Ajout de Jolt Physics + 1ere version des factory entitecomposants - camera, transform, rigidbody, collider, renderer
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Tom Ray
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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2024 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#include <TestFramework.h>
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#include <Tests/SoftBody/SoftBodySkinnedConstraintTest.h>
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#include <Jolt/Physics/SoftBody/SoftBodyCreationSettings.h>
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#include <Jolt/Physics/SoftBody/SoftBodyMotionProperties.h>
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#include <Utils/SoftBodyCreator.h>
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#include <Layers.h>
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#include <Renderer/DebugRendererImp.h>
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#include <Application/DebugUI.h>
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JPH_IMPLEMENT_RTTI_VIRTUAL(SoftBodySkinnedConstraintTest)
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{
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JPH_ADD_BASE_CLASS(SoftBodySkinnedConstraintTest, Test)
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}
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Array<Mat44> SoftBodySkinnedConstraintTest::GetWorldSpacePose(float inTime) const
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{
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Array<Mat44> pose;
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pose.resize(cNumJoints);
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// Create local space pose
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pose[0] = Mat44::sTranslation(Vec3(0.0f, cBodyPosY, -0.5f * (cNumVerticesZ - 1) * cVertexSpacing));
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for (int i = 1; i < cNumJoints; ++i)
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{
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float amplitude = 0.25f * min(inTime, 2.0f); // Fade effect in over time
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Mat44 rotation = Mat44::sRotationX(amplitude * Sin(0.25f * JPH_PI * i + 2.0f * inTime));
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Mat44 translation = Mat44::sTranslation(Vec3(0, 0, (cNumVerticesZ - 1) * cVertexSpacing / (cNumJoints - 1)));
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pose[i] = rotation * translation;
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}
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// Convert to world space
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for (int i = 1; i < cNumJoints; ++i)
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pose[i] = pose[i - 1] * pose[i];
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return pose;
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}
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void SoftBodySkinnedConstraintTest::SkinVertices(bool inHardSkinAll)
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{
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RMat44 com = mBody->GetCenterOfMassTransform();
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// Make pose relative to the center of mass of the body
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Array<Mat44> pose = GetWorldSpacePose(mTime);
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Mat44 offset = com.InversedRotationTranslation().ToMat44();
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for (Mat44 &m : pose)
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m = offset * m;
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SoftBodyMotionProperties *mp = static_cast<SoftBodyMotionProperties *>(mBody->GetMotionProperties());
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mp->SetEnableSkinConstraints(sEnableSkinConstraints);
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mp->SetSkinnedMaxDistanceMultiplier(sMaxDistanceMultiplier);
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if (sUpdateSkinning || inHardSkinAll)
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mp->SkinVertices(com, pose.data(), cNumJoints, inHardSkinAll, *mTempAllocator);
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}
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void SoftBodySkinnedConstraintTest::Initialize()
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{
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CreateFloor();
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// Where we'll place the body
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RVec3 body_translation(0.0f, cBodyPosY, 0);
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// Make first and last row kinematic
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auto inv_mass = [](uint, uint inZ) { return inZ == 0 || inZ == cNumVerticesZ - 1? 0.0f : 1.0f; };
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Ref<SoftBodySharedSettings> settings = SoftBodyCreator::CreateCloth(cNumVerticesX, cNumVerticesZ, cVertexSpacing, inv_mass);
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// Make edges soft
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for (SoftBodySharedSettings::Edge &e : settings->mEdgeConstraints)
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e.mCompliance = 1.0e-3f;
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// Create inverse bind matrices by moving the bind pose to the center of mass space for the body
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Array<Mat44> bind_pose = GetWorldSpacePose(0.0f);
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Mat44 offset = Mat44::sTranslation(Vec3(-body_translation));
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for (Mat44 &m : bind_pose)
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m = offset * m;
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for (int i = 0; i < cNumJoints; ++i)
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settings->mInvBindMatrices.push_back(SoftBodySharedSettings::InvBind(i, bind_pose[i].Inversed()));
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// Create skinned vertices
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auto get_vertex = [](uint inX, uint inZ) { return inX + inZ * cNumVerticesX; };
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for (int z = 0; z < cNumVerticesZ; ++z)
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for (int x = 0; x < cNumVerticesX; ++x)
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{
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uint vertex_idx = get_vertex(x, z);
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SoftBodySharedSettings::Skinned skinned(vertex_idx, settings->mVertices[vertex_idx].mInvMass > 0.0f? 2.0f : 0.0f, 0.1f, 40.0f);
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// Find closest joints
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int closest_joint = -1, prev_closest_joint = -1;
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float closest_joint_dist = FLT_MAX, prev_closest_joint_dist = FLT_MAX;
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for (int i = 0; i < cNumJoints; ++i)
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{
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float dist = abs(settings->mVertices[vertex_idx].mPosition.z - bind_pose[i].GetTranslation().GetZ());
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if (dist < closest_joint_dist)
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{
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prev_closest_joint = closest_joint;
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prev_closest_joint_dist = closest_joint_dist;
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closest_joint = i;
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closest_joint_dist = dist;
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}
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else if (dist < prev_closest_joint_dist)
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{
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prev_closest_joint = i;
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prev_closest_joint_dist = dist;
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}
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}
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if (closest_joint_dist == 0.0f)
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{
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// Hard skin to closest joint
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skinned.mWeights[0] = SoftBodySharedSettings::SkinWeight(closest_joint, 1.0f);
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}
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else
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{
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// Skin to two closest joints
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skinned.mWeights[0] = SoftBodySharedSettings::SkinWeight(closest_joint, 1.0f / closest_joint_dist);
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skinned.mWeights[1] = SoftBodySharedSettings::SkinWeight(prev_closest_joint, 1.0f / prev_closest_joint_dist);
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skinned.NormalizeWeights();
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}
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settings->mSkinnedConstraints.push_back(skinned);
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}
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// Calculate the information needed for skinned constraints
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settings->CalculateSkinnedConstraintNormals();
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// Optimize the settings (note that this is the second time we call this, the first time was in SoftBodyCreator::CreateCloth,
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// this is a bit wasteful but we must do it because we added more constraints)
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settings->Optimize();
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// Create the body
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SoftBodyCreationSettings cloth(settings, body_translation, Quat::sIdentity(), Layers::MOVING);
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mBody = mBodyInterface->CreateSoftBody(cloth);
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mBodyInterface->AddBody(mBody->GetID(), EActivation::Activate);
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// Initially hard skin all vertices to the pose
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SkinVertices(true);
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}
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void SoftBodySkinnedConstraintTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
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{
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// Draw the pose pre step
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Array<Mat44> pose = GetWorldSpacePose(mTime);
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for (int i = 1; i < cNumJoints; ++i)
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{
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mDebugRenderer->DrawArrow(RVec3(pose[i - 1].GetTranslation()), RVec3(pose[i].GetTranslation()), Color::sGreen, 0.1f);
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mDebugRenderer->DrawCoordinateSystem(RMat44(pose[i]), 0.5f);
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}
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// Update time
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mTime += sTimeScale * inParams.mDeltaTime;
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// Calculate skinned vertices but do not hard skin them
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SkinVertices(false);
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}
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void SoftBodySkinnedConstraintTest::SaveState(StateRecorder &inStream) const
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{
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inStream.Write(mTime);
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}
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void SoftBodySkinnedConstraintTest::RestoreState(StateRecorder &inStream)
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{
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inStream.Read(mTime);
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}
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void SoftBodySkinnedConstraintTest::CreateSettingsMenu(DebugUI *inUI, UIElement *inSubMenu)
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{
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inUI->CreateSlider(inSubMenu, "Time Scale", sTimeScale, 0.0f, 10.0f, 0.1f, [](float inValue) { sTimeScale = inValue; });
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inUI->CreateCheckBox(inSubMenu, "Update Skinning", sUpdateSkinning, [](UICheckBox::EState inState) { sUpdateSkinning = inState == UICheckBox::STATE_CHECKED; });
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inUI->CreateCheckBox(inSubMenu, "Enable Skin Constraints", sEnableSkinConstraints, [](UICheckBox::EState inState) { sEnableSkinConstraints = inState == UICheckBox::STATE_CHECKED; });
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inUI->CreateSlider(inSubMenu, "Max Distance Multiplier", sMaxDistanceMultiplier, 0.0f, 10.0f, 0.1f, [](float inValue) { sMaxDistanceMultiplier = inValue; });
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}
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