added height field physics shape type

Editor/RigidBodyWindow.cpp

@@ -32,6 +32,7 @@ void RigidBodyWindow::Create(EditorComponent* _editor)
 	collisionShapeComboBox.AddItem("Cylinder", RigidBodyPhysicsComponent::CollisionShape::CYLINDER);
 	collisionShapeComboBox.AddItem("Convex Hull", RigidBodyPhysicsComponent::CollisionShape::CONVEX_HULL);
 	collisionShapeComboBox.AddItem("Triangle Mesh", RigidBodyPhysicsComponent::CollisionShape::TRIANGLE_MESH);
+	collisionShapeComboBox.AddItem("Height Field", RigidBodyPhysicsComponent::CollisionShape::HEIGHTFIELD);
 	collisionShapeComboBox.OnSelect([&](wi::gui::EventArgs args) {
 		wi::scene::Scene& scene = editor->GetCurrentScene();
 		for (auto& x : editor->translator.selected)

WickedEngine/wiPhysics_Jolt.cpp

@@ -1542,6 +1542,43 @@ namespace wi::physics
 				return;
 			}
 			break;
+
+		case RigidBodyPhysicsComponent::CollisionShape::HEIGHTFIELD:
+			if (mesh != nullptr)
+			{
+				wi::vector<float> heights;
+				heights.reserve(mesh->vertex_positions.size());
+
+				wi::primitive::AABB aabb;
+
+				for (XMFLOAT3 pos : mesh->vertex_positions)
+				{
+					pos.x *= scale_local.x;
+					pos.y *= scale_local.y;
+					pos.z *= scale_local.z;
+					heights.push_back(pos.y);
+					aabb.AddPoint(pos);
+				}
+
+				XMFLOAT3 min = aabb.getMin();
+				min.y = 0;
+
+				uint32_t dim = (uint32_t)std::sqrt((double)heights.size());
+				wilog_assert(dim >= 2, "Height field shape dimension must be at least 2!");
+
+				Vec3 scale = cast(aabb.getHalfWidth()) * 2 / (float)(dim - 1);
+				scale.SetY(1);
+
+				HeightFieldShapeSettings settings(heights.data(), cast(min), scale, dim);
+				settings.SetEmbedded();
+				shape_result = settings.Create();
+			}
+			else
+			{
+				wi::backlog::post("CreateRigidBodyShape failed: height field physics requested, but no MeshComponent provided!", wi::backlog::LogLevel::Error);
+				return;
+			}
+			break;
 		}
 
 		if (!shape_result.IsValid())

WickedEngine/wiPrimitive.cpp

@@ -205,6 +205,11 @@ namespace wi::primitive
 	{
 		return AABB(wi::math::Min(a.getMin(), b.getMin()), wi::math::Max(a.getMax(), b.getMax()));
 	}
+	void AABB::AddPoint(const XMFLOAT3& pos)
+	{
+		_min = wi::math::Min(_min, pos);
+		_max = wi::math::Max(_max, pos);
+	}
 	void AABB::Serialize(wi::Archive& archive, wi::ecs::EntitySerializer& seri)
 	{
 		if (archive.IsReadMode())

WickedEngine/wiPrimitive.h

@@ -50,6 +50,7 @@ namespace wi::primitive
 		bool intersects(const BoundingFrustum& frustum) const;
 		AABB operator* (float a);
 		static AABB Merge(const AABB& a, const AABB& b);
+		void AddPoint(const XMFLOAT3& pos);
 
 		// projects the AABB to the screen, returns a 2D rectangle in UV-space as Vector(topleftX, topleftY, bottomrightX, bottomrightY), each value is in range [0, 1]
 		XMFLOAT4 ProjectToScreen(const XMMATRIX& ViewProjection) const;

WickedEngine/wiScene_Components.h

@@ -412,6 +412,7 @@ namespace wi::scene
 			CONVEX_HULL,
 			TRIANGLE_MESH,
 			CYLINDER,
+			HEIGHTFIELD,
 			ENUM_FORCE_UINT32 = 0xFFFFFFFF
 		};
 		CollisionShape shape;

WickedEngine/wiTerrain.cpp

@@ -808,10 +808,14 @@ namespace wi::terrain
 					if (rigidbody == nullptr)
 					{
 						RigidBodyPhysicsComponent& newrigidbody = scene->rigidbodies.Create(chunk_data.entity);
-						newrigidbody.shape = RigidBodyPhysicsComponent::TRIANGLE_MESH;
+						newrigidbody.shape = RigidBodyPhysicsComponent::HEIGHTFIELD;
 						newrigidbody.mass = 0; // terrain chunks are static
 						newrigidbody.friction = 0.8f;
-						newrigidbody.mesh_lod = 2;
+						//newrigidbody.mesh_lod = 2;
+					}
+					else
+					{
+						rigidbody->shape = RigidBodyPhysicsComponent::HEIGHTFIELD;
 					}
 				}
 				else if(rigidbody != nullptr)
@@ -1037,10 +1041,10 @@ namespace wi::terrain
 						// Precompute the physics shape here on separate thread, because computing shape for triangle mesh would be slow on main thread:
 						//	Note that this is mesh.precomputed_rigidbody_physics_shape and not a component in scene.rigidbodies, so this only contains the shape, not the simulated rigid bodies
 						RigidBodyPhysicsComponent& newrigidbody = mesh.precomputed_rigidbody_physics_shape;
-						newrigidbody.shape = RigidBodyPhysicsComponent::TRIANGLE_MESH;
+						newrigidbody.shape = RigidBodyPhysicsComponent::HEIGHTFIELD;
 						newrigidbody.mass = 0; // terrain chunks are static
 						newrigidbody.friction = 0.8f;
-						newrigidbody.mesh_lod = 2;
+						//newrigidbody.mesh_lod = 2;
 						wi::physics::CreateRigidBodyShape(newrigidbody, transform.scale_local, &mesh);
 					}
 

WickedEngine/wiVersion.cpp

@@ -9,7 +9,7 @@ namespace wi::version
 	// minor features, major updates, breaking compatibility changes
 	const int minor = 71;
 	// minor bug fixes, alterations, refactors, updates
-	const int revision = 726;
+	const int revision = 727;
 
 	const std::string version_string = std::to_string(major) + "." + std::to_string(minor) + "." + std::to_string(revision);