PhysX 4.1 #690

Hoikas · 2020-07-25T01:54:04Z

This updates PhysX from version 2.6 to 4.1. I decided to go with PhysX 4.1 instead of other options such as Bullet Physics or Newton Game Dynamics due to our previous usage of PhysX. While the API has changed significantly in places, much of the simulation behavior is similar, which makes life easier. PhysX 4.1 is open source, cross platform, and supports 64-bit.

Note that this is intended to be tested with a set of minor asset fixes in H-uru/moul-assets#10. Please ensure that you are using these files before submitting commentary.

On a high level, this changeset:

Ports the libHSPlasma uncooking code for PhysX 2.6 data, to minimize data file churn.
Updates PhysX 2.6 APIs to PhysX 4.1 APIs.
Rewrites the CMake FindPhysX script for PhysX 4.1 with special considerations to the idiosyncrasies of vcpkg.
As much as possible, separates PhysX logic from Plasma logic by pulling the code into a separate file.
Removes or simplifies many of the bespoke aspects of the character controller in favor of functionality built in to PhysX 4.1.
Spreads some nice override all over the joint.

Aside from dealing with API changes, this changeset overhauls the character controller significantly. PhysX's built in character controller can at best be described as "functional" in the old PhysX 2.6 case. Indeed, in the case of Jalak, it is insufficient and a bespoke mode had to be engaged. In PhysX 4.1, I saw issues where the avatar would be able to get on top of kickables and "ride" them such that it was trivial to go out of bounds while running in place on a kickable. So, the character controller is a true dynamic actor now, controlled by directly setting its linear velocity each simulation frame. This results in more realistic world interactions for the most part and greatly simplified code.

Some changes to note from the 2.6 movement handling:

When attempting to walk on slopes, when the avatar reaches a slope of greater than 57 degrees, the falling animation begins. The falling animation discontinues when the slope is under 40 degrees.
Downward velocity (due to gravity) is calculated based on whether or not we are on the ground--if the ground is a kickable, we inherit its downward velocity. Otherwise, we compute the velocity based on the ground normal. This greatly improves walking on top of the fish baskets in Eder Gira.

Closes #4.
Depends on microsoft/vcpkg#12413 or NVIDIAGameWorks/PhysX#322.
Fixes #609.
Obsoletes and closes #667.
Depends on H-uru/moul-assets#10.

Sources/Plasma/PubUtilLib/plAvatar/plPhysicalControllerCore.cpp

Sources/Plasma/PubUtilLib/plPhysX/plGenericPhysical.cpp

Sources/Plasma/PubUtilLib/plPhysX/plPXPhysicalControllerCore.cpp

Sources/Plasma/PubUtilLib/plPhysX/plPXPhysical.cpp

cmake/FindPhysX.cmake

dpogue · 2020-07-25T07:34:12Z

As part of this PR, can you remove the if(WIN32) wrappers around PhysX stuff in the CMakeLists (since this will allow it to be cross-platform)?

Hoikas · 2020-09-02T23:44:22Z

I am now largely happy with how physics behaves in game. There are still a few data file mitigations left to handle in m-a#10, but this is ready for more serious review and non-casual testing, I think..

Hoikas · 2020-09-06T00:50:25Z

Pushed a fix for an observed crash when touching a kickable not owned by the local client.

Hoikas · 2020-09-24T03:49:42Z

Updated with the new devlibs URL containing the PhysX 4.1 SDK.

Hoikas · 2020-11-20T23:58:16Z

Rebased onto current master to aid compilation and review. (Someone is going to review this, right???)

This causes PhysX cooked physicals to always be uncooked on read then re-cooked. This is a huge waste of time right now, but it allows us to continue using the old cooked physical blobs in any arbitrary physics engine.

Danger! Here be dra^H^H^Hbehavior changes: - Detector regions were previously forced to convex hulls if possible. Now they are exported as triangle mesh if set so by the artist. - Dynamics (kickables) with convex hulls were exported as "polytopes." This has been removed.

This is a rather large monolithic changeset due to the scope of the changes. To summarize: - PhysX 2.6 APIs have been upgraded to PhysX 4.1 APIs. - The CMake FindPhysX script has been rewritten for PhysX 4.1 with special considerations to the idiosyncrasies of vcpkg. - As much as possible, PhysX logic has been separated from Plasma logic by pulling the code into a separate file. - Many of the special case or bespoke aspects of the character controller have been either removed or simplified in favor of functionality built in to PhysX 4.1.

debugging.

With the PhysX CCT, it was too easy to get into situations where the avatar could ride on top of a kickable to access out-of-bounds areas. Additionally, the hit force applied in those situations was at best comical and at worst frustrating due to the physics based puzzles. This rewrites the character controller to be a true dynamic rigid body in the simulation controlled by setting its linear velocity each simulation frame. The result is greatly simplified code and better interaction with the world.

Apparently, if collisions occur while we are forcibly setting the global pose of an actor, this causes some kind of internal force accumulator to, well, accumulate. Once we resume normal operation, this accumulator causes the avatar to be flung into space. Simply setting the linear velocity to zero does not fix the issue. With that in mind, we now expose another flags field on the simulation shader and selectively suppress collisions with non-triggers when the avatar brain thinks there should be no physics.

dpogue

Multiple people have built this locally and tested it to confirm it works. I've run one of those clients in wine and it worked. I've also been able to compile this code on Linux, and for Windows 64-bit.

Deledrius

Looks good to me, just a few minor things...

appveyor.yml

Sources/Plasma/PubUtilLib/plModifier/plDetectorLog.cpp

Sources/Plasma/PubUtilLib/plPhysX/plPXPhysical.h

Sources/Plasma/PubUtilLib/plPhysX/plPXPhysicalControllerCore.h

Sources/Plasma/PubUtilLib/plPhysX/plPXSimulation.h

Sources/Plasma/PubUtilLib/plPhysX/plGenericPhysical.cpp

Sources/Plasma/PubUtilLib/plPhysX/plPXSimulation.cpp

dpogue reviewed Jul 25, 2020

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Hoikas force-pushed the px_upgrade branch from fa4cc69 to 0e97611 Compare July 25, 2020 21:46

Hoikas mentioned this pull request Jul 25, 2020

Fix plCorrectionMsg ctor compilation in clang. #692

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Hoikas mentioned this pull request Jul 27, 2020

Add PhysX 4.1. H-uru/PlasmaPrefix#6

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zrax mentioned this pull request Jul 27, 2020

Download and install the PhysX SDK from archive.org #667

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Hoikas mentioned this pull request Sep 2, 2020

Collision Fixes H-uru/moul-assets#10

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Hoikas force-pushed the px_upgrade branch from b8ac5ee to 5667ade Compare September 2, 2020 23:42

Hoikas marked this pull request as ready for review September 2, 2020 23:44

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Hoikas force-pushed the px_upgrade branch from e548511 to 682e05f Compare November 20, 2020 23:57

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Hoikas added 11 commits December 10, 2020 12:01

Port libHSPlasma PhysX uncooking code.

1d0052d

This causes PhysX cooked physicals to always be uncooked on read then re-cooked. This is a huge waste of time right now, but it allows us to continue using the old cooked physical blobs in any arbitrary physics engine.

Segregate generic physical handling and PX actor code.

acd232c

Move CompareMatrices to hsMatrix44.

e9ab2f0

Add Physics.ResetKickables console command to assist controller

494af7e

debugging.

Bump simulation frequency to 120Hz.

99121af

Update prepare_env.ps1 with new devlibs for PX4.1

f19eaf4

Update PhysX entry in README.

666d109

Hoikas force-pushed the px_upgrade branch from bb6aa3a to 666d109 Compare December 10, 2020 17:02

dpogue approved these changes Dec 16, 2020

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dpogue merged commit 36d486b into H-uru:master Dec 16, 2020

Hoikas deleted the px_upgrade branch December 16, 2020 02:27

Deledrius reviewed Dec 16, 2020

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Hoikas mentioned this pull request Mar 11, 2021

Clean up hsStreams a bit #867

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PhysX 4.1 #690

PhysX 4.1 #690

Hoikas commented Jul 25, 2020 •

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PhysX 4.1 #690

PhysX 4.1 #690

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