Files
HelloVulkan/App/main.cpp
T
atdunbg e5161439dd refactor: TransformComponent 旋转存储改四元数(UE FTransform 语义)
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

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//
// Created by atdunbg on 2026/9/20.
//
// SandboxApp:第一个基于 Application 框架的程序。
//
// main 的职责边界:
// - 定义 Application 派生类并运行它
// - "程序逻辑":场景搭建(实体/组件)、逐帧更新、事件响应、
// 异步环境加载
// - UI 全部委托 App/editor/ 的 docking Editor(本文件不再出现
// 任何 ImGui 控件)
//
// 窗口、渲染器、事件泵、帧计时、场景容器全部由框架管理。
//
#include <Engine/Core/Application.h>
#include <Engine/Core/Time.h>
#include <Engine/Core/Window.h> // SetInputCapture(Application.h 只前置声明)
#include <Engine/Core/Log.h>
#include <Engine/Core/Stats.h>
#include <Engine/Core/AsyncTask.h>
#include <Engine/ECS/Scene.h>
#include <Engine/ECS/EntityHandle.h>
#include <Engine/ECS/Components.h>
#include <Engine/Assets/AssetManager.h>
#include <Engine/Renderer/Renderer.h>
#include <Engine/Renderer/Model.h>
#include <glm/glm.hpp>
#include <glm/gtc/matrix_transform.hpp>
#include <GLFW/glfw3.h>
#include "Editor.h"
#include "EditorContext.h" // kEnvPaths / kDefaultEnv(与 StatsPanel 共用)
using namespace Engine;
using namespace Engine::ECS;
namespace
{
constexpr const char* kTemplePath = "assets/models/SunTemple/SunTemple.fbx";
class SandboxApp final : public Application
{
public:
SandboxApp()
: Application("HelloVulkan", 1920, 1080)
{
}
~SandboxApp() override
{
}
protected:
// ---- 生命周期 ----
void OnInit() override
{
Scene& scene = GetScene();
Renderer& renderer = GetRenderer();
renderer.SetDisplayMode(kDisplayViewport);
// ImGui 叠加层(框架只做管线桥接;UI 内容 = docking Editor)
EnableImGui();
// Editor 注入:引擎门面 + 沙盒能力回调(环境异步切换等)
InitEditor();
// 默认环境(IBL 四件套):经资产层加载(compute 预积分,毫秒级),
// 其余环境在 Stats 面板里按需 lazy 加载后切换
const auto env = GetAssets().LoadEnvironment(kEnvPaths[0]);
if (env.Valid()) {
GetRenderer().SetEnvironment(GetAssets().GetEnvironment(env));
}
/*
const auto suntemple = GetAssets().LoadModel(kTemplePath);
auto entityhandle = scene.CreateEntity("SunTemple");
entityhandle.AddComponent<MeshRendererComponent>(MeshRendererComponent{suntemple});
*/
scene.CreateEntity("test entity");
scene.CreateEntity("test entity");
scene.CreateEntity("test entity");
const auto gun = GetAssets().LoadModel("assets/models/m1911/M1911.fbx");
if (gun.Valid()) {
m_Gun = scene.CreateEntity("M1911");
m_Gun.AddComponent<MeshRendererComponent>(MeshRendererComponent{gun});
m_Gun.AddComponent<AnimationComponent>();
auto& gt = m_Gun.GetComponent<TransformComponent>();
gt.SetPosition(glm::vec3(0.0f, 1.2f, -6.0f));
// 物理验证:Dynamic 刚体(默认 Box halfExtents 0.5),
// 出生位置悬空 → 应下落至地面静止(Transform 由物理写回)
m_Gun.AddComponent<RigidBodyComponent>();
} else {
ENGINE_WARN("m1911 model not loaded, animation test skipped");
}
// 地面:程序化纯色平面(半边长 15,中心 y=-0.5)+ 静态盒刚体
const auto ground = GetAssets().CreatePlane(15.0f, 140, 140, 145);
m_Ground = scene.CreateEntity("Ground");
m_Ground.GetComponent<TransformComponent>()
.SetPosition(glm::vec3(0.0f, -0.5f, 0.0f)); // dirty → 帧循环统一 Compose
m_Ground.AddComponent<MeshRendererComponent>(MeshRendererComponent{ground});
auto& groundRb = m_Ground.AddComponent<RigidBodyComponent>();
groundRb.type = RigidBodyComponent::BodyType::Static;
groundRb.boxHalfExtents = glm::vec3(15.0f, 0.1f, 15.0f); // 平面顶点烘焙 ±15,不能用默认 0.5
/*
const auto gun = GetAssets().LoadModel("assets/models/m1911/M1911.fbx");
if (gun.Valid()) {
m_Gun = scene.CreateEntity("M1911");
m_Gun.AddComponent<MeshRendererComponent>(MeshRendererComponent{gun});
m_Gun.AddComponent<AnimationComponent>();
auto& gt = m_Gun.GetComponent<TransformComponent>();
gt.SetPosition(glm::vec3(0.0f, 1.2f, -6.0f));
} else {
ENGINE_WARN("m1911 model not loaded, animation test skipped");
}
int countSize = 0;
if (countSize) {
// 模型资产(PBR 验证场景:backpack 为旧式贴图资产,
// 退化为电介质因子路径——albedo+normal,metallic=0/roughness=0.5)
const auto model = GetAssets().LoadModel("assets/models/backpack/backpack.obj");
// const auto model = GetAssets().LoadModel("assets/models/pocket_watch_4k.gltf/pocket_watch_4k.gltf");
for (int i = 0; i < countSize; i ++)
{
for (int j = 0; j < countSize; j ++)
{
auto m = scene.CreateEntity();
m.AddComponent<MeshRendererComponent>(MeshRendererComponent{model});
m.GetComponent<TransformComponent>().SetPosition(glm::vec3{(i - countSize * 0.5) * 2, 0, (j - countSize * 0.5) * 2});
m_Spinners.push_back(m);
}
}
}
// 地面:程序化纯色平面(半边长 15,中心 y=-2)
const auto ground = GetAssets().CreatePlane(15.0f, 140, 140, 145);
m_Ground = scene.CreateEntity("Ground");
m_Ground.GetComponent<TransformComponent>()
.SetPosition(glm::vec3(0.0f, -0.5f, 0.0f)); // dirty → 帧循环统一 Compose
m_Ground.AddComponent<MeshRendererComponent>(MeshRendererComponent{ground});
*/
// 相机实体(primary = 当前渲染视角;位姿存实体 Transform)
m_Camera = scene.CreateEntity("MainCamera");
auto& camera = m_Camera.AddComponent<CameraComponent>();
camera.primary = true;
m_Camera.GetComponent<TransformComponent>()
.SetPosition(glm::vec3(0.0f, 12.0f, 22.0f));
m_Camera.GetComponent<TransformComponent>()
.SetRotation(glm::vec3(-25.0f, 0.0f, 0.0f));
// 灯光实体(第一个方向光 = 阴影光源)
m_KeyLight = scene.CreateEntity("KeyLight");
m_KeyLight.AddComponent<LightComponent>(
LightComponent{
.type = LightComponent::Type::Directional,
.direction = glm::vec3(-0.5f, -0.6f, -0.35f),
.color = glm::vec4(1.0f, 0.95f, 0.9f, 5.0f),
.castShadow = true,
});
/*
scene.CreateEntity("FillLight")
.AddComponent<LightComponent>(
LightComponent{
.type = LightComponent::Type::Directional,
.direction = glm::vec3(0.5f, -0.5f, 0.3f),
.color = glm::vec4(0.3f, 0.5f, 1.0f, 1.5f)
});
*/
/*
// 点光源(位置 = 实体 Transform,出生即有;无阴影,距离衰减)
auto fire = scene.CreateEntity("FirePitLight");
fire.GetComponent<TransformComponent>().SetPosition(glm::vec3(2.0f, 1.5f, 1.0f));
fire.AddComponent<LightComponent>(
LightComponent{
.type = LightComponent::Type::Point,
.color = glm::vec4(1.0f, 0.6f, 0.3f, 1.0f), // 暖橙
.radius = 8.0f,
});
auto cool = scene.CreateEntity("CoolFillLight");
cool.GetComponent<TransformComponent>().SetPosition(glm::vec3(-2.5f, 2.0f, -2.0f));
cool.AddComponent<LightComponent>(
LightComponent{
.type = LightComponent::Type::Point,
.color = glm::vec4(0.3f, 0.5f, 1.0f, 1.2f), // 冷蓝
.radius = 10.0f,
});
*/
}
void OnUpdate(const FrameTime& frameTime) override
{
// 相机(WASD/Space/Shift 移动;位姿读写实体 Transform)。
// 编辑器相机走真实轨:暂停(timeScale=0)时仍可飞行观察
m_Camera.GetComponent<CameraComponent>()
.camera.Update(GetWindow(),
m_Camera.GetComponent<TransformComponent>(),
frameTime.UnscaledDt());
// 旋转动画:编辑 Transform 分量后 Compose 重算 world。
// 动画时钟 = Time::Elapsed()(scaled 累计,暂停自动冻结——
// 帧历史验证:暂停后 Temporal Diff 视图 2 帧内整屏变黑)
for (size_t i = 0; i < m_Spinners.size(); ++i)
{
auto& t = m_Spinners[i].GetComponent<TransformComponent>();
t.SetRotation(glm::vec3(
0.0f, static_cast<f32>(Time::Elapsed()) * 60.0f +
static_cast<f32>(i) * 40.0f, 0.0f));
}
}
// ---- UI(全部委托 docking Editor;本文件零 ImGui 控件)----
void OnImGuiRender() override
{
m_Editor->Draw();
}
// ---- 事件 ----
void OnWindowClose(const Event& event) override
{
// 退出确认走 Editor 的模态框(ImGui 必须可见才有 UI)
SetImGuiEnabled(true);
m_Editor->RequestQuit();
}
void OnKeyPress(const Event& event) override
{
if (event.key == GLFW_KEY_GRAVE_ACCENT)
{
SetImGuiEnabled(!GetImGuiEnabled());
}
if (event.key == GLFW_KEY_F1)
{
STATS.PrintComparison();
}
}
void OnWindowResize(const Event& event) override
{
ENGINE_INFO("App: window resized to {}x{}", event.width, event.height);
}
private:
// Editor 注入:门面指针 + 反向能力回调(面板 → 沙盒)
void InitEditor()
{
EditorContext ctx;
ctx.renderer = &GetRenderer();
ctx.scene = &GetScene();
ctx.assets = &GetAssets();
ctx.app = this;
ctx.getEnvIndex = [this] { return m_EnvIndex; };
ctx.setEnvIndex = [this](int index) { m_EnvIndex = index; };
// 继承原沙盒默认:初始暂停(StatsPanel 的 Pause Simulation 开关恢复)
Time::SetTimeScale(0.0f);
m_Editor->Init(ctx);
// 输入归属:覆盖 EnableImGui 的全局 WantCapture* 谓词
//(全屏 dock host 让它恒真,输入全死)。改为 Editor 按帧
// 判定——Viewport hover/focus 拥有输入(Hazel/UE 语义);
// UI 隐藏(反引号)时 Draw 不再执行,直接全放行
GetWindow().SetInputCapture(
[this] { return GetImGuiEnabled() && m_Editor->BlockingKeyboard(); },
[this] { return GetImGuiEnabled() && m_Editor->BlockingMouse(); });
}
private:
std::unique_ptr<Editor> m_Editor = std::make_unique<Editor>();
EntityHandle m_Camera{}; // Scene::CreateEntity 之前为空
EntityHandle m_KeyLight{};
EntityHandle m_Ground{};
EntityHandle m_Gun{}; // 骨骼动画验证实体(M1911)
std::vector<EntityHandle> m_Spinners;
int m_EnvIndex = kDefaultEnv;
};
}
int main()
{
Logger::Initialize();
{
SandboxApp app;
try
{
app.Run();
}
catch (const std::exception& e)
{
ENGINE_FATAL("Exception: {}", e.what());
Logger::Shutdown();
return -1;
}
} // app 析构:成员(Device/Renderer/Window…)全部销毁完毕
Logger::Shutdown();
return 0;
}