apply feedback from PR

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

Gems/PhysX/Code/Source/PhysXCharacters/API/CharacterUtils.cpp

@@ -369,10 +369,10 @@ namespace PhysX
                         depth++;
                         if (depth > numNodes)
                         {
-                            AZ_Assert(false, "Loop detected in ragdoll configuration.");
+                            AZ_Error("PhysX Ragdoll", false, "Loop detected in hierarchy depth computation.");
                             return nodeDepths;
                         }
-                        size_t parentIndex = parentIndices[currentIndex];
+                        const size_t parentIndex = parentIndices[currentIndex];
 
                         if (parentIndex >= numNodes || nodeDepths[currentIndex].m_depth != -1)
                         {
@@ -384,7 +384,7 @@ namespace PhysX
                     }
 
                     currentIndex = nodeIndex;
-                    for (int i = depth; i >= 0 && currentIndex < numNodes; i--)
+                    for (int i = depth; i >= 0; i--)
                     {
                         nodeDepths[currentIndex] = { ancestorDepth + i, currentIndex };
                         currentIndex = parentIndices[currentIndex];

Gems/PhysX/Code/Source/PhysXCharacters/Components/RagdollComponent.cpp

@@ -141,12 +141,12 @@ namespace PhysX
         }
     }
 
-    bool RagdollComponent::IsJointProjectionVisible()
+    bool RagdollComponent::IsJointProjectionVisible() const
     {
         return m_enableJointProjection;
     }
 
-    bool RagdollComponent::IsMaxMassRatioVisible()
+    bool RagdollComponent::IsMaxMassRatioVisible() const
     {
         return m_enableMassRatioClamping;
     }
@@ -423,9 +423,10 @@ namespace PhysX
                 });
 
             bool massesClamped = false;
-            for (const auto [depth, nodeIndex] : nodeDepths)
+            for (const auto& nodeDepth : nodeDepths)
             {
-                size_t parentIndex = ragdollConfiguration.m_parentIndices[nodeIndex];
+                const size_t nodeIndex = nodeDepth.m_index;
+                const size_t parentIndex = ragdollConfiguration.m_parentIndices[nodeIndex];
                 if (parentIndex < numNodes)
                 {
                     AzPhysics::RigidBody& nodeRigidBody = ragdoll->GetNode(nodeIndex)->GetRigidBody();
@@ -438,7 +439,7 @@ namespace PhysX
                         const float clampedMass = AZStd::clamp(originalMass, minMass, maxMass);
                         nodeRigidBody.SetMass(clampedMass);
                         massesClamped = true;
-                        if (!AZ::IsCloseMag(originalMass, 0.0f))
+                        if (!AZ::IsClose(originalMass, 0.0f))
                         {
                             // scale the inertia proportionally to how the mass was modified
                             auto pxRigidBody = static_cast<physx::PxRigidDynamic*>(nodeRigidBody.GetNativePointer());

Gems/PhysX/Code/Source/PhysXCharacters/Components/RagdollComponent.h

@@ -103,8 +103,8 @@ namespace PhysX
         Ragdoll* GetPhysXRagdoll();
         const Ragdoll* GetPhysXRagdollConst() const;
 
-        bool IsJointProjectionVisible();
-        bool IsMaxMassRatioVisible();
+        bool IsJointProjectionVisible() const;
+        bool IsMaxMassRatioVisible() const;
 
         AzPhysics::SimulatedBodyHandle m_ragdollHandle = AzPhysics::InvalidSimulatedBodyHandle;
         AzPhysics::SceneHandle m_attachedSceneHandle = AzPhysics::InvalidSceneHandle;