Make Jolt work on web + update demo
This commit is contained in:
SirLynix
Jérôme Leclercq
parent
c5ac142888
commit
648273573d
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@ -19,6 +19,7 @@ constexpr float BoxDims = 16.f;
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int main()
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{
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try {
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// Mise en place de l'application, de la fenêtre et du monde
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Nz::Renderer::Config renderConfig;
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//renderConfig.preferredAPI = Nz::RenderAPI::OpenGL;
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@ -50,8 +51,9 @@ int main()
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auto& physSystem = world.AddSystem<Nz::BulletPhysics3DSystem>();
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#endif
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physSystem.GetPhysWorld().SetMaxStepCount(1);
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//physSystem.GetPhysWorld().SetGravity(Nz::Vector3f::Down() * 9.81f);
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physSystem.GetPhysWorld().SetGravity(Nz::Vector3f::Zero());
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physSystem.GetPhysWorld().SetStepSize(Nz::Time::TickDuration(30));
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physSystem.GetPhysWorld().SetGravity(Nz::Vector3f::Down() * 9.81f);
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//physSystem.GetPhysWorld().SetGravity(Nz::Vector3f::Zero());
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auto& renderSystem = world.AddSystem<Nz::RenderSystem>();
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Nz::WindowSwapchain& windowSwapchain = renderSystem.CreateSwapchain(mainWindow);
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@ -146,9 +148,9 @@ int main()
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//std::mt19937 rd(std::random_device{}());
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std::mt19937 rd(42);
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std::uniform_real_distribution<float> colorDis(0.f, 360.f);
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std::uniform_real_distribution<float> radiusDis(0.05f, 0.5f);
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std::uniform_real_distribution<float> radiusDis(0.1f, 0.5f);
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constexpr std::size_t SphereCount = 3000;
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constexpr std::size_t SphereCount = 2000;
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for (std::size_t i = 0; i < SphereCount; ++i)
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{
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float radius = radiusDis(rd);
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@ -180,11 +182,11 @@ 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.SetMass(4.f / 3.f * Nz::Pi<float> * Nz::IntegralPow(radius, 3));
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ballPhysics.DisableSleeping();
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ballPhysics.SetMass(4.f / 3.f * Nz::Pi<float> * Nz::IntegralPow(radius, 3));
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//ballPhysics.DisableSleeping();
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}
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std::uniform_real_distribution<float> lengthDis(0.1f, 1.f);
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std::uniform_real_distribution<float> lengthDis(0.2f, 1.5f);
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std::shared_ptr<Nz::GraphicalMesh> boxMesh = Nz::GraphicalMesh::Build(Nz::Primitive::Box(Nz::Vector3f(1.f)));
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constexpr std::size_t BoxCount = 100;
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@ -224,8 +226,8 @@ int main()
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#else
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auto& ballPhysics = ballEntity.emplace<Nz::BulletRigidBody3DComponent>(physSystem.CreateRigidBody(boxCollider));
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#endif
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//ballPhysics.SetMass(width * height * depth);
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ballPhysics.DisableSleeping();
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ballPhysics.SetMass(width * height * depth);
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//ballPhysics.DisableSleeping();
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}
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// Lumière
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@ -270,14 +272,9 @@ int main()
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NazaraSlot(Nz::WindowEventHandler, OnMouseMoved, cameraMove);
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NazaraSlot(Nz::WindowEventHandler, OnMouseMoved, grabbedObjectMove);
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//std::optional<Nz::JoltPivotConstraint3D> grabConstraint;
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//std::optional<Nz::PivotConstraint3D> grabConstraint;
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Nz::WindowEventHandler& eventHandler = mainWindow.GetEventHandler();
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eventHandler.OnMouseButtonPressed.Connect([&](const Nz::WindowEventHandler*, const Nz::WindowEvent::MouseButtonEvent& event)
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{
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if (event.button == Nz::Mouse::Middle)
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{
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cameraMove.Connect(eventHandler.OnMouseMoved, [&](const Nz::WindowEventHandler*, const Nz::WindowEvent::MouseMoveEvent& event)
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auto mouseMoveCallback = [&](const Nz::WindowEventHandler*, const Nz::WindowEvent::MouseMoveEvent& event)
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{
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constexpr float sensitivity = 0.3f;
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@ -286,24 +283,47 @@ int main()
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camAngles.pitch = Nz::Clamp(camAngles.pitch - event.deltaY * sensitivity, -89.f, 89.f);
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UpdateCamera();
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});
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};
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Nz::WindowEventHandler& eventHandler = mainWindow.GetEventHandler();
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eventHandler.OnMouseButtonPressed.Connect([&](const Nz::WindowEventHandler*, const Nz::WindowEvent::MouseButtonEvent& event)
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{
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if (event.button == Nz::Mouse::Middle)
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{
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cameraMove.Connect(eventHandler.OnMouseMoved, mouseMoveCallback);
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}
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else if (event.button == Nz::Mouse::Left)
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{
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auto& cameraNode = cameraEntity.get<Nz::NodeComponent>();
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auto& cameraComponent = cameraEntity.get<Nz::CameraComponent>();
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Nz::Vector3f from = cameraComponent.Unproject({ float(event.x), float(event.y), 0.f });
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Nz::Vector3f to = cameraComponent.Unproject({ float(event.x), float(event.y), 1.f });
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/*Nz::JoltPhysics3DSystem::RaycastHit hitInfo;
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if (physSystem.RaycastQueryFirst(from, to, &hitInfo))
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/*/Nz::Physics3DSystem::RaycastHit lastHitInfo;
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auto callback = [&](const Nz::Physics3DSystem::RaycastHit& hitInfo) -> std::optional<float>
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{
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if (hitInfo.hitBody)
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if (hitInfo.hitEntity == boxEntity)
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{
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grabConstraint.emplace(*hitInfo.hitBody, hitInfo.hitPosition);
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Nz::Vector3f dirToCenter = Nz::Vector3f::Zero() - hitInfo.hitPosition;
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dirToCenter.Normalize();
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grabbedObjectMove.Connect(eventHandler.OnMouseMoved, [&, body = hitInfo.hitBody, distance = Nz::Vector3f::Distance(from, hitInfo.hitPosition)](const Nz::WindowEventHandler*, const Nz::WindowEvent::MouseMoveEvent& event)
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if (Nz::Vector3f::DotProduct(dirToCenter, hitInfo.hitNormal) < 0.f)
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return std::nullopt;
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}
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lastHitInfo = hitInfo;
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return hitInfo.fraction;
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};
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if (physSystem.RaycastQuery(from, to, callback))
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{
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if (lastHitInfo.hitBody && lastHitInfo.hitEntity != boxEntity)
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{
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grabConstraint.emplace(*lastHitInfo.hitBody, lastHitInfo.hitPosition);
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grabConstraint->SetImpulseClamp(30.f);
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grabbedObjectMove.Connect(eventHandler.OnMouseMoved, [&, body = lastHitInfo.hitBody, distance = Nz::Vector3f::Distance(from, lastHitInfo.hitPosition)](const Nz::WindowEventHandler*, const Nz::WindowEvent::MouseMoveEvent& event)
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{
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Nz::Vector3f from = cameraComponent.Unproject({ float(event.x), float(event.y), 0.f });
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Nz::Vector3f to = cameraComponent.Unproject({ float(event.x), float(event.y), 1.f });
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@ -312,7 +332,11 @@ int main()
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grabConstraint->SetSecondAnchor(newPosition);
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});
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}
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}*/
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else
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cameraMove.Connect(eventHandler.OnMouseMoved, mouseMoveCallback);
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}
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else
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cameraMove.Connect(eventHandler.OnMouseMoved, mouseMoveCallback);*/
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}
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});
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@ -321,6 +345,7 @@ int main()
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if (event.button == Nz::Mouse::Left)
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{
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//grabConstraint.reset();
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cameraMove.Disconnect();
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grabbedObjectMove.Disconnect();
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}
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else if (event.button == Nz::Mouse::Middle)
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@ -339,10 +364,17 @@ int main()
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{
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auto& cameraNode = cameraEntity.get<Nz::NodeComponent>();
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physSystem.GetPhysWorld().SetGravity(cameraNode.GetBackward() * 9.81f);
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//physSystem.GetPhysWorld().SetGravity(cameraNode.GetBackward() * 9.81f);
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}
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});
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Nz::DegreeAnglef rotation = 0.f;
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app.AddUpdater([&](Nz::Time elapsedTime)
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{
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rotation += elapsedTime.AsSeconds() * 30.f;
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physSystem.GetPhysWorld().SetGravity(Nz::Quaternionf(Nz::EulerAnglesf(0.f, rotation, 0.f)) * Nz::Vector3f::Forward());
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});
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Nz::MillisecondClock fpsClock;
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unsigned int fps = 0;
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app.AddUpdater([&](Nz::Time /*elapsedTime*/)
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@ -357,4 +389,9 @@ int main()
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});
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return app.Run();
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}
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catch (const std::exception& e)
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{
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std::cerr << e.what() << std::endl;
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}
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}
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@ -179,6 +179,8 @@ namespace Nz
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DitchMeAsap::BPLayerInterfaceImpl layerInterface;
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DitchMeAsap::ObjectLayerPairFilterImpl objectLayerFilter;
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DitchMeAsap::ObjectVsBroadPhaseLayerFilterImpl objectBroadphaseLayerFilter;
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DitchMeAsap::MyBodyActivationListener bodyActivationListener;
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DitchMeAsap::MyContactListener contactListener;
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JoltWorld() = default;
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JoltWorld(const JoltWorld&) = delete;
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@ -196,6 +198,8 @@ namespace Nz
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{
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m_world = std::make_unique<JoltWorld>();
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m_world->physicsSystem.Init(0xFFFF, 0, 0xFFFF, 0xFFFF, m_world->layerInterface, m_world->objectBroadphaseLayerFilter, m_world->objectLayerFilter);
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m_world->physicsSystem.SetBodyActivationListener(&m_world->bodyActivationListener);
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//m_world->physicsSystem.SetContactListener(&m_world->contactListener);
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}
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JoltPhysWorld3D::~JoltPhysWorld3D() = default;
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@ -40,7 +40,7 @@ namespace Nz
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JPH::Factory::sInstance = new JPH::Factory;
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JPH::RegisterTypes();
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m_threadPool = std::make_unique<JPH::JobSystemThreadPool>(JPH::cMaxPhysicsJobs, JPH::cMaxPhysicsBarriers, Core::Instance()->GetHardwareInfo().GetCpuThreadCount());
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m_threadPool = std::make_unique<JPH::JobSystemThreadPool>(JPH::cMaxPhysicsJobs, JPH::cMaxPhysicsBarriers, /* Core::Instance()->GetHardwareInfo().GetCpuThreadCount()*/0);
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}
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JoltPhysics3D::~JoltPhysics3D()
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@ -37,7 +37,6 @@ namespace Nz
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JPH::Quat rotation = ToJolt(mat.GetRotation().Normalize());
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JPH::BodyCreationSettings settings(m_geom->GetShapeSettings(), position, rotation, JPH::EMotionType::Dynamic, 1);
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settings.mAllowSleeping = false;
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JPH::Body* body = body_interface.CreateBody(settings);
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body->SetUserData(SafeCast<UInt64>(reinterpret_cast<std::uintptr_t>(this)));
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@ -59,23 +58,27 @@ namespace Nz
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Destroy();
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}
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#if 0
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void JoltRigidBody3D::AddForce(const Vector3f& force, CoordSys coordSys)
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{
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switch (coordSys)
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{
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case CoordSys::Global:
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WakeUp();
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m_body->applyCentralForce(ToJolt(force));
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{
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
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body_interface.AddForce(JPH::BodyID(m_bodyIndex), ToJolt(force));
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//WakeUp();
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//m_body->applyCentralForce(ToJolt(force));
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break;
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}
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case CoordSys::Local:
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WakeUp();
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m_body->applyCentralForce(ToJolt(GetRotation() * force));
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//WakeUp();
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//m_body->applyCentralForce(ToJolt(GetRotation() * force));
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break;
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}
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}
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#if 0
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void JoltRigidBody3D::AddForce(const Vector3f& force, const Vector3f& point, CoordSys coordSys)
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{
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switch (coordSys)
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@ -112,6 +115,13 @@ namespace Nz
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#endif
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void JoltRigidBody3D::EnableSleeping(bool enable)
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{
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auto& body_interface = m_world->GetPhysicsSystem()->GetBodyLockInterface();
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JPH::BodyLockWrite lock(body_interface, JPH::BodyID(m_bodyIndex));
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if (lock.Succeeded())
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{
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JPH::Body& body = lock.GetBody();
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body.SetAllowSleeping(enable);
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}
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}
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#if 0
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@ -148,12 +158,19 @@ namespace Nz
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{
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return FromJolt(m_body->getLinearVelocity());
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}
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#endif
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float JoltRigidBody3D::GetMass() const
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{
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return m_body->getMass();
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}
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auto& body_interface = m_world->GetPhysicsSystem()->GetBodyLockInterface();
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JPH::BodyLockRead lock(body_interface, JPH::BodyID(m_bodyIndex));
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if (!lock.Succeeded())
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return 0.f;
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const JPH::Body& body = lock.GetBody();
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return 1.f / body.GetMotionProperties()->GetInverseMass();
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}
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#if 0
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Vector3f JoltRigidBody3D::GetMassCenter(CoordSys coordSys) const
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{
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return FromJolt(m_body->getCenterOfMassPosition());
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@ -190,12 +207,18 @@ namespace Nz
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return !body_interface.IsActive(JPH::BodyID(m_bodyIndex));
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}
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#if 0
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bool JoltRigidBody3D::IsSleepingEnabled() const
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{
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return m_body->getActivationState() != DISABLE_DEACTIVATION;
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auto& body_interface = m_world->GetPhysicsSystem()->GetBodyLockInterface();
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JPH::BodyLockRead lock(body_interface, JPH::BodyID(m_bodyIndex));
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if (!lock.Succeeded())
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return true;
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const JPH::Body& body = lock.GetBody();
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return body.GetAllowSleeping();
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}
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#if 0
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void JoltRigidBody3D::SetAngularDamping(float angularDamping)
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{
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m_body->setDamping(m_body->getLinearDamping(), angularDamping);
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@ -205,7 +228,7 @@ namespace Nz
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{
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m_body->setAngularVelocity(ToJolt(angularVelocity));
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}
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#endif
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void JoltRigidBody3D::SetGeom(std::shared_ptr<JoltCollider3D> geom, bool recomputeInertia)
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{
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if (m_geom != geom)
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@ -213,21 +236,13 @@ namespace Nz
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if (geom)
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m_geom = std::move(geom);
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else
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m_geom = std::make_shared<NullCollider3D>();
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m_geom = std::make_shared<JoltSphereCollider3D>(1.f);
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m_body->setCollisionShape(m_geom->GetShape());
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if (recomputeInertia)
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{
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float mass = GetMass();
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Vector3f inertia;
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m_geom->ComputeInertia(mass, &inertia);
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m_body->setMassProps(mass, ToJolt(inertia));
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
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body_interface.SetShape(JPH::BodyID(m_bodyIndex), m_geom->GetShapeSettings()->Create().Get(), true, JPH::EActivation::Activate);
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}
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}
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}
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#if 0
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void JoltRigidBody3D::SetLinearDamping(float damping)
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{
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m_body->setDamping(damping, m_body->getAngularDamping());
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@ -243,8 +258,25 @@ namespace Nz
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NazaraAssert(mass >= 0.f, "Mass must be positive and finite");
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NazaraAssert(std::isfinite(mass), "Mass must be positive and finite");
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
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body_interface.SetMotionType(JPH::BodyID(m_bodyIndex), (mass > 0.f) ? JPH::EMotionType::Dynamic : JPH::EMotionType::Static, JPH::EActivation::Activate);
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auto& bodyLock = m_world->GetPhysicsSystem()->GetBodyLockInterface();
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JPH::BodyLockWrite lock(bodyLock, JPH::BodyID(m_bodyIndex));
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if (!lock.Succeeded())
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return;
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JPH::Body& body = lock.GetBody();
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if (mass > 0.f)
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{
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body.SetMotionType(JPH::EMotionType::Dynamic);
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body.GetMotionProperties()->SetInverseMass(1.f / mass);
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}
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else
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{
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterfaceNoLock();
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body_interface.DeactivateBody(body.GetID());
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body.SetMotionType(JPH::EMotionType::Static);
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}
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}
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#if 0
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@ -290,12 +322,13 @@ namespace Nz
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{
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return GetMatrix() * localPosition;
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}
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#endif
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void JoltRigidBody3D::WakeUp()
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{
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m_body->activate();
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JPH::BodyInterface& body_interface = m_world->GetPhysicsSystem()->GetBodyInterface();
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body_interface.ActivateBody(JPH::BodyID(m_bodyIndex));
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}
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#endif
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JoltRigidBody3D& JoltRigidBody3D::operator=(JoltRigidBody3D&& object) noexcept
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{
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