JoltPhysics3D: Add JoltConvexHullCollider3D
This commit is contained in:
SirLynix
Jérôme Leclercq
parent
60ed70d3fd
commit
1415dcbf1a
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@ -60,6 +60,14 @@ int main()
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Nz::Vector3f target = Nz::Vector3f::Zero();
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std::shared_ptr<Nz::MaterialInstance> colliderMat = Nz::Graphics::Instance()->GetDefaultMaterials().basicMaterial->Instantiate();
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colliderMat->SetValueProperty("BaseColor", Nz::Color::Green());
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colliderMat->UpdatePassesStates([](Nz::RenderStates& states)
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{
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states.primitiveMode = Nz::PrimitiveMode::LineList;
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return true;
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});
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entt::handle boxEntity = world.CreateEntity();
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{
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std::shared_ptr<Nz::GraphicalMesh> boxMesh = Nz::GraphicalMesh::Build(Nz::Primitive::Box(Nz::Vector3f(BoxDims), Nz::Vector3ui::Zero(), Nz::Matrix4f::Scale(Nz::Vector3f(-1.f)), Nz::Rectf(0.f, 0.f, 2.f, 2.f)));
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@ -123,18 +131,11 @@ int main()
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auto& boxBody = boxEntity.emplace<Nz::JoltRigidBody3DComponent>(physSystem.CreateRigidBody(settings));
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#else
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auto& boxBody = boxEntity.emplace<Nz::BulletRigidBody3DComponent>(physSystem.CreateRigidBody(boxCollider));
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boxBody.SetMass(0.f);
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#endif
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std::shared_ptr<Nz::Model> colliderModel;
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{
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std::shared_ptr<Nz::MaterialInstance> colliderMat = Nz::Graphics::Instance()->GetDefaultMaterials().basicMaterial->Instantiate();
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colliderMat->SetValueProperty("BaseColor", Nz::Color::Green());
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colliderMat->UpdatePassesStates([](Nz::RenderStates& states)
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{
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states.primitiveMode = Nz::PrimitiveMode::LineList;
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return true;
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});
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std::shared_ptr<Nz::Mesh> colliderMesh = Nz::Mesh::Build(boxCollider->GenerateDebugMesh());
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std::shared_ptr<Nz::GraphicalMesh> colliderGraphicalMesh = Nz::GraphicalMesh::BuildFromMesh(*colliderMesh);
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@ -189,7 +190,6 @@ int main()
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#else
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auto& ballPhysics = ballEntity.emplace<Nz::BulletRigidBody3DComponent>(physSystem.CreateRigidBody(sphereCollider));
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#endif
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//ballPhysics.DisableSleeping();
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}
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std::uniform_real_distribution<float> lengthDis(0.2f, 1.5f);
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@ -206,7 +206,7 @@ int main()
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std::uniform_real_distribution<float> yRandom(-BoxDims * 0.5f + height, BoxDims * 0.5f - height);
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std::uniform_real_distribution<float> zRandom(-BoxDims * 0.5f + depth, BoxDims * 0.5f - depth);
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entt::handle ballEntity = world.CreateEntity();
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entt::handle boxEntity = world.CreateEntity();
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std::shared_ptr<Nz::MaterialInstance> boxMaterial = Nz::Graphics::Instance()->GetDefaultMaterials().phongMaterial->Instantiate();
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boxMaterial->SetValueProperty("BaseColor", Nz::Color::FromHSV(colorDis(rd), 1.f, 1.f));
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@ -214,10 +214,9 @@ int main()
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std::shared_ptr<Nz::Model> sphereModel = std::make_shared<Nz::Model>(boxMesh);
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sphereModel->SetMaterial(0, std::move(boxMaterial));
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auto& ballGfx = ballEntity.emplace<Nz::GraphicsComponent>();
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ballGfx.AttachRenderable(std::move(sphereModel));
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boxEntity.emplace<Nz::GraphicsComponent>(std::move(sphereModel));
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auto& ballNode = ballEntity.emplace<Nz::NodeComponent>();
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auto& ballNode = boxEntity.emplace<Nz::NodeComponent>();
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ballNode.SetPosition(xRandom(rd), yRandom(rd), zRandom(rd));
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ballNode.SetScale(width, height, depth);
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@ -232,12 +231,93 @@ int main()
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settings.geom = boxCollider;
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settings.mass = width * height * depth;
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ballEntity.emplace<Nz::JoltRigidBody3DComponent>(physSystem.CreateRigidBody(settings));
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boxEntity.emplace<Nz::JoltRigidBody3DComponent>(physSystem.CreateRigidBody(settings));
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#else
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ballEntity.emplace<Nz::BulletRigidBody3DComponent>(physSystem.CreateRigidBody(boxCollider));
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boxEntity.emplace<Nz::BulletRigidBody3DComponent>(physSystem.CreateRigidBody(boxCollider));
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#endif
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}
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// Spaceships
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{
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Nz::MeshParams meshParams;
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meshParams.center = true;
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meshParams.vertexRotation = Nz::EulerAnglesf(0.f, 90.f, 0.f);
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meshParams.vertexScale = Nz::Vector3f(0.002f);
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meshParams.vertexDeclaration = Nz::VertexDeclaration::Get(Nz::VertexLayout::XYZ_Normal_UV_Tangent);
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std::shared_ptr<Nz::Mesh> spaceshipMesh = fs.Load<Nz::Mesh>("assets/Spaceship/spaceship.obj", meshParams);
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if (!spaceshipMesh)
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{
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NazaraError("Failed to load model");
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return __LINE__;
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}
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const Nz::Boxf& aabb = spaceshipMesh->GetAABB();
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std::uniform_real_distribution<float> xRandom(-BoxDims * 0.5f + aabb.width, BoxDims * 0.5f - aabb.width);
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std::uniform_real_distribution<float> yRandom(-BoxDims * 0.5f + aabb.height, BoxDims * 0.5f - aabb.height);
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std::uniform_real_distribution<float> zRandom(-BoxDims * 0.5f + aabb.depth, BoxDims * 0.5f - aabb.depth);
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std::shared_ptr<Nz::GraphicalMesh> gfxMesh = Nz::GraphicalMesh::BuildFromMesh(*spaceshipMesh);
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Nz::TextureSamplerInfo samplerInfo;
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samplerInfo.anisotropyLevel = 8;
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std::shared_ptr<Nz::MaterialInstance> material = Nz::Graphics::Instance()->GetDefaultMaterials().phongMaterial->Instantiate();
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Nz::TextureParams texParams;
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texParams.loadFormat = Nz::PixelFormat::RGBA8_SRGB;
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material->SetTextureProperty("BaseColorMap", fs.Load<Nz::Texture>("assets/Spaceship/Texture/diffuse.png", texParams));
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std::shared_ptr<Nz::Model> model = std::make_shared<Nz::Model>(std::move(gfxMesh));
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for (std::size_t i = 0; i < model->GetSubMeshCount(); ++i)
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model->SetMaterial(i, material);
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Nz::VertexMapper vertexMapper(*spaceshipMesh->GetSubMesh(0));
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Nz::SparsePtr<Nz::Vector3f> vertices = vertexMapper.GetComponentPtr<Nz::Vector3f>(Nz::VertexComponent::Position);
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#if USE_JOLT
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auto shipCollider = std::make_shared<Nz::JoltConvexHullCollider3D>(vertices, vertexMapper.GetVertexCount());
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#else
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auto shipCollider = std::make_shared<Nz::BulletConvexCollider3D>(vertices, vertexMapper.GetVertexCount());
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#endif
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std::shared_ptr<Nz::Model> colliderModel;
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{
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std::shared_ptr<Nz::Mesh> colliderMesh = Nz::Mesh::Build(shipCollider->GenerateDebugMesh());
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std::shared_ptr<Nz::GraphicalMesh> colliderGraphicalMesh = Nz::GraphicalMesh::BuildFromMesh(*colliderMesh);
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colliderModel = std::make_shared<Nz::Model>(colliderGraphicalMesh);
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for (std::size_t i = 0; i < colliderModel->GetSubMeshCount(); ++i)
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colliderModel->SetMaterial(i, colliderMat);
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}
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constexpr std::size_t ShipCount = 1000;
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for (std::size_t i = 0; i < ShipCount; ++i)
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{
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entt::handle shipEntity = world.CreateEntity();
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shipEntity.emplace<Nz::GraphicsComponent>(model);
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auto& shipNode = shipEntity.emplace<Nz::NodeComponent>();
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shipNode.SetPosition(xRandom(rd), yRandom(rd), zRandom(rd));
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#if USE_JOLT
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Nz::JoltRigidBody3D::DynamicSettings settings;
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settings.geom = shipCollider;
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settings.mass = 100.f;
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shipEntity.emplace<Nz::JoltRigidBody3DComponent>(physSystem.CreateRigidBody(settings));
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#else
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shipEntity.emplace<Nz::BulletRigidBody3DComponent>(physSystem.CreateRigidBody(shipCollider));
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#endif
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shipEntity.get<Nz::GraphicsComponent>().AttachRenderable(colliderModel);
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}
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}
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// Lumière
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entt::handle lightEntity = world.CreateEntity();
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{
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@ -14,6 +14,7 @@ namespace Nz
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Box,
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Capsule,
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Compound,
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Convex,
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Sphere,
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ScaleDecoration,
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@ -53,7 +53,7 @@ namespace Nz
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protected:
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template<typename T> const T* GetShapeSettingsAs() const;
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void ResetShapeSettings();
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template<typename T> void SetupShapeSettings(std::unique_ptr<T> shapeSettings);
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void SetupShapeSettings(std::unique_ptr<JPH::ShapeSettings>&& shapeSettings);
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private:
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static std::shared_ptr<JoltCollider3D> CreateGeomFromPrimitive(const Primitive& primitive);
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@ -66,7 +66,7 @@ namespace Nz
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class NAZARA_JOLTPHYSICS3D_API JoltBoxCollider3D final : public JoltCollider3D
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{
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public:
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JoltBoxCollider3D(const Vector3f& lengths, float convexRadius = 0.1f);
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JoltBoxCollider3D(const Vector3f& lengths, float convexRadius = 0.01f);
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~JoltBoxCollider3D() = default;
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void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const override;
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@ -111,6 +111,17 @@ namespace Nz
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private:
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std::vector<ChildCollider> m_childs;
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};
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class NAZARA_JOLTPHYSICS3D_API JoltConvexHullCollider3D final : public JoltCollider3D
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{
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public:
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JoltConvexHullCollider3D(SparsePtr<const Vector3f> vertices, std::size_t vertexCount, float hullTolerance = 0.001f, float convexRadius = 0.f, float maxErrorConvexRadius = 0.05f);
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~JoltConvexHullCollider3D() = default;
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void BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const override;
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JoltColliderType3D GetType() const override;
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};
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class NAZARA_JOLTPHYSICS3D_API JoltSphereCollider3D final : public JoltCollider3D
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{
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@ -19,15 +19,6 @@ namespace Nz
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return SafeCast<T*>(m_shapeSettings.get());
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}
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template<typename T>
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void JoltCollider3D::SetupShapeSettings(std::unique_ptr<T> shapeSettings)
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{
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shapeSettings->SetEmbedded(); // Call SetEmbedded on the template type to prevent compiler to resolve it outside of a file including Jolt
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assert(!m_shapeSettings);
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m_shapeSettings = std::move(shapeSettings);
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}
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inline JoltTranslatedRotatedCollider3D::JoltTranslatedRotatedCollider3D(std::shared_ptr<JoltCollider3D> collider, const Vector3f& translation) :
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JoltTranslatedRotatedCollider3D(std::move(collider), translation, Quaternionf::Identity())
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@ -11,9 +11,11 @@
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#include <Nazara/Utility/StaticMesh.hpp>
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#include <Nazara/Utility/VertexBuffer.hpp>
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#include <NazaraUtils/MemoryHelper.hpp>
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#include <tsl/ordered_map.h>
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#include <Jolt/Core/Core.h>
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#include <Jolt/Physics/Collision/Shape/BoxShape.h>
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#include <Jolt/Physics/Collision/Shape/CapsuleShape.h>
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#include <Jolt/Physics/Collision/Shape/ConvexHullShape.h>
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#include <Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h>
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#include <Jolt/Physics/Collision/Shape/StaticCompoundShape.h>
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#include <Jolt/Physics/Collision/Shape/SphereShape.h>
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@ -67,7 +69,17 @@ namespace Nz
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{
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m_shapeSettings.reset();
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}
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void JoltCollider3D::SetupShapeSettings(std::unique_ptr<JPH::ShapeSettings>&& shapeSettings)
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{
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assert(!m_shapeSettings);
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m_shapeSettings = std::move(shapeSettings);
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m_shapeSettings->SetEmbedded();
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if (auto result = m_shapeSettings->Create(); result.HasError())
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throw std::runtime_error(std::string("shape creation failed: ") + result.GetError().c_str());
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}
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std::shared_ptr<JoltCollider3D> JoltCollider3D::CreateGeomFromPrimitive(const Primitive& primitive)
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{
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switch (primitive.type)
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@ -272,6 +284,57 @@ namespace Nz
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return JoltColliderType3D::Compound;
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}
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/******************************** JoltConvexHullCollider3D *********************************/
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JoltConvexHullCollider3D::JoltConvexHullCollider3D(SparsePtr<const Vector3f> vertices, std::size_t vertexCount, float hullTolerance, float convexRadius, float maxErrorConvexRadius)
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{
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std::unique_ptr<JPH::ConvexHullShapeSettings> settings = std::make_unique<JPH::ConvexHullShapeSettings>();
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settings->mHullTolerance = hullTolerance;
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settings->mMaxConvexRadius = convexRadius;
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settings->mMaxErrorConvexRadius = maxErrorConvexRadius;
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settings->mPoints.resize(vertexCount);
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for (std::size_t i = 0; i < vertexCount; ++i)
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settings->mPoints[i] = ToJolt(vertices[i]);
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SetupShapeSettings(std::move(settings));
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}
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void JoltConvexHullCollider3D::BuildDebugMesh(std::vector<Vector3f>& vertices, std::vector<UInt16>& indices, const Matrix4f& offsetMatrix) const
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{
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tsl::ordered_map<Vector3f, UInt16> vertexCache;
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auto InsertVertex = [&](const Vector3f& position) -> UInt16
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{
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auto it = vertexCache.find(position);
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if (it != vertexCache.end())
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return it->second;
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UInt16 index = SafeCast<UInt16>(vertices.size());
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vertices.push_back(position);
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vertexCache.emplace(position, index);
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return index;
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};
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const JPH::ConvexHullShapeSettings* settings = GetShapeSettingsAs<JPH::ConvexHullShapeSettings>();
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const JPH::ConvexHullShape* shape = SafeCast<const JPH::ConvexHullShape*>(settings->Create().Get().GetPtr());
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unsigned int pointCount = shape->GetNumPoints();
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for (int i = 1; i < pointCount; ++i)
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{
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indices.push_back(InsertVertex(offsetMatrix * FromJolt(shape->GetPoint(i - 1))));
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indices.push_back(InsertVertex(offsetMatrix * FromJolt(shape->GetPoint(i))));
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}
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indices.push_back(InsertVertex(offsetMatrix* FromJolt(shape->GetPoint(pointCount - 1))));
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indices.push_back(InsertVertex(offsetMatrix* FromJolt(shape->GetPoint(0))));
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}
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JoltColliderType3D JoltConvexHullCollider3D::GetType() const
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{
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return JoltColliderType3D::Convex;
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}
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/******************************** JoltSphereCollider3D *********************************/
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JoltSphereCollider3D::JoltSphereCollider3D(float radius)
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@ -293,6 +356,8 @@ namespace Nz
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return JoltColliderType3D::Sphere;
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}
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/******************************** JoltTranslatedRotatedCollider3D *********************************/
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JoltTranslatedRotatedCollider3D::JoltTranslatedRotatedCollider3D(std::shared_ptr<JoltCollider3D> collider, const Vector3f& translation, const Quaternionf& rotation) :
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m_collider(std::move(collider))
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{
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