atdunbg
e1cef53158
physics: character controller (Jolt CharacterVirtual)
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- 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
2026-10-03 16:34:20 +08:00
atdunbg
82910c41e8
physics: joint constraints (fixed/hinge/ball)
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- 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
2026-10-03 16:26:20 +08:00
atdunbg
a744b332eb
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
2026-10-03 16:17:44 +08:00
atdunbg
6c81bfd70d
physics: rigid body drive API (force/impulse/torque/velocity)
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PhysicsWorld facade methods addressed by entity bits via body records:
AddForce/AddImpulse/AddTorque (dynamic bodies only, auto-wake), Set/
GetLinearVelocity/SetAngularVelocity (dynamic + kinematic). Inspector
RigidBody block gains impulse debug controls for manual response tests.
Transient by design — nothing serialized.
2026-10-03 16:10:22 +08:00
atdunbg
e5161439dd
refactor: TransformComponent 旋转存储改四元数（UE FTransform 语义）
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欧拉角内部存储每帧矩阵↔欧拉往返，是 Gizmo 拖拽乱跳/缩放串轴的
结构性根源（74d2f6c 的单点公式修复治标不治本）。对齐 UE/Unity
方案：内部存 glm::quat，欧拉只在 UI 表皮。
- Components.h：m_Rotation 改 quat；Compose 用 mat4_cast；
SetRotation(euler) 转存（q=qy·qx·qz）；新增 SetRotationQuat/
GetRotationQuat；GetRotation() 改派生欧拉（YXZ 序矩阵反解，
仅 UI 显示/编辑用）
- ViewportPanel：Gizmo 写回 decompose 的 quat 直写，删除整个
欧拉提取块
- PhysicsWorld：删 QuatToEulerYXZ/EulerYXZToQuat，改 ToJolt/
ToGlm 分量直转；物理写回 SetRotationQuat；BodyRecord.lastRot
改存 quat
验证（1 万随机姿态 round-trip）：Gizmo 链路矩阵差 7.9e-07
（旧欧拉方案 3.56e-04，好 3 个数量级）；万向锁 pitch=±90° 穿
表皮恒定；欧拉表皮误差 4.5e-04 为欧拉参数化固有病态（随
pitch→±90 指数增长，仅影响 UI 显示数值），热路径不经过。
2026-10-03 00:47:11 +08:00
atdunbg
1c4b6f37ff
feat: Jolt 物理系统——刚体/碰撞体/物理调试图元 + 引擎时间单源
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- 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）
2026-10-02 20:08:54 +08:00
atdunbg