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Support compound shapes in sweeps and ignore self-hits #41

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1 change: 1 addition & 0 deletions Modules/PhysX/RNPhysXInternals.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,6 +66,7 @@ namespace RN

physx::PxQueryHitType::Enum PhysXQueryFilterCallback::preFilter(const physx::PxFilterData &filterData, const physx::PxShape *shape, const physx::PxRigidActor *actor, physx::PxHitFlags &queryFlags)
{
if(ignoreActor && actor == ignoreActor) return physx::PxQueryHitType::eNONE;
const physx::PxFilterData &shapeFilterData = shape->getQueryFilterData();
bool filterMask = (shapeFilterData.word0 & filterData.word1) && (filterData.word0 & shapeFilterData.word1);
bool filterID = (shapeFilterData.word3 == 0 && filterData.word3 == 0) || (shapeFilterData.word2 != filterData.word3 && shapeFilterData.word3 != filterData.word2);
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2 changes: 2 additions & 0 deletions Modules/PhysX/RNPhysXInternals.h
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Expand Up @@ -31,6 +31,8 @@ namespace RN

class PhysXQueryFilterCallback : public physx::PxQueryFilterCallback
{
public:
physx::PxRigidActor *ignoreActor = nullptr;
physx::PxQueryHitType::Enum preFilter(const physx::PxFilterData &filterData, const physx::PxShape *shape, const physx::PxRigidActor *actor, physx::PxHitFlags &queryFlags) final;
physx::PxQueryHitType::Enum postFilter(const physx::PxFilterData &filterData, const physx::PxQueryHit &hit) final;
};
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57 changes: 48 additions & 9 deletions Modules/PhysX/RNPhysXWorld.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -351,28 +351,52 @@ namespace RN

Vector3 diff = to - from;
float distance = diff.GetLength();
if(distance < RN::k::EpsilonFloat) return hit;

diff.Normalize();
physx::PxSweepBuffer callback;

physx::PxFilterData filterData;
filterData.word0 = filterGroup;
filterData.word1 = filterMask;
filterData.word2 = 0;
filterData.word3 = 0;
PhysXQueryFilterCallback queryFilter;

physx::PxTransform pose = physx::PxTransform(physx::PxVec3(from.x, from.y, from.z), physx::PxQuat(rotation.x, rotation.y, rotation.z, rotation.w));
if(shape->GetPhysXShape())
{
if(_scene->sweep(shape->GetPhysXShape()->getGeometry().any(), pose, physx::PxVec3(diff.x, diff.y, diff.z), distance, callback, physx::PxHitFlags(physx::PxHitFlag::eDEFAULT), physx::PxQueryFilterData(filterData, physx::PxQueryFlag::eDYNAMIC | physx::PxQueryFlag::eSTATIC | physx::PxQueryFlag::ePREFILTER), &queryFilter, 0, inflation))
const physx::PxTransform pose(
physx::PxVec3(from.x, from.y, from.z),
physx::PxQuat(rotation.x, rotation.y, rotation.z, rotation.w));

const physx::PxVec3 dir(diff.x, diff.y, diff.z);

auto sweep = [&](PhysXShape *testShape) {
if(!testShape) return;

physx::PxShape *pxShape = testShape->GetPhysXShape();
if(!pxShape) return;

queryFilter.ignoreActor = pxShape->getActor();

physx::PxSweepBuffer callback;
const bool didHit = _scene->sweep(pxShape->getGeometry().any(), pose, dir, distance, callback, physx::PxHitFlags(physx::PxHitFlag::eDEFAULT), physx::PxQueryFilterData(filterData, physx::PxQueryFlag::eDYNAMIC | physx::PxQueryFlag::eSTATIC | physx::PxQueryFlag::ePREFILTER), &queryFilter, 0, inflation);

if(!didHit)
return;

// Keep closest blocking hit across all children
if(hit.distance < 0.0f || callback.block.distance < hit.distance)
{
hit.distance = callback.block.distance;
hit.position.x = callback.block.position.x;
hit.position.y = callback.block.position.y;
hit.position.z = callback.block.position.z;

hit.normal.x = callback.block.normal.x;
hit.normal.y = callback.block.normal.y;
hit.normal.z = callback.block.normal.z;

hit.node = nullptr;
hit.collisionObject = nullptr;

if(callback.block.actor)
{
void *userData = callback.block.actor->userData;
Expand All @@ -384,11 +408,26 @@ namespace RN
}
}

if(callback.block.shape)
{
hit.shapeOther = static_cast<PhysXShape *>(callback.block.shape->userData);
}
hit.shapeSelf = testShape; // the child that hit
hit.shapeOther = callback.block.shape ? static_cast<PhysXShape *>(callback.block.shape->userData) : nullptr;
}
};

if(shape->GetPhysXShape())
{
sweep(shape);
}
else if(shape->IsKindOfClass(PhysXCompoundShape::GetMetaClass()))
{
PhysXCompoundShape *compound = shape->Downcast<PhysXCompoundShape>();

for(size_t i = 0; i < compound->GetNumberOfShapes(); i++)
{
PhysXShape *child = compound->GetShape(i);
sweep(child);
}

// todo(OJ) or return compound shape? if(bestHit.distance >= 0.0f) bestHit.shapeSelf = shape;
}
else
{
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