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>

Code/Framework/AzFramework/AzFramework/Physics/HeightfieldProviderBus.h

@@ -0,0 +1,97 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+
+#pragma once
+
+#include <AzCore/Math/Vector3.h>
+#include <AzCore/EBus/EBus.h>
+#include <AzCore/Component/ComponentBus.h>
+#include <AzCore/Math/Aabb.h>
+#include <AzFramework/Physics/Material.h>
+
+namespace Physics
+{
+    //! The QuadMeshType specifies the property of the heightfield quad.
+    enum class QuadMeshType : uint8_t
+    {
+        SubdivideUpperLeftToBottomRight, //!< Subdivide the quad, from upper left to bottom right |\|, into two triangles.
+        SubdivideBottomLeftToUpperRight, //!< Subdivide the quad, from bottom left to upper right |/|, into two triangles.
+        Hole    //!< The quad should be treated as a hole in the heightfield.
+    };
+
+    struct HeightMaterialPoint
+    {
+        float m_height{ 0.0f }; //!< Holds the height of this point in the heightfield relative to the heightfield entity location.
+        QuadMeshType m_quadMeshType{ QuadMeshType::SubdivideUpperLeftToBottomRight }; //!< By default, create two triangles like this |\|, where this point is in the upper left corner.
+        uint8_t m_materialIndex{ 0 }; //!< The surface material index for the upper left corner of this quad.
+        uint16_t m_padding{ 0 }; //!< available for future use.
+    };
+
+    //! An interface to provide heightfield values.
+    class HeightfieldProviderRequests
+        : public AZ::ComponentBus
+    {
+    public:
+        //! Returns the distance between each height in the map.
+        //! @return Vector containing Column Spacing, Rows Spacing.
+        virtual AZ::Vector2 GetHeightfieldGridSpacing() const = 0;
+
+        //! Returns the height field gridsize.
+        //! @param numColumns contains the size of the grid in the x direction.
+        //! @param numRows contains the size of the grid in the y direction.
+        virtual void GetHeightfieldGridSize(int32_t& numColumns, int32_t& numRows) const = 0;
+
+        //! Returns the height field min and max height bounds.
+        //! @param minHeightBounds contains the minimum height that the heightfield can contain.
+        //! @param maxHeightBounds contains the maximum height that the heightfield can contain.
+        virtual void GetHeightfieldHeightBounds(float& minHeightBounds, float& maxHeightBounds) const = 0;
+
+        //! Returns the AABB of the heightfield.
+        //! This is provided separately from the shape AABB because the heightfield might choose to modify the AABB bounds.
+        //! @return AABB of the heightfield.
+        virtual AZ::Aabb GetHeightfieldAabb() const = 0;
+
+        //! Returns the world transform for the heightfield.
+        //! This is provided separately from the entity transform because the heightfield might want to clear out the rotation or scale.
+        //! @return world transform that should be used with the heightfield data.
+        virtual AZ::Transform GetHeightfieldTransform() const = 0;
+
+        //! Returns the list of materials used by the height field.
+        //! @return returns a vector of all materials.
+        virtual AZStd::vector<MaterialId> GetMaterialList() const = 0;
+
+        //! Returns the list of heights used by the height field.
+        //! @return the rows*columns vector of the heights.
+        virtual AZStd::vector<float> GetHeights() const = 0;
+
+        //! Returns the list of heights and materials used by the height field.
+        //! @return the rows*columns vector of the heights and materials.
+        virtual AZStd::vector<Physics::HeightMaterialPoint> GetHeightsAndMaterials() const = 0;
+    };
+
+    using HeightfieldProviderRequestsBus = AZ::EBus<HeightfieldProviderRequests>;
+
+    //! Broadcasts notifications when heightfield data changes - heightfield providers implement HeightfieldRequests bus.
+    class HeightfieldProviderNotifications
+        : public AZ::ComponentBus
+    {
+    public:
+        static const AZ::EBusHandlerPolicy HandlerPolicy = AZ::EBusHandlerPolicy::Multiple;
+
+        //! Called whenever the heightfield data changes.
+        //! @param the AABB of the area of data that changed.
+        virtual void OnHeightfieldDataChanged([[maybe_unused]] const AZ::Aabb& dirtyRegion)
+        {
+        }
+
+    protected:
+        ~HeightfieldProviderNotifications() = default;
+    };
+
+    using HeightfieldProviderNotificationBus = AZ::EBus<HeightfieldProviderNotifications>;
+} // namespace Physics

Code/Framework/AzFramework/AzFramework/Physics/Mocks/MockHeightfieldProviderBus.h

@@ -0,0 +1,33 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+
+#pragma once
+
+#include <gmock/gmock.h>
+
+#include <AzFramework/Physics/HeightfieldProviderBus.h>
+
+namespace UnitTest
+{
+    class MockHeightfieldProviderNotificationBusListener
+        : private Physics::HeightfieldProviderNotificationBus::Handler
+    {
+    public:
+        MockHeightfieldProviderNotificationBusListener(AZ::EntityId entityid)
+        {
+            Physics::HeightfieldProviderNotificationBus::Handler::BusConnect(entityid);
+        }
+
+        ~MockHeightfieldProviderNotificationBusListener()
+        {
+            Physics::HeightfieldProviderNotificationBus::Handler::BusDisconnect();
+        }
+
+        MOCK_METHOD1(OnHeightfieldDataChanged, void(const AZ::Aabb&));
+    };
+} // namespace UnitTest

Code/Framework/AzFramework/AzFramework/Physics/ShapeConfiguration.cpp

@@ -37,6 +37,7 @@ namespace Physics
             REFLECT_SHAPETYPE_ENUM_VALUE(Sphere);
             REFLECT_SHAPETYPE_ENUM_VALUE(Cylinder);
             REFLECT_SHAPETYPE_ENUM_VALUE(PhysicsAsset);
+            REFLECT_SHAPETYPE_ENUM_VALUE(Heightfield);
 
             #undef REFLECT_SHAPETYPE_ENUM_VALUE
         }
@@ -305,4 +306,125 @@ namespace Physics
             m_cachedNativeMesh = nullptr;
         }
     }
+
+    void HeightfieldShapeConfiguration::Reflect(AZ::ReflectContext* context)
+    {
+        if (auto serializeContext = azrtti_cast<AZ::SerializeContext*>(context))
+        {
+            serializeContext
+                ->RegisterGenericType<AZStd::shared_ptr<HeightfieldShapeConfiguration>>();
+
+            serializeContext->Class<HeightfieldShapeConfiguration, ShapeConfiguration>()
+                ->Version(1);
+        }
+    }
+
+    HeightfieldShapeConfiguration::~HeightfieldShapeConfiguration()
+    {
+        SetCachedNativeHeightfield(nullptr);
+    }
+
+    HeightfieldShapeConfiguration::HeightfieldShapeConfiguration(const HeightfieldShapeConfiguration& other)
+        : ShapeConfiguration(other)
+        , m_gridResolution(other.m_gridResolution)
+        , m_numColumns(other.m_numColumns)
+        , m_numRows(other.m_numRows)
+        , m_samples(other.m_samples)
+        , m_minHeightBounds(other.m_minHeightBounds)
+        , m_maxHeightBounds(other.m_maxHeightBounds)
+        , m_cachedNativeHeightfield(nullptr)
+    {
+    }
+
+    HeightfieldShapeConfiguration& HeightfieldShapeConfiguration::operator=(const HeightfieldShapeConfiguration& other)
+    {
+        ShapeConfiguration::operator=(other);
+
+        m_gridResolution = other.m_gridResolution;
+        m_numColumns = other.m_numColumns;
+        m_numRows = other.m_numRows;
+        m_samples = other.m_samples;
+        m_minHeightBounds = other.m_minHeightBounds;
+        m_maxHeightBounds = other.m_maxHeightBounds;
+
+        // Prevent raw pointer from being copied
+        m_cachedNativeHeightfield = nullptr;
+
+        return *this;
+    }
+
+    void* HeightfieldShapeConfiguration::GetCachedNativeHeightfield() const
+    {
+        return m_cachedNativeHeightfield;
+    }
+
+    void HeightfieldShapeConfiguration::SetCachedNativeHeightfield(void* cachedNativeHeightfield) const
+    {
+        if (m_cachedNativeHeightfield)
+        {
+            Physics::SystemRequestBus::Broadcast(&Physics::SystemRequests::ReleaseNativeHeightfieldObject, m_cachedNativeHeightfield);
+        }
+
+        m_cachedNativeHeightfield = cachedNativeHeightfield;
+    }
+
+    AZ::Vector2 HeightfieldShapeConfiguration::GetGridResolution() const
+    {
+        return m_gridResolution;
+    }
+
+    void HeightfieldShapeConfiguration::SetGridResolution(const AZ::Vector2& gridResolution)
+    {
+        m_gridResolution = gridResolution;
+    }
+
+    int32_t HeightfieldShapeConfiguration::GetNumColumns() const
+    {
+        return m_numColumns;
+    }
+
+    void HeightfieldShapeConfiguration::SetNumColumns(int32_t numColumns)
+    {
+        m_numColumns = numColumns;
+    }
+
+    int32_t HeightfieldShapeConfiguration::GetNumRows() const
+    {
+        return m_numRows;
+    }
+
+    void HeightfieldShapeConfiguration::SetNumRows(int32_t numRows)
+    {
+        m_numRows = numRows;
+    }
+
+    const AZStd::vector<Physics::HeightMaterialPoint>& HeightfieldShapeConfiguration::GetSamples() const
+    {
+        return m_samples;
+    }
+
+    void HeightfieldShapeConfiguration::SetSamples(const AZStd::vector<Physics::HeightMaterialPoint>& samples)
+    {
+        m_samples = samples;
+    }
+
+    float HeightfieldShapeConfiguration::GetMinHeightBounds() const
+    {
+        return m_minHeightBounds;
+    }
+
+    void HeightfieldShapeConfiguration::SetMinHeightBounds(float minBounds)
+    {
+        m_minHeightBounds = minBounds;
+    }
+
+    float HeightfieldShapeConfiguration::GetMaxHeightBounds() const
+    {
+        return m_maxHeightBounds;
+    }
+
+    void HeightfieldShapeConfiguration::SetMaxHeightBounds(float maxBounds)
+    {
+        m_maxHeightBounds = maxBounds;
+    }
 }

Code/Framework/AzFramework/AzFramework/Physics/ShapeConfiguration.h

@@ -9,10 +9,13 @@
 #pragma once
 
 #include <AzCore/Math/Vector3.h>
+#include <AzCore/Math/Vector2.h>
 #include <AzCore/Math/Quaternion.h>
 #include <AzCore/Asset/AssetCommon.h>
 #include <AzCore/Serialization/SerializeContext.h>
 
+#include <AzFramework/Physics/HeightfieldProviderBus.h>
+
 namespace Physics
 {
     /// Used to identify shape configuration type from base class.
@@ -27,6 +30,7 @@ namespace Physics
         Native, ///< Native shape configuration if user wishes to bypass generic shape configurations.
         PhysicsAsset, ///< Shapes configured in the asset.
         CookedMesh, ///< Stores a blob of mesh data cooked for the specific engine.
+        Heightfield ///< Interacts with the physics system heightfield
     };
 
     class ShapeConfiguration
@@ -196,4 +200,52 @@ namespace Physics
         mutable void* m_cachedNativeMesh = nullptr;
     };
 
+    class HeightfieldShapeConfiguration
+        : public ShapeConfiguration
+    {
+    public:
+        AZ_CLASS_ALLOCATOR(HeightfieldShapeConfiguration, AZ::SystemAllocator, 0);
+        AZ_RTTI(HeightfieldShapeConfiguration, "{8DF47C83-D2A9-4E7C-8620-5E173E43C0B3}", ShapeConfiguration);
+        static void Reflect(AZ::ReflectContext* context);
+        HeightfieldShapeConfiguration() = default;
+        HeightfieldShapeConfiguration(const HeightfieldShapeConfiguration&);
+        HeightfieldShapeConfiguration& operator=(const HeightfieldShapeConfiguration&);
+        ~HeightfieldShapeConfiguration();
+
+        ShapeType GetShapeType() const override
+        {
+            return ShapeType::Heightfield;
+        }
+
+        void* GetCachedNativeHeightfield() const;
+        void SetCachedNativeHeightfield(void* cachedNativeHeightfield) const;
+        AZ::Vector2 GetGridResolution() const;
+        void SetGridResolution(const AZ::Vector2& gridSpacing);
+        int32_t GetNumColumns() const;
+        void SetNumColumns(int32_t numColumns);
+        int32_t GetNumRows() const;
+        void SetNumRows(int32_t numRows);
+        const AZStd::vector<Physics::HeightMaterialPoint>& GetSamples() const;
+        void SetSamples(const AZStd::vector<Physics::HeightMaterialPoint>& samples);
+        float GetMinHeightBounds() const;
+        void SetMinHeightBounds(float minBounds);
+        float GetMaxHeightBounds() const;
+        void SetMaxHeightBounds(float maxBounds);
+
+    private:
+        //! The number of meters between each heightfield sample.
+        AZ::Vector2 m_gridResolution{ 1.0f };
+        //! The number of columns in the heightfield sample grid.
+        int32_t m_numColumns{ 0 };
+        //! The number of rows in the heightfield sample grid.
+        int32_t m_numRows{ 0 };
+        //! The minimum and maximum heights that can be used by this heightfield.
+        //! This can be used by the physics system to choose a more optimal heightfield data type internally (ex: int16, uint8)
+        float m_minHeightBounds{AZStd::numeric_limits<float>::lowest()};
+        float m_maxHeightBounds{AZStd::numeric_limits<float>::max()};
+        //! The grid of sample points for the heightfield.
+        AZStd::vector<Physics::HeightMaterialPoint> m_samples;
+        //! An optional storage pointer for the physics system to cache its native heightfield representation.
+        mutable void* m_cachedNativeHeightfield{ nullptr };
+    };
 } // namespace Physics

Code/Framework/AzFramework/AzFramework/Physics/SystemBus.h

@@ -132,6 +132,10 @@ namespace Physics
 
         virtual AZStd::shared_ptr<Material> CreateMaterial(const Physics::MaterialConfiguration& materialConfiguration) = 0;
 
+        /// Releases the height field object created by the physics backend.
+        /// @param nativeHeightfieldObject Pointer to the height field object.
+        virtual void ReleaseNativeHeightfieldObject(void* nativeHeightfieldObject) = 0;
+
         /// Releases the mesh object created by the physics backend.
         /// @param nativeMeshObject Pointer to the mesh object.
         virtual void ReleaseNativeMeshObject(void* nativeMeshObject) = 0;

Code/Framework/AzFramework/AzFramework/Physics/Utils.cpp

@@ -107,6 +107,7 @@ namespace Physics
             PhysicsAssetShapeConfiguration::Reflect(context);
             NativeShapeConfiguration::Reflect(context);
             CookedMeshShapeConfiguration::Reflect(context);
+            HeightfieldShapeConfiguration::Reflect(context);
             AzPhysics::SystemInterface::Reflect(context);
             AzPhysics::Scene::Reflect(context);
             AzPhysics::CollisionLayer::Reflect(context);

Code/Framework/AzFramework/AzFramework/Physics/physics_mock_files.cmake

@@ -0,0 +1,11 @@
+#
+# Copyright (c) Contributors to the Open 3D Engine Project.
+# For complete copyright and license terms please see the LICENSE at the root of this distribution.
+#
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+#
+#
+
+set(FILES
+    Mocks/MockHeightfieldProviderBus.h
+)

Code/Framework/AzFramework/AzFramework/azframework_files.cmake

@@ -228,6 +228,7 @@ set(FILES
     Physics/Configuration/SimulatedBodyConfiguration.cpp
     Physics/Configuration/SystemConfiguration.h
     Physics/Configuration/SystemConfiguration.cpp
+    Physics/HeightfieldProviderBus.h
     Physics/SimulatedBodies/RigidBody.h
     Physics/SimulatedBodies/RigidBody.cpp
     Physics/SimulatedBodies/StaticRigidBody.h
@@ -251,6 +252,7 @@ set(FILES
     Physics/Shape.h
     Physics/ShapeConfiguration.h
     Physics/ShapeConfiguration.cpp
+    Physics/HeightfieldProviderBus.h
     Physics/SystemBus.h
     Physics/ColliderComponentBus.h
     Physics/RagdollPhysicsBus.h

Code/Framework/AzFramework/CMakeLists.txt

@@ -42,6 +42,7 @@ if(PAL_TRAIT_BUILD_TESTS_SUPPORTED)
         NAMESPACE AZ
         FILES_CMAKE
             Tests/framework_shared_tests_files.cmake
+            AzFramework/Physics/physics_mock_files.cmake
         INCLUDE_DIRECTORIES
             PUBLIC
                 Tests

Gems/Blast/Code/Tests/Mocks/BlastMocks.h

@@ -209,6 +209,7 @@ namespace Blast
             AZStd::shared_ptr<Physics::Shape>(
                 const Physics::ColliderConfiguration&, const Physics::ShapeConfiguration&));
         MOCK_METHOD1(ReleaseNativeMeshObject, void(void*));
+        MOCK_METHOD1(ReleaseNativeHeightfieldObject, void(void*));
         MOCK_METHOD1(CreateMaterial, AZStd::shared_ptr<Physics::Material>(const Physics::MaterialConfiguration&));
         MOCK_METHOD0(GetDefaultMaterial, AZStd::shared_ptr<Physics::Material>());
         MOCK_METHOD1(

Gems/EMotionFX/Code/Tests/Mocks/PhysicsSystem.h

@@ -46,6 +46,7 @@ namespace Physics
         }
         MOCK_METHOD2(CreateShape, AZStd::shared_ptr<Physics::Shape>(const Physics::ColliderConfiguration& colliderConfiguration, const Physics::ShapeConfiguration& configuration));
         MOCK_METHOD1(ReleaseNativeMeshObject, void(void* nativeMeshObject));
+        MOCK_METHOD1(ReleaseNativeHeightfieldObject, void(void* nativeMeshObject));
         MOCK_METHOD1(CreateMaterial, AZStd::shared_ptr<Physics::Material>(const Physics::MaterialConfiguration& materialConfiguration));
         MOCK_METHOD3(CookConvexMeshToFile, bool(const AZStd::string& filePath, const AZ::Vector3* vertices, AZ::u32 vertexCount));
         MOCK_METHOD3(CookConvexMeshToMemory, bool(const AZ::Vector3* vertices, AZ::u32 vertexCount, AZStd::vector<AZ::u8>& result));

Gems/GradientSignal/Code/CMakeLists.txt

@@ -107,6 +107,15 @@ endif()
 # Tests
 ################################################################################
 if(PAL_TRAIT_BUILD_TESTS_SUPPORTED)
+    ly_add_target(
+        NAME GradientSignal.Mocks HEADERONLY
+        NAMESPACE Gem
+        FILES_CMAKE
+            gradientsignal_mocks_files.cmake
+        INCLUDE_DIRECTORIES
+            INTERFACE
+                Mocks
+    )
     
     ly_add_target(
         NAME GradientSignal.Tests ${PAL_TRAIT_TEST_TARGET_TYPE}
@@ -122,6 +131,7 @@ if(PAL_TRAIT_BUILD_TESTS_SUPPORTED)
                 AZ::AzTest
                 Gem::GradientSignal.Static
                 Gem::LmbrCentral
+                Gem::GradientSignal.Mocks
     )
     ly_add_googletest(
         NAME Gem::GradientSignal.Tests

Gems/GradientSignal/Code/Mocks/GradientSignal/Ebuses/MockGradientRequestBus.h

@@ -0,0 +1,34 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+#pragma once
+
+#include <gmock/gmock.h>
+#include <AzCore/Component/ComponentApplication.h>
+#include <GradientSignal/Ebuses/GradientRequestBus.h>
+
+namespace UnitTest
+{
+    class MockGradientRequests
+         : private GradientSignal::GradientRequestBus::Handler
+    {
+    public:
+        MockGradientRequests(AZ::EntityId entityId)
+        {
+            GradientSignal::GradientRequestBus::Handler::BusConnect(entityId);
+        }
+
+        ~MockGradientRequests()
+        {
+            GradientSignal::GradientRequestBus::Handler::BusDisconnect();
+        }
+
+        MOCK_CONST_METHOD1(GetValue, float(const GradientSignal::GradientSampleParams&));
+        MOCK_CONST_METHOD1(IsEntityInHierarchy, bool(const AZ::EntityId&));
+    };
+} // namespace UnitTest
+

Gems/GradientSignal/Code/gradientsignal_mocks_files.cmake

@@ -0,0 +1,11 @@
+#
+# Copyright (c) Contributors to the Open 3D Engine Project.
+# For complete copyright and license terms please see the LICENSE at the root of this distribution.
+#
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+#
+#
+
+set(FILES
+    Mocks/GradientSignal/Ebuses/MockGradientRequestBus.h
+)

Gems/LmbrCentral/Code/Source/Shape/AxisAlignedBoxShapeComponent.h

@@ -15,12 +15,6 @@
 
 namespace LmbrCentral
 {
-    /// Type ID for the AxisAlignedBoxShapeComponent
-    static const AZ::Uuid AxisAlignedBoxShapeComponentTypeId = "{641D817E-1BC6-406A-BBB2-218541808E45}";
-
-    /// Type ID for the EditorAxisAlignedBoxShapeComponent
-    static const AZ::Uuid EditorAxisAlignedBoxShapeComponentTypeId = "{8C027DF6-E157-4159-9BF8-F1B925466F1F}";
-
     /// Provide a Component interface for AxisAlignedBoxShape functionality.
     class AxisAlignedBoxShapeComponent
         : public AZ::Component

Gems/LmbrCentral/Code/include/LmbrCentral/Shape/BoxShapeComponentBus.h

@@ -24,6 +24,12 @@ namespace LmbrCentral
     /// Type ID for the BoxShapeConfig
     static const AZ::Uuid BoxShapeConfigTypeId = "{F034FBA2-AC2F-4E66-8152-14DFB90D6283}";
 
+    /// Type ID for the AxisAlignedBoxShapeComponent
+    static const AZ::Uuid AxisAlignedBoxShapeComponentTypeId = "{641D817E-1BC6-406A-BBB2-218541808E45}";
+
+    /// Type ID for the EditorAxisAlignedBoxShapeComponent
+    static const AZ::Uuid EditorAxisAlignedBoxShapeComponentTypeId = "{8C027DF6-E157-4159-9BF8-F1B925466F1F}";
+
     /// Configuration data for BoxShapeComponent
     class BoxShapeConfig
         : public ShapeComponentConfig

Gems/PhysX/Code/Editor/DebugDraw.cpp

@@ -676,7 +676,17 @@ namespace PhysX
             }
         }
 
-        AZ::Transform Collider::GetColliderLocalTransform(const Physics::ColliderConfiguration& colliderConfig,
+        void Collider::DrawHeightfield(
+            [[maybe_unused]] AzFramework::DebugDisplayRequests& debugDisplay,
+            [[maybe_unused]] const Physics::ColliderConfiguration& colliderConfig,
+            [[maybe_unused]] const Physics::HeightfieldShapeConfiguration& heightfieldShapeConfig,
+            [[maybe_unused]] const AZ::Vector3& colliderScale,
+            [[maybe_unused]] const bool forceUniformScaling) const
+        {
+        }
+
+        AZ::Transform Collider::GetColliderLocalTransform(
+            const Physics::ColliderConfiguration& colliderConfig,
             const AZ::Vector3& colliderScale) const
         {
             // Apply entity world transform scale to collider offset

Gems/PhysX/Code/Editor/DebugDraw.h

@@ -104,7 +104,15 @@ namespace PhysX
                 const AZ::Vector3& meshScale,
                 AZ::u32 geomIndex) const;
 
-            void DrawPolygonPrism(AzFramework::DebugDisplayRequests& debugDisplay,
+            void DrawHeightfield(
+                AzFramework::DebugDisplayRequests& debugDisplay,
+                const Physics::ColliderConfiguration& colliderConfig,
+                const Physics::HeightfieldShapeConfiguration& heightfieldShapeConfig,
+                const AZ::Vector3& colliderScale = AZ::Vector3::CreateOne(),
+                const bool forceUniformScaling = false) const;
+
+            void DrawPolygonPrism(
+                AzFramework::DebugDisplayRequests& debugDisplay,
                 const Physics::ColliderConfiguration& colliderConfig, const AZStd::vector<AZ::Vector3>& points) const;
 
             AZ::Transform GetColliderLocalTransform(const Physics::ColliderConfiguration& colliderConfig,

Gems/PhysX/Code/Include/PhysX/SystemComponentBus.h

@@ -16,19 +16,21 @@ namespace AzPhysics
 {
     class CollisionGroup;
     class CollisionLayer;
-}
+} // namespace AzPhysics
 
 namespace physx
 {
     class PxScene;
     class PxSceneDesc;
     class PxConvexMesh;
+    class PxHeightField;
     class PxTriangleMesh;
     class PxShape;
     class PxCooking;
     class PxControllerManager;
     struct PxFilterData;
-}
+    struct PxHeightFieldSample;
+} // namespace physx
 
 namespace PhysX
 {
@@ -63,6 +65,13 @@ namespace PhysX
         /// @return Pointer to the created mesh.
         virtual physx::PxTriangleMesh* CreateTriangleMeshFromCooked(const void* cookedMeshData, AZ::u32 bufferSize) = 0;
 
+        /// Creates a new heightfield.
+        /// @param samples Pointer to beginning of heightfield sample data.
+        /// @param numRows Number of rows in the heightfield.
+        /// @param numColumns Number of columns in the heightfield.
+        /// @return Pointer to the created heightfield.
+        virtual physx::PxHeightField* CreateHeightField(const physx::PxHeightFieldSample* samples, AZ::u32 numRows, AZ::u32 numColumns) = 0;
+
         /// Creates PhysX collision filter data from generic collision filtering settings.
         /// @param layer The collision layer the object belongs to.
         /// @param group The set of collision layers the object will interact with.

Gems/PhysX/Code/Source/ComponentDescriptors.cpp

@@ -12,6 +12,7 @@
 #include <Source/BaseColliderComponent.h>
 #include <Source/MeshColliderComponent.h>
 #include <Source/BoxColliderComponent.h>
+#include <Source/HeightfieldColliderComponent.h>
 #include <Source/SphereColliderComponent.h>
 #include <Source/CapsuleColliderComponent.h>
 #include <Source/ShapeColliderComponent.h>
@@ -36,6 +37,7 @@ namespace PhysX
             BaseColliderComponent::CreateDescriptor(),
             MeshColliderComponent::CreateDescriptor(),
             BoxColliderComponent::CreateDescriptor(),
+            HeightfieldColliderComponent::CreateDescriptor(),
             SphereColliderComponent::CreateDescriptor(),
             CapsuleColliderComponent::CreateDescriptor(),
             ShapeColliderComponent::CreateDescriptor(),

Gems/PhysX/Code/Source/EditorComponentDescriptors.cpp

@@ -12,6 +12,7 @@
 #include <Source/EditorColliderComponent.h>
 #include <Source/EditorFixedJointComponent.h>
 #include <Source/EditorForceRegionComponent.h>
+#include <Source/EditorHeightfieldColliderComponent.h>
 #include <Source/EditorHingeJointComponent.h>
 #include <Source/EditorJointComponent.h>
 #include <Source/EditorRigidBodyComponent.h>
@@ -35,6 +36,7 @@ namespace PhysX
             EditorColliderComponent::CreateDescriptor(),
             EditorFixedJointComponent::CreateDescriptor(),
             EditorForceRegionComponent::CreateDescriptor(),
+            EditorHeightfieldColliderComponent::CreateDescriptor(),
             EditorHingeJointComponent::CreateDescriptor(),
             EditorJointComponent::CreateDescriptor(),
             EditorRigidBodyComponent::CreateDescriptor(),

Gems/PhysX/Code/Source/EditorHeightfieldColliderComponent.cpp

@@ -0,0 +1,341 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+
+#include <AzCore/std/smart_ptr/make_shared.h>
+#include <Editor/ColliderComponentMode.h>
+#include <EditorHeightfieldColliderComponent.h>
+#include <AzFramework/Physics/Configuration/StaticRigidBodyConfiguration.h>
+#include <AzFramework/Physics/Shape.h>
+#include <Source/HeightfieldColliderComponent.h>
+#include <Source/Utils.h>
+#include <System/PhysXSystem.h>
+
+namespace PhysX
+{
+    void EditorHeightfieldColliderComponent::Reflect(AZ::ReflectContext* context)
+    {
+        if (auto serializeContext = azrtti_cast<AZ::SerializeContext*>(context))
+        {
+            serializeContext->Class<EditorHeightfieldColliderComponent, EditorComponentBase>()
+                ->Version(1)
+                ->Field("ColliderConfiguration", &EditorHeightfieldColliderComponent::m_colliderConfig)
+                ->Field("DebugDrawSettings", &EditorHeightfieldColliderComponent::m_colliderDebugDraw)
+                ->Field("ShapeConfig", &EditorHeightfieldColliderComponent::m_shapeConfig)
+                ;
+
+            if (auto editContext = serializeContext->GetEditContext())
+            {
+                editContext->Class<EditorHeightfieldColliderComponent>(
+                    "PhysX Heightfield Collider", "Creates geometry in the PhysX simulation based on an attached heightfield component")
+                    ->ClassElement(AZ::Edit::ClassElements::EditorData, "")
+                        ->Attribute(AZ::Edit::Attributes::Category, "PhysX")
+                        ->Attribute(AZ::Edit::Attributes::Icon, "Icons/Components/PhysXCollider.svg")
+                        ->Attribute(AZ::Edit::Attributes::ViewportIcon, "Icons/Components/Viewport/PhysXCollider.svg")
+                        ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game"))
+                        ->Attribute(
+                            AZ::Edit::Attributes::HelpPageURL, "https://o3de.org/docs/user-guide/components/reference/physx/heightfield-collider/")
+                        ->Attribute(AZ::Edit::Attributes::AutoExpand, true)
+                    ->DataElement(
+                        AZ::Edit::UIHandlers::Default, &EditorHeightfieldColliderComponent::m_colliderConfig, "Collider configuration",
+                        "Configuration of the collider")
+                        ->Attribute(AZ::Edit::Attributes::Visibility, AZ::Edit::PropertyVisibility::ShowChildrenOnly)
+                        ->Attribute(AZ::Edit::Attributes::ChangeNotify, &EditorHeightfieldColliderComponent::OnConfigurationChanged)
+                    ->DataElement(
+                        AZ::Edit::UIHandlers::Default, &EditorHeightfieldColliderComponent::m_colliderDebugDraw, "Debug draw settings",
+                        "Debug draw settings")
+                        ->Attribute(AZ::Edit::Attributes::Visibility, AZ::Edit::PropertyVisibility::ShowChildrenOnly)
+                    ;
+            }
+        }
+    }
+
+    void EditorHeightfieldColliderComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided)
+    {
+        provided.push_back(AZ_CRC_CE("PhysicsWorldBodyService"));
+        provided.push_back(AZ_CRC_CE("PhysXColliderService"));
+        provided.push_back(AZ_CRC_CE("PhysXHeightfieldColliderService"));
+    }
+
+    void EditorHeightfieldColliderComponent::GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required)
+    {
+        required.push_back(AZ_CRC_CE("PhysicsHeightfieldProviderService"));
+    }
+
+    void EditorHeightfieldColliderComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible)
+    {
+        incompatible.push_back(AZ_CRC_CE("PhysXColliderService"));
+        incompatible.push_back(AZ_CRC_CE("PhysXStaticRigidBodyService"));
+        incompatible.push_back(AZ_CRC_CE("PhysXRigidBodyService"));
+    }
+
+    EditorHeightfieldColliderComponent::EditorHeightfieldColliderComponent()
+        : m_physXConfigChangedHandler(
+              []([[maybe_unused]] const AzPhysics::SystemConfiguration* config)
+              {
+                  AzToolsFramework::PropertyEditorGUIMessages::Bus::Broadcast(
+                      &AzToolsFramework::PropertyEditorGUIMessages::RequestRefresh,
+                      AzToolsFramework::PropertyModificationRefreshLevel::Refresh_AttributesAndValues);
+              })
+        , m_onMaterialLibraryChangedEventHandler(
+              [this](const AZ::Data::AssetId& defaultMaterialLibrary)
+              {
+                  m_colliderConfig.m_materialSelection.OnMaterialLibraryChanged(defaultMaterialLibrary);
+                  Physics::ColliderComponentEventBus::Event(GetEntityId(), &Physics::ColliderComponentEvents::OnColliderChanged);
+
+                  AzToolsFramework::PropertyEditorGUIMessages::Bus::Broadcast(
+                      &AzToolsFramework::PropertyEditorGUIMessages::RequestRefresh,
+                      AzToolsFramework::PropertyModificationRefreshLevel::Refresh_AttributesAndValues);
+              })
+    {
+    }
+
+    EditorHeightfieldColliderComponent ::~EditorHeightfieldColliderComponent()
+    {
+        ClearHeightfield();
+    }
+
+    // AZ::Component
+    void EditorHeightfieldColliderComponent::Activate()
+    {
+        AzToolsFramework::Components::EditorComponentBase::Activate();
+
+        // Heightfields don't support the following:
+        // - Offset:  There shouldn't be a need to offset the data, since the heightfield provider is giving a physics representation
+        // - IsTrigger:  PhysX heightfields don't support acting as triggers
+        // - MaterialSelection:  The heightfield provider provides per-vertex material selection
+        m_colliderConfig.SetPropertyVisibility(Physics::ColliderConfiguration::Offset, false);
+        m_colliderConfig.SetPropertyVisibility(Physics::ColliderConfiguration::IsTrigger, false);
+        m_colliderConfig.SetPropertyVisibility(Physics::ColliderConfiguration::MaterialSelection, false);
+
+        m_sceneInterface = AZ::Interface<AzPhysics::SceneInterface>::Get();
+        if (m_sceneInterface)
+        {
+            m_attachedSceneHandle = m_sceneInterface->GetSceneHandle(AzPhysics::EditorPhysicsSceneName);
+        }
+
+        const AZ::EntityId entityId = GetEntityId();
+
+        AzToolsFramework::EntitySelectionEvents::Bus::Handler::BusConnect(entityId);
+
+        // Debug drawing
+        m_colliderDebugDraw.Connect(entityId);
+        m_colliderDebugDraw.SetDisplayCallback(this);
+
+        Physics::HeightfieldProviderNotificationBus::Handler::BusConnect(entityId);
+        PhysX::ColliderShapeRequestBus::Handler::BusConnect(entityId);
+        AzPhysics::SimulatedBodyComponentRequestsBus::Handler::BusConnect(entityId);
+
+        RefreshHeightfield();
+    }
+
+    void EditorHeightfieldColliderComponent::Deactivate()
+    {
+        AzPhysics::SimulatedBodyComponentRequestsBus::Handler::BusDisconnect();
+        PhysX::ColliderShapeRequestBus::Handler::BusDisconnect();
+        Physics::HeightfieldProviderNotificationBus::Handler::BusDisconnect();
+
+        m_colliderDebugDraw.Disconnect();
+        AzToolsFramework::EntitySelectionEvents::Bus::Handler::BusDisconnect();
+        AzToolsFramework::Components::EditorComponentBase::Deactivate();
+
+        ClearHeightfield();
+    }
+
+    void EditorHeightfieldColliderComponent::BuildGameEntity(AZ::Entity* gameEntity)
+    {
+        auto* heightfieldColliderComponent = gameEntity->CreateComponent<HeightfieldColliderComponent>();
+        heightfieldColliderComponent->SetShapeConfiguration(
+            { AZStd::make_shared<Physics::ColliderConfiguration>(m_colliderConfig), m_shapeConfig });
+    }
+
+    void EditorHeightfieldColliderComponent::OnHeightfieldDataChanged([[maybe_unused]] const AZ::Aabb& dirtyRegion)
+    {
+        RefreshHeightfield();
+    }
+
+    void EditorHeightfieldColliderComponent::ClearHeightfield()
+    {
+        // There are two references to the heightfield data, we need to clear both to make the heightfield clear out and deallocate:
+        // - The simulated body has a pointer to the shape, which has a GeometryHolder, which has the Heightfield inside it
+        // - The shape config is also holding onto a pointer to the Heightfield
+
+        // We remove the simulated body first, since we don't want the heightfield to exist any more.
+        if (m_sceneInterface && m_staticRigidBodyHandle != AzPhysics::InvalidSimulatedBodyHandle)
+        {
+            m_sceneInterface->RemoveSimulatedBody(m_attachedSceneHandle, m_staticRigidBodyHandle);
+        }
+
+        // Now we can safely clear out the cached heightfield pointer.
+        m_shapeConfig->SetCachedNativeHeightfield(nullptr);
+    }
+
+    void EditorHeightfieldColliderComponent::InitStaticRigidBody()
+    {
+        // Get the transform from the HeightfieldProvider.  Because rotation and scale can indirectly affect how the heightfield itself
+        // is computed and the size of the heightfield, it's possible that the HeightfieldProvider will provide a different transform
+        // back to us than the one that's directly on that entity.
+        AZ::Transform transform = AZ::Transform::CreateIdentity();
+        Physics::HeightfieldProviderRequestsBus::EventResult(
+            transform, GetEntityId(), &Physics::HeightfieldProviderRequestsBus::Events::GetHeightfieldTransform);
+
+        AzPhysics::StaticRigidBodyConfiguration configuration;
+        configuration.m_orientation = transform.GetRotation();
+        configuration.m_position = transform.GetTranslation();
+        configuration.m_entityId = GetEntityId();
+        configuration.m_debugName = GetEntity()->GetName();
+
+        AzPhysics::ShapeColliderPairList colliderShapePairs;
+        colliderShapePairs.emplace_back(AZStd::make_shared<Physics::ColliderConfiguration>(m_colliderConfig), m_shapeConfig);
+        configuration.m_colliderAndShapeData = colliderShapePairs;
+
+        if (m_sceneInterface)
+        {
+            m_staticRigidBodyHandle = m_sceneInterface->AddSimulatedBody(m_attachedSceneHandle, &configuration);
+        }
+    }
+
+    void EditorHeightfieldColliderComponent::InitHeightfieldShapeConfiguration()
+    {
+        Physics::HeightfieldShapeConfiguration& configuration = static_cast<Physics::HeightfieldShapeConfiguration&>(*m_shapeConfig);
+
+        Utils::InitHeightfieldShapeConfiguration(GetEntityId(), configuration);
+    }
+
+    void EditorHeightfieldColliderComponent::RefreshHeightfield()
+    {
+        ClearHeightfield();
+        InitHeightfieldShapeConfiguration();
+        InitStaticRigidBody();
+        Physics::ColliderComponentEventBus::Event(GetEntityId(), &Physics::ColliderComponentEvents::OnColliderChanged);
+    }
+
+    AZ::u32 EditorHeightfieldColliderComponent::OnConfigurationChanged()
+    {
+        RefreshHeightfield();
+        return AZ::Edit::PropertyRefreshLevels::None;
+    }
+
+    // AzToolsFramework::EntitySelectionEvents
+    void EditorHeightfieldColliderComponent::OnSelected()
+    {
+        if (auto* physXSystem = GetPhysXSystem())
+        {
+            if (!m_physXConfigChangedHandler.IsConnected())
+            {
+                physXSystem->RegisterSystemConfigurationChangedEvent(m_physXConfigChangedHandler);
+            }
+            if (!m_onMaterialLibraryChangedEventHandler.IsConnected())
+            {
+                physXSystem->RegisterOnMaterialLibraryChangedEventHandler(m_onMaterialLibraryChangedEventHandler);
+            }
+        }
+    }
+
+    // AzToolsFramework::EntitySelectionEvents
+    void EditorHeightfieldColliderComponent::OnDeselected()
+    {
+        m_onMaterialLibraryChangedEventHandler.Disconnect();
+        m_physXConfigChangedHandler.Disconnect();
+    }
+
+    // DisplayCallback
+    void EditorHeightfieldColliderComponent::Display(AzFramework::DebugDisplayRequests& debugDisplay) const
+    {
+        const auto& heightfieldConfig = static_cast<const Physics::HeightfieldShapeConfiguration&>(*m_shapeConfig);
+        m_colliderDebugDraw.DrawHeightfield(debugDisplay, m_colliderConfig, heightfieldConfig);
+    }
+
+    // SimulatedBodyComponentRequestsBus
+    void EditorHeightfieldColliderComponent::EnablePhysics()
+    {
+        if (!IsPhysicsEnabled() && m_sceneInterface)
+        {
+            m_sceneInterface->EnableSimulationOfBody(m_attachedSceneHandle, m_staticRigidBodyHandle);
+        }
+    }
+
+    // SimulatedBodyComponentRequestsBus
+    void EditorHeightfieldColliderComponent::DisablePhysics()
+    {
+        if (m_sceneInterface)
+        {
+            m_sceneInterface->DisableSimulationOfBody(m_attachedSceneHandle, m_staticRigidBodyHandle);
+        }
+    }
+
+    // SimulatedBodyComponentRequestsBus
+    bool EditorHeightfieldColliderComponent::IsPhysicsEnabled() const
+    {
+        if (m_sceneInterface && m_staticRigidBodyHandle != AzPhysics::InvalidSimulatedBodyHandle)
+        {
+            if (auto* body = m_sceneInterface->GetSimulatedBodyFromHandle(m_attachedSceneHandle, m_staticRigidBodyHandle))
+            {
+                return body->m_simulating;
+            }
+        }
+        return false;
+    }
+
+    // SimulatedBodyComponentRequestsBus
+    AzPhysics::SimulatedBodyHandle EditorHeightfieldColliderComponent::GetSimulatedBodyHandle() const
+    {
+        return m_staticRigidBodyHandle;
+    }
+
+    // SimulatedBodyComponentRequestsBus
+    AzPhysics::SimulatedBody* EditorHeightfieldColliderComponent::GetSimulatedBody()
+    {
+        if (m_sceneInterface && m_staticRigidBodyHandle != AzPhysics::InvalidSimulatedBodyHandle)
+        {
+            if (auto* body = m_sceneInterface->GetSimulatedBodyFromHandle(m_attachedSceneHandle, m_staticRigidBodyHandle))
+            {
+                return body;
+            }
+        }
+        return nullptr;
+    }
+
+    // SimulatedBodyComponentRequestsBus
+    AzPhysics::SceneQueryHit EditorHeightfieldColliderComponent::RayCast(const AzPhysics::RayCastRequest& request)
+    {
+        if (m_sceneInterface && m_staticRigidBodyHandle != AzPhysics::InvalidSimulatedBodyHandle)
+        {
+            if (auto* body = m_sceneInterface->GetSimulatedBodyFromHandle(m_attachedSceneHandle, m_staticRigidBodyHandle))
+            {
+                return body->RayCast(request);
+            }
+        }
+        return AzPhysics::SceneQueryHit();
+    }
+
+    // ColliderShapeRequestBus
+    AZ::Aabb EditorHeightfieldColliderComponent::GetColliderShapeAabb()
+    {
+        // Get the Collider AABB directly from the heightfield provider.
+        AZ::Aabb colliderAabb = AZ::Aabb::CreateNull();
+        Physics::HeightfieldProviderRequestsBus::EventResult(
+            colliderAabb, GetEntityId(), &Physics::HeightfieldProviderRequestsBus::Events::GetHeightfieldAabb);
+
+        return colliderAabb;
+    }
+
+    // SimulatedBodyComponentRequestsBus
+    AZ::Aabb EditorHeightfieldColliderComponent::GetAabb() const
+    {
+        // On the SimulatedBodyComponentRequestsBus, get the AABB from the simulated body instead of the collider.
+        if (m_sceneInterface && m_staticRigidBodyHandle != AzPhysics::InvalidSimulatedBodyHandle)
+        {
+            if (auto* body = m_sceneInterface->GetSimulatedBodyFromHandle(m_attachedSceneHandle, m_staticRigidBodyHandle))
+            {
+                return body->GetAabb();
+            }
+        }
+        return AZ::Aabb::CreateNull();
+    }
+
+} // namespace PhysX

Gems/PhysX/Code/Source/EditorHeightfieldColliderComponent.h

@@ -0,0 +1,104 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+
+#pragma once
+
+#include <AzToolsFramework/ToolsComponents/EditorComponentBase.h>
+#include <AzToolsFramework/API/ToolsApplicationAPI.h>
+#include <Editor/DebugDraw.h>
+
+#include <AzFramework/Physics/Components/SimulatedBodyComponentBus.h>
+#include <AzFramework/Physics/HeightfieldProviderBus.h>
+#include <AzFramework/Physics/PhysicsScene.h>
+#include <AzFramework/Physics/Shape.h>
+
+#include <PhysX/ColliderShapeBus.h>
+
+namespace PhysX
+{
+    //! Editor PhysX Heightfield Collider Component.
+    class EditorHeightfieldColliderComponent
+        : public AzToolsFramework::Components::EditorComponentBase
+        , protected AzToolsFramework::EntitySelectionEvents::Bus::Handler
+        , protected DebugDraw::DisplayCallback
+        , protected AzPhysics::SimulatedBodyComponentRequestsBus::Handler
+        , protected PhysX::ColliderShapeRequestBus::Handler
+        , protected Physics::HeightfieldProviderNotificationBus::Handler
+    {
+    public:
+        AZ_EDITOR_COMPONENT(
+            EditorHeightfieldColliderComponent,
+            "{C388C3DB-8D2E-4D26-96D3-198EDC799B77}",
+            AzToolsFramework::Components::EditorComponentBase);
+        static void Reflect(AZ::ReflectContext* context);
+        static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided);
+        static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required);
+        static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible);
+
+        EditorHeightfieldColliderComponent();
+        ~EditorHeightfieldColliderComponent();
+
+        // AZ::Component
+        void Activate() override;
+        void Deactivate() override;
+
+        // EditorComponentBase
+        void BuildGameEntity(AZ::Entity* gameEntity) override;
+
+    protected:
+
+        // AzToolsFramework::EntitySelectionEvents
+        void OnSelected() override;
+        void OnDeselected() override;
+
+        // DisplayCallback
+        void Display(AzFramework::DebugDisplayRequests& debugDisplay) const;
+
+        // ColliderShapeRequestBus
+        AZ::Aabb GetColliderShapeAabb() override;
+        bool IsTrigger() override
+        {
+            // PhysX Heightfields don't support triggers.
+            return false;
+        }
+
+        // AzPhysics::SimulatedBodyComponentRequestsBus::Handler overrides ...
+        void EnablePhysics() override;
+        void DisablePhysics() override;
+        bool IsPhysicsEnabled() const override;
+        AZ::Aabb GetAabb() const override;
+        AzPhysics::SimulatedBody* GetSimulatedBody() override;
+        AzPhysics::SimulatedBodyHandle GetSimulatedBodyHandle() const override;
+        AzPhysics::SceneQueryHit RayCast(const AzPhysics::RayCastRequest& request) override;
+
+        // Physics::HeightfieldProviderNotificationBus
+        void OnHeightfieldDataChanged([[maybe_unused]] const AZ::Aabb& dirtyRegion) override;
+
+    private:
+        AZ::u32 OnConfigurationChanged();
+
+        void ClearHeightfield();
+        void InitHeightfieldShapeConfiguration();
+        void InitStaticRigidBody();
+        void RefreshHeightfield();
+
+        DebugDraw::Collider m_colliderDebugDraw; //!< Handles drawing the collider
+        AzPhysics::SceneInterface* m_sceneInterface{ nullptr };
+
+        AzPhysics::SystemEvents::OnConfigurationChangedEvent::Handler m_physXConfigChangedHandler;
+        AzPhysics::SystemEvents::OnMaterialLibraryChangedEvent::Handler m_onMaterialLibraryChangedEventHandler;
+
+        Physics::ColliderConfiguration m_colliderConfig; //!< Stores collision layers, whether the collider is a trigger, etc.
+        AZStd::shared_ptr<Physics::HeightfieldShapeConfiguration> m_shapeConfig{ new Physics::HeightfieldShapeConfiguration() };
+
+        AzPhysics::SimulatedBodyHandle m_staticRigidBodyHandle =
+            AzPhysics::InvalidSimulatedBodyHandle; //!< Handle to the body in the editor physics scene if there is no rigid body component.
+        AzPhysics::SceneHandle m_attachedSceneHandle = AzPhysics::InvalidSceneHandle;
+    };
+
+} // namespace PhysX

Gems/PhysX/Code/Source/HeightfieldColliderComponent.cpp

@@ -0,0 +1,365 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+
+#include <AzCore/Component/Entity.h>
+#include <AzCore/Serialization/SerializeContext.h>
+#include <AzCore/std/smart_ptr/make_shared.h>
+#include <AzFramework/Physics/Collision/CollisionGroups.h>
+#include <AzFramework/Physics/Collision/CollisionLayers.h>
+#include <AzFramework/Physics/Common/PhysicsSimulatedBody.h>
+#include <AzFramework/Physics/Configuration/StaticRigidBodyConfiguration.h>
+#include <AzFramework/Physics/Utils.h>
+
+#include <Source/HeightfieldColliderComponent.h>
+#include <Source/RigidBodyStatic.h>
+#include <Source/SystemComponent.h>
+#include <Source/Utils.h>
+
+#include <PhysX/MathConversion.h>
+#include <PhysX/PhysXLocks.h>
+#include <Scene/PhysXScene.h>
+
+namespace PhysX
+{
+    void HeightfieldColliderComponent::Reflect(AZ::ReflectContext* context)
+    {
+        if (auto serializeContext = azrtti_cast<AZ::SerializeContext*>(context))
+        {
+            serializeContext->Class<HeightfieldColliderComponent, AZ::Component>()
+                ->Version(1)
+                ->Field("ShapeConfig", &HeightfieldColliderComponent::m_shapeConfig)
+                ;
+        }
+    }
+
+    void HeightfieldColliderComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided)
+    {
+        provided.push_back(AZ_CRC_CE("PhysicsWorldBodyService"));
+        provided.push_back(AZ_CRC_CE("PhysXColliderService"));
+        provided.push_back(AZ_CRC_CE("PhysXHeightfieldColliderService"));
+        provided.push_back(AZ_CRC_CE("PhysXStaticRigidBodyService"));
+    }
+
+    void HeightfieldColliderComponent::GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required)
+    {
+        required.push_back(AZ_CRC_CE("PhysicsHeightfieldProviderService"));
+    }
+
+    void HeightfieldColliderComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible)
+    {
+        incompatible.push_back(AZ_CRC_CE("PhysXColliderService"));
+        incompatible.push_back(AZ_CRC_CE("PhysXStaticRigidBodyService"));
+        incompatible.push_back(AZ_CRC_CE("PhysXRigidBodyService"));
+    }
+
+    HeightfieldColliderComponent::~HeightfieldColliderComponent()
+    {
+        ClearHeightfield();
+    }
+
+    void HeightfieldColliderComponent::Activate()
+    {
+        const AZ::EntityId entityId = GetEntityId();
+
+        Physics::HeightfieldProviderNotificationBus::Handler::BusConnect(entityId);
+        ColliderComponentRequestBus::Handler::BusConnect(entityId);
+        ColliderShapeRequestBus::Handler::BusConnect(entityId);
+        Physics::CollisionFilteringRequestBus::Handler::BusConnect(entityId);
+        AzPhysics::SimulatedBodyComponentRequestsBus::Handler::BusConnect(entityId);
+
+        RefreshHeightfield();
+    }
+
+    void HeightfieldColliderComponent::Deactivate()
+    {
+        AzPhysics::SimulatedBodyComponentRequestsBus::Handler::BusDisconnect();
+        Physics::CollisionFilteringRequestBus::Handler::BusDisconnect();
+        ColliderShapeRequestBus::Handler::BusDisconnect();
+        ColliderComponentRequestBus::Handler::BusDisconnect();
+        Physics::HeightfieldProviderNotificationBus::Handler::BusDisconnect();
+
+        ClearHeightfield();
+    }
+
+    void HeightfieldColliderComponent::OnHeightfieldDataChanged([[maybe_unused]] const AZ::Aabb& dirtyRegion)
+    {
+        RefreshHeightfield();
+    }
+
+    void HeightfieldColliderComponent::ClearHeightfield()
+    {
+        // There are two references to the heightfield data, we need to clear both to make the heightfield clear out and deallocate:
+        // - The simulated body has a pointer to the shape, which has a GeometryHolder, which has the Heightfield inside it
+        // - The shape config is also holding onto a pointer to the Heightfield
+
+        // We remove the simulated body first, since we don't want the heightfield to exist any more.
+        if (auto* sceneInterface = AZ::Interface<AzPhysics::SceneInterface>::Get();
+            sceneInterface && m_staticRigidBodyHandle != AzPhysics::InvalidSimulatedBodyHandle)
+        {
+            sceneInterface->RemoveSimulatedBody(m_attachedSceneHandle, m_staticRigidBodyHandle);
+        }
+
+        // Now we can safely clear out the cached heightfield pointer.
+        Physics::HeightfieldShapeConfiguration& configuration = static_cast<Physics::HeightfieldShapeConfiguration&>(*m_shapeConfig.second);
+        configuration.SetCachedNativeHeightfield(nullptr);
+    }
+
+    void HeightfieldColliderComponent::InitStaticRigidBody()
+    {
+        // Get the transform from the HeightfieldProvider.  Because rotation and scale can indirectly affect how the heightfield itself
+        // is computed and the size of the heightfield, it's possible that the HeightfieldProvider will provide a different transform
+        // back to us than the one that's directly on that entity.
+        AZ::Transform transform = AZ::Transform::CreateIdentity();
+        Physics::HeightfieldProviderRequestsBus::EventResult(
+            transform, GetEntityId(), &Physics::HeightfieldProviderRequestsBus::Events::GetHeightfieldTransform);
+
+        AzPhysics::StaticRigidBodyConfiguration configuration;
+        configuration.m_orientation = transform.GetRotation();
+        configuration.m_position = transform.GetTranslation();
+        configuration.m_entityId = GetEntityId();
+        configuration.m_debugName = GetEntity()->GetName();
+        configuration.m_colliderAndShapeData = GetShapeConfigurations();
+
+        if (m_attachedSceneHandle == AzPhysics::InvalidSceneHandle)
+        {
+            Physics::DefaultWorldBus::BroadcastResult(m_attachedSceneHandle, &Physics::DefaultWorldRequests::GetDefaultSceneHandle);
+        }
+        if (auto* sceneInterface = AZ::Interface<AzPhysics::SceneInterface>::Get())
+        {
+            m_staticRigidBodyHandle = sceneInterface->AddSimulatedBody(m_attachedSceneHandle, &configuration);
+        }
+    }
+
+    void HeightfieldColliderComponent::InitHeightfieldShapeConfiguration()
+    {
+        Physics::HeightfieldShapeConfiguration& configuration = static_cast<Physics::HeightfieldShapeConfiguration&>(*m_shapeConfig.second);
+
+        Utils::InitHeightfieldShapeConfiguration(GetEntityId(), configuration);
+    }
+
+    void HeightfieldColliderComponent::RefreshHeightfield()
+    {
+        ClearHeightfield();
+        InitHeightfieldShapeConfiguration();
+        InitStaticRigidBody();
+        Physics::ColliderComponentEventBus::Event(GetEntityId(), &Physics::ColliderComponentEvents::OnColliderChanged);
+    }
+
+    void HeightfieldColliderComponent::SetShapeConfiguration(const AzPhysics::ShapeColliderPair& shapeConfig)
+    {
+        if (GetEntity()->GetState() == AZ::Entity::State::Active)
+        {
+            AZ_Warning(
+                "PhysX", false, "Trying to call SetShapeConfiguration for entity \"%s\" while entity is active.",
+                GetEntity()->GetName().c_str());
+            return;
+        }
+        m_shapeConfig = shapeConfig;
+    }
+
+    // SimulatedBodyComponentRequestsBus
+    void HeightfieldColliderComponent::EnablePhysics()
+    {
+        if (IsPhysicsEnabled())
+        {
+            return;
+        }
+        if (auto* sceneInterface = AZ::Interface<AzPhysics::SceneInterface>::Get())
+        {
+            sceneInterface->EnableSimulationOfBody(m_attachedSceneHandle, m_staticRigidBodyHandle);
+        }
+    }
+
+    // SimulatedBodyComponentRequestsBus
+    void HeightfieldColliderComponent::DisablePhysics()
+    {
+        if (auto* sceneInterface = AZ::Interface<AzPhysics::SceneInterface>::Get())
+        {
+            sceneInterface->DisableSimulationOfBody(m_attachedSceneHandle, m_staticRigidBodyHandle);
+        }
+    }
+
+    // SimulatedBodyComponentRequestsBus
+    bool HeightfieldColliderComponent::IsPhysicsEnabled() const
+    {
+        if (m_staticRigidBodyHandle != AzPhysics::InvalidSimulatedBodyHandle)
+        {
+            if (auto* sceneInterface = AZ::Interface<AzPhysics::SceneInterface>::Get();
+                sceneInterface != nullptr && sceneInterface->IsEnabled(m_attachedSceneHandle)) // check if the scene is enabled
+            {
+                if (AzPhysics::SimulatedBody* body =
+                        sceneInterface->GetSimulatedBodyFromHandle(m_attachedSceneHandle, m_staticRigidBodyHandle))
+                {
+                    return body->m_simulating;
+                }
+            }
+        }
+        return false;
+    }
+
+    // SimulatedBodyComponentRequestsBus
+    AzPhysics::SimulatedBodyHandle HeightfieldColliderComponent::GetSimulatedBodyHandle() const
+    {
+        return m_staticRigidBodyHandle;
+    }
+
+    // SimulatedBodyComponentRequestsBus
+    AzPhysics::SimulatedBody* HeightfieldColliderComponent::GetSimulatedBody()
+    {
+        if (auto* sceneInterface = AZ::Interface<AzPhysics::SceneInterface>::Get())
+        {
+            return sceneInterface->GetSimulatedBodyFromHandle(m_attachedSceneHandle, m_staticRigidBodyHandle);
+        }
+        return nullptr;
+    }
+
+    // SimulatedBodyComponentRequestsBus
+    AzPhysics::SceneQueryHit HeightfieldColliderComponent::RayCast(const AzPhysics::RayCastRequest& request)
+    {
+        if (auto* body = azdynamic_cast<PhysX::StaticRigidBody*>(GetSimulatedBody()))
+        {
+            return body->RayCast(request);
+        }
+        return AzPhysics::SceneQueryHit();
+    }
+
+    // ColliderComponentRequestBus
+    AzPhysics::ShapeColliderPairList HeightfieldColliderComponent::GetShapeConfigurations()
+    {
+        AzPhysics::ShapeColliderPairList shapeConfigurationList({ m_shapeConfig });
+        return shapeConfigurationList;
+    }
+
+    AZStd::shared_ptr<Physics::Shape> HeightfieldColliderComponent::GetHeightfieldShape()
+    {
+        if (auto* body = azdynamic_cast<PhysX::StaticRigidBody*>(GetSimulatedBody()))
+        {
+            // Heightfields should only have one shape
+            AZ_Assert(body->GetShapeCount() == 1, "Heightfield rigid body has the wrong number of shapes:  %zu", body->GetShapeCount());
+            return body->GetShape(0);
+        }
+
+        return {};
+    }
+
+    // ColliderComponentRequestBus
+    AZStd::vector<AZStd::shared_ptr<Physics::Shape>> HeightfieldColliderComponent::GetShapes()
+    {
+        return { GetHeightfieldShape() };
+    }
+
+    // PhysX::ColliderShapeBus
+    AZ::Aabb HeightfieldColliderComponent::GetColliderShapeAabb()
+    {
+        // Get the Collider AABB directly from the heightfield provider.
+        AZ::Aabb colliderAabb = AZ::Aabb::CreateNull();
+        Physics::HeightfieldProviderRequestsBus::EventResult(
+            colliderAabb, GetEntityId(), &Physics::HeightfieldProviderRequestsBus::Events::GetHeightfieldAabb);
+
+        return colliderAabb;
+    }
+
+    // SimulatedBodyComponentRequestsBus
+    AZ::Aabb HeightfieldColliderComponent::GetAabb() const
+    {
+        // On the SimulatedBodyComponentRequestsBus, get the AABB from the simulated body instead of the collider.
+        if (auto* sceneInterface = AZ::Interface<AzPhysics::SceneInterface>::Get())
+        {
+            if (AzPhysics::SimulatedBody* body = sceneInterface->GetSimulatedBodyFromHandle(m_attachedSceneHandle, m_staticRigidBodyHandle))
+            {
+                return body->GetAabb();
+            }
+        }
+        return AZ::Aabb::CreateNull();
+    }
+
+    // CollisionFilteringRequestBus
+    void HeightfieldColliderComponent::SetCollisionLayer(const AZStd::string& layerName, AZ::Crc32 colliderTag)
+    {
+        if (auto heightfield = GetHeightfieldShape())
+        {
+            if (Physics::Utils::FilterTag(heightfield->GetTag(), colliderTag))
+            {
+                bool success = false;
+                AzPhysics::CollisionLayer layer;
+                Physics::CollisionRequestBus::BroadcastResult(
+                    success, &Physics::CollisionRequests::TryGetCollisionLayerByName, layerName, layer);
+                if (success)
+                {
+                    heightfield->SetCollisionLayer(layer);
+                }
+            }
+        }
+    }
+
+    // CollisionFilteringRequestBus
+    AZStd::string HeightfieldColliderComponent::GetCollisionLayerName()
+    {
+        AZStd::string layerName;
+        if (auto heightfield = GetHeightfieldShape())
+        {
+            Physics::CollisionRequestBus::BroadcastResult(
+                layerName, &Physics::CollisionRequests::GetCollisionLayerName, heightfield->GetCollisionLayer());
+        }
+        return layerName;
+    }
+
+    // CollisionFilteringRequestBus
+    void HeightfieldColliderComponent::SetCollisionGroup(const AZStd::string& groupName, AZ::Crc32 colliderTag)
+    {
+        if (auto heightfield = GetHeightfieldShape())
+        {
+            if (Physics::Utils::FilterTag(heightfield->GetTag(), colliderTag))
+            {
+                bool success = false;
+                AzPhysics::CollisionGroup group;
+                Physics::CollisionRequestBus::BroadcastResult(
+                    success, &Physics::CollisionRequests::TryGetCollisionGroupByName, groupName, group);
+                if (success)
+                {
+                    heightfield->SetCollisionGroup(group);
+                }
+            }
+        }
+    }
+
+    // CollisionFilteringRequestBus
+    AZStd::string HeightfieldColliderComponent::GetCollisionGroupName()
+    {
+        AZStd::string groupName;
+        if (auto heightfield = GetHeightfieldShape())
+        {
+            Physics::CollisionRequestBus::BroadcastResult(
+                groupName, &Physics::CollisionRequests::GetCollisionGroupName, heightfield->GetCollisionGroup());
+        }
+
+        return groupName;
+    }
+
+    // CollisionFilteringRequestBus
+    void HeightfieldColliderComponent::ToggleCollisionLayer(const AZStd::string& layerName, AZ::Crc32 colliderTag, bool enabled)
+    {
+        if (auto heightfield = GetHeightfieldShape())
+        {
+            if (Physics::Utils::FilterTag(heightfield->GetTag(), colliderTag))
+            {
+                bool success = false;
+                AzPhysics::CollisionLayer layer;
+                Physics::CollisionRequestBus::BroadcastResult(
+                    success, &Physics::CollisionRequests::TryGetCollisionLayerByName, layerName, layer);
+                if (success)
+                {
+                    auto group = heightfield->GetCollisionGroup();
+                    group.SetLayer(layer, enabled);
+                    heightfield->SetCollisionGroup(group);
+                }
+            }
+        }
+    }
+
+} // namespace PhysX

Gems/PhysX/Code/Source/HeightfieldColliderComponent.h

@@ -0,0 +1,104 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+
+#pragma once
+
+#include <AzCore/Component/Component.h>
+
+#include <AzFramework/Physics/CollisionBus.h>
+#include <AzFramework/Physics/Components/SimulatedBodyComponentBus.h>
+#include <AzFramework/Physics/HeightfieldProviderBus.h>
+
+#include <PhysX/ColliderComponentBus.h>
+#include <PhysX/ColliderShapeBus.h>
+
+namespace AzPhysics
+{
+    struct SimulatedBody;
+}
+
+namespace PhysX
+{
+    class StaticRigidBody;
+
+    //! Component that provides a Heightfield Collider and associated Static Rigid Body.
+    //! The heightfield collider is a bit different from the other shape colliders in that it gets the heightfield data from a
+    //! HeightfieldProvider, which can control position, rotation, size, and even change its data at runtime.
+    //! 
+    //! Due to these differences, this component directly implements both the collider and static rigid body services instead of
+    //! using BaseColliderComponent and StaticRigidBodyComponent.
+    class HeightfieldColliderComponent
+        : public AZ::Component
+        , public ColliderComponentRequestBus::Handler
+        , public AzPhysics::SimulatedBodyComponentRequestsBus::Handler
+        , protected PhysX::ColliderShapeRequestBus::Handler
+        , protected Physics::CollisionFilteringRequestBus::Handler
+        , protected Physics::HeightfieldProviderNotificationBus::Handler
+    {
+    public:
+        using Configuration = Physics::HeightfieldShapeConfiguration;
+        AZ_COMPONENT(HeightfieldColliderComponent, "{9A42672C-281A-4CE8-BFDD-EAA1E0FCED76}");
+        static void Reflect(AZ::ReflectContext* context);
+
+        HeightfieldColliderComponent() = default;
+        ~HeightfieldColliderComponent() override;
+
+        static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided);
+        static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required);
+        static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible);
+
+        void Activate() override;
+        void Deactivate() override;
+
+        void SetShapeConfiguration(const AzPhysics::ShapeColliderPair& shapeConfig);
+
+    protected:
+        // ColliderComponentRequestBus
+        AzPhysics::ShapeColliderPairList GetShapeConfigurations() override;
+        AZStd::vector<AZStd::shared_ptr<Physics::Shape>> GetShapes() override;
+
+        // ColliderShapeRequestBus
+        AZ::Aabb GetColliderShapeAabb() override;
+        bool IsTrigger() override
+        {
+            // PhysX Heightfields don't support triggers.
+            return false;
+        }
+
+        // CollisionFilteringRequestBus
+        void SetCollisionLayer(const AZStd::string& layerName, AZ::Crc32 filterTag) override;
+        AZStd::string GetCollisionLayerName() override;
+        void SetCollisionGroup(const AZStd::string& groupName, AZ::Crc32 filterTag) override;
+        AZStd::string GetCollisionGroupName() override;
+        void ToggleCollisionLayer(const AZStd::string& layerName, AZ::Crc32 filterTag, bool enabled) override;
+
+        // SimulatedBodyComponentRequestsBus
+        void EnablePhysics() override;
+        void DisablePhysics() override;
+        bool IsPhysicsEnabled() const override;
+        AZ::Aabb GetAabb() const override;
+        AzPhysics::SimulatedBodyHandle GetSimulatedBodyHandle() const override;
+        AzPhysics::SimulatedBody* GetSimulatedBody() override;
+        AzPhysics::SceneQueryHit RayCast(const AzPhysics::RayCastRequest& request) override;
+
+        // HeightfieldProviderNotificationBus
+        void OnHeightfieldDataChanged([[maybe_unused]] const AZ::Aabb& dirtyRegion) override;
+
+    private:
+        AZStd::shared_ptr<Physics::Shape> GetHeightfieldShape();
+
+        void ClearHeightfield();
+        void InitHeightfieldShapeConfiguration();
+        void InitStaticRigidBody();
+        void RefreshHeightfield();
+
+        AzPhysics::ShapeColliderPair m_shapeConfig;
+        AzPhysics::SimulatedBodyHandle m_staticRigidBodyHandle = AzPhysics::InvalidSimulatedBodyHandle;
+        AzPhysics::SceneHandle m_attachedSceneHandle = AzPhysics::InvalidSceneHandle;
+    };
+} // namespace PhysX

Gems/PhysX/Code/Source/SystemComponent.cpp

@@ -252,6 +252,22 @@ namespace PhysX
         return convex;
     }
 
+    physx::PxHeightField* SystemComponent::CreateHeightField(const physx::PxHeightFieldSample* samples, AZ::u32 numRows, AZ::u32 numColumns)
+    {
+        physx::PxHeightFieldDesc desc;
+        desc.format = physx::PxHeightFieldFormat::eS16_TM;
+        desc.nbColumns = numColumns;
+        desc.nbRows = numRows;
+        desc.samples.data = samples;
+        desc.samples.stride = sizeof(physx::PxHeightFieldSample);
+
+        physx::PxHeightField* heightfield =
+            m_physXSystem->GetPxCooking()->createHeightField(desc, m_physXSystem->GetPxPhysics()->getPhysicsInsertionCallback());
+        AZ_Error("PhysX", heightfield, "Error. Unable to create heightfield");
+
+        return heightfield;
+    }
+
     bool SystemComponent::CookConvexMeshToFile(const AZStd::string& filePath, const AZ::Vector3* vertices, AZ::u32 vertexCount)
     {
         AZStd::vector<AZ::u8> physxData;
@@ -342,6 +358,14 @@ namespace PhysX
         return AZStd::make_shared<PhysX::Material>(materialConfiguration);
     }
 
+    void SystemComponent::ReleaseNativeHeightfieldObject(void* nativeHeightfieldObject)
+    {
+        if (nativeHeightfieldObject)
+        {
+            static_cast<physx::PxBase*>(nativeHeightfieldObject)->release();
+        }
+    }
+
     void SystemComponent::ReleaseNativeMeshObject(void* nativeMeshObject)
     {
         if (nativeMeshObject)

Gems/PhysX/Code/Source/SystemComponent.h

@@ -76,6 +76,7 @@ namespace PhysX
         physx::PxConvexMesh* CreateConvexMesh(const void* vertices, AZ::u32 vertexNum, AZ::u32 vertexStride) override; // should we use AZ::Vector3* or physx::PxVec3 here?
         physx::PxConvexMesh* CreateConvexMeshFromCooked(const void* cookedMeshData, AZ::u32 bufferSize) override;
         physx::PxTriangleMesh* CreateTriangleMeshFromCooked(const void* cookedMeshData, AZ::u32 bufferSize) override;
+        physx::PxHeightField* CreateHeightField(const physx::PxHeightFieldSample* samples, AZ::u32 numRows, AZ::u32 numColumns) override;
 
 
         bool CookConvexMeshToFile(const AZStd::string& filePath, const AZ::Vector3* vertices, AZ::u32 vertexCount) override;
@@ -112,6 +113,7 @@ namespace PhysX
         AZStd::shared_ptr<Physics::Material> CreateMaterial(const Physics::MaterialConfiguration& materialConfiguration) override;
 
         void ReleaseNativeMeshObject(void* nativeMeshObject) override;
+        void ReleaseNativeHeightfieldObject(void* nativeHeightfieldObject) override;
 
         // Assets related data
         AZStd::vector<AZStd::unique_ptr<AZ::Data::AssetHandler>> m_assetHandlers;

Gems/PhysX/Code/Source/Utils.cpp

@@ -9,6 +9,7 @@
 #include <AzCore/std/smart_ptr/make_shared.h>
 #include <AzCore/Component/TransformBus.h>
 #include <AzCore/Component/NonUniformScaleBus.h>
+#include <AzCore/Casting/lossy_cast.h>
 #include <AzCore/EBus/Results.h>
 #include <AzCore/Interface/Interface.h>
 #include <AzCore/RTTI/BehaviorContext.h>
@@ -25,6 +26,7 @@
 #include <AzFramework/Physics/PhysicsScene.h>
 #include <AzFramework/Physics/PhysicsSystem.h>
 #include <AzFramework/Physics/SimulatedBodies/StaticRigidBody.h>
+#include <AzFramework/Physics/HeightfieldProviderBus.h>
 
 #include <PhysX/ColliderShapeBus.h>
 #include <PhysX/SystemComponentBus.h>
@@ -64,6 +66,136 @@ namespace PhysX
             }
         }
 
+        void CreatePxGeometryFromHeightfield(
+            const Physics::HeightfieldShapeConfiguration& heightfieldConfig, physx::PxGeometryHolder& pxGeometry)
+        {
+            physx::PxHeightField* heightfield = nullptr;
+
+            const AZ::Vector2 gridSpacing = heightfieldConfig.GetGridResolution();
+
+            const int32_t numCols = heightfieldConfig.GetNumColumns();
+            const int32_t numRows = heightfieldConfig.GetNumRows();
+
+            const float rowScale = gridSpacing.GetX();
+            const float colScale = gridSpacing.GetY();
+
+            const float minHeightBounds = heightfieldConfig.GetMinHeightBounds();
+            const float maxHeightBounds = heightfieldConfig.GetMaxHeightBounds();
+            const float halfBounds{ (maxHeightBounds - minHeightBounds) / 2.0f };
+
+            // We're making the assumption right now that the min/max bounds are centered around 0.
+            // If we ever want to allow off-center bounds, we'll need to fix up the float-to-int16 height math below
+            // to account for it.
+            AZ_Assert(
+                AZ::IsClose(-halfBounds, minHeightBounds) && AZ::IsClose(halfBounds, maxHeightBounds),
+                "Min/Max height bounds aren't centered around 0, the height conversions below will be incorrect.");
+
+            AZ_Assert(
+                maxHeightBounds >= minHeightBounds,
+                "Max height bounds is less than min height bounds, the height conversions below will be incorrect.");
+
+            // To convert our floating-point heights to fixed-point representation inside of an int16, we need a scale factor
+            // for the conversion.  The scale factor is used to map the most important bits of our floating-point height to the
+            // full 16-bit range.
+            // Note that the scaleFactor choice here affects overall precision.  For each bit that the integer part of our max
+            // height uses, that's one less bit for the fractional part.
+            const float scaleFactor = (maxHeightBounds <= minHeightBounds) ? 1.0f : AZStd::numeric_limits<int16_t>::max() / halfBounds;
+            const float heightScale{ 1.0f / scaleFactor };
+
+            const uint8_t physxMaximumMaterialIndex = 0x7f;
+
+            // Delete the cached heightfield object if it is there, and create a new one and save in the shape configuration
+            heightfieldConfig.SetCachedNativeHeightfield(nullptr);
+
+            const AZStd::vector<Physics::HeightMaterialPoint>& samples = heightfieldConfig.GetSamples();
+            AZ_Assert(samples.size() == numRows * numCols, "GetHeightsAndMaterials returned wrong sized heightfield");
+
+            if (!samples.empty())
+            {
+                AZStd::vector<physx::PxHeightFieldSample> physxSamples(samples.size());
+
+                for (int32_t row = 0; row < numRows; row++)
+                {
+                    const bool lastRowIndex = (row == (numRows - 1));
+
+                    for (int32_t col = 0; col < numCols; col++)
+                    {
+                        const bool lastColumnIndex = (col == (numCols - 1));
+
+                        auto GetIndex = [numCols](int32_t row, int32_t col)
+                        {
+                            return (row * numCols) + col;
+                        };
+
+                        const int32_t sampleIndex = GetIndex(row, col);
+
+                        const Physics::HeightMaterialPoint& currentSample = samples[sampleIndex];
+                        physx::PxHeightFieldSample& currentPhysxSample = physxSamples[sampleIndex];
+                        AZ_Assert(currentSample.m_materialIndex < physxMaximumMaterialIndex, "MaterialIndex must be less than 128");
+                        currentPhysxSample.height = azlossy_cast<physx::PxI16>(
+                            AZ::GetClamp(currentSample.m_height, minHeightBounds, maxHeightBounds) * scaleFactor);
+                        if (lastRowIndex || lastColumnIndex)
+                        {
+                            // In PhysX, the material indices refer to the quad down and to the right of the sample.
+                            // If we're in the last row or last column, there aren't any quads down or to the right,
+                            // so just clear these out.
+                            currentPhysxSample.materialIndex0 = 0;
+                            currentPhysxSample.materialIndex1 = 0;
+                        }
+                        else
+                        {
+                            // Our source data is providing one material index per vertex, but PhysX wants one material index
+                            // per triangle.  The heuristic that we'll go with for selecting the material index is to choose
+                            // the material for the vertex that's not on the diagonal of each triangle.
+                            // Ex:  A *---* B
+                            //        | / |      For this, we'll use A for index0 and D for index1.
+                            //      C *---* D
+                            //
+                            // Ex:  A *---* B
+                            //        | \ |      For this, we'll use C for index0 and B for index1.
+                            //      C *---* D
+                            //
+                            // This is a pretty arbitrary choice, so the heuristic might need to be revisited over time if this
+                            // causes incorrect or unpredictable physics material mappings.
+
+                            switch (currentSample.m_quadMeshType)
+                            {
+                            case Physics::QuadMeshType::SubdivideUpperLeftToBottomRight:
+                                currentPhysxSample.materialIndex0 = samples[GetIndex(row + 1, col)].m_materialIndex;
+                                currentPhysxSample.materialIndex1 = samples[GetIndex(row, col + 1)].m_materialIndex;
+                                // Set the tesselation flag to say that we need to go from UL to BR
+                                currentPhysxSample.materialIndex0.setBit();
+                                break;
+                            case Physics::QuadMeshType::SubdivideBottomLeftToUpperRight:
+                                currentPhysxSample.materialIndex0 = currentSample.m_materialIndex;
+                                currentPhysxSample.materialIndex1 = samples[GetIndex(row + 1, col + 1)].m_materialIndex;
+                                break;
+                            case Physics::QuadMeshType::Hole:
+                                currentPhysxSample.materialIndex0 = physx::PxHeightFieldMaterial::eHOLE;
+                                currentPhysxSample.materialIndex1 = physx::PxHeightFieldMaterial::eHOLE;
+                                break;
+                            default:
+                                AZ_Warning("PhysX Heightfield", false, "Unhandled case in CreatePxGeometryFromConfig");
+                                currentPhysxSample.materialIndex0 = 0;
+                                currentPhysxSample.materialIndex1 = 0;
+                                break;
+                            }
+                        }
+                    }
+                }
+
+                SystemRequestsBus::BroadcastResult(heightfield, &SystemRequests::CreateHeightField, physxSamples.data(), numRows, numCols);
+            }
+            if (heightfield)
+            {
+                heightfieldConfig.SetCachedNativeHeightfield(heightfield);
+
+                physx::PxHeightFieldGeometry hfGeom(heightfield, physx::PxMeshGeometryFlags(), heightScale, rowScale, colScale);
+
+                pxGeometry.storeAny(hfGeom);
+            }
+        }
+
         bool CreatePxGeometryFromConfig(const Physics::ShapeConfiguration& shapeConfiguration, physx::PxGeometryHolder& pxGeometry)
         {
             if (!shapeConfiguration.m_scale.IsGreaterThan(AZ::Vector3::CreateZero()))
@@ -170,6 +302,14 @@ namespace PhysX
                     "Please iterate over m_colliderShapes in the asset and call this function for each of them.");
                 return false;
             }
+            case Physics::ShapeType::Heightfield:
+                {
+                    const Physics::HeightfieldShapeConfiguration& heightfieldConfig =
+                        static_cast<const Physics::HeightfieldShapeConfiguration&>(shapeConfiguration);
+
+                    CreatePxGeometryFromHeightfield(heightfieldConfig, pxGeometry);
+                    break;
+                }
             default:
                 AZ_Warning("PhysX Rigid Body", false, "Shape not supported in PhysX. Shape Type: %d", shapeType);
                 return false;
@@ -219,6 +359,26 @@ namespace PhysX
                         physx::PxQuat pxQuat(AZ::Constants::HalfPi, physx::PxVec3(0.0f, 1.0f, 0.0f));
                         shape->setLocalPose(physx::PxTransform(pxQuat));
                     }
+                    else if (pxGeomHolder.getType() == physx::PxGeometryType::eHEIGHTFIELD)
+                    {
+                        const Physics::HeightfieldShapeConfiguration& heightfieldConfig =
+                            static_cast<const Physics::HeightfieldShapeConfiguration&>(shapeConfiguration);
+
+                        // PhysX heightfields have the origin at the corner, not the center, so add an offset to the passed-in transform
+                        // to account for this difference.
+                        const AZ::Vector2 gridSpacing = heightfieldConfig.GetGridResolution();
+                        AZ::Vector3 offset(
+                            -(gridSpacing.GetX() * heightfieldConfig.GetNumColumns() / 2.0f),
+                            -(gridSpacing.GetY() * heightfieldConfig.GetNumRows() / 2.0f),
+                            0.0f);
+
+                        // PhysX heightfields are always defined to have the height in the Y direction, not the Z direction, so we need
+                        // to provide additional rotations to make it Z-up.
+                        physx::PxQuat pxQuat = PxMathConvert(
+                            AZ::Quaternion::CreateFromEulerAnglesRadians(AZ::Vector3(AZ::Constants::HalfPi, AZ::Constants::HalfPi, 0.0f)));
+                        physx::PxTransform pxHeightfieldTransform = physx::PxTransform(PxMathConvert(offset), pxQuat);
+                        shape->setLocalPose(pxHeightfieldTransform);
+                    }
 
                     // Handle a possible misconfiguration when a shape is set to be both simulated & trigger. This is illegal in PhysX.
                     shape->setFlag(physx::PxShapeFlag::eSIMULATION_SHAPE, colliderConfiguration.m_isSimulated && !colliderConfiguration.m_isTrigger);
@@ -1357,6 +1517,39 @@ namespace PhysX
 
             return entityWorldTransformWithoutScale * jointLocalTransformWithoutScale;
         }
+        
+        void InitHeightfieldShapeConfiguration(AZ::EntityId entityId, Physics::HeightfieldShapeConfiguration& configuration)
+        {
+            configuration = Physics::HeightfieldShapeConfiguration();
+
+            AZ::Vector2 gridSpacing(1.0f);
+            Physics::HeightfieldProviderRequestsBus::EventResult(
+                gridSpacing, entityId, &Physics::HeightfieldProviderRequestsBus::Events::GetHeightfieldGridSpacing);
+
+            configuration.SetGridResolution(gridSpacing);
+
+            int32_t numRows = 0;
+            int32_t numColumns = 0;
+            Physics::HeightfieldProviderRequestsBus::Event(
+                            entityId, &Physics::HeightfieldProviderRequestsBus::Events::GetHeightfieldGridSize, numColumns, numRows);
+
+            configuration.SetNumRows(numRows);
+            configuration.SetNumColumns(numColumns);
+
+            float minHeightBounds = 0.0f;
+            float maxHeightBounds = 0.0f;
+            Physics::HeightfieldProviderRequestsBus::Event(
+                entityId, &Physics::HeightfieldProviderRequestsBus::Events::GetHeightfieldHeightBounds, minHeightBounds, maxHeightBounds);
+
+            configuration.SetMinHeightBounds(minHeightBounds);
+            configuration.SetMaxHeightBounds(maxHeightBounds);
+
+            AZStd::vector<Physics::HeightMaterialPoint> samples;
+            Physics::HeightfieldProviderRequestsBus::EventResult(
+                samples, entityId, &Physics::HeightfieldProviderRequestsBus::Events::GetHeightsAndMaterials);
+
+            configuration.SetSamples(samples);
+        }
     } // namespace Utils
 
     namespace ReflectionUtils

Gems/PhysX/Code/Source/Utils.h

@@ -188,6 +188,8 @@ namespace PhysX
         //! Returns defaultValue if the input is infinite or NaN, otherwise returns the input unchanged.
         const AZ::Vector3& Sanitize(const AZ::Vector3& input, const AZ::Vector3& defaultValue = AZ::Vector3::CreateZero());
 
+        void InitHeightfieldShapeConfiguration(AZ::EntityId entityId, Physics::HeightfieldShapeConfiguration& configuration);
+
         namespace Geometry
         {
             using PointList = AZStd::vector<AZ::Vector3>;

Gems/PhysX/Code/physx_editor_files.cmake

@@ -27,6 +27,8 @@ set(FILES
     Source/EditorFixedJointComponent.h
     Source/EditorHingeJointComponent.cpp
     Source/EditorHingeJointComponent.h
+    Source/EditorHeightfieldColliderComponent.cpp
+    Source/EditorHeightfieldColliderComponent.h
     Source/EditorJointComponent.cpp
     Source/EditorJointComponent.h
     Source/Pipeline/MeshExporter.cpp

Gems/PhysX/Code/physx_files.cmake

@@ -35,6 +35,8 @@ set(FILES
     Source/MeshColliderComponent.h
     Source/BoxColliderComponent.h
     Source/BoxColliderComponent.cpp
+    Source/HeightfieldColliderComponent.h
+    Source/HeightfieldColliderComponent.cpp
     Source/SphereColliderComponent.h
     Source/SphereColliderComponent.cpp
     Source/CapsuleColliderComponent.h

Gems/Terrain/Code/CMakeLists.txt

@@ -111,6 +111,7 @@ if(PAL_TRAIT_BUILD_TESTS_SUPPORTED)
                 AZ::AzTest
                 AZ::AzFramework
                 Gem::LmbrCentral.Mocks
+                Gem::GradientSignal.Mocks
                 Gem::Terrain.Mocks
                 Gem::Terrain.Static
     )

Gems/Terrain/Code/Mocks/Terrain/MockTerrain.h

@@ -10,11 +10,12 @@
 #include <gmock/gmock.h>
 
 #include <AzCore/Component/ComponentApplication.h>
+#include <AzFramework/Physics/HeightfieldProviderBus.h>
 #include <AzFramework/Terrain/TerrainDataRequestBus.h>
+#include <TerrainSystem/TerrainSystemBus.h>
 
 namespace UnitTest
 {
-
     class MockTerrainSystemService : private Terrain::TerrainSystemServiceRequestBus::Handler
     {
     public:
@@ -69,11 +70,7 @@ namespace UnitTest
             Terrain::TerrainAreaHeightRequestBus::Handler::BusDisconnect();
         }
 
-        MOCK_METHOD3(GetHeight, void(
-            const AZ::Vector3& inPosition,
-            AZ::Vector3& outPosition,
-            bool& terrainExists));
-
+        MOCK_METHOD3(GetHeight, void(const AZ::Vector3& inPosition, AZ::Vector3& outPosition, bool& terrainExists));
     };
 
     class MockTerrainSpawnerRequests : public Terrain::TerrainSpawnerRequestBus::Handler
@@ -92,4 +89,35 @@ namespace UnitTest
         MOCK_METHOD2(GetPriority, void(AZ::u32& outLayer, AZ::u32& outPriority));
         MOCK_METHOD0(GetUseGroundPlane, bool());
     };
-}
+
+    class MockTerrainDataRequests : public AzFramework::Terrain::TerrainDataRequestBus::Handler
+    {
+    public:
+        MockTerrainDataRequests()
+        {
+            AzFramework::Terrain::TerrainDataRequestBus::Handler::BusConnect();
+        }
+
+        ~MockTerrainDataRequests()
+        {
+            AzFramework::Terrain::TerrainDataRequestBus::Handler::BusDisconnect();
+        }
+
+        MOCK_CONST_METHOD0(GetTerrainHeightQueryResolution, AZ::Vector2());
+        MOCK_METHOD1(SetTerrainHeightQueryResolution, void(AZ::Vector2));
+        MOCK_CONST_METHOD0(GetTerrainAabb, AZ::Aabb());
+        MOCK_METHOD1(SetTerrainAabb, void(const AZ::Aabb&));
+        MOCK_CONST_METHOD3(GetHeight, float(AZ::Vector3, Sampler, bool*));
+        MOCK_CONST_METHOD4(GetHeightFromFloats, float(float, float, Sampler, bool*));
+        MOCK_CONST_METHOD3(GetMaxSurfaceWeight, AzFramework::SurfaceData::SurfaceTagWeight(AZ::Vector3, Sampler, bool*));
+        MOCK_CONST_METHOD3(GetMaxSurfaceWeightFromVector2, AzFramework::SurfaceData::SurfaceTagWeight(const AZ::Vector2&, Sampler, bool*));
+        MOCK_CONST_METHOD4(GetMaxSurfaceWeightFromFloats, AzFramework::SurfaceData::SurfaceTagWeight(float, float, Sampler, bool*));
+        MOCK_CONST_METHOD4(GetSurfaceWeights, void(const AZ::Vector3&, AzFramework::SurfaceData::OrderedSurfaceTagWeightSet&, Sampler, bool*));
+        MOCK_CONST_METHOD4(GetSurfaceWeightsFromVector2, void(const AZ::Vector2&, AzFramework::SurfaceData::OrderedSurfaceTagWeightSet&, Sampler, bool*));
+        MOCK_CONST_METHOD5(GetSurfaceWeightsFromFloats, void(float, float, AzFramework::SurfaceData::OrderedSurfaceTagWeightSet&, Sampler, bool*));
+        MOCK_CONST_METHOD3(GetMaxSurfaceName, const char*(AZ::Vector3, Sampler, bool*));
+        MOCK_CONST_METHOD3(GetIsHoleFromFloats, bool(float, float, Sampler));
+        MOCK_CONST_METHOD3(GetNormal, AZ::Vector3(AZ::Vector3, Sampler, bool*));
+        MOCK_CONST_METHOD4(GetNormalFromFloats, AZ::Vector3(float, float, Sampler, bool*));
+    };
+} // namespace UnitTest

Gems/Terrain/Code/Mocks/Terrain/MockTerrainAreaSurfaceRequestBus.h

@@ -0,0 +1,34 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+#pragma once
+
+#include <AzCore/Component/EntityId.h>
+#include <AzFramework/Terrain/TerrainDataRequestBus.h>
+#include <Terrain/Ebuses/TerrainAreaSurfaceRequestBus.h>
+
+namespace UnitTest
+{
+    class MockTerrainAreaSurfaceRequestBus : public Terrain::TerrainAreaSurfaceRequestBus::Handler
+    {
+    public:
+        MockTerrainAreaSurfaceRequestBus(AZ::EntityId entityId)
+        {
+            Terrain::TerrainAreaSurfaceRequestBus::Handler::BusConnect(entityId);
+        }
+
+        ~MockTerrainAreaSurfaceRequestBus()
+        {
+            Terrain::TerrainAreaSurfaceRequestBus::Handler::BusDisconnect();
+        }
+
+        MOCK_METHOD0(Activate, void());
+        MOCK_METHOD0(Deactivate, void());
+        MOCK_CONST_METHOD2(GetSurfaceWeights, void(const AZ::Vector3&, AzFramework::SurfaceData::OrderedSurfaceTagWeightSet&));
+    };
+
+} // namespace UnitTest

Gems/Terrain/Code/Mocks/Terrain/MockTerrainLayerSpawner.h

@@ -0,0 +1,39 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+#pragma once
+
+#include <AzCore/Component/Component.h>
+
+namespace UnitTest
+{
+    class MockTerrainLayerSpawnerComponent
+        : public AZ::Component
+    {
+    public:
+        AZ_COMPONENT(MockTerrainLayerSpawnerComponent, "{9F27C980-9826-4063-86D8-E981C1E842A3}");
+
+        static void Reflect([[maybe_unused]] AZ::ReflectContext* context)
+        {
+        }
+
+        void Activate() override
+        {
+        }
+
+        void Deactivate() override
+        {
+        }
+      
+    private: 
+        static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& services)
+        {
+            services.push_back(AZ_CRC_CE("TerrainAreaService"));
+        }
+    };
+    
+} //namespace UnitTest

Gems/Terrain/Code/Source/Components/TerrainHeightGradientListComponent.cpp

@@ -65,7 +65,7 @@ namespace Terrain
     void TerrainHeightGradientListComponent::GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& services)
     {
         services.push_back(AZ_CRC_CE("TerrainAreaService"));
-        services.push_back(AZ_CRC_CE("BoxShapeService"));
+        services.push_back(AZ_CRC_CE("AxisAlignedBoxShapeService"));
     }
 
     void TerrainHeightGradientListComponent::Reflect(AZ::ReflectContext* context)

Gems/Terrain/Code/Source/Components/TerrainLayerSpawnerComponent.cpp

@@ -102,7 +102,6 @@ namespace Terrain
 
     void TerrainLayerSpawnerComponent::Activate()
     {
-        AZ::TransformNotificationBus::Handler::BusConnect(GetEntityId());
         LmbrCentral::ShapeComponentNotificationsBus::Handler::BusConnect(GetEntityId());
         TerrainSpawnerRequestBus::Handler::BusConnect(GetEntityId());
 
@@ -114,8 +113,6 @@ namespace Terrain
         TerrainSystemServiceRequestBus::Broadcast(&TerrainSystemServiceRequestBus::Events::UnregisterArea, GetEntityId());
         TerrainSpawnerRequestBus::Handler::BusDisconnect();
         LmbrCentral::ShapeComponentNotificationsBus::Handler::BusDisconnect();
-        AZ::TransformNotificationBus::Handler::BusDisconnect();
-        
     }
 
     bool TerrainLayerSpawnerComponent::ReadInConfig(const AZ::ComponentConfig* baseConfig)
@@ -138,13 +135,12 @@ namespace Terrain
         return false;
     }
 
-    void TerrainLayerSpawnerComponent::OnTransformChanged([[maybe_unused]] const AZ::Transform& local, [[maybe_unused]] const AZ::Transform& world)
-    {
-        RefreshArea();
-    }
-
     void TerrainLayerSpawnerComponent::OnShapeChanged([[maybe_unused]] ShapeChangeReasons changeReason)
     {
+        // This will notify us of both shape changes and transform changes.
+        // It's important to use this event for transform changes instead of listening to OnTransformChanged, because we need to guarantee
+        // the shape has received the transform change message and updated its internal state before passing it along to us.
+
         RefreshArea();
     }
     

Gems/Terrain/Code/Source/Components/TerrainLayerSpawnerComponent.h

@@ -18,7 +18,6 @@
 #include <AzFramework/Terrain/TerrainDataRequestBus.h>
 #include <TerrainSystem/TerrainSystemBus.h>
 
-#include <AzCore/Component/TransformBus.h>
 #include <LmbrCentral/Shape/ShapeComponentBus.h>
 #include <AzCore/Math/Aabb.h>
 
@@ -56,7 +55,6 @@ namespace Terrain
 
     class TerrainLayerSpawnerComponent
         : public AZ::Component
-        , private AZ::TransformNotificationBus::Handler
         , private LmbrCentral::ShapeComponentNotificationsBus::Handler
         , private Terrain::TerrainSpawnerRequestBus::Handler
     {
@@ -81,10 +79,6 @@ namespace Terrain
         bool WriteOutConfig(AZ::ComponentConfig* outBaseConfig) const override;
 
     protected:
-        //////////////////////////////////////////////////////////////////////////
-        // AZ::TransformNotificationBus::Handler
-        void OnTransformChanged(const AZ::Transform& local, const AZ::Transform& world) override;
-
         // ShapeComponentNotificationsBus
         void OnShapeChanged(ShapeChangeReasons changeReason) override;
 

Gems/Terrain/Code/Source/Components/TerrainPhysicsColliderComponent.cpp

@@ -0,0 +1,321 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+
+#include <Components/TerrainPhysicsColliderComponent.h>
+
+#include <AzCore/Asset/AssetManagerBus.h>
+#include <AzCore/Component/Entity.h>
+#include <AzCore/Component/TransformBus.h>
+#include <AzCore/Casting/lossy_cast.h>
+#include <AzCore/RTTI/BehaviorContext.h>
+#include <AzCore/Serialization/EditContext.h>
+#include <AzCore/Serialization/SerializeContext.h>
+
+#include <AzFramework/Terrain/TerrainDataRequestBus.h>
+
+namespace Terrain
+{
+    void TerrainPhysicsColliderConfig::Reflect(AZ::ReflectContext* context)
+    {
+        if (auto serialize = azrtti_cast<AZ::SerializeContext*>(context))
+        {
+            serialize->Class<TerrainPhysicsColliderConfig, AZ::ComponentConfig>()
+                ->Version(1)
+            ;
+
+            if (auto edit = serialize->GetEditContext())
+            {
+                edit->Class<TerrainPhysicsColliderConfig>(
+                        "Terrain Physics Collider Component",
+                        "Provides terrain data to a physics collider with configurable surface mappings.")
+                    ->ClassElement(AZ::Edit::ClassElements::EditorData, "")
+                    ->Attribute(AZ::Edit::Attributes::Visibility, AZ::Edit::PropertyVisibility::ShowChildrenOnly)
+                    ->Attribute(AZ::Edit::Attributes::AutoExpand, true);
+            }
+        }
+    }
+
+    void TerrainPhysicsColliderComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& services)
+    {
+        services.push_back(AZ_CRC_CE("PhysicsHeightfieldProviderService"));
+    }
+
+    void TerrainPhysicsColliderComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& services)
+    {
+        services.push_back(AZ_CRC_CE("PhysicsHeightfieldProviderService"));
+    }
+
+    void TerrainPhysicsColliderComponent::GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& services)
+    {
+        services.push_back(AZ_CRC_CE("AxisAlignedBoxShapeService"));
+    }
+
+    void TerrainPhysicsColliderComponent::Reflect(AZ::ReflectContext* context)
+    {
+        TerrainPhysicsColliderConfig::Reflect(context);
+
+        if (auto serialize = azrtti_cast<AZ::SerializeContext*>(context))
+        {
+            serialize->Class<TerrainPhysicsColliderComponent, AZ::Component>()
+                ->Version(0)
+                ->Field("Configuration", &TerrainPhysicsColliderComponent::m_configuration)
+            ;
+        }
+    }
+
+    TerrainPhysicsColliderComponent::TerrainPhysicsColliderComponent(const TerrainPhysicsColliderConfig& configuration)
+        : m_configuration(configuration)
+    {
+    }
+
+    TerrainPhysicsColliderComponent::TerrainPhysicsColliderComponent()
+    {
+
+    }
+
+    void TerrainPhysicsColliderComponent::Activate()
+    {
+        const auto entityId = GetEntityId();
+        LmbrCentral::ShapeComponentNotificationsBus::Handler::BusConnect(entityId);
+        Physics::HeightfieldProviderRequestsBus::Handler::BusConnect(entityId);
+        AzFramework::Terrain::TerrainDataNotificationBus::Handler::BusConnect();
+
+        NotifyListenersOfHeightfieldDataChange();
+    }
+
+    void TerrainPhysicsColliderComponent::Deactivate()
+    {
+        AzFramework::Terrain::TerrainDataNotificationBus::Handler::BusDisconnect();
+        Physics::HeightfieldProviderRequestsBus::Handler ::BusDisconnect();
+        LmbrCentral::ShapeComponentNotificationsBus::Handler::BusDisconnect();
+    }
+
+    bool TerrainPhysicsColliderComponent::ReadInConfig(const AZ::ComponentConfig* baseConfig)
+    {
+        if (auto config = azrtti_cast<const TerrainPhysicsColliderConfig*>(baseConfig))
+        {
+            m_configuration = *config;
+            return true;
+        }
+        return false;
+    }
+
+    bool TerrainPhysicsColliderComponent::WriteOutConfig(AZ::ComponentConfig* outBaseConfig) const
+    {
+        if (auto config = azrtti_cast<TerrainPhysicsColliderConfig*>(outBaseConfig))
+        {
+            *config = m_configuration;
+            return true;
+        }
+        return false;
+    }
+
+    void TerrainPhysicsColliderComponent::NotifyListenersOfHeightfieldDataChange()
+    {
+        AZ::Aabb worldSize = AZ::Aabb::CreateNull();
+
+        LmbrCentral::ShapeComponentRequestsBus::EventResult(
+            worldSize, GetEntityId(), &LmbrCentral::ShapeComponentRequestsBus::Events::GetEncompassingAabb);
+
+        Physics::HeightfieldProviderNotificationBus::Broadcast(
+            &Physics::HeightfieldProviderNotificationBus::Events::OnHeightfieldDataChanged, worldSize);
+    }
+
+    void TerrainPhysicsColliderComponent::OnShapeChanged([[maybe_unused]] ShapeChangeReasons changeReason)
+    {
+        // This will notify us of both shape changes and transform changes.
+        // It's important to use this event for transform changes instead of listening to OnTransformChanged, because we need to guarantee
+        // the shape has received the transform change message and updated its internal state before passing it along to us.
+
+        NotifyListenersOfHeightfieldDataChange();
+    }
+
+    void TerrainPhysicsColliderComponent::OnTerrainDataCreateEnd()
+    {
+        // The terrain system has finished creating itself, so we should now have data for creating a heightfield.
+        NotifyListenersOfHeightfieldDataChange();
+    }
+
+    void TerrainPhysicsColliderComponent::OnTerrainDataDestroyBegin()
+    {
+        // The terrain system is starting to destroy itself, so notify listeners of a change since the heightfield
+        // will no longer have any valid data.
+        NotifyListenersOfHeightfieldDataChange();
+    }
+
+    void TerrainPhysicsColliderComponent::OnTerrainDataChanged(
+        [[maybe_unused]] const AZ::Aabb& dirtyRegion, [[maybe_unused]] TerrainDataChangedMask dataChangedMask)
+    {
+        NotifyListenersOfHeightfieldDataChange();
+    }
+
+    AZ::Aabb TerrainPhysicsColliderComponent::GetHeightfieldAabb() const
+    {
+        AZ::Aabb worldSize = AZ::Aabb::CreateNull();
+
+        LmbrCentral::ShapeComponentRequestsBus::EventResult(
+            worldSize, GetEntityId(), &LmbrCentral::ShapeComponentRequestsBus::Events::GetEncompassingAabb);
+
+        auto vector2Floor = [](const AZ::Vector2& in)
+        {
+            return AZ::Vector2(floor(in.GetX()), floor(in.GetY()));
+        };
+        auto vector2Ceil = [](const AZ::Vector2& in)
+        {
+            return AZ::Vector2(ceil(in.GetX()), ceil(in.GetY()));
+        };
+
+        const AZ::Vector2 gridResolution = GetHeightfieldGridSpacing();
+        const AZ::Vector3 boundsMin = worldSize.GetMin();
+        const AZ::Vector3 boundsMax = worldSize.GetMax();
+
+        const AZ::Vector2 gridMinBoundLower = vector2Floor(AZ::Vector2(boundsMin) / gridResolution) * gridResolution;
+        const AZ::Vector2 gridMaxBoundUpper = vector2Ceil(AZ::Vector2(boundsMax) / gridResolution) * gridResolution;
+
+        return AZ::Aabb::CreateFromMinMaxValues(
+            gridMinBoundLower.GetX(), gridMinBoundLower.GetY(), boundsMin.GetZ(),
+            gridMaxBoundUpper.GetX(), gridMaxBoundUpper.GetY(), boundsMax.GetZ()
+        );
+    }
+
+    void TerrainPhysicsColliderComponent::GetHeightfieldHeightBounds(float& minHeightBounds, float& maxHeightBounds) const
+    {
+        AZ::Aabb heightfieldAabb = GetHeightfieldAabb();
+
+        // Because our terrain heights are relative to the center of the bounding box, the min and max allowable heights are also
+        // relative to the center.  They are also clamped to the size of the bounding box.
+        minHeightBounds = -(heightfieldAabb.GetZExtent() / 2.0f);
+        maxHeightBounds = heightfieldAabb.GetZExtent() / 2.0f;
+    }
+
+    AZ::Transform TerrainPhysicsColliderComponent::GetHeightfieldTransform() const
+    {
+        // We currently don't support rotation of terrain heightfields.
+        AZ::Vector3 translate;
+        AZ::TransformBus::EventResult(translate, GetEntityId(), &AZ::TransformBus::Events::GetWorldTranslation);
+
+        AZ::Transform transform = AZ::Transform::CreateTranslation(translate);
+
+        return transform;
+    }
+
+    void TerrainPhysicsColliderComponent::GenerateHeightsInBounds(AZStd::vector<float>& heights) const
+    {
+        const AZ::Vector2 gridResolution = GetHeightfieldGridSpacing();
+
+        AZ::Aabb worldSize = GetHeightfieldAabb();
+
+        const float worldCenterZ = worldSize.GetCenter().GetZ();
+
+        int32_t gridWidth, gridHeight;
+        GetHeightfieldGridSize(gridWidth, gridHeight);
+
+        heights.clear();
+        heights.reserve(gridWidth * gridHeight);
+
+        for (int32_t row = 0; row < gridHeight; row++)
+        {
+            const float y = row * gridResolution.GetY() + worldSize.GetMin().GetY();
+            for (int32_t col = 0; col < gridWidth; col++)
+            {
+                const float x = col * gridResolution.GetX() + worldSize.GetMin().GetX();
+                float height = 0.0f;
+
+                AzFramework::Terrain::TerrainDataRequestBus::BroadcastResult(
+                    height, &AzFramework::Terrain::TerrainDataRequests::GetHeightFromFloats, x, y,
+                    AzFramework::Terrain::TerrainDataRequests::Sampler::DEFAULT, nullptr);
+
+                heights.emplace_back(height - worldCenterZ);
+            }
+        }
+    }
+
+    void TerrainPhysicsColliderComponent::GenerateHeightsAndMaterialsInBounds(
+        AZStd::vector<Physics::HeightMaterialPoint>& heightMaterials) const
+    {
+        const AZ::Vector2 gridResolution = GetHeightfieldGridSpacing();
+
+        AZ::Aabb worldSize = GetHeightfieldAabb();
+
+        const float worldCenterZ = worldSize.GetCenter().GetZ();
+        const float worldHeightBoundsMin = worldSize.GetMin().GetZ();
+        const float worldHeightBoundsMax = worldSize.GetMax().GetZ();
+
+        int32_t gridWidth, gridHeight;
+        GetHeightfieldGridSize(gridWidth, gridHeight);
+
+        heightMaterials.clear();
+        heightMaterials.reserve(gridWidth * gridHeight);
+
+        for (int32_t row = 0; row < gridHeight; row++)
+        {
+            const float y = row * gridResolution.GetY() + worldSize.GetMin().GetY();
+            for (int32_t col = 0; col < gridWidth; col++)
+            {
+                const float x = col * gridResolution.GetX() + worldSize.GetMin().GetX();
+                float height = 0.0f;
+
+                bool terrainExists = true;
+                AzFramework::Terrain::TerrainDataRequestBus::BroadcastResult(
+                    height, &AzFramework::Terrain::TerrainDataRequests::GetHeightFromFloats, x, y,
+                    AzFramework::Terrain::TerrainDataRequests::Sampler::DEFAULT, &terrainExists);
+
+                // Any heights that fall outside the range of our bounding box will get turned into holes.
+                if ((height < worldHeightBoundsMin) || (height > worldHeightBoundsMax))
+                {
+                    height = worldHeightBoundsMin;
+                    terrainExists = false;
+                }
+
+                Physics::HeightMaterialPoint point;
+                point.m_height = height - worldCenterZ;
+                point.m_quadMeshType = terrainExists ? Physics::QuadMeshType::SubdivideUpperLeftToBottomRight : Physics::QuadMeshType::Hole;
+                heightMaterials.emplace_back(point);
+            }
+        }
+    }
+
+    AZ::Vector2 TerrainPhysicsColliderComponent::GetHeightfieldGridSpacing() const
+    {
+        AZ::Vector2 gridResolution = AZ::Vector2(1.0f);
+        AzFramework::Terrain::TerrainDataRequestBus::BroadcastResult(
+            gridResolution, &AzFramework::Terrain::TerrainDataRequests::GetTerrainHeightQueryResolution);
+
+        return gridResolution;
+    }
+
+    void TerrainPhysicsColliderComponent::GetHeightfieldGridSize(int32_t& numColumns, int32_t& numRows) const
+    {
+        const AZ::Vector2 gridResolution = GetHeightfieldGridSpacing();
+        const AZ::Aabb bounds = GetHeightfieldAabb();
+
+        numColumns = aznumeric_cast<int32_t>((bounds.GetMax().GetX() - bounds.GetMin().GetX()) / gridResolution.GetX());
+        numRows = aznumeric_cast<int32_t>((bounds.GetMax().GetY() - bounds.GetMin().GetY()) / gridResolution.GetY());
+    }
+
+    AZStd::vector<Physics::MaterialId> TerrainPhysicsColliderComponent::GetMaterialList() const
+    {
+        return AZStd::vector<Physics::MaterialId>();
+    }
+
+    AZStd::vector<float> TerrainPhysicsColliderComponent::GetHeights() const
+    {
+        AZStd::vector<float> heights; 
+        GenerateHeightsInBounds(heights);
+
+        return heights;
+    }
+
+    AZStd::vector<Physics::HeightMaterialPoint> TerrainPhysicsColliderComponent::GetHeightsAndMaterials() const
+    {
+        AZStd::vector<Physics::HeightMaterialPoint> heightMaterials;
+        GenerateHeightsAndMaterialsInBounds(heightMaterials);
+
+        return heightMaterials;
+    }
+}

Gems/Terrain/Code/Source/Components/TerrainPhysicsColliderComponent.h

@@ -0,0 +1,91 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+
+#pragma once
+
+#include <AzCore/Component/Component.h>
+
+#include <AzFramework/Physics/HeightfieldProviderBus.h>
+#include <AzFramework/Physics/Material.h>
+#include <TerrainSystem/TerrainSystemBus.h>
+
+#include <LmbrCentral/Shape/ShapeComponentBus.h>
+
+namespace LmbrCentral
+{
+    template<typename, typename>
+    class EditorWrappedComponentBase;
+}
+
+namespace Terrain
+{
+    class TerrainPhysicsColliderConfig
+        : public AZ::ComponentConfig
+    {
+    public:
+        AZ_CLASS_ALLOCATOR(TerrainPhysicsColliderConfig, AZ::SystemAllocator, 0);
+        AZ_RTTI(TerrainPhysicsColliderConfig, "{E9EADB8F-C3A5-4B9C-A62D-2DBC86B4CE59}", AZ::ComponentConfig);
+        static void Reflect(AZ::ReflectContext* context);
+
+    };
+
+
+    class TerrainPhysicsColliderComponent
+        : public AZ::Component
+        , public Physics::HeightfieldProviderRequestsBus::Handler
+        , protected LmbrCentral::ShapeComponentNotificationsBus::Handler
+        , protected AzFramework::Terrain::TerrainDataNotificationBus::Handler
+    {
+    public:
+        template<typename, typename>
+        friend class LmbrCentral::EditorWrappedComponentBase;
+        AZ_COMPONENT(TerrainPhysicsColliderComponent, "{33C20287-1D37-44D0-96A0-2C3766E23624}");
+
+        static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& services);
+        static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& services);
+        static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& services);
+        static void Reflect(AZ::ReflectContext* context);
+
+        TerrainPhysicsColliderComponent(const TerrainPhysicsColliderConfig& configuration);
+        TerrainPhysicsColliderComponent();
+        ~TerrainPhysicsColliderComponent() = default;
+
+        // HeightfieldProviderRequestsBus
+        AZ::Vector2 GetHeightfieldGridSpacing() const override;
+        void GetHeightfieldGridSize(int32_t& numColumns, int32_t& numRows) const override;
+        void GetHeightfieldHeightBounds(float& minHeightBounds, float& maxHeightBounds) const override;
+        AZ::Aabb GetHeightfieldAabb() const override;
+        AZ::Transform GetHeightfieldTransform() const override;
+        AZStd::vector<Physics::MaterialId> GetMaterialList() const override;
+        AZStd::vector<float> GetHeights() const override;
+        AZStd::vector<Physics::HeightMaterialPoint> GetHeightsAndMaterials() const override;
+
+    protected:
+        //////////////////////////////////////////////////////////////////////////
+        // AZ::Component interface implementation
+        void Activate() override;
+        void Deactivate() override;
+        bool ReadInConfig(const AZ::ComponentConfig* baseConfig) override;
+        bool WriteOutConfig(AZ::ComponentConfig* outBaseConfig) const override;
+
+        void GenerateHeightsInBounds(AZStd::vector<float>& heights) const;
+        void GenerateHeightsAndMaterialsInBounds(AZStd::vector<Physics::HeightMaterialPoint>& heightMaterials) const;
+
+        void NotifyListenersOfHeightfieldDataChange();
+
+        // ShapeComponentNotificationsBus
+        void OnShapeChanged(ShapeChangeReasons changeReason) override;
+
+        void OnTerrainDataCreateEnd() override;
+        void OnTerrainDataDestroyBegin() override;
+        void OnTerrainDataChanged(const AZ::Aabb& dirtyRegion, TerrainDataChangedMask dataChangedMask) override;
+
+    private:
+        TerrainPhysicsColliderConfig m_configuration;
+    };
+}

Gems/Terrain/Code/Source/EditorComponents/EditorTerrainPhysicsColliderComponent.cpp

@@ -0,0 +1,24 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+
+#include <EditorComponents/EditorTerrainPhysicsColliderComponent.h>
+#include <AzCore/Serialization/SerializeContext.h>
+#include <AzCore/Serialization/EditContext.h>
+
+namespace Terrain
+{
+    void EditorTerrainPhysicsColliderComponent::Reflect(AZ::ReflectContext* context)
+    {
+        // Call ReflectSubClass in EditorWrappedComponentBase to handle all the boilerplate reflection.
+        BaseClassType::ReflectSubClass<EditorTerrainPhysicsColliderComponent, BaseClassType>(
+            context, 1,
+            &LmbrCentral::EditorWrappedComponentBaseVersionConverter<typename BaseClassType::WrappedComponentType,
+            typename BaseClassType::WrappedConfigType, 1>
+        );
+    }
+}

Gems/Terrain/Code/Source/EditorComponents/EditorTerrainPhysicsColliderComponent.h

@@ -0,0 +1,32 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+
+#pragma once
+
+#include <Components/TerrainPhysicsColliderComponent.h>
+#include <AzToolsFramework/ToolsComponents/EditorComponentBase.h>
+#include <LmbrCentral/Component/EditorWrappedComponentBase.h>
+
+namespace Terrain
+{
+    class EditorTerrainPhysicsColliderComponent
+        : public LmbrCentral::EditorWrappedComponentBase<TerrainPhysicsColliderComponent, TerrainPhysicsColliderConfig>
+    {
+    public:
+        using BaseClassType = LmbrCentral::EditorWrappedComponentBase<TerrainPhysicsColliderComponent, TerrainPhysicsColliderConfig>;
+        AZ_EDITOR_COMPONENT(EditorTerrainPhysicsColliderComponent, "{C43FAB8F-3968-46A6-920E-E84AEDED3DF5}", BaseClassType);
+        static void Reflect(AZ::ReflectContext* context);
+
+        static constexpr auto s_categoryName = "Terrain";
+        static constexpr auto s_componentName = "Terrain Physics Heightfield Collider";
+        static constexpr auto s_componentDescription = "Provides terrain data to a physics collider in the form of a heightfield and surface->material mapping.";
+        static constexpr auto s_icon = "Editor/Icons/Components/TerrainLayerSpawner.svg";
+        static constexpr auto s_viewportIcon = "Editor/Icons/Components/Viewport/TerrainLayerSpawner.svg";
+        static constexpr auto s_helpUrl = "";
+    };
+}

Gems/Terrain/Code/Source/EditorTerrainModule.cpp

@@ -13,6 +13,7 @@
 #include <EditorComponents/EditorTerrainSystemComponent.h>
 #include <EditorComponents/EditorTerrainWorldComponent.h>
 #include <EditorComponents/EditorTerrainWorldDebuggerComponent.h>
+#include <EditorComponents/EditorTerrainPhysicsColliderComponent.h>
 #include <EditorComponents/EditorTerrainWorldRendererComponent.h>
 #include <TerrainRenderer/EditorComponents/EditorTerrainSurfaceMaterialsListComponent.h>
 #include <TerrainRenderer/EditorComponents/EditorTerrainMacroMaterialComponent.h>
@@ -32,6 +33,7 @@ namespace Terrain
                 Terrain::EditorTerrainSurfaceMaterialsListComponent::CreateDescriptor(),
                 Terrain::EditorTerrainWorldComponent::CreateDescriptor(),
                 Terrain::EditorTerrainWorldDebuggerComponent::CreateDescriptor(),
+                Terrain::EditorTerrainPhysicsColliderComponent::CreateDescriptor(),
                 Terrain::EditorTerrainWorldRendererComponent::CreateDescriptor(),
 
             });

Gems/Terrain/Code/Source/TerrainModule.cpp

@@ -18,6 +18,7 @@
 #include <Components/TerrainLayerSpawnerComponent.h>
 #include <Components/TerrainSurfaceGradientListComponent.h>
 #include <Components/TerrainSurfaceDataSystemComponent.h>
+#include <Components/TerrainPhysicsColliderComponent.h>
 #include <TerrainRenderer/Components/TerrainSurfaceMaterialsListComponent.h>
 #include <TerrainRenderer/Components/TerrainMacroMaterialComponent.h>
 
@@ -37,6 +38,7 @@ namespace Terrain
                 TerrainMacroMaterialComponent::CreateDescriptor(),
                 TerrainSurfaceGradientListComponent::CreateDescriptor(),
                 TerrainSurfaceDataSystemComponent::CreateDescriptor(),
+                TerrainPhysicsColliderComponent::CreateDescriptor()
             });
     }
 

Gems/Terrain/Code/Tests/LayerSpawnerTests.cpp

@@ -7,6 +7,7 @@
  */
 
 #include <AzCore/Component/ComponentApplication.h>
+#include <AzCore/Component/TransformBus.h>
 #include <AzCore/Memory/MemoryComponent.h>
 
 #include <AzFramework/Terrain/TerrainDataRequestBus.h>
@@ -195,8 +196,10 @@ TEST_F(LayerSpawnerComponentTest, LayerSpawnerTransformChangedUpdatesTerrainSyst
 
     m_entity->Activate();
 
-    AZ::TransformNotificationBus::Event(
-        m_entity->GetId(), &AZ::TransformNotificationBus::Events::OnTransformChanged, AZ::Transform(), AZ::Transform());
+    // The component gets transform change notifications via the shape bus.
+    LmbrCentral::ShapeComponentNotificationsBus::Event(
+        m_entity->GetId(), &LmbrCentral::ShapeComponentNotificationsBus::Events::OnShapeChanged,
+        LmbrCentral::ShapeComponentNotifications::ShapeChangeReasons::TransformChanged);
 
     m_entity->Deactivate();
 }

Gems/Terrain/Code/Tests/TerrainHeightGradientListTests.cpp

@@ -0,0 +1,146 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+
+#include <AzCore/Component/ComponentApplication.h>
+#include <AzCore/Memory/MemoryComponent.h>
+#include <AzTest/AzTest.h>
+
+#include <Components/TerrainHeightGradientListComponent.h>
+
+#include <MockAxisAlignedBoxShapeComponent.h>
+#include <GradientSignal/Ebuses/MockGradientRequestBus.h>
+#include <LmbrCentral/Shape/MockShapes.h>
+#include <Terrain/MockTerrainLayerSpawner.h>
+#include <Terrain/MockTerrain.h>
+
+using ::testing::_;
+using ::testing::AtLeast;
+using ::testing::Mock;
+using ::testing::NiceMock;
+using ::testing::Return;
+
+class TerrainHeightGradientListComponentTest : public ::testing::Test
+{
+protected:
+    AZ::ComponentApplication m_app;
+
+    AZStd::unique_ptr<AZ::Entity> m_entity;
+
+    void SetUp() override
+    {
+        AZ::ComponentApplication::Descriptor appDesc;
+        appDesc.m_memoryBlocksByteSize = 20 * 1024 * 1024;
+        appDesc.m_recordingMode = AZ::Debug::AllocationRecords::RECORD_NO_RECORDS;
+        appDesc.m_stackRecordLevels = 20;
+
+        m_app.Create(appDesc);
+    }
+
+    void TearDown() override
+    {
+        m_app.Destroy();
+    }
+
+    void CreateEntity()
+    {
+        m_entity = AZStd::make_unique<AZ::Entity>();
+        ASSERT_TRUE(m_entity);
+
+        // Create the required box component.
+        UnitTest::MockAxisAlignedBoxShapeComponent* boxComponent = m_entity->CreateComponent<UnitTest::MockAxisAlignedBoxShapeComponent>();
+        m_app.RegisterComponentDescriptor(boxComponent->CreateDescriptor());
+
+        // Create the TerrainHeightGradientListComponent with an entity in its configuration.
+        Terrain::TerrainHeightGradientListConfig config;
+        config.m_gradientEntities.push_back(m_entity->GetId());
+
+        Terrain::TerrainHeightGradientListComponent* heightGradientListComponent = m_entity->CreateComponent<Terrain::TerrainHeightGradientListComponent>(config);
+        m_app.RegisterComponentDescriptor(heightGradientListComponent->CreateDescriptor());
+
+        // Create a MockTerrainLayerSpawnerComponent to provide the required TerrainAreaService.
+        UnitTest::MockTerrainLayerSpawnerComponent* layerSpawner = m_entity->CreateComponent<UnitTest::MockTerrainLayerSpawnerComponent>();
+        m_app.RegisterComponentDescriptor(layerSpawner->CreateDescriptor());
+
+        m_entity->Init();
+    }
+};
+
+TEST_F(TerrainHeightGradientListComponentTest, ActivateEntityActivateSuccess)
+{
+    // Check that the entity activates.
+    CreateEntity();
+
+    m_entity->Activate();
+    EXPECT_EQ(m_entity->GetState(), AZ::Entity::State::Active);
+
+    m_entity.reset();
+}
+
+TEST_F(TerrainHeightGradientListComponentTest, TerrainHeightGradientRefreshesTerrainSystem)
+{
+    // Check that the HeightGradientListComponent informs the TerrainSystem when the composition changes.
+    CreateEntity();
+
+    m_entity->Activate();
+
+    NiceMock<UnitTest::MockTerrainSystemService> terrainSystem;
+
+    // As the TerrainHeightGradientListComponent subscribes to the dependency monitor, RefreshArea will be called twice:
+    // once due to OnCompositionChanged being picked up by the the dependency monitor and resending the notification,
+    // and once when the HeightGradientListComponent gets the OnCompositionChanged directly through the DependencyNotificationBus.
+    EXPECT_CALL(terrainSystem, RefreshArea(_)).Times(2);
+
+    LmbrCentral::DependencyNotificationBus::Event(m_entity->GetId(), &LmbrCentral::DependencyNotificationBus::Events::OnCompositionChanged);
+
+    // Stop the EXPECT_CALL check now, as OnCompositionChanged will get called twice again during the reset.
+    Mock::VerifyAndClearExpectations(&terrainSystem);
+
+    m_entity.reset();
+}
+
+TEST_F(TerrainHeightGradientListComponentTest, TerrainHeightGradientListReturnsHeights)
+{
+    // Check that the HeightGradientListComponent returns expected height values.
+    CreateEntity();
+
+    NiceMock<UnitTest::MockTerrainAreaHeightRequests> heightfieldRequestBus(m_entity->GetId());
+
+    m_entity->Activate();
+
+    const float mockGradientValue = 0.25f;
+    NiceMock<UnitTest::MockGradientRequests> gradientRequests(m_entity->GetId());
+    ON_CALL(gradientRequests, GetValue).WillByDefault(Return(mockGradientValue));
+
+    // Setup a mock to provide the encompassing Aabb to the HeightGradientListComponent.
+    const float min = 0.0f;
+    const float max = 1000.0f;
+    const AZ::Aabb aabb = AZ::Aabb::CreateFromMinMax(AZ::Vector3(min), AZ::Vector3(max));
+    NiceMock<UnitTest::MockShapeComponentRequests> mockShapeRequests(m_entity->GetId());
+    ON_CALL(mockShapeRequests, GetEncompassingAabb).WillByDefault(Return(aabb));
+
+    const float worldMax = 10000.0f;
+    const AZ::Aabb worldAabb = AZ::Aabb::CreateFromMinMax(AZ::Vector3(min), AZ::Vector3(worldMax));
+    NiceMock<UnitTest::MockTerrainDataRequests> mockterrainDataRequests;
+    ON_CALL(mockterrainDataRequests, GetTerrainHeightQueryResolution).WillByDefault(Return(AZ::Vector2(1.0f)));
+    ON_CALL(mockterrainDataRequests, GetTerrainAabb).WillByDefault(Return(worldAabb));
+
+    // Ensure the cached values in the HeightGradientListComponent are up to date.
+    LmbrCentral::DependencyNotificationBus::Event(m_entity->GetId(), &LmbrCentral::DependencyNotificationBus::Events::OnCompositionChanged);
+
+    const AZ::Vector3 inPosition = AZ::Vector3::CreateZero();
+    AZ::Vector3 outPosition = AZ::Vector3::CreateZero();
+    bool terrainExists = false;
+    Terrain::TerrainAreaHeightRequestBus::Event(m_entity->GetId(), &Terrain::TerrainAreaHeightRequestBus::Events::GetHeight, inPosition, outPosition, terrainExists);
+
+    const float height = outPosition.GetZ();
+
+    EXPECT_NEAR(height, mockGradientValue * max, 0.01f);
+
+    m_entity.reset();
+}
+

Gems/Terrain/Code/Tests/TerrainPhysicsColliderTests.cpp

@@ -0,0 +1,292 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+
+#include <AzCore/Casting/lossy_cast.h>
+#include <AzCore/Component/ComponentApplication.h>
+#include <AzCore/Component/TransformBus.h>
+#include <AzCore/Memory/MemoryComponent.h>
+
+#include <AzFramework/Terrain/TerrainDataRequestBus.h>
+#include <AzFramework/Physics/Mocks/MockHeightfieldProviderBus.h>
+
+#include <Components/TerrainPhysicsColliderComponent.h>
+#include <LmbrCentral/Shape/ShapeComponentBus.h>
+#include <LmbrCentral/Shape/BoxShapeComponentBus.h>
+#include <LmbrCentral/Shape/MockShapes.h>
+#include <AzTest/AzTest.h>
+
+#include <MockAxisAlignedBoxShapeComponent.h>
+#include <Terrain/MockTerrain.h>
+
+using ::testing::NiceMock;
+using ::testing::AtLeast;
+using ::testing::_;
+using ::testing::Return;
+
+class TerrainPhysicsColliderComponentTest
+    : public ::testing::Test
+{
+protected:
+    AZ::ComponentApplication m_app;
+
+    AZStd::unique_ptr<AZ::Entity> m_entity;
+    Terrain::TerrainPhysicsColliderComponent* m_colliderComponent;
+    UnitTest::MockAxisAlignedBoxShapeComponent* m_boxComponent;
+
+    void SetUp() override
+    {
+        AZ::ComponentApplication::Descriptor appDesc;
+        appDesc.m_memoryBlocksByteSize = 20 * 1024 * 1024;
+        appDesc.m_recordingMode = AZ::Debug::AllocationRecords::RECORD_NO_RECORDS;
+        appDesc.m_stackRecordLevels = 20;
+
+        m_app.Create(appDesc);
+    }
+
+    void TearDown() override
+    {
+        m_app.Destroy();
+    }
+
+    void CreateEntity()
+    {
+        m_entity = AZStd::make_unique<AZ::Entity>();
+        ASSERT_TRUE(m_entity);
+
+        m_entity->Init();
+    }
+
+    void AddTerrainPhysicsColliderAndShapeComponentToEntity()
+    {
+        m_boxComponent = m_entity->CreateComponent<UnitTest::MockAxisAlignedBoxShapeComponent>();
+        m_app.RegisterComponentDescriptor(m_boxComponent->CreateDescriptor());
+
+        m_colliderComponent = m_entity->CreateComponent<Terrain::TerrainPhysicsColliderComponent>(Terrain::TerrainPhysicsColliderConfig());
+        m_app.RegisterComponentDescriptor(m_colliderComponent->CreateDescriptor());
+    }
+};
+
+TEST_F(TerrainPhysicsColliderComponentTest, ActivateEntityActivateSuccess)
+{
+    // Check that the entity activates with a collider and the required shape attached.
+    CreateEntity();
+    AddTerrainPhysicsColliderAndShapeComponentToEntity();
+
+    m_entity->Activate();
+    EXPECT_EQ(m_entity->GetState(), AZ::Entity::State::Active);
+     
+    m_entity.reset();
+}
+
+TEST_F(TerrainPhysicsColliderComponentTest, TerrainPhysicsColliderTransformChangedNotifiesHeightfieldBus)
+{
+    // Check that the HeightfieldBus is notified when the transform of the entity changes.
+    CreateEntity();
+
+    AddTerrainPhysicsColliderAndShapeComponentToEntity();
+
+    m_entity->Activate();
+
+    NiceMock<UnitTest::MockHeightfieldProviderNotificationBusListener> heightfieldListener(m_entity->GetId());
+    EXPECT_CALL(heightfieldListener, OnHeightfieldDataChanged(_)).Times(1);
+
+    // The component gets transform change notifications via the shape bus.
+    LmbrCentral::ShapeComponentNotificationsBus::Event(
+        m_entity->GetId(), &LmbrCentral::ShapeComponentNotificationsBus::Events::OnShapeChanged,
+        LmbrCentral::ShapeComponentNotifications::ShapeChangeReasons::TransformChanged);
+
+    m_entity.reset();
+}
+
+TEST_F(TerrainPhysicsColliderComponentTest, TerrainPhysicsColliderShapeChangedNotifiesHeightfieldBus)
+{
+    // Check that the Heightfield bus is notified when the shape component changes.
+    CreateEntity();
+
+    AddTerrainPhysicsColliderAndShapeComponentToEntity();
+
+    m_entity->Activate();
+
+    NiceMock<UnitTest::MockHeightfieldProviderNotificationBusListener> heightfieldListener(m_entity->GetId());
+    EXPECT_CALL(heightfieldListener, OnHeightfieldDataChanged(_)).Times(1);
+
+    LmbrCentral::ShapeComponentNotificationsBus::Event(
+        m_entity->GetId(), &LmbrCentral::ShapeComponentNotificationsBus::Events::OnShapeChanged,
+        LmbrCentral::ShapeComponentNotifications::ShapeChangeReasons::ShapeChanged);
+
+    m_entity.reset();
+}
+
+TEST_F(TerrainPhysicsColliderComponentTest, TerrainPhysicsColliderReturnsAlignedRowBoundsCorrectly)
+{
+    // Check that the heightfield grid size is correct when the shape bounds match the grid resolution.
+    CreateEntity();
+
+    AddTerrainPhysicsColliderAndShapeComponentToEntity();
+
+    m_entity->Activate();
+
+    const float boundsMin = 0.0f;
+    const float boundsMax = 1024.0f;
+
+    NiceMock<UnitTest::MockShapeComponentRequests> boxShape(m_entity->GetId());
+    const AZ::Aabb bounds = AZ::Aabb::CreateFromMinMax(AZ::Vector3(boundsMin), AZ::Vector3(boundsMax));
+    ON_CALL(boxShape, GetEncompassingAabb).WillByDefault(Return(bounds));
+
+    const AZ::Vector2 mockHeightResolution = AZ::Vector2(1.0f);
+    NiceMock<UnitTest::MockTerrainDataRequests> terrainListener;
+    ON_CALL(terrainListener, GetTerrainHeightQueryResolution).WillByDefault(Return(mockHeightResolution));
+
+    int32_t cols, rows;
+    Physics::HeightfieldProviderRequestsBus::Event(
+        m_entity->GetId(), &Physics::HeightfieldProviderRequestsBus::Events::GetHeightfieldGridSize, cols, rows);
+
+    // With the bounds set at 0-1024 and a resolution of 1.0, the heightfield grid should be 1024x1024.
+    EXPECT_EQ(cols, 1024);
+    EXPECT_EQ(rows, 1024);
+
+    m_entity.reset();
+}
+
+TEST_F(TerrainPhysicsColliderComponentTest, TerrainPhysicsColliderExpandsMinBoundsCorrectly)
+{
+    // Check that the heightfield grid is correctly expanded if the minimum value of the bounds needs expanding
+    // to correctly encompass it.
+    CreateEntity();
+
+    AddTerrainPhysicsColliderAndShapeComponentToEntity();
+
+    m_entity->Activate();
+
+    const float boundsMin = 0.1f;
+    const float boundsMax = 1024.0f;
+
+    NiceMock<UnitTest::MockShapeComponentRequests> boxShape(m_entity->GetId());
+    const AZ::Aabb bounds = AZ::Aabb::CreateFromMinMax(AZ::Vector3(boundsMin), AZ::Vector3(boundsMax));
+    ON_CALL(boxShape, GetEncompassingAabb).WillByDefault(Return(bounds));
+
+    AZ::Vector2 mockHeightResolution = AZ::Vector2(1.0f);
+    NiceMock<UnitTest::MockTerrainDataRequests> terrainListener;
+    ON_CALL(terrainListener, GetTerrainHeightQueryResolution).WillByDefault(Return(mockHeightResolution));
+
+    int32_t cols, rows;
+    Physics::HeightfieldProviderRequestsBus::Event(
+        m_entity->GetId(), &Physics::HeightfieldProviderRequestsBus::Events::GetHeightfieldGridSize, cols, rows);
+
+    // If the heightfield is not expanded to ensure it encompasses the shape bounds,
+    // the values returned would be 1023.
+    EXPECT_EQ(cols, 1024);
+    EXPECT_EQ(rows, 1024);
+
+    m_entity.reset();
+}
+
+TEST_F(TerrainPhysicsColliderComponentTest, TerrainPhysicsColliderExpandsMaxBoundsCorrectly)
+{
+    // Check that the heightfield grid is correctly expanded if the maximum value of the bounds needs expanding
+    // to correctly encompass it.
+    CreateEntity();
+
+    AddTerrainPhysicsColliderAndShapeComponentToEntity();
+
+    m_entity->Activate();
+
+    const float boundsMin = 0.0f;
+    const float boundsMax = 1023.5f;
+
+    NiceMock<UnitTest::MockShapeComponentRequests> boxShape(m_entity->GetId());
+    const AZ::Aabb bounds = AZ::Aabb::CreateFromMinMax(AZ::Vector3(boundsMin), AZ::Vector3(boundsMax));
+    ON_CALL(boxShape, GetEncompassingAabb).WillByDefault(Return(bounds));
+
+    AZ::Vector2 mockHeightResolution = AZ::Vector2(1.0f);
+    NiceMock<UnitTest::MockTerrainDataRequests> terrainListener;
+    ON_CALL(terrainListener, GetTerrainHeightQueryResolution).WillByDefault(Return(mockHeightResolution));
+
+    int32_t cols, rows;
+    Physics::HeightfieldProviderRequestsBus::Event(
+        m_entity->GetId(), &Physics::HeightfieldProviderRequestsBus::Events::GetHeightfieldGridSize, cols, rows);
+
+    // If the heightfield is not expanded to ensure it encompasses the shape bounds,
+    // the values returned would be 1023.
+    EXPECT_EQ(cols, 1024);
+    EXPECT_EQ(rows, 1024);
+
+    m_entity.reset();
+}
+
+TEST_F(TerrainPhysicsColliderComponentTest, TerrainPhysicsColliderGetHeightsReturnsHeights)
+{
+    // Check that the TerrainPhysicsCollider returns a heightfield of the expected size.
+    CreateEntity();
+
+    AddTerrainPhysicsColliderAndShapeComponentToEntity();
+
+    m_entity->Activate();
+
+    const float boundsMin = 0.0f;
+    const float boundsMax = 1024.0f;
+
+    NiceMock<UnitTest::MockShapeComponentRequests> boxShape(m_entity->GetId());
+    const AZ::Aabb bounds = AZ::Aabb::CreateFromMinMax(AZ::Vector3(boundsMin), AZ::Vector3(boundsMax));
+    ON_CALL(boxShape, GetEncompassingAabb).WillByDefault(Return(bounds));
+
+    AZ::Vector2 mockHeightResolution = AZ::Vector2(1.0f);
+    NiceMock<UnitTest::MockTerrainDataRequests> terrainListener;
+    ON_CALL(terrainListener, GetTerrainHeightQueryResolution).WillByDefault(Return(mockHeightResolution));
+
+    int32_t cols, rows;
+    Physics::HeightfieldProviderRequestsBus::Event(
+        m_entity->GetId(), &Physics::HeightfieldProviderRequestsBus::Events::GetHeightfieldGridSize, cols, rows);
+
+    AZStd::vector<float> heights;
+
+    Physics::HeightfieldProviderRequestsBus::EventResult(
+        heights, m_entity->GetId(), &Physics::HeightfieldProviderRequestsBus::Events::GetHeights);
+
+    EXPECT_EQ(cols, 1024);
+    EXPECT_EQ(rows, 1024);
+    EXPECT_EQ(heights.size(), cols * rows);
+   
+    m_entity.reset();
+}
+
+TEST_F(TerrainPhysicsColliderComponentTest, TerrainPhysicsColliderReturnsRelativeHeightsCorrectly)
+{
+    // Check that the values stored in the heightfield returned by the TerrainPhysicsCollider are correct.
+    CreateEntity();
+
+    AddTerrainPhysicsColliderAndShapeComponentToEntity();
+
+    m_entity->Activate();
+
+    const AZ::Vector3 boundsMin = AZ::Vector3(0.0f);
+    const AZ::Vector3 boundsMax = AZ::Vector3(256.0f, 256.0f, 32768.0f);
+
+    const float mockHeight = 32768.0f;
+    AZ::Vector2 mockHeightResolution = AZ::Vector2(1.0f);
+
+    NiceMock<UnitTest::MockTerrainDataRequests> terrainListener;
+    ON_CALL(terrainListener, GetHeightFromFloats).WillByDefault(Return(mockHeight));
+    ON_CALL(terrainListener, GetTerrainHeightQueryResolution).WillByDefault(Return(mockHeightResolution));
+
+    // Just return the bounds as setup. This is equivalent to the box being at the origin.
+    NiceMock<UnitTest::MockShapeComponentRequests> boxShape(m_entity->GetId());
+    const AZ::Aabb bounds = AZ::Aabb::CreateFromMinMax(AZ::Vector3(boundsMin), AZ::Vector3(boundsMax));
+    ON_CALL(boxShape, GetEncompassingAabb).WillByDefault(Return(bounds));
+
+    AZStd::vector<float> heights;
+
+    Physics::HeightfieldProviderRequestsBus::EventResult(heights, m_entity->GetId(), &Physics::HeightfieldProviderRequestsBus::Events::GetHeights);
+
+    ASSERT_FALSE(heights.empty());
+
+    const float expectedHeightValue = 16384.0f;
+    EXPECT_NEAR(heights[0], expectedHeightValue, 0.01f);
+
+    m_entity->Reset();
+}

Gems/Terrain/Code/Tests/TerrainSurfaceGradientListTests.cpp

@@ -0,0 +1,129 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+
+#include <Components/TerrainSurfaceGradientListComponent.h>
+#include <Terrain/MockTerrainLayerSpawner.h>
+#include <GradientSignal/Ebuses/MockGradientRequestBus.h>
+
+using ::testing::NiceMock;
+using ::testing::AtLeast;
+using ::testing::_;
+using ::testing::Return;
+
+namespace UnitTest
+{
+    class TerrainSurfaceGradientListTest : public ::testing::Test
+    {
+    protected:
+        AZ::ComponentApplication m_app;
+
+        AZStd::unique_ptr<AZ::Entity> m_entity;
+        UnitTest::MockTerrainLayerSpawnerComponent* m_layerSpawnerComponent = nullptr;
+        AZStd::unique_ptr<AZ::Entity> m_gradientEntity1, m_gradientEntity2;
+
+        const AZStd::string surfaceTag1 = "testtag1";
+        const AZStd::string surfaceTag2 = "testtag2";
+
+        void SetUp() override
+        {
+            AZ::ComponentApplication::Descriptor appDesc;
+            appDesc.m_memoryBlocksByteSize = 20 * 1024 * 1024;
+            appDesc.m_recordingMode = AZ::Debug::AllocationRecords::RECORD_NO_RECORDS;
+            appDesc.m_stackRecordLevels = 20;
+
+            m_app.Create(appDesc);
+
+            CreateEntities();
+        }
+
+        void TearDown() override
+        {
+            m_gradientEntity2.reset();
+            m_gradientEntity1.reset();
+            m_entity.reset();
+
+            m_app.Destroy();
+        }
+
+        void CreateEntities()
+        {
+            m_entity = AZStd::make_unique<AZ::Entity>();
+            ASSERT_TRUE(m_entity);
+
+            m_entity->Init();
+
+            m_gradientEntity1 = AZStd::make_unique<AZ::Entity>();
+            ASSERT_TRUE(m_gradientEntity1);
+
+            m_gradientEntity1->Init();
+
+            m_gradientEntity2 = AZStd::make_unique<AZ::Entity>();
+            ASSERT_TRUE(m_gradientEntity2);
+
+            m_gradientEntity2->Init();
+        }
+
+        void AddSurfaceGradientListToEntities()
+        {
+            m_layerSpawnerComponent = m_entity->CreateComponent<UnitTest::MockTerrainLayerSpawnerComponent>();
+            m_app.RegisterComponentDescriptor(m_layerSpawnerComponent->CreateDescriptor());
+
+            Terrain::TerrainSurfaceGradientListConfig config;
+
+            Terrain::TerrainSurfaceGradientMapping mapping1;
+            mapping1.m_gradientEntityId = m_gradientEntity1->GetId();
+            mapping1.m_surfaceTag = SurfaceData::SurfaceTag(surfaceTag1);
+            config.m_gradientSurfaceMappings.emplace_back(mapping1);
+
+            Terrain::TerrainSurfaceGradientMapping mapping2;
+            mapping2.m_gradientEntityId = m_gradientEntity2->GetId();
+            mapping2.m_surfaceTag = SurfaceData::SurfaceTag(surfaceTag2);
+            config.m_gradientSurfaceMappings.emplace_back(mapping2);
+
+            Terrain::TerrainSurfaceGradientListComponent* terrainSurfaceGradientListComponent =
+                m_entity->CreateComponent<Terrain::TerrainSurfaceGradientListComponent>(config);
+            m_app.RegisterComponentDescriptor(terrainSurfaceGradientListComponent->CreateDescriptor());
+        }
+    };
+
+    TEST_F(TerrainSurfaceGradientListTest, SurfaceGradientReturnsSurfaceWeightsInOrder)
+    {
+        // When there is more that one surface/weight defined and added to the component, they should all
+        // be returned in descending weight order.
+        AddSurfaceGradientListToEntities();
+
+        m_entity->Activate();
+        m_gradientEntity1->Activate();
+        m_gradientEntity2->Activate();
+
+        const float gradient1Value = 0.3f;
+        NiceMock<UnitTest::MockGradientRequests> mockGradientRequests1(m_gradientEntity1->GetId());
+        ON_CALL(mockGradientRequests1, GetValue).WillByDefault(Return(gradient1Value));
+
+        const float gradient2Value = 1.0f;
+        NiceMock<UnitTest::MockGradientRequests> mockGradientRequests2(m_gradientEntity2->GetId());
+        ON_CALL(mockGradientRequests2, GetValue).WillByDefault(Return(gradient2Value));
+
+        AzFramework::SurfaceData::OrderedSurfaceTagWeightSet weightSet;
+        Terrain::TerrainAreaSurfaceRequestBus::Event(
+            m_entity->GetId(), &Terrain::TerrainAreaSurfaceRequestBus::Events::GetSurfaceWeights, AZ::Vector3::CreateZero(), weightSet);
+
+        AZ::Crc32 expectedCrcList[] = { AZ::Crc32(surfaceTag2), AZ::Crc32(surfaceTag1) };
+        const float expectedWeightList[] = { gradient2Value, gradient1Value };
+
+        int index = 0;
+        for (const auto& surfaceWeight : weightSet)
+        {
+            EXPECT_EQ(surfaceWeight.m_surfaceType, expectedCrcList[index]);
+            EXPECT_NEAR(surfaceWeight.m_weight, expectedWeightList[index], 0.01f);
+            index++;
+        }
+    }
+} // namespace UnitTest
+
+

Gems/Terrain/Code/Tests/TerrainSystemTest.cpp

@@ -13,9 +13,10 @@
 
 #include <TerrainSystem/TerrainSystem.h>
 #include <Components/TerrainLayerSpawnerComponent.h>
-#include <Components/TerrainHeightGradientListComponent.h>
 
+#include <GradientSignal/Ebuses/MockGradientRequestBus.h>
 #include <Terrain/MockTerrain.h>
+#include <Terrain/MockTerrainAreaSurfaceRequestBus.h>
 #include <MockAxisAlignedBoxShapeComponent.h>
 
 using ::testing::AtLeast;
@@ -25,15 +26,18 @@ using ::testing::IsFalse;
 using ::testing::Ne;
 using ::testing::NiceMock;
 using ::testing::Return;
+using ::testing::SetArgReferee;
 
-class TerrainSystemTest : public ::testing::Test
+namespace UnitTest
 {
-protected:
+    class TerrainSystemTest : public ::testing::Test
+    {
+    protected:
         // Defines a structure for defining both an XY position and the expected height for that position.
         struct HeightTestPoint
         {
-        AZ::Vector2 m_testLocation;
-        float m_expectedHeight;
+            AZ::Vector2 m_testLocation = AZ::Vector2::CreateZero();
+            float m_expectedHeight = 0.0f;
         };
 
         AZ::ComponentApplication m_app;
@@ -43,7 +47,6 @@ protected:
         AZStd::unique_ptr<NiceMock<UnitTest::MockShapeComponentRequests>> m_shapeRequests;
         AZStd::unique_ptr<NiceMock<UnitTest::MockTerrainAreaHeightRequests>> m_terrainAreaHeightRequests;
 
-
         void SetUp() override
         {
             AZ::ComponentApplication::Descriptor appDesc;
@@ -105,10 +108,8 @@ protected:
             AZ::TickBus::Broadcast(&AZ::TickBus::Events::OnTick, 0.f, AZ::ScriptTimePoint{});
         }
 
-
         AZStd::unique_ptr<AZ::Entity> CreateAndActivateMockTerrainLayerSpawner(
-        const AZ::Aabb& spawnerBox,
-        const AZStd::function<void(AZ::Vector3& position, bool& terrainExists)>& mockHeights)
+            const AZ::Aabb& spawnerBox, const AZStd::function<void(AZ::Vector3& position, bool& terrainExists)>& mockHeights)
         {
             // Create the base entity with a mock box shape, Terrain Layer Spawner, and height provider.
             auto entity = CreateEntity();
@@ -137,26 +138,26 @@ protected:
             ActivateEntity(entity.get());
             return entity;
         }
-};
+    };
 
-TEST_F(TerrainSystemTest, TrivialCreateDestroy)
-{
+    TEST_F(TerrainSystemTest, TrivialCreateDestroy)
+    {
         // Trivially verify that the terrain system can successfully be constructed and destructed without errors.
 
         m_terrainSystem = AZStd::make_unique<Terrain::TerrainSystem>();
-}
+    }
 
-TEST_F(TerrainSystemTest, TrivialActivateDeactivate)
-{
+    TEST_F(TerrainSystemTest, TrivialActivateDeactivate)
+    {
         // Verify that the terrain system can be activated and deactivated without errors.
 
         m_terrainSystem = AZStd::make_unique<Terrain::TerrainSystem>();
         m_terrainSystem->Activate();
         m_terrainSystem->Deactivate();
-}
+    }
 
-TEST_F(TerrainSystemTest, CreateEventsCalledOnActivation)
-{
+    TEST_F(TerrainSystemTest, CreateEventsCalledOnActivation)
+    {
         // Verify that when the terrain system is activated, the OnTerrainDataCreate* ebus notifications are generated.
 
         NiceMock<UnitTest::MockTerrainDataNotificationListener> mockTerrainListener;
@@ -165,10 +166,10 @@ TEST_F(TerrainSystemTest, CreateEventsCalledOnActivation)
 
         m_terrainSystem = AZStd::make_unique<Terrain::TerrainSystem>();
         m_terrainSystem->Activate();
-}
+    }
 
-TEST_F(TerrainSystemTest, DestroyEventsCalledOnDeactivation)
-{
+    TEST_F(TerrainSystemTest, DestroyEventsCalledOnDeactivation)
+    {
         // Verify that when the terrain system is deactivated, the OnTerrainDataDestroy* ebus notifications are generated.
 
         NiceMock<UnitTest::MockTerrainDataNotificationListener> mockTerrainListener;
@@ -178,10 +179,10 @@ TEST_F(TerrainSystemTest, DestroyEventsCalledOnDeactivation)
         m_terrainSystem = AZStd::make_unique<Terrain::TerrainSystem>();
         m_terrainSystem->Activate();
         m_terrainSystem->Deactivate();
-}
+    }
 
-TEST_F(TerrainSystemTest, TerrainDoesNotExistWhenNoTerrainLayerSpawnersAreRegistered)
-{
+    TEST_F(TerrainSystemTest, TerrainDoesNotExistWhenNoTerrainLayerSpawnersAreRegistered)
+    {
         // For the terrain system, terrain should only exist where terrain layer spawners are present.
 
         // Verify that in the active terrain system, if there are no terrain layer spawners, any arbitrary point
@@ -201,13 +202,14 @@ TEST_F(TerrainSystemTest, TerrainDoesNotExistWhenNoTerrainLayerSpawnersAreRegist
             {
                 AZ::Vector3 position(x, y, 0.0f);
                 bool terrainExists = true;
-            float height = m_terrainSystem->GetHeight(position, AzFramework::Terrain::TerrainDataRequests::Sampler::EXACT, &terrainExists);
+                float height =
+                    m_terrainSystem->GetHeight(position, AzFramework::Terrain::TerrainDataRequests::Sampler::EXACT, &terrainExists);
                 EXPECT_FALSE(terrainExists);
                 EXPECT_FLOAT_EQ(height, worldBounds.GetMin().GetZ());
 
                 terrainExists = true;
-            AZ::Vector3 normal = m_terrainSystem->GetNormal(
-                position, AzFramework::Terrain::TerrainDataRequests::Sampler::EXACT, &terrainExists);
+                AZ::Vector3 normal =
+                    m_terrainSystem->GetNormal(position, AzFramework::Terrain::TerrainDataRequests::Sampler::EXACT, &terrainExists);
                 EXPECT_FALSE(terrainExists);
                 EXPECT_EQ(normal, AZ::Vector3::CreateAxisZ());
 
@@ -216,12 +218,12 @@ TEST_F(TerrainSystemTest, TerrainDoesNotExistWhenNoTerrainLayerSpawnersAreRegist
                 EXPECT_TRUE(isHole);
             }
         }
-}
+    }
 
-TEST_F(TerrainSystemTest, TerrainExistsOnlyWithinTerrainLayerSpawnerBounds)
-{
-    // Verify that the presence of a TerrainLayerSpawner causes terrain to exist in (and *only* in) the box where the TerrainLayerSpawner
-    // is defined.
+    TEST_F(TerrainSystemTest, TerrainExistsOnlyWithinTerrainLayerSpawnerBounds)
+    {
+        // Verify that the presence of a TerrainLayerSpawner causes terrain to exist in (and *only* in) the box where the
+        // TerrainLayerSpawner is defined.
 
         // The terrain system should only query Heights from the TerrainAreaHeightRequest bus within the
         // TerrainLayerSpawner region, and so those values should only get returned from GetHeight for queries inside that region.
@@ -244,9 +246,8 @@ TEST_F(TerrainSystemTest, TerrainExistsOnlyWithinTerrainLayerSpawnerBounds)
 
         // Create a box that's twice as big as the layer spawner box.  Loop through it and verify that points within the layer box contain
         // terrain and the expected height & normal values, and points outside the layer box don't contain terrain.
-    const AZ::Aabb encompassingBox =
-        AZ::Aabb::CreateFromMinMax(spawnerBox.GetMin() - (spawnerBox.GetExtents() / 2.0f),
-            spawnerBox.GetMax() + (spawnerBox.GetExtents() / 2.0f));
+        const AZ::Aabb encompassingBox = AZ::Aabb::CreateFromMinMax(
+            spawnerBox.GetMin() - (spawnerBox.GetExtents() / 2.0f), spawnerBox.GetMax() + (spawnerBox.GetExtents() / 2.0f));
 
         for (float y = encompassingBox.GetMin().GetY(); y < encompassingBox.GetMax().GetY(); y += 1.0f)
         {
@@ -254,8 +255,8 @@ TEST_F(TerrainSystemTest, TerrainExistsOnlyWithinTerrainLayerSpawnerBounds)
             {
                 AZ::Vector3 position(x, y, 0.0f);
                 bool heightQueryTerrainExists = false;
-            float height =
-                m_terrainSystem->GetHeight(position, AzFramework::Terrain::TerrainDataRequests::Sampler::EXACT, &heightQueryTerrainExists);
+                float height = m_terrainSystem->GetHeight(
+                    position, AzFramework::Terrain::TerrainDataRequests::Sampler::EXACT, &heightQueryTerrainExists);
                 bool isHole = m_terrainSystem->GetIsHoleFromFloats(
                     position.GetX(), position.GetY(), AzFramework::Terrain::TerrainDataRequests::Sampler::EXACT);
 
@@ -272,10 +273,10 @@ TEST_F(TerrainSystemTest, TerrainExistsOnlyWithinTerrainLayerSpawnerBounds)
                 }
             }
         }
-}
+    }
 
-TEST_F(TerrainSystemTest, TerrainHeightQueriesWithExactSamplersIgnoreQueryGrid)
-{
+    TEST_F(TerrainSystemTest, TerrainHeightQueriesWithExactSamplersIgnoreQueryGrid)
+    {
         // Verify that when using the "EXACT" height sampler, the returned heights come directly from the height provider at the exact
         // requested location, instead of the position being quantized to the height query grid.
 
@@ -313,8 +314,8 @@ TEST_F(TerrainSystemTest, TerrainHeightQueriesWithExactSamplersIgnoreQueryGrid)
             EXPECT_GT(fabsf(height), epsilon);
         }
 
-    // Test an arbitrary set of points that should all produce zero heights with the EXACT sampler, since they align with 0 points on the
-    // sine wave, regardless of whether or not they align to the query resolution.
+        // Test an arbitrary set of points that should all produce zero heights with the EXACT sampler, since they align with 0 points on
+        // the sine wave, regardless of whether or not they align to the query resolution.
         const AZ::Vector2 zeroPoints[] = { AZ::Vector2(0.5f), AZ::Vector2(1.0f), AZ::Vector2(5.0f), AZ::Vector2(7.5f) };
         for (auto& zeroPoint : zeroPoints)
         {
@@ -326,10 +327,10 @@ TEST_F(TerrainSystemTest, TerrainHeightQueriesWithExactSamplersIgnoreQueryGrid)
             constexpr float epsilon = 0.0001f;
             EXPECT_NEAR(height, 0.0f, epsilon);
         }
-}
+    }
 
-TEST_F(TerrainSystemTest, TerrainHeightQueriesWithClampSamplersUseQueryGrid)
-{
+    TEST_F(TerrainSystemTest, TerrainHeightQueriesWithClampSamplersUseQueryGrid)
+    {
         // Verify that when using the "CLAMP" height sampler, the requested location is quantized to the height query grid before fetching
         // the height.
 
@@ -344,14 +345,14 @@ TEST_F(TerrainSystemTest, TerrainHeightQueriesWithClampSamplersUseQueryGrid)
                 terrainExists = true;
             });
 
-    // Create and activate the terrain system with our testing defaults for world bounds, and a query resolution at 0.25 meter intervals.
+        // Create and activate the terrain system with our testing defaults for world bounds, and a query resolution at 0.25 meter
+        // intervals.
         const AZ::Vector2 queryResolution(0.25f);
         CreateAndActivateTerrainSystem(queryResolution);
 
         // Test some points and verify that the results always go "downward", whether they're in positive or negative space.
         // (Z contains the the expected result for convenience).
-    const HeightTestPoint testPoints[] =
-    {
+        const HeightTestPoint testPoints[] = {
             { AZ::Vector2(0.0f, 0.0f), 0.0f }, // Should return a height of 0.00 + 0.00
             { AZ::Vector2(0.3f, 0.3f), 0.5f }, // Should return a height of 0.25 + 0.25
             { AZ::Vector2(2.8f, 2.8f), 5.5f }, // Should return a height of 2.75 + 2.75
@@ -375,10 +376,10 @@ TEST_F(TerrainSystemTest, TerrainHeightQueriesWithClampSamplersUseQueryGrid)
             constexpr float epsilon = 0.0001f;
             EXPECT_NEAR(height, expectedHeight, epsilon);
         }
-}
+    }
 
-TEST_F(TerrainSystemTest, TerrainHeightQueriesWithBilinearSamplersUseQueryGridToInterpolate)
-{
+    TEST_F(TerrainSystemTest, TerrainHeightQueriesWithBilinearSamplersUseQueryGridToInterpolate)
+    {
         // Verify that when using the "BILINEAR" height sampler, the heights are interpolated from points sampled from the query grid.
 
         // Create a mock terrain layer spawner that uses a box of (-10,-10,-5) - (10,10,15) and generates a height equal
@@ -401,8 +402,8 @@ TEST_F(TerrainSystemTest, TerrainHeightQueriesWithBilinearSamplersUseQueryGridTo
 
                 // If either X or Y aren't evenly divisible by the query frequency, add a scaled value to our generated height.
                 // This will show up as an unexpected height "spike" if it gets used in any bilinear filter queries.
-            float unexpectedVariance = amplitudeMeters *
-                (fmodf(position.GetX(), frequencyMeters) + fmodf(position.GetY(), frequencyMeters));
+                float unexpectedVariance =
+                    amplitudeMeters * (fmodf(position.GetX(), frequencyMeters) + fmodf(position.GetY(), frequencyMeters));
                 position.SetZ(expectedHeight + unexpectedVariance);
                 terrainExists = true;
             });
@@ -465,11 +466,99 @@ TEST_F(TerrainSystemTest, TerrainHeightQueriesWithBilinearSamplersUseQueryGridTo
 
             AZ::Vector3 position(testPoint.m_testLocation.GetX(), testPoint.m_testLocation.GetY(), 0.0f);
             bool heightQueryTerrainExists = false;
-        float height =
-            m_terrainSystem->GetHeight(position, AzFramework::Terrain::TerrainDataRequests::Sampler::BILINEAR, &heightQueryTerrainExists);
+            float height = m_terrainSystem->GetHeight(
+                position, AzFramework::Terrain::TerrainDataRequests::Sampler::BILINEAR, &heightQueryTerrainExists);
 
             // Verify that our height query returned the bilinear filtered result we expect.
             constexpr float epsilon = 0.0001f;
             EXPECT_NEAR(height, expectedHeight, epsilon);
         }
-}
+    }
+
+    TEST_F(TerrainSystemTest, GetSurfaceWeightsReturnsAllValidSurfaceWeights)
+    {
+        CreateAndActivateTerrainSystem();
+
+        const AZ::Aabb aabb = AZ::Aabb::CreateFromMinMax(AZ::Vector3::CreateZero(), AZ::Vector3::CreateOne());
+        auto entity = CreateAndActivateMockTerrainLayerSpawner(
+            aabb,
+            [](AZ::Vector3& position, bool& terrainExists)
+            {
+                position.SetZ(1.0f);
+                terrainExists = true;
+            });
+
+        const AZ::Crc32 tag1("tag1");
+        const AZ::Crc32 tag2("tag2");
+
+        AzFramework::SurfaceData::OrderedSurfaceTagWeightSet orderedSurfaceWeights;
+
+        AzFramework::SurfaceData::SurfaceTagWeight tagWeight1;
+        tagWeight1.m_surfaceType = tag1;
+        tagWeight1.m_weight = 1.0f;
+        orderedSurfaceWeights.emplace(tagWeight1);
+
+        AzFramework::SurfaceData::SurfaceTagWeight tagWeight2;
+        tagWeight2.m_surfaceType = tag2;
+        tagWeight2.m_weight = 0.8f;
+        orderedSurfaceWeights.emplace(tagWeight2);
+
+        NiceMock<UnitTest::MockTerrainAreaSurfaceRequestBus> mockSurfaceRequests(entity->GetId());
+        ON_CALL(mockSurfaceRequests, GetSurfaceWeights).WillByDefault(SetArgReferee<1>(orderedSurfaceWeights));
+
+        AzFramework::SurfaceData::OrderedSurfaceTagWeightSet outSurfaceWeights;
+
+        // Asking for values outside the layer spawner bounds, should result in no results.
+        m_terrainSystem->GetSurfaceWeights(aabb.GetMax() + AZ::Vector3::CreateOne(), outSurfaceWeights);
+        EXPECT_TRUE(outSurfaceWeights.empty());
+
+        // Inside the layer spawner box should give us both the added surface weights.
+        m_terrainSystem->GetSurfaceWeights(aabb.GetCenter(), outSurfaceWeights);
+
+        EXPECT_EQ(outSurfaceWeights.size(), 2);
+    }
+
+    TEST_F(TerrainSystemTest, GetMaxSurfaceWeightsReturnsBiggestValidSurfaceWeight)
+    {
+        CreateAndActivateTerrainSystem();
+
+        const AZ::Aabb aabb = AZ::Aabb::CreateFromMinMax(AZ::Vector3::CreateZero(), AZ::Vector3::CreateOne());
+        auto entity = CreateAndActivateMockTerrainLayerSpawner(
+            aabb,
+            [](AZ::Vector3& position, bool& terrainExists)
+            {
+                position.SetZ(1.0f);
+                terrainExists = true;
+            });
+
+        const AZ::Crc32 tag1("tag1");
+        const AZ::Crc32 tag2("tag2");
+
+        AzFramework::SurfaceData::OrderedSurfaceTagWeightSet orderedSurfaceWeights;
+
+        AzFramework::SurfaceData::SurfaceTagWeight tagWeight1;
+        tagWeight1.m_surfaceType = tag1;
+        tagWeight1.m_weight = 1.0f;
+        orderedSurfaceWeights.emplace(tagWeight1);
+
+        AzFramework::SurfaceData::SurfaceTagWeight tagWeight2;
+        tagWeight2.m_surfaceType = tag2;
+        tagWeight2.m_weight = 0.8f;
+        orderedSurfaceWeights.emplace(tagWeight2);
+
+        NiceMock<UnitTest::MockTerrainAreaSurfaceRequestBus> mockSurfaceRequests(entity->GetId());
+        ON_CALL(mockSurfaceRequests, GetSurfaceWeights).WillByDefault(SetArgReferee<1>(orderedSurfaceWeights));
+
+        // Asking for values outside the layer spawner bounds, should result in an invalid result.
+        AzFramework::SurfaceData::SurfaceTagWeight tagWeight =
+            m_terrainSystem->GetMaxSurfaceWeight(aabb.GetMax() + AZ::Vector3::CreateOne());
+
+        EXPECT_EQ(tagWeight.m_surfaceType, AZ::Crc32(AzFramework::SurfaceData::Constants::s_unassignedTagName));
+
+        // Inside the layer spawner box should give us the highest weighted tag (tag1).
+        tagWeight = m_terrainSystem->GetMaxSurfaceWeight(aabb.GetCenter());
+
+        EXPECT_EQ(tagWeight.m_surfaceType, tagWeight1.m_surfaceType);
+        EXPECT_NEAR(tagWeight.m_weight, tagWeight1.m_weight, 0.01f);
+    }
+} // namespace UnitTest

Gems/Terrain/Code/terrain_editor_shared_files.cmake

@@ -11,6 +11,8 @@ set(FILES
     Source/EditorComponents/EditorTerrainHeightGradientListComponent.h
     Source/EditorComponents/EditorTerrainLayerSpawnerComponent.cpp
     Source/EditorComponents/EditorTerrainLayerSpawnerComponent.h
+    Source/EditorComponents/EditorTerrainPhysicsColliderComponent.cpp
+    Source/EditorComponents/EditorTerrainPhysicsColliderComponent.h
     Source/EditorComponents/EditorTerrainSurfaceGradientListComponent.cpp
     Source/EditorComponents/EditorTerrainSurfaceGradientListComponent.h
     Source/EditorComponents/EditorTerrainWorldComponent.cpp

Gems/Terrain/Code/terrain_files.cmake

@@ -12,6 +12,8 @@ set(FILES
     Source/Components/TerrainHeightGradientListComponent.h
     Source/Components/TerrainLayerSpawnerComponent.cpp
     Source/Components/TerrainLayerSpawnerComponent.h
+    Source/Components/TerrainPhysicsColliderComponent.cpp
+    Source/Components/TerrainPhysicsColliderComponent.h
     Source/Components/TerrainSurfaceDataSystemComponent.cpp
     Source/Components/TerrainSurfaceDataSystemComponent.h
     Source/Components/TerrainSurfaceGradientListComponent.cpp

Gems/Terrain/Code/terrain_mocks_files.cmake

@@ -8,4 +8,6 @@
 
 set(FILES
     Mocks/Terrain/MockTerrain.h
+    Mocks/Terrain/MockTerrainLayerSpawner.h
+    Mocks/Terrain/MockTerrainAreaSurfaceRequestBus.h
 )

Gems/Terrain/Code/terrain_tests_files.cmake

@@ -10,6 +10,9 @@ set(FILES
     Tests/TerrainTest.cpp
     Tests/TerrainSystemTest.cpp
     Tests/LayerSpawnerTests.cpp
+    Tests/TerrainPhysicsColliderTests.cpp
     Tests/SurfaceMaterialsListTest.cpp
     Tests/MockAxisAlignedBoxShapeComponent.h
+    Tests/TerrainHeightGradientListTests.cpp
+    Tests/TerrainSurfaceGradientListTests.cpp
 )