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Ragdoll now uses Add/Remove SimulatedBody

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Addressed Minor Character PR feedback
This commit is contained in:
amzn-sean
2021-04-22 12:58:43 +01:00
parent c66e2f4bcf
commit 0e803713bf
18 changed files with 183 additions and 91 deletions
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Gems/PhysX/Code/Source/PhysXCharacters/API/CharacterUtils.cpp
+17 -20
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@@ -167,19 +167,18 @@ namespace PhysX
return aznew CharacterController(pxController, AZStd::move(callbackManager), scene->GetSceneHandle());
}
AZStd::unique_ptr<Ragdoll> 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> ragdoll = AZStd::make_unique<Ragdoll>(sceneHandle);
ragdoll->SetParentIndices(parentIndices);
Ragdoll* ragdoll = aznew Ragdoll(sceneHandle);
ragdoll->SetParentIndices(configuration.m_parentIndices);
auto* sceneInterface = AZ::Interface<AzPhysics::SceneInterface>::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<RagdollNode> node = AZStd::make_unique<RagdollNode>(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<AzPhysics::RigidBody*>(sceneInterface->GetSimulatedBodyFromHandle(sceneHandle, newBodyHandle));
physx::PxRigidDynamic* pxRigidDynamic = static_cast<physx::PxRigidDynamic*>(rigidBody->GetNativePointer());
physx::PxTransform transform(PxMathConvert(nodeState.m_position), PxMathConvert(nodeState.m_orientation));
pxRigidDynamic->setGlobalPose(transform);
AZStd::unique_ptr<RagdollNode> node = AZStd::make_unique<RagdollNode>(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);