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Add ability to rotate colliders and add collider direction for capsule collider.

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This commit is contained in:
Chandler Cox
2023-05-31 10:38:33 -05:00
parent 2c809389ad
commit 2607e0e187
4 changed files with 120 additions and 12 deletions
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Source/Engine/Physics/Colliders/CapsuleCollider.cpp
+34 -3
View File
@@ -7,7 +7,9 @@ CapsuleCollider::CapsuleCollider(const SpawnParams& params)
: Collider(params)
, _radius(20.0f)
, _height(100.0f)
, _direction(ColliderOrientationDirection::YAxis)
{
SetDirection(_direction);
}
void CapsuleCollider::SetRadius(const float value)
@@ -42,8 +44,10 @@ void CapsuleCollider::DrawPhysicsDebug(RenderView& view)
const BoundingSphere sphere(_sphere.Center - view.Origin, _sphere.Radius);
if (!view.CullingFrustum.Intersects(sphere))
return;
Quaternion collRot;
Quaternion::Multiply( _colliderOrientation, Quaternion::Euler(0, 90, 0), collRot);
Quaternion rot;
Quaternion::Multiply(_transform.Orientation, Quaternion::Euler(0, 90, 0), rot);
Quaternion::Multiply(_transform.Orientation, collRot, rot);
const float scaling = _cachedScale.GetAbsolute().MaxValue();
const float minSize = 0.001f;
const float radius = Math::Max(Math::Abs(_radius) * scaling, minSize);
@@ -54,10 +58,30 @@ void CapsuleCollider::DrawPhysicsDebug(RenderView& view)
DEBUG_DRAW_WIRE_TUBE(_transform.LocalToWorld(_center), rot, radius, height, Color::GreenYellow * 0.8f, 0, true);
}
void CapsuleCollider::SetDirection(ColliderOrientationDirection value)
{
_direction = value;
switch (value)
{
case ColliderOrientationDirection::XAxis:
SetColliderOrientation(Quaternion::Identity);
break;
case ColliderOrientationDirection::YAxis:
SetColliderOrientation(Quaternion::Euler(0, 0, 90));
break;
case ColliderOrientationDirection::ZAxis:
SetColliderOrientation(Quaternion::Euler(0, 90, 0));
break;
default: ;
}
}
void CapsuleCollider::OnDebugDrawSelected()
{
Quaternion collRot;
Quaternion::Multiply( _colliderOrientation, Quaternion::Euler(0, 90, 0), collRot);
Quaternion rot;
Quaternion::Multiply(_transform.Orientation, Quaternion::Euler(0, 90, 0), rot);
Quaternion::Multiply(_transform.Orientation, collRot, rot);
const float scaling = _cachedScale.GetAbsolute().MaxValue();
const float minSize = 0.001f;
const float radius = Math::Max(Math::Abs(_radius) * scaling, minSize);
@@ -84,6 +108,7 @@ void CapsuleCollider::Serialize(SerializeStream& stream, const void* otherObj)
SERIALIZE_MEMBER(Radius, _radius);
SERIALIZE_MEMBER(Height, _height);
SERIALIZE(_direction);
}
void CapsuleCollider::Deserialize(DeserializeStream& stream, ISerializeModifier* modifier)
@@ -93,6 +118,8 @@ void CapsuleCollider::Deserialize(DeserializeStream& stream, ISerializeModifier*
DESERIALIZE_MEMBER(Radius, _radius);
DESERIALIZE_MEMBER(Height, _height);
DESERIALIZE(_direction);
SetDirection(_direction);
}
void CapsuleCollider::UpdateBounds()
@@ -100,7 +127,11 @@ void CapsuleCollider::UpdateBounds()
// Cache bounds
const float radiusTwice = _radius * 2.0f;
OrientedBoundingBox::CreateCentered(_center, Vector3(_height + radiusTwice, radiusTwice, radiusTwice), _orientedBox);
_orientedBox.Transform(_transform);
Transform transform = _transform;
Quaternion rot;
Quaternion::Multiply(transform.Orientation, _colliderOrientation, rot);
transform.Orientation = rot;
_orientedBox.Transform(transform);
_orientedBox.GetBoundingBox(_box);
BoundingSphere::FromBox(_box, _sphere);
}
Source/Engine/Physics/Colliders/CapsuleCollider.h
+27
View File
@@ -5,6 +5,16 @@
#include "Collider.h"
#include "Engine/Core/Math/OrientedBoundingBox.h"
/// <summary>
/// The collider orientation direction.
/// </summary>
API_ENUM() enum class ColliderOrientationDirection
{
XAxis,
YAxis,
ZAxis
};
/// <summary>
/// A capsule-shaped primitive collider.
/// </summary>
@@ -18,6 +28,7 @@ private:
float _radius;
float _height;
OrientedBoundingBox _orientedBox;
ColliderOrientationDirection _direction;
public:
/// <summary>
@@ -52,6 +63,22 @@ public:
/// <remarks>The capsule height will be scaled by the actor's world scale.</remarks>
API_PROPERTY() void SetHeight(float value);
/// <summary>
/// Gets the orientation direction of the capsule collider.
/// </summary>
/// <remarks>The capsule height will be scaled by the actor's world scale.</remarks>
API_PROPERTY(Attributes="EditorOrder(111), DefaultValue(typeof(ColliderOrientationDirection), \"YAxis\"), EditorDisplay(\"Collider\")")
FORCE_INLINE ColliderOrientationDirection GetDirection() const
{
return _direction;
}
/// <summary>
/// Sets the orientation direction of the capsule collider.
/// </summary>
/// <remarks>The capsule height will be scaled by the actor's world scale.</remarks>
API_PROPERTY() void SetDirection(ColliderOrientationDirection value);
public:
// [Collider]
#if USE_EDITOR
Source/Engine/Physics/Colliders/Collider.cpp
+45 -9
View File
@@ -15,6 +15,7 @@
Collider::Collider(const SpawnParams& params)
: PhysicsColliderActor(params)
, _center(Float3::Zero)
, _colliderOrientation(Quaternion::Identity)
, _isTrigger(false)
, _shape(nullptr)
, _staticActor(nullptr)
@@ -45,11 +46,36 @@ void Collider::SetCenter(const Vector3& value)
_center = value;
if (_staticActor)
{
PhysicsBackend::SetShapeLocalPose(_shape, _center, Quaternion::Identity);
Quaternion result;
Quaternion::Multiply(Quaternion::Identity, _colliderOrientation, result);
PhysicsBackend::SetShapeLocalPose(_shape, _center, result);
}
else if (const RigidBody* rigidBody = GetAttachedRigidBody())
{
PhysicsBackend::SetShapeLocalPose(_shape, (_localTransform.Translation + _localTransform.Orientation * _center) * rigidBody->GetScale(), _localTransform.Orientation);
Quaternion result;
Quaternion::Multiply(_localTransform.Orientation, _colliderOrientation, result);
PhysicsBackend::SetShapeLocalPose(_shape, (_localTransform.Translation + result * _center) * rigidBody->GetScale(), result);
}
UpdateBounds();
}
void Collider::SetColliderOrientation(const Quaternion& value)
{
if (Quaternion::NearEqual(value, _colliderOrientation))
return;
_colliderOrientation = value;
if (_staticActor)
{
Quaternion result;
Quaternion::Multiply(Quaternion::Identity, _colliderOrientation, result);
PhysicsBackend::SetShapeLocalPose(_shape, _center, result);
}
else if (const RigidBody* rigidBody = GetAttachedRigidBody())
{
Quaternion result;
Quaternion::Multiply(_localTransform.Orientation, _colliderOrientation, result);
PhysicsBackend::SetShapeLocalPose(_shape, (_localTransform.Translation + result * _center) * rigidBody->GetScale(), result);
}
UpdateBounds();
}
@@ -169,8 +195,10 @@ void Collider::Attach(RigidBody* rigidBody)
// Attach
PhysicsBackend::AttachShape(_shape, rigidBody->GetPhysicsActor());
_cachedLocalPosePos = (_localTransform.Translation + _localTransform.Orientation * _center) * rigidBody->GetScale();
_cachedLocalPoseRot = _localTransform.Orientation;
Quaternion result;
Quaternion::Multiply(_localTransform.Orientation, _colliderOrientation, result);
_cachedLocalPosePos = (_localTransform.Translation + result * _center) * rigidBody->GetScale();
_cachedLocalPoseRot = result;
PhysicsBackend::SetShapeLocalPose(_shape, _cachedLocalPosePos, _cachedLocalPoseRot);
if (rigidBody->IsDuringPlay())
{
@@ -262,7 +290,9 @@ void Collider::CreateStaticActor()
_staticActor = PhysicsBackend::CreateRigidStaticActor(nullptr, _transform.Translation, _transform.Orientation, scene);
// Reset local pos of the shape and link it to the actor
PhysicsBackend::SetShapeLocalPose(_shape, _center, Quaternion::Identity);
Quaternion result;
Quaternion::Multiply(Quaternion::Identity, _colliderOrientation, result);
PhysicsBackend::SetShapeLocalPose(_shape, _center, result);
PhysicsBackend::AttachShape(_shape, _staticActor);
PhysicsBackend::AddSceneActor(scene, _staticActor);
@@ -301,6 +331,7 @@ void Collider::Serialize(SerializeStream& stream, const void* otherObj)
SERIALIZE_MEMBER(IsTrigger, _isTrigger);
SERIALIZE_MEMBER(Center, _center);
SERIALIZE_MEMBER(ColliderOrientation, _colliderOrientation);
SERIALIZE_MEMBER(ContactOffset, _contactOffset);
SERIALIZE(Material);
}
@@ -312,6 +343,7 @@ void Collider::Deserialize(DeserializeStream& stream, ISerializeModifier* modifi
DESERIALIZE_MEMBER(IsTrigger, _isTrigger);
DESERIALIZE_MEMBER(Center, _center);
DESERIALIZE_MEMBER(ColliderOrientation, _colliderOrientation);
DESERIALIZE_MEMBER(ContactOffset, _contactOffset);
DESERIALIZE(Material);
}
@@ -429,15 +461,19 @@ void Collider::OnTransformChanged()
if (_staticActor)
{
PhysicsBackend::SetRigidActorPose(_staticActor, _transform.Translation, _transform.Orientation);
Quaternion result;
Quaternion::Multiply(_localTransform.Orientation, _colliderOrientation, result);
PhysicsBackend::SetRigidActorPose(_staticActor, _transform.Translation, result);
}
else if (const RigidBody* rigidBody = GetAttachedRigidBody())
{
const Vector3 localPosePos = (_localTransform.Translation + _localTransform.Orientation * _center) * rigidBody->GetScale();
if (_cachedLocalPosePos != localPosePos || _cachedLocalPoseRot != _localTransform.Orientation)
Quaternion result;
Quaternion::Multiply(_localTransform.Orientation, _colliderOrientation, result);
const Vector3 localPosePos = (_localTransform.Translation + result * _center) * rigidBody->GetScale();
if (_cachedLocalPosePos != localPosePos || _cachedLocalPoseRot != result)
{
_cachedLocalPosePos = localPosePos;
_cachedLocalPoseRot = _localTransform.Orientation;
_cachedLocalPoseRot = result;
PhysicsBackend::SetShapeLocalPose(_shape, localPosePos, _cachedLocalPoseRot);
}
}
Source/Engine/Physics/Colliders/Collider.h
+14
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@@ -20,6 +20,7 @@ API_CLASS(Abstract) class FLAXENGINE_API Collider : public PhysicsColliderActor
DECLARE_SCENE_OBJECT_ABSTRACT(Collider);
protected:
Vector3 _center;
Quaternion _colliderOrientation;
bool _isTrigger;
void* _shape;
void* _staticActor;
@@ -88,6 +89,19 @@ public:
/// </remarks>
API_PROPERTY() void SetContactOffset(float value);
/// <summary>
/// Gets the collider's orientation, measured in the object's local space.
/// </summary>
FORCE_INLINE Quaternion GetColliderOrientation() const
{
return _colliderOrientation;
}
/// <summary>
/// Sets the orientation of the collider, measured in the object's local space.
/// </summary>
void SetColliderOrientation(const Quaternion& value);
/// <summary>
/// The physical material used to define the collider physical properties.
/// </summary>