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269 lines
14 KiB
C++
269 lines
14 KiB
C++
/*
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* Copyright (c) Contributors to the Open 3D Engine Project.
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* For complete copyright and license terms please see the LICENSE at the root of this distribution.
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*
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* SPDX-License-Identifier: Apache-2.0 OR MIT
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*
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*/
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#pragma once
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#include <PhysX/ForceRegionComponentBus.h>
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#include <AzCore/Math/Quaternion.h>
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#include <AzCore/Math/Transform.h>
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#include <AzCore/Math/Vector3.h>
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#include <AzFramework/Physics/Material.h>
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#include <AzFramework/Physics/Shape.h>
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#include <AzFramework/Physics/ShapeConfiguration.h>
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#include <AzCore/std/optional.h>
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#include <PxPhysicsAPI.h>
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namespace AzPhysics
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{
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class CollisionGroup;
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struct RigidBodyConfiguration;
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struct StaticRigidBodyConfiguration;
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struct StaticRigidBody;
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class Scene;
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}
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namespace Physics
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{
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class RigidBodyConfiguration;
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class ColliderConfiguration;
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class ShapeConfiguration;
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}
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namespace PhysX
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{
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class Shape;
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class ActorData;
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class Material;
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struct TerrainConfiguration;
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namespace Pipeline
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{
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class MeshAssetData;
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} // namespace Pipeline
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namespace Utils
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{
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bool CreatePxGeometryFromConfig(const Physics::ShapeConfiguration& shapeConfiguration, physx::PxGeometryHolder& pxGeometry);
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physx::PxShape* CreatePxShapeFromConfig(
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const Physics::ColliderConfiguration& colliderConfiguration,
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const Physics::ShapeConfiguration& shapeConfiguration,
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AzPhysics::CollisionGroup& assignedCollisionGroup
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);
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AzPhysics::Scene* GetDefaultScene();
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//! Creates a PhysX cooked mesh config from the given points.
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//!
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//! @param pointList Vector of points to build the mesh from.
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//! @param scale Scale to be assigned to the cooked mesh.
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//! @return Either a valid cooked mesh or none if the cooking failed.
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//!
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AZStd::optional<Physics::CookedMeshShapeConfiguration> CreatePxCookedMeshConfiguration(const AZStd::vector<AZ::Vector3>& pointList, const AZ::Vector3& scale);
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//! Returns whether a shape configuration describes a primitive shape such as a box or sphere, as opposed to mesh geometry.
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bool IsPrimitiveShape(const Physics::ShapeConfiguration& shapeConfig);
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//! Minimum and maximum values for the level of subdivision used when approximating capsules and spheres with convex meshes.
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//! The maximum value is chosen so that the number of faces and vertices generated by CreateConvexFromPrimitive will be within
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//! the limit imposed by PhysX (255).
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//! @{
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constexpr AZ::u8 MinCapsuleSubdivisionLevel = 1;
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constexpr AZ::u8 MaxCapsuleSubdivisionLevel = 5;
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//! @}
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AZStd::optional<Physics::CookedMeshShapeConfiguration> CreateConvexFromPrimitive(
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const Physics::ColliderConfiguration& colliderConfig,
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const Physics::ShapeConfiguration& primitiveShapeConfig, AZ::u8 subdivisionLevel, const AZ::Vector3& scale);
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// 255 is the hard limit for PhysX number of vertices/faces. Upper bound is set to something sensible and less than this hard limit.
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constexpr AZ::u8 MinFrustumSubdivisions = 3;
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constexpr AZ::u8 MaxFrustumSubdivisions = 125;
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//! Creates the points for a given frustum along the z axis as specified by the supplied arguements.
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//!
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//! @param height Height of the frustum. Must be greater than 0.
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//! @param bottomRadius Radius of bottom cace of frustum. Must be greater than 0 if topRadius is 0, otherwise can be 0.
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//! @param topRadius Radius of top face of frustum. Must be greater than 0 if bottompRadius is 0, otherwise can be 0.
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//! @param subdivisionsNumber of angular subdivisions. Must be between 3 and 125 inclusive.
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//! @return Either a valid point list or none if any of the arguements are invalid.
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//!
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AZStd::optional<AZStd::vector<AZ::Vector3>> CreatePointsAtFrustumExtents(float height, float bottomRadius, float topRadius, AZ::u8 subdivisions);
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AZStd::string ConvexCookingResultToString(physx::PxConvexMeshCookingResult::Enum convexCookingResultCode);
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AZStd::string TriMeshCookingResultToString(physx::PxTriangleMeshCookingResult::Enum triangleCookingResultCode);
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bool WriteCookedMeshToFile(const AZStd::string& filePath, const Pipeline::MeshAssetData& assetData);
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bool WriteCookedMeshToFile(const AZStd::string& filePath, const AZStd::vector<AZ::u8>& physxData,
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Physics::CookedMeshShapeConfiguration::MeshType meshType);
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bool CookConvexToPxOutputStream(const AZ::Vector3* vertices, AZ::u32 vertexCount, physx::PxOutputStream& stream);
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bool CookTriangleMeshToToPxOutputStream(const AZ::Vector3* vertices, AZ::u32 vertexCount,
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const AZ::u32* indices, AZ::u32 indexCount, physx::PxOutputStream& stream);
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bool MeshDataToPxGeometry(physx::PxBase* meshData, physx::PxGeometryHolder &pxGeometry, const AZ::Vector3& scale);
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//! Returns all connected busIds of the specified type.
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template<typename BusT>
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AZStd::vector<typename BusT::BusIdType> FindConnectedBusIds()
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{
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AZStd::vector<typename BusT::BusIdType> busIds;
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BusT::EnumerateHandlers([&busIds](typename BusT::Events* /*handler*/)
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{
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busIds.emplace_back(*BusT::GetCurrentBusId());
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return true;
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});
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return busIds;
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}
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//! Logs a warning message using the names of the entities provided.
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void WarnEntityNames(const AZStd::vector<AZ::EntityId>& entityIds, const char* category, const char* message);
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//! Logs a warning if there is more than one connected bus of the particular type.
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template<typename BusT>
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void LogWarningIfMultipleComponents(const char* messageCategroy, const char* messageFormat)
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{
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const auto entityIds = FindConnectedBusIds<BusT>();
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if (entityIds.size() > 1)
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{
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WarnEntityNames(entityIds, messageCategroy, messageFormat);
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}
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}
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//! Converts collider position and orientation offsets to a transform.
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AZ::Transform GetColliderLocalTransform(const AZ::Vector3& colliderRelativePosition
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, const AZ::Quaternion& colliderRelativeRotation);
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//! Gets the local transform for a collider (the position and rotation relative to its entity).
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AZ::Transform GetColliderLocalTransform(const AZ::EntityComponentIdPair& idPair);
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//! Combines collider position and orientation offsets and world transform to a transform.
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AZ::Transform GetColliderWorldTransform(const AZ::Transform& worldTransform
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, const AZ::Vector3& colliderRelativePosition
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, const AZ::Quaternion& colliderRelativeRotation);
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//! Converts points in a collider's local space to world space positions
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//! accounting for collider position and orientation offsets.
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void ColliderPointsLocalToWorld(AZStd::vector<AZ::Vector3>& pointsInOut
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, const AZ::Transform& worldTransform
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, const AZ::Vector3& colliderRelativePosition
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, const AZ::Quaternion& colliderRelativeRotation
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, const AZ::Vector3& nonUniformScale);
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//! Returns AABB of collider by constructing PxGeometry from collider and shape configuration,
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//! and invoking physx::PxGeometryQuery::getWorldBounds.
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//! This function is used only by editor components.
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AZ::Aabb GetColliderAabb(const AZ::Transform& worldTransform
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, bool hasNonUniformScale
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, AZ::u8 subdivisionLevel
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, const ::Physics::ShapeConfiguration& shapeConfiguration
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, const ::Physics::ColliderConfiguration& colliderConfiguration);
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bool TriggerColliderExists(AZ::EntityId entityId);
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void GetShapesFromAsset(const Physics::PhysicsAssetShapeConfiguration& assetConfiguration,
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const Physics::ColliderConfiguration& originalColliderConfiguration, bool hasNonUniformScale,
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AZ::u8 subdivisionLevel, AZStd::vector<AZStd::shared_ptr<Physics::Shape>>& resultingShapes);
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void GetColliderShapeConfigsFromAsset(const Physics::PhysicsAssetShapeConfiguration& assetConfiguration,
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const Physics::ColliderConfiguration& originalColliderConfiguration,
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bool hasNonUniformScale, AZ::u8 subdivisionLevel, AzPhysics::ShapeColliderPairList& resultingColliderShapes);
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//! Gets the scale from the entity's Transform component.
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AZ::Vector3 GetTransformScale(AZ::EntityId entityId);
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//! Returns a vector scale with each element equal to the max element from the entity's Transform component.
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AZ::Vector3 GetUniformScale(AZ::EntityId entityId);
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//! Gets the scale from the entity's Non-Uniform Scale component, if it is present.
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//! Otherwise (1, 1, 1) is returned.
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AZ::Vector3 GetNonUniformScale(AZ::EntityId entityId);
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//! Gets the overall scale, taking into account the scale from both the entity's Transform component and the
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//! Non-Uniform Scale component, if it is present.
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AZ::Vector3 GetOverallScale(AZ::EntityId entityId);
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//! Returns defaultValue if the input is infinite or NaN, otherwise returns the input unchanged.
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const AZ::Vector3& Sanitize(const AZ::Vector3& input, const AZ::Vector3& defaultValue = AZ::Vector3::CreateZero());
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AZStd::pair<uint8_t, uint8_t> GetPhysXMaterialIndicesFromHeightfieldSamples(
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const AZStd::vector<Physics::HeightMaterialPoint>& samples,
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const int32_t row, const int32_t col,
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const int32_t numRows, const int32_t numCols);
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Physics::HeightfieldShapeConfiguration CreateHeightfieldShapeConfiguration(AZ::EntityId entityId);
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void SetMaterialsFromHeightfieldProvider(const AZ::EntityId& heightfieldProviderId, Physics::MaterialSelection& materialSelection);
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namespace Geometry
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{
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using PointList = AZStd::vector<AZ::Vector3>;
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//! Generates a list of points on a box.
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PointList GenerateBoxPoints(const AZ::Vector3& min, const AZ::Vector3& max);
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//! Generates a list of points on the surface of a sphere.
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PointList GenerateSpherePoints(float radius);
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//! Generates a list of points on the surface of a cylinder.
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PointList GenerateCylinderPoints(float height, float radius);
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//! Generates vertices and indices representing the provided box geometry
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void GetBoxGeometry(const physx::PxBoxGeometry& geometry, AZStd::vector<AZ::Vector3>& vertices, AZStd::vector<AZ::u32>& indices);
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//! Generates vertices and indices representing the provided capsule geometry
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void GetCapsuleGeometry(const physx::PxCapsuleGeometry& geometry, AZStd::vector<AZ::Vector3>& vertices, AZStd::vector<AZ::u32>& indices, const AZ::u32 stacks, const AZ::u32 slices);
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//! Generates vertices and indices representing the provided convex mesh geometry
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void GetConvexMeshGeometry(const physx::PxConvexMeshGeometry& geometry, AZStd::vector<AZ::Vector3>& vertices, AZStd::vector<AZ::u32>& indices);
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//! Generates vertices and indices representing the provided heightfield geometry, optionally limited to a bounding box
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void GetHeightFieldGeometry(const physx::PxHeightFieldGeometry& geometry, AZStd::vector<AZ::Vector3>& vertices, AZStd::vector<AZ::u32>& indices, AZ::Aabb* optionalBounds);
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//! Generates vertices and indices representing the provided sphere geometry and optional stacks and slices
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void GetSphereGeometry(const physx::PxSphereGeometry& geometry, AZStd::vector<AZ::Vector3>& vertices, AZStd::vector<AZ::u32>& indices, const AZ::u32 stacks, const AZ::u32 slices);
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//! Generates vertices and indices representing the provided triangle mesh geometry
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void GetTriangleMeshGeometry(const physx::PxTriangleMeshGeometry& geometry, AZStd::vector<AZ::Vector3>& vertices, AZStd::vector<AZ::u32>& indices);
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} // namespace Geometry
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//! Returns the World transform of an entity with scale.
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//! This can be used if ComputeJointLocalTransform will be invoked with the result as an argument since ComputeJointLocalTransform will remove scale.
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AZ::Transform GetEntityWorldTransformWithScale(AZ::EntityId entityId);
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//! Returns the World transform of an entity without scale.
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AZ::Transform GetEntityWorldTransformWithoutScale(AZ::EntityId entityId);
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//! Computes the local transform of joint from an entity given the joint's world transform and the entity's world transform.
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AZ::Transform ComputeJointLocalTransform(const AZ::Transform& jointWorldTransform,
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const AZ::Transform& entityWorldTransform);
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//! Computes the world transform of joint given the joint's local transform from an entity and the entity's world transform.
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AZ::Transform ComputeJointWorldTransform(const AZ::Transform& jointLocalTransform,
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const AZ::Transform& entityWorldTransform);
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} // namespace Utils
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namespace ReflectionUtils
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{
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//! Reflect API specific to PhysX physics. Generic physics API should be reflected in Physics::ReflectionUtils::ReflectPhysicsApi.
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void ReflectPhysXOnlyApi(AZ::ReflectContext* context);
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} // namespace ReflectionUtils
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namespace PxActorFactories
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{
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AZStd::shared_ptr<physx::PxRigidDynamic> CreatePxRigidBody(const AzPhysics::RigidBodyConfiguration& configuration);
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AZStd::shared_ptr<physx::PxRigidStatic> CreatePxStaticRigidBody(const AzPhysics::StaticRigidBodyConfiguration& configuration);
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} // namespace PxActorFactories
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namespace StaticRigidBodyUtils
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{
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bool CanCreateRuntimeComponent(const AZ::Entity& editorEntity);
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bool TryCreateRuntimeComponent(const AZ::Entity& editorEntity, AZ::Entity& gameEntity);
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} // namespace StaticRigidBodyComponent
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} // namespace PhysX
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