physics: joint constraints (fixed/hinge/ball)
- JointComponent: type, target UUID, per-body local anchors, hinge axis + angle limits (data only, zero Jolt deps) - PhysicsWorld::SyncConstraints: create/remove/rebuild on snapshot change; body rebuild contagion via invalidated-bits list; target resolved lazily by UUID each sync (no two-pass load needed) - Jolt FixedConstraint/HingeConstraint/PointConstraint in LocalToBodyCOM space (anchors minus shape COM); fixed frames lock creation-time relative pose; hinge axis aligned across bodies - Inspector: Joint section with target entity name dropdown - Serialization: Joint map with UUID target, as<T> fallbacks
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@@ -19,6 +19,9 @@
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#include <Jolt/Physics/Collision/Shape/CapsuleShape.h>
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#include <Jolt/Physics/Collision/Shape/CylinderShape.h>
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#include <Jolt/Physics/Collision/Shape/StaticCompoundShape.h>
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#include <Jolt/Physics/Constraints/FixedConstraint.h>
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#include <Jolt/Physics/Constraints/HingeConstraint.h>
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#include <Jolt/Physics/Constraints/PointConstraint.h>
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#include <Engine/Assets/AssetManager.h>
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#include <Engine/Renderer/Model.h>
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@@ -331,6 +334,7 @@ namespace Engine {
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void PhysicsWorld::SyncScene() {
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auto ® = m_Scene.GetRegistry();
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auto &bi = m_System->GetBodyInterface();
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std::vector<u32> invalidated; // 本帧销毁/重建 body → 约束失效传染
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// 1. 孤儿清理：实体销毁 / 组件被移除 → 移除 body
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for (auto it = m_Bodies.begin(); it != m_Bodies.end();) {
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@@ -339,6 +343,7 @@ namespace Engine {
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!reg.all_of<ECS::RigidBodyComponent, ECS::TransformComponent>(e)) {
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bi.RemoveBody(it->second.id);
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bi.DestroyBody(it->second.id);
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invalidated.push_back(it->first);
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it = m_Bodies.erase(it);
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} else {
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++it;
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@@ -355,6 +360,7 @@ namespace Engine {
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bi.RemoveBody(found->second.id);
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bi.DestroyBody(found->second.id);
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m_Bodies.erase(found);
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invalidated.push_back(bits);
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}
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CreateBody(bits, rb, tr);
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continue;
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@@ -375,6 +381,7 @@ namespace Engine {
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bi.RemoveBody(rec.id);
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bi.DestroyBody(rec.id);
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m_Bodies.erase(found);
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invalidated.push_back(bits);
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rb.bodyValid = false;
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CreateBody(bits, rb, tr);
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continue;
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@@ -396,6 +403,160 @@ namespace Engine {
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rec.lastRot = tr.GetRotationQuat();
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}
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}
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// 3. 约束对账（body 循环之后：依赖新建 body 的最终 ID）
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SyncConstraints(invalidated);
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}
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// ---- 约束对账 ----
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void PhysicsWorld::SyncConstraints(const std::vector<u32> &invalidated) {
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auto ® = m_Scene.GetRegistry();
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const auto tainted = [&invalidated](u32 bits) {
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return std::find(invalidated.begin(), invalidated.end(), bits)
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!= invalidated.end();
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};
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// 1. owner 实体/组件没了，或任一端 body 本帧被销毁/重建 → 移除
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for (auto it = m_Constraints.begin(); it != m_Constraints.end();) {
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const u32 owner = it->first;
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const auto ownerEnt = static_cast<entt::entity>(owner);
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const bool ownerGone = !reg.valid(ownerEnt) ||
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!reg.all_of<ECS::JointComponent>(ownerEnt);
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if (ownerGone || tainted(owner) || tainted(it->second.targetBits)) {
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m_System->RemoveConstraint(it->second.constraint.GetPtr());
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it = m_Constraints.erase(it);
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} else {
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++it;
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}
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}
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// 2. 遍历组件：快照变更 → 重建；缺失 → 创建。
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// target 惰性按 UUID 反查（UUID 失联/body 未就绪 → 下帧再试）
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auto view = reg.view<ECS::JointComponent>();
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for (auto [e, jc]: view.each()) {
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const u32 bits = static_cast<u32>(entt::to_integral(e));
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const auto found = m_Constraints.find(bits);
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if (found != m_Constraints.end()) {
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if (found->second.snapshot == jc) {
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continue;
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}
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m_System->RemoveConstraint(found->second.constraint.GetPtr());
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m_Constraints.erase(found);
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}
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const ECS::Entity target = m_Scene.FindEntityByUUID(jc.target);
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if (target == entt::null) {
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continue;
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}
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const u32 targetBits = static_cast<u32>(entt::to_integral(target));
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if (bits == targetBits || !m_Bodies.contains(bits) ||
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!m_Bodies.contains(targetBits)) {
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continue;
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}
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CreateConstraint(bits, targetBits, jc);
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}
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}
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void PhysicsWorld::CreateConstraint(u32 ownerBits, u32 targetBits,
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const ECS::JointComponent &jc) {
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auto ® = m_Scene.GetRegistry();
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const auto &b1 = m_Bodies.find(ownerBits)->second;
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const auto &b2 = m_Bodies.find(targetBits)->second;
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// 锚点（Transform 局部系）× 本体缩放 → COM 局部系
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//（EConstraintSpace::LocalToBodyCOM 要求减 Shape::GetCenterOfMass，
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// Compound 等形状 COM 会偏离原点；Box/Sphere/Capsule 为零）
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const auto *tr1 = reg.try_get<ECS::TransformComponent>(
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static_cast<entt::entity>(ownerBits));
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const auto *tr2 = reg.try_get<ECS::TransformComponent>(
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static_cast<entt::entity>(targetBits));
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if (tr1 == nullptr || tr2 == nullptr) {
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return;
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}
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const glm::vec3 s1 = tr1->GetScale();
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const glm::vec3 s2 = tr2->GetScale();
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// 双写锁读位姿/COM + 创建（SyncScene 在主线程，与 Update 不并发）
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JPH::BodyLockWrite lock1(m_System->GetBodyLockInterface(), b1.id);
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JPH::BodyLockWrite lock2(m_System->GetBodyLockInterface(), b2.id);
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if (!lock1.Succeeded() || !lock2.Succeeded()) {
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return;
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}
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JPH::Body &body1 = lock1.GetBody();
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JPH::Body &body2 = lock2.GetBody();
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const JPH::Quat r1 = body1.GetRotation();
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const JPH::Quat r2 = body2.GetRotation();
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const JPH::Vec3 com1 = body1.GetShape()->GetCenterOfMass();
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const JPH::Vec3 com2 = body2.GetShape()->GetCenterOfMass();
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const JPH::RVec3 p1(jc.anchorA.x * s1.x - com1.GetX(),
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jc.anchorA.y * s1.y - com1.GetY(),
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jc.anchorA.z * s1.z - com1.GetZ());
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const JPH::RVec3 p2(jc.anchorB.x * s2.x - com2.GetX(),
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jc.anchorB.y * s2.y - com2.GetY(),
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jc.anchorB.z * s2.z - com2.GetZ());
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JPH::Ref<JPH::Constraint> constraint;
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if (jc.type == ECS::JointComponent::Type::Fixed) {
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// 轴框架 = 同一世界姿态在各体局部系的表达 → 锁定创建时相对姿态
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JPH::FixedConstraintSettings s;
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s.mSpace = JPH::EConstraintSpace::LocalToBodyCOM;
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s.mPoint1 = p1;
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s.mPoint2 = p2;
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s.mAxisX1 = r1.Conjugated() * JPH::Vec3::sAxisX();
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s.mAxisY1 = r1.Conjugated() * JPH::Vec3::sAxisY();
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s.mAxisX2 = r2.Conjugated() * JPH::Vec3::sAxisX();
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s.mAxisY2 = r2.Conjugated() * JPH::Vec3::sAxisY();
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constraint = s.Create(body1, body2);
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} else if (jc.type == ECS::JointComponent::Type::Hinge) {
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// 转轴：本体局部轴 → 世界（不吃缩放，归一化），再投到两体局部系；
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// 法线任取与轴垂直的世界方向，保证两体框架共轴共面
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JPH::HingeConstraintSettings s;
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s.mSpace = JPH::EConstraintSpace::LocalToBodyCOM;
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s.mPoint1 = p1;
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s.mPoint2 = p2;
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const JPH::Vec3 localAxis = JPH::Vec3(
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jc.hingeAxis.x, jc.hingeAxis.y, jc.hingeAxis.z).Normalized();
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const JPH::Vec3 worldAxis = r1 * localAxis;
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JPH::Vec3 helper = std::abs(worldAxis.GetY()) < 0.99f
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? JPH::Vec3::sAxisY()
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: JPH::Vec3::sAxisX();
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const JPH::Vec3 worldNormal = worldAxis.Cross(helper).Normalized();
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s.mHingeAxis1 = r1.Conjugated() * worldAxis;
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s.mNormalAxis1 = r1.Conjugated() * worldNormal;
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s.mHingeAxis2 = r2.Conjugated() * worldAxis;
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s.mNormalAxis2 = r2.Conjugated() * worldNormal;
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if (jc.enableLimit) {
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s.mLimitsMin = std::clamp(glm::radians(jc.limitMin),
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-JPH::JPH_PI, 0.0f);
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s.mLimitsMax = std::clamp(glm::radians(jc.limitMax),
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0.0f, JPH::JPH_PI);
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}
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constraint = s.Create(body1, body2);
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} else {
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// Ball = PointConstraint（球窝：三旋转自由度全放开）
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JPH::PointConstraintSettings s;
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s.mSpace = JPH::EConstraintSpace::LocalToBodyCOM;
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s.mPoint1 = p1;
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s.mPoint2 = p2;
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constraint = s.Create(body1, body2);
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}
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m_System->AddConstraint(constraint.GetPtr());
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ConstraintRecord rec;
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rec.constraint = std::move(constraint);
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rec.snapshot = jc;
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rec.targetBits = targetBits;
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m_Constraints[ownerBits] = rec;
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}
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void PhysicsWorld::RemoveConstraint(const u32 ownerBits) {
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const auto found = m_Constraints.find(ownerBits);
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if (found == m_Constraints.end()) {
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return;
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}
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m_System->RemoveConstraint(found->second.constraint.GetPtr());
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m_Constraints.erase(found); // Ref 析构 → 引用计数释放
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}
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// ---- Mesh 碰撞体：视觉网格 → Jolt 形状 ----
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