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Implement axis locking options for rigid bodies

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Linear and angular motion of rigid bodies can now be restricted along
specific world-space axes.

Signed-off-by: Ibtehaj Nadeem <81370835+ibtehajn@users.noreply.github.com>
This commit is contained in:
ibtehajn
2021-07-28 13:22:24 +01:00
committed by Ibtehaj Nadeem
parent d38f17131e
commit fd07f907bc
5 changed files with 105 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Code/Framework/AzFramework/AzFramework/Physics/Configuration/RigidBodyConfiguration.cpp
+6
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@@ -123,6 +123,12 @@ namespace AzPhysics
->Field("Kinematic", &RigidBodyConfiguration::m_kinematic)
->Field("CCD Enabled", &RigidBodyConfiguration::m_ccdEnabled)
->Field("Compute Mass", &RigidBodyConfiguration::m_computeMass)
->Field("Lock Linear X", &RigidBodyConfiguration::m_lockLinearX)
->Field("Lock Linear Y", &RigidBodyConfiguration::m_lockLinearY)
->Field("Lock Linear Z", &RigidBodyConfiguration::m_lockLinearZ)
->Field("Lock Angular X", &RigidBodyConfiguration::m_lockAngularX)
->Field("Lock Angular Y", &RigidBodyConfiguration::m_lockAngularY)
->Field("Lock Angular Z", &RigidBodyConfiguration::m_lockAngularZ)
->Field("Mass", &RigidBodyConfiguration::m_mass)
->Field("Compute COM", &RigidBodyConfiguration::m_computeCenterOfMass)
->Field("Centre of mass offset", &RigidBodyConfiguration::m_centerOfMassOffset)
Code/Framework/AzFramework/AzFramework/Physics/Configuration/RigidBodyConfiguration.h
+10
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@@ -62,6 +62,16 @@ namespace AzPhysics
bool m_computeInertiaTensor = true;
bool m_computeMass = true;
//! Flags to restrict motion along specific world-space axes.
bool m_lockLinearX = false;
bool m_lockLinearY = false;
bool m_lockLinearZ = false;
//! Flags to restrict rotation around specific world-space axes.
bool m_lockAngularX = false;
bool m_lockAngularY = false;
bool m_lockAngularZ = false;
//! If set, non-simulated shapes will also be included in the mass properties calculation.
bool m_includeAllShapesInMassCalculation = false;
Gems/PhysX/Code/Source/EditorRigidBodyComponent.cpp
+27
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@@ -156,6 +156,33 @@ namespace PhysX
->DataElement(AZ::Edit::UIHandlers::Default, &AzPhysics::RigidBodyConfiguration::m_kinematic,
"Kinematic", "Rigid body is kinematic")
->Attribute(AZ::Edit::Attributes::Visibility, &AzPhysics::RigidBodyConfiguration::GetKinematicVisibility)
// Linear axis locking properties
->ClassElement(AZ::Edit::ClassElements::Group, "Linear Axis Locking")
->Attribute(AZ::Edit::Attributes::AutoExpand, false)
->DataElement(
AZ::Edit::UIHandlers::Default, &AzPhysics::RigidBodyConfiguration::m_lockLinearX, "Lock X",
"Lock linear momentum in X direction")
->DataElement(
AZ::Edit::UIHandlers::Default, &AzPhysics::RigidBodyConfiguration::m_lockLinearY, "Lock Y",
"Lock linear momentum in Y direction")
->DataElement(
AZ::Edit::UIHandlers::Default, &AzPhysics::RigidBodyConfiguration::m_lockLinearZ, "Lock Z",
"Lock linear momentum in Z direction")
// Angular axis locking properties
->ClassElement(AZ::Edit::ClassElements::Group, "Angular Axis Locking")
->Attribute(AZ::Edit::Attributes::AutoExpand, false)
->DataElement(
AZ::Edit::UIHandlers::Default, &AzPhysics::RigidBodyConfiguration::m_lockAngularX, "Lock X",
"Lock angular momentum in X direction")
->DataElement(
AZ::Edit::UIHandlers::Default, &AzPhysics::RigidBodyConfiguration::m_lockAngularY, "Lock Y",
"Lock angular momentum in Y direction")
->DataElement(
AZ::Edit::UIHandlers::Default, &AzPhysics::RigidBodyConfiguration::m_lockAngularZ, "Lock Z",
"Lock angular momentum in Z direction")
->ClassElement(AZ::Edit::ClassElements::Group, "Continuous Collision Detection")
->Attribute(AZ::Edit::Attributes::AutoExpand, true)
->Attribute(AZ::Edit::Attributes::Visibility, &AzPhysics::RigidBodyConfiguration::GetCCDVisibility)
Gems/PhysX/Code/Source/Utils.cpp
+8
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@@ -1466,6 +1466,14 @@ namespace PhysX
rigidDynamic->setRigidBodyFlag(physx::PxRigidBodyFlag::eKINEMATIC, configuration.m_kinematic);
rigidDynamic->setMaxAngularVelocity(configuration.m_maxAngularVelocity);
// Set axis locks.
rigidDynamic->setRigidDynamicLockFlag(physx::PxRigidDynamicLockFlag::eLOCK_LINEAR_X, configuration.m_lockLinearX);
rigidDynamic->setRigidDynamicLockFlag(physx::PxRigidDynamicLockFlag::eLOCK_LINEAR_Y, configuration.m_lockLinearY);
rigidDynamic->setRigidDynamicLockFlag(physx::PxRigidDynamicLockFlag::eLOCK_LINEAR_Z, configuration.m_lockLinearZ);
rigidDynamic->setRigidDynamicLockFlag(physx::PxRigidDynamicLockFlag::eLOCK_ANGULAR_X, configuration.m_lockAngularX);
rigidDynamic->setRigidDynamicLockFlag(physx::PxRigidDynamicLockFlag::eLOCK_ANGULAR_Y, configuration.m_lockAngularY);
rigidDynamic->setRigidDynamicLockFlag(physx::PxRigidDynamicLockFlag::eLOCK_ANGULAR_Z, configuration.m_lockAngularZ);
return rigidDynamic;
}
Gems/PhysX/Code/Tests/PhysXSpecificTest.cpp
+54
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@@ -1102,6 +1102,60 @@ namespace PhysX
SanityCheckValidFrustumParams(points.value(), validHeight, validBottomRadius, validTopRadius, validSubdivisions);
}
TEST_F(PhysXSpecificTest, RigidBody_RigidBodyWithAxisLockFlagsCreated_InternalPhysXFlagsSetAccordingly)
{
// Helper function wrapping creation logic
auto CreateRigidBody = [this](bool linearX, bool linearY, bool linearZ, bool angularX, bool angularY, bool angularZ) -> AzPhysics::RigidBody*
{
AzPhysics::RigidBodyConfiguration rigidBodyConfig;
rigidBodyConfig.m_lockLinearX = linearX;
rigidBodyConfig.m_lockLinearY = linearY;
rigidBodyConfig.m_lockLinearZ = linearZ;
rigidBodyConfig.m_lockAngularX = angularX;
rigidBodyConfig.m_lockAngularY = angularY;
rigidBodyConfig.m_lockAngularZ = angularZ;
if (auto* sceneInterface = AZ::Interface<AzPhysics::SceneInterface>::Get())
{
AzPhysics::SimulatedBodyHandle simBodyHandle = sceneInterface->AddSimulatedBody(m_testSceneHandle, &rigidBodyConfig);
return azdynamic_cast<AzPhysics::RigidBody*>(sceneInterface->GetSimulatedBodyFromHandle(m_testSceneHandle, simBodyHandle));
}
return nullptr;
};
auto RemoveRigidBody = [this](AzPhysics::RigidBody*& rigidBody)
{
auto* sceneInterface = AZ::Interface<AzPhysics::SceneInterface>::Get();
if (rigidBody && sceneInterface)
{
sceneInterface->RemoveSimulatedBody(rigidBody->m_sceneOwner, rigidBody->m_bodyHandle);
}
rigidBody = nullptr;
};
auto TestLockFlags = [&CreateRigidBody, &RemoveRigidBody](bool linearX, bool linearY, bool linearZ,
bool angularX, bool angularY, bool angularZ,
physx::PxRigidDynamicLockFlags expectedFlags)
{
auto* rigidBody = CreateRigidBody(linearX, linearY, linearZ, angularX, angularY, angularZ);
ASSERT_TRUE(rigidBody != nullptr);
physx::PxRigidDynamic* pxRigidBody = static_cast<physx::PxRigidDynamic*>(rigidBody->GetNativePointer());
EXPECT_EQ(pxRigidBody->getRigidDynamicLockFlags(), expectedFlags);
RemoveRigidBody(rigidBody);
};
TestLockFlags(false, false, false, false, false, false, physx::PxRigidDynamicLockFlags(0));
TestLockFlags(true, false, false, false, false, false, physx::PxRigidDynamicLockFlags(physx::PxRigidDynamicLockFlag::eLOCK_LINEAR_X));
TestLockFlags(false, false, false, false, true, false, physx::PxRigidDynamicLockFlags(physx::PxRigidDynamicLockFlag::eLOCK_ANGULAR_Y));
TestLockFlags(false, true, false, false, false, true,
physx::PxRigidDynamicLockFlags(physx::PxRigidDynamicLockFlag::eLOCK_LINEAR_Y | physx::PxRigidDynamicLockFlag::eLOCK_ANGULAR_Z));
}
TEST_F(PhysXSpecificTest, RigidBody_RigidBodyWithSimulatedFlagsHitsPlane_OnlySimulatedShapeCollidesWithPlane)
{
// Helper function wrapping creation logic