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physics: capsule/cylinder/compound collider shapes

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- ColliderType + Capsule/Cylinder/Compound; CompoundChild list (Box/
  Sphere/Capsule, local pos/quat, non-recursive)
- CreateBody: CapsuleShape/CylinderShape (ctor param orders differ) +
  StaticCompoundShape; empty/failed compound falls back to Box
- BodyRecord caches radius/halfHeight/compound; SyncScene rebuilds on
  change (per-collider param extraction)
- Inspector: combo entries + shape params + compound child list editor
- Serialization: new fields with as<T> fallback, compound seq round-trip
This commit is contained in:
atdunbg
2026-10-03 16:17:44 +08:00
parent 6c81bfd70d
commit a744b332eb
5 changed files with 245 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
App/editor/InspectorPanel.cpp
+57 -1
View File
@@ -236,7 +236,8 @@ void InspectorPanel::Draw(const EditorContext& ctx, entt::entity selected)
rb->type = static_cast<Engine::ECS::RigidBodyComponent::BodyType>(type);
}
int collider = static_cast<int>(rb->collider);
if (ImGui::Combo("collider", &collider, "Box\0Sphere\0Mesh\0"))
if (ImGui::Combo("collider", &collider,
"Box\0Sphere\0Mesh\0Capsule\0Cylinder\0Compound\0"))
{
rb->collider = static_cast<Engine::ECS::RigidBodyComponent::ColliderType>(collider);
}
@@ -248,6 +249,61 @@ void InspectorPanel::Draw(const EditorContext& ctx, entt::entity selected)
{
ImGui::DragFloat("radius", &rb->sphereRadius, 0.05f, 0.01f, 500.0f);
}
else if (rb->collider == Engine::ECS::RigidBodyComponent::ColliderType::Capsule)
{
// 半高 = 圆柱段半高（不含半球端盖），总高 = 2*(halfHeight + radius)
ImGui::DragFloat("radius", &rb->capsuleRadius, 0.05f, 0.01f, 500.0f);
ImGui::DragFloat("halfHeight", &rb->capsuleHalfHeight, 0.05f, 0.0f, 500.0f);
}
else if (rb->collider == Engine::ECS::RigidBodyComponent::ColliderType::Cylinder)
{
ImGui::DragFloat("radius", &rb->cylinderRadius, 0.05f, 0.01f, 500.0f);
ImGui::DragFloat("halfHeight", &rb->cylinderHalfHeight, 0.05f, 0.01f, 500.0f);
}
else if (rb->collider == Engine::ECS::RigidBodyComponent::ColliderType::Compound)
{
// 子形状列表：尺寸/位置变更 → PhysicsWorld 重建 body（既有模式）
ImGui::Text("children: %d", static_cast<int>(rb->compound.size()));
ImGui::SameLine();
if (ImGui::Button("+ add"))
{
rb->compound.emplace_back();
}
int remove = -1;
for (int i = 0; i < static_cast<int>(rb->compound.size()); ++i)
{
auto& c = rb->compound[i];
ImGui::PushID(i);
ImGui::Separator();
int sh = static_cast<int>(c.shape);
if (ImGui::Combo("shape", &sh, "Box\0Sphere\0Capsule\0"))
{
c.shape = static_cast<Engine::ECS::RigidBodyComponent::CompoundChild::Shape>(sh);
}
if (c.shape == Engine::ECS::RigidBodyComponent::CompoundChild::Shape::Box)
{
ImGui::DragFloat3("halfExtents", &c.boxHalfExtents.x, 0.05f, 0.01f, 500.0f);
}
else
{
ImGui::DragFloat("radius", &c.radius, 0.05f, 0.01f, 500.0f);
if (c.shape == Engine::ECS::RigidBodyComponent::CompoundChild::Shape::Capsule)
{
ImGui::DragFloat("halfHeight", &c.capsuleHalfHeight, 0.05f, 0.0f, 500.0f);
}
}
ImGui::DragFloat3("offset", &c.position.x, 0.05f);
if (ImGui::Button("remove"))
{
remove = i;
}
ImGui::PopID();
}
if (remove >= 0)
{
rb->compound.erase(rb->compound.begin() + remove);
}
}
else
{
// Mesh：跟随 MeshRenderer 视觉网格（Static=精确网格，
Engine/include/Engine/ECS/Components.h
+26 -2
View File
@@ -19,6 +19,7 @@
#include <cmath>
#include <algorithm>
#include <string>
#include <vector>
namespace Engine {
class Model;
@@ -187,15 +188,38 @@ namespace Engine::ECS {
// 语义）——Static → Jolt MeshShape（精确三角网格，不可移动）；
// Dynamic/Kinematic → ConvexHullShape（凸包近似，MeshShape 太贵
// 不能动）。数据源 Mesh 的 CPU 位置副本，无 MeshRenderer 回退 Box
enum class ColliderType : u8 { Box = 0, Sphere = 1, Mesh = 2 };
enum class ColliderType : u8 {
Box = 0, Sphere = 1, Mesh = 2,
Capsule = 3, Cylinder = 4, Compound = 5
};
// Compound 子形状：局部 pos/rot 相对刚体原点，不递归嵌套
//（child 不能再是 Compound）。尺寸语义同顶层（× Transform 缩放烘焙）
struct CompoundChild {
enum class Shape : u8 { Box = 0, Sphere = 1, Capsule = 2 };
Shape shape = Shape::Box;
glm::vec3 boxHalfExtents{0.25f, 0.25f, 0.25f};
f32 radius = 0.25f; // Sphere 半径 / Capsule 半径
f32 capsuleHalfHeight = 0.25f; // 仅 Capsule：圆柱段半高
glm::vec3 position{0.0f};
glm::quat rotation{1.0f, 0.0f, 0.0f, 0.0f};
bool operator==(const CompoundChild&) const = default;
};
BodyType type = BodyType::Dynamic; // Unity 语义：加 Rigidbody 即受物理驱动
ColliderType collider = ColliderType::Box;
// 碰撞体尺寸（× Transform 缩放，Unity BoxCollider.size 语义）——
// 程序化模型顶点烘焙尺寸，不能从 scale 反推
// 程序化模型顶点烘焙尺寸，不能从 scale 反推。
// Capsule/Cylinder 的"半高"指圆柱段半高（不含半球端盖），总高 =
// 2*(halfHeight + radius)；Jolt 两 ctor 参数序相反见 PhysicsWorld
glm::vec3 boxHalfExtents{0.5f, 0.5f, 0.5f};
f32 sphereRadius = 0.5f;
f32 capsuleRadius = 0.5f; // Unity CapsuleCollider 默认值同构
f32 capsuleHalfHeight = 0.5f;
f32 cylinderRadius = 0.5f;
f32 cylinderHalfHeight = 0.5f;
std::vector<CompoundChild> compound; // 仅 ColliderType::Compound
// 动态体参数
f32 mass = 1.0f;
Engine/include/Engine/Physics/PhysicsWorld.h
+8 -1
View File
@@ -25,6 +25,7 @@
#include <Engine/Physics/PhysicsDebugDraw.h>
#include <Engine/Physics/PhysicsEvents.h>
#include <Engine/Physics/PhysicsRay.h>
#include <Engine/ECS/Components.h> // BodyRecord 快照存 CompoundChild（完整类型）
#include <Jolt/Jolt.h>
#include <Jolt/Physics/PhysicsSystem.h>
@@ -95,7 +96,9 @@ namespace Engine {
u8 type = 0; // RigidBodyComponent::BodyType
u8 collider = 0; // RigidBodyComponent::ColliderType
glm::vec3 colliderSize{0.0f}; // 碰撞体尺寸缓存（box 半尺寸）
f32 radius = 0.0f; // 球半径缓存
f32 radius = 0.0f; // 球/Capsule/Cylinder 半径（collider 决定语义）
f32 halfHeight = 0.0f; // Capsule/Cylinder 圆柱段半高
std::vector<ECS::RigidBodyComponent::CompoundChild> compound; // 子形状快照
f32 mass = 0.0f;
bool isSensor = false; // 传感器标记（变更 → 重建 body）
glm::vec3 lastPos{0.0f}; // 静态/运动体编辑器拖动检测
@@ -116,6 +119,10 @@ namespace Engine {
JPH::RefConst<JPH::Shape> BuildMeshShape(u32 entityBits,
ECS::RigidBodyComponent& rb,
ECS::TransformComponent& tr);
// Compound 碰撞体：子形状列表 → Jolt StaticCompoundShape。
// 空 children 或构建失败返回 null（回退 Box）
JPH::RefConst<JPH::Shape> BuildCompoundShape(ECS::RigidBodyComponent& rb,
ECS::TransformComponent& tr);
void RemoveBody(u32 entityBits);
const BodyRecord* FindRecord(u32 entityBits) const; // 刚体驱动寻址
void QueueEvent(CollisionEvent&& ev); // 回调线程 append（多线程并发，加锁）
Engine/src/Physics/PhysicsWorld.cpp
+97 -5
View File
@@ -16,6 +16,9 @@
#include <Jolt/Physics/Collision/Shape/SphereShape.h>
#include <Jolt/Physics/Collision/Shape/MeshShape.h>
#include <Jolt/Physics/Collision/Shape/ConvexHullShape.h>
#include <Jolt/Physics/Collision/Shape/CapsuleShape.h>
#include <Jolt/Physics/Collision/Shape/CylinderShape.h>
#include <Jolt/Physics/Collision/Shape/StaticCompoundShape.h>
#include <Engine/Assets/AssetManager.h>
#include <Engine/Renderer/Model.h>
@@ -83,6 +86,26 @@ namespace Engine {
glm::quat ToGlm(const JPH::Quat &q) {
return {q.GetW(), q.GetX(), q.GetY(), q.GetZ()};
}
// 变更检测快照取值：collider 决定哪组参数生效（collider 本身变更
// 在外层先触发重建，到这里时语义已对齐）。Box/Mesh/Compound 不用
void ExtractShapeParams(const ECS::RigidBodyComponent &rb,
f32 &radius, f32 &halfHeight) {
using CT = ECS::RigidBodyComponent::ColliderType;
switch (rb.collider) {
case CT::Sphere: radius = rb.sphereRadius; break;
case CT::Capsule: radius = rb.capsuleRadius;
halfHeight = rb.capsuleHalfHeight; break;
case CT::Cylinder: radius = rb.cylinderRadius;
halfHeight = rb.cylinderHalfHeight; break;
default: break;
}
}
// 球/胶囊/圆柱类径向形状的缩放取 max 轴（不可各向异性）
f32 UniformScale(const glm::vec3 &s) {
return std::max({s.x, s.y, s.z});
}
} // namespace
// ---- 碰撞事件监听：回调在 Update 内多线程并发，只读 body、加锁入队 ----
@@ -338,10 +361,14 @@ namespace Engine {
}
auto &rec = found->second; // 非 const：静态/运动体拖动时更新 lastPos/lastRot
f32 radius = 0.0f, halfHeight = 0.0f;
ExtractShapeParams(rb, radius, halfHeight);
if (rec.type != static_cast<u8>(rb.type) ||
rec.collider != static_cast<u8>(rb.collider) ||
rec.colliderSize != rb.boxHalfExtents ||
rec.radius != rb.sphereRadius ||
rec.radius != radius ||
rec.halfHeight != halfHeight ||
rec.compound != rb.compound ||
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）
@@ -444,16 +471,80 @@ namespace Engine {
return res.Get();
}
JPH::RefConst<JPH::Shape> PhysicsWorld::BuildCompoundShape(
ECS::RigidBodyComponent &rb, ECS::TransformComponent &tr) {
if (rb.compound.empty()) {
return nullptr;
}
// 缩放烘焙：child 局部位置按轴缩放，尺寸按 max 轴（球/胶囊径向
// 不可各向异性）。rotation 存数据与序列化（首版 Inspector 不编辑）
const glm::vec3 s = tr.GetScale();
JPH::StaticCompoundShapeSettings cs;
for (const auto &child: rb.compound) {
JPH::RefConst<JPH::Shape> sub;
const f32 us = UniformScale(s);
switch (child.shape) {
case ECS::RigidBodyComponent::CompoundChild::Shape::Sphere:
sub = new JPH::SphereShape(
std::max(child.radius * us, 0.01f));
break;
case ECS::RigidBodyComponent::CompoundChild::Shape::Capsule:
sub = new JPH::CapsuleShape(
std::max(child.radius * us, 0.01f),
std::max(child.capsuleHalfHeight * us, 0.01f));
break;
default: // Box
sub = new JPH::BoxShape(JPH::Vec3(
std::max(child.boxHalfExtents.x * s.x, 0.01f),
std::max(child.boxHalfExtents.y * s.y, 0.01f),
std::max(child.boxHalfExtents.z * s.z, 0.01f)));
break;
}
cs.AddShape(JPH::Vec3(child.position.x * s.x,
child.position.y * s.y,
child.position.z * s.z),
ToJolt(child.rotation), sub);
}
const JPH::Shape::ShapeResult res = cs.Create();
if (res.HasError()) {
ENGINE_WARN("[Physics] CompoundShape 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）
// ScaledShape 的优化留给 ShapeCache 阶段；MVP 直接带缩放建形状）。
// 注意 Jolt 两 ctor 参数序相反：CapsuleShape(半径, 圆柱段半高)、
// CylinderShape(圆柱段半高, 半径)
JPH::RefConst<JPH::Shape> shape;
const f32 uniformScale = UniformScale(tr.GetScale());
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));
shape = new JPH::SphereShape(std::max(rb.sphereRadius * uniformScale, 0.01f));
} else if (rb.collider == ECS::RigidBodyComponent::ColliderType::Capsule) {
shape = new JPH::CapsuleShape(
std::max(rb.capsuleRadius * uniformScale, 0.01f),
std::max(rb.capsuleHalfHeight * uniformScale, 0.01f));
} else if (rb.collider == ECS::RigidBodyComponent::ColliderType::Cylinder) {
shape = new JPH::CylinderShape(
std::max(rb.cylinderHalfHeight * uniformScale, 0.01f),
std::max(rb.cylinderRadius * uniformScale, 0.01f));
} else if (rb.collider == ECS::RigidBodyComponent::ColliderType::Compound) {
// 子形状列表 → StaticCompoundShape；空列表/构建失败回退 Box
shape = BuildCompoundShape(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 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
@@ -507,7 +598,8 @@ namespace Engine {
rec.type = static_cast<u8>(rb.type);
rec.collider = static_cast<u8>(rb.collider);
rec.colliderSize = rb.boxHalfExtents;
rec.radius = rb.sphereRadius;
ExtractShapeParams(rb, rec.radius, rec.halfHeight);
rec.compound = rb.compound;
rec.mass = rb.mass;
rec.isSensor = rb.isSensor;
rec.lastPos = tr.GetPosition();
Engine/src/Serialization/SceneSerializer.cpp
+57 -1
View File
@@ -268,6 +268,34 @@ namespace Engine::Serialization {
EmitVec3(out, rb->boxHalfExtents);
out << YAML::Key << "SphereRadius" << YAML::Value
<< rb->sphereRadius;
out << YAML::Key << "CapsuleRadius" << YAML::Value
<< rb->capsuleRadius;
out << YAML::Key << "CapsuleHalfHeight" << YAML::Value
<< rb->capsuleHalfHeight;
out << YAML::Key << "CylinderRadius" << YAML::Value
<< rb->cylinderRadius;
out << YAML::Key << "CylinderHalfHeight" << YAML::Value
<< rb->cylinderHalfHeight;
if (!rb->compound.empty()) {
out << YAML::Key << "Compound" << YAML::Value
<< YAML::BeginSeq;
for (const auto& c : rb->compound) {
out << YAML::BeginMap;
out << YAML::Key << "Shape" << YAML::Value
<< static_cast<int>(c.shape);
out << YAML::Key << "BoxHalfExtents" << YAML::Value;
EmitVec3(out, c.boxHalfExtents);
out << YAML::Key << "Radius" << YAML::Value << c.radius;
out << YAML::Key << "CapsuleHalfHeight" << YAML::Value
<< c.capsuleHalfHeight;
out << YAML::Key << "Position" << YAML::Value;
EmitVec3(out, c.position);
out << YAML::Key << "Rotation" << YAML::Value;
EmitQuat(out, c.rotation); // (w,x,y,z)
out << YAML::EndMap;
}
out << YAML::EndSeq;
}
out << YAML::Key << "Mass" << YAML::Value << rb->mass;
out << YAML::Key << "GravityScale" << YAML::Value
<< rb->gravityScale;
@@ -491,7 +519,7 @@ namespace Engine::Serialization {
static_cast<ECS::RigidBodyComponent::BodyType>(type);
}
if (const int col = n["Collider"].as<int>(0);
col >= 0 && col <= 2) {
col >= 0 && col <= 5) {
rb.collider =
static_cast<ECS::RigidBodyComponent::ColliderType>(
col);
@@ -499,6 +527,34 @@ namespace Engine::Serialization {
rb.boxHalfExtents = ReadVec3(n["BoxHalfExtents"],
rb.boxHalfExtents);
rb.sphereRadius = n["SphereRadius"].as<f32>(rb.sphereRadius);
rb.capsuleRadius = n["CapsuleRadius"].as<f32>(rb.capsuleRadius);
rb.capsuleHalfHeight =
n["CapsuleHalfHeight"].as<f32>(rb.capsuleHalfHeight);
rb.cylinderRadius =
n["CylinderRadius"].as<f32>(rb.cylinderRadius);
rb.cylinderHalfHeight =
n["CylinderHalfHeight"].as<f32>(rb.cylinderHalfHeight);
// 僵尸节点铁律：拷贝初始化 + 判空再遍历（缺 Compound 键安全）
if (const YAML::Node cs = n["Compound"]) {
for (const auto& item : cs) {
ECS::RigidBodyComponent::CompoundChild c;
if (const int sh = item["Shape"].as<int>(0);
sh >= 0 && sh <= 2) {
c.shape = static_cast<
ECS::RigidBodyComponent::CompoundChild::Shape>(
sh);
}
c.boxHalfExtents = ReadVec3(item["BoxHalfExtents"],
c.boxHalfExtents);
c.radius = item["Radius"].as<f32>(c.radius);
c.capsuleHalfHeight =
item["CapsuleHalfHeight"].as<f32>(
c.capsuleHalfHeight);
c.position = ReadVec3(item["Position"], c.position);
c.rotation = ReadQuat(item["Rotation"]);
rb.compound.push_back(std::move(c));
}
}
rb.mass = n["Mass"].as<f32>(rb.mass);
rb.gravityScale = n["GravityScale"].as<f32>(rb.gravityScale);
rb.friction = n["Friction"].as<f32>(rb.friction);