Triangle Mesh with a Kinematic PhysX Rigid Body warns the user instead of error. (#4657)
Using triangle mesh with a kinematic rigid body is allowed, but the options "Compute COM", "Compute Mass" and "Compute Inertia" are not supported by PhysX and an error in logged that default values for COM, Mass and Inertia will be used. Now this situation is captured and an explanatory warning is used instead. - Improved RigidBody::UpdateMassProperties function to apply the same logic in the treatment of shapes for all three parameters: COM, Mass and Inertia. - Improved UpdateMassProperties function by using references for the override parameters instead of pointers. - Improved function that computes the Center of Mass UpdateCenterOfMass (renamed from UpdateComputedCenterOfMass), to include the same shapes that the compute mass and inertia functions in physx updateMassAndInertia, which is to include all shapes if includeAllShapesInMassCalculation is true, else include only the shapes with eSIMULATION_SHAPE flag. - Removed unused private function RigidBody::ComputeInertia. - Added unit test to check when the warnings are fired correctly when COM, Mass or Inertia are asked to be computed on a rigid body with triangle mesh shapes. - Improved MassComputeFixture tests by not only using Box shape, but also sphere and capture, plus improved the PossibleMassComputeFlags parameters to include all possible variations of the MassComputeFlags flags. Fixes #3322 Fixes #3979 Signed-off-by: moraaar <moraaar@amazon.com>monroegm-disable-blank-issue-2
moraaar
4 years ago
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GitHub
parent
16e60a94af
commit
3b9762142a
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/*
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* Copyright (c) Contributors to the Open 3D Engine Project.
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* For complete copyright and license terms please see the LICENSE at the root of this distribution.
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*
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* SPDX-License-Identifier: Apache-2.0 OR MIT
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*
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*/
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#pragma once
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#include <AzCore/Math/Matrix3x3.h>
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#include <AzCore/Math/Vector3.h>
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#include <AzCore/Math/Aabb.h>
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#include <AzFramework/Physics/WorldBody.h>
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#include <AzFramework/Physics/ShapeConfiguration.h>
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namespace
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{
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class ReflectContext;
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}
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namespace Physics
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{
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class ShapeConfiguration;
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class World;
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class Shape;
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/// Default values used for initializing RigidBodySettings.
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/// These can be modified by Physics Implementation gems. // O3DE_DEPRECATED(LY-114472) - DefaultRigidBodyConfiguration values are not shared across modules.
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// Use RigidBodyConfiguration default values.
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struct DefaultRigidBodyConfiguration
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{
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static float m_mass;
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static bool m_computeInertiaTensor;
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static float m_linearDamping;
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static float m_angularDamping;
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static float m_sleepMinEnergy;
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static float m_maxAngularVelocity;
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};
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enum class MassComputeFlags : AZ::u8
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{
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NONE = 0,
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//! Flags indicating whether a certain mass property should be auto-computed or not.
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COMPUTE_MASS = 1,
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COMPUTE_INERTIA = 1 << 1,
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COMPUTE_COM = 1 << 2,
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//! If set, non-simulated shapes will also be included in the mass properties calculation.
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INCLUDE_ALL_SHAPES = 1 << 3,
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DEFAULT = COMPUTE_COM | COMPUTE_INERTIA | COMPUTE_MASS
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};
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class RigidBodyConfiguration
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: public WorldBodyConfiguration
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{
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public:
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AZ_CLASS_ALLOCATOR(RigidBodyConfiguration, AZ::SystemAllocator, 0);
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AZ_RTTI(RigidBodyConfiguration, "{ACFA8900-8530-4744-AF00-AA533C868A8E}", WorldBodyConfiguration);
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static void Reflect(AZ::ReflectContext* context);
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enum PropertyVisibility : AZ::u16
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{
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InitialVelocities = 1 << 0, ///< Whether the initial linear and angular velocities are visible.
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InertiaProperties = 1 << 1, ///< Whether the whole category of inertia properties (mass, compute inertia,
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///< inertia tensor etc) is visible.
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Damping = 1 << 2, ///< Whether linear and angular damping are visible.
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SleepOptions = 1 << 3, ///< Whether the sleep threshold and start asleep options are visible.
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Interpolation = 1 << 4, ///< Whether the interpolation option is visible.
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Gravity = 1 << 5, ///< Whether the effected by gravity option is visible.
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Kinematic = 1 << 6, ///< Whether the option to make the body kinematic is visible.
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ContinuousCollisionDetection = 1 << 7, ///< Whether the option to enable continuous collision detection is visible.
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MaxVelocities = 1 << 8 ///< Whether upper limits on velocities are visible.
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};
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RigidBodyConfiguration() = default;
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RigidBodyConfiguration(const RigidBodyConfiguration& settings) = default;
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// Visibility functions.
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AZ::Crc32 GetPropertyVisibility(PropertyVisibility property) const;
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void SetPropertyVisibility(PropertyVisibility property, bool isVisible);
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AZ::Crc32 GetInitialVelocitiesVisibility() const;
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/// Returns whether the whole category of inertia settings (mass, inertia, center of mass offset etc) is visible.
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AZ::Crc32 GetInertiaSettingsVisibility() const;
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/// Returns whether the individual inertia tensor field is visible or is hidden because the compute inertia option is selected.
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AZ::Crc32 GetInertiaVisibility() const;
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/// Returns whether the mass field is visible or is hidden because compute mass option is selected.
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AZ::Crc32 GetMassVisibility() const;
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/// Returns whether the individual centre of mass offset field is visible or is hidden because compute CoM option is selected.
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AZ::Crc32 GetCoMVisibility() const;
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AZ::Crc32 GetDampingVisibility() const;
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AZ::Crc32 GetSleepOptionsVisibility() const;
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AZ::Crc32 GetInterpolationVisibility() const;
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AZ::Crc32 GetGravityVisibility() const;
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AZ::Crc32 GetKinematicVisibility() const;
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AZ::Crc32 GetCCDVisibility() const;
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AZ::Crc32 GetMaxVelocitiesVisibility() const;
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MassComputeFlags GetMassComputeFlags() const;
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void SetMassComputeFlags(MassComputeFlags flags);
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bool IsCCDEnabled() const;
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// Basic initial settings.
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AZ::Vector3 m_initialLinearVelocity = AZ::Vector3::CreateZero();
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AZ::Vector3 m_initialAngularVelocity = AZ::Vector3::CreateZero();
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AZ::Vector3 m_centerOfMassOffset = AZ::Vector3::CreateZero();
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// Simulation parameters.
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float m_mass = DefaultRigidBodyConfiguration::m_mass;
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AZ::Matrix3x3 m_inertiaTensor = AZ::Matrix3x3::CreateIdentity();
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float m_linearDamping = DefaultRigidBodyConfiguration::m_linearDamping;
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float m_angularDamping = DefaultRigidBodyConfiguration::m_angularDamping;
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float m_sleepMinEnergy = DefaultRigidBodyConfiguration::m_sleepMinEnergy;
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float m_maxAngularVelocity = DefaultRigidBodyConfiguration::m_maxAngularVelocity;
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// Visibility settings.
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AZ::u16 m_propertyVisibilityFlags = (std::numeric_limits<AZ::u16>::max)();
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bool m_startAsleep = false;
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bool m_interpolateMotion = false;
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bool m_gravityEnabled = true;
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bool m_simulated = true;
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bool m_kinematic = false;
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bool m_ccdEnabled = false; ///< Whether continuous collision detection is enabled.
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float m_ccdMinAdvanceCoefficient = 0.15f; ///< Coefficient affecting how granularly time is subdivided in CCD.
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bool m_ccdFrictionEnabled = false; ///< Whether friction is applied when resolving CCD collisions.
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bool m_computeCenterOfMass = true;
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bool m_computeInertiaTensor = true;
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bool m_computeMass = true;
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//! If set, non-simulated shapes will also be included in the mass properties calculation.
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bool m_includeAllShapesInMassCalculation = false;
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};
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/// Dynamic rigid body.
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class RigidBody
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: public WorldBody
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{
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public:
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AZ_CLASS_ALLOCATOR(RigidBody, AZ::SystemAllocator, 0);
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AZ_RTTI(RigidBody, "{156E459F-7BB7-4B4E-ADA0-2130D96B7E80}", WorldBody);
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public:
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RigidBody() = default;
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explicit RigidBody(const RigidBodyConfiguration& settings);
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virtual void AddShape(AZStd::shared_ptr<Shape> shape) = 0;
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virtual void RemoveShape(AZStd::shared_ptr<Shape> shape) = 0;
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virtual AZ::u32 GetShapeCount() { return 0; }
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virtual AZStd::shared_ptr<Shape> GetShape(AZ::u32 /*index*/) { return nullptr; }
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virtual AZ::Vector3 GetCenterOfMassWorld() const = 0;
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virtual AZ::Vector3 GetCenterOfMassLocal() const = 0;
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virtual AZ::Matrix3x3 GetInverseInertiaWorld() const = 0;
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virtual AZ::Matrix3x3 GetInverseInertiaLocal() const = 0;
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virtual float GetMass() const = 0;
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virtual float GetInverseMass() const = 0;
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virtual void SetMass(float mass) = 0;
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virtual void SetCenterOfMassOffset(const AZ::Vector3& comOffset) = 0;
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/// Retrieves the velocity at center of mass; only linear velocity, no rotational velocity contribution.
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virtual AZ::Vector3 GetLinearVelocity() const = 0;
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virtual void SetLinearVelocity(const AZ::Vector3& velocity) = 0;
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virtual AZ::Vector3 GetAngularVelocity() const = 0;
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virtual void SetAngularVelocity(const AZ::Vector3& angularVelocity) = 0;
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virtual AZ::Vector3 GetLinearVelocityAtWorldPoint(const AZ::Vector3& worldPoint) = 0;
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virtual void ApplyLinearImpulse(const AZ::Vector3& impulse) = 0;
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virtual void ApplyLinearImpulseAtWorldPoint(const AZ::Vector3& impulse, const AZ::Vector3& worldPoint) = 0;
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virtual void ApplyAngularImpulse(const AZ::Vector3& angularImpulse) = 0;
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virtual float GetLinearDamping() const = 0;
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virtual void SetLinearDamping(float damping) = 0;
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virtual float GetAngularDamping() const = 0;
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virtual void SetAngularDamping(float damping) = 0;
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virtual bool IsAwake() const = 0;
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virtual void ForceAsleep() = 0;
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virtual void ForceAwake() = 0;
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virtual float GetSleepThreshold() const = 0;
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virtual void SetSleepThreshold(float threshold) = 0;
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virtual bool IsKinematic() const = 0;
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virtual void SetKinematic(bool kinematic) = 0;
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virtual void SetKinematicTarget(const AZ::Transform& targetPosition) = 0;
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virtual bool IsGravityEnabled() const = 0;
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virtual void SetGravityEnabled(bool enabled) = 0;
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virtual void SetSimulationEnabled(bool enabled) = 0;
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virtual void SetCCDEnabled(bool enabled) = 0;
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//! Recalculates mass, inertia and center of mass based on the flags passed.
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//! @param flags MassComputeFlags specifying which properties should be recomputed.
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//! @param centerOfMassOffsetOverride Optional override of the center of mass. Note: This parameter will be ignored if COMPUTE_COM is passed in flags.
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//! @param inertiaTensorOverride Optional override of the inertia. Note: This parameter will be ignored if COMPUTE_INERTIA is passed in flags.
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//! @param massOverride Optional override of the mass. Note: This parameter will be ignored if COMPUTE_MASS is passed in flags.
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virtual void UpdateMassProperties(MassComputeFlags flags = MassComputeFlags::DEFAULT,
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const AZ::Vector3* centerOfMassOffsetOverride = nullptr,
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const AZ::Matrix3x3* inertiaTensorOverride = nullptr,
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const float* massOverride = nullptr) = 0;
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};
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/// Bitwise operators for MassComputeFlags
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inline MassComputeFlags operator|(MassComputeFlags lhs, MassComputeFlags rhs)
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{
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return aznumeric_cast<MassComputeFlags>(aznumeric_cast<AZ::u8>(lhs) | aznumeric_cast<AZ::u8>(rhs));
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}
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inline MassComputeFlags operator&(MassComputeFlags lhs, MassComputeFlags rhs)
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{
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return aznumeric_cast<MassComputeFlags>(aznumeric_cast<AZ::u8>(lhs) & aznumeric_cast<AZ::u8>(rhs));
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}
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/// Static rigid body.
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class RigidBodyStatic
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: public WorldBody
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{
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public:
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AZ_CLASS_ALLOCATOR(RigidBodyStatic, AZ::SystemAllocator, 0);
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AZ_RTTI(RigidBodyStatic, "{13A677BB-7085-4EDB-BCC8-306548238692}", WorldBody);
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virtual void AddShape(const AZStd::shared_ptr<Shape>& shape) = 0;
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virtual AZ::u32 GetShapeCount() { return 0; }
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virtual AZStd::shared_ptr<Shape> GetShape(AZ::u32 /*index*/) { return nullptr; }
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};
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} // namespace Physics
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