93 lines
2.7 KiB
C++
93 lines
2.7 KiB
C++
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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#include <TestFramework.h>
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#include <Tests/Rig/KinematicRigTest.h>
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#include <Jolt/Physics/Collision/Shape/BoxShape.h>
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#include <Jolt/Physics/StateRecorder.h>
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#include <Jolt/ObjectStream/ObjectStreamIn.h>
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#include <Application/DebugUI.h>
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#include <Layers.h>
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#include <Utils/Log.h>
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#include <Utils/AssetStream.h>
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JPH_IMPLEMENT_RTTI_VIRTUAL(KinematicRigTest)
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{
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JPH_ADD_BASE_CLASS(KinematicRigTest, Test)
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}
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KinematicRigTest::~KinematicRigTest()
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{
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mRagdoll->RemoveFromPhysicsSystem();
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}
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void KinematicRigTest::Initialize()
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{
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// Floor
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CreateFloor();
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// Wall
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RefConst<Shape> box_shape = new BoxShape(Vec3(0.2f, 0.2f, 0.2f), 0.01f);
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for (int i = 0; i < 3; ++i)
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for (int j = i / 2; j < 10 - (i + 1) / 2; ++j)
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{
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RVec3 position(-2.0f + j * 0.4f + (i & 1? 0.2f : 0.0f), 0.2f + i * 0.4f, -2.0f);
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mBodyInterface->CreateAndAddBody(BodyCreationSettings(box_shape, position, Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING), EActivation::DontActivate);
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}
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// Bar to hit head against
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// (this should not affect the kinematic ragdoll)
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mBodyInterface->CreateAndAddBody(BodyCreationSettings(new BoxShape(Vec3(2.0f, 0.1f, 0.1f), 0.01f), RVec3(0, 1.5f, -2.0f), Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING), EActivation::DontActivate);
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// Load ragdoll
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mRagdollSettings = RagdollLoader::sLoad("Human.tof", EMotionType::Kinematic);
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// Create ragdoll
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mRagdoll = mRagdollSettings->CreateRagdoll(0, 0, mPhysicsSystem);
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mRagdoll->AddToPhysicsSystem(EActivation::Activate);
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// Load animation
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AssetStream stream("Human/walk.tof", std::ios::in);
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if (!ObjectStreamIn::sReadObject(stream.Get(), mAnimation))
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FatalError("Could not open animation");
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// Initialize pose
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mPose.SetSkeleton(mRagdollSettings->GetSkeleton());
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// Position ragdoll
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mAnimation->Sample(0.0f, mPose);
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mPose.CalculateJointMatrices();
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mRagdoll->SetPose(mPose);
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}
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void KinematicRigTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
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{
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// Sample previous pose and draw it (ragdoll should have achieved this position)
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mAnimation->Sample(mTime, mPose);
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mPose.CalculateJointMatrices();
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#ifdef JPH_DEBUG_RENDERER
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mPose.Draw(*inParams.mPoseDrawSettings, mDebugRenderer);
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#endif // JPH_DEBUG_RENDERER
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// Update time
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mTime += inParams.mDeltaTime;
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// Sample new pose
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mAnimation->Sample(mTime, mPose);
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mPose.CalculateJointMatrices();
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mRagdoll->DriveToPoseUsingKinematics(mPose, inParams.mDeltaTime);
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}
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void KinematicRigTest::SaveState(StateRecorder &inStream) const
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{
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inStream.Write(mTime);
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}
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void KinematicRigTest::RestoreState(StateRecorder &inStream)
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{
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inStream.Read(mTime);
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}
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