541 lines
15 KiB
C++
541 lines
15 KiB
C++
#include "dl_physics.h"
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#include <cstdarg>
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#ifndef JPH_DEBUG_RENDERER
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#define JPH_DEBUG_RENDERER
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#endif
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#include <Jolt/Jolt.h>
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#include <Jolt/RegisterTypes.h>
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#include <Jolt/Core/Factory.h>
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#include <Jolt/Core/TempAllocator.h>
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#include <Jolt/Core/JobSystemThreadPool.h>
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#include <Jolt/Physics/PhysicsSettings.h>
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#include <Jolt/Physics/PhysicsSystem.h>
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#include <Jolt/Physics/Collision/Shape/BoxShape.h>
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#include <Jolt/Physics/Collision/Shape/SphereShape.h>
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#include <Jolt/Physics/Body/BodyCreationSettings.h>
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#include <Jolt/Physics/Body/BodyActivationListener.h>
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#include <Jolt/Physics/Body/Body.h>
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#include <Jolt/Renderer/DebugRendererSimple.h>
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#include <Jolt/Physics/Collision/Shape/RotatedTranslatedShape.h>
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#include "dl_rigid_body.h"
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#include "base/dl_color.h"
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#include "render/dl_graphics.h"
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namespace dl
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{
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Physics* g_physics;
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using namespace JPH;
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// joltPhysic 是y向上的右手坐标系（只修改重力方向应该也没有问题）
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inline RVec3 to_rvec3(const Position3& pos)
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{
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return RVec3(pos.x, pos.y, pos.z);
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}
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inline Position3 to_pos3(const RVec3& pos)
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{
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return { pos.GetX(), pos.GetY(), pos.GetZ() };
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}
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struct RigidBodyShape
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{
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// 不同缩放使用不同形状
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std::unordered_map<uint64_t, JPH::ShapeRefC> _mapRef;
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};
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// Callback for traces, connect this to your own trace function if you have one
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static void TraceImpl(const char* inFMT, ...)
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{
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// Format the message
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va_list list;
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va_start(list, inFMT);
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char buffer[1024];
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vsnprintf(buffer, sizeof(buffer), inFMT, list);
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va_end(list);
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// Print to the TTY
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log_warn("JPH: {}", buffer);
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}
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#ifdef JPH_ENABLE_ASSERTS
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// Callback for asserts, connect this to your own assert handler if you have one
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static bool AssertFailedImpl(const char* inExpression, const char* inMessage, const char* inFile, uint inLine)
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{
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log_err("JPH Assert: {}[{}], {}, {}", inFile, inLine, inExpression, inMessage);
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return true;
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};
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#endif // JPH_ENABLE_ASSERTS
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// 物体所属的“层/分组”，决定它能和**谁碰撞、谁不碰撞**
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// 至少需要：静态层 + 移动层
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// 你也可以加更多：玩家层、敌人层、子弹层、触发器层...
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namespace Layers
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{
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// 静态物体：地面、墙、房子、石头（永远不动）
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static constexpr ObjectLayer NON_MOVING = 0;
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// 移动物体：角色、箱子、球、怪物（会动的）
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static constexpr ObjectLayer MOVING = 1;
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// 总层数（固定写 2）
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static constexpr ObjectLayer NUM_LAYERS = 2;
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};
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// 决定：两个物体层是否可以碰撞
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class ObjectLayerPairFilterImpl : public ObjectLayerPairFilter
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{
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public:
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// 引擎问：物体1 和 物体2 能碰撞吗？返回 true=能撞，false=不撞
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virtual bool ShouldCollide(ObjectLayer inObject1, ObjectLayer inObject2) const override
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{
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switch (inObject1)
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{
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// 静态物体（地面/墙）
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case Layers::NON_MOVING:
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// 只和【移动层】碰撞 → 正确！地面只跟角色/箱子撞
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return inObject2 == Layers::MOVING;
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// 移动物体（角色/箱子）
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case Layers::MOVING:
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// 和所有层都能碰撞 → 角色碰地面、角色碰角色、箱子碰箱子
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return true;
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default:
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JPH_ASSERT(false); // 非法层，报错
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return false;
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}
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}
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};
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// 粗检测层：物理引擎用来加速碰撞检测
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namespace BroadPhaseLayers
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{
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static constexpr BroadPhaseLayer NON_MOVING(0); // 静态物体树
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static constexpr BroadPhaseLayer MOVING(1); // 移动物体树
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static constexpr uint NUM_LAYERS(2); // 两棵树
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};
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// BroadPhaseLayerInterface implementation
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// This defines a mapping between object and broadphase layers.
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class BPLayerInterfaceImpl final : public BroadPhaseLayerInterface
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{
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public:
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BPLayerInterfaceImpl()
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{
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// Create a mapping table from object to broad phase layer
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mObjectToBroadPhase[Layers::NON_MOVING] = BroadPhaseLayers::NON_MOVING;
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mObjectToBroadPhase[Layers::MOVING] = BroadPhaseLayers::MOVING;
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}
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virtual uint GetNumBroadPhaseLayers() const override
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{
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return BroadPhaseLayers::NUM_LAYERS;
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}
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virtual BroadPhaseLayer GetBroadPhaseLayer(ObjectLayer inLayer) const override
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{
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JPH_ASSERT(inLayer < Layers::NUM_LAYERS);
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return mObjectToBroadPhase[inLayer];
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}
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#if defined(JPH_EXTERNAL_PROFILE) || defined(JPH_PROFILE_ENABLED)
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virtual const char* GetBroadPhaseLayerName(BroadPhaseLayer inLayer) const override
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{
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switch ((BroadPhaseLayer::Type)inLayer)
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{
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case (BroadPhaseLayer::Type)BroadPhaseLayers::NON_MOVING: return "NON_MOVING";
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case (BroadPhaseLayer::Type)BroadPhaseLayers::MOVING: return "MOVING";
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default: JPH_ASSERT(false); return "INVALID";
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}
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}
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#endif // JPH_EXTERNAL_PROFILE || JPH_PROFILE_ENABLED
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private:
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BroadPhaseLayer mObjectToBroadPhase[Layers::NUM_LAYERS];
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};
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/// 类功能：判断一个 对象层 (ObjectLayer) 是否可以与 粗检测层 (BroadPhaseLayer) 发生碰撞
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class ObjectVsBroadPhaseLayerFilterImpl : public ObjectVsBroadPhaseLayerFilter
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{
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public:
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// 核心函数：返回 true=可以碰撞，返回 false=忽略碰撞
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virtual bool ShouldCollide(ObjectLayer inLayer1, BroadPhaseLayer inLayer2) const override
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{
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switch (inLayer1)
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{
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// 如果物体1是【静态物体】（地面、墙壁）
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case Layers::NON_MOVING:
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// 规则：只与【移动粗检测层】发生碰撞（静态物体之间不检测）
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return inLayer2 == BroadPhaseLayers::MOVING;
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// 如果物体1是【移动物体】（角色、箱子）
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case Layers::MOVING:
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// 规则：与所有层都可以碰撞
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return true;
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default:
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// 非法层，触发断言报错
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JPH_ASSERT(false);
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return false;
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}
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}
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};
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// 示例：碰撞接触监听器（用于监听物体碰撞/分离事件）
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class MyContactListener : public ContactListener
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{
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public:
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// 碰撞验证回调：在创建接触前调用，可提前拒绝碰撞
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virtual ValidateResult OnContactValidate(const Body& inBody1, const Body& inBody2, RVec3Arg inBaseOffset, const CollideShapeResult& inCollisionResult) override
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{
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//cout << "Contact validate callback" << endl; // 碰撞验证回调
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// 允许为这对物体接受所有接触（使用层过滤来忽略碰撞更高效）
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return ValidateResult::AcceptAllContactsForThisBodyPair;
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}
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// 碰撞添加：两个物体**首次接触**时调用（只触发一次）
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virtual void OnContactAdded(const Body& inBody1, const Body& inBody2, const ContactManifold& inManifold, ContactSettings& ioSettings) override
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{
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//cout << "A contact was added" << endl; // 新增碰撞接触
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}
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// 碰撞持续：两个物体**保持接触**时每帧调用
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virtual void OnContactPersisted(const Body& inBody1, const Body& inBody2, const ContactManifold& inManifold, ContactSettings& ioSettings) override
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{
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//cout << "A contact was persisted" << endl; // 碰撞持续中
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}
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// 碰撞移除：两个物体**分离**时调用（只触发一次）
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virtual void OnContactRemoved(const SubShapeIDPair& inSubShapePair) override
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{
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//cout << "A contact was removed" << endl; // 碰撞接触已移除
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}
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};
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// 示例：刚体激活/休眠监听器
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class MyBodyActivationListener : public BodyActivationListener
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{
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public:
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// 物体被激活：从静止→运动状态（被撞击、受力、移动时触发）
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virtual void OnBodyActivated(const BodyID& inBodyID, uint64 inBodyUserData) override
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{
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//cout << "A body got activated" << endl; // 刚体已激活
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}
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// 物体休眠：从运动→静止状态（完全不动一段时间后触发，节省性能）
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virtual void OnBodyDeactivated(const BodyID& inBodyID, uint64 inBodyUserData) override
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{
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//cout << "A body went to sleep" << endl; // 刚体已休眠
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}
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};
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inline Color to_color(JPH::Color& color)
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{
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return createColor(color.r, color.g, color.b, color.a);
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}
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class MyDebugRenderer : public JPH::DebugRendererSimple
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{
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public:
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// 绘制单条线
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virtual void DrawLine(JPH::RVec3Arg inFrom, JPH::RVec3Arg inTo, JPH::ColorArg inColor) override
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{
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auto p0 = to_pos3(inFrom);
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auto p1 = to_pos3(inTo);
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Color color = to_color(inColor);
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g_gfx->SetColor(color);
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g_gfx->Line(p0, p1);
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}
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// 绘制三角形（用于实体/凸包）
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virtual void DrawTriangle(JPH::RVec3Arg v1, JPH::RVec3Arg v2, JPH::RVec3Arg v3,
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JPH::ColorArg col, ECastShadow = ECastShadow::Off) override
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{
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auto p0 = to_pos3(v1);
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auto p1 = to_pos3(v2);
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auto p2 = to_pos3(v3);
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Color color = to_color(col);
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g_gfx->SetColor(color);
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g_gfx->Triangle(p0, p1, p2);
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}
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virtual void DrawText3D(RVec3Arg inPosition, const string_view& inString,
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ColorArg inColor = JPH::Color::sWhite, float inHeight = 0.5f)override
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{
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}
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};
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struct PhysicsData
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{
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// 对象层 → 粗检测层 映射表
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BPLayerInterfaceImpl broad_phase_layer_interface;
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// 对象层 vs 粗检测层 过滤
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ObjectVsBroadPhaseLayerFilterImpl object_vs_broadphase_layer_filter;
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// 对象层 vs 对象层 碰撞过滤（最常用！）
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ObjectLayerPairFilterImpl object_vs_object_layer_filter;
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// 激活休眠回调
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MyBodyActivationListener body_activation_listener;
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// 碰撞回调
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MyContactListener contact_listener;
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// 调试绘图
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MyDebugRenderer debug_render;
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};
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Physics::Physics() :
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_t{ 0 }
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{
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// 使用默认分配器
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RegisterDefaultAllocator();
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// 自定义调试器
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Trace = TraceImpl;
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JPH_IF_ENABLE_ASSERTS(AssertFailed = AssertFailedImpl;)
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// 创建工厂类
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JPH::Factory::sInstance = new JPH::Factory();
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// 注册物理类型（形状）
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RegisterTypes();
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// 内存池
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_tempMemory = new JPH::TempAllocatorImpl{ 10 * 1024 * 1024 };
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// 创建工作线程
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_jobSystem = new JPH::JobSystemThreadPool(
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cMaxPhysicsJobs, cMaxPhysicsBarriers,
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thread::hardware_concurrency() - 1
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);
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_data = new PhysicsData;
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// 调试绘图
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JPH::DebugRenderer::sInstance = &_data->debug_render;
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// 物理系统支持的最大刚体数量
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const uint cMaxBodies = 1024;
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// 保护刚体并发访问的互斥锁数量（0=使用引擎默认值）
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const uint cNumBodyMutexes = 0;
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// 最大待检测碰撞对数量（粗检测阶段的队列上限）
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const uint cMaxBodyPairs = 1024;
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// 最大接触约束数量（实际碰撞点缓存）
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// 太小会导致物体穿透/穿模
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const uint cMaxContactConstraints = 1024;
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// 主系统
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_system = new JPH::PhysicsSystem;
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_system->Init(cMaxBodies, cNumBodyMutexes, cMaxBodyPairs, cMaxContactConstraints,
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_data->broad_phase_layer_interface,
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_data->object_vs_broadphase_layer_filter,
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_data->object_vs_object_layer_filter);
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_system->SetGravity(JPH::Vec3(0, 0, -9.81f));
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// 激活休眠回调
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_system->SetBodyActivationListener(&_data->body_activation_listener);
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// 碰撞回调
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_system->SetContactListener(&_data->contact_listener);
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// 物体管理器
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_bodyInterface = &_system->GetBodyInterface();
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}
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dl::RigidBody* Physics::CreateRigidBody(JPH::ShapeRefC* ref,
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const Position3& pos, const Position3& rotate,
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RigidBodyType type, bool active)
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{
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RigidBody* ret = new RigidBody;
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BodyCreationSettings setting {
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*ref,
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to_rvec3(pos),
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Quat::sEulerAngles(to_rvec3(rotate)),
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(EMotionType)type,
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type == RigidBodyType::STATIC ? Layers::NON_MOVING : Layers::MOVING
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};
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setting.mRestitution = 0.5f; // 弹性
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ret->_body = _bodyInterface->CreateBody(setting);
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_bodyInterface->AddBody(ret->_body->GetID(),
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active ? EActivation::Activate : EActivation::DontActivate);
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return ret;
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}
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dl::RigidBody* Physics::CreateRigidBodyDefault(Transform* trans)
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{
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auto ref = CreateShapeBox(0, { 1,1,1 });
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return CreateRigidBody(ref, {}, {}, RigidBodyType::DYNAMIC, true);
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}
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inline uint64_t hash3f_64(const Position3& pos)
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{
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auto ux = *(uint32_t*)(&pos.x);
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auto uy = *(uint32_t*)(&pos.y);
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auto uz = *(uint32_t*)(&pos.z);
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uint64_t h = (
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(uint64_t)ux * 0x123456789 +
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(uint64_t)uy * 0x987654321 +
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(uint64_t)uz * 0x555555555
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);
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h ^= h >> 32;
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h *= 0x9E3779B97F4A7C15; // 黄金比例常数
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h ^= h >> 32;
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return h;
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}
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JPH::ShapeRefC* Physics::CreateShapeBox(size_t shape_id,
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const Position3& box,
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const Position3& scale,
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const Position3& position,
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const Position3& rotate)
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{
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RigidBodyShape* shape;
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auto iter = _allShape.find(shape_id);
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if (iter == _allShape.end())
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{
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shape = new RigidBodyShape;
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_allShape[shape_id] = shape;
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}
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else
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shape = iter->second;
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uint64_t s_index = hash3f_64(scale);
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auto iter1 = shape->_mapRef.find(s_index);
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if (iter1 == shape->_mapRef.end())
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{
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Vec3 vec{
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box.x * scale.x,
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box.y * scale.y,
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box.z * scale.z };
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BoxShapeSettings setting{ vec };
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ShapeSettings::ShapeResult result = setting.Create();
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if (result.HasError())
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log_err("JPH Shape: {}", result.GetError());
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ShapeRefC ref = result.Get();
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// 偏移，旋转
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if (!Every::Zero(position)
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|| !Every::Zero(scale))
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{
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RotatedTranslatedShapeSettings setting{
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to_rvec3(position),
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JPH::Quat::sEulerAngles(to_rvec3(rotate)),
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ref
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};
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ShapeSettings::ShapeResult result = setting.Create();
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if (result.HasError())
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log_err("JPH Shape: {}", result.GetError());
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ref = result.Get();
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}
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shape->_mapRef[s_index] = ref;
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return &shape->_mapRef[s_index];
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}
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else
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return &iter1->second;
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}
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void Physics::Update()
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{
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// 添加大量物体后调用，可优化性能 _system->OptimizeBroadPhase();
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//
|
||
constexpr float DT_STANDARD = 1.0f / 60.0f;
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// 单帧最大处理时间（防止卡顿雪崩）
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||
constexpr float DT_MAX = 0.1f;
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//
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float dt = g_time->GetDelta();
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if (dt > DT_MAX)
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dt = DT_MAX;
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_t += dt;
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||
// 固定步长迭代物理
|
||
int steps = 0;
|
||
while (_t >= DT_STANDARD && steps < 4) // 最多4步防卡死
|
||
{
|
||
_system->Update(DT_STANDARD, 1, _tempMemory, _jobSystem);
|
||
|
||
_t -= DT_STANDARD;
|
||
steps++;
|
||
}
|
||
|
||
// 插值
|
||
float alpha = _t / DT_STANDARD;
|
||
}
|
||
|
||
void Physics::RenderDebug()
|
||
{
|
||
//struct DrawFilter : public JPH::BodyDrawFilter
|
||
//{
|
||
// virtual bool ShouldDraw(const JPH::Body& body) const override
|
||
// {
|
||
// // 只画动态
|
||
// return body.GetMotionType() == JPH::EMotionType::Dynamic;
|
||
// // 或按层：return body.GetCollisionLayer() == LAYER_PLAYER;
|
||
// }
|
||
//};
|
||
|
||
//DrawFilter filter;
|
||
|
||
JPH::BodyManager::DrawSettings drawSettings;
|
||
drawSettings.mDrawShape = true; // 碰撞形状（线框/实体）
|
||
drawSettings.mDrawShapeWireframe = true;// 线框优先
|
||
drawSettings.mDrawBoundingBox = true; // AABB
|
||
drawSettings.mDrawCenterOfMassTransform = true; // 质心点
|
||
|
||
// 绘制所有 Body
|
||
_system->DrawBodies(drawSettings, &_data->debug_render);
|
||
|
||
_system->DrawConstraints(&_data->debug_render); // 约束本体
|
||
_system->DrawConstraintLimits(&_data->debug_render); // 限制范围
|
||
_system->DrawConstraintReferenceFrame(&_data->debug_render); // 局部坐标系
|
||
}
|
||
|
||
void Physics::_delete_rigid_body(RigidBody* rigid_body)
|
||
{
|
||
_bodyInterface->RemoveBody(rigid_body->_body->GetID());
|
||
_bodyInterface->DestroyBody(rigid_body->_body->GetID());
|
||
}
|
||
|
||
Physics::~Physics()
|
||
{
|
||
for (auto& iter : _allShape)
|
||
{
|
||
delete iter.second;
|
||
}
|
||
|
||
delete _system;
|
||
delete _jobSystem;
|
||
delete _tempMemory;
|
||
|
||
// Unregisters all types with the factory and cleans up the default material
|
||
UnregisterTypes();
|
||
|
||
// Destroy the factory
|
||
delete JPH::Factory::sInstance;
|
||
JPH::Factory::sInstance = nullptr;
|
||
|
||
delete _data;
|
||
}
|
||
|
||
}
|
||
|