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fixed PhysX issues? + added rotation constraints

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This commit is contained in:
Anemunt
2025-12-17 03:35:57 -05:00
parent c23fcecc9f
commit 2eca8493e1
6 changed files with 57 additions and 13 deletions
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27
src/PhysicsSystem.cpp
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@@ -332,7 +332,11 @@ PhysicsSystem::ActorRecord PhysicsSystem::createActorFor(const SceneObject& obj)
dyn->setLinearDamping(obj.rigidbody.linearDamping);
dyn->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, obj.rigidbody.isKinematic);
dyn->setActorFlag(PxActorFlag::eDISABLE_GRAVITY, !obj.rigidbody.useGravity);
dyn->setRigidDynamicLockFlags(PxRigidDynamicLockFlag::eLOCK_ANGULAR_X | PxRigidDynamicLockFlag::eLOCK_ANGULAR_Z);
PxRigidDynamicLockFlags lockFlags;
if (obj.rigidbody.lockRotationX) lockFlags |= PxRigidDynamicLockFlag::eLOCK_ANGULAR_X;
if (obj.rigidbody.lockRotationY) lockFlags |= PxRigidDynamicLockFlag::eLOCK_ANGULAR_Y;
if (obj.rigidbody.lockRotationZ) lockFlags |= PxRigidDynamicLockFlag::eLOCK_ANGULAR_Z;
dyn->setRigidDynamicLockFlags(lockFlags);
if (obj.hasPlayerController) {
dyn->setRigidBodyFlag(PxRigidBodyFlag::eENABLE_CCD, true);
dyn->setMaxDepenetrationVelocity(1.5f);
@@ -404,9 +408,6 @@ bool PhysicsSystem::setActorYaw(int id, float yawDegrees) {
PxQuat yawQuat(static_cast<float>(glm::radians(yawDegrees)), PxVec3(0, 1, 0));
pose.q = yawQuat;
rec.actor->setGlobalPose(pose);
if (PxRigidDynamic* dyn = rec.actor->is<PxRigidDynamic>()) {
dyn->setRigidDynamicLockFlags(PxRigidDynamicLockFlag::eLOCK_ANGULAR_X | PxRigidDynamicLockFlag::eLOCK_ANGULAR_Z);
}
return true;
#endif
return false;
@@ -507,7 +508,23 @@ void PhysicsSystem::simulate(float deltaTime, std::vector<SceneObject>& objects)
if (it == objects.end() || !it->enabled) continue;
it->position = ToGlmVec3(pose.p);
it->rotation.y = ToGlmEulerDeg(pose.q).y;
if (it->hasPlayerController && it->playerController.enabled) {
continue;
}
glm::vec3 euler = ToGlmEulerDeg(pose.q);
if (PxRigidDynamic* dyn = rec.actor->is<PxRigidDynamic>()) {
PxRigidDynamicLockFlags lockFlags = dyn->getRigidDynamicLockFlags();
bool lockX = lockFlags.isSet(PxRigidDynamicLockFlag::eLOCK_ANGULAR_X);
bool lockY = lockFlags.isSet(PxRigidDynamicLockFlag::eLOCK_ANGULAR_Y);
bool lockZ = lockFlags.isSet(PxRigidDynamicLockFlag::eLOCK_ANGULAR_Z);
if (lockX && lockZ && !lockY) {
it->rotation.y = euler.y;
} else {
it->rotation = euler;
}
} else {
it->rotation.y = euler.y;
}
}
}