirdParty/PhysX/PxPhysicsAPI.h>
|
|
|
|
#if WITH_VEHICLE
|
|
#include "Actors/WheeledVehicle.h"
|
|
#include <ThirdParty/PhysX/vehicle/PxVehicleUpdate.h>
|
|
#endif
|
|
|
|
// Temporary memory size used by the PhysX during the simulation. Must be multiply of 4kB and 16bit aligned.
|
|
#define SCRATCH_BLOCK_SIZE (1024 * 128)
|
|
|
|
PxFilterFlags FilterShader(
|
|
PxFilterObjectAttributes attributes0, PxFilterData filterData0,
|
|
PxFilterObjectAttributes attributes1, PxFilterData filterData1,
|
|
PxPairFlags& pairFlags, const void* constantBlock, PxU32 constantBlockSize)
|
|
{
|
|
// Let triggers through
|
|
if (PxFilterObjectIsTrigger(attributes0) || PxFilterObjectIsTrigger(attributes1))
|
|
{
|
|
pairFlags |= PxPairFlag::eNOTIFY_TOUCH_FOUND;
|
|
pairFlags |= PxPairFlag::eNOTIFY_TOUCH_LOST;
|
|
pairFlags |= PxPairFlag::eDETECT_DISCRETE_CONTACT;
|
|
return PxFilterFlag::eDEFAULT;
|
|
}
|
|
|
|
// Send events for the kinematic actors but don't solve the contact
|
|
if (PxFilterObjectIsKinematic(attributes0) && PxFilterObjectIsKinematic(attributes1))
|
|
{
|
|
pairFlags |= PxPairFlag::eNOTIFY_TOUCH_FOUND;
|
|
pairFlags |= PxPairFlag::eNOTIFY_TOUCH_PERSISTS;
|
|
pairFlags |= PxPairFlag::eNOTIFY_TOUCH_LOST;
|
|
pairFlags |= PxPairFlag::eDETECT_DISCRETE_CONTACT;
|
|
return PxFilterFlag::eSUPPRESS;
|
|
}
|
|
|
|
// Trigger the contact callback for pairs (A,B) where the filtermask of A contains the ID of B and vice versa
|
|
if ((filterData0.word0 & filterData1.word1) && (filterData1.word0 & filterData0.word1))
|
|
{
|
|
pairFlags |= PxPairFlag::eSOLVE_CONTACT;
|
|
pairFlags |= PxPairFlag::eDETECT_DISCRETE_CONTACT;
|
|
pairFlags |= PxPairFlag::eNOTIFY_TOUCH_FOUND;
|
|
pairFlags |= PxPairFlag::eNOTIFY_TOUCH_PERSISTS;
|
|
pairFlags |= PxPairFlag::ePOST_SOLVER_VELOCITY;
|
|
pairFlags |= PxPairFlag::eNOTIFY_CONTACT_POINTS;
|
|
return PxFilterFlag::eDEFAULT;
|
|
}
|
|
|
|
// Ignore pair (no collisions nor events)
|
|
return PxFilterFlag::eKILL;
|
|
}
|
|
|
|
enum class ActionType
|
|
{
|
|
Sleep,
|
|
};
|
|
|
|
struct ActionData
|
|
{
|
|
ActionType Type;
|
|
PxActor* Actor;
|
|
};
|
|
|
|
#if WITH_VEHICLE
|
|
|
|
static PxQueryHitType::Enum WheelRaycastPreFilter(PxFilterData filterData0, PxFilterData filterData1, const void* constantBlock, PxU32 constantBlockSize, PxHitFlags& queryFlags)
|
|
{
|
|
// Hardcoded id for vehicle shapes masking
|
|
if (filterData0.word3 == filterData1.word3)
|
|
{
|
|
return PxQueryHitType::eNONE;
|
|
}
|
|
|
|
// Collide for pairs (A,B) where the filtermask of A contains the ID of B and vice versa
|
|
if ((filterData0.word0 & filterData1.word1) && (filterData1.word0 & filterData0.word1))
|
|
{
|
|
return PxQueryHitType::eBLOCK;
|
|
}
|
|
|
|
return PxQueryHitType::eNONE;
|
|
}
|
|
|
|
#endif
|
|
|
|
class PhysicsScenePhysX
|
|
{
|
|
friend PhysicsScene;
|
|
|
|
private:
|
|
PxScene* Scene;
|
|
PxCpuDispatcher* CpuDispatcher;
|
|
PxControllerManager* ControllerManager;
|
|
PxSimulationFilterShader PhysXDefaultFilterShader = PxDefaultSimulationFilterShader;
|
|
SimulationEventCallback EventsCallback;
|
|
CriticalSection FlushLocker;
|
|
|
|
Array<PxActor*> NewActors;
|
|
Array<PxActor*> DeadActors;
|
|
Array<PxMaterial*> DeadMaterials;
|
|
Array<PhysicsColliderActor*> DeadColliders;
|
|
Array<Joint*> DeadJoints;
|
|
Array<ActionData> Actions;
|
|
Array<PxBase*> DeadObjects;
|
|
|
|
#if WITH_VEHICLE
|
|
Array<PxVehicleWheels*> WheelVehiclesCache;
|
|
Array<PxRaycastQueryResult> WheelQueryResults;
|
|
Array<PxRaycastHit> WheelHitResults;
|
|
Array<PxWheelQueryResult> WheelVehiclesResultsPerWheel;
|
|
Array<PxVehicleWheelQueryResult> WheelVehiclesResultsPerVehicle;
|
|
PxBatchQuery* WheelRaycastBatchQuery = nullptr;
|
|
PxVehicleDrivableSurfaceToTireFrictionPairs* WheelTireFrictions = nullptr;
|
|
Array<WheeledVehicle*> WheelVehicles;
|
|
#endif
|
|
};
|
|
|
|
PhysicsScene::PhysicsScene(const String& name, const PhysicsSettings& settings)
|
|
: PersistentScriptingObject(SpawnParams(Guid::New(), TypeInitializer))
|
|
{
|
|
#define CHECK_INIT(value, msg) if(!value) { LOG(Error, msg); return; }
|
|
|
|
mName = name;
|
|
mPhysxImpl = New<PhysicsScenePhysX>();
|
|
|
|
// Create scene description
|
|
PxSceneDesc sceneDesc(CPhysX->getTolerancesScale());
|
|
sceneDesc.gravity = C2P(settings.DefaultGravity);
|
|
sceneDesc.flags |= PxSceneFlag::eENABLE_ACTIVE_ACTORS;
|
|
if (!settings.DisableCCD)
|
|
sceneDesc.flags |= PxSceneFlag::eENABLE_CCD;
|
|
if (settings.EnableAdaptiveForce)
|
|
sceneDesc.flags |= PxSceneFlag::eADAPTIVE_FORCE;
|
|
sceneDesc.simulationEventCallback = &mPhysxImpl->EventsCallback;
|
|
sceneDesc.filterShader = FilterShader;
|
|
sceneDesc.bounceThresholdVelocity = settings.BounceThresholdVelocity;
|
|
if (sceneDesc.cpuDispatcher == nullptr)
|
|
{
|
|
mPhysxImpl->CpuDispatcher = PxDefaultCpuDispatcherCreate(Math::Clamp<uint32>(Platform::GetCPUInfo().ProcessorCoreCount - 1, 1, 4));
|
|
CHECK_INIT(mPhysxImpl->CpuDispatcher, "PxDefaultCpuDispatcherCreate failed!");
|
|
sceneDesc.cpuDispatcher = mPhysxImpl->CpuDispatcher;
|
|
}
|
|
if (sceneDesc.filterShader == nullptr)
|
|
{
|
|
sceneDesc.filterShader = mPhysxImpl->PhysXDefaultFilterShader;
|
|
}
|
|
|
|
// Create scene
|
|
mPhysxImpl->Scene = CPhysX->createScene(sceneDesc);
|
|
CHECK_INIT(mPhysxImpl->Scene, "createScene failed!");
|
|
#if WITH_PVD
|
|
auto pvdClient = PhysicsScene->getScenePvdClient();
|
|
if (pvdClient)
|
|
{
|
|
pvdClient->setScenePvdFlags(PxPvdSceneFlag::eTRANSMIT_CONSTRAINTS | PxPvdSceneFlag::eTRANSMIT_SCENEQUERIES | PxPvdSceneFlag::eTRANSMIT_CONTACTS);
|
|
}
|
|
else
|
|
{
|
|
LOG(Info, "Missing PVD client scene.");
|
|
}
|
|
#endif
|
|
|
|
// Init characters controller
|
|
mPhysxImpl->ControllerManager = PxCreateControllerManager(*mPhysxImpl->Scene);
|
|
}
|
|
|
|
PhysicsScene::~PhysicsScene()
|
|
{
|
|
#if WITH_VEHICLE
|
|
RELEASE_PHYSX(mPhysxImpl->WheelRaycastBatchQuery);
|
|
RELEASE_PHYSX(mPhysxImpl->WheelTireFrictions);
|
|
mPhysxImpl->WheelQueryResults.Resize(0);
|
|
mPhysxImpl->WheelHitResults.Resize(0);
|
|
mPhysxImpl->WheelVehiclesResultsPerWheel.Resize(0);
|
|
mPhysxImpl->WheelVehiclesResultsPerVehicle.Resize(0);
|
|
#endif
|
|
|
|
RELEASE_PHYSX(mPhysxImpl->ControllerManager);
|
|
SAFE_DELETE(mPhysxImpl->CpuDispatcher);
|
|
SAFE_DELETE(mStepper);
|
|
Allocator::Free(mScratchMemory);
|
|
|
|
mScratchMemory = nullptr;
|
|
mPhysxImpl->Scene->release();
|
|
|
|
SAFE_DELETE(mPhysxImpl);
|
|
}
|
|
|
|
String PhysicsScene::GetName() const
|
|
{
|
|
return mName;
|
|
}
|
|
|
|
PxScene* PhysicsScene::GetScene()
|
|
{
|
|
return mPhysxImpl->Scene;
|
|
}
|
|
|
|
bool PhysicsScene::GetAutoSimulation()
|
|
{
|
|
return mAutoSimulation;
|
|
}
|
|
|
|
void PhysicsScene::SetAutoSimulation(bool value)
|
|
{
|
|
mAutoSimulation = value;
|
|
}
|
|
|
|
void PhysicsScene::SetGravity(const Vector3& value)
|
|
{
|
|
if(mPhysxImpl->Scene)
|
|
{
|
|
mPhysxImpl->Scene->setGravity(C2P(value));
|
|
}
|
|
}
|
|
|
|
Vector3 PhysicsScene::GetGravity()
|
|
{
|
|
return mPhysxImpl->Scene ? P2C(mPhysxImpl->Scene->getGravity()) : Vector3::Zero;
|
|
}
|
|
|
|
bool PhysicsScene::GetEnableCCD()
|
|
{
|
|
return mPhysxImpl->Scene ? (mPhysxImpl->Scene->getFlags() & PxSceneFlag::eENABLE_CCD) == PxSceneFlag::eENABLE_CCD : !PhysicsSettings::Get()->DisableCCD;
|
|
}
|
|
|
|
void PhysicsScene::SetEnableCCD(const bool value)
|
|
{
|
|
if (mPhysxImpl->Scene)
|
|
mPhysxImpl->Scene->setFlag(PxSceneFlag::eENABLE_CCD, value);
|
|
}
|
|
|
|
float PhysicsScene::GetBounceThresholdVelocity()
|
|
{
|
|
return mPhysxImpl->Scene ? mPhysxImpl->Scene->getBounceThresholdVelocity() : PhysicsSettings::Get()->BounceThresholdVelocity;
|
|
}
|
|
|
|
void PhysicsScene::SetBounceThresholdVelocity(const float value)
|
|
{
|
|
if (mPhysxImpl->Scene)
|
|
mPhysxImpl->Scene->setBounceThresholdVelocity(value);
|
|
}
|
|
|
|
void PhysicsScene::Simulate(float dt)
|
|
{
|
|
ASSERT(IsInMainThread() && !mIsDuringSimulation);
|
|
ASSERT(CPhysX);
|
|
const auto& settings = *PhysicsSettings::Get();
|
|
|
|
// Flush the old/new objects and the other requests before the simulation
|
|
FlushRequests();
|
|
|
|
// Clamp delta
|
|
dt = Math::Clamp(dt, 0.0f, settings.MaxDeltaTime);
|
|
|
|
// Prepare util objects
|
|
if (mScratchMemory == nullptr)
|
|
{
|
|
mScratchMemory = Allocator::Allocate(SCRATCH_BLOCK_SIZE, 16);
|
|
}
|
|
if (mStepper == nullptr)
|
|
{
|
|
mStepper = New<FixedStepper>();
|
|
}
|
|
if (settings.EnableSubstepping)
|
|
{
|
|
// Use substeps
|
|
mStepper->Setup(settings.SubstepDeltaTime, settings.MaxSubsteps);
|
|
}
|
|
else
|
|
{
|
|
// Use single step
|
|
mStepper->Setup(dt);
|
|
}
|
|
|
|
// Start simulation (may not be fired due to too small delta time)
|
|
mIsDuringSimulation = true;
|
|
if (mStepper->advance(mPhysxImpl->Scene, dt, mScratchMemory, SCRATCH_BLOCK_SIZE) == false)
|
|
return;
|
|
mPhysxImpl->EventsCallback.Clear();
|
|
mLastDeltaTime = dt;
|
|
|
|
// TODO: move this call after rendering done
|
|
mStepper->renderDone();
|
|
}
|
|
|
|
bool PhysicsScene::IsDuringSimulation()
|
|
{
|
|
return mIsDuringSimulation;
|
|
}
|
|
|
|
void PhysicsScene::CollectResults()
|
|
{
|
|
if (!mIsDuringSimulation)
|
|
return;
|
|
ASSERT(IsInMainThread());
|
|
ASSERT(CPhysX && mStepper);
|
|
|
|
{
|
|
PROFILE_CPU_NAMED("Physics.Fetch");
|
|
|
|
// Gather results (with waiting for the end)
|
|
mStepper->wait(mPhysxImpl->Scene);
|
|
}
|
|
|
|
#if WITH_VEHICLE
|
|
if (mPhysxImpl->WheelVehicles.HasItems())
|
|
{
|
|
PROFILE_CPU_NAMED("Physics.Vehicles");
|
|
|
|
// Update vehicles steering
|
|
mPhysxImpl->WheelVehiclesCache.Clear();
|
|
mPhysxImpl->WheelVehiclesCache.EnsureCapacity(mPhysxImpl->WheelVehicles.Count());
|
|
int32 wheelsCount = 0;
|
|
for (auto wheelVehicle : mPhysxImpl->WheelVehicles)
|
|
{
|
|
if (!wheelVehicle->IsActiveInHierarchy())
|
|
continue;
|
|
auto drive = (PxVehicleWheels*)wheelVehicle->_drive;
|
|
ASSERT(drive);
|
|
mPhysxImpl->WheelVehiclesCache.Add(drive);
|
|
wheelsCount += drive->mWheelsSimData.getNbWheels();
|
|
|
|
float throttle = wheelVehicle->_throttle;
|
|
float brake = wheelVehicle->_brake;
|
|
if (wheelVehicle->UseReverseAsBrake)
|
|
{
|
|
const float invalidDirectionThreshold = 80.0f;
|
|
const float breakThreshold = 8.0f;
|
|
const float forwardSpeed = wheelVehicle->GetForwardSpeed();
|
|
|
|
// Automatic gear change when changing driving direction
|
|
if (Math::Abs(forwardSpeed) < invalidDirectionThreshold)
|
|
{
|
|
if (throttle < -ZeroTolerance && wheelVehicle->GetCurrentGear() >= 0 && wheelVehicle->GetTargetGear() >= 0)
|
|
{
|
|
wheelVehicle->SetCurrentGear(-1);
|
|
}
|
|
else if (throttle > ZeroTolerance && wheelVehicle->GetCurrentGear() <= 0 && wheelVehicle->GetTargetGear() <= 0)
|
|
{
|
|
wheelVehicle->SetCurrentGear(1);
|
|
}
|
|
}
|
|
|
|
// Automatic break when changing driving direction
|
|
if (throttle > 0.0f)
|
|
{
|
|
if (forwardSpeed < -invalidDirectionThreshold)
|
|
{
|
|
brake = 1.0f;
|
|
}
|
|
}
|
|
else if (throttle < 0.0f)
|
|
{
|
|
if (forwardSpeed > invalidDirectionThreshold)
|
|
{
|
|
brake = 1.0f;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (forwardSpeed < breakThreshold && forwardSpeed > -breakThreshold)
|
|
{
|
|
brake = 1.0f;
|
|
}
|
|
}
|
|
|
|
// Block throttle if user is changing driving direction
|
|
if ((throttle > 0.0f && wheelVehicle->GetTargetGear() < 0) || (throttle < 0.0f && wheelVehicle->GetTargetGear() > 0))
|
|
{
|
|
throttle = 0.0f;
|
|
}
|
|
|
|
throttle = Math::Abs(throttle);
|
|
}
|
|
else
|
|
{
|
|
throttle = Math::Max(throttle, 0.0f);
|
|
}
|
|
// @formatter:off
|
|
// Reference: PhysX SDK docs
|
|
// TODO: expose input control smoothing data
|
|
static constexpr PxVehiclePadSmoothingData padSmoothing =
|
|
{
|
|
{
|
|
6.0f, // rise rate eANALOG_INPUT_ACCEL
|
|
6.0f, // rise rate eANALOG_INPUT_BRAKE
|
|
12.0f, // rise rate eANALOG_INPUT_HANDBRAKE
|
|
2.5f, // rise rate eANALOG_INPUT_STEER_LEFT
|
|
2.5f, // rise rate eANALOG_INPUT_STEER_RIGHT
|
|
},
|
|
{
|
|
10.0f, // fall rate eANALOG_INPUT_ACCEL
|
|
10.0f, // fall rate eANALOG_INPUT_BRAKE
|
|
12.0f, // fall rate eANALOG_INPUT_HANDBRAKE
|
|
5.0f, // fall rate eANALOG_INPUT_STEER_LEFT
|
|
5.0f, // fall rate eANALOG_INPUT_STEER_RIGHT
|
|
}
|
|
};
|
|
PxVehicleKeySmoothingData keySmoothing =
|
|
{
|
|
{
|
|
3.0f, // rise rate eANALOG_INPUT_ACCEL
|
|
3.0f, // rise rate eANALOG_INPUT_BRAKE
|
|
10.0f, // rise rate eANALOG_INPUT_HANDBRAKE
|
|
2.5f, // rise rate eANALOG_INPUT_STEER_LEFT
|
|
2.5f, // rise rate eANALOG_INPUT_STEER_RIGHT
|
|
},
|
|
{
|
|
5.0f, // fall rate eANALOG_INPUT__ACCEL
|
|
5.0f, // fall rate eANALOG_INPUT__BRAKE
|
|
10.0f, // fall rate eANALOG_INPUT__HANDBRAKE
|
|
5.0f, // fall rate eANALOG_INPUT_STEER_LEFT
|
|
5.0f // fall rate eANALOG_INPUT_STEER_RIGHT
|
|
}
|
|
};
|
|
// Reference: PhysX SDK docs
|
|
// TODO: expose steer vs forward curve into per-vehicle (up to 8 points, values clamped into 0/1 range)
|
|
static constexpr PxF32 steerVsForwardSpeedData[] =
|
|
{
|
|
0.0f, 1.0f,
|
|
20.0f, 0.9f,
|
|
65.0f, 0.8f,
|
|
120.0f, 0.7f,
|
|
PX_MAX_F32, PX_MAX_F32,
|
|
PX_MAX_F32, PX_MAX_F32,
|
|
PX_MAX_F32, PX_MAX_F32,
|
|
PX_MAX_F32, PX_MAX_F32,
|
|
};
|
|
const PxFixedSizeLookupTable<8> steerVsForwardSpeed(steerVsForwardSpeedData, 4);
|
|
// @formatter:on
|
|
if (wheelVehicle->UseAnalogSteering)
|
|
{
|
|
switch (wheelVehicle->_driveTypeCurrent)
|
|
{
|
|
case WheeledVehicle::DriveTypes::Drive4W:
|
|
{
|
|
PxVehicleDrive4WRawInputData rawInputData;
|
|
rawInputData.setAnalogAccel(throttle);
|
|
rawInputData.setAnalogBrake(brake);
|
|
rawInputData.setAnalogSteer(wheelVehicle->_steering);
|
|
rawInputData.setAnalogHandbrake(wheelVehicle->_handBrake);
|
|
PxVehicleDrive4WSmoothAnalogRawInputsAndSetAnalogInputs(padSmoothing, steerVsForwardSpeed, rawInputData, mLastDeltaTime, false, *(PxVehicleDrive4W*)drive);
|
|
break;
|
|
}
|
|
case WheeledVehicle::DriveTypes::DriveNW:
|
|
{
|
|
PxVehicleDriveNWRawInputData rawInputData;
|
|
rawInputData.setAnalogAccel(throttle);
|
|
rawInputData.setAnalogBrake(brake);
|
|
rawInputData.setAnalogSteer(wheelVehicle->_steering);
|
|
rawInputData.setAnalogHandbrake(wheelVehicle->_handBrake);
|
|
PxVehicleDriveNWSmoothAnalogRawInputsAndSetAnalogInputs(padSmoothing, steerVsForwardSpeed, rawInputData, mLastDeltaTime, false, *(PxVehicleDriveNW*)drive);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
const float deadZone = 0.1f;
|
|
switch (wheelVehicle->_driveTypeCurrent)
|
|
{
|
|
case WheeledVehicle::DriveTypes::Drive4W:
|
|
{
|
|
PxVehicleDrive4WRawInputData rawInputData;
|
|
rawInputData.setDigitalAccel(throttle > deadZone);
|
|
rawInputData.setDigitalBrake(brake > deadZone);
|
|
rawInputData.setDigitalSteerLeft(wheelVehicle->_steering < -deadZone);
|
|
rawInputData.setDigitalSteerRight(wheelVehicle->_steering > deadZone);
|
|
rawInputData.setDigitalHandbrake(wheelVehicle->_handBrake > deadZone);
|
|
PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs(keySmoothing, steerVsForwardSpeed, rawInputData, mLastDeltaTime, false, *(PxVehicleDrive4W*)drive);
|
|
break;
|
|
}
|
|
case WheeledVehicle::DriveTypes::DriveNW:
|
|
{
|
|
PxVehicleDriveNWRawInputData rawInputData;
|
|
rawInputData.setDigitalAccel(throttle > deadZone);
|
|
rawInputData.setDigitalBrake(brake > deadZone);
|
|
rawInputData.setDigitalSteerLeft(wheelVehicle->_steering < -deadZone);
|
|
rawInputData.setDigitalSteerRight(wheelVehicle->_steering > deadZone);
|
|
rawInputData.setDigitalHandbrake(wheelVehicle->_handBrake > deadZone);
|
|
PxVehicleDriveNWSmoothDigitalRawInputsAndSetAnalogInputs(keySmoothing, steerVsForwardSpeed, rawInputData, mLastDeltaTime, false, *(PxVehicleDriveNW*)drive);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// Update batches queries cache
|
|
if (wheelsCount > mPhysxImpl->WheelQueryResults.Count())
|
|
{
|
|
if (mPhysxImpl->WheelRaycastBatchQuery)
|
|
mPhysxImpl->WheelRaycastBatchQuery->release();
|
|
mPhysxImpl->WheelQueryResults.Resize(wheelsCount, false);
|
|
mPhysxImpl->WheelHitResults.Resize(wheelsCount, false);
|
|
PxBatchQueryDesc desc(wheelsCount, 0, 0);
|
|
desc.queryMemory.userRaycastResultBuffer = mPhysxImpl->WheelQueryResults.Get();
|
|
desc.queryMemory.userRaycastTouchBuffer = mPhysxImpl->WheelHitResults.Get();
|
|
desc.queryMemory.raycastTouchBufferSize = wheelsCount;
|
|
desc.preFilterShader = WheelRaycastPreFilter;
|
|
mPhysxImpl->WheelRaycastBatchQuery = mPhysxImpl->Scene->createBatchQuery(desc);
|
|
}
|
|
|
|
// TODO: expose vehicle tires configuration
|
|
if (!mPhysxImpl->WheelTireFrictions)
|
|
{
|
|
PxVehicleDrivableSurfaceType surfaceTypes[1];
|
|
surfaceTypes[0].mType = 0;
|
|
const PxMaterial* surfaceMaterials[1];
|
|
surfaceMaterials[0] = Physics::GetDefaultMaterial();
|
|
mPhysxImpl->WheelTireFrictions = PxVehicleDrivableSurfaceToTireFrictionPairs::allocate(1, 1);
|
|
mPhysxImpl->WheelTireFrictions->setup(1, 1, surfaceMaterials, surfaceTypes);
|
|
mPhysxImpl->WheelTireFrictions->setTypePairFriction(0, 0, 5.0f);
|
|
}
|
|
|
|
// Setup cache for wheel states
|
|
mPhysxImpl->WheelVehiclesResultsPerVehicle.Resize(mPhysxImpl->WheelVehiclesCache.Count(), false);
|
|
mPhysxImpl->WheelVehiclesResultsPerWheel.Resize(wheelsCount, false);
|
|
wheelsCount = 0;
|
|
for (int32 i = 0, ii = 0; i < mPhysxImpl->WheelVehicles.Count(); i++)
|
|
{
|
|
auto wheelVehicle = mPhysxImpl->WheelVehicles[i];
|
|
if (!wheelVehicle->IsActiveInHierarchy())
|
|
continue;
|
|
auto drive = (PxVehicleWheels*)mPhysxImpl->WheelVehicles[ii]->_drive;
|
|
auto& perVehicle = mPhysxImpl->WheelVehiclesResultsPerVehicle[ii];
|
|
ii++;
|
|
perVehicle.nbWheelQueryResults = drive->mWheelsSimData.getNbWheels();
|
|
perVehicle.wheelQueryResults = mPhysxImpl->WheelVehiclesResultsPerWheel.Get() + wheelsCount;
|
|
wheelsCount += perVehicle.nbWheelQueryResults;
|
|
}
|
|
|
|
// Update vehicles
|
|
if (mPhysxImpl->WheelVehiclesCache.Count() != 0)
|
|
{
|
|
PxVehicleSuspensionRaycasts(mPhysxImpl->WheelRaycastBatchQuery, mPhysxImpl->WheelVehiclesCache.Count(), mPhysxImpl->WheelVehiclesCache.Get(), mPhysxImpl->WheelQueryResults.Count(), mPhysxImpl->WheelQueryResults.Get());
|
|
PxVehicleUpdates(mLastDeltaTime, mPhysxImpl->Scene->getGravity(), *mPhysxImpl->WheelTireFrictions, mPhysxImpl->WheelVehiclesCache.Count(), mPhysxImpl->WheelVehiclesCache.Get(), mPhysxImpl->WheelVehiclesResultsPerVehicle.Get());
|
|
}
|
|
|
|
// Synchronize state
|
|
for (int32 i = 0, ii = 0; i < mPhysxImpl->WheelVehicles.Count(); i++)
|
|
{
|
|
auto wheelVehicle = mPhysxImpl->WheelVehicles[i];
|
|
if (!wheelVehicle->IsActiveInHierarchy())
|
|
continue;
|
|
auto drive = mPhysxImpl->WheelVehiclesCache[ii];
|
|
auto& perVehicle = mPhysxImpl->WheelVehiclesResultsPerVehicle[ii];
|
|
ii++;
|
|
#if PHYSX_VEHICLE_DEBUG_TELEMETRY
|
|
LOG(Info, "Vehicle[{}] Gear={}, RPM={}", ii, wheelVehicle->GetCurrentGear(), (int32)wheelVehicle->GetEngineRotationSpeed());
|
|
#endif
|
|
|
|
// Update wheels
|
|
for (int32 j = 0; j < wheelVehicle->_wheelsData.Count(); j++)
|
|
{
|
|
auto& wheelData = wheelVehicle->_wheelsData[j];
|
|
auto& perWheel = perVehicle.wheelQueryResults[j];
|
|
#if PHYSX_VEHICLE_DEBUG_TELEMETRY
|
|
LOG(Info, "Vehicle[{}] Wheel[{}] longitudinalSlip={}, lateralSlip={}, suspSpringForce={}", ii, j, Utilities::RoundTo2DecimalPlaces(perWheel.longitudinalSlip), Utilities::RoundTo2DecimalPlaces(perWheel.lateralSlip), (int32)perWheel.suspSpringForce);
|
|
#endif
|
|
|
|
auto& state = wheelData.State;
|
|
state.IsInAir = perWheel.isInAir;
|
|
state.TireContactCollider = perWheel.tireContactShape ? static_cast<PhysicsColliderActor*>(perWheel.tireContactShape->userData) : nullptr;
|
|
state.TireContactPoint = P2C(perWheel.tireContactPoint);
|
|
state.TireContactNormal = P2C(perWheel.tireContactNormal);
|
|
state.TireFriction = perWheel.tireFriction;
|
|
state.SteerAngle = RadiansToDegrees * perWheel.steerAngle;
|
|
state.RotationAngle = -RadiansToDegrees * drive->mWheelsDynData.getWheelRotationAngle(j);
|
|
state.SuspensionOffset = perWheel.suspJounce;
|
|
#if USE_EDITOR
|
|
state.SuspensionTraceStart = P2C(perWheel.suspLineStart);
|
|
state.SuspensionTraceEnd = P2C(perWheel.suspLineStart + perWheel.suspLineDir * perWheel.suspLineLength);
|
|
#endif
|
|
|
|
if (!wheelData.Collider)
|
|
continue;
|
|
auto shape = wheelData.Collider->GetPxShape();
|
|
|
|
// 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.Translation = P2C(localPose.p) / wheelVehicle->GetScale() - t.Orientation * wheelData.Collider->GetCenter();
|
|
wheelData.Collider->SetLocalTransform(t);
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
{
|
|
PROFILE_CPU_NAMED("Physics.FlushActiveTransforms");
|
|
|
|
// Gather change info
|
|
PxU32 activeActorsCount;
|
|
PxActor** activeActors = mPhysxImpl->Scene->getActiveActors(activeActorsCount);
|
|
if (activeActorsCount > 0)
|
|
{
|
|
// Update changed transformations
|
|
// TODO: use jobs system if amount if huge
|
|
for (uint32 i = 0; i < activeActorsCount; i++)
|
|
{
|
|
const auto pxActor = (PxRigidActor*)*activeActors++;
|
|
auto actor = dynamic_cast<IPhysicsActor*>((Actor*)pxActor->userData);
|
|
ASSERT(actor);
|
|
actor->OnActiveTransformChanged(pxActor->getGlobalPose());
|
|
}
|
|
}
|
|
}
|
|
|
|
{
|
|
PROFILE_CPU_NAMED("Physics.SendEvents");
|
|
|
|
mPhysxImpl->EventsCallback.CollectResults();
|
|
mPhysxImpl->EventsCallback.SendTriggerEvents();
|
|
mPhysxImpl->EventsCallback.SendCollisionEvents();
|
|
mPhysxImpl->EventsCallback.SendJointEvents();
|
|
}
|
|
|
|
// End
|
|
mIsDuringSimulation = false;
|
|
}
|
|
|
|
void PhysicsScene::FlushRequests()
|
|
{
|
|
ASSERT(!IsDuringSimulation());
|
|
ASSERT(CPhysX);
|
|
|
|
PROFILE_CPU();
|
|
|
|
mPhysxImpl->FlushLocker.Lock();
|
|
|
|
// Note: this does not handle case when actor is removed and added to the scene at the same time
|
|
|
|
if (mPhysxImpl->NewActors.HasItems())
|
|
{
|
|
GetScene()->addActors(mPhysxImpl->NewActors.Get(), mPhysxImpl->NewActors.Count());
|
|
mPhysxImpl->NewActors.Clear();
|
|
}
|
|
|
|
for (int32 i = 0; i < mPhysxImpl->Actions.Count(); i++)
|
|
{
|
|
const auto action = mPhysxImpl->Actions[i];
|
|
switch (action.Type)
|
|
{
|
|
case ActionType::Sleep:
|
|
static_cast<PxRigidDynamic*>(action.Actor)->putToSleep();
|
|
break;
|
|
}
|
|
}
|
|
mPhysxImpl->Actions.Clear();
|
|
|
|
if (mPhysxImpl->DeadActors.HasItems())
|
|
{
|
|
GetScene()->removeActors(mPhysxImpl->DeadActors.Get(), mPhysxImpl->DeadActors.Count(), true);
|
|
for (int32 i = 0; i < mPhysxImpl->DeadActors.Count(); i++)
|
|
{
|
|
mPhysxImpl->DeadActors[i]->release();
|
|
}
|
|
mPhysxImpl->DeadActors.Clear();
|
|
}
|
|
|
|
if (mPhysxImpl->DeadColliders.HasItems())
|
|
{
|
|
for (int32 i = 0; i < mPhysxImpl->DeadColliders.Count(); i++)
|
|
{
|
|
mPhysxImpl->EventsCallback.OnColliderRemoved(mPhysxImpl->DeadColliders[i]);
|
|
}
|
|
mPhysxImpl->DeadColliders.Clear();
|
|
}
|
|
|
|
if (mPhysxImpl->DeadJoints.HasItems())
|
|
{
|
|
for (int32 i = 0; i < mPhysxImpl->DeadJoints.Count(); i++)
|
|
{
|
|
mPhysxImpl->EventsCallback.OnJointRemoved(mPhysxImpl->DeadJoints[i]);
|
|
}
|
|
mPhysxImpl->DeadJoints.Clear();
|
|
}
|
|
|
|
for (int32 i = 0; i < mPhysxImpl->DeadMaterials.Count(); i++)
|
|
{
|
|
auto material = mPhysxImpl->DeadMaterials[i];
|
|
|
|
// Unlink ref to flax object
|
|
material->userData = nullptr;
|
|
|
|
material->release();
|
|
}
|
|
mPhysxImpl->DeadMaterials.Clear();
|
|
|
|
for (int32 i = 0; i < mPhysxImpl->DeadObjects.Count(); i++)
|
|
{
|
|
mPhysxImpl->DeadObjects[i]->release();
|
|
}
|
|
mPhysxImpl->DeadObjects.Clear();
|
|
|
|
mPhysxImpl->FlushLocker.Unlock();
|
|
}
|
|
|
|
void PhysicsScene::RemoveMaterial(PxMaterial* material)
|
|
{
|
|
ASSERT(material);
|
|
|
|
mPhysxImpl->FlushLocker.Lock();
|
|
mPhysxImpl->DeadMaterials.Add(material);
|
|
mPhysxImpl->FlushLocker.Unlock();
|
|
}
|
|
|
|
void PhysicsScene::RemoveObject(PxBase* obj)
|
|
{
|
|
ASSERT(obj);
|
|
|
|
mPhysxImpl->FlushLocker.Lock();
|
|
mPhysxImpl->DeadObjects.Add(obj);
|
|
mPhysxImpl->FlushLocker.Unlock();
|
|
}
|
|
|
|
void PhysicsScene::AddActor(PxActor* actor)
|
|
{
|
|
ASSERT(actor);
|
|
|
|
mPhysxImpl->FlushLocker.Lock();
|
|
if (IsInMainThread())
|
|
{
|
|
GetScene()->addActor(*actor);
|
|
}
|
|
else
|
|
{
|
|
mPhysxImpl->NewActors.Add(actor);
|
|
}
|
|
mPhysxImpl->FlushLocker.Unlock();
|
|
}
|
|
|
|
void PhysicsScene::AddActor(PxRigidDynamic* actor, bool putToSleep)
|
|
{
|
|
ASSERT(actor);
|
|
|
|
mPhysxImpl->FlushLocker.Lock();
|
|
if (IsInMainThread())
|
|
{
|
|
GetScene()->addActor(*actor);
|
|
if (putToSleep)
|
|
actor->putToSleep();
|
|
}
|
|
else
|
|
{
|
|
mPhysxImpl->NewActors.Add(actor);
|
|
if (putToSleep)
|
|
mPhysxImpl->Actions.Add({ ActionType::Sleep, actor });
|
|
}
|
|
mPhysxImpl->FlushLocker.Unlock();
|
|
}
|
|
|
|
void PhysicsScene::UnlinkActor(PxActor* actor)
|
|
{
|
|
ASSERT(IsInMainThread())
|
|
ASSERT(actor);
|
|
|
|
GetScene()->removeActor(*actor);
|
|
}
|
|
|
|
void PhysicsScene::RemoveActor(PxActor* actor)
|
|
{
|
|
ASSERT(actor);
|
|
|
|
// Unlink ref to flax object
|
|
actor->userData = nullptr;
|
|
|
|
mPhysxImpl->FlushLocker.Lock();
|
|
mPhysxImpl->DeadActors.Add(actor);
|
|
mPhysxImpl->FlushLocker.Unlock();
|
|
}
|
|
|
|
void PhysicsScene::RemoveCollider(PhysicsColliderActor* collider)
|
|
{
|
|
ASSERT(collider);
|
|
|
|
mPhysxImpl->FlushLocker.Lock();
|
|
mPhysxImpl->DeadColliders.Add(collider);
|
|
mPhysxImpl->FlushLocker.Unlock();
|
|
}
|
|
|
|
void PhysicsScene::RemoveJoint(Joint* joint)
|
|
{
|
|
ASSERT(joint);
|
|
|
|
mPhysxImpl->FlushLocker.Lock();
|
|
mPhysxImpl->DeadJoints.Add(joint);
|
|
mPhysxImpl->FlushLocker.Unlock();
|
|
}
|
|
|
|
PxControllerManager* PhysicsScene::GetControllerManager()
|
|
{
|
|
return mPhysxImpl->ControllerManager;
|
|
}
|
|
|
|
#if WITH_VEHICLE
|
|
void PhysicsScene::AddWheeledVehicle(WheeledVehicle* vehicle)
|
|
{
|
|
mPhysxImpl->WheelVehicles.Add(vehicle);
|
|
}
|
|
|
|
void PhysicsScene::RemoveWheeledVehicle(WheeledVehicle* vehicle)
|
|
{
|
|
mPhysxImpl->WheelVehicles.Remove(vehicle);
|
|
}
|
|
#endif
|