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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
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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