Ajout de Jolt Physics + 1ere version des factory entitecomposants - camera, transform, rigidbody, collider, renderer

lib/All/JoltPhysics/PerformanceTest/RagdollScene.h

@@ -0,0 +1,144 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+// Jolt includes
+#include <Jolt/Physics/Ragdoll/Ragdoll.h>
+#include <Jolt/Physics/PhysicsScene.h>
+#include <Jolt/Physics/Collision/CastResult.h>
+#include <Jolt/Physics/Collision/RayCast.h>
+#include <Jolt/ObjectStream/ObjectStreamIn.h>
+
+// Local includes
+#include "PerformanceTestScene.h"
+#include "Layers.h"
+
+#ifdef JPH_OBJECT_STREAM
+
+// A scene that loads a part of a Horizon Zero Dawn level and drops many ragdolls on the terrain (motors enabled)
+class RagdollScene : public PerformanceTestScene
+{
+public:
+							RagdollScene(int inNumPilesPerAxis, int inPileSize, float inVerticalSeparation) : mNumPilesPerAxis(inNumPilesPerAxis), mPileSize(inPileSize), mVerticalSeparation(inVerticalSeparation) { }
+
+	virtual const char *	GetName() const override
+	{
+		return mNumPilesPerAxis == 1? "RagdollSinglePile" : "Ragdoll";
+	}
+
+	virtual bool			Load(const String &inAssetPath) override
+	{
+		// Load ragdoll
+		if (!ObjectStreamIn::sReadObject((inAssetPath + "Human.tof").c_str(), mRagdollSettings))
+		{
+			cerr << "Unable to load ragdoll" << endl;
+			return false;
+		}
+		for (BodyCreationSettings &body : mRagdollSettings->mParts)
+			body.mObjectLayer = Layers::MOVING;
+
+		// Init ragdoll
+		mRagdollSettings->GetSkeleton()->CalculateParentJointIndices();
+		mRagdollSettings->Stabilize();
+		mRagdollSettings->CalculateBodyIndexToConstraintIndex();
+		mRagdollSettings->CalculateConstraintIndexToBodyIdxPair();
+
+		// Load animation
+		if (!ObjectStreamIn::sReadObject((inAssetPath + "Human/dead_pose1.tof").c_str(), mAnimation))
+		{
+			cerr << "Unable to load animation" << endl;
+			return false;
+		}
+
+		// Sample pose
+		mPose.SetSkeleton(mRagdollSettings->GetSkeleton());
+		mAnimation->Sample(0.0f, mPose);
+
+		// Read the background scene
+		if (!ObjectStreamIn::sReadObject((inAssetPath + "terrain2.bof").c_str(), mBackground))
+		{
+			cerr << "Unable to load terrain" << endl;
+			return false;
+		}
+		for (BodyCreationSettings &body : mBackground->GetBodies())
+			body.mObjectLayer = Layers::NON_MOVING;
+		mBackground->FixInvalidScales();
+
+		return true;
+	}
+
+	virtual void			StartTest(PhysicsSystem &inPhysicsSystem, EMotionQuality inMotionQuality) override
+	{
+		// Test configuration
+		const Real cHorizontalSeparation = 4.0_r;
+
+		// Set motion quality on ragdoll
+		for (BodyCreationSettings &body : mRagdollSettings->mParts)
+			body.mMotionQuality = inMotionQuality;
+
+		// Add background geometry
+		mBackground->CreateBodies(&inPhysicsSystem);
+
+		// Create ragdoll piles
+		CollisionGroup::GroupID group_id = 1;
+		for (int row = 0; row < mNumPilesPerAxis; ++row)
+			for (int col = 0; col < mNumPilesPerAxis; ++col)
+			{
+				// Determine start location of ray
+				RVec3 start(cHorizontalSeparation * (col - (mNumPilesPerAxis - 1) / 2.0_r), 100, cHorizontalSeparation * (row - (mNumPilesPerAxis - 1) / 2.0_r));
+
+				// Cast ray down to terrain
+				RayCastResult hit;
+				Vec3 ray_direction(0, -200, 0);
+				RRayCast ray { start, ray_direction };
+				if (inPhysicsSystem.GetNarrowPhaseQuery().CastRay(ray, hit, SpecifiedBroadPhaseLayerFilter(BroadPhaseLayers::NON_MOVING), SpecifiedObjectLayerFilter(Layers::NON_MOVING)))
+					start = ray.GetPointOnRay(hit.mFraction);
+
+				for (int i = 0; i < mPileSize; ++i)
+				{
+					// Create ragdoll
+					Ref<Ragdoll> ragdoll = mRagdollSettings->CreateRagdoll(group_id++, 0, &inPhysicsSystem);
+
+					// Override root
+					SkeletonPose pose_copy = mPose;
+					pose_copy.SetRootOffset(start);
+					SkeletonPose::JointState &root = pose_copy.GetJoint(0);
+					root.mTranslation = Vec3(0, mVerticalSeparation * (i + 1), 0);
+					float angle = 2.0f * JPH_PI * float(i) / float(mPileSize);
+					root.mRotation = Quat::sRotation(Vec3::sAxisY(), angle) * root.mRotation;
+					pose_copy.CalculateJointMatrices();
+
+					// Drive to pose
+					ragdoll->SetPose(pose_copy);
+					ragdoll->DriveToPoseUsingMotors(pose_copy);
+					ragdoll->AddToPhysicsSystem(EActivation::Activate);
+
+					// Keep reference
+					mRagdolls.push_back(ragdoll);
+				}
+			}
+	}
+
+	virtual void			StopTest(PhysicsSystem &inPhysicsSystem) override
+	{
+		// Remove ragdolls
+		for (Ragdoll *ragdoll : mRagdolls)
+			ragdoll->RemoveFromPhysicsSystem();
+		mRagdolls.clear();
+	}
+
+private:
+	int						mNumPilesPerAxis;
+	int						mPileSize;
+	float					mVerticalSeparation;
+	Ref<RagdollSettings>	mRagdollSettings;
+	Ref<SkeletalAnimation>	mAnimation;
+	SkeletonPose			mPose;
+	Ref<PhysicsScene>		mBackground;
+	Array<Ref<Ragdoll>>		mRagdolls;
+};
+
+#endif // JPH_OBJECT_STREAM
+