Added PhysX integration #27

AtlantiaKing · 2023-11-06T19:15:00Z

Added physics integration with a PhysX service.

Features:

BoxCollider, CapsuleCollider and SphereCollider components that can be triggers
Collision & Trigger callbacks inside the collider components
Physics Materials
Rigidbody component with mass, forces, torque, constraints and can be set to kinematic
Rigidbody has its own SetPosition & SetRotation functions to move a physics actor since Transform doesn't work anymore

Added IPhysics interface with DefaultPhysics class Added PhysXEngine which sets up top-level PhysX objects at construction and releases them on destruction Added physics to the servicelocator from the engine Fixed additional physX libraries not being included by cmake Fixed physX header files not being included by cmake

Added IPhysicsScene interface and added PhysXScene class that derives from the interface Added CreateScene function to the IPhysics and PhysXEngine classes Scene constructor calls CreateScene function from the IPhysics interface

Added cube obj Added PhysicsSync class with static function to sync from physX to transform component Added IPhysicsObject interface and PhysXObject classe which is a wrapper around a rigidactor Added IShape interface and PhysXShapes file which will hold all the PhysX shapes as different classes Modified physics engine to be able to add actors and simulate the scene Added physics to the main game loop Added BoxCollider & Rigidbody components to the main engine

Added sphere shape to PhysXShapes Added SphereCollider component

Added SetSize and SetRadius functions to the IShape class Added SetSize function to the BoxCollider component Added SetRadius function to the SphereCollider component Added sphere obj

Added base collider component, BoxCollider and SphereCollider now derive from this Collider component Rigidbody now makes sure child colliders have the same rigid actor Transforms of static colliders are now no longer being updated by the physics system, instead the physics bodies of static colliders are being updated by the transforms Fixed compile error in the GameObject GetComponentInParent class Fixed PhysicsObjects not being deleted from the scene properly when they are destroyed

When a shape is added or removed from a rigidbody, the center of mass (COM) is now being recalculated Added GetVolume and GetRelativePosition methods to the IShape interface and its derived classes

Calcualte CenterOfMass functino in the PhysXObject class now uses the PxRigidBodyExt::setMassAndUpdateIntertia function, which sets more parameters then just the COM for correct behaviour. Moved Rigidbody from inside the IPhysicsObject interface to its own file Added SetMass functino to Rigidbody component

Replaced the calculations from the glm library to convert quaterions to euler and euler to quaterions with my own implementation.

Removed the yaw rotation on the parent transform of the camera object. Each object should only do one rotation, the parent does yaw, the camera itself does pitch.

Moved all the quaternion/euler angles calculations to a Quaternion class inside the utils engine, it is non constructable and has some static helper functions to correctly convert from euler to quaternion and from quaternion to euler

Added overloads for functions like SetSize and SetVelocity to also take the seperate floats instead of a glm::vec3 object

Added Visual Leak Detector to the 3rdParty folder and included it only into the game project Included vld into main.cpp of the game project Fixed memory leaks in PhysXEngine.cpp

… capsule collider Added rule of 5 to IPhysXShape Added PhysXCapsuleShape Added GetPosition and GetRotation to IPhysicsObject and PhysXObject Fixed order of PhysXObject updates (Rigidbody was being updated after the transform was updated) Added SetPosition, Translate, SetRotation and Rotate functions to the Rigidbody component Fixed direction vectors of child transform not being updated after rotation has changed in parent

Added IPhysicsMaterial interface and PhysXMaterial class Added CreateMaterial function to the IPhysics interface and PhysXEngine class Added SetMaterial function to the Collider base class Colliders that get created without a physics collider set will be created using a default material created by the physics engine

Added PhysXSimulationCallbacks & PhysXSimulationFilterShader which are owned by the PhysXEngine and passed to the PxScene on creation. PhysXSimulationFilterShader currently lets all the collisions succeed and notify A pointer to the component collider is now stored inside the userdata of the corresponding PxShape Added static OnCollision method to the PhysicsSync class to handle incoming collision events from the physics engine Added Subject to the Collider component which gets called when that collider receives a collision event Added PrintCollision component which subscribes to the OnCollision subject of the collider on the same gameobject and prints the names of the gameobjects that are colliding

Moved temporary rigidbody creation to a CheckExistence function instead of copy pasting the code in each function Added Force struct, which stores the value, if it is a torque or not, and the force mode Added AddForce and AddTorque to the Rigidbody class and the Rigidbody component PhysXObject now applies forces stored in the rigidbody class Added ApplyForces component to test force functions

Moved some logic to IPhysXShape and added SetTrigger function to IShape and IPhysXShape Added SetTrigger function to base collider component Added trigger checking to the PhysXSimulationFilterShader

Renamed OnCollision to OnCollisionEnter, Added OnCollisionStay and OnCollisionExit Added PhysXSimulationfilterCallback class which gives us more control Added setup for OnTriggerEnter, OnTriggerStay and OnTriggerExit but the SimulationfilterCallback isn't being called for trigger shapes yet, that's the next step.

SimulationFilterShader now returns default filter flag for triggers Moved SimulationEvent and SimulationEventType from PhysXSimulationFilterCallback.h to PhysXSimulationData.h and SimulationEventData.h Moved SimulationPair from PhysXSimulationFilterCallback.h to PhysXSimulationData.h Trigger events are now being handled by the PhysxSimulationCallbacks class instead of by the PhysXSimulationFilterCallback class

Added RescaleShape pure virtual method to the base collider and added overrides to all the collider components RescaleShape is now being called when scale has changed on the transform of the component Added capsule.obj Renamed Observer and Subject to TObserver and TSubject and added a non-templated Observer & Subject class

LeeVangraefschepe · 2023-11-08T20:52:22Z

LeapEngine/Components/Physics/BoxCollider.h

+
+#include <vec3.hpp>
+
+#include <Observer.h>


Remove unused include in header file
Base class uses it (Collider) but BoxCollider doesnt

LeeVangraefschepe · 2023-11-08T20:54:20Z

LeapEngine/Components/Physics/BoxCollider.cpp

+#include "../../SceneGraph/GameObject.h"
+
+#include "../Transform/Transform.h"
+#include "Rigidbody.h"


Unused include

LeeVangraefschepe · 2023-11-08T21:02:37Z

LeapEngine/Components/Physics/Collider.cpp

+
+void leap::Collider::SetMaterial(std::shared_ptr<physics::IPhysicsMaterial> pMaterial)
+{
+	m_pMaterial = pMaterial;


Passing copy from std::shared_ptr. Should be const ref

LeeVangraefschepe · 2023-11-08T21:54:43Z

LeapEngine/Components/Physics/Rigidbody.h

+		Rigidbody& operator=(Rigidbody&& other) = delete;
+
+		void SetKinematic(bool isKinematic);
+		void SetVelocity(const glm::vec3& velocity);


Set angular velocity is missing

LeeVangraefschepe · 2023-11-08T22:42:30Z

LeapEngine/Utils/PhysicsSync.cpp

+
+leap::PhysicsSync::ColliderPair leap::PhysicsSync::GetColliders(const physics::CollisionData& collision)
+{
+	Collider* pFirstCollider{ reinterpret_cast<Collider*>(collision.pFirst) };


Use static cast

Removed redundant includes shared_ptr parameter in the SetMaterial function of the Collider class is now passed by reference instead of copy GetColliders function in the PhysicsSync class now uses static_cast to convert void* to Collider* instead of reinterpret_cast

LeeVangraefschepe · 2023-11-12T13:09:38Z

Physics/PhysX/PhysXMaterial.cpp

+#include <PxPhysics.h>
+#include <PxMaterial.h>
+
+#include <Debug.h>


Debug include is unused

LeeVangraefschepe · 2023-11-12T13:10:06Z

Physics/PhysX/PhysXEngine.h

+#pragma once
+
+#include "../Interfaces/IPhysics.h"
+#include "../Interfaces/IPhysicsObject.h"


Unused include

LeeVangraefschepe · 2023-11-12T13:11:51Z

Physics/PhysX/PhysXObject.cpp

+#include <PxRigidActor.h>
+#include <PxRigidStatic.h>
+#include <PxRigidDynamic.h>
+#include <PxRigidActor.h>


Included twice

LeeVangraefschepe · 2023-11-12T13:11:56Z

Physics/PhysX/PhysXObject.cpp

+#include "PhysXScene.h"
+
+#include "../Data/Rigidbody.h"
+#include "../Data/ForceMode.h"


Unused include

LeeVangraefschepe · 2023-11-12T13:12:05Z

Physics/PhysX/PhysXObject.cpp

+#include <PxRigidStatic.h>
+#include <PxRigidDynamic.h>
+#include <PxRigidActor.h>
+#include <PxScene.h>


Unused include

LeeVangraefschepe · 2023-11-12T13:12:22Z

Physics/PhysX/PhysXObject.cpp

+	if (!IsValid()) static_cast<PhysXScene*>(pScene)->RemoveActor(m_pActor);
+}
+
+void leap::physics::PhysXObject::Apply(const std::function<void(void*, const glm::vec3&, const glm::quat&)>& setFunc, const std::function<std::pair<const glm::vec3&, const glm::quat&>(void*)> getFunc)


Function can be made const

LeeVangraefschepe · 2023-11-12T13:12:42Z

Physics/PhysX/PhysXObject.cpp

+{
+	if (m_pRigidbody == nullptr)
+	{
+		auto transformPair{ getFunc(m_pOwner) };


Can be made const

LeeVangraefschepe · 2023-11-12T13:14:22Z

Physics/PhysX/PhysXObject.h

+
+#include "../Interfaces/IPhysicsObject.h"
+
+#include <Subject.h>


Unused include

LeeVangraefschepe · 2023-11-12T13:17:09Z

Physics/PhysX/PhysXScene.cpp

+	for (physx::PxU32 i = 0; i < rb.getNbLines(); i++)
+	{
+		const physx::PxDebugLine& line = pLines[i];
+		debugDrawings.emplace_back(std::make_pair(


std::make_pair is not needed for emplace_back

LeeVangraefschepe · 2023-11-12T13:17:24Z

Physics/PhysX/PhysXScene.cpp

+	return debugDrawings;
+}
+
+void leap::physics::PhysXScene::AddActor(physx::PxRigidActor* pActor)


Function can be const

LeeVangraefschepe · 2023-11-12T13:17:30Z

Physics/PhysX/PhysXScene.cpp

+	m_pScene->addActor(*pActor);
+}
+
+void leap::physics::PhysXScene::RemoveActor(physx::PxRigidActor* pActor)


Function can be const

LeeVangraefschepe · 2023-11-12T13:22:42Z

Physics/PhysX/PhysXShapes.h

+		physx::PxShape* m_pShape{};
+	};
+
+	class PhysXBoxShape final : public IPhysXShape


Missing rule of 5 (destructor is not default)

LeeVangraefschepe · 2023-11-12T13:22:52Z

Physics/PhysX/PhysXShapes.h

+		virtual glm::vec3 GetRelativePosition() override;
+	};
+
+	class PhysXSphereShape final : public IPhysXShape


Missing rule of 5 (destructor is not default)

LeeVangraefschepe · 2023-11-12T13:22:58Z

Physics/PhysX/PhysXShapes.h

+		virtual glm::vec3 GetRelativePosition() override;
+	};
+
+	class PhysXCapsuleShape final : public IPhysXShape


Missing rule of 5 (destructor is not default)

LeeVangraefschepe · 2023-11-12T13:23:40Z

Physics/PhysX/PhysXSimulationCallbacks.cpp

+#include "PhysXSimulationCallbacks.h"
+
+#include <Debug.h>
+#include <thread>


Unused include

LeeVangraefschepe · 2023-11-12T13:26:51Z

Physics/PhysX/PhysXSimulationFilterCallback.cpp

@@ -0,0 +1,41 @@
+#include "PhysXSimulationFilterCallback.h"
+
+#include <Debug.h>


Unused include

LeeVangraefschepe · 2023-11-12T13:31:35Z

UnnamedAdventureGame/CMakeLists.txt

-)
+    "Components/PrintCollision.cpp"
+	"Components/ApplyForces.cpp" 
+	"Components/ColliderScaler.cpp" "Components/PrintVelocity.h" "Components/PrintVelocity.cpp")


Header in CMake and on same line

LeeVangraefschepe · 2023-11-12T13:44:05Z

Utils/Quaternion.h

+		// Quaternion is constructable because it is NOT the object representation for a quaternion, 
+		//		use glm::quat for this
+		// This class exists to give some helper functions to generate correct quaternions/eulerangles
+		Quaternion() = default;


Constructor can be deleted

LeeVangraefschepe

Applied feedback (some you already did live)
Request again after the components have the physics calls to derive from.

Added OnCollision/OnTrigger methods to the Component class Added OnCollision/OnTrigger methods to the GameObject class which calls the component versions of the methods PhysicsSync now calls the gameobject oncollision/ontrigger methods instead of the collider methods

Instead of having private Quaternion constructor/destructor, I changed it so the class deletes its constructor

Instead of having to recreate a CustomMesh object every frame, it can now be cleared which keeps the capacity

Const correctness in PhysXObject & PhysXScene Removed redundant includes in PhysXEngine, PhysXMaterial, PhysXObject and PhysXSimulationCallbacks GetConstraints function in the Rigidbody class now returns a const reference instead of a copy Removed make_pair call for more readable code in the GetDebugDrawings function in the PhysXScene Refactored IPhysxShape so it deletes the PxShape in its own destructors instead of the derived destructor and made the GetShape method non-virtual. Cleaned unag CMakeLists

SetEnabledDebugDrawing is now being called in the main.cpp instead of the Leap.cpp Removed m_Renderer variable in the Leap class

LeeVangraefschepe

Feedback has been applied

AtlantiaKing added 22 commits October 29, 2023 13:24

Added physX scene wrapper

abc9bc7

Added IPhysicsScene interface and added PhysXScene class that derives from the interface Added CreateScene function to the IPhysics and PhysXEngine classes Scene constructor calls CreateScene function from the IPhysics interface

Added sphere collider

8ca1fb2

Added sphere shape to PhysXShapes Added SphereCollider component

Added SetRadius and SetSize to shapes

228cf44

Added SetSize and SetRadius functions to the IShape class Added SetSize function to the BoxCollider component Added SetRadius function to the SphereCollider component Added sphere obj

Added COM calculations

c0030de

When a shape is added or removed from a rigidbody, the center of mass (COM) is now being recalculated Added GetVolume and GetRelativePosition methods to the IShape interface and its derived classes

Fixed COM being calculated before shapes are applied to an object

9792560

Fixed wrong quaterion/euler calculations in transform

10dbc83

Replaced the calculations from the glm library to convert quaterions to euler and euler to quaterions with my own implementation.

Fixed camera rotation not working when looking in certain directions

f2a27dd

Removed the yaw rotation on the parent transform of the camera object. Each object should only do one rotation, the parent does yaw, the camera itself does pitch.

Added Quaternion class with helper functions

e497444

Moved all the quaternion/euler angles calculations to a Quaternion class inside the utils engine, it is non constructable and has some static helper functions to correctly convert from euler to quaternion and from quaternion to euler

Added overloads for functions that take a glm::vec3

ad4346d

Added overloads for functions like SetSize and SetVelocity to also take the seperate floats instead of a glm::vec3 object

Added VLD to game project & fixed memory leaks

26dc466

Added Visual Leak Detector to the 3rdParty folder and included it only into the game project Included vld into main.cpp of the game project Fixed memory leaks in PhysXEngine.cpp

Added SetTrigger function to colliders

fd9704a

Moved some logic to IPhysXShape and added SetTrigger function to IShape and IPhysXShape Added SetTrigger function to base collider component Added trigger checking to the PhysXSimulationFilterShader

Added constraints to rigidbody

bdddb69

AtlantiaKing requested a review from LeeVangraefschepe November 6, 2023 19:15

LeeVangraefschepe reviewed Nov 8, 2023

View reviewed changes

Fixed typo (DrawTriangles should be called DrawLines)

8c03996

LeeVangraefschepe reviewed Nov 12, 2023

View reviewed changes

Physics/PhysX/PhysXObject.h Outdated

#include "../Interfaces/IPhysicsObject.h"

#include <Subject.h>

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LeeVangraefschepe Nov 12, 2023

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Unused include

LeeVangraefschepe reviewed Nov 12, 2023

View reviewed changes

LeeVangraefschepe requested changes Nov 12, 2023

View reviewed changes

AtlantiaKing added 4 commits November 12, 2023 14:55

Deleted constructor for Quaternion class

cb78c21

Instead of having private Quaternion constructor/destructor, I changed it so the class deletes its constructor

Added clear method to the CustomMesh class

610a727

Instead of having to recreate a CustomMesh object every frame, it can now be cleared which keeps the capacity

AtlantiaKing requested a review from LeeVangraefschepe November 12, 2023 14:20

AtlantiaKing added 2 commits November 12, 2023 15:27

Merge branch 'main' into Physics-integration

118668e

Cleaned up Leap class

29d1cd7

SetEnabledDebugDrawing is now being called in the main.cpp instead of the Leap.cpp Removed m_Renderer variable in the Leap class

LeeVangraefschepe approved these changes Nov 12, 2023

View reviewed changes

LeeVangraefschepe merged commit cd586e8 into main Nov 12, 2023
2 checks passed

LeeVangraefschepe deleted the Physics-integration branch November 12, 2023 14:51

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Added PhysX integration #27

Added PhysX integration #27

AtlantiaKing commented Nov 6, 2023

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		#include "../Interfaces/IPhysicsObject.h"

		#include <Subject.h>

		@@ -0,0 +1,41 @@
		#include "PhysXSimulationFilterCallback.h"

		#include <Debug.h>

Added PhysX integration #27

Added PhysX integration #27

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AtlantiaKing commented Nov 6, 2023

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LeeVangraefschepe Nov 8, 2023 •

edited

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