diff --git a/Code/Framework/AzFramework/AzFramework/Physics/Character.h b/Code/Framework/AzFramework/AzFramework/Physics/Character.h index d6f67706f4..19a6cbfe03 100644 --- a/Code/Framework/AzFramework/AzFramework/Physics/Character.h +++ b/Code/Framework/AzFramework/AzFramework/Physics/Character.h @@ -78,7 +78,7 @@ namespace Physics float m_minimumMovementDistance = 0.001f; //!< To avoid jittering, the controller will not attempt to move distances below this. float m_maximumSpeed = 100.0f; //!< If the accumulated requested velocity for a tick exceeds this magnitude, it will be clamped. AZStd::string m_colliderTag; //!< Used to identify the collider associated with the character controller. - AZStd::shared_ptr m_shapeConfig = nullptr; //!< The shape to use when creating the character controller. + AZStd::shared_ptr m_shapeConfig; //!< The shape to use when creating the character controller. AZStd::vector> m_colliders; //!< The list of colliders to attach to the character controller. }; diff --git a/Code/Framework/AzFramework/AzFramework/Physics/Common/PhysicsSimulatedBody.h b/Code/Framework/AzFramework/AzFramework/Physics/Common/PhysicsSimulatedBody.h index d892e433bc..ed8a68dc24 100644 --- a/Code/Framework/AzFramework/AzFramework/Physics/Common/PhysicsSimulatedBody.h +++ b/Code/Framework/AzFramework/AzFramework/Physics/Common/PhysicsSimulatedBody.h @@ -55,7 +55,7 @@ namespace AzPhysics //! Flag to determine if the body is part of the simulation. //! When true the body will be affected by any forces, collisions, and found with scene queries. - bool m_simulating = true; + bool m_simulating = false; //! Helper functions for setting user data. //! @param userData Can be a pointer to any type as internally will be cast to a void*. Object lifetime not managed by the SimulatedBody. diff --git a/Code/Framework/AzFramework/AzFramework/Physics/Configuration/SimulatedBodyConfiguration.cpp b/Code/Framework/AzFramework/AzFramework/Physics/Configuration/SimulatedBodyConfiguration.cpp index 0e29263e30..01bff3ccbb 100644 --- a/Code/Framework/AzFramework/AzFramework/Physics/Configuration/SimulatedBodyConfiguration.cpp +++ b/Code/Framework/AzFramework/AzFramework/Physics/Configuration/SimulatedBodyConfiguration.cpp @@ -46,6 +46,7 @@ namespace AzPhysics ->Field("orientation", &SimulatedBodyConfiguration::m_orientation) ->Field("scale", &SimulatedBodyConfiguration::m_scale) ->Field("entityId", &SimulatedBodyConfiguration::m_entityId) + ->Field("startSimulationEnabled", &SimulatedBodyConfiguration::m_startSimulationEnabled) ; } } diff --git a/Code/Framework/AzFramework/AzFramework/Physics/Configuration/SimulatedBodyConfiguration.h b/Code/Framework/AzFramework/AzFramework/Physics/Configuration/SimulatedBodyConfiguration.h index 203590adbb..6862bfccb8 100644 --- a/Code/Framework/AzFramework/AzFramework/Physics/Configuration/SimulatedBodyConfiguration.h +++ b/Code/Framework/AzFramework/AzFramework/Physics/Configuration/SimulatedBodyConfiguration.h @@ -39,6 +39,7 @@ namespace AzPhysics AZ::Vector3 m_position = AZ::Vector3::CreateZero(); AZ::Quaternion m_orientation = AZ::Quaternion::CreateIdentity(); AZ::Vector3 m_scale = AZ::Vector3::CreateOne(); + bool m_startSimulationEnabled = true; // Entity/object association. AZ::EntityId m_entityId = AZ::EntityId(AZ::EntityId::InvalidEntityId); diff --git a/Code/Framework/AzFramework/AzFramework/Physics/Ragdoll.cpp b/Code/Framework/AzFramework/AzFramework/Physics/Ragdoll.cpp index 02cd96ac00..f634360445 100644 --- a/Code/Framework/AzFramework/AzFramework/Physics/Ragdoll.cpp +++ b/Code/Framework/AzFramework/AzFramework/Physics/Ragdoll.cpp @@ -52,6 +52,11 @@ namespace Physics } } + RagdollConfiguration::RagdollConfiguration() + { + m_startSimulationEnabled = false; //ragdolls do not start enabled. + } + void RagdollConfiguration::Reflect(AZ::ReflectContext* context) { AZ::SerializeContext* serializeContext = azrtti_cast(context); diff --git a/Code/Framework/AzFramework/AzFramework/Physics/Ragdoll.h b/Code/Framework/AzFramework/AzFramework/Physics/Ragdoll.h index 3f98ca9303..239d93cf32 100644 --- a/Code/Framework/AzFramework/AzFramework/Physics/Ragdoll.h +++ b/Code/Framework/AzFramework/AzFramework/Physics/Ragdoll.h @@ -24,6 +24,8 @@ namespace Physics { + using ParentIndices = AZStd::vector; + class RagdollNodeConfiguration : public AzPhysics::RigidBodyConfiguration { @@ -46,7 +48,7 @@ namespace Physics AZ_RTTI(RagdollConfiguration, "{7C96D332-61D8-4C58-A2BF-707716D38D14}", AzPhysics::SimulatedBodyConfiguration); static void Reflect(AZ::ReflectContext* context); - RagdollConfiguration() = default; + RagdollConfiguration(); explicit RagdollConfiguration(const RagdollConfiguration& settings) = default; RagdollNodeConfiguration* FindNodeConfigByName(const AZStd::string& nodeName) const; @@ -56,6 +58,8 @@ namespace Physics AZStd::vector m_nodes; CharacterColliderConfiguration m_colliders; + RagdollState m_initialState; + ParentIndices m_parentIndices; }; /// Represents a single rigid part of a ragdoll. @@ -79,7 +83,7 @@ namespace Physics { public: AZ_CLASS_ALLOCATOR(Ragdoll, AZ::SystemAllocator, 0); - AZ_RTTI(Ragdoll, "{01F09602-80EC-4693-A0E7-C2719239044B}", AzPhysics::SimulatedBody); + AZ_RTTI(Physics::Ragdoll, "{01F09602-80EC-4693-A0E7-C2719239044B}", AzPhysics::SimulatedBody); virtual ~Ragdoll() = default; /// Inserts the ragdoll into the physics simulation. diff --git a/Gems/PhysX/Code/Source/PhysXCharacters/API/CharacterUtils.cpp b/Gems/PhysX/Code/Source/PhysXCharacters/API/CharacterUtils.cpp index 6523238430..1c91818eb5 100644 --- a/Gems/PhysX/Code/Source/PhysXCharacters/API/CharacterUtils.cpp +++ b/Gems/PhysX/Code/Source/PhysXCharacters/API/CharacterUtils.cpp @@ -167,19 +167,18 @@ namespace PhysX return aznew CharacterController(pxController, AZStd::move(callbackManager), scene->GetSceneHandle()); } - AZStd::unique_ptr CreateRagdoll(Physics::RagdollConfiguration& configuration, - const Physics::RagdollState& initialState, const ParentIndices& parentIndices, AzPhysics::SceneHandle sceneHandle) + Ragdoll* CreateRagdoll(Physics::RagdollConfiguration& configuration, AzPhysics::SceneHandle sceneHandle) { const size_t numNodes = configuration.m_nodes.size(); - if (numNodes != initialState.size()) + if (numNodes != configuration.m_initialState.size()) { AZ_Error("PhysX Ragdoll", false, "Mismatch between number of nodes in ragdoll configuration (%i) " - "and number of nodes in the initial ragdoll state (%i)", numNodes, initialState.size()); + "and number of nodes in the initial ragdoll state (%i)", numNodes, configuration.m_initialState.size()); return nullptr; } - AZStd::unique_ptr ragdoll = AZStd::make_unique(sceneHandle); - ragdoll->SetParentIndices(parentIndices); + Ragdoll* ragdoll = aznew Ragdoll(sceneHandle); + ragdoll->SetParentIndices(configuration.m_parentIndices); auto* sceneInterface = AZ::Interface::Get(); if (sceneInterface == nullptr) @@ -192,7 +191,7 @@ namespace PhysX for (size_t nodeIndex = 0; nodeIndex < numNodes; nodeIndex++) { Physics::RagdollNodeConfiguration& nodeConfig = configuration.m_nodes[nodeIndex]; - const Physics::RagdollNodeState& nodeState = initialState[nodeIndex]; + const Physics::RagdollNodeState& nodeState = configuration.m_initialState[nodeIndex]; Physics::CharacterColliderNodeConfiguration* colliderNodeConfig = configuration.m_colliders.FindNodeConfigByName(nodeConfig.m_debugName); if (colliderNodeConfig) @@ -212,22 +211,20 @@ namespace PhysX } nodeConfig.m_colliderAndShapeData = shapes; } + nodeConfig.m_startSimulationEnabled = false; + nodeConfig.m_position = nodeState.m_position; + nodeConfig.m_orientation = nodeState.m_orientation; - AzPhysics::SimulatedBodyHandle newBodyHandle = sceneInterface->AddSimulatedBody(sceneHandle, &nodeConfig); - if (newBodyHandle == AzPhysics::InvalidSimulatedBodyHandle) + AZStd::unique_ptr node = AZStd::make_unique(sceneHandle, nodeConfig); + if (node->GetRigidBodyHandle() != AzPhysics::InvalidSimulatedBodyHandle) + { + ragdoll->AddNode(AZStd::move(node)); + } + else { AZ_Error("PhysX Ragdoll", false, "Failed to create rigid body for ragdoll node %s", nodeConfig.m_debugName.c_str()); - return nullptr; + node.reset(); } - sceneInterface->DisableSimulationOfBody(sceneHandle, newBodyHandle); - auto* rigidBody = azdynamic_cast(sceneInterface->GetSimulatedBodyFromHandle(sceneHandle, newBodyHandle)); - - physx::PxRigidDynamic* pxRigidDynamic = static_cast(rigidBody->GetNativePointer()); - physx::PxTransform transform(PxMathConvert(nodeState.m_position), PxMathConvert(nodeState.m_orientation)); - pxRigidDynamic->setGlobalPose(transform); - - AZStd::unique_ptr node = AZStd::make_unique(rigidBody, newBodyHandle); - ragdoll->AddNode(AZStd::move(node)); } // Set up joints. Needs a second pass because child nodes in the ragdoll config aren't guaranteed to have @@ -235,7 +232,7 @@ namespace PhysX size_t rootIndex = SIZE_MAX; for (size_t nodeIndex = 0; nodeIndex < numNodes; nodeIndex++) { - size_t parentIndex = parentIndices[nodeIndex]; + size_t parentIndex = configuration.m_parentIndices[nodeIndex]; if (parentIndex < numNodes) { physx::PxRigidDynamic* parentActor = ragdoll->GetPxRigidDynamic(parentIndex); diff --git a/Gems/PhysX/Code/Source/PhysXCharacters/API/CharacterUtils.h b/Gems/PhysX/Code/Source/PhysXCharacters/API/CharacterUtils.h index 07aa4008d3..e919426457 100644 --- a/Gems/PhysX/Code/Source/PhysXCharacters/API/CharacterUtils.h +++ b/Gems/PhysX/Code/Source/PhysXCharacters/API/CharacterUtils.h @@ -40,11 +40,8 @@ namespace PhysX //! Creates a ragdoll based on the specified setup and initial pose. //! @param configuration Information about collider geometry and joint setup required to initialize the ragdoll. - //! @param initialState Initial settings for the positions, orientations and velocities of the ragdoll nodes. - //! @param parentIndices Identifies the parent ragdoll node for each node in the ragdoll. //! @param sceneHandle A handle to the physics scene in which the ragdoll should be created. - AZStd::unique_ptr CreateRagdoll(Physics::RagdollConfiguration& configuration, - const Physics::RagdollState& initialState, const ParentIndices& parentIndices, AzPhysics::SceneHandle sceneHandle); + Ragdoll* CreateRagdoll(Physics::RagdollConfiguration& configuration, AzPhysics::SceneHandle sceneHandle); //! Creates a joint drive with properties based on the input values. //! The input values are validated and the damping ratio is used to calculate the damping value used internally. diff --git a/Gems/PhysX/Code/Source/PhysXCharacters/API/Ragdoll.cpp b/Gems/PhysX/Code/Source/PhysXCharacters/API/Ragdoll.cpp index 72cb511e21..5249781e31 100644 --- a/Gems/PhysX/Code/Source/PhysXCharacters/API/Ragdoll.cpp +++ b/Gems/PhysX/Code/Source/PhysXCharacters/API/Ragdoll.cpp @@ -45,7 +45,7 @@ namespace PhysX AZ::SerializeContext* serializeContext = azrtti_cast(context); if (serializeContext) { - serializeContext->Class() + serializeContext->Class() ->Version(1) ; } @@ -56,7 +56,7 @@ namespace PhysX m_nodes.push_back(AZStd::move(node)); } - void Ragdoll::SetParentIndices(const ParentIndices& parentIndices) + void Ragdoll::SetParentIndices(const Physics::ParentIndices& parentIndices) { m_parentIndices = parentIndices; } @@ -109,7 +109,6 @@ namespace PhysX this->ApplyQueuedDisableSimulation(); }) { - m_simulating = false; m_sceneOwner = sceneHandle; } @@ -117,14 +116,7 @@ namespace PhysX { m_sceneStartSimHandler.Disconnect(); - if (auto* sceneInterface = AZ::Interface::Get()) - { - const size_t numNodes = m_nodes.size(); - for (size_t nodeIndex = 0; nodeIndex < numNodes; nodeIndex++) - { - sceneInterface->RemoveSimulatedBody(m_sceneOwner, m_nodes[nodeIndex]->GetRigidBodyHandle()); - } - } + m_nodes.clear(); //the nodes destructor will remove the simulated body from the scene. } void Ragdoll::ApplyQueuedEnableSimulation() @@ -204,7 +196,6 @@ namespace PhysX sceneInterface->EnableSimulationOfBody(m_sceneOwner, m_nodes[nodeIndex]->GetRigidBodyHandle()); } - else { AZ_Error("PhysX Ragdoll", false, "Invalid PhysX actor for node index %i", nodeIndex); @@ -222,8 +213,7 @@ namespace PhysX } sceneInterface->RegisterSceneSimulationStartHandler(m_sceneOwner, m_sceneStartSimHandler); - - m_simulating = true; + sceneInterface->EnableSimulationOfBody(m_sceneOwner, m_bodyHandle); } void Ragdoll::EnableSimulationQueued(const Physics::RagdollState& initialState) @@ -276,7 +266,7 @@ namespace PhysX } } - m_simulating = false; + sceneInterface->DisableSimulationOfBody(m_sceneOwner, m_bodyHandle); } void Ragdoll::DisableSimulationQueued() diff --git a/Gems/PhysX/Code/Source/PhysXCharacters/API/Ragdoll.h b/Gems/PhysX/Code/Source/PhysXCharacters/API/Ragdoll.h index 46bae6648b..7bf807bcc5 100644 --- a/Gems/PhysX/Code/Source/PhysXCharacters/API/Ragdoll.h +++ b/Gems/PhysX/Code/Source/PhysXCharacters/API/Ragdoll.h @@ -19,8 +19,6 @@ namespace PhysX { - using ParentIndices = AZStd::vector; - /// PhysX specific implementation of generic physics API Ragdoll class. class Ragdoll : public Physics::Ragdoll @@ -29,7 +27,7 @@ namespace PhysX friend class RagdollComponent; AZ_CLASS_ALLOCATOR(Ragdoll, AZ::SystemAllocator, 0); - AZ_TYPE_INFO_LEGACY(PhysX::Ragdoll, "{55D477B5-B922-4D3E-89FE-7FB7B9FDD635}", Physics::Ragdoll); + AZ_RTTI(PhysX::Ragdoll, "{55D477B5-B922-4D3E-89FE-7FB7B9FDD635}", Physics::Ragdoll); static void Reflect(AZ::ReflectContext* context); Ragdoll() = default; @@ -38,7 +36,7 @@ namespace PhysX ~Ragdoll(); void AddNode(AZStd::unique_ptr node); - void SetParentIndices(const ParentIndices& parentIndices); + void SetParentIndices(const Physics::ParentIndices& parentIndices); void SetRootIndex(size_t nodeIndex); physx::PxRigidDynamic* GetPxRigidDynamic(size_t nodeIndex) const; physx::PxTransform GetRootPxTransform() const; @@ -75,7 +73,7 @@ namespace PhysX void ApplyQueuedDisableSimulation(); AZStd::vector> m_nodes; - ParentIndices m_parentIndices; + Physics::ParentIndices m_parentIndices; AZ::Outcome m_rootIndex = AZ::Failure(); /// Queued initial state for the ragdoll, for EnableSimulationQueued, to be applied prior to the world update. diff --git a/Gems/PhysX/Code/Source/PhysXCharacters/API/RagdollNode.cpp b/Gems/PhysX/Code/Source/PhysXCharacters/API/RagdollNode.cpp index 63d62144f8..6e3b97212b 100644 --- a/Gems/PhysX/Code/Source/PhysXCharacters/API/RagdollNode.cpp +++ b/Gems/PhysX/Code/Source/PhysXCharacters/API/RagdollNode.cpp @@ -12,6 +12,7 @@ #include #include +#include #include #include #include @@ -30,14 +31,14 @@ namespace PhysX } } - RagdollNode::RagdollNode(AzPhysics::RigidBody* rigidBody, AzPhysics::SimulatedBodyHandle rigidBodyHandle) - : m_rigidBody(rigidBody) - , m_rigidBodyHandle(rigidBodyHandle) + RagdollNode::RagdollNode(AzPhysics::SceneHandle sceneHandle, Physics::RagdollNodeConfiguration& nodeConfig) { - physx::PxRigidDynamic* pxRigidDynamic = static_cast(m_rigidBody->GetNativePointer()); - m_actorUserData = PhysX::ActorData(pxRigidDynamic); - m_actorUserData.SetRagdollNode(this); - m_actorUserData.SetEntityId(m_rigidBody->GetEntityId()); + CreatePhysicsBody(sceneHandle, nodeConfig); + } + + RagdollNode::~RagdollNode() + { + DestroyPhysicsBody(); } void RagdollNode::SetJoint(const AZStd::shared_ptr& joint) @@ -124,4 +125,47 @@ namespace PhysX { return m_rigidBodyHandle; } + + void RagdollNode::CreatePhysicsBody(AzPhysics::SceneHandle sceneHandle, Physics::RagdollNodeConfiguration& nodeConfig) + { + if (auto* sceneInterface = AZ::Interface::Get()) + { + m_rigidBodyHandle = sceneInterface->AddSimulatedBody(sceneHandle, &nodeConfig); + if (m_rigidBodyHandle == AzPhysics::InvalidSimulatedBodyHandle) + { + AZ_Error("PhysX RagdollNode", false, "Failed to create rigid body for ragdoll node %s", nodeConfig.m_debugName.c_str()); + return; + } + m_rigidBody = azdynamic_cast(sceneInterface->GetSimulatedBodyFromHandle(sceneHandle, m_rigidBodyHandle)); + } + if (m_rigidBody == nullptr) + { + AZ_Error("PhysX RagdollNode", false, "Failed to create rigid body for ragdoll node %s", nodeConfig.m_debugName.c_str()); + return; + } + m_sceneOwner = sceneHandle; + + physx::PxRigidDynamic* pxRigidDynamic = static_cast(m_rigidBody->GetNativePointer()); + physx::PxTransform transform(PxMathConvert(nodeConfig.m_position), PxMathConvert(nodeConfig.m_orientation)); + pxRigidDynamic->setGlobalPose(transform); + + m_actorUserData = PhysX::ActorData(pxRigidDynamic); + m_actorUserData.SetRagdollNode(this); + m_actorUserData.SetEntityId(m_rigidBody->GetEntityId()); + } + + void RagdollNode::DestroyPhysicsBody() + { + if (m_rigidBody != nullptr) + { + if (auto* sceneInterface = AZ::Interface::Get()) + { + sceneInterface->RemoveSimulatedBody(m_sceneOwner, m_rigidBodyHandle); + } + m_rigidBody = nullptr; + m_rigidBodyHandle = AzPhysics::InvalidSimulatedBodyHandle; + m_sceneOwner = AzPhysics::InvalidSceneHandle; + } + } + } // namespace PhysX diff --git a/Gems/PhysX/Code/Source/PhysXCharacters/API/RagdollNode.h b/Gems/PhysX/Code/Source/PhysXCharacters/API/RagdollNode.h index c23930e25e..0567723c01 100644 --- a/Gems/PhysX/Code/Source/PhysXCharacters/API/RagdollNode.h +++ b/Gems/PhysX/Code/Source/PhysXCharacters/API/RagdollNode.h @@ -29,8 +29,8 @@ namespace PhysX static void Reflect(AZ::ReflectContext* context); RagdollNode() = default; - explicit RagdollNode(AzPhysics::RigidBody* rigidBody, AzPhysics::SimulatedBodyHandle rigidBodyHandle); - ~RagdollNode() = default; + explicit RagdollNode(AzPhysics::SceneHandle sceneHandle, Physics::RagdollNodeConfiguration& nodeConfig); + ~RagdollNode(); void SetJoint(const AZStd::shared_ptr& joint); @@ -58,9 +58,13 @@ namespace PhysX AzPhysics::SimulatedBodyHandle GetRigidBodyHandle() const; private: + void CreatePhysicsBody(AzPhysics::SceneHandle sceneHandle, Physics::RagdollNodeConfiguration& nodeConfig); + void DestroyPhysicsBody(); + AZStd::shared_ptr m_joint; AzPhysics::RigidBody* m_rigidBody; AzPhysics::SimulatedBodyHandle m_rigidBodyHandle = AzPhysics::InvalidSimulatedBodyHandle; + AzPhysics::SceneHandle m_sceneOwner = AzPhysics::InvalidSceneHandle; PhysX::ActorData m_actorUserData; }; } // namespace PhysX diff --git a/Gems/PhysX/Code/Source/PhysXCharacters/Components/CharacterControllerComponent.cpp b/Gems/PhysX/Code/Source/PhysXCharacters/Components/CharacterControllerComponent.cpp index 26ef5f0032..ca02554036 100644 --- a/Gems/PhysX/Code/Source/PhysXCharacters/Components/CharacterControllerComponent.cpp +++ b/Gems/PhysX/Code/Source/PhysXCharacters/Components/CharacterControllerComponent.cpp @@ -412,7 +412,6 @@ namespace PhysX AZ::TransformBus::EventResult(entityTranslation, GetEntityId(), &AZ::TransformBus::Events::GetWorldTranslation); m_characterConfig->m_position = entityTranslation; - AZ_Assert(m_controller == nullptr, "Calling create CharacterControllerComponent::CreateController() with an already created controller."); if (auto* sceneInterface = AZ::Interface::Get()) { AzPhysics::SimulatedBodyHandle bodyHandle = sceneInterface->AddSimulatedBody(defaultSceneHandle, m_characterConfig.get()); @@ -451,8 +450,8 @@ namespace PhysX if (auto* sceneInterface = AZ::Interface::Get()) { sceneInterface->RemoveSimulatedBody(m_controller->m_sceneOwner, m_controller->m_bodyHandle); - m_controller = nullptr; } + m_controller = nullptr; m_preSimulateHandler.Disconnect(); diff --git a/Gems/PhysX/Code/Source/PhysXCharacters/Components/RagdollComponent.cpp b/Gems/PhysX/Code/Source/PhysXCharacters/Components/RagdollComponent.cpp index 56627ff7b9..d120e3d6b0 100644 --- a/Gems/PhysX/Code/Source/PhysXCharacters/Components/RagdollComponent.cpp +++ b/Gems/PhysX/Code/Source/PhysXCharacters/Components/RagdollComponent.cpp @@ -55,6 +55,16 @@ namespace PhysX } } + if (classElement.GetVersion() < 3) + { + int ragdollElementIndex = classElement.FindElement(AZ_CRC_CE("PhysXRagdoll")); + + if (ragdollElementIndex >= 0) + { + classElement.RemoveElement(ragdollElementIndex); + } + } + return true; } @@ -66,8 +76,7 @@ namespace PhysX if (serializeContext) { serializeContext->Class() - ->Version(2, &VersionConverter) - ->Field("PhysXRagdoll", &RagdollComponent::m_ragdoll) + ->Version(3, &VersionConverter) ->Field("PositionIterations", &RagdollComponent::m_positionIterations) ->Field("VelocityIterations", &RagdollComponent::m_velocityIterations) ->Field("EnableJointProjection", &RagdollComponent::m_enableJointProjection) @@ -187,7 +196,7 @@ namespace PhysX Physics::Ragdoll* RagdollComponent::GetRagdoll() { - return m_ragdoll.get(); + return m_ragdoll; } void RagdollComponent::GetState(Physics::RagdollState& ragdollState) const @@ -250,7 +259,7 @@ namespace PhysX AzPhysics::SimulatedBody* RagdollComponent::GetWorldBody() { - return m_ragdoll.get(); + return GetRagdoll(); } AzPhysics::SceneQueryHit RagdollComponent::RayCast(const AzPhysics::RayCastRequest& request) @@ -283,8 +292,8 @@ namespace PhysX return; } - ParentIndices parentIndices; - parentIndices.resize(numNodes); + + ragdollConfiguration.m_parentIndices.resize(numNodes); for (size_t nodeIndex = 0; nodeIndex < numNodes; nodeIndex++) { AZStd::string parentName; @@ -292,7 +301,7 @@ namespace PhysX AzFramework::CharacterPhysicsDataRequestBus::EventResult(parentName, GetEntityId(), &AzFramework::CharacterPhysicsDataRequests::GetParentNodeName, nodeName); AZ::Outcome parentIndex = Utils::Characters::GetNodeIndex(ragdollConfiguration, parentName); - parentIndices[nodeIndex] = parentIndex ? parentIndex.GetValue() : SIZE_MAX; + ragdollConfiguration.m_parentIndices[nodeIndex] = parentIndex ? parentIndex.GetValue() : SIZE_MAX; ragdollConfiguration.m_nodes[nodeIndex].m_entityId = GetEntityId(); } @@ -303,12 +312,17 @@ namespace PhysX AZ::Transform entityTransform = AZ::Transform::CreateIdentity(); AZ::TransformBus::EventResult(entityTransform, GetEntityId(), &AZ::TransformBus::Events::GetWorldTM); - Physics::RagdollState bindPoseWorld = GetBindPoseWorld(bindPose, entityTransform); + ragdollConfiguration.m_initialState = GetBindPoseWorld(bindPose, entityTransform); AzPhysics::SceneHandle defaultSceneHandle = AzPhysics::InvalidSceneHandle; Physics::DefaultWorldBus::BroadcastResult(defaultSceneHandle, &Physics::DefaultWorldRequests::GetDefaultSceneHandle); - m_ragdoll = Utils::Characters::CreateRagdoll(ragdollConfiguration, bindPoseWorld, parentIndices, defaultSceneHandle); - if (!m_ragdoll) + + if (auto* sceneInterface = AZ::Interface::Get()) + { + AzPhysics::SimulatedBodyHandle bodyHandle = sceneInterface->AddSimulatedBody(defaultSceneHandle, &ragdollConfiguration); + m_ragdoll = azdynamic_cast(sceneInterface->GetSimulatedBodyFromHandle(defaultSceneHandle, bodyHandle)); + } + if (m_ragdoll == nullptr) { AZ_Error("PhysX Ragdoll Component", false, "Failed to create ragdoll."); return; @@ -358,7 +372,11 @@ namespace PhysX AzFramework::RagdollPhysicsNotificationBus::Event(GetEntityId(), &AzFramework::RagdollPhysicsNotifications::OnRagdollDeactivated); - m_ragdoll.reset(); + if (auto* sceneInterface = AZ::Interface::Get()) + { + sceneInterface->RemoveSimulatedBody(m_ragdoll->m_sceneOwner, m_ragdoll->m_bodyHandle); + } + m_ragdoll = nullptr; } } diff --git a/Gems/PhysX/Code/Source/PhysXCharacters/Components/RagdollComponent.h b/Gems/PhysX/Code/Source/PhysXCharacters/Components/RagdollComponent.h index 77a4c992a3..1b616dda79 100644 --- a/Gems/PhysX/Code/Source/PhysXCharacters/Components/RagdollComponent.h +++ b/Gems/PhysX/Code/Source/PhysXCharacters/Components/RagdollComponent.h @@ -32,7 +32,7 @@ namespace PhysX , public AzFramework::CharacterPhysicsDataNotificationBus::Handler { public: - AZ_COMPONENT(RagdollComponent, "{B89498F8-4718-42FE-A457-A377DD0D61A0}"); + AZ_COMPONENT(PhysX::RagdollComponent, "{B89498F8-4718-42FE-A457-A377DD0D61A0}"); static void Reflect(AZ::ReflectContext* context); @@ -105,7 +105,7 @@ namespace PhysX bool IsJointProjectionVisible(); - AZStd::unique_ptr m_ragdoll; + Ragdoll* m_ragdoll; /// Minimum number of position iterations to perform in the PhysX solver. /// Lower iteration counts are less expensive but may behave less realistically. AZ::u32 m_positionIterations = 16; diff --git a/Gems/PhysX/Code/Source/Scene/PhysXScene.cpp b/Gems/PhysX/Code/Source/Scene/PhysXScene.cpp index 1e6eee774e..03bbac9fd4 100644 --- a/Gems/PhysX/Code/Source/Scene/PhysXScene.cpp +++ b/Gems/PhysX/Code/Source/Scene/PhysXScene.cpp @@ -209,6 +209,13 @@ namespace PhysX return controller; } + AzPhysics::SimulatedBody* CreateRagdollBody(PhysXScene* scene, + const Physics::RagdollConfiguration* ragdollConfig) + { + return Utils::Characters::CreateRagdoll(const_cast(*ragdollConfig), + scene->GetSceneHandle()); + } + //helper to perform a ray cast AzPhysics::SceneQueryHits RayCast(const AzPhysics::RayCastRequest* raycastRequest, AZStd::vector& raycastBuffer, @@ -622,6 +629,15 @@ namespace PhysX { newBody = Internal::CreateCharacterBody(this, azdynamic_cast(simulatedBodyConfig)); } + else if (azrtti_istypeof(simulatedBodyConfig)) + { + newBody = Internal::CreateRagdollBody(this, azdynamic_cast(simulatedBodyConfig)); + } + else + { + AZ_Warning("PhysXScene", false, "Unknown SimulatedBodyConfiguration."); + return AzPhysics::InvalidSimulatedBodyHandle; + } if (newBody != nullptr) { @@ -648,8 +664,11 @@ namespace PhysX newBody->m_bodyHandle = newBodyHandle; m_simulatedBodyAddedEvent.Signal(m_sceneHandle, newBodyHandle); - // Enable simulation by default (not signaling OnSimulationBodySimulationEnabled event) - EnableSimulationOfBodyInternal(*newBody); + // Enable simulation by default (not signaling OnSimulationBodySimulationEnabled event) + if (simulatedBodyConfig->m_startSimulationEnabled) + { + EnableSimulationOfBodyInternal(*newBody); + } return newBodyHandle; } @@ -878,7 +897,8 @@ namespace PhysX void PhysXScene::EnableSimulationOfBodyInternal(AzPhysics::SimulatedBody& body) { //character controller is a special actor and only needs the m_simulating flag set, - if (!azrtti_istypeof(body)) + if (!azrtti_istypeof(body) && + !azrtti_istypeof(body)) { auto pxActor = static_cast(body.GetNativePointer()); AZ_Assert(pxActor, "Simulated Body doesn't have a valid physx actor"); @@ -904,7 +924,8 @@ namespace PhysX void PhysXScene::DisableSimulationOfBodyInternal(AzPhysics::SimulatedBody& body) { //character controller is a special actor and only needs the m_simulating flag set, - if (!azrtti_istypeof(body)) + if (!azrtti_istypeof(body) && + !azrtti_istypeof(body)) { auto pxActor = static_cast(body.GetNativePointer()); AZ_Assert(pxActor, "Simulated Body doesn't have a valid physx actor"); @@ -948,11 +969,14 @@ namespace PhysX void PhysXScene::ClearDeferedDeletions() { - for (auto& simulatedBody : m_deferredDeletions) + // swap the deletions in case the simulated body + // manages more bodies and removes them on destruction (ie. Ragdoll). + AZStd::vector deletions; + deletions.swap(m_deferredDeletions); + for (auto* simulatedBody : deletions) { delete simulatedBody; } - m_deferredDeletions.clear(); } void PhysXScene::ProcessTriggerEvents() diff --git a/Gems/PhysX/Code/Tests/Benchmarks/PhysXCharactersRagdollBenchmarks.cpp b/Gems/PhysX/Code/Tests/Benchmarks/PhysXCharactersRagdollBenchmarks.cpp index 149dfac30b..4f905342be 100644 --- a/Gems/PhysX/Code/Tests/Benchmarks/PhysXCharactersRagdollBenchmarks.cpp +++ b/Gems/PhysX/Code/Tests/Benchmarks/PhysXCharactersRagdollBenchmarks.cpp @@ -125,19 +125,24 @@ namespace PhysX::Benchmarks return GetTPose(AZ::Vector3::CreateZero(), simulationType); } - AZStd::unique_ptr CreateRagdoll(AzPhysics::SceneHandle sceneHandle) + PhysX::Ragdoll* CreateRagdoll(AzPhysics::SceneHandle sceneHandle) { Physics::RagdollConfiguration* configuration = AZ::Utils::LoadObjectFromFile(AZ::Test::GetEngineRootPath() + "/Gems/PhysX/Code/Tests/RagdollConfiguration.xml"); - Physics::RagdollState initialState = GetTPose(); - PhysX::ParentIndices parentIndices; + configuration->m_initialState = GetTPose(); + configuration->m_parentIndices.reserve(configuration->m_nodes.size()); for (int i = 0; i < configuration->m_nodes.size(); i++) { - parentIndices.push_back(RagdollTestData::ParentIndices[i]); + configuration->m_parentIndices.push_back(RagdollTestData::ParentIndices[i]); } - return PhysX::Utils::Characters::CreateRagdoll(*configuration, initialState, parentIndices, sceneHandle); + if (auto* sceneInterface = AZ::Interface::Get()) + { + AzPhysics::SimulatedBodyHandle bodyHandle = sceneInterface->AddSimulatedBody(sceneHandle, configuration); + return azdynamic_cast(sceneInterface->GetSimulatedBodyFromHandle(sceneHandle, bodyHandle)); + } + return nullptr; } //! BM_Ragdoll_AtRest - This test just spawns the requested number of ragdolls and places them near the terrain @@ -148,7 +153,7 @@ namespace PhysX::Benchmarks const int numRagdolls = static_cast(state.range(0)); //create ragdolls - AZStd::vector> ragdolls; + AZStd::vector ragdolls; ragdolls.reserve(numRagdolls); for (int i = 0; i < numRagdolls; i++) { @@ -218,7 +223,7 @@ namespace PhysX::Benchmarks washingMachineCentre, RagdollConstants::WashingMachine::BladeRPM); //create ragdolls - AZStd::vector> ragdolls; + AZStd::vector ragdolls; ragdolls.reserve(numRagdolls); for (int i = 0; i < numRagdolls; i++) { diff --git a/Gems/PhysX/Code/Tests/RagdollTests.cpp b/Gems/PhysX/Code/Tests/RagdollTests.cpp index 8e3bdc69c3..ec803c1707 100644 --- a/Gems/PhysX/Code/Tests/RagdollTests.cpp +++ b/Gems/PhysX/Code/Tests/RagdollTests.cpp @@ -37,7 +37,7 @@ namespace PhysX - + )DELIMITER"; @@ -63,19 +63,24 @@ namespace PhysX return ragdollState; } - AZStd::unique_ptr CreateRagdoll(AzPhysics::SceneHandle sceneHandle) + Ragdoll* CreateRagdoll(AzPhysics::SceneHandle sceneHandle) { Physics::RagdollConfiguration* configuration = AZ::Utils::LoadObjectFromFile(AZ::Test::GetCurrentExecutablePath() + "/Test.Assets/Gems/PhysX/Code/Tests/RagdollConfiguration.xml"); - Physics::RagdollState initialState = GetTPose(); - ParentIndices parentIndices; + configuration->m_initialState = GetTPose(); + configuration->m_parentIndices.reserve(configuration->m_nodes.size()); for (int i = 0; i < configuration->m_nodes.size(); i++) { - parentIndices.push_back(RagdollTestData::ParentIndices[i]); + configuration->m_parentIndices.push_back(RagdollTestData::ParentIndices[i]); } - return Utils::Characters::CreateRagdoll(*configuration, initialState, parentIndices, sceneHandle); + if (auto* sceneInterface = AZ::Interface::Get()) + { + AzPhysics::SimulatedBodyHandle bodyHandle = sceneInterface->AddSimulatedBody(sceneHandle, configuration); + return azdynamic_cast(sceneInterface->GetSimulatedBodyFromHandle(sceneHandle, bodyHandle)); + } + return nullptr; } #if AZ_TRAIT_DISABLE_FAILED_PHYSICS_TESTS