Fix rotation error when add joint #2526
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luzhuang
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WalkthroughThis pull request introduces enhancements to the physics and joint systems across multiple files. The changes focus on improving transform and rotation handling in dynamic colliders and joints. Key modifications include adding static temporary variables for efficient calculations, introducing new methods for rotation and anchor management, and extending interfaces to support more precise joint transformations. The changes aim to provide more robust mathematical operations for physics-related transformations without altering existing public interfaces. Changes
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #2526 +/- ##
==========================================
- Coverage 69.01% 68.58% -0.44%
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Files 957 957
Lines 100078 100123 +45
Branches 8560 8571 +11
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- Hits 69070 68669 -401
- Misses 30752 31198 +446
Partials 256 256
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Actionable comments posted: 2
🧹 Nitpick comments (8)
packages/core/src/physics/joint/Joint.ts (1)
279-289: Joint rotation update logic looks correct.
Your approach in_updateRotation()correctly computes a relative quaternion when a connected collider exists, and defaults to the entity’s own rotation otherwise. Consider reusing a static quaternion to reduce allocations in performance-critical contexts.packages/design/src/physics/joints/IJoint.ts (1)
29-34: New method for setting joint rotation is consistent with the design.
ExposingsetRotation(value: Quaternion)ensures external control over joint orientation. For clarity, consider adding remarks explaining which coordinate space the rotation is relative to (world or local).packages/physics-physx/src/joint/PhysXHingeJoint.ts (3)
13-15: Consider initializing or validating_axis.
If_axisremains undefined at usage, it could lead to subtle issues. Initializing it explicitly or adding null checks would ensure safer usage.- private _axis: Vector3; + private _axis: Vector3 = new Vector3();
30-33: Recalculate axis only when needed.
Recomputingthis.setAxis(...)every timesetRotationis called may be an acceptable trade-off. However, ifsetRotationis called frequently, consider caching or deferring this recalculation for potential performance gains.
57-61: Validate passed anchor if context requires.
Currently, there's no explicit check for invalid or null anchors. This is likely intentional, but if runtime errors or weird behavior can occur with invalid anchors, consider adding safety checks or logs.packages/loader/src/resource-deserialize/resources/parser/HierarchyParser.ts (2)
38-38: Prefer arrow functions or method references without.bind.
Using arrow functions in class fields can reduce noise from.bind(this). However, this is stylistic and can be ignored if.bindusage remains consistent.
302-316: Verify component class resolution & handle errors.
A missing or invalidLoader.getClass(key)call may break parsing. Consider logging or handling exceptions if the class cannot be found.packages/core/src/physics/DynamicCollider.ts (1)
396-402: Consider epsilon-based comparisons.
Floating point inaccuracies may cause unexpected mismatches inVector3.equals()orQuaternion.equals(). If minor deltas are acceptable, use approximate comparisons.-if (!Vector3.equals(outPosition, worldPosition) || !Quaternion.equals(outRotation, worldRotationQuaternion)) { +if (!Vector3.equals(outPosition, worldPosition, 1e-5) || !Quaternion.equals(outRotation, worldRotationQuaternion, 1e-5)) {
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📒 Files selected for processing (7)
packages/core/src/physics/DynamicCollider.ts(2 hunks)packages/core/src/physics/joint/Joint.ts(6 hunks)packages/design/src/physics/joints/IJoint.ts(2 hunks)packages/loader/src/resource-deserialize/resources/parser/HierarchyParser.ts(5 hunks)packages/physics-physx/src/joint/PhysXHingeJoint.ts(2 hunks)packages/physics-physx/src/joint/PhysXJoint.ts(2 hunks)tests/src/core/physics/Joint.test.ts(1 hunks)
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🔇 Additional comments (14)
packages/core/src/physics/joint/Joint.ts (6)
2-2: Import statement alignment looks good.
Your addition ofMatrixandQuaternionfor advanced calculations is valid.
18-18: Use of a static temporary matrix is appropriate to reduce allocations.
Declaring_tempMatrixhelps avoid creating new Matrix objects in loops or frequently called methods.
44-44: Rotation update on connectedCollider assignment is a sensible approach.
Invoking_updateRotation()ensures the joint’s rotation is synchronized whenever the connected collider changes. Confirm that this behavior is desired even if the collider is null.
201-201: Re-initializing joint rotation upon enabling the scene is good practice.
This ensures the rotation is set properly before the joint becomes active.
242-246: Matrix-based transform of anchors is clear and robust.
UsingtransformCoordinateto convert the anchor’s local position to world space, then applying the inverse of the connected collider’s world matrix, accurately yields the connected anchor’s local position. Keep an eye on non-uniform scaling if extended usage arises.
248-248: Fallback for disconnected collider appears consistent.
Applying the entity’s world transform directly toconnectedActualAnchorensures continuity when no connected collider is set.packages/physics-physx/src/joint/PhysXJoint.ts (4)
14-16: Protected fields for anchors and rotation improve internal state tracking.
Initializations for_anchor,_connectedAnchor, and_rotationare clearly defined, facilitating direct usage within_setLocalPose. Just ensure these vectors are properly updated when switching collider references.
39-39: Storing anchor in_anchoraligns with local pose logic.
This assignment maintains the anchor for subsequent transformations or re-initializations.
46-48: Connected anchor now accounts for the joint’s stored rotation.
Passingthis._rotationto_setLocalPose(1, value, this._rotation)ensures consistent orientation.
50-52: NewsetRotationmethod properly copies and applies the quaternion.
Copying into_rotationand immediately applying the local pose ensures synchronization with connected anchor. If you need an identity rotation for the second actor in certain cases, consider validating_connectedAnchoror the connected collider before applying.packages/loader/src/resource-deserialize/resources/parser/HierarchyParser.ts (1)
55-55: Add coverage for_parseAddedComponents.
You're now calling_parseAddedComponentsafter regular parsing. Ensure you have tests verifying that added components parse and attach properly to stripped entities.packages/core/src/physics/DynamicCollider.ts (1)
12-14: Good GC optimization.
Using static temp variables is a great way to reduce frequent object allocations in tight loops and real-time physics updates.tests/src/core/physics/Joint.test.ts (2)
137-147: Validate Euler vs quaternion usage.
Assigning aVector3to.rotationpresumably sets Euler angles. Confirm that your engine’srotationproperty expects Euler angles, not quaternions.
148-166: Great coverage for connected collider rotation.
These additional checks ensure both primary and connected colliders maintain rotations—helpful for verifying multi-body constraints.
| this._axis = value; | ||
| const xAxis = PhysXHingeJoint._xAxis; | ||
| const axisRotationQuaternion = this._axisRotationQuaternion; | ||
| xAxis.set(1, 0, 0); | ||
| const angle = Math.acos(Vector3.dot(xAxis, value)); | ||
| Vector3.cross(xAxis, value, xAxis); | ||
| Quaternion.rotationAxisAngle(xAxis, angle, axisRotationQuaternion); | ||
| this._setLocalPose(0, this._anchor, axisRotationQuaternion); | ||
| this._setLocalPose(1, this._connectedAnchor, axisRotationQuaternion); | ||
| const connectedAxisRotationQuaternion = this._connectedAxisRotationQuaternion; | ||
| Quaternion.multiply(this._rotation, axisRotationQuaternion, connectedAxisRotationQuaternion); | ||
| this._setLocalPose(1, this._connectedAnchor, connectedAxisRotationQuaternion); |
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🛠️ Refactor suggestion
Clamp the domain of Math.acos.
When computing the angle via Math.acos(Vector3.dot(xAxis, value)), floating-point imprecision may cause the argument to exceed the [-1, 1] range, resulting in NaN. Safeguard by clamping the dot product.
const angle = Math.acos(
- Vector3.dot(xAxis, value)
+ Math.min(1, Math.max(-1, Vector3.dot(xAxis, value)))
);📝 Committable suggestion
‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.
| this._axis = value; | |
| const xAxis = PhysXHingeJoint._xAxis; | |
| const axisRotationQuaternion = this._axisRotationQuaternion; | |
| xAxis.set(1, 0, 0); | |
| const angle = Math.acos(Vector3.dot(xAxis, value)); | |
| Vector3.cross(xAxis, value, xAxis); | |
| Quaternion.rotationAxisAngle(xAxis, angle, axisRotationQuaternion); | |
| this._setLocalPose(0, this._anchor, axisRotationQuaternion); | |
| this._setLocalPose(1, this._connectedAnchor, axisRotationQuaternion); | |
| const connectedAxisRotationQuaternion = this._connectedAxisRotationQuaternion; | |
| Quaternion.multiply(this._rotation, axisRotationQuaternion, connectedAxisRotationQuaternion); | |
| this._setLocalPose(1, this._connectedAnchor, connectedAxisRotationQuaternion); | |
| this._axis = value; | |
| const xAxis = PhysXHingeJoint._xAxis; | |
| const axisRotationQuaternion = this._axisRotationQuaternion; | |
| xAxis.set(1, 0, 0); | |
| const angle = Math.acos(Math.min(1, Math.max(-1, Vector3.dot(xAxis, value)))); | |
| Vector3.cross(xAxis, value, xAxis); | |
| Quaternion.rotationAxisAngle(xAxis, angle, axisRotationQuaternion); | |
| this._setLocalPose(0, this._anchor, axisRotationQuaternion); | |
| const connectedAxisRotationQuaternion = this._connectedAxisRotationQuaternion; | |
| Quaternion.multiply(this._rotation, axisRotationQuaternion, connectedAxisRotationQuaternion); | |
| this._setLocalPose(1, this._connectedAnchor, connectedAxisRotationQuaternion); |
| private _parseAddedComponents() { | ||
| const entityMap = this.context.entityMap; | ||
| const entityConfigMap = this.context.entityConfigMap; | ||
| const strippedIds = this.context.strippedIds; | ||
| const promises = []; | ||
|
|
||
| for (let i = 0, n = strippedIds.length; i < n; i++) { | ||
| const entityConfig = entityConfigMap.get(strippedIds[i]) as IStrippedEntity; | ||
| const prefabContext = this._prefabContextMap.get(entityMap.get(entityConfig.prefabInstanceId)); | ||
| const entity = prefabContext.entityMap.get(entityConfig.prefabSource.entityId); | ||
| this._addComponents(entity, entityConfig.components, promises); | ||
| } | ||
| for (const waitingList of this.context.componentWaitingMap.values()) { | ||
| waitingList.forEach((resolve) => resolve(null)); | ||
| } | ||
|
|
||
| return Promise.all(promises); | ||
| } |
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Check for null prefabContext.
If _prefabContextMap lacks an entry for the entity, prefabContext could be undefined, causing a runtime error at line 146. Consider adding a fallback or error log.
+ if (!prefabContext) {
+ console.warn(`No prefab context found for ${entityConfig.prefabInstanceId}. Skipping component addition.`);
+ continue;
+ }📝 Committable suggestion
‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.
| private _parseAddedComponents() { | |
| const entityMap = this.context.entityMap; | |
| const entityConfigMap = this.context.entityConfigMap; | |
| const strippedIds = this.context.strippedIds; | |
| const promises = []; | |
| for (let i = 0, n = strippedIds.length; i < n; i++) { | |
| const entityConfig = entityConfigMap.get(strippedIds[i]) as IStrippedEntity; | |
| const prefabContext = this._prefabContextMap.get(entityMap.get(entityConfig.prefabInstanceId)); | |
| const entity = prefabContext.entityMap.get(entityConfig.prefabSource.entityId); | |
| this._addComponents(entity, entityConfig.components, promises); | |
| } | |
| for (const waitingList of this.context.componentWaitingMap.values()) { | |
| waitingList.forEach((resolve) => resolve(null)); | |
| } | |
| return Promise.all(promises); | |
| } | |
| private _parseAddedComponents() { | |
| const entityMap = this.context.entityMap; | |
| const entityConfigMap = this.context.entityConfigMap; | |
| const strippedIds = this.context.strippedIds; | |
| const promises = []; | |
| for (let i = 0, n = strippedIds.length; i < n; i++) { | |
| const entityConfig = entityConfigMap.get(strippedIds[i]) as IStrippedEntity; | |
| const prefabContext = this._prefabContextMap.get(entityMap.get(entityConfig.prefabInstanceId)); | |
| if (!prefabContext) { | |
| console.warn(`No prefab context found for ${entityConfig.prefabInstanceId}. Skipping component addition.`); | |
| continue; | |
| } | |
| const entity = prefabContext.entityMap.get(entityConfig.prefabSource.entityId); | |
| this._addComponents(entity, entityConfig.components, promises); | |
| } | |
| for (const waitingList of this.context.componentWaitingMap.values()) { | |
| waitingList.forEach((resolve) => resolve(null)); | |
| } | |
| return Promise.all(promises); | |
| } |
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Summary by CodeRabbit
New Features
Bug Fixes
Refactor
Tests