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