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

lib/All/JoltPhysics/Samples/Tests/Rig/SoftKeyframedRigTest.cpp

@@ -0,0 +1,103 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2025 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#include <TestFramework.h>
+
+#include <Tests/Rig/SoftKeyframedRigTest.h>
+#include <Jolt/Physics/Collision/Shape/BoxShape.h>
+#include <Jolt/Physics/StateRecorder.h>
+#include <Jolt/ObjectStream/ObjectStreamIn.h>
+#include <Application/DebugUI.h>
+#include <Layers.h>
+#include <Utils/Log.h>
+#include <Utils/AssetStream.h>
+
+JPH_IMPLEMENT_RTTI_VIRTUAL(SoftKeyframedRigTest)
+{
+	JPH_ADD_BASE_CLASS(SoftKeyframedRigTest, Test)
+}
+
+SoftKeyframedRigTest::~SoftKeyframedRigTest()
+{
+	mRagdoll->RemoveFromPhysicsSystem();
+}
+
+void SoftKeyframedRigTest::Initialize()
+{
+	// Floor
+	CreateFloor();
+
+	// Wall
+	RefConst<Shape> box_shape = new BoxShape(Vec3(0.2f, 0.2f, 0.2f), 0.01f);
+	for (int i = 0; i < 3; ++i)
+		for (int j = i / 2; j < 10 - (i + 1) / 2; ++j)
+		{
+			RVec3 position(-2.0f + j * 0.4f + (i & 1? 0.2f : 0.0f), 0.2f + i * 0.4f, -2.0f);
+			mBodyInterface->CreateAndAddBody(BodyCreationSettings(box_shape, position, Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING), EActivation::DontActivate);
+		}
+
+	// Bar to hit head against
+	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);
+
+	// Load ragdoll
+	mRagdollSettings = RagdollLoader::sLoad("Human.tof", EMotionType::Dynamic);
+
+	// Limit max velocity of the bodies to avoid excessive jittering when the head hits the bar
+	// Note that this also limits how fast an animation can be and as a result you can see
+	// the ragdolls lag behind when the animation loops.
+	// Note that the velocity doesn't need to be limited at body level, it can also be done
+	// by calculating the needed velocities and clamping them instead of calling DriveToPoseUsingKinematics.
+	for (BodyCreationSettings &bcs : mRagdollSettings->mParts)
+		bcs.mMaxLinearVelocity = 10.0f;
+
+	// Create ragdoll
+	mRagdoll = mRagdollSettings->CreateRagdoll(0, 0, mPhysicsSystem);
+	mRagdoll->AddToPhysicsSystem(EActivation::Activate);
+
+	// Load animation
+	AssetStream stream("Human/walk.tof", std::ios::in);
+	if (!ObjectStreamIn::sReadObject(stream.Get(), mAnimation))
+		FatalError("Could not open animation");
+
+	// Initialize pose
+	mPose.SetSkeleton(mRagdollSettings->GetSkeleton());
+
+	// Position ragdoll
+	mAnimation->Sample(0.0f, mPose);
+	mPose.CalculateJointMatrices();
+	mRagdoll->SetPose(mPose);
+}
+
+void SoftKeyframedRigTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
+{
+	// Sample previous pose and draw it (ragdoll should have achieved this position)
+	mAnimation->Sample(mTime, mPose);
+	mPose.CalculateJointMatrices();
+#ifdef JPH_DEBUG_RENDERER
+	mPose.Draw(*inParams.mPoseDrawSettings, mDebugRenderer);
+#endif // JPH_DEBUG_RENDERER
+
+	// Update time
+	mTime += inParams.mDeltaTime;
+
+	// Sample new pose
+	mAnimation->Sample(mTime, mPose);
+	mPose.CalculateJointMatrices();
+
+	// Drive the ragdoll by setting velocities
+	mRagdoll->DriveToPoseUsingKinematics(mPose, inParams.mDeltaTime);
+
+	// Cancel gravity that will be applied in the next step
+	mRagdoll->AddLinearVelocity(mPhysicsSystem->GetGravity() * inParams.mDeltaTime);
+}
+
+void SoftKeyframedRigTest::SaveState(StateRecorder &inStream) const
+{
+	inStream.Write(mTime);
+}
+
+void SoftKeyframedRigTest::RestoreState(StateRecorder &inStream)
+{
+	inStream.Read(mTime);
+}