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feat(physics): sync runtime physx body state

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This commit is contained in:
ssdfasd
2026-04-15 12:47:40 +08:00
parent 7cbc992bd8
commit c5dcfaedd5
3 changed files with 176 additions and 10 deletions
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66
engine/src/Physics/PhysX/PhysXWorldBackend.cpp
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@@ -295,20 +295,61 @@ void ApplyDynamicBodyProperties(
}
}
void SyncActorBindingPose(ActorBinding& binding) {
void SyncShapeBindingState(
const Components::GameObject& actorOwner,
ShapeBinding& shapeBinding) {
if (!shapeBinding.shape || !shapeBinding.collider) {
return;
}
shapeBinding.shape->setLocalPose(
BuildShapeLocalPose(actorOwner, *shapeBinding.collider));
shapeBinding.shape->setGeometry(BuildColliderGeometry(*shapeBinding.collider).any());
shapeBinding.shape->setFlag(physx::PxShapeFlag::eSCENE_QUERY_SHAPE, true);
const bool isTrigger = shapeBinding.collider->IsTrigger();
shapeBinding.shape->setFlag(physx::PxShapeFlag::eSIMULATION_SHAPE, !isTrigger);
shapeBinding.shape->setFlag(physx::PxShapeFlag::eTRIGGER_SHAPE, isTrigger);
shapeBinding.shape->userData = shapeBinding.collider;
shapeBinding.sourceGameObject = shapeBinding.collider->GetGameObject();
if (shapeBinding.material) {
shapeBinding.material->setStaticFriction(
std::max(0.0f, shapeBinding.collider->GetStaticFriction()));
shapeBinding.material->setDynamicFriction(
std::max(0.0f, shapeBinding.collider->GetDynamicFriction()));
shapeBinding.material->setRestitution(
std::clamp(shapeBinding.collider->GetRestitution(), 0.0f, 1.0f));
}
}
bool BindingNeedsActorRebuild(const ActorBinding& binding) {
if (!binding.actor) {
return false;
}
const bool shouldUseDynamicActor =
binding.rigidbody != nullptr &&
binding.rigidbody->GetBodyType() != PhysicsBodyType::Static;
const bool usesDynamicActor = binding.dynamicActor != nullptr;
return shouldUseDynamicActor != usesDynamicActor;
}
void SyncActorBindingState(ActorBinding& binding) {
if (!binding.actor || !binding.owner) {
return;
}
for (ShapeBinding& shapeBinding : binding.shapes) {
if (shapeBinding.shape && shapeBinding.collider) {
shapeBinding.shape->setLocalPose(
BuildShapeLocalPose(*binding.owner, *shapeBinding.collider));
}
SyncShapeBindingState(*binding.owner, shapeBinding);
}
const physx::PxTransform targetPose = ToPxTransform(*binding.owner->GetTransform());
if (binding.dynamicActor) {
if (binding.rigidbody) {
ApplyDynamicBodyProperties(*binding.dynamicActor, *binding.rigidbody);
}
if (binding.rigidbody && binding.rigidbody->GetBodyType() == PhysicsBodyType::Kinematic) {
binding.dynamicActor->setKinematicTarget(targetPose);
}
@@ -450,7 +491,7 @@ void PhysXWorldBackend::Step(float fixedDeltaTime) {
return;
}
SyncActorPosesToScene();
SyncActorStateToScene();
m_native->scene->simulate(fixedDeltaTime);
m_native->scene->fetchResults(true);
@@ -515,7 +556,7 @@ bool PhysXWorldBackend::Raycast(
return false;
}
SyncActorPosesToScene();
SyncActorStateToScene();
physx::PxRaycastBuffer hitBuffer;
const physx::PxHitFlags hitFlags = physx::PxHitFlag::ePOSITION | physx::PxHitFlag::eNORMAL;
@@ -570,14 +611,21 @@ size_t PhysXWorldBackend::GetShapeCount() const {
#endif
}
void PhysXWorldBackend::SyncActorPosesToScene() {
void PhysXWorldBackend::SyncActorStateToScene() {
#if XCENGINE_ENABLE_PHYSX
if (!m_native) {
return;
}
for (const auto& [_, binding] : m_native->actorsByOwner) {
if (BindingNeedsActorRebuild(binding)) {
RebuildSceneState();
break;
}
}
for (auto& [_, binding] : m_native->actorsByOwner) {
SyncActorBindingPose(binding);
SyncActorBindingState(binding);
}
#endif
}

2
engine/src/Physics/PhysX/PhysXWorldBackend.h
View File

@@ -43,7 +43,7 @@ public:
private:
void RebuildSceneState(Components::Component* ignoredComponent = nullptr);
void SyncActorPosesToScene();
void SyncActorStateToScene();
PhysicsWorldCreateInfo m_createInfo = {};
bool m_initialized = false;

118
tests/Physics/test_physics_world.cpp
View File

@@ -280,4 +280,122 @@ TEST(PhysicsWorld_Test, RaycastCanHitTriggerCollider) {
EXPECT_NEAR(hit.normal.z, -1.0f, 0.02f);
}
TEST(PhysicsWorld_Test, RuntimeColliderGeometryChangesUpdateRaycast) {
using namespace XCEngine::Components;
Scene scene("PhysicsScene");
GameObject* target = scene.CreateGameObject("Target");
BoxColliderComponent* boxCollider = target->AddComponent<BoxColliderComponent>();
boxCollider->SetSize(XCEngine::Math::Vector3(1.0f, 1.0f, 1.0f));
XCEngine::Physics::PhysicsWorld world;
XCEngine::Physics::PhysicsWorldCreateInfo createInfo = {};
createInfo.scene = &scene;
const bool expectedInitialized = XCEngine::Physics::PhysicsWorld::IsPhysXAvailable();
ASSERT_EQ(world.Initialize(createInfo), expectedInitialized);
XCEngine::Physics::RaycastHit hit;
EXPECT_FALSE(world.Raycast(
XCEngine::Math::Vector3(0.0f, 1.5f, -5.0f),
XCEngine::Math::Vector3::Forward(),
10.0f,
hit));
boxCollider->SetSize(XCEngine::Math::Vector3(1.0f, 4.0f, 1.0f));
const bool result = world.Raycast(
XCEngine::Math::Vector3(0.0f, 1.5f, -5.0f),
XCEngine::Math::Vector3::Forward(),
10.0f,
hit);
if (!expectedInitialized) {
EXPECT_FALSE(result);
EXPECT_EQ(hit.gameObject, nullptr);
return;
}
ASSERT_TRUE(result);
EXPECT_EQ(hit.gameObject, target);
EXPECT_NEAR(hit.distance, 4.5f, 0.02f);
}
TEST(PhysicsWorld_Test, RuntimeTriggerFlagChangesUpdateRaycastHit) {
using namespace XCEngine::Components;
Scene scene("PhysicsScene");
GameObject* target = scene.CreateGameObject("Target");
SphereColliderComponent* sphereCollider = target->AddComponent<SphereColliderComponent>();
sphereCollider->SetRadius(1.0f);
XCEngine::Physics::PhysicsWorld world;
XCEngine::Physics::PhysicsWorldCreateInfo createInfo = {};
createInfo.scene = &scene;
const bool expectedInitialized = XCEngine::Physics::PhysicsWorld::IsPhysXAvailable();
ASSERT_EQ(world.Initialize(createInfo), expectedInitialized);
sphereCollider->SetTrigger(true);
XCEngine::Physics::RaycastHit hit;
const bool result = world.Raycast(
XCEngine::Math::Vector3(0.0f, 0.0f, -5.0f),
XCEngine::Math::Vector3::Forward(),
10.0f,
hit);
if (!expectedInitialized) {
EXPECT_FALSE(result);
EXPECT_EQ(hit.gameObject, nullptr);
return;
}
ASSERT_TRUE(result);
EXPECT_EQ(hit.gameObject, target);
EXPECT_TRUE(hit.isTrigger);
}
TEST(PhysicsWorld_Test, RuntimeBodyTypeChangesRebuildActorAndEnableSimulation) {
using namespace XCEngine::Components;
if (!XCEngine::Physics::PhysicsWorld::IsPhysXAvailable()) {
GTEST_SKIP() << "PhysX backend is not available in this build.";
}
Scene scene("PhysicsScene");
GameObject* ground = scene.CreateGameObject("Ground");
ground->GetTransform()->SetPosition(XCEngine::Math::Vector3(0.0f, -0.5f, 0.0f));
BoxColliderComponent* groundCollider = ground->AddComponent<BoxColliderComponent>();
groundCollider->SetSize(XCEngine::Math::Vector3(20.0f, 1.0f, 20.0f));
GameObject* body = scene.CreateGameObject("Body");
body->GetTransform()->SetPosition(XCEngine::Math::Vector3(0.0f, 4.0f, 0.0f));
RigidbodyComponent* rigidbody = body->AddComponent<RigidbodyComponent>();
rigidbody->SetBodyType(XCEngine::Physics::PhysicsBodyType::Static);
SphereColliderComponent* sphereCollider = body->AddComponent<SphereColliderComponent>();
sphereCollider->SetRadius(0.5f);
XCEngine::Physics::PhysicsWorld world;
XCEngine::Physics::PhysicsWorldCreateInfo createInfo = {};
createInfo.scene = &scene;
ASSERT_TRUE(world.Initialize(createInfo));
ASSERT_EQ(world.GetNativeActorCount(), 2u);
const float initialY = body->GetTransform()->GetPosition().y;
world.Step(1.0f / 60.0f);
EXPECT_NEAR(body->GetTransform()->GetPosition().y, initialY, 0.001f);
rigidbody->SetBodyType(XCEngine::Physics::PhysicsBodyType::Dynamic);
world.Step(1.0f / 60.0f);
EXPECT_EQ(world.GetNativeActorCount(), 2u);
for (int index = 0; index < 30; ++index) {
world.Step(1.0f / 60.0f);
}
EXPECT_LT(body->GetTransform()->GetPosition().y, initialY - 0.1f);
}
} // namespace