o3de-physics-test-scene/Gem/Source/PhysXJointTestComponent.cpp

/*
* Copyright (c) Contributors to the Open 3D Engine Project.
* For complete copyright and license terms please see the LICENSE at the root of this distribution.
*
* SPDX-License-Identifier: Apache-2.0 OR MIT
*
*/

#include "PhysXJointTestComponent.h"


#include <AzCore/Serialization/EditContext.h>
#include <AzCore/Serialization/SerializeContext.h>
#include <AzFramework/Components/TransformComponent.h>

#include <HingeJointComponent.h>
#include <PrismaticJointComponent.h>
#include <PhysX/Joint/PhysXJointRequestsBus.h>
#include <imgui/imgui.h>

namespace TestScene
{
  void ImGuiJointDemo::Activate()
  {
    ImGui::ImGuiUpdateListenerBus::Handler::BusConnect();
  }

  void ImGuiJointDemo::Deactivate()
  {
    ImGui::ImGuiUpdateListenerBus::Handler::BusDisconnect();
  }


  void ImGuiJointDemo::Reflect(AZ::ReflectContext* context)
  {
    if (AZ::SerializeContext* serialize = azrtti_cast<AZ::SerializeContext*>(context))
    {
      serialize->Class<ImGuiJointDemo, AZ::Component>()
          ->Version(3);

      if (AZ::EditContext* ec = serialize->GetEditContext())
      {
        ec->Class<ImGuiJointDemo>("ImGuiJointDemo", "ImGuiJointDemo")
            ->ClassElement(AZ::Edit::ClassElements::EditorData, "ImGuiJointDemo")
            ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC("Game"))
            ->Attribute(AZ::Edit::Attributes::Category, "TestScene");
      }
    }
  }

  void ImGuiJointDemo::OnImGuiUpdate()
  {
    float velocity{0};
    float position{0};
    AZStd::pair<float, float> limits{0,0};
    auto* component1 = GetEntity()->FindComponent<PhysX::HingeJointComponent>();
    auto* component2 = GetEntity()->FindComponent<PhysX::PrismaticJointComponent>();
    auto componentId (AZ::InvalidComponentId);
    if (component1){
      componentId = component1->GetId();
    }
    if (component2){
      componentId = component2->GetId();
    }
    if (componentId != AZ::InvalidComponentId) {
      const AZ::EntityComponentIdPair id(GetEntityId(), componentId);
      PhysX::JointRequestBus::EventResult(velocity, id,
                                          &PhysX::JointRequests::GetVelocity);
      PhysX::JointRequestBus::EventResult(position, id,
                                          &PhysX::JointRequests::GetPosition);
      PhysX::JointRequestBus::EventResult(limits, id,
                                          &PhysX::JointRequests::GetLimits);

      ImGui::Begin("SimplePhysXJointDemo");

      AZStd::string group_name = "Joint " + GetEntity()->GetName();

      ImGui::Text("%s", GetEntity()->GetName().c_str());

      ImGui::SliderFloat(
          AZStd::string("Position##" + GetEntity()->GetName()).c_str(),
          &position, limits.first, limits.second);
      ImGui::SliderFloat(
          AZStd::string("Velocity##" + GetEntity()->GetName()).c_str(),
          &velocity, -0.5f, 0.5f);

      ImGui::InputFloat(
          AZStd::string("Force##" + GetEntity()->GetName()).c_str(),
          &m_forceSet);
      ImGui::SliderFloat(
          AZStd::string("Speed##" + GetEntity()->GetName()).c_str(),
          &m_velocitySet, -1.5f, 1.5f);

      float spacing = ImGui::GetStyle().ItemInnerSpacing.x;
      ImGui::PushButtonRepeat(true);
      float commandVel = 0;
      if (ImGui::ArrowButton(
              AZStd::string("##left" + GetEntity()->GetName()).c_str(),
              ImGuiDir_Left)) {
        commandVel = -m_velocitySet;
      }
      ImGui::SameLine(0.0f, spacing);
      if (ImGui::ArrowButton(
              AZStd::string("##right" + GetEntity()->GetName()).c_str(),
              ImGuiDir_Right)) {
        commandVel = m_velocitySet;
      }
      ImGui::Text("----------------------------------------------------------");
      PhysX::JointRequestBus::Event(id, &PhysX::JointRequests::SetVelocity,
                                    commandVel);
      PhysX::JointRequestBus::Event(id, &PhysX::JointRequests::SetMaximumForce,
                                    m_forceSet);
    }

    ImGui::End();

  }


}