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Add remove overrides option for Rigid Body Twist Control #51

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Add remove overrides option for Rigid Body Twist Control #51

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101 changes: 86 additions & 15 deletions ...de/Source/RobotControl/Controllers/RigidBodyController/RigidBodyTwistControlComponent.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,15 +20,57 @@ namespace ROS2
{
if (AZ::SerializeContext* serialize = azrtti_cast<AZ::SerializeContext*>(context))
{
serialize->Class<RigidBodyTwistControlComponent, AZ::Component>()->Version(1);
serialize->Class<RigidBodyTwistControlComponent, AZ::Component>()
->Version(1)
->Field("DisableLinearVelocityXOverriding", &RigidBodyTwistControlComponent::m_disableLinearVelocityXOverriding)
->Field("DisableLinearVelocityYOverriding", &RigidBodyTwistControlComponent::m_disableLinearVelocityYOverriding)
->Field("DisableLinearVelocityZOverriding", &RigidBodyTwistControlComponent::m_disableLinearVelocityZOverriding)
->Field("DisableAngularVelocityXOverriding", &RigidBodyTwistControlComponent::m_disableAngularVelocityXOverriding)
->Field("DisableAngularVelocityYOverriding", &RigidBodyTwistControlComponent::m_disableAngularVelocityYOverriding)
->Field("DisableAngularVelocityZOverriding", &RigidBodyTwistControlComponent::m_disableAngularVelocityZOverriding);

if (AZ::EditContext* ec = serialize->GetEditContext())
{
ec->Class<RigidBodyTwistControlComponent>("Rigid Body Twist Control", "Simple control through RigidBody")
->ClassElement(AZ::Edit::ClassElements::EditorData, "")
->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game"))
->Attribute(AZ::Edit::Attributes::Category, "ROS2")
->Attribute(AZ::Edit::Attributes::Icon, "Editor/Icons/Components/RigidBodyTwistControl.svg")
->Attribute(AZ::Edit::Attributes::ViewportIcon, "Editor/Icons/Components/Viewport/RigidBodyTwistControl.svg");
->Attribute(AZ::Edit::Attributes::ViewportIcon, "Editor/Icons/Components/Viewport/RigidBodyTwistControl.svg")
->ClassElement(AZ::Edit::ClassElements::Group, "Linear Axis Overrides")
->Attribute(AZ::Edit::Attributes::AutoExpand, false)
->DataElement(
AZ::Edit::UIHandlers::Default,
&RigidBodyTwistControlComponent::m_disableLinearVelocityXOverriding,
"Disable linear velocity X axis override",
"Disable overriding X axis")
->DataElement(
AZ::Edit::UIHandlers::Default,
&RigidBodyTwistControlComponent::m_disableLinearVelocityYOverriding,
"Disable linear velocity Y axis override",
"Disable overriding Y axis")
->DataElement(
AZ::Edit::UIHandlers::Default,
&RigidBodyTwistControlComponent::m_disableLinearVelocityZOverriding,
"Disable linear velocity Z axis override",
"Disable overriding Z axis")
->ClassElement(AZ::Edit::ClassElements::Group, "Angular Axis Overrides")
->Attribute(AZ::Edit::Attributes::AutoExpand, false)
->DataElement(
AZ::Edit::UIHandlers::Default,
&RigidBodyTwistControlComponent::m_disableAngularVelocityXOverriding,
"Disable angular velocity X axis override",
"Disable overriding X axis")
->DataElement(
AZ::Edit::UIHandlers::Default,
&RigidBodyTwistControlComponent::m_disableAngularVelocityYOverriding,
"Disable angular velocity Y axis override",
"Disable overriding Y axis")
->DataElement(
AZ::Edit::UIHandlers::Default,
&RigidBodyTwistControlComponent::m_disableAngularVelocityZOverriding,
"Disable angular velocity Z axis override",
"Disable overriding Z axis");
}
}
}
Expand All @@ -51,8 +93,8 @@ namespace ROS2
AZ::TickBus::Handler::BusDisconnect();
}
}
void RigidBodyTwistControlComponent::OnTick([[maybe_unused]]float deltaTime, [[maybe_unused]]AZ::ScriptTimePoint time)

void RigidBodyTwistControlComponent::OnTick([[maybe_unused]] float deltaTime, [[maybe_unused]] AZ::ScriptTimePoint time)
{
AzPhysics::SceneInterface* sceneInterface = AZ::Interface<AzPhysics::SceneInterface>::Get();
AZ_Assert(sceneInterface, "No scene interface");
Expand All @@ -72,19 +114,48 @@ namespace ROS2
}
m_bodyHandle = rigidBody->m_bodyHandle;
m_sceneFinishSimHandler = AzPhysics::SceneEvents::OnSceneSimulationFinishHandler(
[this, sceneInterface]([[maybe_unused]] AzPhysics::SceneHandle sceneHandle, float fixedDeltaTime)
[this, sceneInterface]([[maybe_unused]] AzPhysics::SceneHandle sceneHandle, float fixedDeltaTime)
{
auto* rigidBody = sceneInterface->GetSimulatedBodyFromHandle(sceneHandle, m_bodyHandle);
AZ_Assert(sceneInterface, "No body found for previously given handle");

// Convert local steering to world frame
const AZ::Transform robotTransform = rigidBody->GetTransform();
auto linearVelocityGlobal = robotTransform.TransformVector(m_linearVelocityLocal);
auto angularVelocityGlobal = robotTransform.TransformVector(m_angularVelocityLocal);
AZ::Vector3 linearVelocity;
AZ::Vector3 angularVelocity;
Physics::RigidBodyRequestBus::EventResult(linearVelocity, GetEntityId(), &Physics::RigidBodyRequests::GetLinearVelocity);
Physics::RigidBodyRequestBus::EventResult(angularVelocity, GetEntityId(), &Physics::RigidBodyRequests::GetAngularVelocity);
if (m_disableLinearVelocityXOverriding)
{
linearVelocityGlobal.SetX(linearVelocity.GetX());
}
if (m_disableLinearVelocityYOverriding)
{
linearVelocityGlobal.SetY(linearVelocity.GetY());
}
if (m_disableLinearVelocityZOverriding)
{
linearVelocityGlobal.SetZ(linearVelocity.GetZ());
}
if (m_disableAngularVelocityXOverriding)
{
angularVelocityGlobal.SetX(angularVelocity.GetX());
}
if (m_disableAngularVelocityYOverriding)
{
angularVelocityGlobal.SetY(angularVelocity.GetY());
}
if (m_disableAngularVelocityZOverriding)
{
auto* rigidBody = sceneInterface->GetSimulatedBodyFromHandle(sceneHandle, m_bodyHandle);
AZ_Assert(sceneInterface, "No body found for previously given handle");
angularVelocityGlobal.SetZ(angularVelocity.GetZ());
}

// Convert local steering to world frame
const AZ::Transform robotTransform = rigidBody->GetTransform();
const auto linearVelocityGlobal = robotTransform.TransformVector(m_linearVelocityLocal);
const auto angularVelocityGlobal = robotTransform.TransformVector(m_angularVelocityLocal);
Physics::RigidBodyRequestBus::Event(GetEntityId(), &Physics::RigidBodyRequests::SetLinearVelocity, linearVelocityGlobal);
Physics::RigidBodyRequestBus::Event(GetEntityId(), &Physics::RigidBodyRequests::SetAngularVelocity, angularVelocityGlobal);
},
aznumeric_cast<int32_t>(AzPhysics::SceneEvents::PhysicsStartFinishSimulationPriority::Components));
Physics::RigidBodyRequestBus::Event(GetEntityId(), &Physics::RigidBodyRequests::SetLinearVelocity, linearVelocityGlobal);
Physics::RigidBodyRequestBus::Event(GetEntityId(), &Physics::RigidBodyRequests::SetAngularVelocity, angularVelocityGlobal);
},
aznumeric_cast<int32_t>(AzPhysics::SceneEvents::PhysicsStartFinishSimulationPriority::Components));
sceneInterface->RegisterSceneSimulationFinishHandler(defaultSceneHandle, m_sceneFinishSimHandler);
AZ::TickBus::Handler::BusDisconnect();
}
Expand Down
16 changes: 12 additions & 4 deletions ...Code/Source/RobotControl/Controllers/RigidBodyController/RigidBodyTwistControlComponent.h
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Original file line number Diff line number Diff line change
Expand Up @@ -8,9 +8,9 @@
#pragma once

#include <AzCore/Component/Component.h>
#include <ROS2/RobotControl/Twist/TwistBus.h>
#include <AzFramework/Physics/PhysicsSystem.h>
#include <AzCore/Component/TickBus.h>
#include <AzFramework/Physics/PhysicsSystem.h>
#include <ROS2/RobotControl/Twist/TwistBus.h>
namespace ROS2
{
//! A component with a simple handler for Twist type of control (linear and angular velocities).
Expand Down Expand Up @@ -44,9 +44,17 @@ namespace ROS2
void OnTick(float deltaTime, AZ::ScriptTimePoint time) override;
//////////////////////////////////////////////////////////////////////////

AZ::Vector3 m_linearVelocityLocal {AZ::Vector3::CreateZero()}; //!< Linear velocity in local frame
AZ::Vector3 m_angularVelocityLocal {AZ::Vector3::CreateZero()}; //!< Angular velocity in local frame
AZ::Vector3 m_linearVelocityLocal{ AZ::Vector3::CreateZero() }; //!< Linear velocity in local frame
AZ::Vector3 m_angularVelocityLocal{ AZ::Vector3::CreateZero() }; //!< Angular velocity in local frame
AzPhysics::SceneEvents::OnSceneSimulationFinishHandler m_sceneFinishSimHandler; //!< Handler called after every physics sub-step
AzPhysics::SimulatedBodyHandle m_bodyHandle = AzPhysics::InvalidSimulatedBodyHandle; //!< Handle to the body to apply velocities to

bool m_disableLinearVelocityXOverriding = false;
bool m_disableLinearVelocityYOverriding = false;
bool m_disableLinearVelocityZOverriding = false;

bool m_disableAngularVelocityXOverriding = false;
bool m_disableAngularVelocityYOverriding = false;
bool m_disableAngularVelocityZOverriding = false;
};
} // namespace ROS2