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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// PhysicsDebugPass.cpp：pass 装配（shader object + ring VB 上传）与录制。
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//
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#include <Engine/Renderer/Passes/PhysicsDebugPass.h>
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#include <Engine/Physics/PhysicsDebugTypes.h>
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#include <Engine/Vulkan/Device.h>
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#include <Engine/Vulkan/DescriptorManager.h>
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#include <Engine/Vulkan/ShaderManager.h>
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#include <Engine/Core/Log.h>
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#include <glm/glm.hpp>
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#include <tracy/Tracy.hpp>
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#include <array>
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#include <cstddef>
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namespace Engine::Passes
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{
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namespace
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{
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// 顶点布局：location0 = pos(vec3)，location1 = color(vec4)
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//（setVertexInputEXT 走 2EXT 结构，与 Vertex.h 同一套）
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vk::VertexInputBindingDescription2EXT MakeBinding()
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{
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vk::VertexInputBindingDescription2EXT b;
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b.setBinding(0)
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.setStride(sizeof(PhysicsDebugVertex))
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.setInputRate(vk::VertexInputRate::eVertex)
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.setDivisor(1); // 0 需 zeroDivisor feature（VUID-04798）
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return b;
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}
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std::array<vk::VertexInputAttributeDescription2EXT, 2> MakeAttributes()
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{
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std::array<vk::VertexInputAttributeDescription2EXT, 2> a;
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a[0].setLocation(0).setBinding(0)
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.setFormat(vk::Format::eR32G32B32Sfloat)
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.setOffset(offsetof(PhysicsDebugVertex, pos));
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a[1].setLocation(1).setBinding(0)
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.setFormat(vk::Format::eR32G32B32A32Sfloat)
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.setOffset(offsetof(PhysicsDebugVertex, color));
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return a;
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}
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// 直写方程：(ONE, ZERO) → dst = src，数学上等价于无混合
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vk::ColorBlendEquationEXT MakeDirectEquation()
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{
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vk::ColorBlendEquationEXT eq;
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eq.setSrcColorBlendFactor(vk::BlendFactor::eOne)
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.setDstColorBlendFactor(vk::BlendFactor::eZero)
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.setColorBlendOp(vk::BlendOp::eAdd)
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.setSrcAlphaBlendFactor(vk::BlendFactor::eOne)
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.setDstAlphaBlendFactor(vk::BlendFactor::eZero)
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.setAlphaBlendOp(vk::BlendOp::eAdd);
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return eq;
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}
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} // namespace
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PhysicsDebugPass::PhysicsDebugPass(Device& device, MemoryAllocator& /*allocator*/,
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ShaderManager& shaders,
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DescriptorManager& descriptors,
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FrameSceneData& frame,
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RG::TextureHandle hdrColor,
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RG::TextureHandle depth,
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UniformBuffer& lineVB, UniformBuffer& triVB)
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: m_Device(device), m_Descriptors(descriptors), m_Frame(frame),
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m_HDRColor(hdrColor), m_Depth(depth), m_LineVB(lineVB), m_TriVB(triVB)
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{
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// 无描述符 set：viewProj 走 push constant（shader 侧声明一致）
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m_Layout = descriptors.CreatePipelineLayout(
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std::vector<vk::DescriptorSetLayout>{}, sizeof(glm::mat4));
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const std::string shaderDir = "shaders/";
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auto vert = shaders.CreateFromFile(
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shaderDir + "debug_line.vert.spv",
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vk::ShaderStageFlagBits::eVertex,
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std::vector<vk::DescriptorSetLayout>{},
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sizeof(glm::mat4));
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auto frag = shaders.CreateFromFile(
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shaderDir + "debug_line.frag.spv",
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vk::ShaderStageFlagBits::eFragment,
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std::vector<vk::DescriptorSetLayout>{},
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sizeof(glm::mat4));
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m_Vert = vert.Handle;
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m_Frag = frag.Handle;
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if (!m_Vert || !m_Frag) {
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ENGINE_FATAL("PhysicsDebugPass: failed to create shader objects");
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}
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}
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PhysicsDebugPass::~PhysicsDebugPass()
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{
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const auto& vkDevice = m_Device.GetDevice();
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if (m_Vert) vkDevice.destroyShaderEXT(m_Vert);
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if (m_Frag) vkDevice.destroyShaderEXT(m_Frag);
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vkDevice.destroyPipelineLayout(m_Layout);
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}
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void PhysicsDebugPass::PrepareFrame(u32 frameSlot,
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const PhysicsDebugFrame& src)
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{
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// 预算截断：物理调试不应打满（打满说明该收敛可视化了）
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const u32 lineVerts = std::min<u32>(
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static_cast<u32>(src.lines.size()), kMaxLineVerts);
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const u32 triVerts = std::min<u32>(
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static_cast<u32>(src.triangles.size()), kMaxTriVerts);
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if ((src.lines.size() > kMaxLineVerts ||
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src.triangles.size() > kMaxTriVerts) && !m_TruncationWarned) {
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m_TruncationWarned = true;
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ENGINE_WARN("PhysicsDebugPass: vertex budget exceeded "
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"(lines {} / tris {}), clamped", src.lines.size(),
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src.triangles.size());
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}
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// fence 已等（Renderer::Render 的 WaitFence 之后调用），
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// 写-读竞争关闭——与 UBO/SSBO 上传同一窗口语义
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if (lineVerts > 0) {
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m_LineVB.Update(frameSlot, src.lines.data(),
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static_cast<u64>(lineVerts) *
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sizeof(PhysicsDebugVertex));
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}
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if (triVerts > 0) {
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m_TriVB.Update(frameSlot, src.triangles.data(),
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static_cast<u64>(triVerts) *
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sizeof(PhysicsDebugVertex));
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}
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m_LineCounts[frameSlot] = lineVerts;
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m_TriCounts[frameSlot] = triVerts;
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}
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void PhysicsDebugPass::Register(RG::RenderGraph& rg)
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{
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rg.AddPass("PhysicsDebug", [this](RG::RenderGraphContext& ctx) {
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const u32 lineCount = m_LineCounts[ctx.frame.frameSlot];
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const u32 triCount = m_TriCounts[ctx.frame.frameSlot];
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if (lineCount == 0 && triCount == 0) return; // 空帧零开销
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ZoneScopedN("PhysicsDebug");
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const vk::CommandBuffer cmd = ctx.cmd;
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// HDR：Load 承接 Forward 结果叠加；深度：Load 承接不透明深度
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// 做测试（只测不写），DontCare——下帧 Forward 重新 Clear
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vk::RenderingAttachmentInfo color;
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color.setImageView(ctx.View(m_HDRColor))
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.setImageLayout(vk::ImageLayout::eColorAttachmentOptimal)
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.setLoadOp(vk::AttachmentLoadOp::eLoad)
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.setStoreOp(vk::AttachmentStoreOp::eStore);
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vk::RenderingAttachmentInfo depth;
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depth.setImageView(ctx.View(m_Depth))
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.setImageLayout(vk::ImageLayout::eDepthAttachmentOptimal)
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.setLoadOp(vk::AttachmentLoadOp::eLoad)
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.setStoreOp(vk::AttachmentStoreOp::eDontCare);
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vk::RenderingInfo renderingInfo;
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renderingInfo.setRenderArea({{0, 0}, ctx.extent})
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.setLayerCount(1)
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.setColorAttachments(color)
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.setPDepthAttachment(&depth);
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cmd.beginRendering(renderingInfo);
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const std::array<vk::ShaderStageFlagBits, 2> stages = {
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vk::ShaderStageFlagBits::eVertex,
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vk::ShaderStageFlagBits::eFragment
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};
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const std::array<vk::ShaderEXT, 2> shaders = {m_Vert, m_Frag};
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cmd.bindShadersEXT(stages, shaders);
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// layout 的 push range 是 vertex|fragment（CreatePipelineLayout 默认），
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// vkCmdPushConstants 的 stageFlags 必须覆盖 range 全部 stage（VUID-01796）
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cmd.pushConstants<glm::mat4>(
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m_Layout,
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vk::ShaderStageFlagBits::eVertex | vk::ShaderStageFlagBits::eFragment,
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0, m_Frame.ubo.proj * m_Frame.ubo.view);
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// ---- 动态状态（shader object 无管线对象，全量显式设置）----
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cmd.setRasterizerDiscardEnable(VK_FALSE);
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cmd.setDepthTestEnable(VK_TRUE);
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cmd.setDepthCompareOp(vk::CompareOp::eLessOrEqual);
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cmd.setDepthWriteEnable(VK_FALSE); // 调试图元不污染场景深度
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cmd.setDepthBoundsTestEnable(VK_FALSE);
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cmd.setStencilTestEnable(VK_FALSE);
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cmd.setDepthBiasEnable(VK_FALSE);
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cmd.setPolygonModeEXT(vk::PolygonMode::eFill);
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cmd.setCullMode(vk::CullModeFlagBits::eNone);
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cmd.setFrontFace(vk::FrontFace::eCounterClockwise);
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cmd.setPrimitiveRestartEnable(VK_FALSE);
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const vk::VertexInputBindingDescription2EXT binding = MakeBinding();
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const std::array<vk::VertexInputAttributeDescription2EXT, 2>
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attributes = MakeAttributes();
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cmd.setVertexInputEXT(binding, attributes);
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cmd.setRasterizationSamplesEXT(vk::SampleCountFlagBits::e1);
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constexpr vk::SampleMask sampleMask = 0xFFFFFFFF;
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cmd.setSampleMaskEXT(vk::SampleCountFlagBits::e1, sampleMask);
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cmd.setAlphaToCoverageEnableEXT(VK_FALSE);
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cmd.setAlphaToOneEnableEXT(VK_FALSE);
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const vk::Viewport viewport(
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0.0f, 0.0f, static_cast<float>(ctx.extent.width),
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static_cast<float>(ctx.extent.height), 0.0f, 1.0f);
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cmd.setViewportWithCount(viewport);
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cmd.setScissorWithCount(vk::Rect2D({0, 0}, ctx.extent));
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// 无混合直写（ArrayProxyNoTemporaries：具名局部变量传入）
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constexpr vk::Bool32 blendEnable = VK_FALSE;
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const vk::ColorBlendEquationEXT direct = MakeDirectEquation();
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constexpr vk::ColorComponentFlags colorWriteMask =
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vk::ColorComponentFlagBits::eR |
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vk::ColorComponentFlagBits::eG |
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vk::ColorComponentFlagBits::eB |
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vk::ColorComponentFlagBits::eA;
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cmd.setColorBlendEnableEXT(0, blendEnable);
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cmd.setColorBlendEquationEXT(0, direct);
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cmd.setColorWriteMaskEXT(0, colorWriteMask);
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// 线段与三角形各一条流：换流 = 换 VB 绑定 + 拓扑
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cmd.setLineWidth(1.0f); // 线拓扑必须显式设置（VUID-08617）
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if (lineCount > 0) {
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cmd.setPrimitiveTopology(vk::PrimitiveTopology::eLineList);
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const std::array<vk::Buffer, 1> bufs{m_LineVB.Get(ctx.frame.frameSlot)};
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const std::array<vk::DeviceSize, 1> offs{0};
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cmd.bindVertexBuffers(0, bufs, offs);
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cmd.draw(lineCount, 1, 0, 0);
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}
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if (triCount > 0) {
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cmd.setPrimitiveTopology(vk::PrimitiveTopology::eTriangleList);
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const std::array<vk::Buffer, 1> bufs{m_TriVB.Get(ctx.frame.frameSlot)};
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const std::array<vk::DeviceSize, 1> offs{0};
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cmd.bindVertexBuffers(0, bufs, offs);
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cmd.draw(triCount, 1, 0, 0);
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}
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cmd.endRendering();
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})
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// Write use（WAW 链）：保证排在 Forward/ForwardTrans 之后、
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// TAA（Read HDRColor）之前——调试图元进入 TAA/Bloom/Tonemap 主链路
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.Write(m_HDRColor, RG::ResourceUse::ColorAttachment)
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.Write(m_Depth, RG::ResourceUse::DepthAttachment);
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}
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} // namespace Engine::Passes
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