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JoltPhysics3D: Add JoltConvexHullCollider3D

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This commit is contained in:
SirLynix
2023-04-06 18:57:00 +02:00
committed by Jérôme Leclercq
parent 60ed70d3fd
commit 1415dcbf1a
5 changed files with 175 additions and 27 deletions
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110
examples/PhysicsPlayground/main.cpp
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@@ -60,6 +60,14 @@ int main()
Nz::Vector3f target = Nz::Vector3f::Zero();
std::shared_ptr<Nz::MaterialInstance> colliderMat = Nz::Graphics::Instance()->GetDefaultMaterials().basicMaterial->Instantiate();
colliderMat->SetValueProperty("BaseColor", Nz::Color::Green());
colliderMat->UpdatePassesStates([](Nz::RenderStates& states)
{
states.primitiveMode = Nz::PrimitiveMode::LineList;
return true;
});
entt::handle boxEntity = world.CreateEntity();
{
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)));
@@ -123,18 +131,11 @@ int main()
auto& boxBody = boxEntity.emplace<Nz::JoltRigidBody3DComponent>(physSystem.CreateRigidBody(settings));
#else
auto& boxBody = boxEntity.emplace<Nz::BulletRigidBody3DComponent>(physSystem.CreateRigidBody(boxCollider));
boxBody.SetMass(0.f);
#endif
std::shared_ptr<Nz::Model> colliderModel;
{
std::shared_ptr<Nz::MaterialInstance> colliderMat = Nz::Graphics::Instance()->GetDefaultMaterials().basicMaterial->Instantiate();
colliderMat->SetValueProperty("BaseColor", Nz::Color::Green());
colliderMat->UpdatePassesStates([](Nz::RenderStates& states)
{
states.primitiveMode = Nz::PrimitiveMode::LineList;
return true;
});
std::shared_ptr<Nz::Mesh> colliderMesh = Nz::Mesh::Build(boxCollider->GenerateDebugMesh());
std::shared_ptr<Nz::GraphicalMesh> colliderGraphicalMesh = Nz::GraphicalMesh::BuildFromMesh(*colliderMesh);
@@ -189,7 +190,6 @@ int main()
#else
auto& ballPhysics = ballEntity.emplace<Nz::BulletRigidBody3DComponent>(physSystem.CreateRigidBody(sphereCollider));
#endif
//ballPhysics.DisableSleeping();
}
std::uniform_real_distribution<float> lengthDis(0.2f, 1.5f);
@@ -206,7 +206,7 @@ int main()
std::uniform_real_distribution<float> yRandom(-BoxDims * 0.5f + height, BoxDims * 0.5f - height);
std::uniform_real_distribution<float> zRandom(-BoxDims * 0.5f + depth, BoxDims * 0.5f - depth);
entt::handle ballEntity = world.CreateEntity();
entt::handle boxEntity = world.CreateEntity();
std::shared_ptr<Nz::MaterialInstance> boxMaterial = Nz::Graphics::Instance()->GetDefaultMaterials().phongMaterial->Instantiate();
boxMaterial->SetValueProperty("BaseColor", Nz::Color::FromHSV(colorDis(rd), 1.f, 1.f));
@@ -214,10 +214,9 @@ int main()
std::shared_ptr<Nz::Model> sphereModel = std::make_shared<Nz::Model>(boxMesh);
sphereModel->SetMaterial(0, std::move(boxMaterial));
auto& ballGfx = ballEntity.emplace<Nz::GraphicsComponent>();
ballGfx.AttachRenderable(std::move(sphereModel));
boxEntity.emplace<Nz::GraphicsComponent>(std::move(sphereModel));
auto& ballNode = ballEntity.emplace<Nz::NodeComponent>();
auto& ballNode = boxEntity.emplace<Nz::NodeComponent>();
ballNode.SetPosition(xRandom(rd), yRandom(rd), zRandom(rd));
ballNode.SetScale(width, height, depth);
@@ -232,12 +231,93 @@ int main()
settings.geom = boxCollider;
settings.mass = width * height * depth;
ballEntity.emplace<Nz::JoltRigidBody3DComponent>(physSystem.CreateRigidBody(settings));
boxEntity.emplace<Nz::JoltRigidBody3DComponent>(physSystem.CreateRigidBody(settings));
#else
ballEntity.emplace<Nz::BulletRigidBody3DComponent>(physSystem.CreateRigidBody(boxCollider));
boxEntity.emplace<Nz::BulletRigidBody3DComponent>(physSystem.CreateRigidBody(boxCollider));
#endif
}
// Spaceships
{
Nz::MeshParams meshParams;
meshParams.center = true;
meshParams.vertexRotation = Nz::EulerAnglesf(0.f, 90.f, 0.f);
meshParams.vertexScale = Nz::Vector3f(0.002f);
meshParams.vertexDeclaration = Nz::VertexDeclaration::Get(Nz::VertexLayout::XYZ_Normal_UV_Tangent);
std::shared_ptr<Nz::Mesh> spaceshipMesh = fs.Load<Nz::Mesh>("assets/Spaceship/spaceship.obj", meshParams);
if (!spaceshipMesh)
{
NazaraError("Failed to load model");
return __LINE__;
}
const Nz::Boxf& aabb = spaceshipMesh->GetAABB();
std::uniform_real_distribution<float> xRandom(-BoxDims * 0.5f + aabb.width, BoxDims * 0.5f - aabb.width);
std::uniform_real_distribution<float> yRandom(-BoxDims * 0.5f + aabb.height, BoxDims * 0.5f - aabb.height);
std::uniform_real_distribution<float> zRandom(-BoxDims * 0.5f + aabb.depth, BoxDims * 0.5f - aabb.depth);
std::shared_ptr<Nz::GraphicalMesh> gfxMesh = Nz::GraphicalMesh::BuildFromMesh(*spaceshipMesh);
Nz::TextureSamplerInfo samplerInfo;
samplerInfo.anisotropyLevel = 8;
std::shared_ptr<Nz::MaterialInstance> material = Nz::Graphics::Instance()->GetDefaultMaterials().phongMaterial->Instantiate();
Nz::TextureParams texParams;
texParams.loadFormat = Nz::PixelFormat::RGBA8_SRGB;
material->SetTextureProperty("BaseColorMap", fs.Load<Nz::Texture>("assets/Spaceship/Texture/diffuse.png", texParams));
std::shared_ptr<Nz::Model> model = std::make_shared<Nz::Model>(std::move(gfxMesh));
for (std::size_t i = 0; i < model->GetSubMeshCount(); ++i)
model->SetMaterial(i, material);
Nz::VertexMapper vertexMapper(*spaceshipMesh->GetSubMesh(0));
Nz::SparsePtr<Nz::Vector3f> vertices = vertexMapper.GetComponentPtr<Nz::Vector3f>(Nz::VertexComponent::Position);
#if USE_JOLT
auto shipCollider = std::make_shared<Nz::JoltConvexHullCollider3D>(vertices, vertexMapper.GetVertexCount());
#else
auto shipCollider = std::make_shared<Nz::BulletConvexCollider3D>(vertices, vertexMapper.GetVertexCount());
#endif
std::shared_ptr<Nz::Model> colliderModel;
{
std::shared_ptr<Nz::Mesh> colliderMesh = Nz::Mesh::Build(shipCollider->GenerateDebugMesh());
std::shared_ptr<Nz::GraphicalMesh> colliderGraphicalMesh = Nz::GraphicalMesh::BuildFromMesh(*colliderMesh);
colliderModel = std::make_shared<Nz::Model>(colliderGraphicalMesh);
for (std::size_t i = 0; i < colliderModel->GetSubMeshCount(); ++i)
colliderModel->SetMaterial(i, colliderMat);
}
constexpr std::size_t ShipCount = 1000;
for (std::size_t i = 0; i < ShipCount; ++i)
{
entt::handle shipEntity = world.CreateEntity();
shipEntity.emplace<Nz::GraphicsComponent>(model);
auto& shipNode = shipEntity.emplace<Nz::NodeComponent>();
shipNode.SetPosition(xRandom(rd), yRandom(rd), zRandom(rd));
#if USE_JOLT
Nz::JoltRigidBody3D::DynamicSettings settings;
settings.geom = shipCollider;
settings.mass = 100.f;
shipEntity.emplace<Nz::JoltRigidBody3DComponent>(physSystem.CreateRigidBody(settings));
#else
shipEntity.emplace<Nz::BulletRigidBody3DComponent>(physSystem.CreateRigidBody(shipCollider));
#endif
shipEntity.get<Nz::GraphicsComponent>().AttachRenderable(colliderModel);
}
}
// Lumière
entt::handle lightEntity = world.CreateEntity();
{