Physics joints updated to the new API (#1361)

Co-authored-by: Ulugbek Adilbekov <ulugbek@amazon.com>
2021-06-17 15:52:27 +01:00
parent c46a17f3a6
commit 9f62d631fb
90 changed files with 2792 additions and 1665 deletions
@@ -31,6 +31,8 @@
 #include <PhysXCharacters/API/CharacterController.h>
 #include <PhysXCharacters/API/CharacterUtils.h>
 #include <System/PhysXSystem.h>
+#include <PhysX/Joint/Configuration/PhysXJointConfiguration.h>
+#include <Joint/PhysXJoint.h>

 namespace PhysX
 {
@@ -232,6 +234,18 @@ namespace PhysX
                scene->GetSceneHandle());
        }

+        template<class JointType, class ConfigurationType>
+        AzPhysics::Joint* CreateJoint(const ConfigurationType* configuration, 
+            AzPhysics::SceneHandle sceneHandle,
+            AzPhysics::SimulatedBodyHandle parentBodyHandle,
+            AzPhysics::SimulatedBodyHandle childBodyHandle, 
+            AZ::Crc32& crc)
+        {
+            JointType* newBody = aznew JointType(*configuration, sceneHandle, parentBodyHandle, childBodyHandle);
+            crc = AZ::Crc32(newBody, sizeof(*newBody));
+            return newBody;
+        }
+
        //helper to perform a ray cast
        AzPhysics::SceneQueryHits RayCast(const AzPhysics::RayCastRequest* raycastRequest,
            AZStd::vector<physx::PxRaycastHit>& raycastBuffer,
@@ -813,6 +827,90 @@ namespace PhysX
        }
    }

+    AzPhysics::JointHandle PhysXScene::AddJoint(const AzPhysics::JointConfiguration* jointConfig, 
+        AzPhysics::SimulatedBodyHandle parentBody, AzPhysics::SimulatedBodyHandle childBody) 
+    {
+        AzPhysics::Joint* newJoint = nullptr;
+        AZ::Crc32 newJointCrc;
+        if (azrtti_istypeof<PhysX::D6JointLimitConfiguration>(jointConfig))
+        {
+            newJoint = Internal::CreateJoint<PhysXD6Joint, D6JointLimitConfiguration>(
+                azdynamic_cast<const D6JointLimitConfiguration*>(jointConfig),
+                m_sceneHandle, parentBody, childBody, newJointCrc);
+        }
+        else if (azrtti_istypeof<PhysX::FixedJointConfiguration*>(jointConfig))
+        {
+            newJoint = Internal::CreateJoint<PhysXFixedJoint, FixedJointConfiguration>(
+                azdynamic_cast<const FixedJointConfiguration*>(jointConfig),
+                m_sceneHandle, parentBody, childBody, newJointCrc);
+        }
+        else if (azrtti_istypeof<PhysX::BallJointConfiguration*>(jointConfig))
+        {
+            newJoint = Internal::CreateJoint<PhysXBallJoint, BallJointConfiguration>(
+                azdynamic_cast<const BallJointConfiguration*>(jointConfig),
+                m_sceneHandle, parentBody, childBody, newJointCrc);
+        }
+        else if (azrtti_istypeof<PhysX::HingeJointConfiguration*>(jointConfig))
+        {
+            newJoint = Internal::CreateJoint<PhysXHingeJoint, HingeJointConfiguration>(
+                azdynamic_cast<const HingeJointConfiguration*>(jointConfig),
+                m_sceneHandle, parentBody, childBody, newJointCrc);
+        }
+        else
+        {
+            AZ_Warning("PhysXScene", false, "Unknown JointConfiguration.");
+            return AzPhysics::InvalidJointHandle;
+        }
+
+        if (newJoint != nullptr)
+        {
+            AzPhysics::JointIndex index = index = m_joints.size();
+            m_joints.emplace_back(newJointCrc, newJoint);
+
+            const AzPhysics::JointHandle newJointHandle(newJointCrc, index);
+            newJoint->m_sceneOwner = m_sceneHandle;
+            newJoint->m_jointHandle = newJointHandle;
+
+            return newJointHandle;
+        }
+
+        return AzPhysics::InvalidJointHandle;
+    }
+
+    AzPhysics::Joint* PhysXScene::GetJointFromHandle(AzPhysics::JointHandle jointHandle) 
+    {
+        if (jointHandle == AzPhysics::InvalidJointHandle)
+        {
+            return nullptr;
+        }
+
+        AzPhysics::JointIndex index = AZStd::get<AzPhysics::HandleTypeIndex::Index>(jointHandle);
+        if (index < m_joints.size()
+            && m_joints[index].first == AZStd::get<AzPhysics::HandleTypeIndex::Crc>(jointHandle))
+        {
+            return m_joints[index].second;
+        }
+        return nullptr;
+    }
+
+    void PhysXScene::RemoveJoint(AzPhysics::JointHandle jointHandle) 
+    {
+        if (jointHandle == AzPhysics::InvalidJointHandle)
+        {
+            return;
+        }
+        
+        AzPhysics::JointIndex index = AZStd::get<AzPhysics::HandleTypeIndex::Index>(jointHandle);
+        if (index < m_joints.size()
+            && m_joints[index].first == AZStd::get<AzPhysics::HandleTypeIndex::Crc>(jointHandle))
+        {
+            m_deferredDeletionsJoints.push_back(m_joints[index].second);
+            m_joints[index] = AZStd::make_pair(AZ::Crc32(), nullptr);
+            m_freeJointSlots.push(index);
+            jointHandle = AzPhysics::InvalidJointHandle;
+        }
+    }
+
    AzPhysics::SceneQueryHits PhysXScene::QueryScene(const AzPhysics::SceneQueryRequest* request)
    {
        if (request == nullptr)
@@ -996,6 +1094,13 @@ namespace PhysX
        {
            delete simulatedBody;
        }
+
+        AZStd::vector<AzPhysics::Joint*> jointDeletions;
+        jointDeletions.swap(m_deferredDeletionsJoints);
+        for (auto* joint : jointDeletions)
+        {
+            delete joint;
+        }
    }

    void PhysXScene::ProcessTriggerEvents()