mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-13 23:54:35 +00:00
multiple fixes,
JoltPlayer was getting physics from triggers JoltWorld ray was colliding with triggers which made triggers collidable few other fixes around making joltCollision shapes
This commit is contained in:
marauder2k7
parent
f3b9c65411
commit
51f5d507ed
5 changed files with 261 additions and 187 deletions
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@ -3,8 +3,8 @@
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// Save and undefine the macro if it exists
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#ifdef Offset
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#pragma push_macro("Offset")
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#undef Offset
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#pragma push_macro("Offset")
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#undef Offset
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#endif
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#include <Jolt/Physics/Collision/Shape/BoxShape.h>
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@ -21,7 +21,7 @@
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#ifdef Offset
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// Restore the original macro after includes
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#pragma pop_macro("Offset")
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#pragma pop_macro("Offset")
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#endif
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JoltCollision::JoltCollision()
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@ -73,7 +73,7 @@ void JoltCollision::addBox(const Point3F& halfWidth, const MatrixF& localXfm)
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toJolt(localXfm, localPos, localRot);
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// Wrap the base shape with RotatedTranslatedShape
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auto rtsSettings = new JPH::RotatedTranslatedShapeSettings(localPos, localRot, baseShape);
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JPH::Ref<JPH::RotatedTranslatedShapeSettings> rtsSettings = new JPH::RotatedTranslatedShapeSettings(localPos, localRot, baseShape);
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auto rtsShape = rtsSettings->Create().Get();
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// Store in child entry
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@ -103,7 +103,7 @@ void JoltCollision::addSphere(F32 radius, const MatrixF& localXfm)
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JPH::Quat localRot;
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toJolt(localXfm, localPos, localRot);
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auto rtsSettings = new JPH::RotatedTranslatedShapeSettings(localPos, localRot, baseShape);
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JPH::Ref<JPH::RotatedTranslatedShapeSettings> rtsSettings = new JPH::RotatedTranslatedShapeSettings(localPos, localRot, baseShape);
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auto rtsShape = rtsSettings->Create().Get();
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ChildShapeEntry entry;
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@ -132,7 +132,7 @@ void JoltCollision::addCapsule(F32 radius, F32 height, const MatrixF& localXfm)
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JPH::Quat localRot;
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toJolt(localXfm, localPos, localRot);
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auto rtsSettings = new JPH::RotatedTranslatedShapeSettings(localPos, localRot, baseShape);
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JPH::Ref<JPH::RotatedTranslatedShapeSettings> rtsSettings = new JPH::RotatedTranslatedShapeSettings(localPos, localRot, baseShape);
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auto rtsShape = rtsSettings->Create().Get();
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ChildShapeEntry entry;
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@ -150,33 +150,34 @@ bool JoltCollision::addConvex(const Point3F* points, U32 count, const MatrixF& l
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if (count == 0)
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return false;
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// Pre-transform points into shape-local space for the same reason as
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// addTriangleMesh: avoids the RTS wrapper and the double-transform in
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// rebuildCompound when multiple shapes share a JoltCollision.
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const bool isIdentity = localXfm.isIdentity();
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std::vector<JPH::Vec3> verts;
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verts.reserve(count);
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for (U32 i = 0; i < count; ++i)
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verts.emplace_back(points[i].x, points[i].y, points[i].z);
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{
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Point3F p = points[i];
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if (!isIdentity)
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localXfm.mulP(points[i], &p);
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verts.emplace_back(p.x, p.y, p.z);
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}
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JPH::ConvexHullShapeSettings settings(verts.data(), verts.size());
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JPH::ConvexHullShapeSettings settings(verts.data(), (int)verts.size());
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auto result = settings.Create();
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if (result.HasError())
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{
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Con::errorf("Jolt Error: %s", result.GetError().c_str());
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Con::errorf("Jolt addConvex Error: %s", result.GetError().c_str());
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return false;
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}
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auto baseShape = result.Get();
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JPH::Vec3 localPos;
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JPH::Quat localRot;
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toJolt(localXfm, localPos, localRot);
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auto rtsSettings = new JPH::RotatedTranslatedShapeSettings(localPos, localRot, baseShape);
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auto rtsShape = rtsSettings->Create().Get();
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ChildShapeEntry entry;
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entry.shape = rtsShape;
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entry.localPos = localPos;
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entry.localRot = localRot;
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entry.localXfm = joltCast(localXfm);
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entry.shape = result.Get();
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entry.localPos = JPH::Vec3::sZero();
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entry.localRot = JPH::Quat::sIdentity();
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entry.localXfm = JPH::Mat44::sIdentity();
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mChildren.push_back(entry);
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rebuildCompound();
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@ -188,50 +189,53 @@ bool JoltCollision::addTriangleMesh(const Point3F* vert, U32 vertCount, const U3
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if (!vert || !index || vertCount == 0 || triCount == 0)
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return false;
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// Build the TriangleList
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// Bake localXfm directly into the vertex positions so the MeshShape sits in
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// shape-local space with an identity transform. This avoids the need for an
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// RTS wrapper and eliminates the double-transform bug that occurs when the
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// wrapper's position is later re-applied by rebuildCompound's AddShape call.
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const bool isIdentity = localXfm.isIdentity();
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JPH::TriangleList triangles;
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triangles.reserve(triCount);
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for (U32 i = 0; i < triCount; ++i)
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{
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const Point3F& v0 = vert[index[i * 3 + 0]];
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const Point3F& v1 = vert[index[i * 3 + 1]];
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const Point3F& v2 = vert[index[i * 3 + 2]];
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Point3F p0 = vert[index[i * 3 + 0]];
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Point3F p1 = vert[index[i * 3 + 1]];
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Point3F p2 = vert[index[i * 3 + 2]];
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if (!isIdentity)
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{
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localXfm.mulP(vert[index[i * 3 + 0]], &p0);
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localXfm.mulP(vert[index[i * 3 + 1]], &p1);
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localXfm.mulP(vert[index[i * 3 + 2]], &p2);
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}
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triangles.push_back(
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JPH::Triangle(
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JPH::Float3(v0.x, v0.y, v0.z),
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JPH::Float3(v2.x, v2.y, v2.z),
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JPH::Float3(v1.x, v1.y, v1.z),
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JPH::Float3(p0.x, p0.y, p0.z),
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JPH::Float3(p2.x, p2.y, p2.z), // winding order maintained
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JPH::Float3(p1.x, p1.y, p1.z),
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0, // material index
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i // user data = original triangle index
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)
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);
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}
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// Create the MeshShape
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JPH::MeshShapeSettings settings(triangles);
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auto result = settings.Create();
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if (result.HasError())
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{
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Con::errorf("Jolt Error: %s", result.GetError().c_str());
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Con::errorf("Jolt addTriangleMesh Error: %s", result.GetError().c_str());
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return false;
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}
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auto baseShape = result.Get();
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JPH::Vec3 localPos;
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JPH::Quat localRot;
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toJolt(localXfm, localPos, localRot);
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auto rtsSettings = new JPH::RotatedTranslatedShapeSettings(localPos, localRot, baseShape);
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auto rtsShape = rtsSettings->Create().Get();
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// Store at identity — vertices are already in shape-local space.
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ChildShapeEntry entry;
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entry.shape = rtsShape;
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entry.localPos = localPos;
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entry.localRot = localRot;
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entry.localXfm = joltCast(localXfm);
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entry.shape = result.Get();
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entry.localPos = JPH::Vec3::sZero();
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entry.localRot = JPH::Quat::sIdentity();
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entry.localXfm = JPH::Mat44::sIdentity();
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mChildren.push_back(entry);
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rebuildCompound();
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@ -248,49 +252,56 @@ bool JoltCollision::addHeightfield(
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if (!heightData || blockSize == 0)
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return false;
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const F32 heightScale = 0.03125f;
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const F32 minHeight = 0;
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const F32 maxHeight = 65535 * heightScale;
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// Jolt's internal BVH page size: power-of-2 between 2 and 8, independent of
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// inSampleCount. Use 4 for larger terrains to produce a shallower BVH tree.
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const U32 joltBlockSize = (blockSize >= 512) ? 4 : 2;
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const U32 sampleCount = blockSize * blockSize;
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std::vector<float> samples(sampleCount);
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// inSampleCount must be a multiple of joltBlockSize. Round up so any blockSize
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// works — padding columns/rows are edge-clamped to stay physically correct.
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const U32 paddedSize = ((blockSize + joltBlockSize - 1) / joltBlockSize) * joltBlockSize;
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const U32 totalSamples = paddedSize * paddedSize;
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for (U32 x = 0; x < blockSize; ++x)
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// Pass 1: build a flat (un-flipped) padded grid with edge-clamping.
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std::vector<float> unflipped(totalSamples);
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for (U32 y = 0; y < paddedSize; ++y)
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{
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for (U32 y = 0; y < blockSize; ++y)
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U32 srcY = (y < blockSize) ? y : blockSize - 1;
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for (U32 x = 0; x < paddedSize; ++x)
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{
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// Terrain storage (row-major)
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U32 srcIdx = y * blockSize + x;
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// Flip Z direction for Jolt
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U32 dstIdx = (blockSize - 1 - y) * blockSize + x;
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U32 srcX = (x < blockSize) ? x : blockSize - 1;
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U32 srcIdx = srcY * blockSize + srcX;
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float h = fixedToFloat(heightData[srcIdx]);
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if (holes && holes[srcIdx])
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h = JPH::HeightFieldShapeConstants::cNoCollisionValue;
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samples[dstIdx] = h;
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unflipped[y * paddedSize + x] = h;
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}
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}
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float terrainSize = blockSize * metersPerSample;
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float verticalAdjust = -heightScale * 0.5f;
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JPH::Vec3 joltOffset(
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0.0,
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verticalAdjust,
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-terrainSize
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);
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// Pass 2: flip Y axis into the final sample array for Jolt's coordinate system.
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std::vector<float> samples(totalSamples);
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for (U32 y = 0; y < paddedSize; ++y)
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for (U32 x = 0; x < paddedSize; ++x)
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samples[(paddedSize - 1 - y) * paddedSize + x] = unflipped[y * paddedSize + x];
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JPH::Vec3 joltScale(metersPerSample,1.0f, metersPerSample);
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// Offset uses actual terrain extent (blockSize) so the padded fringe never
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// shifts the visible terrain. The vertical adjustment centres quantisation error.
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const float heightScale = 0.03125f;
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const float verticalAdjust = -heightScale * 0.5f;
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const float terrainSize = blockSize * metersPerSample;
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JPH::HeightFieldShapeSettings settings(samples.data(), joltOffset, joltScale, blockSize);
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settings.mBlockSize = 2;
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JPH::Vec3 joltOffset(0.0f, verticalAdjust, -terrainSize);
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JPH::Vec3 joltScale(metersPerSample, 1.0f, metersPerSample);
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JPH::HeightFieldShapeSettings settings(samples.data(), joltOffset, joltScale, paddedSize);
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settings.mBlockSize = joltBlockSize;
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auto result = settings.Create();
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if (result.HasError())
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{
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Con::errorf("Jolt Error: %s", result.GetError().c_str());
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Con::errorf("Jolt addHeightfield Error (blockSize=%u paddedSize=%u): %s",
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blockSize, paddedSize, result.GetError().c_str());
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return false;
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}
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@ -302,7 +313,7 @@ bool JoltCollision::addHeightfield(
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JPH::Quat rotFix = JPH::Quat::sRotation(JPH::Vec3::sAxisX(), JPH::DegreesToRadians(90.0f));
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localRot = rotFix * localRot;
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auto rtsSettings = new JPH::RotatedTranslatedShapeSettings(localPos, localRot, baseShape);
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JPH::Ref<JPH::RotatedTranslatedShapeSettings> rtsSettings = new JPH::RotatedTranslatedShapeSettings(localPos, localRot, baseShape);
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auto rtsShape = rtsSettings->Create().Get();
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ChildShapeEntry entry;
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@ -321,33 +332,35 @@ void JoltCollision::rebuildCompound()
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if (mChildren.empty())
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return;
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JPH::CompoundShapeSettings* compoundSettings = nullptr;
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if (mChildren.size() > 1)
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if (mChildren.size() == 1)
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{
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compoundSettings = new JPH::StaticCompoundShapeSettings();
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// Single shape: use it directly. For primitive shapes this is the
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// RotatedTranslatedShape with the local transform baked in. For
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// triangle meshes and convex hulls it is the base shape at identity.
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mCompundShape = mChildren[0].shape;
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return;
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}
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for (auto& colShape : mChildren)
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// Multiple shapes: build a static compound. Each child's ChildShapeEntry
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// already has its local transform baked into entry.shape (either as an RTS
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// wrapper for primitives, or pre-transformed vertices for meshes/convex).
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// Using localPos/localRot here would apply the offset a SECOND time.
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JPH::StaticCompoundShapeSettings compoundSettings;
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for (const auto& child : mChildren)
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{
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if (compoundSettings)
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{
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compoundSettings->AddShape(
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colShape.localPos,
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colShape.localRot,
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colShape.shape
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);
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}
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else
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{
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mCompundShape = colShape.shape;
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}
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compoundSettings.AddShape(
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JPH::Vec3::sZero(),
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JPH::Quat::sIdentity(),
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child.shape
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);
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}
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if (compoundSettings)
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auto result = compoundSettings.Create();
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if (result.HasError())
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{
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mCompundShape = compoundSettings->Create().Get();
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delete compoundSettings;
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Con::errorf("Jolt rebuildCompound Error: %s", result.GetError().c_str());
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return;
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}
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mCompundShape = result.Get();
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}
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