more plugin work (wip)

MADEAPPS · Oct 24, 2024 · be940c4 · be940c4
1 parent 92ed2b5
commit be940c4
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Showing 15 changed files with 164 additions and 114 deletions.
diff --git a/...pplications/toolsAndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonCollision.cpp b/...pplications/toolsAndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonCollision.cpp
@@ -121,9 +121,17 @@ void UNewtonCollision::OnUnregister()
 
 void UNewtonCollision::SetTransform(const USceneComponent* const meshComponent)
 {
-	const AActor* const owner = GetOwner();
-	check(owner);
-	const FTransform bodyTransform(owner->GetRootComponent()->GetComponentToWorld());
+	//const AActor* const owner = GetOwner();
+	//check(owner);
+	FTransform bodyTransform(GetComponentTransform());
+	for (USceneComponent* parent = GetAttachParent(); parent; parent = parent->GetAttachParent())
+	{
+		bodyTransform = parent->GetComponentTransform();
+		if (Cast<UNewtonRigidBody>(parent))
+		{
+			break;
+		}
+	}
 	const FTransform globalTransform(meshComponent->GetComponentToWorld());
 	const FTransform localTransform(globalTransform * bodyTransform.Inverse());
 
@@ -247,7 +255,7 @@ ndShapeInstance* UNewtonCollision::CreateBodyInstanceShape(const ndMatrix& bodyM
 	const ndVector scale(ndFloat32(uScale.X), ndFloat32(uScale.Y), ndFloat32(uScale.Z), ndFloat32(1.0f));
 
 	const FTransform transform(GetComponentToWorld());
-	const ndMatrix matrix(UNewtonRigidBody::ToNewtonMatrix(transform) * bodyMatrix.OrthoInverse());
+	const ndMatrix matrix(ToNewtonMatrix(transform) * bodyMatrix.OrthoInverse());
 
 	instance->SetScale(scale);
 	instance->SetLocalMatrix(matrix);
@@ -269,25 +277,25 @@ ndVector UNewtonCollision::GetVolumePosition(const ndMatrix& bodyMatrix) const
 	return posit;
 }
 
+bool UNewtonCollision::GetDebugMode() const
+{
+	for (USceneComponent* component = GetAttachParent(); component; component = component->GetAttachParent())
+	{
+		const UNewtonRigidBody* const rigidBody = Cast<UNewtonRigidBody>(component);
+		if (rigidBody)
+		{
+			return rigidBody->ShowDebug;
+		}
+	}
+	return false;
+}
+
 void UNewtonCollision::ApplyPropertyChanges()
 {
 	m_propertyChanged = false;
 
 	if (m_shape)
 	{
-		auto GetDebugMode = [this]()
-		{
-			for (USceneComponent* component = GetAttachParent(); component; component = component->GetAttachParent())
-			{
-				const UNewtonRigidBody* const rigidBody = Cast<UNewtonRigidBody>(component);
-				if (rigidBody)
-				{
-					return rigidBody->ShowDebug;
-				}
-			}
-			return false;
-		};
-
 		bool showDebug = GetDebugMode();
 		if (showDebug)
 		{
@@ -300,12 +308,12 @@ void UNewtonCollision::ApplyPropertyChanges()
 				{
 					//UE_LOG(LogTemp, Warning, TEXT("Rebuild Mesh"));
 					PolygonizeMesh wireMesh;
-					ndShapeInstance* const instanceShape = CreateInstanceShape();
-					instanceShape->DebugShape(ndGetIdentityMatrix(), wireMesh);
+					ndShapeInstance* const instance = CreateInstanceShape();
+					instance->DebugShape(ndGetIdentityMatrix(), wireMesh);
 					visualMesh = wireMesh.CreateDynamicMesh3();
 					plugin->AddDynamicMesh(visualMesh, m_hash);
 
-					delete instanceShape;
+					delete instance;
 				}
 
 				m_visualMesh = visualMesh;

diff --git a/.../applications/toolsAndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonCollision.h b/.../applications/toolsAndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonCollision.h
@@ -45,6 +45,7 @@ class UNewtonCollision : public UDynamicMeshComponent
 	virtual void BuildNewtonShape();
 	virtual void ApplyPropertyChanges();
 
+	bool GetDebugMode() const;
 	virtual ndShape* CreateShape() const;
 	virtual long long CalculateHash() const;
 	virtual ndShapeInstance* CreateInstanceShape() const;

diff --git a/...AndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonCollisionConvexApproximate.cpp b/...AndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonCollisionConvexApproximate.cpp
@@ -257,6 +257,7 @@ ndConvexHullSet* UNewtonCollisionConvexApproximate::CreateConvexApproximationSha
 		hullSet->Push(pointsSet);
 	}
 
+	UE_LOG(LogTemp, Display, TEXT("number of vhcd convex generated: %d"), hullArray.GetCount());
 	delete vhacdHullSet;
 	return hullSet;
 }
@@ -313,7 +314,7 @@ ndShapeInstance* UNewtonCollisionConvexApproximate::CreateBodyInstanceShape(cons
 
 	const ndVector scale(ndFloat32(1.0f));
 	const FTransform transform(GetComponentToWorld());
-	const ndMatrix matrix(UNewtonRigidBody::ToNewtonMatrix(transform) * bodyMatrix.OrthoInverse());
+	const ndMatrix matrix(ToNewtonMatrix(transform) * bodyMatrix.OrthoInverse());
 
 	instance->SetScale(scale);
 	instance->SetLocalMatrix(matrix);

diff --git a/...s/toolsAndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonCollisionConvexHull.cpp b/...s/toolsAndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonCollisionConvexHull.cpp
@@ -49,31 +49,43 @@ ndShape* UNewtonCollisionConvexHull::CreateShape() const
 	return new ndShapeNull();
 }
 
-void UNewtonCollisionConvexHull::InitStaticMeshCompoment(const USceneComponent* const meshComponent)
+void UNewtonCollisionConvexHull::GenerateMesh(const USceneComponent* const meshComponent)
 {
-	SetTransform(meshComponent);
-
 	const UStaticMeshComponent* const staticMeshComponent = Cast<UStaticMeshComponent>(meshComponent);
 	check(staticMeshComponent);
 	UStaticMesh* const staticMesh = staticMeshComponent->GetStaticMesh().Get();
 
 	const FStaticMeshRenderData* const renderData = staticMesh->GetRenderData();
 	const FStaticMeshLODResourcesArray& renderResource = renderData->LODResources;
-	
+
 	const FVector uScale(GetComponentTransform().GetScale3D());
 	const ndVector scale(ndFloat32(uScale.X), ndFloat32(uScale.Y), ndFloat32(uScale.Z), ndFloat32(0.0f));
 	const ndVector bakedScale(scale.Scale(UNREAL_INV_UNIT_SYSTEM));
-	
+
 	const FStaticMeshLODResources& renderLOD = renderResource[0];
 	const FStaticMeshVertexBuffers& staticMeshVertexBuffer = renderLOD.VertexBuffers;;
 	const FPositionVertexBuffer& positBuffer = staticMeshVertexBuffer.PositionVertexBuffer;
-
+
+	FTransform bodyTransform(meshComponent->GetComponentToWorld());
+	for (USceneComponent* parent = GetAttachParent(); parent; parent = parent->GetAttachParent())
+	{
+		bodyTransform = parent->GetComponentTransform();
+		if (Cast<UNewtonRigidBody>(parent))
+		{
+			break;
+		}
+	}
+
+	const FTransform globalTransform(GetComponentToWorld());
+	const FTransform localTransform(globalTransform * bodyTransform.Inverse());
+	const ndMatrix localMatrix(ToNewtonMatrix(localTransform));
+
 	ndArray<ndBigVector> points;
 	for (ndInt32 i = positBuffer.GetNumVertices() - 1; i >= 0; --i)
 	{
 		const FVector3f p(positBuffer.VertexPosition(i));
-		const ndVector q(ndFloat32(p.X), ndFloat32(p.Y), ndFloat32(p.Z), ndFloat32(0.0f));
-		points.PushBack(q * bakedScale);
+		const ndVector q(ndFloat32(p.X), ndFloat32(p.Y), ndFloat32(p.Z), ndFloat32(1.0f));
+		points.PushBack(localMatrix.TransformVector(q * bakedScale));
 	}
 	ndConvexHull3d convexHull(&points[0].m_x, sizeof(ndBigVector), points.GetCount(), Tolerance, MaxVertexCount);
 	const ndArray<ndBigVector>& convexVertex = convexHull.GetVertexPool();
@@ -85,25 +97,44 @@ void UNewtonCollisionConvexHull::InitStaticMeshCompoment(const USceneComponent*
 	}
 }
 
-ndShapeInstance* UNewtonCollisionConvexHull::CreateBodyInstanceShape(const ndMatrix& bodyMatrix) const
+void UNewtonCollisionConvexHull::InitStaticMeshCompoment(const USceneComponent* const meshComponent)
+{
+	SetTransform(meshComponent);
+	GenerateMesh(meshComponent);
+}
+
+ndShapeInstance* UNewtonCollisionConvexHull::CreateInstanceShape() const
 {
-	ndShapeInstance* const instance = CreateInstanceShape();
+	ndShapeInstance* const instance = new ndShapeInstance(m_shape);
+	//ndShapeInstance* const instance = new ndShapeInstance(new ndShapeSphere(0.5f));
 
-	const ndVector scale(ndFloat32(1.0f));
-	const FTransform transform(GetComponentToWorld());
-	const ndMatrix matrix(UNewtonRigidBody::ToNewtonMatrix(transform) * bodyMatrix.OrthoInverse());
+	FTransform bodyTransform(GetComponentToWorld());
+	for (USceneComponent* parent = GetAttachParent(); parent; parent = parent->GetAttachParent())
+	{
+		bodyTransform = parent->GetComponentTransform();
+		if (Cast<UNewtonRigidBody>(parent))
+		{
+			break;
+		}
+	}
+
+	const FTransform globalTransform(GetComponentToWorld());
+	const FTransform localTransform(globalTransform * bodyTransform.Inverse());
+	const ndMatrix localMatrix(ToNewtonMatrix(localTransform));
+
+	const FVector uScale(GetComponentTransform().GetScale3D());
+	const ndVector invScale(ndFloat32(1.0f/uScale.X), ndFloat32(1.0f/uScale.Y), ndFloat32(1.0f / uScale.Z), ndFloat32(0.0f));
 
-	instance->SetScale(scale);
-	instance->SetLocalMatrix(matrix);
+	instance->SetScale(invScale);
+	instance->SetLocalMatrix(localMatrix.OrthoInverse());
 	return instance;
 }
 
-ndShapeInstance* UNewtonCollisionConvexHull::CreateInstanceShape() const
+ndShapeInstance* UNewtonCollisionConvexHull::CreateBodyInstanceShape(const ndMatrix& bodyMatrix) const
 {
 	ndShapeInstance* const instance = new ndShapeInstance(m_shape);
-	const FVector uScale(GetComponentTransform().GetScale3D());
-	const ndVector scale(ndFloat32(1.0f / uScale.X), ndFloat32(1.0f / uScale.Y), ndFloat32(1.0f / uScale.Z), ndFloat32(0.0f));
-	instance->SetScale(scale);
+	instance->SetScale(ndVector(ndFloat32(1.0f)));
+	instance->SetLocalMatrix(ndGetIdentityMatrix());
 	return instance;
 }
 
@@ -116,7 +147,12 @@ void UNewtonCollisionConvexHull::ApplyPropertyChanges()
 			const USceneComponent* const parent = Cast<UStaticMeshComponent>(GetAttachParent());
 			if (parent)
 			{
-				InitStaticMeshCompoment(parent);
+				const FTransform localTransform;
+				SetComponentToWorld(parent->GetComponentToWorld());
+				SetRelativeScale3D_Direct(localTransform.GetScale3D());
+				SetRelativeRotation_Direct(FRotator(localTransform.GetRotation()));
+				SetRelativeLocation_Direct(localTransform.GetLocation());
+				GenerateMesh(parent);
 			}
 		}
 	}

diff --git a/...ons/toolsAndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonCollisionConvexHull.h b/...ons/toolsAndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonCollisionConvexHull.h
@@ -20,16 +20,19 @@ class UNewtonCollisionConvexHull : public UNewtonCollision
 	public:
 	// Sets default values for this component's properties
 	UNewtonCollisionConvexHull();
+
 	virtual void InitStaticMeshCompoment(const USceneComponent* const meshComponent) override;
 
 	protected:
 	virtual void Serialize(FArchive& ar) override;
 
-	virtual void ApplyPropertyChanges();
-	virtual ndShape* CreateShape() const;
-	virtual long long CalculateHash() const;
-	virtual ndShapeInstance* CreateInstanceShape() const;
-	virtual ndShapeInstance* CreateBodyInstanceShape(const ndMatrix& bodyMatrix) const;
+	virtual void ApplyPropertyChanges() override;
+	virtual ndShape* CreateShape() const override;
+	virtual long long CalculateHash() const override;
+
+	void GenerateMesh(const USceneComponent* const meshComponent);
+	virtual ndShapeInstance* CreateInstanceShape() const override;
+	virtual ndShapeInstance* CreateBodyInstanceShape(const ndMatrix& bodyMatrix) const override;
 
 	UPROPERTY(EditAnywhere, Category = Newton, meta = (ClampMin = 0.001f))
 	float Tolerance;

diff --git a/...ns/toolsAndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonCollisionLandscape.cpp b/...ns/toolsAndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonCollisionLandscape.cpp
@@ -166,7 +166,7 @@ ndShapeInstance* UNewtonCollisionLandscape::CreateBodyInstanceShape(const ndMatr
 {
 	ndShapeInstance* const instance = new ndShapeInstance(m_shape);
 	const FTransform transform(GetComponentToWorld());
-	const ndMatrix matrix (UNewtonRigidBody::ToNewtonMatrix(transform));
+	const ndMatrix matrix (ToNewtonMatrix(transform));
 	const FVector uScale(transform.GetScale3D());
 	ndMatrix origin(ndGetIdentityMatrix());
 	origin.m_posit.m_y = ndFloat32(ndFloat32(m_tileSize_y - 1) * m_scale_y * uScale.Y * UNREAL_INV_UNIT_SYSTEM);

diff --git a/...oolsAndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonCollisionPolygonalMesh.cpp b/...oolsAndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonCollisionPolygonalMesh.cpp
@@ -192,7 +192,7 @@ ndShapeInstance* UNewtonCollisionPolygonalMesh::CreateBodyInstanceShape(const nd
 
 	const ndVector scale(ndFloat32(1.0f));
 	const FTransform transform(GetComponentToWorld());
-	const ndMatrix matrix(UNewtonRigidBody::ToNewtonMatrix(transform) * bodyMatrix.OrthoInverse());
+	const ndMatrix matrix(ToNewtonMatrix(transform) * bodyMatrix.OrthoInverse());
 
 	instance->SetScale(scale);
 	instance->SetLocalMatrix(matrix);

diff --git a/.../applications/toolsAndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonCommons.cpp b/.../applications/toolsAndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonCommons.cpp
@@ -1,7 +1,8 @@
-// Copyright Epic Games, Inc. All Rights Reserved.
+
 
 #include "NewtonCommons.h"
 
+#include "ThirdParty/newtonLibrary/Public/dNewton/ndNewton.h"
 
 ndHullPoints::ndHullPoints()
 	:TArray<FVector3f>()
@@ -25,3 +26,26 @@ ndConvexHullSet::~ndConvexHullSet()
 	}
 }
 
+FTransform ToUnRealTransform(const ndMatrix& matrix)
+{
+	const ndQuaternion rotation(matrix);
+	const ndVector posit(matrix.m_posit.Scale(UNREAL_UNIT_SYSTEM));
+	const FVector uPosit(posit.m_x, posit.m_y, posit.m_z);
+	const FQuat uRot(rotation.m_x, rotation.m_y, rotation.m_z, rotation.m_w);
+
+	FTransform transform;
+	transform.SetRotation(uRot);
+	transform.SetLocation(uPosit);
+	return transform;
+}
+
+ndMatrix ToNewtonMatrix(const FTransform& tranform)
+{
+	const FVector location(tranform.GetLocation());
+	const FQuat rotation(tranform.Rotator().Quaternion());
+
+	const ndQuaternion quat(ndFloat32(rotation.X), ndFloat32(rotation.Y), ndFloat32(rotation.Z), ndFloat32(rotation.W));
+	const ndVector posit(UNREAL_INV_UNIT_SYSTEM * ndFloat32(location.X), UNREAL_INV_UNIT_SYSTEM * ndFloat32(location.Y), UNREAL_INV_UNIT_SYSTEM * ndFloat32(location.Z), ndFloat32(1.0f));
+	const ndMatrix matrix(ndCalculateMatrix(quat, posit));
+	return matrix;
+}
diff --git a/...cations/toolsAndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonJointCylinder.cpp b/...cations/toolsAndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonJointCylinder.cpp
@@ -29,7 +29,7 @@ void UNewtonJointCylinder::DrawAngularGizmo(float timestep) const
 {
 	ndFloat32 scale = DebugScale * UNREAL_UNIT_SYSTEM;
 	const FTransform transform(GetComponentTransform());
-	const ndMatrix matrix(UNewtonRigidBody::ToNewtonMatrix(transform));
+	const ndMatrix matrix(ToNewtonMatrix(transform));
 	const FColor pinColor(255.0f, 255.0f, 0.0f);
 	const ndVector pinDir(matrix.m_front.Scale(scale * 0.9f));
 	const FVector coneDir(matrix.m_front.m_x, matrix.m_front.m_y, matrix.m_front.m_z);
@@ -54,7 +54,7 @@ void UNewtonJointCylinder::DrawAngularGizmo(float timestep) const
 			ndFloat32 angleStep = ndMin(deltaTwist, 360.0f) / subdiv;
 
 			const FVector parentOrigin(transform.GetLocation());
-			const ndMatrix parentMatrix(UNewtonRigidBody::ToNewtonMatrix(transform));
+			const ndMatrix parentMatrix(ToNewtonMatrix(transform));
 			verts.Push(parentOrigin);
 			for (ndInt32 i = 0; i <= subdiv; ++i)
 			{
@@ -79,7 +79,7 @@ void UNewtonJointCylinder::DrawLinearGizmo(float timestep) const
 {
 	ndFloat32 scale = DebugScale * UNREAL_UNIT_SYSTEM;
 	const FTransform transform(GetComponentTransform());
-	const ndMatrix matrix(UNewtonRigidBody::ToNewtonMatrix(transform));
+	const ndMatrix matrix(ToNewtonMatrix(transform));
 	const FColor pinColor(255.0f, 255.0f, 0.0f);
 	const ndVector pinDir(matrix.m_front.Scale(scale * 0.9f));
 	const FVector pingStart(transform.GetLocation());
@@ -127,7 +127,7 @@ void UNewtonJointCylinder::CreateJoint(ANewtonWorldActor* const newtonWorldActor
 	if (body0 && body1)
 	{
 		const FTransform transform(GetRelativeTransform());
-		const ndMatrix matrix(UNewtonRigidBody::ToNewtonMatrix(transform) * body1->GetMatrix());
+		const ndMatrix matrix(ToNewtonMatrix(transform) * body1->GetMatrix());
 		ndJointCylinder* const joint = new ndJointCylinder(matrix, body0, body1);
 
 		joint->SetLimitStateAngle(EnableAngularLimits);

diff --git a/...plications/toolsAndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonJointHinge.cpp b/...plications/toolsAndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonJointHinge.cpp
@@ -23,7 +23,7 @@ void UNewtonJointHinge::DrawGizmo(float timestep) const
 {
 	ndFloat32 scale = DebugScale * UNREAL_UNIT_SYSTEM;
 	const FTransform transform(GetComponentTransform());
-	const ndMatrix matrix(UNewtonRigidBody::ToNewtonMatrix(transform));
+	const ndMatrix matrix(ToNewtonMatrix(transform));
 	const FColor pinColor(255.0f, 255.0f, 0.0f);
 	const ndVector pinDir(matrix.m_front.Scale(scale * 0.9f));
 	const FVector coneDir(matrix.m_front.m_x, matrix.m_front.m_y, matrix.m_front.m_z);
@@ -48,7 +48,7 @@ void UNewtonJointHinge::DrawGizmo(float timestep) const
 			ndFloat32 angleStep = ndMin(deltaTwist, 360.0f) / subdiv;
 
 			const FVector parentOrigin(transform.GetLocation());
-			const ndMatrix parentMatrix(UNewtonRigidBody::ToNewtonMatrix(transform));
+			const ndMatrix parentMatrix(ToNewtonMatrix(transform));
 			verts.Push(parentOrigin);
 			for (ndInt32 i = 0; i <= subdiv; ++i)
 			{
@@ -83,7 +83,7 @@ void UNewtonJointHinge::CreateJoint(ANewtonWorldActor* const newtonWorldActor)
 	if (body0 && body1)
 	{
 		const FTransform transform(GetRelativeTransform());
-		const ndMatrix matrix(UNewtonRigidBody::ToNewtonMatrix(transform) * body1->GetMatrix());
+		const ndMatrix matrix(ToNewtonMatrix(transform) * body1->GetMatrix());
 		ndJointHinge* const joint = new ndJointHinge(matrix, body0, body1);
 
 		joint->SetLimitState(EnableLimits);

diff --git a/...lications/toolsAndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonJointSlider.cpp b/...lications/toolsAndWrapers/newtonUnreal/newton/Source/newton/Private/NewtonJointSlider.cpp
@@ -23,7 +23,7 @@ void UNewtonJointSlider::DrawGizmo(float timestep) const
 {
 	ndFloat32 scale = DebugScale * UNREAL_UNIT_SYSTEM;
 	const FTransform transform(GetComponentTransform());
-	const ndMatrix matrix(UNewtonRigidBody::ToNewtonMatrix(transform));
+	const ndMatrix matrix(ToNewtonMatrix(transform));
 	const FColor pinColor(255.0f, 255.0f, 0.0f);
 	const ndVector pinDir(matrix.m_front.Scale(scale * 0.9f));
 	const FVector pingStart(transform.GetLocation());
@@ -60,7 +60,7 @@ void UNewtonJointSlider::CreateJoint(ANewtonWorldActor* const newtonWorldActor)
 	if (body0 && body1)
 	{
 		const FTransform transform(GetRelativeTransform());
-		const ndMatrix matrix(UNewtonRigidBody::ToNewtonMatrix(transform) * body1->GetMatrix());
+		const ndMatrix matrix(ToNewtonMatrix(transform) * body1->GetMatrix());
 
 		ndJointSlider* const joint = new ndJointSlider(matrix, body0, body1);