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// Copyright (C) 2023 The Qt Company Ltd.
// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR GPL-3.0-only
// Qt-Security score:significant reason:default
#include "qphysxworld_p.h"
#include "characterkinematic/PxControllerManager.h"
#include "cooking/PxCooking.h"
#include "extensions/PxDefaultCpuDispatcher.h"
- #include "pvd/PxPvdTransport.h"
#include "PxFoundation.h"
#include "PxPhysics.h"
#include "PxPhysicsVersion.h"
#include "PxRigidActor.h"
#include "PxScene.h"
#include "PxSimulationEventCallback.h"
#include "qabstractphysicsnode_p.h"
#include "qphysicsutils_p.h"
#include "qphysicsworld_p.h"
#include "qstaticphysxobjects_p.h"
#include "qtriggerbody_p.h"
QT_BEGIN_NAMESPACE
class SimulationEventCallback : public physx::PxSimulationEventCallback
{
public:
SimulationEventCallback(QPhysicsWorld *worldIn) : world(worldIn) {};
virtual ~SimulationEventCallback() = default;
void onTrigger(physx::PxTriggerPair *pairs, physx::PxU32 count) override
{
QMutexLocker locker(&world->m_removedPhysicsNodesMutex);
for (physx::PxU32 i = 0; i < count; i++) {
// ignore pairs when shapes have been deleted
if (pairs[i].flags
& (physx::PxTriggerPairFlag::eREMOVED_SHAPE_TRIGGER
| physx::PxTriggerPairFlag::eREMOVED_SHAPE_OTHER))
continue;
QTriggerBody *triggerNode =
static_cast<QTriggerBody *>(pairs[i].triggerActor->userData);
QAbstractPhysicsNode *otherNode =
static_cast<QAbstractPhysicsNode *>(pairs[i].otherActor->userData);
if (!triggerNode || !otherNode) {
qWarning() << "QtQuick3DPhysics internal error: null pointer in trigger collision.";
continue;
}
if (world->isNodeRemoved(triggerNode) || world->isNodeRemoved(otherNode))
continue;
const auto status = pairs[i].status;
if (status == physx::PxPairFlag::eNOTIFY_TOUCH_FOUND) {
if (otherNode->sendTriggerReports()) {
triggerNode->registerCollision(otherNode);
}
if (otherNode->receiveTriggerReports()) {
emit otherNode->enteredTriggerBody(triggerNode);
}
} else if (status == physx::PxPairFlag::eNOTIFY_TOUCH_LOST) {
if (otherNode->sendTriggerReports()) {
triggerNode->deregisterCollision(otherNode);
}
if (otherNode->receiveTriggerReports()) {
emit otherNode->exitedTriggerBody(triggerNode);
}
}
}
}
void onConstraintBreak(physx::PxConstraintInfo * /*constraints*/,
physx::PxU32 /*count*/) override {};
void onWake(physx::PxActor ** /*actors*/, physx::PxU32 /*count*/) override {};
void onSleep(physx::PxActor ** /*actors*/, physx::PxU32 /*count*/) override {};
void onContact(const physx::PxContactPairHeader &pairHeader, const physx::PxContactPair *pairs,
physx::PxU32 nbPairs) override
{
QMutexLocker locker(&world->m_removedPhysicsNodesMutex);
constexpr physx::PxU32 bufferSize = 64;
physx::PxContactPairPoint contacts[bufferSize];
for (physx::PxU32 i = 0; i < nbPairs; i++) {
const physx::PxContactPair &contactPair = pairs[i];
if (contactPair.events & physx::PxPairFlag::eNOTIFY_TOUCH_FOUND) {
QAbstractPhysicsNode *trigger =
static_cast<QAbstractPhysicsNode *>(pairHeader.actors[0]->userData);
QAbstractPhysicsNode *other =
static_cast<QAbstractPhysicsNode *>(pairHeader.actors[1]->userData);
if (!trigger || !other || world->isNodeRemoved(trigger)
|| world->isNodeRemoved(other) || !trigger->m_backendObject
|| !other->m_backendObject)
continue;
const bool triggerReceive =
trigger->receiveContactReports() && other->sendContactReports();
const bool otherReceive =
other->receiveContactReports() && trigger->sendContactReports();
if (!triggerReceive && !otherReceive)
continue;
physx::PxU32 nbContacts = pairs[i].extractContacts(contacts, bufferSize);
QList<QVector3D> positions;
QList<QVector3D> impulses;
QList<QVector3D> normals;
positions.reserve(nbContacts);
impulses.reserve(nbContacts);
normals.reserve(nbContacts);
for (physx::PxU32 j = 0; j < nbContacts; j++) {
physx::PxVec3 position = contacts[j].position;
physx::PxVec3 impulse = contacts[j].impulse;
physx::PxVec3 normal = contacts[j].normal;
positions.push_back(QPhysicsUtils::toQtType(position));
impulses.push_back(QPhysicsUtils::toQtType(impulse));
normals.push_back(QPhysicsUtils::toQtType(normal));
}
QList<QVector3D> normalsInverted;
normalsInverted.reserve(normals.size());
for (const QVector3D &v : std::as_const(normals)) {
normalsInverted.push_back(QVector3D(-v.x(), -v.y(), -v.z()));
}
if (triggerReceive)
world->registerContact(other, trigger, positions, impulses, normals);
if (otherReceive)
world->registerContact(trigger, other, positions, impulses, normalsInverted);
}
}
};
void onAdvance(const physx::PxRigidBody *const * /*bodyBuffer*/,
const physx::PxTransform * /*poseBuffer*/,
const physx::PxU32 /*count*/) override {};
private:
QPhysicsWorld *world = nullptr;
};
static constexpr bool isBitSet(quint32 value, quint32 position)
{
Q_ASSERT(position <= 32);
return value & (1 << (position));
}
// If any 'id' bit is set in the other mask it means collisions should be ignored, i.e.
static bool isFilteredOut(physx::PxFilterData filterData0, physx::PxFilterData filterData1)
{
// First word is id, second is collision mask
const quint32 id0 = filterData0.word0;
const quint32 id1 = filterData1.word0;
const quint32 mask0 = filterData0.word1;
const quint32 mask1 = filterData1.word1;
return id0 < 32 && id1 < 32 && (isBitSet(mask0, id1) || isBitSet(mask1, id0));
}
static physx::PxFilterFlags
contactReportFilterShader(physx::PxFilterObjectAttributes attributes0,
physx::PxFilterData filterData0,
physx::PxFilterObjectAttributes attributes1,
physx::PxFilterData filterData1, physx::PxPairFlags &pairFlags,
const void * /*constantBlock*/, physx::PxU32 /*constantBlockSize*/)
{
if (isFilteredOut(filterData0, filterData1)) {
// We return a 'suppress' since that will still re-evaluate when filter data is changed.
return physx::PxFilterFlag::eSUPPRESS;
}
// A trigger shape does not collide, it only reports what overlaps it, so
// there is nothing to solve and nothing for a continuous sweep to do. The
// scene has CCD enabled unconditionally (see below), and PhysX warns for
// every trigger pair that asks for a CCD contact, so ask only for what a
// trigger actually needs.
if (physx::PxFilterObjectIsTrigger(attributes0)
|| physx::PxFilterObjectIsTrigger(attributes1)) {
pairFlags = physx::PxPairFlag::eTRIGGER_DEFAULT;
return physx::PxFilterFlag::eDEFAULT;
}
// Makes objects collide
const auto defaultCollisonFlags =
physx::PxPairFlag::eSOLVE_CONTACT |
physx::PxPairFlag::eDETECT_DISCRETE_CONTACT |
physx::PxPairFlag::eDETECT_CCD_CONTACT; // will be ignored by physX engine if the ccd is disabled
// For trigger body detection
const auto notifyTouchFlags =
physx::PxPairFlag::eNOTIFY_TOUCH_FOUND | physx::PxPairFlag::eNOTIFY_TOUCH_LOST;
// For contact detection
const auto notifyContactFlags = physx::PxPairFlag::eNOTIFY_CONTACT_POINTS;
pairFlags = defaultCollisonFlags | notifyTouchFlags | notifyContactFlags;
return physx::PxFilterFlag::eDEFAULT;
}
#define PHYSX_RELEASE(x) \
if (x != nullptr) { \
x->release(); \
x = nullptr; \
}
void QPhysXWorld::createWorld()
{
auto &s_physx = StaticPhysXObjects::getReference();
s_physx.foundationRefCount++;
if (s_physx.foundationCreated)
return;
s_physx.foundation = PxCreateFoundation(
PX_PHYSICS_VERSION, s_physx.defaultAllocatorCallback, s_physx.defaultErrorCallback);
if (!s_physx.foundation)
qFatal("PxCreateFoundation failed!");
s_physx.foundationCreated = true;
- #if PHYSX_ENABLE_PVD
- s_physx.pvd = PxCreatePvd(*m_physx->foundation);
- s_physx.transport = physx::PxDefaultPvdSocketTransportCreate("qt", 5425, 10);
- s_physx.pvd->connect(*m_physx->transport, physx::PxPvdInstrumentationFlag::eALL);
- #endif
-
// FIXME: does the tolerance matter?
s_physx.cooking = PxCreateCooking(PX_PHYSICS_VERSION, *s_physx.foundation,
physx::PxCookingParams(physx::PxTolerancesScale()));
}
void QPhysXWorld::deleteWorld()
{
auto &s_physx = StaticPhysXObjects::getReference();
s_physx.foundationRefCount--;
if (s_physx.foundationRefCount == 0) {
PHYSX_RELEASE(controllerManager);
PHYSX_RELEASE(scene);
PHYSX_RELEASE(s_physx.dispatcher);
PHYSX_RELEASE(s_physx.cooking);
- PHYSX_RELEASE(s_physx.transport);
- PHYSX_RELEASE(s_physx.pvd);
// Every node releases its material when it is cleaned up, which happens before the
// last world is deleted, so nothing should be left to release here
Q_ASSERT(s_physx.materials.isEmpty());
s_physx.materials.clear();
PHYSX_RELEASE(s_physx.physics);
PHYSX_RELEASE(s_physx.foundation);
delete callback;
callback = nullptr;
s_physx.foundationCreated = false;
s_physx.physicsCreated = false;
} else {
delete callback;
callback = nullptr;
PHYSX_RELEASE(controllerManager);
PHYSX_RELEASE(scene);
}
}
void QPhysXWorld::createScene(float typicalLength, float typicalSpeed, const QVector3D &gravity,
QPhysicsWorld *physicsWorld, unsigned int numThreads)
{
if (scene) {
qWarning() << "Scene already created";
return;
}
physx::PxTolerancesScale scale;
scale.length = typicalLength;
scale.speed = typicalSpeed;
auto &s_physx = StaticPhysXObjects::getReference();
if (!s_physx.physicsCreated) {
constexpr bool recordMemoryAllocations = true;
s_physx.physics = PxCreatePhysics(PX_PHYSICS_VERSION, *s_physx.foundation, scale,
- recordMemoryAllocations, s_physx.pvd);
+ recordMemoryAllocations);
if (!s_physx.physics)
qFatal("PxCreatePhysics failed!");
s_physx.dispatcher = physx::PxDefaultCpuDispatcherCreate(numThreads);
s_physx.physicsCreated = true;
}
callback = new SimulationEventCallback(physicsWorld);
physx::PxSceneDesc sceneDesc(scale);
sceneDesc.gravity = QPhysicsUtils::toPhysXType(gravity);
sceneDesc.cpuDispatcher = s_physx.dispatcher;
sceneDesc.filterShader = contactReportFilterShader;
// CCD is always enabled at the scene level. Since PhysX's CCD pass is cheap enough
// (see PxsCCDContext::updateCCD) when there are no CCD-enabled bodies in the scene,
// it makes the code simpler.
sceneDesc.flags |= physx::PxSceneFlag::eENABLE_CCD;
sceneDesc.solverType = physx::PxSolverType::eTGS;
sceneDesc.simulationEventCallback = callback;
if (physicsWorld->reportKinematicKinematicCollisions())
sceneDesc.kineKineFilteringMode = physx::PxPairFilteringMode::eKEEP;
if (physicsWorld->reportStaticKinematicCollisions())
sceneDesc.staticKineFilteringMode = physx::PxPairFilteringMode::eKEEP;
switch (physicsWorld->staticQueryStructure()) {
case QPhysicsWorld::QueryStructure::NoStructure: {
Q_ASSERT(false && "Unreachable: setStaticQueryStructure() rejects NoStructure");
break;
}
case QPhysicsWorld::QueryStructure::StaticTree: {
sceneDesc.staticStructure = physx::PxPruningStructureType::eSTATIC_AABB_TREE;
break;
}
case QPhysicsWorld::QueryStructure::DynamicTree: {
sceneDesc.staticStructure = physx::PxPruningStructureType::eDYNAMIC_AABB_TREE;
break;
}
}
switch (physicsWorld->dynamicQueryStructure()) {
case QPhysicsWorld::QueryStructure::NoStructure: {
sceneDesc.dynamicStructure = physx::PxPruningStructureType::eNONE;
break;
}
case QPhysicsWorld::QueryStructure::StaticTree: {
sceneDesc.dynamicStructure = physx::PxPruningStructureType::eSTATIC_AABB_TREE;
break;
}
case QPhysicsWorld::QueryStructure::DynamicTree: {
sceneDesc.dynamicStructure = physx::PxPruningStructureType::eDYNAMIC_AABB_TREE;
break;
}
}
scene = s_physx.physics->createScene(sceneDesc);
}
QT_END_NAMESPACE