cocos_lib/cocos/physics/physx/character-controllers/PhysXCharacterController.cpp

/****************************************************************************
 Copyright (c) 2023 Xiamen Yaji Software Co., Ltd.

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#include "physics/physx/character-controllers/PhysXCharacterController.h"
#include "base/std/container/unordered_map.h"
#include "physics/physx/shapes/PhysXShape.h"
#include "physics/physx/PhysXUtils.h"
#include "physics/physx/PhysXWorld.h"

namespace cc {
namespace physics {

//PxShape --> PhysXShape
static PhysXShape* convertPxShape2PhysXShape(physx::PxShape* shape) {
    //PxShape --> PhysXShape ID
    const auto& hitShape = getPxShapeMap().find(reinterpret_cast<uintptr_t>(shape));
    if (hitShape == getPxShapeMap().end()) {
        return nullptr;
    }
    //PhysXShape ID --> PhysXShape pointer
    uintptr_t wrapperPtrShape = PhysXWorld::getInstance().getWrapperPtrWithObjectID(hitShape->second);
    if (wrapperPtrShape == 0) {
        return nullptr;
    }
    return reinterpret_cast<PhysXShape*>(wrapperPtrShape);
}

void ControllerHitReport::onShapeHit(const physx::PxControllerShapeHit& hit) {
    const auto& hitShape = getPxShapeMap().find(reinterpret_cast<uintptr_t>(hit.shape));
    assert(hitShape!= getPxShapeMap().end());
    uint32_t shapeObjectID = hitShape->second;

    const auto& cct = getPxCCTMap().find(reinterpret_cast<uintptr_t>(hit.controller));
    assert(cct != getPxCCTMap().end());
    uint32_t cctObjectID = cct->second;

    CharacterControllerContact contact;
    contact.worldPosition = cc::Vec3(hit.worldPos.x, hit.worldPos.y, hit.worldPos.z);
    contact.worldNormal = cc::Vec3(hit.worldNormal.x, hit.worldNormal.y, hit.worldNormal.z);
    contact.motionDirection = cc::Vec3(hit.dir.x, hit.dir.y, hit.dir.z);
    contact.motionLength = hit.length;

    std::shared_ptr<CCTShapeEventPair> pair = std::make_shared<CCTShapeEventPair>(cctObjectID, shapeObjectID);
    pair->contacts.push_back(contact);

    auto& pairs = PhysXWorld::getInstance().getCCTShapeEventPairs();
    pairs.push_back(pair);
}

void ControllerHitReport::onControllerHit(const physx::PxControllersHit& hit) {
}

void ControllerHitReport::onObstacleHit(const physx::PxControllerObstacleHit& hit) {
}

physx::PxQueryHitType::Enum QueryFilterCallback::preFilter(const physx::PxFilterData& filterData,
const physx::PxShape* shape, const physx::PxRigidActor* actor, physx::PxHitFlags& queryFlags) {
    //PxShape --> PhysXShape ID
    const auto &hitShape = getPxShapeMap().find(reinterpret_cast<uintptr_t>(shape));
    if (hitShape == getPxShapeMap().end()) {
        return physx::PxQueryHitType::eNONE;
    }
    //PhysXShape ID --> PhysXShape pointer
    uintptr_t wrapperPtrShape = PhysXWorld::getInstance().getWrapperPtrWithObjectID(hitShape->second);
    if(wrapperPtrShape == 0){
        return physx::PxQueryHitType::eNONE;
    }
    PhysXShape* wrapperShape = reinterpret_cast<PhysXShape*>(wrapperPtrShape);
    if (!(filterData.word0 & wrapperShape->getMask()) || !(filterData.word1 & wrapperShape->getGroup())) {
        return physx::PxQueryHitType::eNONE;
    }
    return physx::PxQueryHitType::eBLOCK;
}
        
physx::PxQueryHitType::Enum QueryFilterCallback::postFilter(const physx::PxFilterData& filterData, const physx::PxQueryHit& hit){
    PX_UNUSED(filterData);
    PX_UNUSED(hit);
    return physx::PxQueryHitType::eNONE;
}

PhysXCharacterController::PhysXCharacterController() {
    _mObjectID = PhysXWorld::getInstance().addWrapperObject(reinterpret_cast<uintptr_t>(this));
    _mFilterData = physx::PxFilterData(1, 1, 1, 0 );
};

void PhysXCharacterController::release() {
    eraseFromCCTMap();
    if(_impl){
        _impl->release();
        _impl = nullptr;
    }
}

bool PhysXCharacterController::initialize(Node *node) {
    _mNode = node;
    onComponentSet();

    if (_impl == nullptr) {
        return false;
    } else {
        PhysXWorld::getInstance().addCCT(*this);
        return true;
    }    
}

void PhysXCharacterController::onEnable() {
    _mEnabled = true;
}

void PhysXCharacterController::onDisable() {
    _mEnabled = false;
}

void PhysXCharacterController::onDestroy() {
    release();
    PhysXWorld::getInstance().removeCCT(*this);
    PhysXWorld::getInstance().removeWrapperObject(_mObjectID);
}

cc::Vec3 PhysXCharacterController::getPosition() {
    const physx::PxExtendedVec3& pos = _impl->getPosition();
    cc::Vec3 cv(pos.x, pos.y, pos.z);
    return cv;
}

void PhysXCharacterController::setPosition(float x, float y, float z) {
    _impl->setPosition(physx::PxExtendedVec3{x, y, z});
}

bool PhysXCharacterController::onGround() {
    return (_pxCollisionFlags & physx::PxControllerCollisionFlag::Enum::eCOLLISION_DOWN);
}

void PhysXCharacterController::syncSceneToPhysics() {
    uint32_t getChangedFlags = _mNode->getChangedFlags();
    if (getChangedFlags & static_cast<uint32_t>(TransformBit::SCALE)) syncScale();
    //teleport
    if (getChangedFlags & static_cast<uint32_t>(TransformBit::POSITION)) {
        const auto & cctPos = _mNode->getWorldPosition() + scaledCenter();
        setPosition(cctPos.x, cctPos.y, cctPos.z);
    }
        
}

void PhysXCharacterController::syncScale () {
    updateScale();
}

//move
void PhysXCharacterController::move(float x, float y, float z, float minDist, float elapsedTime) {
    physx::PxVec3 disp{x, y, z};
    controllerFilter.mFilterData = &_mFilterData;
    controllerFilter.mFilterCallback = &_mFilterCallback;
    PhysXWorld::getInstance().getControllerManager().setOverlapRecoveryModule(_mOverlapRecovery);
    _pxCollisionFlags = _impl->move(disp, minDist, elapsedTime, controllerFilter);
}

void PhysXCharacterController::setStepOffset(float v) {
    _mStepOffset = v;
    _impl->setStepOffset(v);
}

float PhysXCharacterController::getStepOffset() {
    return _mStepOffset;
}

void PhysXCharacterController::setSlopeLimit(float v) {
    _mSlopeLimit = v;
    _impl->setSlopeLimit(cos(_mSlopeLimit * mathutils::D2R));
}

float PhysXCharacterController::getSlopeLimit() {
    return _mSlopeLimit;
}

void PhysXCharacterController::setContactOffset(float v) {
    _mContactOffset = v;
    _impl->setContactOffset(v);
}

float PhysXCharacterController::getContactOffset() {
    return _mContactOffset;
}

void PhysXCharacterController::setDetectCollisions(bool v) {
    physx::PxRigidDynamic* actor = _impl->getActor();
    physx::PxShape* shape;
    actor->getShapes(&shape, 1);
    shape->setFlag(physx::PxShapeFlag::eSIMULATION_SHAPE, v);
}

void PhysXCharacterController::setOverlapRecovery(bool v) {
    _mOverlapRecovery = v;
}

void PhysXCharacterController::setCenter(float x, float y, float z){
    _mCenter = Vec3(x, y, z);
}

uint32_t PhysXCharacterController::getGroup() {
    return _mFilterData.word0;
}

void PhysXCharacterController::setGroup(uint32_t g) {
    _mFilterData.word0 = g;
    updateFilterData();
}

uint32_t PhysXCharacterController::getMask() {
    return _mFilterData.word1;
}

void PhysXCharacterController::setMask(uint32_t m) {
    _mFilterData.word1 = m;
    updateFilterData();
}

void PhysXCharacterController::updateEventListener(EShapeFilterFlag flag) {
    _mFilterData.word3 |= physx::PxU32(flag);
    updateFilterData();
}

void PhysXCharacterController::updateFilterData() {
   setSimulationFilterData(_mFilterData);
}

void PhysXCharacterController::setSimulationFilterData(physx::PxFilterData filterData) {
    physx::PxRigidDynamic* actor = _impl->getActor();
    physx::PxShape* shape;
    actor->getShapes(&shape, 1);
    shape->setSimulationFilterData(filterData);
}

void PhysXCharacterController::syncPhysicsToScene() {
    _mNode->setWorldPosition(getPosition() - scaledCenter());
}

void PhysXCharacterController::insertToCCTMap() {
    if (_impl) {
        getPxCCTMap().insert(std::pair<uintptr_t, uint32_t>(reinterpret_cast<uintptr_t>(_impl), getObjectID()));
        getPxCCTMap().insert(std::pair<uintptr_t, uint32_t>(reinterpret_cast<uintptr_t>(getShape()), getObjectID()));
    }
}

void PhysXCharacterController::eraseFromCCTMap() {
    if (_impl) {
        getPxCCTMap().erase(reinterpret_cast<uintptr_t>(_impl));
        getPxCCTMap().erase(reinterpret_cast<uintptr_t>(getShape()));
    }
}

cc::Vec3 PhysXCharacterController::scaledCenter() {
    return _mNode->getWorldScale() * _mCenter;
}

physx::PxShape* PhysXCharacterController::getShape() {
    if (_impl) {
        //cct's shape
        physx::PxRigidDynamic* actor = _impl->getActor();
        physx::PxShape* shape;
        actor->getShapes(&shape, 1);
        return shape;
    }
    return nullptr;
}
} // namespace physics
} // namespace cc