Merge pull request #2528 from aws-lumberyard-dev/ibtehajn/rigid_body_axis_locking

Implement axis locking options for rigid bodies

Signed-off-by: moraaar <moraaar@amazon.com>

Code/Framework/AzFramework/AzFramework/Physics/Configuration/RigidBodyConfiguration.cpp

@@ -123,6 +123,12 @@ namespace AzPhysics
                 ->Field("Kinematic", &RigidBodyConfiguration::m_kinematic)
                 ->Field("CCD Enabled", &RigidBodyConfiguration::m_ccdEnabled)
                 ->Field("Compute Mass", &RigidBodyConfiguration::m_computeMass)
+                ->Field("Lock Linear X", &RigidBodyConfiguration::m_lockLinearX)
+                ->Field("Lock Linear Y", &RigidBodyConfiguration::m_lockLinearY)
+                ->Field("Lock Linear Z", &RigidBodyConfiguration::m_lockLinearZ)
+                ->Field("Lock Angular X", &RigidBodyConfiguration::m_lockAngularX)
+                ->Field("Lock Angular Y", &RigidBodyConfiguration::m_lockAngularY)
+                ->Field("Lock Angular Z", &RigidBodyConfiguration::m_lockAngularZ)
                 ->Field("Mass", &RigidBodyConfiguration::m_mass)
                 ->Field("Compute COM", &RigidBodyConfiguration::m_computeCenterOfMass)
                 ->Field("Centre of mass offset", &RigidBodyConfiguration::m_centerOfMassOffset)

Code/Framework/AzFramework/AzFramework/Physics/Configuration/RigidBodyConfiguration.h

@@ -62,6 +62,16 @@ namespace AzPhysics
         bool m_computeInertiaTensor = true;
         bool m_computeMass = true;
 
+        // Flags to restrict motion along specific world-space axes.
+        bool m_lockLinearX = false;
+        bool m_lockLinearY = false;
+        bool m_lockLinearZ = false;
+
+        // Flags to restrict rotation around specific world-space axes.
+        bool m_lockAngularX = false;
+        bool m_lockAngularY = false;
+        bool m_lockAngularZ = false;
+
         //! If set, non-simulated shapes will also be included in the mass properties calculation.
         bool m_includeAllShapesInMassCalculation = false;
 

Gems/PhysX/Code/Source/EditorRigidBodyComponent.cpp

@@ -156,6 +156,33 @@ namespace PhysX
                     ->DataElement(AZ::Edit::UIHandlers::Default, &AzPhysics::RigidBodyConfiguration::m_kinematic,
                         "Kinematic", "Rigid body is kinematic")
                         ->Attribute(AZ::Edit::Attributes::Visibility, &AzPhysics::RigidBodyConfiguration::GetKinematicVisibility)
+
+                    // Linear axis locking properties
+                    ->ClassElement(AZ::Edit::ClassElements::Group, "Linear Axis Locking")
+                        ->Attribute(AZ::Edit::Attributes::AutoExpand, false)
+                    ->DataElement(
+                        AZ::Edit::UIHandlers::Default, &AzPhysics::RigidBodyConfiguration::m_lockLinearX, "Lock X",
+                        "Lock motion along X direction")
+                    ->DataElement(
+                        AZ::Edit::UIHandlers::Default, &AzPhysics::RigidBodyConfiguration::m_lockLinearY, "Lock Y",
+                        "Lock motion along Y direction")
+                    ->DataElement(
+                        AZ::Edit::UIHandlers::Default, &AzPhysics::RigidBodyConfiguration::m_lockLinearZ, "Lock Z",
+                        "Lock motion along Z direction")
+
+                    // Angular axis locking properties
+                    ->ClassElement(AZ::Edit::ClassElements::Group, "Angular Axis Locking")
+                        ->Attribute(AZ::Edit::Attributes::AutoExpand, false)
+                    ->DataElement(
+                        AZ::Edit::UIHandlers::Default, &AzPhysics::RigidBodyConfiguration::m_lockAngularX, "Lock X",
+                        "Lock rotation around X direction")
+                    ->DataElement(
+                        AZ::Edit::UIHandlers::Default, &AzPhysics::RigidBodyConfiguration::m_lockAngularY, "Lock Y",
+                        "Lock rotation around Y direction")
+                    ->DataElement(
+                        AZ::Edit::UIHandlers::Default, &AzPhysics::RigidBodyConfiguration::m_lockAngularZ, "Lock Z",
+                        "Lock rotation around Z direction")
+
                     ->ClassElement(AZ::Edit::ClassElements::Group, "Continuous Collision Detection")
                         ->Attribute(AZ::Edit::Attributes::AutoExpand, true)
                         ->Attribute(AZ::Edit::Attributes::Visibility, &AzPhysics::RigidBodyConfiguration::GetCCDVisibility)

Gems/PhysX/Code/Source/Utils.cpp

@@ -1466,6 +1466,14 @@ namespace PhysX
             rigidDynamic->setRigidBodyFlag(physx::PxRigidBodyFlag::eKINEMATIC, configuration.m_kinematic);
             rigidDynamic->setMaxAngularVelocity(configuration.m_maxAngularVelocity);
 
+            // Set axis locks.
+            rigidDynamic->setRigidDynamicLockFlag(physx::PxRigidDynamicLockFlag::eLOCK_LINEAR_X, configuration.m_lockLinearX);
+            rigidDynamic->setRigidDynamicLockFlag(physx::PxRigidDynamicLockFlag::eLOCK_LINEAR_Y, configuration.m_lockLinearY);
+            rigidDynamic->setRigidDynamicLockFlag(physx::PxRigidDynamicLockFlag::eLOCK_LINEAR_Z, configuration.m_lockLinearZ);
+            rigidDynamic->setRigidDynamicLockFlag(physx::PxRigidDynamicLockFlag::eLOCK_ANGULAR_X, configuration.m_lockAngularX);
+            rigidDynamic->setRigidDynamicLockFlag(physx::PxRigidDynamicLockFlag::eLOCK_ANGULAR_Y, configuration.m_lockAngularY);
+            rigidDynamic->setRigidDynamicLockFlag(physx::PxRigidDynamicLockFlag::eLOCK_ANGULAR_Z, configuration.m_lockAngularZ);
+
             return rigidDynamic;
         }
 

Gems/PhysX/Code/Tests/PhysXSpecificTest.cpp

@@ -1102,6 +1102,62 @@ namespace PhysX
         SanityCheckValidFrustumParams(points.value(), validHeight, validBottomRadius, validTopRadius, validSubdivisions);
     }
 
+    TEST_F(PhysXSpecificTest, RigidBody_RigidBodyWithAxisLockFlagsCreated_InternalPhysXFlagsSetAccordingly)
+    {
+        // Helper function wrapping creation logic
+        auto CreateRigidBody = [this](bool linearX, bool linearY, bool linearZ, bool angularX, bool angularY, bool angularZ) -> AzPhysics::RigidBody*
+        {
+            AzPhysics::RigidBodyConfiguration rigidBodyConfig;
+
+            rigidBodyConfig.m_lockLinearX = linearX;
+            rigidBodyConfig.m_lockLinearY = linearY;
+            rigidBodyConfig.m_lockLinearZ = linearZ;
+
+            rigidBodyConfig.m_lockAngularX = angularX;
+            rigidBodyConfig.m_lockAngularY = angularY;
+            rigidBodyConfig.m_lockAngularZ = angularZ;
+
+            if (auto* sceneInterface = AZ::Interface<AzPhysics::SceneInterface>::Get())
+            {
+                AzPhysics::SimulatedBodyHandle simBodyHandle = sceneInterface->AddSimulatedBody(m_testSceneHandle, &rigidBodyConfig);
+                return azdynamic_cast<AzPhysics::RigidBody*>(sceneInterface->GetSimulatedBodyFromHandle(m_testSceneHandle, simBodyHandle));
+            }
+
+            return nullptr;
+        };
+
+        auto RemoveRigidBody = [this](AzPhysics::RigidBody*& rigidBody)
+        {
+            auto* sceneInterface = AZ::Interface<AzPhysics::SceneInterface>::Get();
+            if (rigidBody && sceneInterface)
+            {
+                sceneInterface->RemoveSimulatedBody(rigidBody->m_sceneOwner, rigidBody->m_bodyHandle);
+            }
+            rigidBody = nullptr;
+        };
+
+        auto TestLockFlags = [&CreateRigidBody, &RemoveRigidBody](bool linearX, bool linearY, bool linearZ,
+                                                                  bool angularX, bool angularY, bool angularZ,
+                                                                  physx::PxRigidDynamicLockFlags expectedFlags)
+        {
+            auto* rigidBody = CreateRigidBody(linearX, linearY, linearZ, angularX, angularY, angularZ);
+            ASSERT_TRUE(rigidBody != nullptr);
+
+            physx::PxRigidDynamic* pxRigidBody = static_cast<physx::PxRigidDynamic*>(rigidBody->GetNativePointer());
+
+            // These values need to be cast to integral types to prevent a compilation error on somme platforms.
+            EXPECT_EQ(static_cast<AZ::u32>(pxRigidBody->getRigidDynamicLockFlags()), static_cast<AZ::u32>((expectedFlags)));
+
+            RemoveRigidBody(rigidBody);
+        };
+
+        TestLockFlags(false, false, false, false, false, false, physx::PxRigidDynamicLockFlags(0));
+        TestLockFlags(true, false, false, false, false, false, physx::PxRigidDynamicLockFlags(physx::PxRigidDynamicLockFlag::eLOCK_LINEAR_X));
+        TestLockFlags(false, false, false, false, true, false, physx::PxRigidDynamicLockFlags(physx::PxRigidDynamicLockFlag::eLOCK_ANGULAR_Y));
+        TestLockFlags(false, true, false, false, false, true,
+            physx::PxRigidDynamicLockFlags(physx::PxRigidDynamicLockFlag::eLOCK_LINEAR_Y | physx::PxRigidDynamicLockFlag::eLOCK_ANGULAR_Z));
+    }
+
     TEST_F(PhysXSpecificTest, RigidBody_RigidBodyWithSimulatedFlagsHitsPlane_OnlySimulatedShapeCollidesWithPlane)
     {
         // Helper function wrapping creation logic