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NazaraEngine/examples/PhysicsDemo/main.cpp

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#include <Nazara/Core.hpp>
#include <Nazara/Platform.hpp>
#include <Nazara/Graphics.hpp>
#include <Nazara/Graphics/TextSprite.hpp>
#include <Nazara/Graphics/Components.hpp>
#include <Nazara/Graphics/Systems.hpp>
#include <Nazara/Math/PidController.hpp>
#include <Nazara/Physics3D.hpp>
#include <Nazara/Physics3D/Components.hpp>
#include <Nazara/Physics3D/Systems.hpp>
#include <Nazara/Renderer.hpp>
#include <NZSL/SpirvConstantCache.hpp>
#include <NZSL/SpirvPrinter.hpp>
#include <Nazara/Utility.hpp>
#include <Nazara/Utility/Components.hpp>
#include <entt/entt.hpp>
#include <array>
#include <iostream>
#include <limits>
NAZARA_REQUEST_DEDICATED_GPU()
int main()
{
std::filesystem::path resourceDir = "resources";
if (!std::filesystem::is_directory(resourceDir) && std::filesystem::is_directory(".." / resourceDir))
resourceDir = ".." / resourceDir;
Nz::Renderer::Config rendererConfig;
std::cout << "Run using Vulkan? (y/n)" << std::endl;
if (std::getchar() != 'n')
rendererConfig.preferredAPI = Nz::RenderAPI::Vulkan;
else
rendererConfig.preferredAPI = Nz::RenderAPI::OpenGL;
std::cin.ignore(std::numeric_limits<std::streamsize>::max(), '\n');
Nz::Modules<Nz::Graphics, Nz::Physics3D> nazara(rendererConfig);
Nz::RenderWindow window;
std::shared_ptr<Nz::RenderDevice> device = Nz::Graphics::Instance()->GetRenderDevice();
std::string windowTitle = "Graphics Test";
if (!window.Create(device, Nz::VideoMode(1920, 1080, 32), windowTitle))
{
std::cout << "Failed to create Window" << std::endl;
return __LINE__;
}
Nz::MeshParams meshParams;
meshParams.center = true;
meshParams.matrix = Nz::Matrix4f::Rotate(Nz::EulerAnglesf(0.f, 90.f, 0.f)) * Nz::Matrix4f::Scale(Nz::Vector3f(0.002f));
meshParams.vertexDeclaration = Nz::VertexDeclaration::Get(Nz::VertexLayout::XYZ_Normal_UV_Tangent);
std::shared_ptr<Nz::Mesh> spaceshipMesh = Nz::Mesh::LoadFromFile(resourceDir / "Spaceship/spaceship.obj", meshParams);
if (!spaceshipMesh)
{
NazaraError("Failed to load model");
return __LINE__;
}
const Nz::Boxf& spaceshipAABB = spaceshipMesh->GetAABB();
std::shared_ptr<Nz::GraphicalMesh> gfxMesh = std::make_shared<Nz::GraphicalMesh>(*spaceshipMesh);
// Texture
std::shared_ptr<Nz::Material> material = std::make_shared<Nz::Material>();
std::shared_ptr<Nz::MaterialPass> depthPass = std::make_shared<Nz::MaterialPass>(Nz::DepthMaterial::GetSettings());
depthPass->EnableDepthBuffer(true);
depthPass->EnableDepthClamp(true);
depthPass->EnableFaceCulling(true);
std::shared_ptr<Nz::MaterialPass> materialPass = std::make_shared<Nz::MaterialPass>(Nz::PhongLightingMaterial::GetSettings());
materialPass->EnableDepthBuffer(true);
materialPass->EnableDepthClamp(true);
materialPass->EnableFaceCulling(true);
material->AddPass("DepthPass", depthPass);
material->AddPass("ForwardPass", materialPass);
Nz::TextureSamplerInfo samplerInfo;
samplerInfo.anisotropyLevel = 8;
Nz::TextureParams texParams;
texParams.renderDevice = device;
texParams.loadFormat = Nz::PixelFormat::RGBA8_SRGB;
Nz::BasicMaterial basicMat(*materialPass);
basicMat.EnableAlphaTest(false);
basicMat.SetAlphaMap(Nz::Texture::LoadFromFile(resourceDir / "alphatile.png", texParams));
basicMat.SetDiffuseMap(Nz::Texture::LoadFromFile(resourceDir / "Spaceship/Texture/diffuse.png", texParams));
basicMat.SetDiffuseSampler(samplerInfo);
Nz::DepthMaterial basicMatDepth(*depthPass);
basicMatDepth.SetAlphaMap(Nz::Texture::LoadFromFile(resourceDir / "alphatile.png", texParams));
std::shared_ptr<Nz::Model> model = std::make_shared<Nz::Model>(std::move(gfxMesh), spaceshipAABB);
for (std::size_t i = 0; i < model->GetSubMeshCount(); ++i)
model->SetMaterial(i, material);
std::shared_ptr<Nz::Material> spriteMaterial = std::make_shared<Nz::Material>();
std::shared_ptr<Nz::MaterialPass> spriteMaterialPass = std::make_shared<Nz::MaterialPass>(Nz::BasicMaterial::GetSettings());
spriteMaterialPass->EnableDepthBuffer(true);
spriteMaterialPass->EnableDepthWrite(false);
spriteMaterialPass->EnableDepthClamp(true);
spriteMaterialPass->EnableFlag(Nz::MaterialPassFlag::SortByDistance);
spriteMaterialPass->EnableBlending(true);
spriteMaterialPass->SetBlendEquation(Nz::BlendEquation::Add, Nz::BlendEquation::Add);
spriteMaterialPass->SetBlendFunc(Nz::BlendFunc::SrcAlpha, Nz::BlendFunc::InvSrcAlpha, Nz::BlendFunc::One, Nz::BlendFunc::Zero);
spriteMaterial->AddPass("ForwardPass", spriteMaterialPass);
std::shared_ptr<Nz::TextSprite> sprite = std::make_shared<Nz::TextSprite>(spriteMaterial);
sprite->Update(Nz::SimpleTextDrawer::Draw("Voix ambiguë d'un cœur qui, au zéphyr, préfère les jattes de kiwis", 72), 0.01f);
Nz::Vector2ui windowSize = window.GetSize();
Nz::VertexMapper vertexMapper(*spaceshipMesh->GetSubMesh(0));
Nz::SparsePtr<Nz::Vector3f> vertices = vertexMapper.GetComponentPtr<Nz::Vector3f>(Nz::VertexComponent::Position);
entt::registry registry;
Nz::Physics3DSystem physSytem(registry);
Nz::RenderSystem renderSystem(registry);
entt::entity viewer = registry.create();
{
registry.emplace<Nz::NodeComponent>(viewer);
auto& cameraComponent = registry.emplace<Nz::CameraComponent>(viewer, window.GetRenderTarget());
cameraComponent.UpdateRenderMask(1);
cameraComponent.UpdateClearColor(Nz::Color(0.5f, 0.5f, 0.5f));
}
auto shipCollider = std::make_shared<Nz::ConvexCollider3D>(vertices, vertexMapper.GetVertexCount(), 0.01f);
std::shared_ptr<Nz::Material> colliderMat = std::make_shared<Nz::Material>();
std::shared_ptr<Nz::MaterialPass> colliderMatPass = std::make_shared<Nz::MaterialPass>(Nz::BasicMaterial::GetSettings());
colliderMatPass->EnableDepthBuffer(true);
colliderMatPass->SetPrimitiveMode(Nz::PrimitiveMode::LineList);
colliderMat->AddPass("ForwardPass", colliderMatPass);
Nz::BasicMaterial colliderBasicMat(*colliderMatPass);
colliderBasicMat.SetDiffuseColor(Nz::Color::Green);
std::shared_ptr<Nz::Model> colliderModel;
{
std::shared_ptr<Nz::Mesh> colliderMesh = Nz::Mesh::Build(shipCollider->GenerateMesh());
std::shared_ptr<Nz::GraphicalMesh> colliderGraphicalMesh = std::make_shared<Nz::GraphicalMesh>(*colliderMesh);
colliderModel = std::make_shared<Nz::Model>(colliderGraphicalMesh, spaceshipAABB);
for (std::size_t i = 0; i < colliderModel->GetSubMeshCount(); ++i)
colliderModel->SetMaterial(i, colliderMat);
}
entt::entity textEntity = registry.create();
{
auto& entityGfx = registry.emplace<Nz::GraphicsComponent>(textEntity);
entityGfx.AttachRenderable(sprite, 1);
auto& entityNode = registry.emplace<Nz::NodeComponent>(textEntity);
entityNode.SetPosition(0.f, 5.f, 0.f);
}
entt::entity playerEntity = registry.create();
entt::entity headingEntity = registry.create();
{
auto& entityLight = registry.emplace<Nz::LightComponent>(playerEntity);
entityLight.AttachLight(std::make_shared<Nz::SpotLight>(), 1);
auto& entityGfx = registry.emplace<Nz::GraphicsComponent>(playerEntity);
entityGfx.AttachRenderable(model, 1);
auto& entityNode = registry.emplace<Nz::NodeComponent>(playerEntity);
entityNode.SetPosition(Nz::Vector3f(12.5f, 0.f, 25.f));
auto& entityPhys = registry.emplace<Nz::RigidBody3DComponent>(playerEntity, physSytem.CreateRigidBody(shipCollider));
entityPhys.SetMass(50.f);
entityPhys.SetAngularDamping(Nz::Vector3f::Zero());
auto& headingNode = registry.emplace<Nz::NodeComponent>(headingEntity);
headingNode.SetInheritRotation(false);
headingNode.SetParent(registry, playerEntity);
}
registry.get<Nz::NodeComponent>(viewer).SetParent(registry, headingEntity);
registry.get<Nz::NodeComponent>(viewer).SetPosition(Nz::Vector3f::Backward() * 2.5f + Nz::Vector3f::Up() * 1.f);
for (std::size_t x = 0; x < 3; ++x)
{
for (std::size_t y = 0; y < 3; ++y)
{
for (std::size_t z = 0; z < 3; ++z)
{
entt::entity entity = registry.create();
auto& entityGfx = registry.emplace<Nz::GraphicsComponent>(entity);
entityGfx.AttachRenderable(model, 1);
auto& entityNode = registry.emplace<Nz::NodeComponent>(entity);
entityNode.SetPosition(Nz::Vector3f(x * 2.f, y * 1.5f, z * 2.f));
auto& entityPhys = registry.emplace<Nz::RigidBody3DComponent>(entity, physSytem.CreateRigidBody(shipCollider));
entityPhys.SetMass(1.f);
entityPhys.SetAngularDamping(Nz::Vector3f::Zero());
entityPhys.SetLinearDamping(0.f);
}
}
}
Nz::EulerAnglesf camAngles(0.f, 0.f, 0.f);
Nz::Quaternionf camQuat(camAngles);
window.EnableEventPolling(true);
Nz::Clock updateClock;
Nz::Clock secondClock;
unsigned int fps = 0;
Nz::Mouse::SetRelativeMouseMode(true);
float elapsedTime = 0.f;
Nz::UInt64 time = Nz::GetElapsedMicroseconds();
Nz::PidController<Nz::Vector3f> headingController(0.5f, 0.f, 0.05f);
Nz::PidController<Nz::Vector3f> upController(1.f, 0.f, 0.1f);
bool showColliders = false;
while (window.IsOpen())
{
Nz::UInt64 now = Nz::GetElapsedMicroseconds();
elapsedTime = (now - time) / 1'000'000.f;
time = now;
Nz::WindowEvent event;
while (window.PollEvent(&event))
{
switch (event.type)
{
case Nz::WindowEventType::Quit:
window.Close();
break;
case Nz::WindowEventType::KeyPressed:
if (event.key.virtualKey == Nz::Keyboard::VKey::A)
{
//canvas2D.Resize({ 1920.f, 1080.f });
basicMat.EnableAlphaTest(!basicMat.IsAlphaTestEnabled());
basicMatDepth.EnableAlphaTest(!basicMatDepth.IsAlphaTestEnabled());
}
else if (event.key.virtualKey == Nz::Keyboard::VKey::B)
{
showColliders = !showColliders;
if (showColliders)
{
auto view = registry.view<Nz::GraphicsComponent>();
for (auto [entity, gfxComponent] : view.each())
gfxComponent.AttachRenderable(colliderModel, 1);
}
else
{
auto view = registry.view<Nz::GraphicsComponent>();
for (auto [entity, gfxComponent] : view.each())
gfxComponent.DetachRenderable(colliderModel);
}
}
else if (event.key.virtualKey == Nz::Keyboard::VKey::Space)
{
entt::entity entity = registry.create();
auto& entityGfx = registry.emplace<Nz::GraphicsComponent>(entity);
entityGfx.AttachRenderable(model, 1);
if (showColliders)
entityGfx.AttachRenderable(colliderModel, 1);
registry.emplace<Nz::NodeComponent>(entity);
auto& entityPhys = registry.emplace<Nz::RigidBody3DComponent>(entity, physSytem.CreateRigidBody(shipCollider));
entityPhys.SetMass(1.f);
entityPhys.SetAngularDamping(Nz::Vector3f::Zero());
entityPhys.SetLinearDamping(0.f);
}
break;
case Nz::WindowEventType::MouseMoved:
{
float sensitivity = 0.3f;
camAngles.yaw = camAngles.yaw - event.mouseMove.deltaX * sensitivity;
camAngles.pitch = camAngles.pitch - event.mouseMove.deltaY * sensitivity;
camAngles.Normalize();
camQuat = camAngles;
registry.get<Nz::NodeComponent>(headingEntity).SetRotation(camQuat);
break;
}
default:
break;
}
}
if (updateClock.GetMilliseconds() > 1000 / 60)
{
float updateTime = updateClock.Restart() / 1'000'000.f;
physSytem.Update(registry, 1000.f / 60.f);
auto spaceshipView = registry.view<Nz::NodeComponent, Nz::RigidBody3DComponent>();
for (auto&& [entity, node, _] : spaceshipView.each())
{
if (entity == playerEntity)
continue;
Nz::Vector3f spaceshipPos = node.GetPosition(Nz::CoordSys::Global);
if (spaceshipPos.GetSquaredLength() > Nz::IntegralPow(20.f, 2))
registry.destroy(entity);
}
Nz::RigidBody3DComponent& playerShipBody = registry.get<Nz::RigidBody3DComponent>(playerEntity);
Nz::Quaternionf currentRotation = playerShipBody.GetRotation();
Nz::Vector3f desiredHeading = registry.get<Nz::NodeComponent>(headingEntity).GetForward();
Nz::Vector3f currentHeading = currentRotation * Nz::Vector3f::Forward();
Nz::Vector3f headingError = currentHeading.CrossProduct(desiredHeading);
Nz::Vector3f desiredUp = registry.get<Nz::NodeComponent>(headingEntity).GetUp();
Nz::Vector3f currentUp = currentRotation * Nz::Vector3f::Up();
Nz::Vector3f upError = currentUp.CrossProduct(desiredUp);
playerShipBody.AddTorque(headingController.Update(headingError, elapsedTime) * 10.f);
playerShipBody.AddTorque(upController.Update(upError, elapsedTime) * 10.f);
float mass = playerShipBody.GetMass();
if (Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::Up) || Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::Z))
playerShipBody.AddForce(Nz::Vector3f::Forward() * 2.5f * mass, Nz::CoordSys::Local);
if (Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::Down) || Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::S))
playerShipBody.AddForce(Nz::Vector3f::Backward() * 2.5f * mass, Nz::CoordSys::Local);
if (Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::Left) || Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::Q))
playerShipBody.AddForce(Nz::Vector3f::Left() * 2.5f * mass, Nz::CoordSys::Local);
if (Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::Right) || Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::D))
playerShipBody.AddForce(Nz::Vector3f::Right() * 2.5f * mass, Nz::CoordSys::Local);
if (Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::LShift) || Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::RShift))
playerShipBody.AddForce(Nz::Vector3f::Up() * 3.f * mass, Nz::CoordSys::Local);
if (Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::LControl) || Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::RControl))
playerShipBody.AddForce(Nz::Vector3f::Down() * 3.f * mass, Nz::CoordSys::Local);
}
Nz::RenderFrame frame = window.AcquireFrame();
if (!frame)
continue;
renderSystem.Render(registry, frame);
frame.Present();
fps++;
if (secondClock.GetMilliseconds() >= 1000)
{
window.SetTitle(windowTitle + " - " + Nz::NumberToString(fps) + " FPS" + " - " + Nz::NumberToString(registry.alive()) + " entities");
fps = 0;
secondClock.Restart();
}
}
return EXIT_SUCCESS;
}
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