Read back translation etc. from world to physx. Fixes #57

.vscode/launch.json

@@ -19,7 +19,7 @@
  "DIMS_DISABLE_TIMEOUT": "true"
  },
  "args": [
- "--project-path=guest/rust/examples/skinmesh",
+ "--project-path=guest/rust/examples/physics",
  "run"
  ],
  "cwd": "${workspaceFolder}",

crates/editor/src/intents.rs

@@ -3,18 +3,13 @@ use glam::{Mat4, Quat, Vec3, Vec3Swizzles};
 use itertools::{izip, process_results, Itertools};
 use kiwi_core::{
  self, selectable, snap_to_ground,
- transform::{get_world_transform, translation},
+ transform::{get_world_transform, rotation, scale, translation},
 };
 use kiwi_ecs::{components, EntityData, EntityId, World};
 use kiwi_intent::{use_old_state, IntentContext, IntentRegistry};
 use kiwi_network::get_player_by_user_id;
-use kiwi_physics::{
- collider::collider_shapes_convex,
- helpers::{transform_entity, transform_entity_parts},
- main_physics_scene,
- physx::rigid_actor,
- PxShapeUserData,
-};
+use kiwi_physics::{collider::collider_shapes_convex, main_physics_scene, physx::rigid_actor, PxShapeUserData};
+
 use kiwi_std::{
  log_result,
  shapes::{Ray, Shape, AABB},
@@ -45,7 +40,10 @@ fn undo_transform(ctx: IntentContext, undo_state: Vec<IntentTransformRevert>) ->
  world.remove_component(id, snap_to_ground()).expect("Invalid entity")
  }
 
- transform_entity(world, id, state.transform, false).ok();
+ let (scl, rot, pos) = state.transform.to_scale_rotation_translation();
+ world.set_if_changed(id, translation(), pos);
+ world.set_if_changed(id, rotation(), rot);
+ world.set_if_changed(id, scale(), scl);
  }
 
  Ok(())
@@ -320,17 +318,17 @@ pub fn register_intents(reg: &mut IntentRegistry) {
  {
  let old_snap_to_ground = world.get(id, snap_to_ground()).ok();
 
- let (scale, rot, pos) = transform.to_scale_rotation_translation();
+ let (scl, rot, pos) = transform.to_scale_rotation_translation();
 
  // World space position
  let new_pos = pos - midpoint + target;
  tracing::debug!(?midpoint, "Moving {uid} {pos} => {new_pos}");
 
  update_snap_to_ground(world, id, pos);
 
- let res = transform_entity_parts(world, id, new_pos, rot, scale).context("Failed to transform entity {id}");
-
- log_result!(res);
+ world.set_if_changed(id, translation(), new_pos);
+ world.set_if_changed(id, rotation(), rot);
+ world.set_if_changed(id, scale(), scl);
 
  Ok(IntentTransformRevert { snap_to_ground: old_snap_to_ground, transform, uid })
  }
@@ -375,17 +373,17 @@ pub fn register_intents(reg: &mut IntentRegistry) {
  .map(|(uid, id, transform): (_, _, Mat4)| {
  let old_snap_to_ground = world.get(id, snap_to_ground()).ok();
 
- let (scale, rot, pos) = transform.to_scale_rotation_translation();
+ let (scl, rot, pos) = transform.to_scale_rotation_translation();
 
  // World space position
  let new_pos = pos - midpoint + position;
  tracing::debug!(?midpoint, "Moving {uid} {pos} => {new_pos}");
 
  update_snap_to_ground(world, id, pos);
 
- let res = transform_entity_parts(world, id, new_pos, rot, scale).context("Failed to transform entity {id}");
-
- log_result!(res);
+ world.set_if_changed(id, translation(), new_pos);
+ world.set_if_changed(id, rotation(), rot);
+ world.set_if_changed(id, scale(), scl);
 
  Ok(IntentTransformRevert { snap_to_ground: old_snap_to_ground, transform, uid })
  })
@@ -407,13 +405,15 @@ pub fn register_intents(reg: &mut IntentRegistry) {
  .map(|(&id, transform)| {
  let old_transform = get_world_transform(world, id).context("No transform")?;
 
- let (scale, rot, pos) = transform.to_scale_rotation_translation();
+ let (scl, rot, pos) = transform.to_scale_rotation_translation();
 
  let old_snap_to_ground = world.get(id, snap_to_ground()).ok();
 
  update_snap_to_ground(world, id, pos);
 
- transform_entity_parts(world, id, pos, rot, scale).context("Failed to transform entity")?;
+ world.set_if_changed(id, translation(), pos);
+ world.set_if_changed(id, rotation(), rot);
+ world.set_if_changed(id, scale(), scl);
 
  Ok(IntentTransformRevert { transform: old_transform, snap_to_ground: old_snap_to_ground, uid: id })
  })
@@ -429,7 +429,10 @@ pub fn register_intents(reg: &mut IntentRegistry) {
  world.remove_component(id, snap_to_ground()).expect("Invalid entity")
  }
 
- transform_entity(world, id, old_state.transform, false).ok();
+ let (scl, rot, pos) = old_state.transform.to_scale_rotation_translation();
+ world.set_if_changed(id, translation(), pos);
+ world.set_if_changed(id, rotation(), rot);
+ world.set_if_changed(id, scale(), scl);
  }
  Ok(())
  },
@@ -446,12 +449,15 @@ pub fn register_intents(reg: &mut IntentRegistry) {
  .iter()
  .map(|&id| {
  let transform = get_world_transform(world, id).context("No transform")?;
- let (scale, rot, pos) = transform.to_scale_rotation_translation();
+ let (scl, rot, pos) = transform.to_scale_rotation_translation();
 
  set_snap_to_ground(world, id, intent.1);
 
  let old_snap_to_ground = world.get(id, snap_to_ground()).ok();
- transform_entity_parts(world, id, pos, rot, scale).context("Failed to transform")?;
+
+ world.set_if_changed(id, translation(), pos);
+ world.set_if_changed(id, rotation(), rot);
+ world.set_if_changed(id, scale(), scl);
  Ok((id, old_snap_to_ground)) as anyhow::Result<_>
  })
  .collect::<Result<Vec<_>, _>>()

crates/physics/src/helpers.rs

@@ -6,11 +6,16 @@ use itertools::Itertools;
 use kiwi_core::transform::{get_world_position, get_world_transform, rotation, scale, translation};
 use kiwi_ecs::{query, ECSError, EntityId, World};
 use physxx::{
- AsPxActor, AsPxRigidActor, PxActor, PxActorTypeFlag, PxBase, PxBoxGeometry, PxConvexMeshGeometry, PxJoint, PxMeshScale, PxOverlapCallback, PxQueryFilterData, PxQueryFlag, PxRevoluteJointRef, PxRigidActor, PxRigidActorRef, PxRigidBody, PxRigidBodyFlag, PxRigidDynamicRef, PxRigidStaticRef, PxSceneRef, PxShape, PxSphereGeometry, PxTransform, PxTriangleMeshGeometry, PxUserData
+ AsPxActor, AsPxRigidActor, PxActor, PxActorTypeFlag, PxBase, PxBoxGeometry, PxConvexMeshGeometry, PxJoint, PxMeshScale,
+ PxOverlapCallback, PxQueryFilterData, PxQueryFlag, PxRevoluteJointRef, PxRigidActor, PxRigidActorRef, PxRigidBody, PxRigidBodyFlag,
+ PxRigidDynamicRef, PxRigidStaticRef, PxSceneRef, PxShape, PxSphereGeometry, PxTransform, PxTriangleMeshGeometry, PxUserData,
 };
 
 use crate::{
- collider::{collider_shapes_convex, collider_type}, main_physics_scene, physx::{character_controller, physics, physics_controlled, physics_shape, revolute_joint, rigid_dynamic, rigid_static}, unit_mass, unit_velocity, unit_yaw, ColliderScene, PxActorUserData, PxShapeUserData
+ collider::{collider_shapes_convex, collider_type},
+ main_physics_scene,
+ physx::{character_controller, physics, physics_controlled, physics_shape, revolute_joint, rigid_dynamic, rigid_static},
+ unit_mass, unit_velocity, unit_yaw, ColliderScene, PxActorUserData, PxShapeUserData,
 };
 
 pub fn convert_rigid_static_to_dynamic(world: &mut World, id: EntityId) {
@@ -108,65 +113,6 @@ pub fn get_shapes(world: &World, id: EntityId) -> impl Iterator<Item = PxShape>
  .chain(world.get_ref(id, collider_shapes_convex()).into_iter().flatten().cloned())
 }
 
-/// Transform an entity to a new position while handling physxx velocities and
-/// collider scaling.
-///
-/// The position is absolute
-#[tracing::instrument(skip(world), level = "info")]
-pub fn transform_entity_parts(world: &mut World, id: EntityId, pos: Vec3, rot: Quat, scl: Vec3) -> Result<(), ECSError> {
- world.set(id, translation(), pos)?;
- world.set(id, rotation(), rot)?;
- if let Ok(body) = world.get(id, rigid_dynamic()) {
- body.set_global_pose(&PxTransform::new(pos, rot), true);
- body.set_linear_velocity(Vec3::ZERO, true);
- body.set_angular_velocity(Vec3::ZERO, true);
- } else if let Ok(body) = world.get(id, rigid_static()) {
- body.set_global_pose(&PxTransform::new(pos, rot), true);
- } else if let Ok(shape) = world.get_mut(id, physics_shape()) {
- let actor = shape.get_actor().unwrap();
-
- let old_scale = world.get(id, scale());
-
- if let Ok(old_scale) = old_scale {
- if old_scale.distance(scl) > 0.01 {
- for shape in get_shapes(world, id) {
- scale_shape(shape, scl);
- }
- }
- } else {
- // Handled by `initial_scale` system
- }
-
- actor.set_global_pose(&PxTransform::new(pos, rot), true);
- if let Some(body) = actor.to_rigid_dynamic() {
- // Stop any rb movement when translating
- body.set_linear_velocity(Vec3::ZERO, true);
- body.set_angular_velocity(Vec3::ZERO, true);
- } else {
- // update_actor_entity_transforms(world, actor);
- }
- } else if let Ok(controller) = world.get(id, character_controller()) {
- controller.set_position(pos.as_dvec3());
- let (_, _, z) = rot.to_euler(EulerRot::XYZ);
- world.set(id, unit_yaw(), z).ok();
- }
- // ignore scale if not present
- world.set(id, scale(), scl).ok();
- Ok(())
-}
-
-pub fn transform_entity(world: &mut World, id: EntityId, transformation: Mat4, relative: bool) -> Result<(), ECSError> {
- let new_transform = if relative {
- let prev_transform = get_world_transform(world, id)?;
- transformation * prev_transform
- } else {
- transformation
- };
-
- let (scl, rot, pos) = new_transform.to_scale_rotation_translation();
- transform_entity_parts(world, id, pos, rot, scl)
-}
-
 pub fn scale_shape(shape: PxShape, scale: Vec3) {
  tracing::debug!("Scaling shape");
  let geo = shape.get_geometry();

crates/physics/src/physx.rs

@@ -1,8 +1,14 @@
-use glam::{Quat, Vec3};
-use kiwi_core::transform::{rotation, translation};
-use kiwi_ecs::{components, query, Debuggable, Description, Name, Networked, Resource, Store, SystemGroup};
+use crate::{
+ helpers::{get_shapes, scale_shape},
+ unit_yaw,
+};
+use glam::{EulerRot, Quat, Vec3};
+use kiwi_core::transform::{rotation, scale, translation};
+use kiwi_ecs::{components, query, Debuggable, Description, FnSystem, Name, Networked, QueryState, Resource, Store, SystemGroup};
 use kiwi_std::asset_cache::SyncAssetKey;
+use parking_lot::Mutex;
 use physxx::{articulation_reduced_coordinate::*, *};
+use std::sync::Arc;
 
 components!("physics", {
  @[Resource]
@@ -84,6 +90,14 @@ pub fn sync_ecs_physics() -> SystemGroup {
  let mut new_positions = Vec::new();
  let mut new_rotations = Vec::new();
 
+ let translation_rotation_qs = Arc::new(Mutex::new(QueryState::new()));
+ let translation_rotation_q = query((translation().changed(), rotation().changed())).incl(physics_controlled());
+ let translation_rotation_q2 = translation_rotation_q.query.clone();
+
+ let scale_qs = Arc::new(Mutex::new(QueryState::new()));
+ let scale_q = query(scale().changed()).incl(physics_controlled());
+ let scale_q2 = scale_q.query.clone();
+
  SystemGroup::new(
  "sync_ecs_physics",
  vec![
@@ -97,6 +111,46 @@ pub fn sync_ecs_physics() -> SystemGroup {
  world.add_component(id, rotation(), Quat::IDENTITY).unwrap();
  }
  }),
+ translation_rotation_q.to_system({
+ let translation_rotation_qs = translation_rotation_qs.clone();
+ move |q, world, _, _| {
+ // Read back any changes that have happened during the frame to physx
+ let mut qs = translation_rotation_qs.lock();
+ for (id, (&pos, &rot)) in q.iter(world, Some(&mut *qs)) {
+ if let Ok(body) = world.get(id, rigid_dynamic()) {
+ body.set_global_pose(&PxTransform::new(pos, rot), true);
+ body.set_linear_velocity(Vec3::ZERO, true);
+ body.set_angular_velocity(Vec3::ZERO, true);
+ } else if let Ok(body) = world.get(id, rigid_static()) {
+ body.set_global_pose(&PxTransform::new(pos, rot), true);
+ } else if let Ok(shape) = world.get_ref(id, physics_shape()) {
+ let actor = shape.get_actor().unwrap();
+
+ actor.set_global_pose(&PxTransform::new(pos, rot), true);
+ if let Some(body) = actor.to_rigid_dynamic() {
+ // Stop any rb movement when translating
+ body.set_linear_velocity(Vec3::ZERO, true);
+ body.set_angular_velocity(Vec3::ZERO, true);
+ } else {
+ // update_actor_entity_transforms(world, actor);
+ }
+ } else if let Ok(controller) = world.get(id, character_controller()) {
+ controller.set_position(pos.as_dvec3());
+ }
+ }
+ }
+ }),
+ scale_q.to_system({
+ let scale_qs = scale_qs.clone();
+ move |q, world, _, _| {
+ let mut qs = scale_qs.lock();
+ for (id, &scl) in q.iter(world, Some(&mut *qs)) {
+ for shape in get_shapes(world, id) {
+ scale_shape(shape, scl);
+ }
+ }
+ }
+ }),
  // Updates ecs position from physx
  query((rigid_dynamic(), translation(), rotation())).incl(physics_controlled()).to_system(|q, world, qs, _| {
  for (id, (rigid_dynamic, pos, rot)) in q.collect_cloned(world, qs) {
@@ -166,6 +220,13 @@ pub fn sync_ecs_physics() -> SystemGroup {
  }
  }
  }),
+ Box::new(FnSystem::new(move |world, _| {
+ // Fast forward queries
+ let mut translation_rotation_qs = translation_rotation_qs.lock();
+ translation_rotation_q2.iter(world, Some(&mut *translation_rotation_qs));
+ let mut scale_qs = scale_qs.lock();
+ scale_q2.iter(world, Some(&mut *scale_qs));
+ })),
  ],
  )
 }

crates/terrain/src/lib.rs

@@ -28,7 +28,6 @@ use kiwi_gpu::{
 use kiwi_meshes::{GridMesh, GridMeshKey};
 use kiwi_physics::{
  collider::{collider_type, ColliderType},
- helpers::transform_entity_parts,
  main_physics_scene,
  physx::{character_controller, physics, physics_shape, rigid_static, Physics},
  PxActorUserData, PxShapeUserData,
@@ -226,9 +225,10 @@ pub fn server_systems() -> SystemGroup {
  }
  }
 
- for (id, _, pos, rot, scale) in new_transform {
- let _old_pos = world.get(id, translation()).unwrap();
- log_result!(transform_entity_parts(world, id, pos, rot, scale));
+ for (id, _, pos, rot, scl) in new_transform {
+ world.set_if_changed(id, translation(), pos);
+ world.set_if_changed(id, rotation(), rot);
+ world.set_if_changed(id, scale(), scl);
  }
  }),
  ],

crates/wasm/src/server/bindings.rs

@@ -105,21 +105,6 @@ impl host::Host for Bindings {
  .unwrap()
  }
 
- fn entity_set_transform(
- &mut self,
- entity: host::EntityId,
- transform: host::Mat4,
- relative: bool,
- ) {
- esei::entity::set_transform(
- &mut self.world_mut(),
- entity.from_bindgen(),
- transform.from_bindgen(),
- relative,
- )
- .unwrap();
- }
-
  fn entity_get_linear_velocity(&mut self, entity: host::EntityId) -> Option<host::Vec3> {
  esei::entity::get_linear_velocity(&mut self.world_mut(), entity.from_bindgen())
  .ok()

crates/wasm/src/server/implementation/entity.rs

@@ -12,15 +12,6 @@ pub fn despawn(world: &mut World, entity: EntityId) -> Option<EntityId> {
  world.despawn(entity).and_then(|ed| Some(entity))
 }
 
-pub fn set_transform(
- world: &mut World,
- entity: EntityId,
- transform: Mat4,
- relative: bool,
-) -> anyhow::Result<()> {
- Ok(eph::transform_entity(world, entity, transform, relative)?)
-}
-
 pub fn get_linear_velocity(world: &mut World, entity: EntityId) -> anyhow::Result<Vec3> {
  Ok(eph::get_linear_velocity(world, entity)?)
 }

crates/wasm/wit/host.wit

@@ -343,7 +343,6 @@ record player-raw-input {
 entity-spawn: func(data: components, persistent: bool) -> entity-id
 entity-despawn: func(entity: entity-id) -> bool
 entity-set-animation-controller: func(entity: entity-id, animation-controller: animation-controller)
-entity-set-transform: func(entity: entity-id, transform: mat4, relative: bool)
 entity-get-linear-velocity: func(entity: entity-id) -> option<vec3>
 entity-in-area: func(position: vec3, radius: float32) -> list<entity-id>