Ajout de Jolt Physics + 1ere version des factory entitecomposants - camera, transform, rigidbody, collider, renderer
This commit is contained in:
Tom Ray
357
lib/All/JoltPhysics/Samples/Tests/Vehicle/TankTest.cpp
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357
lib/All/JoltPhysics/Samples/Tests/Vehicle/TankTest.cpp
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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/Vehicle/TankTest.h>
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#include <Jolt/Physics/Collision/CollisionCollectorImpl.h>
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#include <Jolt/Physics/Collision/RayCast.h>
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#include <Jolt/Physics/Collision/CastResult.h>
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#include <Jolt/Physics/Collision/Shape/BoxShape.h>
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#include <Jolt/Physics/Collision/Shape/CylinderShape.h>
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#include <Jolt/Physics/Collision/Shape/SphereShape.h>
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#include <Jolt/Physics/Collision/Shape/OffsetCenterOfMassShape.h>
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#include <Jolt/Physics/Vehicle/TrackedVehicleController.h>
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#include <Jolt/Physics/Collision/GroupFilterTable.h>
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#include <Jolt/Physics/Body/BodyCreationSettings.h>
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#include <Application/DebugUI.h>
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#include <Layers.h>
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#include <Renderer/DebugRendererImp.h>
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JPH_IMPLEMENT_RTTI_VIRTUAL(TankTest)
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{
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JPH_ADD_BASE_CLASS(TankTest, VehicleTest)
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}
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TankTest::~TankTest()
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{
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mPhysicsSystem->RemoveStepListener(mVehicleConstraint);
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}
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void TankTest::Initialize()
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{
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VehicleTest::Initialize();
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const float wheel_radius = 0.3f;
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const float wheel_width = 0.1f;
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const float half_vehicle_length = 3.2f;
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const float half_vehicle_width = 1.7f;
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const float half_vehicle_height = 0.5f;
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const float suspension_min_length = 0.3f;
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const float suspension_max_length = 0.5f;
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const float suspension_frequency = 1.0f;
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const float half_turret_width = 1.4f;
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const float half_turret_length = 2.0f;
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const float half_turret_height = 0.4f;
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const float half_barrel_length = 1.5f;
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const float barrel_radius = 0.1f;
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const float barrel_rotation_offset = 0.2f;
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static Vec3 wheel_pos[] = {
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Vec3(0.0f, -0.0f, 2.95f),
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Vec3(0.0f, -0.3f, 2.1f),
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Vec3(0.0f, -0.3f, 1.4f),
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Vec3(0.0f, -0.3f, 0.7f),
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Vec3(0.0f, -0.3f, 0.0f),
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Vec3(0.0f, -0.3f, -0.7f),
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Vec3(0.0f, -0.3f, -1.4f),
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Vec3(0.0f, -0.3f, -2.1f),
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Vec3(0.0f, -0.0f, -2.75f),
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};
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// Create filter to prevent body, turret and barrel from colliding
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GroupFilter *filter = new GroupFilterTable;
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// Create tank body
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RVec3 body_position(0, 2, 0);
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RefConst<Shape> tank_body_shape = OffsetCenterOfMassShapeSettings(Vec3(0, -half_vehicle_height, 0), new BoxShape(Vec3(half_vehicle_width, half_vehicle_height, half_vehicle_length))).Create().Get();
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BodyCreationSettings tank_body_settings(tank_body_shape, body_position, Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING);
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tank_body_settings.mCollisionGroup.SetGroupFilter(filter);
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tank_body_settings.mCollisionGroup.SetGroupID(0);
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tank_body_settings.mCollisionGroup.SetSubGroupID(0);
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tank_body_settings.mOverrideMassProperties = EOverrideMassProperties::CalculateInertia;
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tank_body_settings.mMassPropertiesOverride.mMass = 4000.0f;
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mTankBody = mBodyInterface->CreateBody(tank_body_settings);
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mBodyInterface->AddBody(mTankBody->GetID(), EActivation::Activate);
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// Create vehicle constraint
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VehicleConstraintSettings vehicle;
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vehicle.mDrawConstraintSize = 0.1f;
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vehicle.mMaxPitchRollAngle = DegreesToRadians(60.0f);
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TrackedVehicleControllerSettings *controller = new TrackedVehicleControllerSettings;
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vehicle.mController = controller;
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for (int t = 0; t < 2; ++t)
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{
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VehicleTrackSettings &track = controller->mTracks[t];
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// Last wheel is driven wheel
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track.mDrivenWheel = (uint)(vehicle.mWheels.size() + size(wheel_pos) - 1);
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for (uint wheel = 0; wheel < size(wheel_pos); ++wheel)
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{
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WheelSettingsTV *w = new WheelSettingsTV;
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w->mPosition = wheel_pos[wheel];
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w->mPosition.SetX(t == 0? half_vehicle_width : -half_vehicle_width);
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w->mRadius = wheel_radius;
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w->mWidth = wheel_width;
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w->mSuspensionMinLength = suspension_min_length;
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w->mSuspensionMaxLength = wheel == 0 || wheel == size(wheel_pos) - 1? suspension_min_length : suspension_max_length;
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w->mSuspensionSpring.mFrequency = suspension_frequency;
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// Add the wheel to the vehicle
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track.mWheels.push_back((uint)vehicle.mWheels.size());
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vehicle.mWheels.push_back(w);
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}
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}
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mVehicleConstraint = new VehicleConstraint(*mTankBody, vehicle);
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mVehicleConstraint->SetVehicleCollisionTester(new VehicleCollisionTesterRay(Layers::MOVING));
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#ifdef JPH_DEBUG_RENDERER
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static_cast<TrackedVehicleController *>(mVehicleConstraint->GetController())->SetRPMMeter(Vec3(0, 2, 0), 0.5f);
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#endif // JPH_DEBUG_RENDERER
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mPhysicsSystem->AddConstraint(mVehicleConstraint);
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mPhysicsSystem->AddStepListener(mVehicleConstraint);
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// Create turret
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RVec3 turret_position = body_position + Vec3(0, half_vehicle_height + half_turret_height, 0);
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BodyCreationSettings turret_body_setings(new BoxShape(Vec3(half_turret_width, half_turret_height, half_turret_length)), turret_position, Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING);
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turret_body_setings.mCollisionGroup.SetGroupFilter(filter);
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turret_body_setings.mCollisionGroup.SetGroupID(0);
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turret_body_setings.mCollisionGroup.SetSubGroupID(0);
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turret_body_setings.mOverrideMassProperties = EOverrideMassProperties::CalculateInertia;
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turret_body_setings.mMassPropertiesOverride.mMass = 2000.0f;
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mTurretBody = mBodyInterface->CreateBody(turret_body_setings);
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mBodyInterface->AddBody(mTurretBody->GetID(), EActivation::Activate);
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// Attach turret to body
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HingeConstraintSettings turret_hinge;
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turret_hinge.mPoint1 = turret_hinge.mPoint2 = body_position + Vec3(0, half_vehicle_height, 0);
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turret_hinge.mHingeAxis1 = turret_hinge.mHingeAxis2 = Vec3::sAxisY();
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turret_hinge.mNormalAxis1 = turret_hinge.mNormalAxis2 = Vec3::sAxisZ();
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turret_hinge.mMotorSettings = MotorSettings(0.5f, 1.0f);
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mTurretHinge = static_cast<HingeConstraint *>(turret_hinge.Create(*mTankBody, *mTurretBody));
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mTurretHinge->SetMotorState(EMotorState::Position);
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mPhysicsSystem->AddConstraint(mTurretHinge);
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// Create barrel
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RVec3 barrel_position = turret_position + Vec3(0, 0, half_turret_length + half_barrel_length - barrel_rotation_offset);
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BodyCreationSettings barrel_body_setings(new CylinderShape(half_barrel_length, barrel_radius), barrel_position, Quat::sRotation(Vec3::sAxisX(), 0.5f * JPH_PI), EMotionType::Dynamic, Layers::MOVING);
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barrel_body_setings.mCollisionGroup.SetGroupFilter(filter);
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barrel_body_setings.mCollisionGroup.SetGroupID(0);
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barrel_body_setings.mCollisionGroup.SetSubGroupID(0);
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barrel_body_setings.mOverrideMassProperties = EOverrideMassProperties::CalculateInertia;
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barrel_body_setings.mMassPropertiesOverride.mMass = 200.0f;
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mBarrelBody = mBodyInterface->CreateBody(barrel_body_setings);
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mBodyInterface->AddBody(mBarrelBody->GetID(), EActivation::Activate);
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// Attach barrel to turret
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HingeConstraintSettings barrel_hinge;
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barrel_hinge.mPoint1 = barrel_hinge.mPoint2 = barrel_position - Vec3(0, 0, half_barrel_length);
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barrel_hinge.mHingeAxis1 = barrel_hinge.mHingeAxis2 = -Vec3::sAxisX();
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barrel_hinge.mNormalAxis1 = barrel_hinge.mNormalAxis2 = Vec3::sAxisZ();
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barrel_hinge.mLimitsMin = DegreesToRadians(-10.0f);
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barrel_hinge.mLimitsMax = DegreesToRadians(40.0f);
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barrel_hinge.mMotorSettings = MotorSettings(10.0f, 1.0f);
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mBarrelHinge = static_cast<HingeConstraint *>(barrel_hinge.Create(*mTurretBody, *mBarrelBody));
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mBarrelHinge->SetMotorState(EMotorState::Position);
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mPhysicsSystem->AddConstraint(mBarrelHinge);
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// Update camera pivot
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mCameraPivot = mTankBody->GetPosition();
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}
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void TankTest::ProcessInput(const ProcessInputParams &inParams)
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{
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const float min_velocity_pivot_turn = 1.0f;
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// Determine acceleration and brake
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mForward = 0.0f;
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mBrake = 0.0f;
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if (inParams.mKeyboard->IsKeyPressed(EKey::RShift))
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mBrake = 1.0f;
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else if (inParams.mKeyboard->IsKeyPressed(EKey::Up))
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mForward = 1.0f;
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else if (inParams.mKeyboard->IsKeyPressed(EKey::Down))
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mForward = -1.0f;
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// Steering
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mLeftRatio = 1.0f;
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mRightRatio = 1.0f;
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float velocity = (mTankBody->GetRotation().Conjugated() * mTankBody->GetLinearVelocity()).GetZ();
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if (inParams.mKeyboard->IsKeyPressed(EKey::Left))
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{
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if (mBrake == 0.0f && mForward == 0.0f && abs(velocity) < min_velocity_pivot_turn)
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{
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// Pivot turn
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mLeftRatio = -1.0f;
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mForward = 1.0f;
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}
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else
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mLeftRatio = 0.6f;
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}
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else if (inParams.mKeyboard->IsKeyPressed(EKey::Right))
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{
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if (mBrake == 0.0f && mForward == 0.0f && abs(velocity) < min_velocity_pivot_turn)
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{
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// Pivot turn
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mRightRatio = -1.0f;
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mForward = 1.0f;
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}
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else
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mRightRatio = 0.6f;
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}
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// Check if we're reversing direction
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if (mPreviousForward * mForward < 0.0f)
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{
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// Get vehicle velocity in local space to the body of the vehicle
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if ((mForward > 0.0f && velocity < -0.1f) || (mForward < 0.0f && velocity > 0.1f))
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{
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// Brake while we've not stopped yet
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mForward = 0.0f;
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mBrake = 1.0f;
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}
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else
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{
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// When we've come to a stop, accept the new direction
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mPreviousForward = mForward;
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}
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}
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// Cast ray to find target
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RRayCast ray { inParams.mCameraState.mPos, 1000.0f * inParams.mCameraState.mForward };
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RayCastSettings ray_settings;
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ClosestHitCollisionCollector<CastRayCollector> collector;
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IgnoreMultipleBodiesFilter body_filter;
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body_filter.Reserve(3);
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body_filter.IgnoreBody(mTankBody->GetID());
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body_filter.IgnoreBody(mTurretBody->GetID());
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body_filter.IgnoreBody(mBarrelBody->GetID());
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mPhysicsSystem->GetNarrowPhaseQuery().CastRay(ray, ray_settings, collector, {}, {}, body_filter);
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RVec3 hit_pos = collector.HadHit()? ray.GetPointOnRay(collector.mHit.mFraction) : ray.mOrigin + ray.mDirection;
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mDebugRenderer->DrawMarker(hit_pos, Color::sGreen, 1.0f);
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// Orient the turret towards the hit position
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RMat44 turret_to_world = mTankBody->GetCenterOfMassTransform() * mTurretHinge->GetConstraintToBody1Matrix();
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Vec3 hit_pos_in_turret = Vec3(turret_to_world.InversedRotationTranslation() * hit_pos);
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mTurretHeading = ATan2(hit_pos_in_turret.GetZ(), hit_pos_in_turret.GetY());
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// Orient barrel towards the hit position
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RMat44 barrel_to_world = mTurretBody->GetCenterOfMassTransform() * mBarrelHinge->GetConstraintToBody1Matrix();
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Vec3 hit_pos_in_barrel = Vec3(barrel_to_world.InversedRotationTranslation() * hit_pos);
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mBarrelPitch = ATan2(hit_pos_in_barrel.GetZ(), hit_pos_in_barrel.GetY());
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// If user wants to fire
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mFire = inParams.mKeyboard->IsKeyPressed(EKey::Return);
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}
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void TankTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
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{
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VehicleTest::PrePhysicsUpdate(inParams);
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const float bullet_radius = 0.061f; // 120 mm
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const Vec3 bullet_pos = Vec3(0, 1.6f, 0);
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const Vec3 bullet_velocity = Vec3(0, 400.0f, 0); // Normal exit velocities are around 1100-1700 m/s, use a lower variable as we have a limit to max velocity (See: https://tanks-encyclopedia.com/coldwar-usa-120mm-gun-tank-m1e1-abrams/)
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const float bullet_mass = 40.0f; // Normal projectile weight is around 7 kg, use an increased value so the momentum is more realistic (with the lower exit velocity)
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const float bullet_reload_time = 2.0f;
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// Update camera pivot
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mCameraPivot = mTankBody->GetPosition();
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// Assure the tank stays active as we're controlling the turret with the mouse
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mBodyInterface->ActivateBody(mTankBody->GetID());
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// Pass the input on to the constraint
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static_cast<TrackedVehicleController *>(mVehicleConstraint->GetController())->SetDriverInput(mForward, mLeftRatio, mRightRatio, mBrake);
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mTurretHinge->SetTargetAngle(mTurretHeading);
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mBarrelHinge->SetTargetAngle(mBarrelPitch);
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// Update reload time
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mReloadTime = max(0.0f, mReloadTime - inParams.mDeltaTime);
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// Shoot bullet
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if (mReloadTime == 0.0f && mFire)
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{
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// Create bullet
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BodyCreationSettings bullet_creation_settings(new SphereShape(bullet_radius), mBarrelBody->GetCenterOfMassTransform() * bullet_pos, Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING);
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bullet_creation_settings.mMotionQuality = EMotionQuality::LinearCast;
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bullet_creation_settings.mFriction = 1.0f;
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bullet_creation_settings.mRestitution = 0.0f;
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bullet_creation_settings.mOverrideMassProperties = EOverrideMassProperties::CalculateInertia;
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bullet_creation_settings.mMassPropertiesOverride.mMass = bullet_mass;
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Body *bullet = mBodyInterface->CreateBody(bullet_creation_settings);
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bullet->SetLinearVelocity(mBarrelBody->GetRotation() * bullet_velocity);
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mBodyInterface->AddBody(bullet->GetID(), EActivation::Activate);
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// Start reloading
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mReloadTime = bullet_reload_time;
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// Apply opposite impulse to turret body
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mBodyInterface->AddImpulse(mTurretBody->GetID(), -bullet->GetLinearVelocity() * bullet_mass);
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}
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// Draw our wheels (this needs to be done in the pre update since we draw the bodies too in the state before the step)
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for (uint w = 0; w < mVehicleConstraint->GetWheels().size(); ++w)
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{
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const WheelSettings *settings = mVehicleConstraint->GetWheels()[w]->GetSettings();
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RMat44 wheel_transform = mVehicleConstraint->GetWheelWorldTransform(w, Vec3::sAxisY(), Vec3::sAxisX()); // The cylinder we draw is aligned with Y so we specify that as rotational axis
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mDebugRenderer->DrawCylinder(wheel_transform, 0.5f * settings->mWidth, settings->mRadius, Color::sGreen);
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}
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}
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void TankTest::SaveState(StateRecorder &inStream) const
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{
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VehicleTest::SaveState(inStream);
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inStream.Write(mReloadTime);
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}
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void TankTest::RestoreState(StateRecorder &inStream)
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{
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VehicleTest::RestoreState(inStream);
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inStream.Read(mReloadTime);
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}
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void TankTest::SaveInputState(StateRecorder &inStream) const
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{
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inStream.Write(mForward);
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inStream.Write(mPreviousForward);
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inStream.Write(mLeftRatio);
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inStream.Write(mRightRatio);
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inStream.Write(mBrake);
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inStream.Write(mTurretHeading);
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inStream.Write(mBarrelPitch);
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inStream.Write(mFire);
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}
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void TankTest::RestoreInputState(StateRecorder &inStream)
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{
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inStream.Read(mForward);
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inStream.Read(mPreviousForward);
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inStream.Read(mLeftRatio);
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inStream.Read(mRightRatio);
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inStream.Read(mBrake);
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inStream.Read(mTurretHeading);
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inStream.Read(mBarrelPitch);
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inStream.Read(mFire);
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}
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void TankTest::GetInitialCamera(CameraState &ioState) const
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{
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// Position camera behind tank
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ioState.mPos = RVec3(0, 4.0f, 0);
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ioState.mForward = Vec3(0, -2.0f, 10.0f).Normalized();
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}
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RMat44 TankTest::GetCameraPivot(float inCameraHeading, float inCameraPitch) const
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{
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// Pivot is center of tank + a distance away from the tank based on the heading and pitch of the camera
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Vec3 fwd = Vec3(Cos(inCameraPitch) * Cos(inCameraHeading), Sin(inCameraPitch), Cos(inCameraPitch) * Sin(inCameraHeading));
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return RMat44::sTranslation(mCameraPivot - 10.0f * fwd);
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}
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