feat: Jolt 物理系统——刚体/碰撞体/物理调试图元 + 引擎时间单源
- PhysicsWorld：Jolt 集成，Dynamic/Kinematic/Static 刚体，姿态写回 Transform（Unity FixedUpdate 语义，吃 scaled dt，暂停自动冻结） - 碰撞体：Box（默认/手动 halfExtents）+ Mesh 碰撞体（Static→精确 MeshShape / Dynamic·Kinematic→ConvexHull，数据源 = Mesh ctor 缓存 的 CPU 位置副本，退化三角剔除，失败回退 Box 并告警） - PhysicsDebugPass：物理调试图元每帧上传绘制（debug_line shader） - Time：引擎时间单源（BeginFrame 落定 FrameTime，scaled/unscaled 分离） - JoltPhysics 以 submodule 接入（官方 url）
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//
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// PhysicsDebugDraw.cpp：回调实现（图元收集）。
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//
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#include <Engine/Physics/PhysicsDebugDraw.h>
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#ifdef JPH_DEBUG_RENDERER
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namespace Engine {
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void PhysicsDebugDraw::DrawLine(JPH::RVec3Arg inFrom, JPH::RVec3Arg inTo,
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JPH::ColorArg inColor)
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{
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const glm::vec4 c = ToGlm(inColor);
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m_Frame.lines.push_back({ToGlm(inFrom), c});
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m_Frame.lines.push_back({ToGlm(inTo), c});
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}
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void PhysicsDebugDraw::DrawTriangle(JPH::RVec3Arg inV1, JPH::RVec3Arg inV2,
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JPH::RVec3Arg inV3,
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JPH::ColorArg inColor,
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JPH::DebugRenderer::ECastShadow /*inCastShadow*/)
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{
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// 纯收集：实心面留待后续（线框模式下本回调不触发——
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// DebugRendererSimple::DrawGeometry 的 Wireframe 分支走 DrawLine）
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const glm::vec4 c = ToGlm(inColor);
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m_Frame.triangles.push_back({ToGlm(inV1), c});
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m_Frame.triangles.push_back({ToGlm(inV2), c});
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m_Frame.triangles.push_back({ToGlm(inV3), c});
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}
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} // namespace Engine
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#endif // JPH_DEBUG_RENDERER
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@@ -0,0 +1,634 @@
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//
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// PhysicsWorld.cpp：Jolt 后端实现。层配置/类型注册/对账/写回。
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//
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#include <Engine/Physics/PhysicsWorld.h>
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#include <Engine/Core/Log.h>
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#include <Engine/ECS/Components.h>
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#include <Engine/ECS/Scene.h>
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#include <Jolt/RegisterTypes.h>
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#include <Jolt/Core/Factory.h>
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#include <Jolt/Physics/Body/BodyCreationSettings.h>
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#include <Jolt/Physics/Body/BodyInterface.h>
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#include <Jolt/Physics/Collision/Shape/BoxShape.h>
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#include <Jolt/Physics/Collision/Shape/SphereShape.h>
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#include <Jolt/Physics/Collision/Shape/MeshShape.h>
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#include <Jolt/Physics/Collision/Shape/ConvexHullShape.h>
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#include <Engine/Assets/AssetManager.h>
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#include <Engine/Renderer/Model.h>
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#include <glm/gtc/quaternion.hpp>
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#include <Jolt/Physics/Collision/ContactListener.h>
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#include <Jolt/Physics/Collision/NarrowPhaseQuery.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/Physics/Body/BodyLock.h>
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#include <glm/gtc/quaternion.hpp>
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#include <algorithm>
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#include <mutex>
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#include <thread>
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namespace Engine {
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namespace {
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// ---- 层配置：MVP 两层（非移动/移动），扩软体/传感器时再分层 ----
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constexpr JPH::ObjectLayer LAYER_NON_MOVING{0};
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constexpr JPH::ObjectLayer LAYER_MOVING{1};
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constexpr JPH::BroadPhaseLayer BP_NON_MOVING{0};
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constexpr JPH::BroadPhaseLayer BP_MOVING{1};
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// ObjectLayer → BroadPhaseLayer 映射
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class BPLayerInterfaceImpl final : public JPH::BroadPhaseLayerInterface {
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public:
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JPH::uint GetNumBroadPhaseLayers() const override { return 2; }
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JPH::BroadPhaseLayer GetBroadPhaseLayer(JPH::ObjectLayer layer) const override {
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return layer == LAYER_NON_MOVING ? BP_NON_MOVING : BP_MOVING;
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}
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#if defined(JPH_EXTERNAL_PROFILE) || defined(JPH_PROFILE_ENABLED)
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const char *GetBroadPhaseLayerName(JPH::BroadPhaseLayer) const override {
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return "BP";
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}
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#endif
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};
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class ObjectVsBPLayerFilterImpl final : public JPH::ObjectVsBroadPhaseLayerFilter {
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public:
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bool ShouldCollide(JPH::ObjectLayer, JPH::BroadPhaseLayer) const override {
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return true; // MVP 全放行
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}
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};
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class ObjectLayerPairFilterImpl final : public JPH::ObjectLayerPairFilter {
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public:
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bool ShouldCollide(JPH::ObjectLayer a, JPH::ObjectLayer b) const override {
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switch (a) {
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case LAYER_NON_MOVING: return b == LAYER_MOVING;
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case LAYER_MOVING: return true; // 动体与静/动都碰
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default: return false;
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}
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}
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};
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// 引擎 Compose() 的旋转合成是 Ry·Rx·Rz（YXZ 序，见 Components.h）——
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// 物理写回必须按同约定分解欧拉角，否则体素会随写回帧帧漂移。
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// R = Ry(y)·Rx(x)·Rz(z) 的矩阵展开（0 基）：
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// M12 = -sx → x = asin(-M12)；否则 y = atan2(M02, M22)，z = atan2(M10, M11)
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glm::vec3 QuatToEulerYXZ(const JPH::Quat &q) {
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const glm::quat gq(q.GetW(), q.GetX(), q.GetY(), q.GetZ());
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const glm::mat3 m = glm::mat3(gq); // glm 列主序：m[col][row]
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// 数学记法 M[row][col]：M12 = m[2][1]，M02 = m[2][0]，M10 = m[0][1] …
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const f32 m12 = m[2][1];
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const f32 m02 = m[2][0];
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const f32 m22 = m[2][2];
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const f32 m10 = m[0][1];
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const f32 m11 = m[1][1];
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const f32 m01 = m[1][0];
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const f32 sinX = std::clamp(-m12, -1.0f, 1.0f);
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const f32 x = std::asin(sinX);
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if (std::abs(sinX) < 0.9999f) {
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return {
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glm::degrees(x),
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glm::degrees(std::atan2(m02, m22)),
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glm::degrees(std::atan2(m10, m11))
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};
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}
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// 万向锁（x=±90°）：z 并入 y，取 z=0，y = atan2(M01, M02)
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return {
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glm::degrees(x),
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glm::degrees(std::atan2(m01, m02)),
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0.0f
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};
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}
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// 与 QuatToEulerYXZ 互逆：q = qy(y)·qx(x)·qz(z) ≡ Ry·Rx·Rz
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//（不能用 glm::quat(euler) ctor——那是 ZYX 航向序，语义不同）
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JPH::Quat EulerYXZToQuat(const glm::vec3 &eulerDeg) {
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const glm::quat qx = glm::angleAxis(glm::radians(eulerDeg.x), glm::vec3(1, 0, 0));
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const glm::quat qy = glm::angleAxis(glm::radians(eulerDeg.y), glm::vec3(0, 1, 0));
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const glm::quat qz = glm::angleAxis(glm::radians(eulerDeg.z), glm::vec3(0, 0, 1));
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const glm::quat q = qy * qx * qz;
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return {q.x, q.y, q.z, q.w};
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}
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} // namespace
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// ---- 碰撞事件监听：回调在 Update 内多线程并发，只读 body、加锁入队 ----
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class PhysicsWorld::ContactListenerImpl final : public JPH::ContactListener {
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public:
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explicit ContactListenerImpl(PhysicsWorld &owner) : m_Owner(owner) {}
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void OnContactAdded(const JPH::Body &b1, const JPH::Body &b2,
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const JPH::ContactManifold &manifold,
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JPH::ContactSettings &) override {
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Record(CollisionEvent::Kind::Added, b1, b2, manifold);
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}
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void OnContactPersisted(const JPH::Body &b1, const JPH::Body &b2,
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const JPH::ContactManifold &manifold,
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JPH::ContactSettings &) override {
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Record(CollisionEvent::Kind::Persisted, b1, b2, manifold);
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}
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void OnContactRemoved(const JPH::SubShapeIDPair &pair) override {
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// body 可能已销毁（GetUserData 不可用）→ BodyID 反查实体；
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// 主线程阻塞在 Update 内，m_Bodies 此刻稳定
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u32 a = 0, b = 0;
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if (!m_Owner.TryBitsByBodyId(pair.GetBody1ID(), a) ||
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!m_Owner.TryBitsByBodyId(pair.GetBody2ID(), b)) {
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return; // 一端已随实体移除，事件无意义
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}
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m_Owner.QueueEvent({a, b, CollisionEvent::Kind::Removed, {}, {}});
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}
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private:
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void Record(CollisionEvent::Kind kind, const JPH::Body &b1,
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const JPH::Body &b2, const JPH::ContactManifold &manifold) {
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CollisionEvent ev;
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ev.kind = kind;
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ev.a = static_cast<u32>(b1.GetUserData());
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ev.b = static_cast<u32>(b2.GetUserData());
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if (!manifold.mRelativeContactPointsOn1.empty()) {
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const JPH::RVec3 p = manifold.GetWorldSpaceContactPointOn1(0);
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ev.point = {p.GetX(), p.GetY(), p.GetZ()};
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}
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const JPH::Vec3 n = manifold.mWorldSpaceNormal;
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ev.normal = {n.GetX(), n.GetY(), n.GetZ()};
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m_Owner.QueueEvent(std::move(ev));
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}
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PhysicsWorld &m_Owner;
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};
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// ---- 生命周期 ----
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PhysicsWorld::PhysicsWorld(ECS::Scene &scene, Assets::AssetManager *assets)
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: m_Scene(scene), m_Assets(assets) {
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static std::once_flag s_JoltOnce;
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std::call_once(s_JoltOnce, [] {
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JPH::RegisterDefaultAllocator();
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JPH::Factory::sInstance = new JPH::Factory();
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JPH::RegisterTypes();
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});
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// 调试收集器必须在分配器注册之后构造：DebugRendererSimple 构造即
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// Initialize() 预烘焙通用几何（STLAllocator 走 JPH 函数指针），若作
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// 直接成员会先于 call_once 构造 → 函数指针未注册 → SIGSEGV at 0x0
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m_DebugDraw = CreateScope<PhysicsDebugDraw>();
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m_TempAllocator = CreateScope<JPH::TempAllocatorImpl>(16 * 1024 * 1024);
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const u32 threads = std::max(1u, std::thread::hardware_concurrency() - 1);
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m_JobSystem = CreateScope<JPH::JobSystemThreadPool>(
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JPH::cMaxPhysicsJobs, JPH::cMaxPhysicsBarriers, static_cast<int>(threads));
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m_BPLayerInterface = CreateScope<BPLayerInterfaceImpl>();
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m_ObjectVsBPLayerFilter = CreateScope<ObjectVsBPLayerFilterImpl>();
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m_ObjectVsObjectLayerFilter = CreateScope<ObjectLayerPairFilterImpl>();
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m_System = CreateScope<JPH::PhysicsSystem>();
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m_System->Init(4096, 0, 16384, 4096,
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*m_BPLayerInterface, *m_ObjectVsBPLayerFilter,
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*m_ObjectVsObjectLayerFilter);
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m_System->SetGravity(JPH::Vec3(0.0f, -9.81f, 0.0f));
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// 碰撞事件监听（ctor 不走 JPH 分配器，仍保持"分配器后构造"纪律）
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m_ContactListener = CreateScope<ContactListenerImpl>(*this);
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m_System->SetContactListener(m_ContactListener.get());
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#ifdef JPH_DEBUG_RENDERER
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// 调试收集器安装为 Jolt 全局渲染后端（DrawBodies/约束/软体全走这里）
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JPH::DebugRenderer::sInstance = m_DebugDraw.get();
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#endif
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ENGINE_INFO("PhysicsWorld initialized (Jolt {} threads)", threads);
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}
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PhysicsWorld::~PhysicsWorld() {
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// 先析构调试收集器：~DebugRenderer 会断言 sInstance==this 并清空、
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// 释放烘焙几何——必须先于 UnregisterTypes
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m_DebugDraw.reset();
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m_Bodies.clear();
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m_ContactListener.reset(); // 监听器先于 system 析构（持 m_Owner 引用）
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m_System.reset();
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// 单世界假设：进程退出时统一反注册（多世界时改为引用计数）
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JPH::UnregisterTypes();
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delete JPH::Factory::sInstance;
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JPH::Factory::sInstance = nullptr;
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}
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// ---- 步进：定步长 accumulator ----
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void PhysicsWorld::Step(f32 dt) {
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if (!m_Enabled) {
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m_Accumulator = 0.0f;
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m_DebugDraw->Frame().Clear(); // 物理关：清残留图元（防旧帧闪烁）
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m_PendingEvents.clear();
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return;
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}
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// 事件队列每渲染帧清一次 → GetEvents 语义 = 最近一次步进的事件
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m_PendingEvents.clear();
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SyncScene(); // 每帧对账（编辑器改参数/加删实体即时生效）
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constexpr f32 kFixedDt = 1.0f / 60.0f;
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constexpr int kMaxSubSteps = 4;
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m_Accumulator += dt;
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int steps = static_cast<int>(m_Accumulator / kFixedDt);
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if (steps > 0) {
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steps = std::min(steps, kMaxSubSteps);
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m_Accumulator -= static_cast<f32>(steps) * kFixedDt;
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// 丢弃多余积压（卡顿后不追帧，防螺旋死亡）
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m_Accumulator = std::min(m_Accumulator, kFixedDt);
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m_System->Update(kFixedDt, steps, m_TempAllocator.get(), m_JobSystem.get());
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Writeback();
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UpdateAccels(kFixedDt); // 速度差分 → 加速度（step 率采样一次）
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}
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// 调试收集按渲染帧率跑（无步进帧也重画，箭头不闪）；全关时清空
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if (m_DebugBits != 0) {
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CollectDebugData();
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} else {
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m_DebugDraw->Frame().Clear();
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}
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}
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// ---- 物理调试可视化 ----
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void PhysicsWorld::UpdateAccels(f32 dt) {
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auto &bi = m_System->GetBodyInterface();
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for (auto &[bits, rec]: m_Bodies) {
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if (rec.type != static_cast<u8>(ECS::RigidBodyComponent::BodyType::Dynamic)) {
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continue;
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}
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const JPH::Vec3 v = bi.GetLinearVelocity(rec.id);
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const glm::vec3 gv(v.GetX(), v.GetY(), v.GetZ());
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const glm::vec3 instAccel = (gv - rec.prevVel) / dt;
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// 轻度 EMA：积分噪声被滤掉，碰撞冲量的单步尖峰仍然保留
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rec.lastAccel = glm::mix(rec.lastAccel, instAccel, 0.35f);
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rec.prevVel = gv;
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}
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}
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void PhysicsWorld::CollectDebugData() {
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m_DebugDraw->BeginCollect();
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// 1) Jolt 原生：collider 线框 + 速度箭头（软体 mDrawSoftBody* 后续加这里）
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if ((m_DebugBits & (kPhyDbgColliders | kPhyDbgVelocity)) != 0) {
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JPH::BodyManager::DrawSettings ds;
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ds.mDrawShape = (m_DebugBits & kPhyDbgColliders) != 0;
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ds.mDrawShapeWireframe = true;
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ds.mDrawVelocity = (m_DebugBits & kPhyDbgVelocity) != 0;
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m_System->DrawBodies(ds, m_DebugDraw.get());
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}
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// 2) 约束（关节；软体/载具约束接入后自动生效）
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if ((m_DebugBits & kPhyDbgConstraints) != 0) {
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m_System->DrawConstraints(m_DebugDraw.get());
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}
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// 3) 手绘箭头（Jolt 无现成 API）：重力 = 常量方向指示（长度固定），
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// 加速度 = 速度差分（方向/长度随值，静止噪声阈值截断）
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auto &bi = m_System->GetBodyInterface();
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const JPH::Vec3 gravity = m_System->GetGravity();
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constexpr f32 kGravityLen = 1.0f; // 世界单位
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constexpr f32 kAccelScale = 0.05f;
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constexpr f32 kAccelMaxLen = 2.0f;
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const JPH::Color kGravityColor(220, 60, 60); // 红：重力
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const JPH::Color kAccelColor(255, 170, 40); // 橙：加速度
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for (auto &[bits, rec]: m_Bodies) {
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if (rec.type != static_cast<u8>(ECS::RigidBodyComponent::BodyType::Dynamic)) {
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continue;
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}
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const JPH::RVec3 com = bi.GetCenterOfMassPosition(rec.id);
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if ((m_DebugBits & kPhyDbgGravity) != 0) {
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const JPH::Vec3 g = gravity * bi.GetGravityFactor(rec.id);
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const f32 len = g.Length();
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if (len > 1e-4f) {
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const JPH::RVec3 tip = com + JPH::RVec3(g * (kGravityLen / len));
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m_DebugDraw->DrawArrow(com, tip, kGravityColor, kGravityLen * 0.12f);
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}
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}
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if ((m_DebugBits & kPhyDbgAccel) != 0) {
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const f32 mag = glm::length(rec.lastAccel);
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if (mag > 0.05f) {
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const glm::vec3 dir = rec.lastAccel / mag;
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const f32 len = std::min(mag * kAccelScale, kAccelMaxLen);
|
||||
const JPH::RVec3 tip =
|
||||
com + JPH::RVec3(dir.x, dir.y, dir.z) * len;
|
||||
m_DebugDraw->DrawArrow(
|
||||
com, tip, kAccelColor, std::max(len * 0.15f, 0.05f));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 释放上一帧缓存不再引用的通用几何 batch（DebugRenderer 内部池）
|
||||
m_DebugDraw->NextFrame();
|
||||
}
|
||||
|
||||
// ---- 对账 ----
|
||||
|
||||
void PhysicsWorld::SyncScene() {
|
||||
auto ® = m_Scene.GetRegistry();
|
||||
auto &bi = m_System->GetBodyInterface();
|
||||
|
||||
// 1. 孤儿清理：实体销毁 / 组件被移除 → 移除 body
|
||||
for (auto it = m_Bodies.begin(); it != m_Bodies.end();) {
|
||||
const auto e = static_cast<entt::entity>(it->first);
|
||||
if (!reg.valid(e) ||
|
||||
!reg.all_of<ECS::RigidBodyComponent, ECS::TransformComponent>(e)) {
|
||||
bi.RemoveBody(it->second.id);
|
||||
bi.DestroyBody(it->second.id);
|
||||
it = m_Bodies.erase(it);
|
||||
} else {
|
||||
++it;
|
||||
}
|
||||
}
|
||||
|
||||
// 2. 遍历：缺失 → 创建；参数变更 → 重建；静态/运动学拖动 → 同步进 body
|
||||
auto view = reg.view<ECS::RigidBodyComponent, ECS::TransformComponent>();
|
||||
for (auto [e, rb, tr]: view.each()) {
|
||||
const u32 bits = static_cast<u32>(entt::to_integral(e));
|
||||
const auto found = m_Bodies.find(bits);
|
||||
if (found == m_Bodies.end() || !rb.bodyValid) {
|
||||
if (found != m_Bodies.end()) {
|
||||
bi.RemoveBody(found->second.id);
|
||||
bi.DestroyBody(found->second.id);
|
||||
m_Bodies.erase(found);
|
||||
}
|
||||
CreateBody(bits, rb, tr);
|
||||
continue;
|
||||
}
|
||||
|
||||
auto &rec = found->second; // 非 const：静态/运动体拖动时更新 lastPos/lastRot
|
||||
if (rec.type != static_cast<u8>(rb.type) ||
|
||||
rec.collider != static_cast<u8>(rb.collider) ||
|
||||
rec.colliderSize != rb.boxHalfExtents ||
|
||||
rec.radius != rb.sphereRadius ||
|
||||
rec.mass != rb.mass ||
|
||||
rec.isSensor != rb.isSensor) {
|
||||
// 类型/碰撞体/质量变更 → 重建（简单正确，重置速度可接受）
|
||||
bi.RemoveBody(rec.id);
|
||||
bi.DestroyBody(rec.id);
|
||||
m_Bodies.erase(found);
|
||||
rb.bodyValid = false;
|
||||
CreateBody(bits, rb, tr);
|
||||
continue;
|
||||
}
|
||||
|
||||
const JPH::BodyID id(rec.id);
|
||||
bi.SetFriction(id, rb.friction);
|
||||
bi.SetRestitution(id, rb.restitution);
|
||||
if (rb.type == ECS::RigidBodyComponent::BodyType::Dynamic) {
|
||||
bi.SetGravityFactor(id, rb.gravityScale);
|
||||
} else if (rec.lastPos != tr.GetPosition() ||
|
||||
rec.lastRot != tr.GetRotation()) {
|
||||
// 编辑器拖动静态/运动学体 → 传送 body
|
||||
bi.SetPositionAndRotation(id,
|
||||
JPH::RVec3(tr.GetPosition().x, tr.GetPosition().y, tr.GetPosition().z),
|
||||
EulerYXZToQuat(tr.GetRotation()),
|
||||
JPH::EActivation::DontActivate);
|
||||
rec.lastPos = tr.GetPosition();
|
||||
rec.lastRot = tr.GetRotation();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ---- Mesh 碰撞体：视觉网格 → Jolt 形状 ----
|
||||
|
||||
JPH::RefConst<JPH::Shape> PhysicsWorld::BuildMeshShape(
|
||||
u32 entityBits, ECS::RigidBodyComponent &rb, ECS::TransformComponent &tr) {
|
||||
// 同实体 MeshRenderer 提供网格；缺失 → 回退（CreateBody 判 null 走 Box）
|
||||
auto *mc = m_Scene.GetRegistry().try_get<ECS::MeshRendererComponent>(
|
||||
static_cast<entt::entity>(entityBits));
|
||||
if (m_Assets == nullptr || mc == nullptr) {
|
||||
return nullptr;
|
||||
}
|
||||
const Model *model = m_Assets->GetModel(mc->model);
|
||||
if (model == nullptr) {
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
// 缩放烘进顶点：Jolt shape 无缩放语义，body 只吃 pos/rot
|
||||
const glm::vec3 s = tr.GetScale();
|
||||
|
||||
// 动态/运动体 → ConvexHull（MeshShape 三角网格太贵，Jolt 不允许动）
|
||||
if (rb.type != ECS::RigidBodyComponent::BodyType::Static) {
|
||||
JPH::ConvexHullShapeSettings cs;
|
||||
for (const auto &mesh: model->GetMeshes()) {
|
||||
for (const auto &p: mesh->GetCpuPositions()) {
|
||||
cs.mPoints.emplace_back(p.x * s.x, p.y * s.y, p.z * s.z);
|
||||
}
|
||||
}
|
||||
if (cs.mPoints.size() < 4) {
|
||||
return nullptr; // 凸包至少 4 点
|
||||
}
|
||||
const JPH::Shape::ShapeResult res = cs.Create();
|
||||
if (res.HasError()) {
|
||||
ENGINE_WARN("[Physics] ConvexHull build failed: {}",
|
||||
res.GetError().c_str());
|
||||
return nullptr;
|
||||
}
|
||||
return res.Get();
|
||||
}
|
||||
|
||||
// 静态体 → MeshShape 精确三角网格（各 mesh 顶点拼接，索引加基址偏移）
|
||||
JPH::VertexList verts;
|
||||
JPH::IndexedTriangleList tris;
|
||||
u32 base = 0;
|
||||
for (const auto &mesh: model->GetMeshes()) {
|
||||
const auto &pos = mesh->GetCpuPositions();
|
||||
const auto &idx = mesh->GetCpuIndices();
|
||||
verts.reserve(verts.size() + pos.size());
|
||||
for (const auto &p: pos) {
|
||||
verts.push_back(JPH::Float3(p.x * s.x, p.y * s.y, p.z * s.z));
|
||||
}
|
||||
tris.reserve(tris.size() + idx.size() / 3);
|
||||
for (size_t i = 0; i + 2 < idx.size(); i += 3) {
|
||||
// 退化三角（两索引相同）剔除：MeshShape 构建会因退化报错
|
||||
if (idx[i] != idx[i + 1] && idx[i] != idx[i + 2] &&
|
||||
idx[i + 1] != idx[i + 2]) {
|
||||
tris.emplace_back(idx[i], idx[i + 1], idx[i + 2],
|
||||
static_cast<u32>(0), base);
|
||||
}
|
||||
}
|
||||
base += static_cast<u32>(pos.size());
|
||||
}
|
||||
if (tris.empty()) {
|
||||
return nullptr;
|
||||
}
|
||||
JPH::MeshShapeSettings ms(std::move(verts), std::move(tris));
|
||||
const JPH::Shape::ShapeResult res = ms.Create();
|
||||
if (res.HasError()) {
|
||||
ENGINE_WARN("[Physics] MeshShape build failed: {}",
|
||||
res.GetError().c_str());
|
||||
return nullptr;
|
||||
}
|
||||
return res.Get();
|
||||
}
|
||||
|
||||
void PhysicsWorld::CreateBody(u32 entityBits, ECS::RigidBodyComponent &rb,
|
||||
ECS::TransformComponent &tr) {
|
||||
auto &bi = m_System->GetBodyInterface();
|
||||
|
||||
// 碰撞体：组件显式尺寸 × Transform 缩放（形状按单位尺度烹饪 +
|
||||
// ScaledShape 的优化留给 ShapeCache 阶段；MVP 直接带缩放建形状）
|
||||
JPH::RefConst<JPH::Shape> shape;
|
||||
if (rb.collider == ECS::RigidBodyComponent::ColliderType::Sphere) {
|
||||
const f32 scale = std::max({tr.GetScale().x, tr.GetScale().y, tr.GetScale().z});
|
||||
shape = new JPH::SphereShape(std::max(rb.sphereRadius * scale, 0.01f));
|
||||
} else if (rb.collider == ECS::RigidBodyComponent::ColliderType::Mesh) {
|
||||
// Mesh 碰撞体：实体 MeshRenderer 的视觉网格（Unity MeshCollider
|
||||
// 语义）。缩放烘进顶点（Jolt shape 无缩放）；Static → MeshShape
|
||||
// 精确三角网格，Dynamic/Kinematic → ConvexHull（MeshShape 太贵
|
||||
// 不能动）。无 MeshRenderer/空网格回退 Box 并告警
|
||||
shape = BuildMeshShape(entityBits, rb, tr);
|
||||
if (shape == nullptr) {
|
||||
shape = new JPH::BoxShape(JPH::Vec3(
|
||||
std::max(rb.boxHalfExtents.x * tr.GetScale().x, 0.01f),
|
||||
std::max(rb.boxHalfExtents.y * tr.GetScale().y, 0.01f),
|
||||
std::max(rb.boxHalfExtents.z * tr.GetScale().z, 0.01f)));
|
||||
}
|
||||
} else {
|
||||
shape = new JPH::BoxShape(JPH::Vec3(
|
||||
std::max(rb.boxHalfExtents.x * tr.GetScale().x, 0.01f),
|
||||
std::max(rb.boxHalfExtents.y * tr.GetScale().y, 0.01f),
|
||||
std::max(rb.boxHalfExtents.z * tr.GetScale().z, 0.01f)));
|
||||
}
|
||||
|
||||
const bool dynamic = rb.type == ECS::RigidBodyComponent::BodyType::Dynamic;
|
||||
const bool kinematic = rb.type == ECS::RigidBodyComponent::BodyType::Kinematic;
|
||||
JPH::BodyCreationSettings settings(
|
||||
shape,
|
||||
JPH::RVec3(tr.GetPosition().x, tr.GetPosition().y, tr.GetPosition().z),
|
||||
EulerYXZToQuat(tr.GetRotation()),
|
||||
dynamic
|
||||
? JPH::EMotionType::Dynamic
|
||||
: (kinematic
|
||||
? JPH::EMotionType::Kinematic
|
||||
: JPH::EMotionType::Static),
|
||||
(dynamic || kinematic) ? LAYER_MOVING : LAYER_NON_MOVING);
|
||||
|
||||
if (dynamic) {
|
||||
settings.mAllowSleeping = true;
|
||||
settings.mGravityFactor = rb.gravityScale;
|
||||
settings.mLinearDamping = 0.05f;
|
||||
settings.mAngularDamping = 0.05f;
|
||||
settings.mOverrideMassProperties = JPH::EOverrideMassProperties::CalculateInertia;
|
||||
settings.mMassPropertiesOverride.mMass = std::max(rb.mass, 1e-3f);
|
||||
}
|
||||
settings.mFriction = rb.friction;
|
||||
settings.mRestitution = rb.restitution;
|
||||
settings.mUserData = entityBits; // 事件回调：Body → 实体位模式反查
|
||||
settings.mIsSensor = rb.isSensor; // 传感器：只收 Added/Removed，不解算
|
||||
|
||||
const JPH::BodyID id = bi.CreateAndAddBody(
|
||||
settings, dynamic ? JPH::EActivation::Activate : JPH::EActivation::DontActivate);
|
||||
|
||||
BodyRecord rec;
|
||||
rec.id = id;
|
||||
rec.type = static_cast<u8>(rb.type);
|
||||
rec.collider = static_cast<u8>(rb.collider);
|
||||
rec.colliderSize = rb.boxHalfExtents;
|
||||
rec.radius = rb.sphereRadius;
|
||||
rec.mass = rb.mass;
|
||||
rec.isSensor = rb.isSensor;
|
||||
rec.lastPos = tr.GetPosition();
|
||||
rec.lastRot = tr.GetRotation();
|
||||
m_Bodies[entityBits] = rec;
|
||||
|
||||
rb.bodyId = id.GetIndexAndSequenceNumber();
|
||||
rb.bodyValid = true;
|
||||
}
|
||||
|
||||
void PhysicsWorld::RemoveBody(const u32 entityBits) {
|
||||
const auto found = m_Bodies.find(entityBits);
|
||||
if (found == m_Bodies.end()) return;
|
||||
auto &bi = m_System->GetBodyInterface();
|
||||
bi.RemoveBody(found->second.id);
|
||||
bi.DestroyBody(found->second.id);
|
||||
m_Bodies.erase(found);
|
||||
}
|
||||
|
||||
// ---- 碰撞事件队列 ----
|
||||
|
||||
void PhysicsWorld::QueueEvent(CollisionEvent &&ev) {
|
||||
std::lock_guard lock(m_EventMutex);
|
||||
m_PendingEvents.push_back(std::move(ev));
|
||||
}
|
||||
|
||||
bool PhysicsWorld::TryBitsByBodyId(const JPH::BodyID &id, u32 &outBits) const {
|
||||
for (const auto &[bits, rec]: m_Bodies) {
|
||||
if (rec.id == id) {
|
||||
outBits = bits;
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
// ---- 射线查询 ----
|
||||
|
||||
bool PhysicsWorld::RayCast(const glm::vec3 &origin, const glm::vec3 &dir,
|
||||
const f32 maxDist, RayHit &outHit) const {
|
||||
const f32 len = glm::length(dir);
|
||||
if (len < 1e-8f) return false;
|
||||
|
||||
// RRayCast 的 direction 长度 = 射线长度（超出部分不报告命中）
|
||||
const JPH::RRayCast ray(
|
||||
JPH::RVec3(origin.x, origin.y, origin.z),
|
||||
JPH::Vec3(dir.x / len, dir.y / len, dir.z / len) * maxDist);
|
||||
|
||||
JPH::RayCastResult hit;
|
||||
if (!m_System->GetNarrowPhaseQuery().CastRay(ray, hit)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// 法线需读 body（locking 接口，主线程安全）；body 已销毁则丢弃
|
||||
const JPH::RVec3 point = ray.GetPointOnRay(hit.mFraction);
|
||||
JPH::BodyLockRead lock(m_System->GetBodyLockInterface(), hit.mBodyID);
|
||||
if (!lock.Succeeded()) return false;
|
||||
const JPH::Vec3 n =
|
||||
lock.GetBody().GetWorldSpaceSurfaceNormal(hit.mSubShapeID2, point);
|
||||
|
||||
u32 bits = 0;
|
||||
if (!TryBitsByBodyId(hit.mBodyID, bits)) return false;
|
||||
|
||||
outHit.entityBits = bits;
|
||||
outHit.point = {point.GetX(), point.GetY(), point.GetZ()};
|
||||
outHit.normal = {n.GetX(), n.GetY(), n.GetZ()};
|
||||
outHit.distance = hit.mFraction * maxDist;
|
||||
return true;
|
||||
}
|
||||
|
||||
// ---- 写回：动态体姿态 → Transform（标脏，帧循环统一 Compose）----
|
||||
|
||||
void PhysicsWorld::Writeback() const {
|
||||
auto ® = m_Scene.GetRegistry();
|
||||
const auto &bi = m_System->GetBodyInterface();
|
||||
|
||||
const auto view = reg.view<ECS::RigidBodyComponent, ECS::TransformComponent>();
|
||||
for (auto [e, rb, tr]: view.each()) {
|
||||
if (!rb.bodyValid ||
|
||||
rb.type != ECS::RigidBodyComponent::BodyType::Dynamic) {
|
||||
continue; // 静态/运动学体的 Transform 由编辑器驱动
|
||||
}
|
||||
const JPH::BodyID id(rb.bodyId);
|
||||
const JPH::RVec3 pos = bi.GetPosition(id);
|
||||
const JPH::Quat rot = bi.GetRotation(id);
|
||||
tr.SetPosition(glm::vec3(pos.GetX(), pos.GetY(), pos.GetZ()));
|
||||
tr.SetRotation(QuatToEulerYXZ(rot));
|
||||
|
||||
const JPH::Vec3 vel = bi.GetLinearVelocity(id);
|
||||
rb.velocity = glm::vec3(vel.GetX(), vel.GetY(), vel.GetZ());
|
||||
}
|
||||
}
|
||||
} // namespace Engine
|
||||
Reference in New Issue
Block a user