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terrain physics creation optimization; pickdrag constraint type param;
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@turanszkij
turanszkij committed Feb 21, 2025
1 parent 591f808 commit 6aa0633
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Showing 4 changed files with 159 additions and 127 deletions.
16 changes: 15 additions & 1 deletion WickedEngine/wiPhysics.h
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Original file line number Diff line number Diff line change
Expand Up @@ -143,9 +143,23 @@ namespace wi::physics
std::shared_ptr<void> internal_state;
inline bool IsValid() const { return internal_state != nullptr; }
};
enum class ConstraintType
{
Fixed, // Fixes the whole object with the current orientation
Point, // Fixes the object to rotate around a point
};
void PickDrag(
const wi::scene::Scene& scene,
wi::primitive::Ray ray,
PickDragOperation& op
PickDragOperation& op,
ConstraintType constraint_type = ConstraintType::Fixed
);

// Create the shape immediately, useful when you want to do this from a thread
// Otherwise this will be created on demand before it's used for the first time
void CreateRigidBodyShape(
wi::scene::RigidBodyPhysicsComponent& physicscomponent,
const XMFLOAT3& scale_local = XMFLOAT3(1, 1, 1),
const wi::scene::MeshComponent* mesh = nullptr
);
}
235 changes: 128 additions & 107 deletions WickedEngine/wiPhysics_Jolt.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include <Jolt/Physics/Collision/Shape/CylinderShape.h>
#include <Jolt/Physics/Collision/Shape/ConvexHullShape.h>
#include <Jolt/Physics/Collision/Shape/MeshShape.h>
#include <Jolt/Physics/Collision/Shape/HeightFieldShape.h>
#include <Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h>
#include <Jolt/Physics/Collision/RayCast.h>
#include <Jolt/Physics/Collision/CastResult.h>
Expand Down Expand Up @@ -329,7 +330,7 @@ namespace wi::physics
const wi::scene::MeshComponent* mesh
)
{
ShapeSettings::ShapeResult shape_result;
RigidBody& physicsobject = GetRigidBody(physicscomponent);

TransformComponent transform = _transform;

Expand All @@ -340,111 +341,19 @@ namespace wi::physics
XMStoreFloat4x4(&transform.world, parentMatrix * transform.GetLocalMatrix());
transform.ApplyTransform();

// The default convex radius caused issues when creating small box shape, etc, so I decrease it:
const float convexRadius = 0.001f;

switch (physicscomponent.shape)
{
case RigidBodyPhysicsComponent::CollisionShape::BOX:
{
BoxShapeSettings settings(Vec3(physicscomponent.box.halfextents.x * transform.scale_local.x, physicscomponent.box.halfextents.y * transform.scale_local.y, physicscomponent.box.halfextents.z * transform.scale_local.z), convexRadius);
settings.SetEmbedded();
shape_result = settings.Create();
}
break;
case RigidBodyPhysicsComponent::CollisionShape::SPHERE:
{
SphereShapeSettings settings(physicscomponent.sphere.radius * transform.scale_local.x);
settings.SetEmbedded();
shape_result = settings.Create();
}
break;
case RigidBodyPhysicsComponent::CollisionShape::CAPSULE:
{
CapsuleShapeSettings settings(physicscomponent.capsule.height * transform.scale_local.y, physicscomponent.capsule.radius * transform.scale_local.x);
settings.SetEmbedded();
shape_result = settings.Create();
}
break;
case RigidBodyPhysicsComponent::CollisionShape::CYLINDER:
{
CylinderShapeSettings settings(physicscomponent.capsule.height * transform.scale_local.y, physicscomponent.capsule.radius * transform.scale_local.x, convexRadius);
settings.SetEmbedded();
shape_result = settings.Create();
}
break;

case RigidBodyPhysicsComponent::CollisionShape::CONVEX_HULL:
if (mesh != nullptr)
{
Array<Vec3> points;
points.reserve(mesh->vertex_positions.size());
for (auto& pos : mesh->vertex_positions)
{
points.push_back(Vec3(pos.x * transform.scale_local.x, pos.y * transform.scale_local.y, pos.z * transform.scale_local.z));
}
ConvexHullShapeSettings settings(points, convexRadius);
settings.SetEmbedded();
shape_result = settings.Create();
}
else
{
wi::backlog::post("AddRigidBody failed: convex hull physics requested, but no MeshComponent provided!", wi::backlog::LogLevel::Error);
return;
}
break;

case RigidBodyPhysicsComponent::CollisionShape::TRIANGLE_MESH:
if (mesh != nullptr)
{
TriangleList trianglelist;

uint32_t first_subset = 0;
uint32_t last_subset = 0;
mesh->GetLODSubsetRange(physicscomponent.mesh_lod, first_subset, last_subset);
for (uint32_t subsetIndex = first_subset; subsetIndex < last_subset; ++subsetIndex)
{
const MeshComponent::MeshSubset& subset = mesh->subsets[subsetIndex];
const uint32_t* indices = mesh->indices.data() + subset.indexOffset;
for (uint32_t i = 0; i < subset.indexCount; i += 3)
{
Triangle triangle;
triangle.mMaterialIndex = 0;
triangle.mV[0] = Float3(mesh->vertex_positions[indices[i + 0]].x * transform.scale_local.x, mesh->vertex_positions[indices[i + 0]].y * transform.scale_local.y, mesh->vertex_positions[indices[i + 0]].z * transform.scale_local.z);
triangle.mV[2] = Float3(mesh->vertex_positions[indices[i + 1]].x * transform.scale_local.x, mesh->vertex_positions[indices[i + 1]].y * transform.scale_local.y, mesh->vertex_positions[indices[i + 1]].z * transform.scale_local.z);
triangle.mV[1] = Float3(mesh->vertex_positions[indices[i + 2]].x * transform.scale_local.x, mesh->vertex_positions[indices[i + 2]].y * transform.scale_local.y, mesh->vertex_positions[indices[i + 2]].z * transform.scale_local.z);
trianglelist.push_back(triangle);
}
}

MeshShapeSettings settings(trianglelist);
settings.SetEmbedded();
shape_result = settings.Create();
}
else
if (physicsobject.shape == nullptr) // shape creation can be called from outside as optimization from threads
{
wi::backlog::post("AddRigidBody failed: triangle mesh physics requested, but no MeshComponent provided!", wi::backlog::LogLevel::Error);
return;
}
break;
CreateRigidBodyShape(physicscomponent, transform.scale_local, mesh);
}

if (!shape_result.IsValid())
{
wilog_error("AddRigidBody failed, shape_result: %s", shape_result.GetError().c_str());
return;
}
else
if (physicsobject.shape != nullptr)
{
RigidBody& physicsobject = GetRigidBody(physicscomponent);
physicsobject.physics_scene = scene.physics_scene;
physicsobject.entity = entity;
XMStoreFloat4x4(&physicsobject.parentMatrix, parentMatrix);
XMStoreFloat4x4(&physicsobject.parentMatrixInverse, XMMatrixInverse(nullptr, parentMatrix));
PhysicsScene& physics_scene = GetPhysicsScene(scene);

physicsobject.shape = shape_result.Get();

Mat44 mat = cast(transform.world);
Vec3 local_offset = cast(physicscomponent.local_offset);

Expand Down Expand Up @@ -1167,6 +1076,113 @@ namespace wi::physics
wilog("wi::physics Initialized [Jolt Physics %d.%d.%d] (%d ms)", JPH_VERSION_MAJOR, JPH_VERSION_MINOR, JPH_VERSION_PATCH, (int)std::round(timer.elapsed()));
}

void CreateRigidBodyShape(
wi::scene::RigidBodyPhysicsComponent& physicscomponent,
const XMFLOAT3& scale_local,
const wi::scene::MeshComponent* mesh
)
{
ShapeSettings::ShapeResult shape_result;

// The default convex radius caused issues when creating small box shape, etc, so I decrease it:
const float convexRadius = 0.001f;

switch (physicscomponent.shape)
{
case RigidBodyPhysicsComponent::CollisionShape::BOX:
{
BoxShapeSettings settings(Vec3(physicscomponent.box.halfextents.x * scale_local.x, physicscomponent.box.halfextents.y * scale_local.y, physicscomponent.box.halfextents.z * scale_local.z), convexRadius);
settings.SetEmbedded();
shape_result = settings.Create();
}
break;
case RigidBodyPhysicsComponent::CollisionShape::SPHERE:
{
SphereShapeSettings settings(physicscomponent.sphere.radius * scale_local.x);
settings.SetEmbedded();
shape_result = settings.Create();
}
break;
case RigidBodyPhysicsComponent::CollisionShape::CAPSULE:
{
CapsuleShapeSettings settings(physicscomponent.capsule.height * scale_local.y, physicscomponent.capsule.radius * scale_local.x);
settings.SetEmbedded();
shape_result = settings.Create();
}
break;
case RigidBodyPhysicsComponent::CollisionShape::CYLINDER:
{
CylinderShapeSettings settings(physicscomponent.capsule.height * scale_local.y, physicscomponent.capsule.radius * scale_local.x, convexRadius);
settings.SetEmbedded();
shape_result = settings.Create();
}
break;

case RigidBodyPhysicsComponent::CollisionShape::CONVEX_HULL:
if (mesh != nullptr)
{
Array<Vec3> points;
points.reserve(mesh->vertex_positions.size());
for (auto& pos : mesh->vertex_positions)
{
points.push_back(Vec3(pos.x * scale_local.x, pos.y * scale_local.y, pos.z * scale_local.z));
}
ConvexHullShapeSettings settings(points, convexRadius);
settings.SetEmbedded();
shape_result = settings.Create();
}
else
{
wi::backlog::post("CreateRigidBodyShape failed: convex hull physics requested, but no MeshComponent provided!", wi::backlog::LogLevel::Error);
return;
}
break;

case RigidBodyPhysicsComponent::CollisionShape::TRIANGLE_MESH:
if (mesh != nullptr)
{
TriangleList trianglelist;

uint32_t first_subset = 0;
uint32_t last_subset = 0;
mesh->GetLODSubsetRange(physicscomponent.mesh_lod, first_subset, last_subset);
for (uint32_t subsetIndex = first_subset; subsetIndex < last_subset; ++subsetIndex)
{
const MeshComponent::MeshSubset& subset = mesh->subsets[subsetIndex];
const uint32_t* indices = mesh->indices.data() + subset.indexOffset;
for (uint32_t i = 0; i < subset.indexCount; i += 3)
{
Triangle triangle;
triangle.mMaterialIndex = 0;
triangle.mV[0] = Float3(mesh->vertex_positions[indices[i + 0]].x * scale_local.x, mesh->vertex_positions[indices[i + 0]].y * scale_local.y, mesh->vertex_positions[indices[i + 0]].z * scale_local.z);
triangle.mV[2] = Float3(mesh->vertex_positions[indices[i + 1]].x * scale_local.x, mesh->vertex_positions[indices[i + 1]].y * scale_local.y, mesh->vertex_positions[indices[i + 1]].z * scale_local.z);
triangle.mV[1] = Float3(mesh->vertex_positions[indices[i + 2]].x * scale_local.x, mesh->vertex_positions[indices[i + 2]].y * scale_local.y, mesh->vertex_positions[indices[i + 2]].z * scale_local.z);
trianglelist.push_back(triangle);
}
}

MeshShapeSettings settings(trianglelist);
settings.SetEmbedded();
shape_result = settings.Create();
}
else
{
wi::backlog::post("CreateRigidBodyShape failed: triangle mesh physics requested, but no MeshComponent provided!", wi::backlog::LogLevel::Error);
return;
}
break;
}

if (!shape_result.IsValid())
{
wilog_error("CreateRigidBodyShape failed, shape_result: %s", shape_result.GetError().c_str());
return;
}

RigidBody& physicsobject = GetRigidBody(physicscomponent);
physicsobject.shape = shape_result.Get();
}

bool IsEnabled() { return ENABLED; }
void SetEnabled(bool value) { ENABLED = value; }

Expand Down Expand Up @@ -2242,7 +2258,8 @@ namespace wi::physics
void PickDrag(
const wi::scene::Scene& scene,
wi::primitive::Ray ray,
PickDragOperation& op
PickDragOperation& op,
ConstraintType constraint_type
)
{
if (scene.physics_scene == nullptr)
Expand Down Expand Up @@ -2290,17 +2307,21 @@ namespace wi::physics
internal_state->bodyA = body_interface.CreateBody(BodyCreationSettings(new SphereShape(0.01f), pos, Quat::sIdentity(), EMotionType::Kinematic, Layers::MOVING));
body_interface.AddBody(internal_state->bodyA->GetID(), EActivation::Activate);

#if 0
DistanceConstraintSettings settings;
settings.SetEmbedded();
settings.mPoint1 = settings.mPoint2 = pos;
#else
FixedConstraintSettings settings;
settings.SetEmbedded();
settings.mAutoDetectPoint = true;
#endif
if (constraint_type == ConstraintType::Fixed)
{
FixedConstraintSettings settings;
settings.SetEmbedded();
settings.mAutoDetectPoint = true;
internal_state->constraint = settings.Create(*internal_state->bodyA, *internal_state->bodyB);
}
else if (constraint_type == ConstraintType::Point)
{
DistanceConstraintSettings settings;
settings.SetEmbedded();
settings.mPoint1 = settings.mPoint2 = pos;
internal_state->constraint = settings.Create(*internal_state->bodyA, *internal_state->bodyB);
}

internal_state->constraint = settings.Create(*internal_state->bodyA, *internal_state->bodyB);
physics_scene.physics_system.AddConstraint(internal_state->constraint);
}
else if (body->IsSoftBody())
Expand Down
33 changes: 15 additions & 18 deletions WickedEngine/wiTerrain.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -802,26 +802,13 @@ namespace wi::terrain
if (IsPhysicsEnabled())
{
const ObjectComponent* object = scene->objects.GetComponent(chunk_data.entity);
const int lod_required = object == nullptr ? 0 : object->lod;

if (rigidbody != nullptr)
if (rigidbody == nullptr && dist < physics_generation)
{
if (rigidbody->mesh_lod != lod_required)
{
rigidbody->mesh_lod = lod_required;
rigidbody->physicsobject = {}; // will be recreated
}
}
else
{
if (dist < physics_generation)
{
RigidBodyPhysicsComponent& newrigidbody = scene->rigidbodies.Create(chunk_data.entity);
newrigidbody.shape = RigidBodyPhysicsComponent::TRIANGLE_MESH;
newrigidbody.mass = 0; // terrain chunks are static
newrigidbody.friction = 0.8f;
newrigidbody.mesh_lod = lod_required;
}
RigidBodyPhysicsComponent& newrigidbody = scene->rigidbodies.Create(chunk_data.entity);
newrigidbody.shape = RigidBodyPhysicsComponent::TRIANGLE_MESH;
newrigidbody.mass = 0; // terrain chunks are static
newrigidbody.friction = 0.8f;
}
}
else
Expand Down Expand Up @@ -1036,6 +1023,16 @@ namespace wi::terrain
// Create the textures for virtual texture update:
CreateChunkRegionTexture(chunk_data);

const int dist = std::max(std::abs(center_chunk.x - chunk.x), std::abs(center_chunk.z - chunk.z));
if (IsPhysicsEnabled() && dist < physics_generation)
{
RigidBodyPhysicsComponent& newrigidbody = generator->scene.rigidbodies.Create(chunk_data.entity);
newrigidbody.shape = RigidBodyPhysicsComponent::TRIANGLE_MESH;
newrigidbody.mass = 0; // terrain chunks are static
newrigidbody.friction = 0.8f;
wi::physics::CreateRigidBodyShape(newrigidbody, transform.scale_local, &mesh);
}

generated_something = true;
}

Expand Down
2 changes: 1 addition & 1 deletion WickedEngine/wiVersion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ namespace wi::version
// minor features, major updates, breaking compatibility changes
const int minor = 71;
// minor bug fixes, alterations, refactors, updates
const int revision = 686;
const int revision = 687;

const std::string version_string = std::to_string(major) + "." + std::to_string(minor) + "." + std::to_string(revision);

Expand Down

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