Physics heightfields (#198)

- update vs build settings to disable LTCG and select WASAPI soloud backend by default
- add support for loading physx heightfields from R16_UNORM textures
- made physics run with actual physics framerate instead

code/physics/physics/physxstate.cc

@@ -275,9 +275,14 @@ PhysxState::BeginSimulating(Timing::Time delta, IndexT sceneId)
 
     n_assert(this->activeSceneIds.FindIndex(sceneId) != InvalidIndex);
     Physics::Scene& scene = this->activeScenes[sceneId];
+    n_assert(scene.isSimulating == false);
     scene.time -= delta;
+
+    if (scene.time < -PHYSICS_RATE)
+    {
+        scene.isSimulating = scene.scene->simulate(PHYSICS_RATE);
+    }
 
-    scene.scene->simulate(PHYSICS_RATE);
     N_MARKER_END();
 }
 
@@ -287,11 +292,17 @@ PhysxState::BeginSimulating(Timing::Time delta, IndexT sceneId)
 void
 PhysxState::EndSimulating(IndexT sceneId)
 {
-    N_MARKER_BEGIN(EndSimulating, Physics);
     n_assert(this->activeSceneIds.FindIndex(sceneId) != InvalidIndex);
     Physics::Scene& scene = this->activeScenes[sceneId];
 
+    if (!scene.isSimulating)
+    {
+        return;
+    }
+
+    N_MARKER_BEGIN(EndSimulating, Physics);
     scene.scene->fetchResults(true);
+    scene.time += PHYSICS_RATE;
 
     Util::Set<Ids::Id32> modifiedActors;
     if (scene.updateFunction != nullptr)
@@ -301,7 +312,7 @@ PhysxState::EndSimulating(IndexT sceneId)
 
     // we limit the simulation to 5 frames
     scene.time = Math::max(scene.time, -5.0 * PHYSICS_RATE);
-    while (scene.time < PHYSICS_RATE)
+    while (scene.time < 0.0f)
     {
         // simulate synchronously until we are in sync again
         scene.scene->simulate(PHYSICS_RATE);
@@ -318,6 +329,7 @@ PhysxState::EndSimulating(IndexT sceneId)
             (*scene.updateFunction)(actor);
         }
     }
+    scene.isSimulating = false;
     N_MARKER_END();
 }
 

code/physics/physics/streamactorpool.cc

@@ -16,6 +16,7 @@
 #include "flat/physics/actor.h"
 #include "coregraphics/nvx3fileformatstructs.h"
 #include "coregraphics/primitivegroup.h"
+#include "coregraphics/load/glimltypes.h"
 
 __ImplementClass(Physics::StreamActorPool, 'PSAP', Resources::ResourceLoader);
 
@@ -363,6 +364,68 @@ AddMeshColliders(PhysicsResource::MeshColliderT* colliderNode, Math::mat4 const&
     nvx3Reader->Close();
 }
 
+//------------------------------------------------------------------------------
+/**
+*/
+static void
+AddHeightField(PhysicsResource::HeightFieldColliderT* colliderNode, Math::mat4 const& nodeTransform, Util::String nodeName, IndexT materialIdx, const Util::StringAtom& tag, Ids::Id32 entry, ActorInfo& targetActor)
+{
+    Ptr<IO::Stream> stream = IO::IoServer::Instance()->CreateStream(IO::URI(colliderNode->file));
+    stream->SetAccessMode(IO::Stream::ReadAccess);
+    if (stream->Open())
+    {
+        void* heightData = stream->MemoryMap();
+        uint heightSize = stream->GetSize();
+        n_assert(heightData != nullptr);
+
+        gliml::context ctx;
+        if (ctx.load_dds(heightData, heightSize))
+        {
+            int depth = ctx.image_depth(0, 0);
+            int width = ctx.image_width(0, 0);
+            int height = ctx.image_height(0, 0);
+
+            CoreGraphics::PixelFormat::Code format = CoreGraphics::Gliml::ToPixelFormat(ctx);
+            n_assert(format == CoreGraphics::PixelFormat::R16);
+
+            PxHeightFieldSample* heightSamples = (PxHeightFieldSample*)Memory::Alloc(Memory::PhysicsHeap, width * height * sizeof(PxHeightFieldSample));
+            n_assert(heightSamples != nullptr);
+            Memory::Clear(heightSamples, width * height * sizeof(PxHeightFieldSample));
+
+            uint16_t* heightBuffer = (uint16_t*)ctx.image_data(0, 0);
+
+            // need to flip to be in same orientation with rendering
+            for (int i = 0; i < width; i++)
+            {
+                for (int j = 0; j < height; j++)
+                {
+                    heightSamples[i * width + j].height = heightBuffer[j * width + i];
+                }
+            }
+
+            PxHeightFieldDesc hfDesc;
+            hfDesc.format = PxHeightFieldFormat::eS16_TM;
+            hfDesc.nbColumns = width;
+            hfDesc.nbRows = height;
+            hfDesc.samples.data = heightSamples;
+            hfDesc.samples.stride = sizeof(PxHeightFieldSample);
+
+            PxHeightField* physxHeightField = PxCreateHeightField(hfDesc);
+
+            float sh = colliderNode->height_range / 65536.0f;
+            float sx = colliderNode->target_size_x / (float)width;
+            float sy = colliderNode->target_size_y / (float)height;
+            PxHeightFieldGeometry hfGeom(physxHeightField, PxMeshGeometryFlags(), sh, sx, sy);
+            Math::mat4 offsetTransform = Math::mat4::identity;
+            offsetTransform.position = Math::vec4(-0.5f * colliderNode->target_size_x, 0.0f, -0.5f * colliderNode->target_size_y, 1.0f);
+            physx::PxGeometryHolder holder = hfGeom;
+            AddCollider(holder, materialIdx, offsetTransform, colliderNode->file.AsCharPtr(), nodeName, targetActor, tag, entry);
+            Memory::Free(Memory::HeapType::PhysicsHeap, heightSamples);
+        }
+        stream->MemoryUnmap();
+        stream->Close();
+    }
+}
 
 //------------------------------------------------------------------------------
 /**
@@ -435,8 +498,13 @@ StreamActorPool::LoadFromStream(const Ids::Id32 entry, const Util::StringAtom &
                 */
             }
             break;
+            case ColliderType_HeightField:
+            {
+                AddHeightField(collider->data.AsHeightFieldCollider(), shape->transform, collider->name, material, tag, entry, actorInfo);
+            }
+            break;
             default:
-                n_assert("unknown collider type")
+                n_error("unknown collider type");
         }        
     }
 

code/physics/physicsinterface.h

@@ -73,6 +73,7 @@ struct Scene
     physx::PxDefaultCpuDispatcher *dispatcher;
     UpdateFunctionType updateFunction = nullptr;
     Timing::Time time;
+    bool isSimulating = false;
 };
 
 /// initialize the physics subsystem and create a default scene

fips-files/configs/win64-vstudio-debug.yml

@@ -6,5 +6,8 @@ build_type: Debug
 defines:
     N_USE_VULKAN: ON
     __X64__: ON
+    FIPS_MSVC_LTCG: OFF
     N_DEBUG_SYMBOLS: ON
     PX_TARGET: win.x86_64.vc143.mt
+    SOLOUD_BACKEND_WASAPI: ON
+    SOLOUD_BACKEND_NULL: OFF

fips-files/configs/win64-vstudio-release.yml

@@ -5,5 +5,8 @@ build_tool: cmake
 build_type: Release
 defines:
     N_USE_VULKAN: ON
+    FIPS_MSVC_LTCG: OFF
     __X64__: ON
     PX_TARGET: win.x86_64.vc143.mt
+    SOLOUD_BACKEND_WASAPI: ON
+    SOLOUD_BACKEND_NULL: OFF

syswork/data/flatbuffer/physics/actor.fbs

@@ -38,9 +38,17 @@ table BoxCollider
      extents : Flat.Vec3 (native_inline);
 }
 
+table HeightFieldCollider
+{
+    height_range : float;
+    target_size_x : float;
+    target_size_y : float;
+    file : string;
+}
+
 union ColliderData
 {
-    BoxCollider, SphereCollider, CapsuleCollider, MeshCollider
+    BoxCollider, SphereCollider, CapsuleCollider, MeshCollider, HeightFieldCollider
 }
 
 table Collider

syswork/data/flatbuffer/physics/material.fbs

@@ -19,8 +19,7 @@ enum MeshTopology :  byte
     Convex = 0,    
     ConvexHull = 1,
     Triangles = 2,
-    HeightField = 3,
-    ApproxSkin = 4,
+    ApproxSkin = 3
 }
 
 enum ColliderType : byte
@@ -29,7 +28,8 @@ enum ColliderType : byte
     Cube = 1,    
     Capsule = 2,
     Plane = 3,
-    Mesh = 4
+    Mesh = 4,
+    HeightField = 5
 }
 
 table MaterialDefinition