physics: character controller (Jolt CharacterVirtual)
- CharacterControllerComponent: capsule params (radius/halfHeight, mass, max slope, step height); entity origin = feet via shape offset - CharacterController per-entity wrapper: gravity integration + grounded clamp, ExtendedUpdate (sweep/slide + stick-to-floor + walk-stairs), SetLinearVelocity/Jump/IsGrounded facade - PhysicsWorld: SyncCharacters reconcile (create/rebuild on param change, editor-drag teleport), UpdateCharacters after physics Update (Jolt recommended order), writes back to Transform - Inspector: params + grounded/velocity telemetry + jump debug button - Serialization: params only, state rebuilt by reconcile
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//
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// CharacterController.cpp：Jolt CharacterVirtual 封装实现。
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//
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#include <Engine/Physics/CharacterController.h>
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#include <Jolt/Physics/Collision/Shape/CapsuleShape.h>
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namespace Engine {
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CharacterController::CharacterController(JPH::PhysicsSystem &system,
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const Params ¶ms,
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const glm::vec3 &position)
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: m_Params(params) {
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// 胶囊体以脚底为原点：CapsuleShape 原点在其中心，经 mShapeOffset
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// 上抬 (halfHeight + radius) 使底端落在原点（Jolt 角色约定）
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JPH::CharacterVirtualSettings s;
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s.mUp = JPH::Vec3::sAxisY();
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s.mMass = std::max(params.mass, 1e-3f);
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s.mMaxSlopeAngle = glm::radians(params.maxSlopeAngle);
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s.mShape = new JPH::CapsuleShape(
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std::max(params.radius, 0.01f),
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std::max(params.halfHeight, 0.0f));
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s.mShapeOffset = JPH::Vec3(0.0f,
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params.halfHeight + params.radius, 0.0f);
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m_Character = new JPH::CharacterVirtual(
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&s, JPH::RVec3(position.x, position.y, position.z),
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JPH::Quat::sIdentity(), &system);
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// 台阶攀爬：竖直抬升 = stepHeight（ExtendedUpdate 内部走
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// WalkStairs 前向距离按速度取）
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m_Ext.mWalkStairsStepUp = JPH::Vec3(0.0f, std::max(params.stepHeight, 0.0f), 0.0f);
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}
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void CharacterController::Update(const f32 dt, const JPH::Vec3 &gravity,
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JPH::TempAllocator &allocator) {
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// 重力积分：着地时清掉向下分量（防贴地累积穿透速度），悬空时累加
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const JPH::Vec3 v = m_Character->GetLinearVelocity();
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if (m_Character->IsSupported()) {
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if (v.GetY() < 0.0f) {
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m_Character->SetLinearVelocity(
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JPH::Vec3(v.GetX(), 0.0f, v.GetZ()));
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}
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} else {
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m_Character->SetLinearVelocity(v + gravity * dt);
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}
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// 扫掠推进（撞墙滑动 + 斜坡限制 + StickToFloor 贴地 + WalkStairs
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// 上台阶）。过滤器默认全放行：角色与静/动层全碰
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m_Character->ExtendedUpdate(dt, gravity, m_Ext,
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JPH::BroadPhaseLayerFilter{},
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JPH::ObjectLayerFilter{},
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JPH::BodyFilter{}, JPH::ShapeFilter{},
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allocator);
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}
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void CharacterController::SetLinearVelocity(const glm::vec3 &velocity) {
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m_Character->SetLinearVelocity(
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JPH::Vec3(velocity.x, velocity.y, velocity.z));
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}
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glm::vec3 CharacterController::GetLinearVelocity() const {
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const JPH::Vec3 v = m_Character->GetLinearVelocity();
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return {v.GetX(), v.GetY(), v.GetZ()};
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}
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void CharacterController::Jump(const f32 speed) {
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const JPH::Vec3 v = m_Character->GetLinearVelocity();
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m_Character->SetLinearVelocity(JPH::Vec3(v.GetX(), speed, v.GetZ()));
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}
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bool CharacterController::IsGrounded() const {
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return m_Character->IsSupported();
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}
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glm::vec3 CharacterController::GetPosition() const {
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const JPH::RVec3 p = m_Character->GetPosition();
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return {static_cast<f32>(p.GetX()), static_cast<f32>(p.GetY()),
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static_cast<f32>(p.GetZ())};
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}
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void CharacterController::Teleport(const glm::vec3 &position) {
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m_Character->SetPosition(
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JPH::RVec3(position.x, position.y, position.z));
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}
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} // namespace Engine
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@@ -242,6 +242,7 @@ namespace Engine {
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m_System->Update(kFixedDt, steps, m_TempAllocator.get(), m_JobSystem.get());
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Writeback();
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UpdateCharacters(kFixedDt); // 角色扫掠（Jolt 官方建议：物理更新后）
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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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@@ -406,6 +407,9 @@ namespace Engine {
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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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// 4. 角色对账（非刚体，不依赖 body 生命周期）
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SyncCharacters();
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}
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// ---- 约束对账 ----
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@@ -559,6 +563,75 @@ namespace Engine {
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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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// ---- 角色控制器 ----
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void PhysicsWorld::SyncCharacters() {
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auto ® = m_Scene.GetRegistry();
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// 1. 孤儿清理：实体销毁 / 组件被移除（Ref 析构即清理，无 body 负担）
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for (auto it = m_Characters.begin(); it != m_Characters.end();) {
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const auto e = static_cast<entt::entity>(it->first);
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if (!reg.valid(e) ||
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!reg.all_of<ECS::CharacterControllerComponent,
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ECS::TransformComponent>(e)) {
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it = m_Characters.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：缺失 → 创建；参数变更 → 重建；编辑器拖动 → 传送
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auto view = reg.view<ECS::CharacterControllerComponent,
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ECS::TransformComponent>();
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for (auto [e, cc, tr]: view.each()) {
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const u32 bits = static_cast<u32>(entt::to_integral(e));
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CharacterController::Params p;
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p.radius = cc.radius;
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p.halfHeight = cc.capsuleHalfHeight;
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p.mass = cc.mass;
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p.maxSlopeAngle = cc.maxSlopeAngle;
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p.stepHeight = cc.stepHeight;
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auto found = m_Characters.find(bits);
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if (found == m_Characters.end()) {
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CharacterEntry entry;
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entry.cc = std::make_unique<CharacterController>(
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*m_System, p, tr.GetPosition());
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entry.lastPos = tr.GetPosition();
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m_Characters.emplace(bits, std::move(entry));
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continue;
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}
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if (found->second.cc->GetParams() != p) {
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// 参数变更 → 重建（位置沿用当前 Transform）
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found->second.cc = std::make_unique<CharacterController>(
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*m_System, p, tr.GetPosition());
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found->second.lastPos = tr.GetPosition();
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continue;
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}
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if (found->second.lastPos != tr.GetPosition()) {
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// 编辑器拖动实体 → 传送角色（角色是唯一位置源，反向覆盖）
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found->second.cc->Teleport(tr.GetPosition());
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found->second.lastPos = tr.GetPosition();
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}
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}
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}
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void PhysicsWorld::UpdateCharacters(const f32 dt) {
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auto ® = m_Scene.GetRegistry();
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const JPH::Vec3 gravity = m_System->GetGravity();
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for (auto &[bits, entry]: m_Characters) {
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auto *tr = reg.try_get<ECS::TransformComponent>(
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static_cast<entt::entity>(bits));
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if (tr == nullptr) {
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continue;
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}
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entry.cc->Update(dt, gravity, *m_TempAllocator);
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const glm::vec3 p = entry.cc->GetPosition(); // 原点 = 脚底
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tr->SetPosition(p); // 标脏 → UpdateTransforms 重算 world
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entry.lastPos = p;
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}
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}
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// ---- Mesh 碰撞体：视觉网格 → Jolt 形状 ----
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JPH::RefConst<JPH::Shape> PhysicsWorld::BuildMeshShape(
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@@ -888,6 +961,37 @@ namespace Engine {
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return {v.GetX(), v.GetY(), v.GetZ()};
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}
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// ---- 角色控制器门面 ----
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CharacterController *PhysicsWorld::FindCharacter(const u32 entityBits) {
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const auto found = m_Characters.find(entityBits);
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return found != m_Characters.end() ? found->second.cc.get() : nullptr;
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}
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void PhysicsWorld::SetCharacterVelocity(const u32 entityBits,
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const glm::vec3 &velocity) {
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if (CharacterController *cc = FindCharacter(entityBits)) {
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cc->SetLinearVelocity(velocity);
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}
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}
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void PhysicsWorld::Jump(const u32 entityBits, const f32 speed) {
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if (CharacterController *cc = FindCharacter(entityBits)) {
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cc->Jump(speed);
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}
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}
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bool PhysicsWorld::IsCharacterGrounded(const u32 entityBits) const {
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const auto found = m_Characters.find(entityBits);
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return found != m_Characters.end() && found->second.cc->IsGrounded();
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}
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glm::vec3 PhysicsWorld::GetCharacterVelocity(const u32 entityBits) const {
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const auto found = m_Characters.find(entityBits);
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return found != m_Characters.end() ? found->second.cc->GetLinearVelocity()
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: glm::vec3{0.0f};
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}
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// ---- 写回：动态体姿态 → Transform（标脏，帧循环统一 Compose）----
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void PhysicsWorld::Writeback() const {
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