Terrain Physics Heightfield support
* New Heightfield Components Signed-off-by: John Jones-Steele <jjjoness@amazon.com> * Misc PR fixes * Fixed linux build failure from bad #include * Renamed "Terrain Physics Collider" to "Terrain Physics Heightfield Collider" per physics team feedback * Fixed 1/5 -> 1/4 typo in a comment * Added missing member copies in HeightfieldShapeConfiguration Signed-off-by: Mike Balfour <82224783+mbalfour-amzn@users.noreply.github.com> * Addressed PR feedback Signed-off-by: Mike Balfour <82224783+mbalfour-amzn@users.noreply.github.com> * Changes from review Signed-off-by: John Jones-Steele <jjjoness@amazon.com> * Remove tabs accidently added Signed-off-by: John Jones-Steele <jjjoness@amazon.com> * Fixed overly complicated scaling math. Signed-off-by: Mike Balfour <82224783+mbalfour-amzn@users.noreply.github.com> * Added comments to make it more obvious what's happening on CreateEnd / DestroyBegin. Signed-off-by: Mike Balfour <82224783+mbalfour-amzn@users.noreply.github.com> * Moved Heightfield CreatePxGeometryFromConfig into its own function Signed-off-by: John Jones-Steele <jjjoness@amazon.com> Co-authored-by: Mike Balfour <82224783+mbalfour-amzn@users.noreply.github.com>
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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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#include <Components/TerrainPhysicsColliderComponent.h>
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#include <AzCore/Asset/AssetManagerBus.h>
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#include <AzCore/Component/Entity.h>
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#include <AzCore/Component/TransformBus.h>
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#include <AzCore/Casting/lossy_cast.h>
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#include <AzCore/RTTI/BehaviorContext.h>
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#include <AzCore/Serialization/EditContext.h>
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#include <AzCore/Serialization/SerializeContext.h>
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#include <AzFramework/Terrain/TerrainDataRequestBus.h>
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namespace Terrain
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{
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void TerrainPhysicsColliderConfig::Reflect(AZ::ReflectContext* context)
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{
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if (auto serialize = azrtti_cast<AZ::SerializeContext*>(context))
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{
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serialize->Class<TerrainPhysicsColliderConfig, AZ::ComponentConfig>()
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->Version(1)
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;
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if (auto edit = serialize->GetEditContext())
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{
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edit->Class<TerrainPhysicsColliderConfig>(
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"Terrain Physics Collider Component",
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"Provides terrain data to a physics collider with configurable surface mappings.")
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->ClassElement(AZ::Edit::ClassElements::EditorData, "")
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->Attribute(AZ::Edit::Attributes::Visibility, AZ::Edit::PropertyVisibility::ShowChildrenOnly)
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->Attribute(AZ::Edit::Attributes::AutoExpand, true);
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}
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}
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}
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void TerrainPhysicsColliderComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& services)
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{
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services.push_back(AZ_CRC_CE("PhysicsHeightfieldProviderService"));
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}
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void TerrainPhysicsColliderComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& services)
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{
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services.push_back(AZ_CRC_CE("PhysicsHeightfieldProviderService"));
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}
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void TerrainPhysicsColliderComponent::GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& services)
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{
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services.push_back(AZ_CRC_CE("AxisAlignedBoxShapeService"));
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}
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void TerrainPhysicsColliderComponent::Reflect(AZ::ReflectContext* context)
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{
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TerrainPhysicsColliderConfig::Reflect(context);
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if (auto serialize = azrtti_cast<AZ::SerializeContext*>(context))
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{
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serialize->Class<TerrainPhysicsColliderComponent, AZ::Component>()
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->Version(0)
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->Field("Configuration", &TerrainPhysicsColliderComponent::m_configuration)
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;
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}
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}
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TerrainPhysicsColliderComponent::TerrainPhysicsColliderComponent(const TerrainPhysicsColliderConfig& configuration)
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: m_configuration(configuration)
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{
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}
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TerrainPhysicsColliderComponent::TerrainPhysicsColliderComponent()
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{
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}
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void TerrainPhysicsColliderComponent::Activate()
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{
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const auto entityId = GetEntityId();
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LmbrCentral::ShapeComponentNotificationsBus::Handler::BusConnect(entityId);
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Physics::HeightfieldProviderRequestsBus::Handler::BusConnect(entityId);
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AzFramework::Terrain::TerrainDataNotificationBus::Handler::BusConnect();
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NotifyListenersOfHeightfieldDataChange();
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}
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void TerrainPhysicsColliderComponent::Deactivate()
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{
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AzFramework::Terrain::TerrainDataNotificationBus::Handler::BusDisconnect();
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Physics::HeightfieldProviderRequestsBus::Handler ::BusDisconnect();
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LmbrCentral::ShapeComponentNotificationsBus::Handler::BusDisconnect();
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}
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bool TerrainPhysicsColliderComponent::ReadInConfig(const AZ::ComponentConfig* baseConfig)
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{
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if (auto config = azrtti_cast<const TerrainPhysicsColliderConfig*>(baseConfig))
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{
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m_configuration = *config;
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return true;
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}
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return false;
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}
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bool TerrainPhysicsColliderComponent::WriteOutConfig(AZ::ComponentConfig* outBaseConfig) const
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{
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if (auto config = azrtti_cast<TerrainPhysicsColliderConfig*>(outBaseConfig))
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{
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*config = m_configuration;
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return true;
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}
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return false;
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}
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void TerrainPhysicsColliderComponent::NotifyListenersOfHeightfieldDataChange()
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{
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AZ::Aabb worldSize = AZ::Aabb::CreateNull();
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LmbrCentral::ShapeComponentRequestsBus::EventResult(
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worldSize, GetEntityId(), &LmbrCentral::ShapeComponentRequestsBus::Events::GetEncompassingAabb);
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Physics::HeightfieldProviderNotificationBus::Broadcast(
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&Physics::HeightfieldProviderNotificationBus::Events::OnHeightfieldDataChanged, worldSize);
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}
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void TerrainPhysicsColliderComponent::OnShapeChanged([[maybe_unused]] ShapeChangeReasons changeReason)
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{
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// This will notify us of both shape changes and transform changes.
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// It's important to use this event for transform changes instead of listening to OnTransformChanged, because we need to guarantee
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// the shape has received the transform change message and updated its internal state before passing it along to us.
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NotifyListenersOfHeightfieldDataChange();
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}
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void TerrainPhysicsColliderComponent::OnTerrainDataCreateEnd()
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{
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// The terrain system has finished creating itself, so we should now have data for creating a heightfield.
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NotifyListenersOfHeightfieldDataChange();
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}
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void TerrainPhysicsColliderComponent::OnTerrainDataDestroyBegin()
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{
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// The terrain system is starting to destroy itself, so notify listeners of a change since the heightfield
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// will no longer have any valid data.
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NotifyListenersOfHeightfieldDataChange();
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}
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void TerrainPhysicsColliderComponent::OnTerrainDataChanged(
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[[maybe_unused]] const AZ::Aabb& dirtyRegion, [[maybe_unused]] TerrainDataChangedMask dataChangedMask)
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{
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NotifyListenersOfHeightfieldDataChange();
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}
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AZ::Aabb TerrainPhysicsColliderComponent::GetHeightfieldAabb() const
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{
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AZ::Aabb worldSize = AZ::Aabb::CreateNull();
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LmbrCentral::ShapeComponentRequestsBus::EventResult(
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worldSize, GetEntityId(), &LmbrCentral::ShapeComponentRequestsBus::Events::GetEncompassingAabb);
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auto vector2Floor = [](const AZ::Vector2& in)
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{
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return AZ::Vector2(floor(in.GetX()), floor(in.GetY()));
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};
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auto vector2Ceil = [](const AZ::Vector2& in)
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{
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return AZ::Vector2(ceil(in.GetX()), ceil(in.GetY()));
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};
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const AZ::Vector2 gridResolution = GetHeightfieldGridSpacing();
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const AZ::Vector3 boundsMin = worldSize.GetMin();
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const AZ::Vector3 boundsMax = worldSize.GetMax();
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const AZ::Vector2 gridMinBoundLower = vector2Floor(AZ::Vector2(boundsMin) / gridResolution) * gridResolution;
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const AZ::Vector2 gridMaxBoundUpper = vector2Ceil(AZ::Vector2(boundsMax) / gridResolution) * gridResolution;
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return AZ::Aabb::CreateFromMinMaxValues(
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gridMinBoundLower.GetX(), gridMinBoundLower.GetY(), boundsMin.GetZ(),
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gridMaxBoundUpper.GetX(), gridMaxBoundUpper.GetY(), boundsMax.GetZ()
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);
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}
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void TerrainPhysicsColliderComponent::GetHeightfieldHeightBounds(float& minHeightBounds, float& maxHeightBounds) const
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{
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AZ::Aabb heightfieldAabb = GetHeightfieldAabb();
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// Because our terrain heights are relative to the center of the bounding box, the min and max allowable heights are also
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// relative to the center. They are also clamped to the size of the bounding box.
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minHeightBounds = -(heightfieldAabb.GetZExtent() / 2.0f);
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maxHeightBounds = heightfieldAabb.GetZExtent() / 2.0f;
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}
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AZ::Transform TerrainPhysicsColliderComponent::GetHeightfieldTransform() const
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{
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// We currently don't support rotation of terrain heightfields.
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AZ::Vector3 translate;
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AZ::TransformBus::EventResult(translate, GetEntityId(), &AZ::TransformBus::Events::GetWorldTranslation);
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AZ::Transform transform = AZ::Transform::CreateTranslation(translate);
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return transform;
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}
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void TerrainPhysicsColliderComponent::GenerateHeightsInBounds(AZStd::vector<float>& heights) const
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{
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const AZ::Vector2 gridResolution = GetHeightfieldGridSpacing();
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AZ::Aabb worldSize = GetHeightfieldAabb();
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const float worldCenterZ = worldSize.GetCenter().GetZ();
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int32_t gridWidth, gridHeight;
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GetHeightfieldGridSize(gridWidth, gridHeight);
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heights.clear();
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heights.reserve(gridWidth * gridHeight);
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for (int32_t row = 0; row < gridHeight; row++)
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{
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const float y = row * gridResolution.GetY() + worldSize.GetMin().GetY();
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for (int32_t col = 0; col < gridWidth; col++)
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{
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const float x = col * gridResolution.GetX() + worldSize.GetMin().GetX();
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float height = 0.0f;
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AzFramework::Terrain::TerrainDataRequestBus::BroadcastResult(
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height, &AzFramework::Terrain::TerrainDataRequests::GetHeightFromFloats, x, y,
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AzFramework::Terrain::TerrainDataRequests::Sampler::DEFAULT, nullptr);
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heights.emplace_back(height - worldCenterZ);
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}
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}
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}
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void TerrainPhysicsColliderComponent::GenerateHeightsAndMaterialsInBounds(
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AZStd::vector<Physics::HeightMaterialPoint>& heightMaterials) const
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{
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const AZ::Vector2 gridResolution = GetHeightfieldGridSpacing();
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AZ::Aabb worldSize = GetHeightfieldAabb();
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const float worldCenterZ = worldSize.GetCenter().GetZ();
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const float worldHeightBoundsMin = worldSize.GetMin().GetZ();
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const float worldHeightBoundsMax = worldSize.GetMax().GetZ();
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int32_t gridWidth, gridHeight;
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GetHeightfieldGridSize(gridWidth, gridHeight);
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heightMaterials.clear();
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heightMaterials.reserve(gridWidth * gridHeight);
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for (int32_t row = 0; row < gridHeight; row++)
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{
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const float y = row * gridResolution.GetY() + worldSize.GetMin().GetY();
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for (int32_t col = 0; col < gridWidth; col++)
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{
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const float x = col * gridResolution.GetX() + worldSize.GetMin().GetX();
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float height = 0.0f;
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bool terrainExists = true;
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AzFramework::Terrain::TerrainDataRequestBus::BroadcastResult(
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height, &AzFramework::Terrain::TerrainDataRequests::GetHeightFromFloats, x, y,
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AzFramework::Terrain::TerrainDataRequests::Sampler::DEFAULT, &terrainExists);
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// Any heights that fall outside the range of our bounding box will get turned into holes.
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if ((height < worldHeightBoundsMin) || (height > worldHeightBoundsMax))
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{
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height = worldHeightBoundsMin;
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terrainExists = false;
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}
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Physics::HeightMaterialPoint point;
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point.m_height = height - worldCenterZ;
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point.m_quadMeshType = terrainExists ? Physics::QuadMeshType::SubdivideUpperLeftToBottomRight : Physics::QuadMeshType::Hole;
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heightMaterials.emplace_back(point);
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}
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}
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}
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AZ::Vector2 TerrainPhysicsColliderComponent::GetHeightfieldGridSpacing() const
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{
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AZ::Vector2 gridResolution = AZ::Vector2(1.0f);
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AzFramework::Terrain::TerrainDataRequestBus::BroadcastResult(
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gridResolution, &AzFramework::Terrain::TerrainDataRequests::GetTerrainHeightQueryResolution);
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return gridResolution;
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}
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void TerrainPhysicsColliderComponent::GetHeightfieldGridSize(int32_t& numColumns, int32_t& numRows) const
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{
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const AZ::Vector2 gridResolution = GetHeightfieldGridSpacing();
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const AZ::Aabb bounds = GetHeightfieldAabb();
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numColumns = aznumeric_cast<int32_t>((bounds.GetMax().GetX() - bounds.GetMin().GetX()) / gridResolution.GetX());
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numRows = aznumeric_cast<int32_t>((bounds.GetMax().GetY() - bounds.GetMin().GetY()) / gridResolution.GetY());
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}
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AZStd::vector<Physics::MaterialId> TerrainPhysicsColliderComponent::GetMaterialList() const
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{
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return AZStd::vector<Physics::MaterialId>();
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}
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AZStd::vector<float> TerrainPhysicsColliderComponent::GetHeights() const
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{
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AZStd::vector<float> heights;
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GenerateHeightsInBounds(heights);
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return heights;
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}
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AZStd::vector<Physics::HeightMaterialPoint> TerrainPhysicsColliderComponent::GetHeightsAndMaterials() const
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{
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AZStd::vector<Physics::HeightMaterialPoint> heightMaterials;
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GenerateHeightsAndMaterialsInBounds(heightMaterials);
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return heightMaterials;
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}
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}
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