moraaar
3b9762142a
Using triangle mesh with a kinematic rigid body is allowed, but the options "Compute COM", "Compute Mass" and "Compute Inertia" are not supported by PhysX and an error in logged that default values for COM, Mass and Inertia will be used. Now this situation is captured and an explanatory warning is used instead. - Improved RigidBody::UpdateMassProperties function to apply the same logic in the treatment of shapes for all three parameters: COM, Mass and Inertia. - Improved UpdateMassProperties function by using references for the override parameters instead of pointers. - Improved function that computes the Center of Mass UpdateCenterOfMass (renamed from UpdateComputedCenterOfMass), to include the same shapes that the compute mass and inertia functions in physx updateMassAndInertia, which is to include all shapes if includeAllShapesInMassCalculation is true, else include only the shapes with eSIMULATION_SHAPE flag. - Removed unused private function RigidBody::ComputeInertia. - Added unit test to check when the warnings are fired correctly when COM, Mass or Inertia are asked to be computed on a rigid body with triangle mesh shapes. - Improved MassComputeFixture tests by not only using Box shape, but also sphere and capture, plus improved the PossibleMassComputeFlags parameters to include all possible variations of the MassComputeFlags flags. Fixes #3322 Fixes #3979 Signed-off-by: moraaar <moraaar@amazon.com>
142 lines
7.2 KiB
C++
142 lines
7.2 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 <AzCore/Asset/AssetCommon.h>
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#include <AzCore/std/containers/vector.h>
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#include <AzCore/std/smart_ptr/shared_ptr.h>
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#include <AzCore/std/smart_ptr/make_shared.h>
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#include <AzFramework/Physics/Material.h>
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#include <AzFramework/Physics/Common/PhysicsTypes.h>
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#include <PhysX/HeightFieldAsset.h>
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#include <BoxColliderComponent.h>
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#include <Configuration/PhysXSettingsRegistryManager.h>
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namespace AzPhysics
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{
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struct RigidBody;
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class Scene;
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struct StaticRigidBody;
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}
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namespace PhysX
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{
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using EntityPtr = AZStd::shared_ptr<AZ::Entity>;
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using PointList = AZStd::vector<AZ::Vector3>;
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using VertexIndexData = AZStd::pair<PointList, AZStd::vector<AZ::u32>>;
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namespace TestUtils
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{
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//Don't load the registry files from disk, just return defaults.
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//save functions not overloaded as they don't do any saving
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class Test_PhysXSettingsRegistryManager : public PhysXSettingsRegistryManager
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{
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public:
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AZStd::optional<PhysXSystemConfiguration> LoadSystemConfiguration() const override;
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AZStd::optional<AzPhysics::SceneConfiguration> LoadDefaultSceneConfiguration() const override;
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AZStd::optional<Debug::DebugConfiguration> LoadDebugConfiguration() const override;
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};
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void ResetPhysXSystem();
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// Updates the default world
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void UpdateScene(AzPhysics::Scene* scene, float timeStep, AZ::u32 numSteps);
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void UpdateScene(AzPhysics::SceneHandle sceneHandle, float timeStep, AZ::u32 numSteps);
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// Create a flat "Terrain" for testing
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EntityPtr CreateFlatTestTerrain(AzPhysics::SceneHandle sceneHandle, float width = 1.0f, float depth = 1.0f);
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// Create spheres
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EntityPtr CreateSphereEntity(AzPhysics::SceneHandle sceneHandle, const AZ::Vector3& position,
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const float radius, const AzPhysics::CollisionLayer& layer = AzPhysics::CollisionLayer::Default);
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EntityPtr CreateSphereEntity(AzPhysics::SceneHandle sceneHandle, const AZ::Vector3& position,
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const float radius, const AZStd::shared_ptr<Physics::ColliderConfiguration>& colliderConfig);
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// Create static spheres
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EntityPtr CreateStaticSphereEntity(AzPhysics::SceneHandle sceneHandle,
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const AZ::Vector3& position,
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const float radius,
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const AzPhysics::CollisionLayer& layer = AzPhysics::CollisionLayer::Default);
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// Create dynamic boxes
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EntityPtr CreateBoxEntity(AzPhysics::SceneHandle sceneHandle, const AZ::Vector3& position, const AZ::Vector3& dimensions,
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const AzPhysics::CollisionLayer& layer = AzPhysics::CollisionLayer::Default, bool isTrigger = false);
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EntityPtr CreateBoxEntity(AzPhysics::SceneHandle sceneHandle, const AZ::Vector3& position, const AZ::Vector3& dimensions,
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const AZStd::shared_ptr<Physics::ColliderConfiguration>& colliderConfig);
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// Create static boxes
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EntityPtr CreateStaticBoxEntity(AzPhysics::SceneHandle sceneHandle, const AZ::Vector3& position,
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const AZ::Vector3& dimensions = AZ::Vector3(1.0f),
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const AzPhysics::CollisionLayer& layer = AzPhysics::CollisionLayer::Default);
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// Create Capsules
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EntityPtr CreateCapsuleEntity(AzPhysics::SceneHandle sceneHandle, const AZ::Vector3& position,
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const float height, const float radius,
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const AzPhysics::CollisionLayer& layer = AzPhysics::CollisionLayer::Default);
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// Create static Capsules
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EntityPtr CreateStaticCapsuleEntity(AzPhysics::SceneHandle sceneHandle, const AZ::Vector3& position,
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const float height, const float radius,
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const AzPhysics::CollisionLayer& layer = AzPhysics::CollisionLayer::Default);
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AzPhysics::SimulatedBodyHandle AddStaticTriangleMeshCubeToScene(AzPhysics::SceneHandle scene, float halfExtent);
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AzPhysics::SimulatedBodyHandle AddKinematicTriangleMeshCubeToScene(AzPhysics::SceneHandle scene, float halfExtent, AzPhysics::MassComputeFlags massComputeFlags);
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// Collision Filtering
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void SetCollisionLayer(EntityPtr& entity, const AZStd::string& layerName, const AZStd::string& colliderTag = "");
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void SetCollisionGroup(EntityPtr& entity, const AZStd::string& groupName, const AZStd::string& colliderTag = "");
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void ToggleCollisionLayer(EntityPtr& entity, const AZStd::string& layerName, bool enabled, const AZStd::string& colliderTag = "");
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// Generic creation functions
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template<typename ColliderType = BoxColliderComponent>
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EntityPtr AddUnitTestObject(AzPhysics::SceneHandle sceneHandle, const AZ::Vector3& position, const char* name = "TestObjectEntity");
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template<typename ColliderType = BoxColliderComponent>
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EntityPtr AddStaticUnitTestObject(AzPhysics::SceneHandle sceneHandle, const AZ::Vector3& position, const char* name = "TestObjectEntity");
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template<typename ColliderT>
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EntityPtr CreateTriggerAtPosition(const AZ::Vector3& position);
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template<typename ColliderT>
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EntityPtr CreateDynamicTriggerAtPosition(const AZ::Vector3& position);
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// Misc
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EntityPtr AddUnitTestBoxComponentsMix(AzPhysics::SceneHandle sceneHandle, const AZ::Vector3& position, const char* name = "TestBoxEntity");
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// Mesh data generation
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PointList GeneratePyramidPoints(float length);
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VertexIndexData GenerateCubeMeshData(float halfExtent);
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AzPhysics::StaticRigidBody* AddStaticFloorToScene(AzPhysics::SceneHandle sceneHandle,
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const AZ::Transform& transform = AZ::Transform::CreateIdentity());
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AzPhysics::StaticRigidBody* AddStaticUnitBoxToScene(AzPhysics::SceneHandle sceneHandle, const AZ::Vector3& position);
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AzPhysics::RigidBody* AddUnitBoxToScene(AzPhysics::SceneHandle sceneHandle, const AZ::Vector3& position);
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AzPhysics::SimulatedBodyHandle AddSphereToScene(AzPhysics::SceneHandle sceneHandle, const AZ::Vector3& position,
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const float radius = 0.5f, const AzPhysics::CollisionLayer& layer = AzPhysics::CollisionLayer::Default);
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AzPhysics::SimulatedBodyHandle AddCapsuleToScene(AzPhysics::SceneHandle sceneHandle, const AZ::Vector3& position,
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const float height = 2.0f, const float radius = 0.5f,
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const AzPhysics::CollisionLayer& layer = AzPhysics::CollisionLayer::Default);
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AzPhysics::SimulatedBodyHandle AddBoxToScene(AzPhysics::SceneHandle sceneHandle,
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const AZ::Vector3& position, const AZ::Vector3& dimensions = AZ::Vector3(1.0f),
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const AzPhysics::CollisionLayer& layer = AzPhysics::CollisionLayer::Default);
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AzPhysics::SimulatedBodyHandle AddStaticBoxToScene(AzPhysics::SceneHandle sceneHandle,
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const AZ::Vector3& position, const AZ::Vector3& dimensions = AZ::Vector3(1.0f),
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const AzPhysics::CollisionLayer& layer = AzPhysics::CollisionLayer::Default);
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float GetPositionElement(EntityPtr entity, int element);
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} // namespace TestUtils
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} // namespace PhysX
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#include "PhysXTestCommon.inl"
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