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o3de/Gems/PhysX/Code/Source/World.cpp
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alexpete a10351f38d Initial commit
2021-03-08 14:30:57 -08:00

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/*
* All or portions of this file Copyright (c) Amazon.com, Inc. or its affiliates or
* its licensors.
*
* For complete copyright and license terms please see the LICENSE at the root of this
* distribution (the "License"). All use of this software is governed by the License,
* or, if provided, by the license below or the license accompanying this file. Do not
* remove or modify any license notices. This file is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
*
*/
#include <PhysX_precompiled.h>
#include <Source/World.h>
#include <AzCore/Debug/ProfilerBus.h>
#include <PhysX/MathConversion.h>
#include <Source/SystemComponent.h>
#include <PhysX/SystemComponentBus.h>
#include <PhysX/NativeTypeIdentifiers.h>
#include <AzFramework/Physics/WorldBody.h>
#include <AzFramework/Physics/WorldEventhandler.h>
#include <AzFramework/Physics/Collision/CollisionGroups.h>
#include <Source/RigidBody.h>
#include <Source/Collision.h>
#include <Source/Shape.h>
#include <PhysX/Utils.h>
#include <PhysX/TriggerEventCallback.h>
#include <AzFramework/Physics/CollisionNotificationBus.h>
#include <AzFramework/Physics/TriggerBus.h>
#include <PhysX/PhysXLocks.h>
namespace PhysX
{
/*static*/ thread_local AZStd::vector<physx::PxRaycastHit> World::s_raycastBuffer;
/*static*/ thread_local AZStd::vector<physx::PxSweepHit> World::s_sweepBuffer;
/*static*/ thread_local AZStd::vector<physx::PxOverlapHit> World::s_overlapBuffer;
// Helper function to convert AZ hit type to PhysX one.
static physx::PxQueryHitType::Enum GetPxHitType(Physics::QueryHitType hitType)
{
static_assert(static_cast<int>(Physics::QueryHitType::None) == static_cast<int>(physx::PxQueryHitType::eNONE) &&
static_cast<int>(Physics::QueryHitType::Touch) == static_cast<int>(physx::PxQueryHitType::eTOUCH) &&
static_cast<int>(Physics::QueryHitType::Block) == static_cast<int>(physx::PxQueryHitType::eBLOCK),
"PhysX hit types do not match QueryHitTypes");
return static_cast<physx::PxQueryHitType::Enum>(hitType);
}
//Helper class, responsible for filtering invalid collision candidates prior to more expensive narrow phase checks
class PhysXQueryFilterCallback
: public physx::PxQueryFilterCallback
{
public:
explicit PhysXQueryFilterCallback(const AzPhysics::CollisionGroup& collisionGroup, Physics::FilterCallback filterCallback, physx::PxQueryHitType::Enum hitType)
: m_filterCallback(AZStd::move(filterCallback))
, m_collisionGroup(collisionGroup)
, m_hitType(hitType)
{
}
//Performs game specific entity filtering
physx::PxQueryHitType::Enum preFilter([[maybe_unused]] const physx::PxFilterData& queryFilterData, const physx::PxShape* pxShape,
const physx::PxRigidActor* actor, [[maybe_unused]] physx::PxHitFlags& queryTypes) override
{
auto shapeFilterData = pxShape->getQueryFilterData();
if (m_collisionGroup.GetMask() & Collision::Combine(shapeFilterData.word0, shapeFilterData.word1))
{
if (m_filterCallback)
{
auto userData = Utils::GetUserData(actor);
auto shape = Utils::GetUserData(pxShape);
if (userData != nullptr && userData->GetEntityId().IsValid())
{
return GetPxHitType(m_filterCallback(userData->GetWorldBody(), shape));
}
}
else
{
return m_hitType;
}
}
return physx::PxQueryHitType::eNONE;
}
// Unused, we're only prefiltering at this time
physx::PxQueryHitType::Enum postFilter(const physx::PxFilterData&, const physx::PxQueryHit&) override
{
return physx::PxQueryHitType::eNONE;
}
private:
Physics::FilterCallback m_filterCallback;
AzPhysics::CollisionGroup m_collisionGroup;
physx::PxQueryHitType::Enum m_hitType;
};
World::World(AZ::Crc32 id, const Physics::WorldConfiguration& settings)
: m_worldId(id)
, m_maxDeltaTime(settings.m_maxTimeStep)
, m_fixedDeltaTime(settings.m_fixedTimeStep)
, m_maxRaycastBufferSize(settings.m_raycastBufferSize)
, m_maxSweepBufferSize(settings.m_sweepBufferSize)
, m_maxOverlapBufferSize(settings.m_overlapBufferSize)
{
Physics::WorldRequestBus::Handler::BusConnect(id);
physx::PxTolerancesScale tolerancesScale = physx::PxTolerancesScale();
physx::PxSceneDesc sceneDesc(tolerancesScale);
sceneDesc.gravity = PxMathConvert(settings.m_gravity);
if (settings.m_enableCcd)
{
sceneDesc.flags |= physx::PxSceneFlag::eENABLE_CCD;
sceneDesc.filterShader = Collision::DefaultFilterShaderCCD;
sceneDesc.ccdMaxPasses = settings.m_maxCcdPasses;
if (settings.m_enableCcdResweep)
{
sceneDesc.flags.clear(physx::PxSceneFlag::eDISABLE_CCD_RESWEEP);
}
else
{
sceneDesc.flags.set(physx::PxSceneFlag::eDISABLE_CCD_RESWEEP);
}
}
else
{
sceneDesc.filterShader = Collision::DefaultFilterShader;
}
if (settings.m_enableActiveActors)
{
sceneDesc.flags |= physx::PxSceneFlag::eENABLE_ACTIVE_ACTORS;
}
if (settings.m_enablePcm)
{
sceneDesc.flags |= physx::PxSceneFlag::eENABLE_PCM;
}
else
{
sceneDesc.flags &= ~physx::PxSceneFlag::eENABLE_PCM;
}
if (settings.m_kinematicFiltering)
{
sceneDesc.kineKineFilteringMode = physx::PxPairFilteringMode::eKEEP;
}
if (settings.m_kinematicStaticFiltering)
{
sceneDesc.staticKineFilteringMode = physx::PxPairFilteringMode::eKEEP;
}
sceneDesc.bounceThresholdVelocity = settings.m_bounceThresholdVelocity;
sceneDesc.filterCallback = this;
#ifdef ENABLE_TGS_SOLVER
// Use Temporal Gauss-Seidel solver by default
sceneDesc.solverType = physx::PxSolverType::eTGS;
#endif
SystemRequestsBus::BroadcastResult(m_world, &SystemRequests::CreateScene, sceneDesc);
m_world->userData = this;
physx::PxPvdSceneClient* pvdClient = m_world->getScenePvdClient();
if (pvdClient)
{
pvdClient->setScenePvdFlag(physx::PxPvdSceneFlag::eTRANSMIT_CONSTRAINTS, true);
pvdClient->setScenePvdFlag(physx::PxPvdSceneFlag::eTRANSMIT_CONTACTS, true);
pvdClient->setScenePvdFlag(physx::PxPvdSceneFlag::eTRANSMIT_SCENEQUERIES, true);
}
World::s_raycastBuffer = {};
World::s_sweepBuffer = {};
World::s_overlapBuffer = {};
Physics::SystemNotificationBus::Broadcast(&Physics::SystemNotificationBus::Events::OnWorldCreated, this);
}
World::~World()
{
Physics::WorldRequestBus::Handler::BusDisconnect();
m_deferredDeletions.clear();
Physics::SystemNotificationBus::Broadcast(&Physics::SystemNotificationBus::Events::OnPreWorldDestroy, this);
if (m_controllerManager)
{
m_controllerManager->release();
m_controllerManager = nullptr;
}
if (m_world)
{
m_world->release();
m_world = nullptr;
}
}
physx::PxControllerManager* World::GetOrCreateControllerManager()
{
if (m_controllerManager)
{
return m_controllerManager;
}
if (m_world)
{
m_controllerManager = PxCreateControllerManager(*m_world);
}
if (m_controllerManager)
{
m_controllerManager->setOverlapRecoveryModule(true);
}
else
{
AZ_Error("PhysX Character Controller System", false, "Unable to create a Controller Manager.");
}
return m_controllerManager;
}
static physx::PxQueryFlags GetPxQueryFlags(const Physics::QueryType& queryType)
{
physx::PxQueryFlags queryFlags = physx::PxQueryFlag::ePREFILTER;
switch (queryType)
{
case Physics::QueryType::StaticAndDynamic:
queryFlags |= physx::PxQueryFlag::eSTATIC | physx::PxQueryFlag::eDYNAMIC;
break;
case Physics::QueryType::Dynamic:
queryFlags |= physx::PxQueryFlag::eDYNAMIC;
break;
case Physics::QueryType::Static:
queryFlags |= physx::PxQueryFlag::eSTATIC;
break;
default:
AZ_Warning("Physics::World", false, "Unhandled queryType");
break;
}
return queryFlags;
}
// Helper function to make the filter callback always return Block unless the result is None.
// This is needed for queries where we only need the single closest result.
static Physics::FilterCallback GetBlockFilterCallback(const Physics::FilterCallback& filterCallback)
{
if (!filterCallback)
{
return nullptr;
}
return [filterCallback](const Physics::WorldBody* body, const Physics::Shape* shape)
{
if (filterCallback(body, shape) != Physics::QueryHitType::None)
{
return Physics::QueryHitType::Block;
}
else
{
return Physics::QueryHitType::None;
}
};
}
// Helper function to convert the Overlap Filter Callback returning bool to a standard Filter Callback returning QueryHitType
static Physics::FilterCallback GetFilterCallbackFromOverlap(const Physics::OverlapFilterCallback& overlapFilterCallback)
{
if (!overlapFilterCallback)
{
return nullptr;
}
return [overlapFilterCallback](const Physics::WorldBody* body, const Physics::Shape* shape)
{
if (overlapFilterCallback(body, shape))
{
return Physics::QueryHitType::Touch;
}
else
{
return Physics::QueryHitType::None;
}
};
}
Physics::RayCastHit World::RayCast(const Physics::RayCastRequest& request)
{
const auto orig = PxMathConvert(request.m_start);
const auto dir = PxMathConvert(request.m_direction);
// Query flags.
// Note: we specify eBLOCK here as we're only interested in the closest object. The touches field in the result will be invalid
const physx::PxQueryFlags queryFlags = GetPxQueryFlags(request.m_queryType);
const physx::PxQueryFilterData queryData(queryFlags);
const physx::PxHitFlags hitFlags = Utils::RayCast::GetPxHitFlags(request.m_hitFlags);
PhysXQueryFilterCallback queryFilterCallback(request.m_collisionGroup,
GetBlockFilterCallback(request.m_filterCallback), physx::PxQueryHitType::eBLOCK);
// Raycast
physx::PxRaycastBuffer castResult;
bool status = false;
{
PHYSX_SCENE_READ_LOCK(*m_world);
status = m_world->raycast(orig, dir, request.m_distance, castResult, hitFlags, queryData, &queryFilterCallback);
}
// Convert to generic API
Physics::RayCastHit hit;
if (status)
{
hit = Utils::RayCast::GetHitFromPxHit(castResult.block);
}
return hit;
}
AZStd::vector<Physics::RayCastHit> World::RayCastMultiple(const Physics::RayCastRequest& request)
{
const auto orig = PxMathConvert(request.m_start);
const auto dir = PxMathConvert(request.m_direction);
// Query flags.
// Note: we specify eTOUCH here as we're interested in all hits that intersect the ray.
const physx::PxQueryFlags queryFlags = GetPxQueryFlags(request.m_queryType);
const physx::PxQueryFilterData queryData(queryFlags);
const physx::PxHitFlags hitFlags = Utils::RayCast::GetPxHitFlags(request.m_hitFlags);
PhysXQueryFilterCallback queryFilterCallback(request.m_collisionGroup, request.m_filterCallback, physx::PxQueryHitType::eTOUCH);
//resize if needed
const AZ::u64 maxResults = AZ::GetMin(m_maxRaycastBufferSize, request.m_maxResults);
AZ_Warning("World", request.m_maxResults == maxResults, "Raycast request exceeded maximum set in PhysX Configuration. Max[%u] Requested[%u]", m_maxRaycastBufferSize, request.m_maxResults);
if (s_raycastBuffer.size() < maxResults)
{
s_raycastBuffer.resize(maxResults);
}
// Raycast
physx::PxRaycastBuffer castResult(s_raycastBuffer.begin(), aznumeric_cast<physx::PxU32>(maxResults));
bool status = false;
{
PHYSX_SCENE_READ_LOCK(*m_world);
status = m_world->raycast(orig, dir, request.m_distance, castResult, hitFlags, queryData, &queryFilterCallback);
}
// Convert to generic API
AZStd::vector<Physics::RayCastHit> hits;
if (status)
{
PHYSX_SCENE_READ_LOCK(*m_world);
if (castResult.hasBlock)
{
hits.push_back(Utils::RayCast::GetHitFromPxHit(castResult.block));
}
for (auto i = 0u; i < castResult.getNbTouches(); ++i)
{
const auto& pxHit = castResult.getTouch(i);
hits.push_back(Utils::RayCast::GetHitFromPxHit(pxHit));
}
}
return hits;
}
Physics::RayCastHit World::ShapeCast(const Physics::ShapeCastRequest& request)
{
const physx::PxTransform pose = PxMathConvert(request.m_start);
const physx::PxVec3 dir = PxMathConvert(request.m_direction);
const physx::PxQueryFlags queryFlags = GetPxQueryFlags(request.m_queryType);
const physx::PxQueryFilterData queryData(queryFlags);
const physx::PxHitFlags hitFlags = Utils::RayCast::GetPxHitFlags(request.m_hitFlags);
PhysXQueryFilterCallback queryFilterCallback(request.m_collisionGroup,
GetBlockFilterCallback(request.m_filterCallback), physx::PxQueryHitType::eBLOCK);
physx::PxGeometryHolder pxGeometry;
Utils::CreatePxGeometryFromConfig(*request.m_shapeConfiguration, pxGeometry);
Physics::RayCastHit hit;
if (pxGeometry.any().getType() == physx::PxGeometryType::eSPHERE ||
pxGeometry.any().getType() == physx::PxGeometryType::eBOX ||
pxGeometry.any().getType() == physx::PxGeometryType::eCAPSULE ||
pxGeometry.any().getType() == physx::PxGeometryType::eCONVEXMESH)
{
// Buffer to store results in.
physx::PxSweepBuffer pxResult;
bool status = false;
{
PHYSX_SCENE_READ_LOCK(*m_world);
status = m_world->sweep(pxGeometry.any(), pose, dir, request.m_distance, pxResult, hitFlags, queryData, &queryFilterCallback);
}
if (status)
{
hit = Utils::RayCast::GetHitFromPxHit(pxResult.block);
}
}
else
{
AZ_Warning("World", false, "Invalid geometry type passed to shape cast. Only sphere, box, capsule or convex mesh is supported");
}
return hit;
}
AZStd::vector<Physics::RayCastHit> World::ShapeCastMultiple(const Physics::ShapeCastRequest& request)
{
const physx::PxTransform pose = PxMathConvert(request.m_start);
const physx::PxVec3 dir = PxMathConvert(request.m_direction);
const physx::PxQueryFlags queryFlags = GetPxQueryFlags(request.m_queryType);
const physx::PxQueryFilterData queryData(queryFlags);
const physx::PxHitFlags hitFlags = Utils::RayCast::GetPxHitFlags(request.m_hitFlags);
PhysXQueryFilterCallback queryFilterCallback(request.m_collisionGroup, request.m_filterCallback, physx::PxQueryHitType::eTOUCH);
physx::PxGeometryHolder pxGeometry;
Utils::CreatePxGeometryFromConfig(*request.m_shapeConfiguration, pxGeometry);
AZStd::vector<Physics::RayCastHit> hits;
if (pxGeometry.any().getType() == physx::PxGeometryType::eSPHERE ||
pxGeometry.any().getType() == physx::PxGeometryType::eBOX ||
pxGeometry.any().getType() == physx::PxGeometryType::eCAPSULE ||
pxGeometry.any().getType() == physx::PxGeometryType::eCONVEXMESH)
{
//resize if needed
const AZ::u64 maxResults = AZ::GetMin(m_maxSweepBufferSize, request.m_maxResults);
AZ_Warning("World", request.m_maxResults == maxResults, "Shape cast request exceeded maximum set in PhysX Configuration. Max[%u] Requested[%u]", m_maxSweepBufferSize, request.m_maxResults);
if (s_sweepBuffer.size() < maxResults)
{
s_sweepBuffer.resize(maxResults);
}
// Buffer to store results
physx::PxSweepBuffer pxResult(s_sweepBuffer.begin(), aznumeric_cast<physx::PxU32>(maxResults));
bool status = false;
{
PHYSX_SCENE_READ_LOCK(*m_world);
status = m_world->sweep(pxGeometry.any(), pose, dir, request.m_distance, pxResult, hitFlags, queryData, &queryFilterCallback);
}
if (status)
{
if (pxResult.hasBlock)
{
hits.push_back(Utils::RayCast::GetHitFromPxHit(pxResult.block));
}
for (auto i = 0u; i < pxResult.getNbTouches(); ++i)
{
const auto& pxHit = pxResult.getTouch(i);
hits.push_back(Utils::RayCast::GetHitFromPxHit(pxHit));
}
}
}
else
{
AZ_Warning("World", false, "Invalid geometry type passed to shape cast. Only sphere, box, capsule or convex mesh is supported");
}
return hits;
}
AZStd::optional<Physics::OverlapHit> PxHitToLyHit(const physx::PxOverlapHit& hit)
{
if (auto userData = Utils::GetUserData(hit.actor))
{
Physics::OverlapHit resultHit;
resultHit.m_body = userData->GetWorldBody();
resultHit.m_shape = static_cast<PhysX::Shape*>(hit.shape->userData);
return resultHit;
}
else
{
return {};
}
}
bool OverlapGeneric(physx::PxScene* world, const Physics::OverlapRequest& request, physx::PxOverlapCallback& overlapCallback)
{
// Prepare overlap data
const physx::PxTransform pose = PxMathConvert(request.m_pose);
physx::PxGeometryHolder pxGeometry;
Utils::CreatePxGeometryFromConfig(*request.m_shapeConfiguration, pxGeometry);
const physx::PxQueryFlags queryFlags = GetPxQueryFlags(request.m_queryType);
const physx::PxQueryFilterData defaultFilterData(queryFlags);
PhysXQueryFilterCallback filterCallback(request.m_collisionGroup, GetFilterCallbackFromOverlap(request.m_filterCallback), physx::PxQueryHitType::eTOUCH);
bool status = false;
{
PHYSX_SCENE_READ_LOCK(*world);
status = world->overlap(pxGeometry.any(), pose, overlapCallback, defaultFilterData, &filterCallback);
}
return status;
}
AZStd::vector<Physics::OverlapHit> World::Overlap(const Physics::OverlapRequest& request)
{
//resize if needed
const AZ::u64 maxResults = AZ::GetMin(m_maxOverlapBufferSize, request.m_maxResults);
AZ_Warning("World", request.m_maxResults == maxResults, "Overlap request exceeded maximum set in PhysX Configuration. Max[%u] Requested[%u]", m_maxOverlapBufferSize, request.m_maxResults);
if (s_overlapBuffer.size() < maxResults)
{
s_overlapBuffer.resize(maxResults);
}
// Buffer to store results
physx::PxOverlapBuffer queryHits(s_overlapBuffer.begin(), aznumeric_cast<physx::PxU32>(maxResults));
const bool status = OverlapGeneric(m_world, request, queryHits);
AZStd::vector<Physics::OverlapHit> hits;
if (status)
{
// Process results
AZ::u32 hitNum = queryHits.getNbAnyHits();
hits.reserve(hitNum);
for (AZ::u32 i = 0; i < hitNum; ++i)
{
if (auto hit = PxHitToLyHit(queryHits.getAnyHit(i)))
{
hits.push_back(AZStd::move(*hit));
}
}
hits.shrink_to_fit();
}
return hits;
}
template<class LyHitType, class PhysXHitType>
struct LyHitCallback : public physx::PxHitCallback<PhysXHitType>
{
const Physics::HitCallback<LyHitType>& m_hitCallback;
LyHitCallback(const Physics::HitCallback<LyHitType>& hitCallback, AZStd::vector<PhysXHitType>& hitBuffer)
: m_hitCallback(hitCallback)
, physx::PxHitCallback<PhysXHitType>(hitBuffer.begin(), static_cast<physx::PxU32>(hitBuffer.size()))
{}
physx::PxAgain processTouches(const PhysXHitType* buffer, physx::PxU32 numHits) override
{
for (auto it = buffer; it != buffer+numHits; ++it)
{
if (auto hit = PxHitToLyHit(*it))
{
if (!m_hitCallback(AZStd::optional<LyHitType>(hit)))
{
return false;
}
}
}
return true;
};
void finalizeQuery() override
{
m_hitCallback({});
}
};
void World::OverlapUnbounded(const Physics::OverlapRequest& request, const Physics::HitCallback<Physics::OverlapHit>& hitCallback)
{
//resize if needed
const AZ::u64 maxResults = AZ::GetMin(m_maxOverlapBufferSize, request.m_maxResults);
if (s_overlapBuffer.size() < maxResults)
{
s_overlapBuffer.resize(maxResults);
}
LyHitCallback<Physics::OverlapHit, physx::PxOverlapHit> callback(hitCallback, s_overlapBuffer);
OverlapGeneric(m_world, request, callback);
}
physx::PxActor* GetPxActor(const Physics::WorldBody& worldBody)
{
if (worldBody.GetNativeType() != NativeTypeIdentifiers::RigidBody &&
worldBody.GetNativeType() != NativeTypeIdentifiers::RigidBodyStatic)
{
return nullptr;
}
return static_cast<physx::PxActor*>(worldBody.GetNativePointer());
}
AZStd::unordered_set<World::ActorPair>::iterator World::FindSuppressedPair(const physx::PxActor* actor0, const physx::PxActor* actor1)
{
auto iterator = m_suppressedCollisionPairs.find(AZStd::make_pair(actor0, actor1));
if (iterator != m_suppressedCollisionPairs.end())
{
return iterator;
}
// also check for the pair with the actors in the other order
return m_suppressedCollisionPairs.find(AZStd::make_pair(actor1, actor0));
}
void World::RegisterSuppressedCollision(const Physics::WorldBody& body0,
const Physics::WorldBody& body1)
{
physx::PxActor* actor0 = GetPxActor(body0);
physx::PxActor* actor1 = GetPxActor(body1);
if (actor0 && actor1)
{
if (FindSuppressedPair(actor0, actor1) == m_suppressedCollisionPairs.end())
{
m_suppressedCollisionPairs.insert(AZStd::make_pair(actor0, actor1));
}
}
}
void World::UnregisterSuppressedCollision(const Physics::WorldBody& body0,
const Physics::WorldBody& body1)
{
physx::PxActor* actor0 = GetPxActor(body0);
physx::PxActor* actor1 = GetPxActor(body1);
if (actor0 && actor1)
{
auto iterator = FindSuppressedPair(actor0, actor1);
if (iterator != m_suppressedCollisionPairs.end())
{
m_suppressedCollisionPairs.erase(*iterator);
}
}
}
void World::AddBody(Physics::WorldBody& body)
{
body.AddToWorld(*this);
}
void World::RemoveBody(Physics::WorldBody& body)
{
body.RemoveFromWorld(*this);
}
void World::SetSimFunc(std::function<void(void*)> func)
{
m_simFunc = func;
}
void World::StartSimulation(float deltaTime)
{
AZ_PROFILE_SCOPE(AZ::Debug::ProfileCategory::Physics, "World::StartSimulation");
{
AZ_PROFILE_SCOPE(AZ::Debug::ProfileCategory::Physics, "OnPrePhysicsSubtick");
Physics::WorldNotificationBus::Event(m_worldId, &Physics::WorldNotifications::OnPrePhysicsSubtick, deltaTime);
}
{
AZ_PROFILE_SCOPE(AZ::Debug::ProfileCategory::Physics, "PhysX::Simulate");
PHYSX_SCENE_WRITE_LOCK(*m_world);
// Performs simulation for the scene
m_world->simulate(deltaTime);
}
m_currentDeltaTime = deltaTime;
}
void World::FinishSimulation()
{
AZ_PROFILE_SCOPE(AZ::Debug::ProfileCategory::Physics, "World::FinishSimulation");
{
AZ_PROFILE_SCOPE(AZ::Debug::ProfileCategory::Physics, "PhysX::CheckResults");
// Wait for the simulation to complete.
// In the multithreaded environment we need to make sure we don't lock the scene for write here.
// This is because contact modification callbacks can be issued from the job threads and cause deadlock
// due to the callback code locking the scene.
// https://devtalk.nvidia.com/default/topic/1024408/pxcontactmodifycallback-and-pxscene-locking/
m_world->checkResults(true);
}
bool activeActorsEnabled = false;
{
AZ_PROFILE_SCOPE(AZ::Debug::ProfileCategory::Physics, "PhysX::FetchResults");
PHYSX_SCENE_WRITE_LOCK(*m_world);
activeActorsEnabled = m_world->getFlags() & physx::PxSceneFlag::eENABLE_ACTIVE_ACTORS;
// Swap the buffers, invoke callbacks, build the list of active actors.
m_world->fetchResults(true);
}
{
AZ_PROFILE_SCOPE(AZ::Debug::ProfileCategory::Physics, "PhysX::ExecuteCollisionNotifications");
Physics::CollisionNotificationBus::ExecuteQueuedEvents();
}
{
AZ_PROFILE_SCOPE(AZ::Debug::ProfileCategory::Physics, "PhysX::ExecuteTriggerNotifications");
Physics::TriggerNotificationBus::ExecuteQueuedEvents();
}
if (activeActorsEnabled && m_simFunc)
{
AZ_PROFILE_SCOPE(AZ::Debug::ProfileCategory::Physics, "PhysX::ActiveActors");
PHYSX_SCENE_READ_LOCK(*m_world);
physx::PxU32 numActiveActors = 0;
physx::PxActor** activeActors = m_world->getActiveActors(numActiveActors);
for (physx::PxU32 i = 0; i < numActiveActors; ++i)
{
m_simFunc(activeActors[i]);
}
}
{
AZ_PROFILE_SCOPE(AZ::Debug::ProfileCategory::Physics, "PhysX::OnPostPhysicsSubtick");
Physics::WorldNotificationBus::Event(m_worldId, &Physics::WorldNotifications::OnPostPhysicsSubtick, m_currentDeltaTime);
}
UpdateAzProfilerDataPoints();
m_deferredDeletions.clear();
}
void World::Update(float deltaTime)
{
AZ_PROFILE_FUNCTION(AZ::Debug::ProfileCategory::Physics);
auto simulateFetch = [this](float simDeltaTime)
{
StartSimulation(simDeltaTime);
FinishSimulation();
};
deltaTime = AZ::GetClamp(deltaTime, 0.0f, m_maxDeltaTime);
{
AZ_PROFILE_SCOPE(AZ::Debug::ProfileCategory::Physics, "OnPrePhysicsTick");
Physics::WorldNotificationBus::Event(m_worldId, &Physics::WorldNotifications::OnPrePhysicsTick, deltaTime);
}
if (m_fixedDeltaTime != 0.0f)
{
m_accumulatedTime += deltaTime;
while (m_accumulatedTime >= m_fixedDeltaTime)
{
simulateFetch(m_fixedDeltaTime);
m_accumulatedTime -= m_fixedDeltaTime;
}
}
else
{
simulateFetch(deltaTime);
}
{
AZ_PROFILE_SCOPE(AZ::Debug::ProfileCategory::Physics, "OnPostPhysicsTick");
Physics::WorldNotificationBus::Event(m_worldId, &Physics::WorldNotifications::OnPostPhysicsTick, deltaTime);
}
}
AZ::Crc32 World::GetNativeType() const
{
return PhysX::NativeTypeIdentifiers::World;
}
void* World::GetNativePointer() const
{
return m_world;
}
void World::SetEventHandler(Physics::WorldEventHandler* eventHandler)
{
PHYSX_SCENE_WRITE_LOCK(*m_world);
m_eventHandler = eventHandler;
if (m_eventHandler == nullptr && m_triggerCallback == nullptr)
{
m_world->setSimulationEventCallback(nullptr);
}
else if (m_triggerCallback == nullptr)
{
m_world->setSimulationEventCallback(this);
}
}
void World::SetTriggerEventCallback(Physics::ITriggerEventCallback* callback)
{
PHYSX_SCENE_WRITE_LOCK(*m_world);
m_triggerCallback = static_cast<IPhysxTriggerEventCallback*>(callback);
if (m_triggerCallback == nullptr && m_eventHandler == nullptr )
{
m_world->setSimulationEventCallback(nullptr);
}
else
{
m_world->setSimulationEventCallback(this);
}
}
// physx::PxSimulationFilterCallback
physx::PxFilterFlags World::pairFound([[maybe_unused]] physx::PxU32 pairId, [[maybe_unused]] physx::PxFilterObjectAttributes attributes0,
[[maybe_unused]] physx::PxFilterData filterData0, const physx::PxActor* actor0, [[maybe_unused]] const physx::PxShape* shape0,
[[maybe_unused]] physx::PxFilterObjectAttributes attributes1, [[maybe_unused]] physx::PxFilterData filterData1, const physx::PxActor* actor1,
[[maybe_unused]] const physx::PxShape* shape1, [[maybe_unused]] physx::PxPairFlags& pairFlags)
{
if (FindSuppressedPair(actor0, actor1) != m_suppressedCollisionPairs.end())
{
return physx::PxFilterFlag::eSUPPRESS;
}
return physx::PxFilterFlag::eDEFAULT;
}
void World::pairLost([[maybe_unused]] physx::PxU32 pairId, [[maybe_unused]] physx::PxFilterObjectAttributes attributes0, [[maybe_unused]] physx::PxFilterData filterData0,
[[maybe_unused]] physx::PxFilterObjectAttributes attributes1, [[maybe_unused]] physx::PxFilterData filterData1, [[maybe_unused]] bool objectRemoved)
{
}
bool World::statusChange([[maybe_unused]] physx::PxU32& pairId, [[maybe_unused]] physx::PxPairFlags& pairFlags, [[maybe_unused]] physx::PxFilterFlags& filterFlags)
{
return false;
}
// physx::PxSimulationEventCallback
void World::onConstraintBreak([[maybe_unused]] physx::PxConstraintInfo* constraints, [[maybe_unused]] physx::PxU32 count)
{
}
void World::onWake([[maybe_unused]] physx::PxActor** actors, [[maybe_unused]] physx::PxU32 count)
{
}
void World::onSleep([[maybe_unused]] physx::PxActor** actors, [[maybe_unused]] physx::PxU32 count)
{
}
void World::onContact(const physx::PxContactPairHeader& pairHeader, const physx::PxContactPair* pairs, physx::PxU32 nbPairs)
{
AZ_Assert(m_eventHandler != nullptr, "Event handler has not been set. This should not be possible, see World::SetEventHandler");
const bool body01Destroyed = pairHeader.flags & physx::PxContactPairHeaderFlag::eREMOVED_ACTOR_0;
const bool body02Destroyed = pairHeader.flags & physx::PxContactPairHeaderFlag::eREMOVED_ACTOR_1;
if (body01Destroyed || body02Destroyed)
{
// We can't report destroyed bodies at the moment.
return;
}
static const physx::PxU32 MaxPointsToReport = 10;
for (physx::PxU32 i = 0; i < nbPairs; i++)
{
auto contactPair = pairs[i];
auto flagsToNotify =
physx::PxPairFlag::eNOTIFY_TOUCH_FOUND |
physx::PxPairFlag::eNOTIFY_TOUCH_PERSISTS |
physx::PxPairFlag::eNOTIFY_TOUCH_LOST;
if (contactPair.events & flagsToNotify)
{
auto userData01 = Utils::GetUserData(pairHeader.actors[0]);
auto userData02 = Utils::GetUserData(pairHeader.actors[1]);
// Missing user data, or user data was invalid
if (!userData01 || !userData02)
{
AZ_Warning("PhysX::World", false, "Invalid user data set for objects Obj0:%p Obj1:%p", userData01, userData02);
continue;
}
Physics::WorldBody* body01 = userData01->GetWorldBody();
Physics::WorldBody* body02 = userData02->GetWorldBody();
if (!body01 || !body02)
{
AZ_Warning("PhysX::World", false, "Invalid body data set for objects Obj0:%p Obj1:%p", body01, body02);
continue;
}
Physics::Shape* shape01 = Utils::GetUserData(contactPair.shapes[0]);
Physics::Shape* shape02 = Utils::GetUserData(contactPair.shapes[1]);
if (!shape01 || !shape02)
{
AZ_Warning("PhysX::World", false, "Invalid shape userdata set for objects Obj0:%p Obj1:%p", shape01, shape02);
continue;
}
// Collision Event
Physics::CollisionEvent collision;
collision.m_body1 = body01;
collision.m_body2 = body02;
collision.m_shape1 = shape01;
collision.m_shape2 = shape02;
// Extract contacts for collision event
physx::PxContactPairPoint extractedPoints[MaxPointsToReport];
physx::PxU32 contactPointCount = contactPair.extractContacts(extractedPoints, MaxPointsToReport);
collision.m_contacts.resize(contactPointCount);
for (physx::PxU8 j = 0; j < contactPointCount; ++j)
{
auto point = extractedPoints[j];
collision.m_contacts[j].m_position = PxMathConvert(point.position);
collision.m_contacts[j].m_normal = PxMathConvert(point.normal);
collision.m_contacts[j].m_impulse = PxMathConvert(point.impulse);
collision.m_contacts[j].m_separation = point.separation;
collision.m_contacts[j].m_internalFaceIndex01 = point.internalFaceIndex0;
collision.m_contacts[j].m_internalFaceIndex02 = point.internalFaceIndex1;
}
if (contactPair.events & physx::PxPairFlag::eNOTIFY_TOUCH_FOUND)
{
m_eventHandler->OnCollisionBegin(collision);
AZStd::swap(collision.m_body1, collision.m_body2);
AZStd::swap(collision.m_shape1, collision.m_shape2);
m_eventHandler->OnCollisionBegin(collision);
}
else if (contactPair.events & physx::PxPairFlag::eNOTIFY_TOUCH_PERSISTS)
{
m_eventHandler->OnCollisionPersist(collision);
AZStd::swap(collision.m_body1, collision.m_body2);
AZStd::swap(collision.m_shape1, collision.m_shape2);
m_eventHandler->OnCollisionPersist(collision);
}
else if (contactPair.events & physx::PxPairFlag::eNOTIFY_TOUCH_LOST)
{
m_eventHandler->OnCollisionEnd(collision);
AZStd::swap(collision.m_body1, collision.m_body2);
AZStd::swap(collision.m_shape1, collision.m_shape2);
m_eventHandler->OnCollisionEnd(collision);
}
}
}
}
void World::onTrigger(physx::PxTriggerPair* pairs, physx::PxU32 count)
{
AZ_Assert( (m_eventHandler != nullptr) || (m_triggerCallback != nullptr), "Invalid event handlers");
for (physx::PxU32 i = 0; i < count; ++i)
{
physx::PxTriggerPair& triggerPair = pairs[i];
if (triggerPair.triggerActor->userData && triggerPair.otherActor->userData)
{
if (m_triggerCallback && m_triggerCallback->OnTriggerCallback(&triggerPair))
{
continue;
}
auto triggerBody = Utils::GetUserData(triggerPair.triggerActor)->GetWorldBody();
auto triggerShape = static_cast<PhysX::Shape*>(triggerPair.triggerShape->userData);
if( !triggerBody )
{
AZ_Error( "PhysX World", false, "onTrigger:: trigger body was invalid" );
continue;
}
auto otherBody = Utils::GetUserData(triggerPair.otherActor)->GetWorldBody();
auto otherShape = static_cast<PhysX::Shape*>(triggerPair.otherShape->userData);
if( !otherBody )
{
AZ_Error( "PhysX World", false, "onTrigger:: otherBody was invalid" );
continue;
}
if (triggerBody->GetEntityId().IsValid() && otherBody->GetEntityId().IsValid())
{
Physics::TriggerEvent triggerEvent;
triggerEvent.m_triggerBody = triggerBody;
triggerEvent.m_triggerShape = triggerShape;
triggerEvent.m_otherBody = otherBody;
triggerEvent.m_otherShape = otherShape;
if (triggerPair.status == physx::PxPairFlag::eNOTIFY_TOUCH_FOUND)
{
m_eventHandler->OnTriggerEnter(triggerEvent);
}
else if (triggerPair.status == physx::PxPairFlag::eNOTIFY_TOUCH_LOST)
{
m_eventHandler->OnTriggerExit(triggerEvent);
}
else
{
AZ_Warning("PhysX World", false, "onTrigger with status different from TOUCH_FOUND and TOUCH_LOST.");
}
}
else
{
AZ_Warning("PhysX World", false, "onTrigger received invalid actors.");
}
}
}
}
void World::onAdvance([[maybe_unused]] const physx::PxRigidBody*const* bodyBuffer, [[maybe_unused]] const physx::PxTransform* poseBuffer, [[maybe_unused]] const physx::PxU32 count)
{
}
AZ::Vector3 World::GetGravity() const
{
if (m_world)
{
PHYSX_SCENE_READ_LOCK(*m_world);
return PxMathConvert(m_world->getGravity());
}
return AZ::Vector3::CreateZero();
}
void World::SetGravity(const AZ::Vector3& gravity)
{
if (m_world)
{
PHYSX_SCENE_WRITE_LOCK(*m_world);
m_world->setGravity(PxMathConvert(gravity));
Physics::WorldNotificationBus::Event(m_worldId, &Physics::WorldNotifications::OnGravityChanged, gravity);
}
}
void World::SetMaxDeltaTime(float maxDeltaTime)
{
m_maxDeltaTime = maxDeltaTime;
}
void World::SetFixedDeltaTime(float fixedDeltaTime)
{
m_fixedDeltaTime = fixedDeltaTime;
}
void World::DeferDelete(AZStd::unique_ptr<Physics::WorldBody> worldBody)
{
m_deferredDeletions.push_back(AZStd::move(worldBody));
}
void World::UpdateAzProfilerDataPoints()
{
using physx::PxGeometryType;
bool isProfilingActive = false;
AZ::Debug::ProfilerRequestBus::BroadcastResult(isProfilingActive, &AZ::Debug::ProfilerRequests::IsActive);
if (!isProfilingActive)
{
return;
}
AZ_PROFILE_SCOPE(AZ::Debug::ProfileCategory::Physics, "PhysX::Statistics");
physx::PxSimulationStatistics stats;
{
PHYSX_SCENE_READ_LOCK(m_world);
m_world->getSimulationStatistics(stats);
}
const char* RootCategory = "PhysX/%s/%s";
const char* ShapesSubCategory = "Shapes";
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbShapes[PxGeometryType::eSPHERE], RootCategory, ShapesSubCategory, "Sphere");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbShapes[PxGeometryType::ePLANE], RootCategory, ShapesSubCategory, "Plane");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbShapes[PxGeometryType::eCAPSULE], RootCategory, ShapesSubCategory, "Capsule");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbShapes[PxGeometryType::eBOX], RootCategory, ShapesSubCategory, "Box");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbShapes[PxGeometryType::eCONVEXMESH], RootCategory, ShapesSubCategory, "ConvexMesh");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbShapes[PxGeometryType::eTRIANGLEMESH], RootCategory, ShapesSubCategory, "TriangleMesh");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbShapes[PxGeometryType::eHEIGHTFIELD], RootCategory, ShapesSubCategory, "Heightfield");
const char* ObjectsSubCategory = "Objects";
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbActiveConstraints, RootCategory, ObjectsSubCategory, "ActiveConstraints");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbActiveDynamicBodies, RootCategory, ObjectsSubCategory, "ActiveDynamicBodies");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbActiveKinematicBodies, RootCategory, ObjectsSubCategory, "ActiveKinematicBodies");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbStaticBodies, RootCategory, ObjectsSubCategory, "StaticBodies");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbDynamicBodies, RootCategory, ObjectsSubCategory, "DynamicBodies");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbKinematicBodies, RootCategory, ObjectsSubCategory, "KinematicBodies");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbAggregates, RootCategory, ObjectsSubCategory, "Aggregates");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbArticulations, RootCategory, ObjectsSubCategory, "Articulations");
const char* SolverSubCategory = "Solver";
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbAxisSolverConstraints, RootCategory, SolverSubCategory, "AxisSolverConstraints");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.compressedContactSize, RootCategory, SolverSubCategory, "CompressedContactSize");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.requiredContactConstraintMemory, RootCategory, SolverSubCategory, "RequiredContactConstraintMemory");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.peakConstraintMemory, RootCategory, SolverSubCategory, "PeakConstraintMemory");
const char* BroadphaseSubCategory = "Broadphase";
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.getNbBroadPhaseAdds(), RootCategory, BroadphaseSubCategory, "BroadPhaseAdds");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.getNbBroadPhaseRemoves(), RootCategory, BroadphaseSubCategory, "BroadPhaseRemoves");
// Compute pair stats for all geometry types
AZ::u32 ccdPairs = 0;
AZ::u32 modifiedPairs = 0;
AZ::u32 triggerPairs = 0;
for (AZ::u32 i = 0; i < PxGeometryType::eGEOMETRY_COUNT; i++)
{
// stat[i][j] = stat[j][i], hence, discarding the symmetric entries
for (AZ::u32 j = i; j < PxGeometryType::eGEOMETRY_COUNT; j++)
{
const PxGeometryType::Enum firstGeom = static_cast<PxGeometryType::Enum>(i);
const PxGeometryType::Enum secondGeom = static_cast<PxGeometryType::Enum>(j);
ccdPairs += stats.getRbPairStats(physx::PxSimulationStatistics::eCCD_PAIRS, firstGeom, secondGeom);
modifiedPairs += stats.getRbPairStats(physx::PxSimulationStatistics::eMODIFIED_CONTACT_PAIRS, firstGeom, secondGeom);
triggerPairs += stats.getRbPairStats(physx::PxSimulationStatistics::eTRIGGER_PAIRS, firstGeom, secondGeom);
}
}
const char* CollisionsSubCategory = "Collisions";
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, ccdPairs, RootCategory, CollisionsSubCategory, "CCDPairs");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, modifiedPairs, RootCategory, CollisionsSubCategory, "ModifiedPairs");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, triggerPairs, RootCategory, CollisionsSubCategory, "TriggerPairs");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbDiscreteContactPairsTotal, RootCategory, CollisionsSubCategory, "DiscreteContactPairsTotal");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbDiscreteContactPairsWithCacheHits, RootCategory, CollisionsSubCategory, "DiscreteContactPairsWithCacheHits");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbDiscreteContactPairsWithContacts, RootCategory, CollisionsSubCategory, "DiscreteContactPairsWithContacts");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbNewPairs, RootCategory, CollisionsSubCategory, "NewPairs");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbLostPairs, RootCategory, CollisionsSubCategory, "LostPairs");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbNewTouches, RootCategory, CollisionsSubCategory, "NewTouches");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbLostTouches, RootCategory, CollisionsSubCategory, "LostTouches");
AZ_PROFILE_DATAPOINT(AZ::Debug::ProfileCategory::Physics, stats.nbPartitions, RootCategory, CollisionsSubCategory, "Partitions");
}
} // namespace PhysX
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