qheightfieldshape.cpp

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// Copyright (C) 2022 The Qt Company Ltd.
// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR GPL-3.0-only
// Qt-Security score:significant reason:default
 
#include "qcacheutils_p.h"
#include "qheightfieldshape_p.h"
 
#include <limits>
#include <vector>
 
#include <QFileInfo>
#include <QImage>
#include <QQmlContext>
#include <QQmlFile>
#include <QtQuick3D/QQuick3DGeometry>
#include <extensions/PxExtensionsAPI.h>
 
//########################################################################################
// NOTE:
// Triangle mesh, heightfield or plane geometry shapes configured as eSIMULATION_SHAPE are
// not supported for non-kinematic PxRigidDynamic instances.
//########################################################################################
 
#include "foundation/PxVec3.h"
//#include "cooking/PxTriangleMeshDesc.h"
#include "cooking/PxCooking.h"
#include "extensions/PxDefaultStreams.h"
#include "geometry/PxHeightField.h"
#include "geometry/PxHeightFieldDesc.h"
 
#include "qphysicsworld_p.h"
#include "qstaticphysxobjects_p.h"
 
QT_BEGIN_NAMESPACE
 
// TODO: Unify with QQuick3DPhysicsMeshManager??? It's the same basic logic,
// but we're using images instead of meshes.
 
class QQuick3DPhysicsHeightField
{
public:
    QQuick3DPhysicsHeightField(const QString &qmlSource);
    QQuick3DPhysicsHeightField(QQuickImage *image);
    ~QQuick3DPhysicsHeightField();
 
    void ref() { ++refCount; }
    int deref() { return --refCount; }
    void writeSamples(const QImage &heightMap);
    physx::PxHeightField *heightField();
 
    int rows() const;
    int columns() const;
 
private:
    void forgetStalePhysXHeightField();
 
    QString m_sourcePath;
    // This raw pointer is safe to store since when the Image or
    // HeightFieldShape is destroyed, this heightfield will be dereferenced
    // from all shapes and deleted.
    QQuickImage *m_image = nullptr;
    std::vector<physx::PxHeightFieldSample> m_samples;
    physx::PxHeightField *m_heightField = nullptr;
    quint32 m_physicsGeneration = 0;
    int m_rows = 0;
    int m_columns = 0;
    int refCount = 0;
};
 
class QQuick3DPhysicsHeightFieldManager
{
public:
    static QQuick3DPhysicsHeightField *getHeightField(const QUrl &source,
                                                      const QObject *contextObject);
    static QQuick3DPhysicsHeightField *getHeightField(QQuickImage *source);
    static void releaseHeightField(QQuick3DPhysicsHeightField *heightField);
 
private:
    static QHash<QString, QQuick3DPhysicsHeightField *> heightFieldHash;
    static QHash<QQuickImage *, QQuick3DPhysicsHeightField *> heightFieldImageHash;
};
 
QHash<QString, QQuick3DPhysicsHeightField *> QQuick3DPhysicsHeightFieldManager::heightFieldHash;
QHash<QQuickImage *, QQuick3DPhysicsHeightField *>
        QQuick3DPhysicsHeightFieldManager::heightFieldImageHash;
 
QQuick3DPhysicsHeightField *
QQuick3DPhysicsHeightFieldManager::getHeightField(const QUrl &source, const QObject *contextObject)
{
    const QQmlContext *context = qmlContext(contextObject);
 
    const auto resolvedUrl = context ? context->resolvedUrl(source) : source;
    const auto qmlSource = QQmlFile::urlToLocalFileOrQrc(resolvedUrl);
 
    auto *heightField = heightFieldHash.value(qmlSource);
    if (!heightField) {
        heightField = new QQuick3DPhysicsHeightField(qmlSource);
        heightFieldHash[qmlSource] = heightField;
    }
    heightField->ref();
    return heightField;
}
 
QQuick3DPhysicsHeightField *QQuick3DPhysicsHeightFieldManager::getHeightField(QQuickImage *source)
{
    auto *heightField = heightFieldImageHash.value(source);
    if (!heightField) {
        heightField = new QQuick3DPhysicsHeightField(source);
        heightFieldImageHash[source] = heightField;
    }
    heightField->ref();
    return heightField;
}
 
void QQuick3DPhysicsHeightFieldManager::releaseHeightField(QQuick3DPhysicsHeightField *heightField)
{
    if (heightField != nullptr && heightField->deref() == 0) {
        qCDebug(lcQuick3dPhysics()) << "deleting height field" << heightField;
        erase_if(heightFieldHash,
                 [heightField](std::pair<const QString &, QQuick3DPhysicsHeightField *&> h) {
                     return h.second == heightField;
                 });
        erase_if(heightFieldImageHash,
                 [heightField](std::pair<QQuickImage *, QQuick3DPhysicsHeightField *&> h) {
                     return h.second == heightField;
                 });
        delete heightField;
    }
}
 
QQuick3DPhysicsHeightField::QQuick3DPhysicsHeightField(const QString &qmlSource)
    : m_sourcePath(qmlSource)
{
}
 
QQuick3DPhysicsHeightField::QQuick3DPhysicsHeightField(QQuickImage *image) : m_image(image) { }
 
QQuick3DPhysicsHeightField::~QQuick3DPhysicsHeightField()
{
    forgetStalePhysXHeightField();
    if (m_heightField)
        m_heightField->release();
}
 
// Drops the PhysX height field if it was destroyed together with the PxPhysics that created it.
// That happens when the last PhysicsWorld is destroyed while shapes using this height field
// remain, so the destructor must not release it again, and the next world must not get it.
void QQuick3DPhysicsHeightField::forgetStalePhysXHeightField()
{
    const auto &s_physx = StaticPhysXObjects::getReference();
    if (m_physicsGeneration == s_physx.physicsGeneration)
        return;
    m_heightField = nullptr;
    m_physicsGeneration = s_physx.physicsGeneration;
}
 
void QQuick3DPhysicsHeightField::writeSamples(const QImage &heightMap)
{
    if (Q_UNLIKELY(heightMap.isNull())) {
        m_rows = 0;
        m_columns = 0;
        m_samples.clear();
        return;
    }
 
    m_rows = heightMap.height();
    m_columns = heightMap.width();
 
    const quint64 sampleCount = quint64(m_rows) * quint64(m_columns);
    if (sampleCount > std::numeric_limits<size_t>::max()) {
        qWarning() << "QQuick3DPhysicsHeightField: height map" << m_columns << "x" << m_rows
                   << "is too large to allocate.";
        m_rows = 0;
        m_columns = 0;
        m_samples.clear();
        return;
    }
 
    const size_t numRows = size_t(m_rows);
    m_samples.resize(size_t(sampleCount));
    for (int i = 0; i < m_columns; i++)
        for (int j = 0; j < m_rows; j++) {
            float f = heightMap.pixelColor(i, j).valueF() - 0.5;
            // qDebug() << i << j << f;
            m_samples[size_t(i) * numRows + size_t(j)] = { qint16(0xffff * f), 0, 0 }; //{qint16(i%3*2 + j), 0, 0};
        }
}
 
physx::PxHeightField *QQuick3DPhysicsHeightField::heightField()
{
    forgetStalePhysXHeightField();
    if (m_heightField)
        return m_heightField;
 
    physx::PxPhysics *thePhysics = QPhysicsWorld::getPhysics();
    if (thePhysics == nullptr)
        return nullptr;
 
    // No source set
    if (m_image == nullptr && m_sourcePath.isEmpty())
        return nullptr;
 
    // Reading from image property has precedence
    const bool readFromFile = m_image == nullptr;
 
    // Security note: This code reads user provided images and create heightfields from them.
    // This is safe since we assume that QImage properly rejects invalid image files.
    // It also reads cached and cooked heightfields but that file is marked.
    if (readFromFile) {
        // Try read cached file
        m_heightField = QCacheUtils::readCachedHeightField(m_sourcePath, *thePhysics);
        if (m_heightField != nullptr) {
            m_rows = m_heightField->getNbRows();
            m_columns = m_heightField->getNbColumns();
            return m_heightField;
        }
 
        // Try read cooked file
        m_heightField = QCacheUtils::readCookedHeightField(m_sourcePath, *thePhysics);
        if (m_heightField != nullptr) {
            m_rows = m_heightField->getNbRows();
            m_columns = m_heightField->getNbColumns();
            return m_heightField;
        }
 
        // Try read image file
        writeSamples(QImage(m_sourcePath));
    } else {
        writeSamples(m_image->image());
    }
 
    int numRows = m_rows;
    int numCols = m_columns;
    const auto *samples = m_samples.data();
 
    physx::PxHeightFieldDesc hfDesc;
    hfDesc.format = physx::PxHeightFieldFormat::eS16_TM;
    hfDesc.nbColumns = numRows;
    hfDesc.nbRows = numCols;
    hfDesc.samples.data = samples;
    hfDesc.samples.stride = sizeof(physx::PxHeightFieldSample);
 
    physx::PxDefaultMemoryOutputStream buf;
 
    const auto *cookingParams = QPhysicsWorld::getCookingParams();
    if (numRows && numCols && cookingParams && ::PxCookHeightField(hfDesc, buf)) {
        auto size = buf.getSize();
        auto *data = buf.getData();
        physx::PxDefaultMemoryInputData input(data, size);
        m_heightField = thePhysics->createHeightField(input);
        qCDebug(lcQuick3dPhysics) << "created height field" << m_heightField << numCols << numRows
                                  << "from"
                                  << (readFromFile ? m_sourcePath : QString::fromUtf8("image"));
        if (readFromFile)
            QCacheUtils::writeCachedHeightField(m_sourcePath, buf);
    } else {
        qCWarning(lcQuick3dPhysics) << "Could not create height field from"
                                    << (readFromFile ? m_sourcePath : QString::fromUtf8("image"));
    }
 
    return m_heightField;
}
 
int QQuick3DPhysicsHeightField::rows() const
{
    return m_rows;
}
 
int QQuick3DPhysicsHeightField::columns() const
{
    return m_columns;
}
 
/*!
    \qmltype HeightFieldShape
    \inqmlmodule QtQuick3D.Physics
    \inherits CollisionShape
    \since 6.4
    \brief A collision shape where the elevation is defined by a height map.
 
    The HeightFieldShape type defines a physical surface where the height is determined by
    the \l {QColor#The HSV Color Model}{value} of the pixels of the \l {source} image. The
    x-axis of the image is mapped to the positive x-axis of the scene, and the y-axis of the
    image is mapped to the negative z-axis of the scene. A typical use case is to represent
    natural terrain.
 
    Objects that are controlled by the physics simulation cannot use HeightFieldShape: It can only
    be used with \l StaticRigidBody and \l {DynamicRigidBody::isKinematic}{kinematic bodies}.
 
    \l [QtQuick3D]{HeightFieldGeometry}{QtQuick3D.Helpers.HeightFieldGeometry} is API compatible
    with the HeightFieldShape type, and can be used to show the height field visually. To
    improve performance, use a lower resolution version of the height map for the HeightFieldShape:
    As long as the \l{extents} and the image aspect ratio are the same, the physics body and the
    visual item will overlap.
 
    \sa {Qt Quick 3D Physics Shapes, Bodies and Joints}
*/
 
/*!
    \qmlproperty vector3d HeightFieldShape::extents
    This property defines the extents of the height field. The default value
    is \c{(100, 100, 100)} when the heightMap is square. If the heightMap is
    non-square, the default value is reduced along the x- or z-axis, so the height
    field will keep the aspect ratio of the image.
*/
 
/*!
    \qmlproperty url HeightFieldShape::source
    This property defines the location of the heightMap file.
 
    Internally, HeightFieldShape converts the height map image to an optimized data structure. This
    conversion can be done in advance. See the \l{Qt Quick 3D Physics Cooking}{cooking overview
    documentation} for details.
 
    \note If both the \l{HeightFieldShape::}{image} and \l{HeightFieldShape::}{source} properties
    are set then only \l{HeightFieldShape::}{image} will be used.
    \sa HeightFieldShape::image
*/
 
/*!
    \qmlproperty Image HeightFieldShape::image
    This property defines the image holding the heightMap.
 
    Internally, HeightFieldShape converts the height map image to an optimized data structure. This
    conversion can be done in advance. See the \l{Qt Quick 3D Physics Cooking}{cooking overview
    documentation} for details.
 
    \note If both the \l{HeightFieldShape::}{image} and \l{HeightFieldShape::}{source} properties
    are set then only \l{HeightFieldShape::}{image} will be used.
    \sa HeightFieldShape::source
    \since 6.7
*/
 
QHeightFieldShape::QHeightFieldShape() = default;
 
QHeightFieldShape::~QHeightFieldShape()
{
    delete m_heightFieldGeometry;
    if (m_heightField)
        QQuick3DPhysicsHeightFieldManager::releaseHeightField(m_heightField);
}
 
physx::PxGeometry *QHeightFieldShape::getPhysXGeometry()
{
    // The geometry points at a PhysX height field that dies with the PxPhysics that created it,
    // so a new world needs a new geometry even when nothing else is dirty.
    const auto &s_physx = StaticPhysXObjects::getReference();
    if (m_dirtyPhysx || m_scaleDirty || !m_heightFieldGeometry
        || m_physicsGeneration != s_physx.physicsGeneration) {
        updatePhysXGeometry();
    }
    return m_heightFieldGeometry;
}
 
void QHeightFieldShape::updatePhysXGeometry()
{
    delete m_heightFieldGeometry;
    m_heightFieldGeometry = nullptr;
    m_physicsGeneration = StaticPhysXObjects::getReference().physicsGeneration;
    if (!m_heightField)
        return;
 
    auto *hf = m_heightField->heightField();
    float rows = m_heightField->rows();
    float cols = m_heightField->columns();
    updateExtents();
    if (hf && cols > 1 && rows > 1) {
        QVector3D scaledExtents = m_extents * sceneScale();
        const float heightScale = scaledExtents.y() / 0x10000;
        const float rowScale = scaledExtents.x() / (cols - 1);
        const float columnScale = scaledExtents.z() / (rows - 1);
        // 1e-8f/(0.0001f / 65535.0f) mirror PhysX's PX_MIN_HEIGHTFIELD_XZ_SCALE/
        // PX_MIN_HEIGHTFIELD_Y_SCALE (PxHeightFieldGeometry.h); not used directly since
        // those macros expand to an unqualified PxReal(), only valid inside namespace physx.
        if (!qIsFinite(heightScale) || !qIsFinite(rowScale) || !qIsFinite(columnScale)
            || rowScale < 1e-8f || columnScale < 1e-8f || heightScale < (0.0001f / 65535.0f)) {
            qWarning() << "HeightFieldShape: extents" << m_extents
                       << "produce an invalid scale, ignoring.";
            m_dirtyPhysx = false;
            return;
        }
        m_heightFieldGeometry = new physx::PxHeightFieldGeometry(hf, physx::PxMeshGeometryFlags(),
                                                                  heightScale, rowScale,
                                                                  columnScale);
        m_hfOffset = { -scaledExtents.x() / 2, 0, -scaledExtents.z() / 2 };
 
        qCDebug(lcQuick3dPhysics) << "created height field geom" << m_heightFieldGeometry << "scale"
                                  << scaledExtents << m_heightField->columns()
                                  << m_heightField->rows();
    }
    m_dirtyPhysx = false;
}
 
void QHeightFieldShape::updateExtents()
{
    if (!m_heightField || m_extentsSetExplicitly)
        return;
    int numRows = m_heightField->rows();
    int numCols = m_heightField->columns();
    auto prevExt = m_extents;
    if (numRows == numCols) {
        m_extents = { 100, 100, 100 };
    } else if (numRows < numCols) {
        float f = float(numRows) / float(numCols);
        m_extents = { 100.f, 100.f, 100.f * f };
    } else {
        float f = float(numCols) / float(numRows);
        m_extents = { 100.f * f, 100.f, 100.f };
    }
    if (m_extents != prevExt) {
        emit extentsChanged();
    }
}
 
const QUrl &QHeightFieldShape::source() const
{
    return m_heightMapSource;
}
 
void QHeightFieldShape::setSource(const QUrl &newSource)
{
    if (m_heightMapSource == newSource)
        return;
    m_heightMapSource = newSource;
 
    // If we get a new source and our heightfield was from the old source
    // (meaning it was NOT from an image) we deref
    if (m_image == nullptr) {
        QQuick3DPhysicsHeightFieldManager::releaseHeightField(m_heightField);
        m_heightField = nullptr;
    }
 
    // Load new height field only if we don't have image as source
    if (m_image == nullptr && !newSource.isEmpty()) {
        m_heightField = QQuick3DPhysicsHeightFieldManager::getHeightField(m_heightMapSource, this);
        emit needsRebuild(this);
    }
 
    m_dirtyPhysx = true;
    emit sourceChanged();
}
 
QQuickImage *QHeightFieldShape::image() const
{
    return m_image;
}
 
void QHeightFieldShape::setImage(QQuickImage *newImage)
{
    if (m_image == newImage)
        return;
 
    if (m_image)
        m_image->disconnect(this);
 
    m_image = newImage;
 
    if (m_image != nullptr) {
        connect(m_image, &QObject::destroyed, this, &QHeightFieldShape::imageDestroyed);
        connect(m_image, &QQuickImage::paintedGeometryChanged, this,
                &QHeightFieldShape::imageGeometryChanged);
    }
 
    // New image means we get a new heightfield so deref the old one
    QQuick3DPhysicsHeightFieldManager::releaseHeightField(m_heightField);
    m_heightField = nullptr;
 
    if (m_image != nullptr)
        m_heightField = QQuick3DPhysicsHeightFieldManager::getHeightField(m_image);
    else if (!m_heightMapSource.isEmpty())
        m_heightField = QQuick3DPhysicsHeightFieldManager::getHeightField(m_heightMapSource, this);
 
    m_dirtyPhysx = true;
    emit needsRebuild(this);
    emit imageChanged();
}
 
void QHeightFieldShape::imageDestroyed(QObject *image)
{
    Q_ASSERT(m_image == image);
    // Set image to null and the old one will be disconnected and dereferenced
    setImage(nullptr);
}
 
void QHeightFieldShape::imageGeometryChanged()
{
    Q_ASSERT(m_image);
    // Using image has precedence so it is safe to assume this is the current source
    QQuick3DPhysicsHeightFieldManager::releaseHeightField(m_heightField);
    m_heightField = QQuick3DPhysicsHeightFieldManager::getHeightField(m_image);
    m_dirtyPhysx = true;
    emit needsRebuild(this);
}
 
const QVector3D &QHeightFieldShape::extents() const
{
    return m_extents;
}
 
void QHeightFieldShape::setExtents(const QVector3D &newExtents)
{
    m_extentsSetExplicitly = true;
    if (m_extents == newExtents)
        return;
    m_extents = newExtents;
 
    m_dirtyPhysx = true;
 
    emit needsRebuild(this);
    emit extentsChanged();
}
 
QT_END_NAMESPACE