feat: physics fix-time update (#700)

* feat: fix-time physics update

* feat: add physicsUpdate in Script

packages/core/src/ComponentsManager.ts

@@ -6,7 +6,7 @@ import { Script } from "./Script";
 import { ShaderMacroCollection } from "./shader/ShaderMacroCollection";
 import { RenderContext } from "./RenderPipeline/RenderContext";
 import { Vector3 } from "@oasis-engine/math";
-import { Collider } from "./physics/Collider";
+import { Collider } from "./physics";
 
 /**
  * The manager of the components.
@@ -19,6 +19,7 @@ export class ComponentsManager {
   private _onStartScripts: DisorderedArray<Script> = new DisorderedArray();
   private _onUpdateScripts: DisorderedArray<Script> = new DisorderedArray();
   private _onLateUpdateScripts: DisorderedArray<Script> = new DisorderedArray();
+  private _onPhysicsUpdateScripts: DisorderedArray<Script> = new DisorderedArray();
   private _destroyComponents: Script[] = [];
 
   // Animation
@@ -89,6 +90,17 @@ export class ComponentsManager {
     script._onLateUpdateIndex = -1;
   }
 
+  addOnPhysicsUpdateScript(script: Script): void {
+    script._onPhysicsUpdateIndex = this._onPhysicsUpdateScripts.length;
+    this._onPhysicsUpdateScripts.add(script);
+  }
+
+  removeOnPhysicsUpdateScript(script: Script): void {
+    const replaced = this._onPhysicsUpdateScripts.deleteByIndex(script._onPhysicsUpdateIndex);
+    replaced && (replaced._onPhysicsUpdateIndex = script._onPhysicsUpdateIndex);
+    script._onPhysicsUpdateIndex = -1;
+  }
+
   addOnUpdateAnimations(animation: Component): void {
     //@ts-ignore
     animation._onUpdateIndex = this._onUpdateAnimations.length;
@@ -154,6 +166,16 @@ export class ComponentsManager {
     }
   }
 
+  callScriptOnPhysicsUpdate(): void {
+    const elements = this._onPhysicsUpdateScripts._elements;
+    for (let i = this._onPhysicsUpdateScripts.length - 1; i >= 0; --i) {
+      const element = elements[i];
+      if (element._started) {
+        element.onPhysicsUpdate();
+      }
+    }
+  }
+
   callAnimationUpdate(deltaTime): void {
     const elements = this._onUpdateAnimations._elements;
     for (let i = this._onUpdateAnimations.length - 1; i >= 0; --i) {

packages/core/src/Engine.ts

@@ -183,7 +183,7 @@ export class Engine extends EventDispatcher {
     this._hardwareRenderer.init(canvas);
     if (physics) {
       PhysicsManager._nativePhysics = physics;
-      this.physicsManager = new PhysicsManager();
+      this.physicsManager = new PhysicsManager(this);
     }
     this._canvas = canvas;
     // @todo delete

packages/core/src/Script.ts

@@ -21,6 +21,9 @@ export class Script extends Component {
   _onLateUpdateIndex: number = -1;
   /** @internal */
   @ignoreClone
+  _onPhysicsUpdateIndex: number = -1;
+  /** @internal */
+  @ignoreClone
   _onPreRenderIndex: number = -1;
   /** @internal */
   @ignoreClone
@@ -67,41 +70,46 @@ export class Script extends Component {
    */
   onEndRender(camera: Camera): void {}
 
+  /**
+   * Called before physics calculations, the number of times is related to the physical update frequency.
+   */
+  onPhysicsUpdate(): void {}
+
   /**
    * Called when the collision enter.
-   * @param other ColliderShape
+   * @param other - ColliderShape
    */
   onTriggerEnter(other: ColliderShape): void {}
 
   /**
    * Called when the collision stay.
    * @remarks onTriggerStay is called every frame while the collision stay.
-   * @param other ColliderShape
+   * @param other - ColliderShape
    */
   onTriggerExit(other: ColliderShape): void {}
 
   /**
    * Called when the collision exit.
-   * @param other ColliderShape
+   * @param other - ColliderShape
    */
   onTriggerStay(other: ColliderShape): void {}
 
   /**
    * Called when the collision enter.
-   * @param other ColliderShape
+   * @param other - ColliderShape
    */
   onCollisionEnter(other: ColliderShape): void {}
 
   /**
    * Called when the collision stay.
    * @remarks onTriggerStay is called every frame while the collision stay.
-   * @param other ColliderShape
+   * @param other - ColliderShape
    */
   onCollisionExit(other: ColliderShape): void {}
 
   /**
    * Called when the collision exit.
-   * @param other ColliderShape
+   * @param other - ColliderShape
    */
   onCollisionStay(other: ColliderShape): void {}
 
@@ -172,6 +180,9 @@ export class Script extends Component {
     if (this.onLateUpdate !== prototype.onLateUpdate) {
       componentsManager.addOnLateUpdateScript(this);
     }
+    if (this.onPhysicsUpdate !== prototype.onPhysicsUpdate) {
+      componentsManager.addOnPhysicsUpdateScript(this);
+    }
     this._entity._addScript(this);
     this.onEnable();
   }
@@ -194,6 +205,9 @@ export class Script extends Component {
     if (this._onLateUpdateIndex !== -1) {
       componentsManager.removeOnLateUpdateScript(this);
     }
+    if (this._onPhysicsUpdateIndex !== -1) {
+      componentsManager.removeOnPhysicsUpdateScript(this);
+    }
     if (this._entityCacheIndex !== -1) {
       this._entity._removeScript(this);
     }

packages/core/src/physics/DynamicCollider.ts

@@ -20,7 +20,6 @@ export class DynamicCollider extends Collider {
   private _sleepThreshold: number = 0;
   private _solverIterations: number = 0;
   private _isKinematic: boolean = false;
-  private _freezeRotation: boolean = false;
   private _constraints: DynamicColliderConstraints = 0;
   private _collisionDetectionMode: CollisionDetectionMode = CollisionDetectionMode.Discrete;
 
@@ -227,20 +226,20 @@ export class DynamicCollider extends Collider {
 
   /**
    * Moves kinematically controlled dynamic actors through the game world.
-   * @param position The desired position for the kinematic actor
+   * @param position - The desired position for the kinematic actor
    */
   move(position: Vector3): void;
 
   /**
    * Moves kinematically controlled dynamic actors through the game world.
-   * @param rotation The desired rotation for the kinematic actor
+   * @param rotation - The desired rotation for the kinematic actor
    */
   move(rotation: Quaternion): void;
 
   /**
    * Moves kinematically controlled dynamic actors through the game world.
-   * @param position The desired position for the kinematic actor
-   * @param rotation The desired rotation for the kinematic actor
+   * @param position - The desired position for the kinematic actor
+   * @param rotation - The desired rotation for the kinematic actor
    */
   move(position: Vector3, rotation: Quaternion): void;
 

packages/core/src/physics/PhysicsManager.ts

@@ -4,6 +4,7 @@ import { IPhysics, IPhysicsManager } from "@oasis-engine/design";
 import { Collider } from "./Collider";
 import { Layer } from "../Layer";
 import { ColliderShape } from "./shape/ColliderShape";
+import { Engine } from "../Engine";
 
 /**
  * A physics manager is a collection of bodies and constraints which can interact.
@@ -12,6 +13,9 @@ export class PhysicsManager {
   /** @internal */
   static _nativePhysics: IPhysics;
 
+  private _engine: Engine;
+  private _restTime: number = 0;
+
   private _gravity: Vector3 = new Vector3();
   private _nativePhysicsManager: IPhysicsManager;
   private _physicalObjectsMap: Record<number, ColliderShape> = {};
@@ -102,6 +106,12 @@ export class PhysicsManager {
     }
   };
 
+  /** The fixed time step in seconds at which physics are performed. */
+  fixedTimeStep: number = 1 / 60;
+
+  /** The max sum of time step in seconds one frame. */
+  maxSumTimeStep: number = 1 / 3;
+
   get gravity(): Vector3 {
     return this._gravity;
   }
@@ -114,7 +124,8 @@ export class PhysicsManager {
     this._nativePhysicsManager.setGravity(gravity);
   }
 
-  constructor() {
+  constructor(engine: Engine) {
+    this._engine = engine;
     this._nativePhysicsManager = PhysicsManager._nativePhysics.createPhysicsManager(
       this._onContactEnter,
       this._onContactExit,
@@ -232,7 +243,16 @@ export class PhysicsManager {
    * @internal
    */
   _update(deltaTime: number): void {
-    this._nativePhysicsManager.update(deltaTime);
+    const { fixedTimeStep: fixedTimeStep, _nativePhysicsManager: nativePhysicsManager } = this;
+    const componentManager = this._engine._componentsManager;
+
+    const simulateTime = deltaTime + this._restTime;
+    const step = Math.floor(Math.min(this.maxSumTimeStep, simulateTime) / fixedTimeStep);
+    this._restTime = simulateTime - step * fixedTimeStep;
+    for (let i = 0; i < step; i++) {
+      componentManager.callScriptOnPhysicsUpdate();
+      nativePhysicsManager.update(fixedTimeStep);
+    }
   }
 
   /**

packages/core/src/physics/index.ts

@@ -12,4 +12,4 @@ export { CapsuleColliderShape } from "./shape/CapsuleColliderShape";
 
 export { Collider } from "./Collider";
 export { StaticCollider } from "./StaticCollider";
-export { DynamicCollider } from "./DynamicCollider";
+export { DynamicCollider, CollisionDetectionMode, DynamicColliderConstraints } from "./DynamicCollider";

packages/design/src/physics/IDynamicCollider.ts

@@ -7,85 +7,85 @@ import { ICollider } from "./ICollider";
 export interface IDynamicCollider extends ICollider {
   /**
    * Sets the linear damping coefficient.
-   * @param value Linear damping coefficient.
+   * @param value - Linear damping coefficient.
    */
   setLinearDamping(value: number): void;
 
   /**
    * Sets the angular damping coefficient.
-   * @param value Angular damping coefficient.
+   * @param value - Angular damping coefficient.
    */
   setAngularDamping(value: number): void;
 
   /**
    * Sets the linear velocity of the actor.
-   * @param value New linear velocity of actor.
+   * @param value - New linear velocity of actor.
    */
   setLinearVelocity(value: Vector3): void;
 
   /**
    * Sets the angular velocity of the actor.
-   * @param value New angular velocity of actor.
+   * @param value - New angular velocity of actor.
    */
   setAngularVelocity(value: Vector3): void;
 
   /**
    *  Sets the mass of a dynamic actor.
-   * @param value New mass value for the actor.
+   * @param value - New mass value for the actor.
    */
   setMass(value: number): void;
 
   /**
    * Sets the pose of the center of mass relative to the actor.
-   * @param value Mass frame offset transform relative to the actor frame.
+   * @param value - Mass frame offset transform relative to the actor frame.
    */
   setCenterOfMass(value: Vector3): void;
 
   /**
    * Sets the inertia tensor, using a parameter specified in mass space coordinates.
-   * @param value New mass space inertia tensor for the actor.
+   * @param value - New mass space inertia tensor for the actor.
    */
   setInertiaTensor(value: Vector3): void;
 
   /**
    * Set the maximum angular velocity permitted for this actor.
-   * @param value Max allowable angular velocity for actor.
+   * @param value - Max allowable angular velocity for actor.
    */
   setMaxAngularVelocity(value: number): void;
 
   /**
    * Sets the maximum depenetration velocity permitted to be introduced by the solver.
-   * @param value The maximum velocity to de-penetrate
+   * @param value - The maximum velocity to de-penetrate
    */
   setMaxDepenetrationVelocity(value: number): void;
 
   /**
    * Sets the mass-normalized kinetic energy threshold below which an actor may go to sleep.
-   * @param value Energy below which an actor may go to sleep.
+   * @param value - Energy below which an actor may go to sleep.
    */
   setSleepThreshold(value: number): void;
 
   /**
    * Sets the solver iteration counts for the body.
-   * @param value Number of position iterations the solver should perform for this body.
+   * @param value - Number of position iterations the solver should perform for this body.
    */
   setSolverIterations(value: number): void;
 
   /**
    * Sets the colliders' collision detection mode.
-   * @param value rigid body flag
+   * @param value - rigid body flag
    */
   setCollisionDetectionMode(value: number): void;
 
   /**
    * Controls whether physics affects the dynamic collider.
-   * @param value is or not
+   * @param value - is or not
    */
   setIsKinematic(value: boolean): void;
 
   /**
    * Raises or clears a particular rigid dynamic lock flag.
-   * @param flags the flag to raise(set) or clear.
+   * @param flags - the flag to raise(set) or clear.
    */
   setConstraints(flags: number): void;
 
@@ -103,8 +103,8 @@ export interface IDynamicCollider extends ICollider {
 
   /**
    * Moves kinematically controlled dynamic actors through the game world.
-   * @param positionOrRotation The desired position or rotation for the kinematic actor
-   * @param rotation The desired rotation for the kinematic actor
+   * @param positionOrRotation - The desired position or rotation for the kinematic actor
+   * @param rotation - The desired rotation for the kinematic actor
    */
   move(positionOrRotation: Vector3 | Quaternion, rotation?: Quaternion): void;
 

packages/physics-lite/src/LitePhysicsManager.ts

@@ -244,7 +244,7 @@ export class LitePhysicsManager implements IPhysicsManager {
 
   private _fireEvent(): void {
     const { _eventPool: eventPool, _currentEvents: currentEvents } = this;
-    for (let i = 0, n = currentEvents.length; i < n;) {
+    for (let i = 0, n = currentEvents.length; i < n; ) {
       const event = currentEvents.get(i);
       if (!event.needUpdate) {
         if (event.state == TriggerEventState.Enter) {

packages/physics-physx/src/shape/PhysXBoxColliderShape.ts

@@ -28,7 +28,7 @@ export class PhysXBoxColliderShape extends PhysXColliderShape implements IBoxCol
       this._halfSize.z * this._scale.z
     );
     this._allocShape(material);
-    this._setLocalPose(this._scale);
+    this._setLocalPose();
     this.setUniqueID(uniqueID);
   }
 
@@ -46,9 +46,9 @@ export class PhysXBoxColliderShape extends PhysXColliderShape implements IBoxCol
    * {@inheritDoc IColliderShape.setWorldScale }
    */
   setWorldScale(scale: Vector3): void {
-    this._setLocalPose(this._scale);
-
     scale.cloneTo(this._scale);
+    this._setLocalPose();
+
     Vector3.multiply(this._halfSize, this._scale, PhysXBoxColliderShape._tempHalfExtents);
     this._pxGeometry.halfExtents = PhysXBoxColliderShape._tempHalfExtents;
     this._pxShape.setGeometry(this._pxGeometry);