Add physicsMaterial loader and joint component parser and change radi…

…ans to degrees in physics (#2475)

* feat: add physicsMaterial loader and joint component parser and change radians to degrees in physics

packages/core/src/asset/AssetType.ts

@@ -60,5 +60,7 @@ export enum AssetType {
   /** AudioClip, include ogg, wav and mp3. */
   Audio = "Audio",
   /** Project asset. */
-  Project = "project"
+  Project = "project",
+  /** PhysicsMaterial. */
+  PhysicsMaterial = "PhysicsMaterial"
 }

packages/core/src/physics/CharacterController.ts

@@ -15,7 +15,7 @@ export class CharacterController extends Collider {
   private _nonWalkableMode: ControllerNonWalkableMode = ControllerNonWalkableMode.PreventClimbing;
   @deepClone
   private _upDirection = new Vector3(0, 1, 0);
-  private _slopeLimit = 0.707;
+  private _slopeLimit = 45;
 
   /**
    * The step offset for the controller, the value must be greater than or equal to 0.
@@ -61,8 +61,8 @@ export class CharacterController extends Collider {
   }
 
   /**
-   * The slope limit for the controller, the value is the cosine value of the maximum slope angle.
-   * @defaultValue 0.707(the cosine value of 45 degrees)
+   * The slope limit in degrees for the controller, the value is the cosine value of the maximum slope angle.
+   * @defaultValue 45 degrees
    */
   get slopeLimit(): number {
     return this._slopeLimit;

packages/core/src/physics/DynamicCollider.ts

@@ -20,9 +20,10 @@ export class DynamicCollider extends Collider {
   private _centerOfMass = new Vector3();
   @ignoreClone
   private _inertiaTensor = new Vector3(1, 1, 1);
-  private _maxAngularVelocity = 100;
+  private _maxAngularVelocity = 18000 / Math.PI;
   private _maxDepenetrationVelocity = 1.0000000331813535e32;
   private _solverIterations = 4;
+  private _useGravity = true;
   private _isKinematic = false;
   private _constraints: DynamicColliderConstraints = 0;
   private _collisionDetectionMode: CollisionDetectionMode = CollisionDetectionMode.Discrete;
@@ -77,7 +78,7 @@ export class DynamicCollider extends Collider {
   }
 
   /**
-   * The angular velocity vector of the dynamic collider measured in radians per second.
+   * The angular velocity vector of the dynamic collider measured in degrees per second.
    */
   get angularVelocity(): Vector3 {
     //@ts-ignore
@@ -185,7 +186,7 @@ export class DynamicCollider extends Collider {
   }
 
   /**
-   * The maximum angular velocity of the collider measured in radians per second. (Default 7) range { 0, infinity }.
+   * The maximum angular velocity of the collider measured in degrees per second.
    */
   get maxAngularVelocity(): number {
     return this._maxAngularVelocity;
@@ -240,6 +241,20 @@ export class DynamicCollider extends Collider {
     }
   }
 
+  /**
+   * Controls whether gravity affects the dynamic collider.
+   */
+  get useGravity(): boolean {
+    return this._useGravity;
+  }
+
+  set useGravity(value: boolean) {
+    if (this._useGravity !== value) {
+      this._useGravity = value;
+      (<IDynamicCollider>this._nativeCollider).setUseGravity(value);
+    }
+  }
+
   /**
    * Controls whether physics affects the dynamic collider.
    */

packages/core/src/physics/joint/Joint.ts

@@ -6,12 +6,12 @@ import { dependentComponents, DependentMode } from "../../ComponentsDependencies
 import { Entity } from "../../Entity";
 import { Collider } from "../Collider";
 import { TransformModifyFlags } from "../../Transform";
-
+import { DynamicCollider } from "../DynamicCollider";
 /**
  * A base class providing common functionality for joints.
  * @decorator `@dependentComponents(Collider, DependentMode.CheckOnly)`
  */
-@dependentComponents(Collider, DependentMode.CheckOnly)
+@dependentComponents(DynamicCollider, DependentMode.AutoAdd)
 export abstract class Joint extends Component {
   private static _tempVector3 = new Vector3();
 
@@ -24,6 +24,8 @@ export abstract class Joint extends Component {
   private _force = Infinity;
   private _torque = Infinity;
   private _automaticConnectedAnchor = true;
+  @ignoreClone
+  private _updateConnectedActualAnchor: Function;
 
   /**
    * The connected collider.
@@ -37,7 +39,7 @@ export abstract class Joint extends Component {
       this._connectedColliderInfo.collider?.entity._updateFlagManager.removeListener(this._onConnectedTransformChanged);
       value?.entity._updateFlagManager.addListener(this._onConnectedTransformChanged);
       this._connectedColliderInfo.collider = value;
-      this._nativeJoint?.setConnectedCollider(value._nativeCollider);
+      this._nativeJoint?.setConnectedCollider(value?._nativeCollider);
       if (this._automaticConnectedAnchor) {
         this._calculateConnectedAnchor();
       } else {
@@ -47,8 +49,7 @@ export abstract class Joint extends Component {
   }
 
   /**
-   * The connected anchor position.
-   * @remarks If connectedCollider is set, this anchor is relative offset, or the anchor is world position.
+   * The anchor position.
    */
   get anchor(): Vector3 {
     return this._colliderInfo.anchor;
@@ -66,13 +67,22 @@ export abstract class Joint extends Component {
   /**
    * The connected anchor position.
    * @remarks If connectedCollider is set, this anchor is relative offset, or the anchor is world position.
+   * The connectedAnchor is automatically calculated, if you want to set it manually, please set automaticConnectedAnchor to false
    */
   get connectedAnchor(): Vector3 {
-    return this._connectedColliderInfo.anchor;
+    const connectedColliderAnchor = this._connectedColliderInfo.anchor;
+    if (this._automaticConnectedAnchor) {
+      //@ts-ignore
+      connectedColliderAnchor._onValueChanged = null;
+      this._calculateConnectedAnchor();
+      //@ts-ignore
+      connectedColliderAnchor._onValueChanged = this._updateConnectedActualAnchor;
+    }
+    return connectedColliderAnchor;
   }
 
   set connectedAnchor(value: Vector3) {
-    if (this.automaticConnectedAnchor) {
+    if (this._automaticConnectedAnchor) {
       console.warn("Cannot set connectedAnchor when automaticConnectedAnchor is true.");
       return;
     }
@@ -96,7 +106,7 @@ export abstract class Joint extends Component {
   }
 
   /**
-   *  The scale to apply to the inverse mass of collider 0 for resolving this constraint.
+   *  The scale to apply to the mass of collider 0 for resolving this constraint.
    */
   get connectedMassScale(): number {
     return this._connectedColliderInfo.massScale;
@@ -110,7 +120,7 @@ export abstract class Joint extends Component {
   }
 
   /**
-   * The scale to apply to the inverse mass of collider 1 for resolving this constraint.
+   * The scale to apply to the mass of collider 1 for resolving this constraint.
    */
   get massScale(): number {
     return this._colliderInfo.massScale;
@@ -124,7 +134,7 @@ export abstract class Joint extends Component {
   }
 
   /**
-   * The scale to apply to the inverse inertia of collider0 for resolving this constraint.
+   * The scale to apply to the inertia of collider0 for resolving this constraint.
    */
   get connectedInertiaScale(): number {
     return this._connectedColliderInfo.inertiaScale;
@@ -138,7 +148,7 @@ export abstract class Joint extends Component {
   }
 
   /**
-   * The scale to apply to the inverse inertia of collider1 for resolving this constraint.
+   * The scale to apply to the inertia of collider1 for resolving this constraint.
    */
   get inertiaScale(): number {
     return this._colliderInfo.inertiaScale;
@@ -183,8 +193,10 @@ export abstract class Joint extends Component {
     super(entity);
     //@ts-ignore
     this._colliderInfo.anchor._onValueChanged = this._updateActualAnchor.bind(this, AnchorOwner.Self);
+    this._updateConnectedActualAnchor = this._updateActualAnchor.bind(this, AnchorOwner.Connected);
     //@ts-ignore
-    this._connectedColliderInfo.anchor._onValueChanged = this._updateActualAnchor.bind(this, AnchorOwner.Connected);
+    this._connectedColliderInfo.anchor._onValueChanged = this._updateConnectedActualAnchor;
+
     this._onSelfTransformChanged = this._onSelfTransformChanged.bind(this);
     this._onConnectedTransformChanged = this._onConnectedTransformChanged.bind(this);
     // @ts-ignore
@@ -261,7 +273,6 @@ export abstract class Joint extends Component {
     }
   }
 
-  @ignoreClone
   private _updateActualAnchor(flag: AnchorOwner): void {
     if (flag & AnchorOwner.Self) {
       const worldScale = this.entity.transform.lossyWorldScale;

packages/core/src/physics/joint/JointLimits.ts

@@ -16,34 +16,34 @@ export class JointLimits {
   private _damping = 0;
 
   /**
-   * The upper angular limit (in radians) of the joint.
+   * The upper angular limit (in degrees) of the joint.
    */
   get max(): number {
     return this._max;
   }
 
   set max(value: number) {
-    if (value < this._min) {
-      throw new Error("Max limit must be greater than min limit");
-    }
     if (this._max !== value) {
+      if (value < this._min) {
+        this._min = value;
+      }
       this._max = value;
       this._updateFlagManager.dispatch();
     }
   }
 
   /**
-   * The lower angular limit (in radians) of the joint.
+   * The lower angular limit (in degrees) of the joint.
    */
   get min(): number {
     return this._min;
   }
 
   set min(value: number) {
-    if (value > this._max) {
-      throw new Error("Min limit must be less than max limit");
-    }
     if (this._min !== value) {
+      if (value > this._max) {
+        this._max = value;
+      }
       this._min = value;
       this._updateFlagManager.dispatch();
     }

packages/core/src/physics/joint/JointMotor.ts

@@ -22,8 +22,10 @@ export class JointMotor {
   }
 
   set targetVelocity(value: number) {
-    this._targetVelocity = value;
-    this._updateFlagManager.dispatch();
+    if (this._targetVelocity !== value) {
+      this._targetVelocity = value;
+      this._updateFlagManager.dispatch();
+    }
   }
 
   /**
@@ -34,8 +36,10 @@ export class JointMotor {
   }
 
   set forceLimit(value: number) {
-    this._forceLimit = value;
-    this._updateFlagManager.dispatch();
+    if (this._forceLimit !== value) {
+      this._forceLimit = value;
+      this._updateFlagManager.dispatch();
+    }
   }
 
   /**
@@ -46,8 +50,10 @@ export class JointMotor {
   }
 
   set gearRatio(value: number) {
-    this._gearRatio = value;
-    this._updateFlagManager.dispatch();
+    if (this._gearRatio !== value) {
+      this._gearRatio = value;
+      this._updateFlagManager.dispatch();
+    }
   }
 
   /**
@@ -58,7 +64,9 @@ export class JointMotor {
   }
 
   set freeSpin(value: boolean) {
-    this._freeSpin = value;
-    this._updateFlagManager.dispatch();
+    if (this._freeSpin !== value) {
+      this._freeSpin = value;
+      this._updateFlagManager.dispatch();
+    }
   }
 }

packages/core/src/physics/shape/ColliderShape.ts

@@ -66,21 +66,24 @@ export abstract class ColliderShape implements ICustomClone {
   }
 
   /**
-   * Physical material.
+   * Physical material, material can't be null.
    */
   get material(): PhysicsMaterial {
     return this._material;
   }
 
   set material(value: PhysicsMaterial) {
+    if (!value) {
+      throw new Error("The physics material of the shape can't be null.");
+    }
     if (this._material !== value) {
       this._material = value;
       this._nativeShape.setMaterial(value._nativeMaterial);
     }
   }
 
   /**
-   * The local rotation of this ColliderShape, in radians.
+   * The local rotation of this ColliderShape, in degrees.
    */
   get rotation(): Vector3 {
     return this._rotation;

packages/design/src/physics/ICharacterController.ts

@@ -44,7 +44,7 @@ export interface ICharacterController extends ICollider {
   setUpDirection(up: Vector3): void;
 
   /**
-   * Sets the slope limit.
+   * Sets the slope limit in degrees.
    * @param slopeLimit The slope limit for the controller.
    */
   setSlopeLimit(slopeLimit: number): void;

packages/design/src/physics/IDynamicCollider.ts

@@ -132,6 +132,11 @@ export interface IDynamicCollider extends ICollider {
    */
   setCollisionDetectionMode(value: number): void;
 
+  /**
+   * Whether the collider is affected by gravity.
+   */
+  setUseGravity(value: boolean): void;
+
   /**
    * Controls whether physics affects the dynamic collider.
    * @param value - is or not

packages/loader/src/PhysicsMaterialLoader.ts

@@ -0,0 +1,33 @@
+import {
+  resourceLoader,
+  Loader,
+  AssetPromise,
+  AssetType,
+  LoadItem,
+  ResourceManager,
+  PhysicsMaterial
+} from "@galacean/engine-core";
+
+@resourceLoader(AssetType.PhysicsMaterial, ["mesh"])
+class PhysicsMaterialLoader extends Loader<PhysicsMaterial> {
+  load(item: LoadItem, resourceManager: ResourceManager): AssetPromise<PhysicsMaterial> {
+    return (
+      resourceManager
+        // @ts-ignore
+        ._request<any>(item.url, {
+          ...item,
+          type: "json"
+        })
+        .then((data) => {
+          const physicsMaterial = new PhysicsMaterial();
+          physicsMaterial.bounciness = data.bounciness;
+          physicsMaterial.dynamicFriction = data.dynamicFriction;
+          physicsMaterial.staticFriction = data.staticFriction;
+          physicsMaterial.bounceCombine = data.bounceCombine;
+          physicsMaterial.frictionCombine = data.frictionCombine;
+
+          return physicsMaterial;
+        })
+    );
+  }
+}

packages/loader/src/index.ts

@@ -22,6 +22,7 @@ import "./AudioLoader";
 import "./ktx2/KTX2Loader";
 import "./ShaderLoader";
 import "./ShaderChunkLoader";
+import "./PhysicsMaterialLoader";
 
 export { GLTFLoader } from "./GLTFLoader";
 export type { GLTFParams } from "./GLTFLoader";