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imagine my shock the week-long issue predicated on scaling issues (constraint solving is now scaling aware, automatic ragdoll rigging seems to work, but need to actually bind the transforms to joint matrices)

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This commit is contained in:
ecker 2026-05-27 20:54:51 -05:00
parent 94ce7be618
commit 5402aff2a8
28 changed files with 343 additions and 127 deletions
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7
bin/data/config.json
View File

@ -8,7 +8,7 @@
"useLightmaps": false,
"max": 32,
"shadows": {
"enabled": false,
"enabled": true,
"update": 4,
"max": 16,
"samples": 2
@ -351,7 +351,10 @@
},
"debug draw": {
"static": true,
"dynamic": true
"dynamic": true,
"contacts": false,
"constraints": true,
"rays": false
},
"fixed step": true,
"substeps": 4

5
bin/data/entities/cesiumMan.json
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@ -14,7 +14,7 @@
"axis": [ 0, 1, 0 ],
"angle": 0
},
"scale": [ 5.0, 5.0, 5.0 ]
"scale": [ 10.0, 10.0, 10.0 ]
},
"system": {
"hot reload": {
@ -27,6 +27,9 @@
"debug": {
"print": {
"animations": true
},
"draw": {
"armature": true
}
},
"exporter": {

24
bin/data/entities/craeture.json
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@ -2,8 +2,8 @@
"type": "Object",
"name": "Craeture",
"ignore": false,
"import": "./craetureModel.json",
"assets": [
"./craetureModel.json",
"./scripts/craeture.lua"
],
"behaviors": [
@ -11,13 +11,10 @@
"SoundEmitterBehavior"
],
"transform": {
"position": [ -7.04676, 10.169565, -44.0822 ],
//"position": [ 0, 1.5, 21 ],
"position": [ 16.3489, 1.37972, -68.1571 ],
"rotation": {
"axis": [ 0, 1, 0 ],
"angle": 0
},
"scale": [ 1, 1, 1 ]
//"position": [ 16.3489, 1.37972, -68.1571 ],
"scale": [ 0.3, 0.3, 0.3 ]
},
"system": {
"hot reload": {
@ -26,7 +23,17 @@
},
"metadata": {
"name": "Craeture",
"graph": {
"debug": {
"draw": {
"armature": true
}
},
"physics": {
"ragdoll": true
}
}
/*
"physics": {
"gravity": [ 0, -9.81, 0 ],
"inertia": [ 0, 0, 0 ],
@ -41,5 +48,6 @@
"shared": false
}
*/
}
}

7
bin/data/entities/craetureModel.json
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@ -7,9 +7,7 @@
// "/player/bear.glb"
{ "filename": "/player/bear/graph.json" }
],
"behaviors": [
"CraetureBehavior"
],
"behaviors": [],
"transform": {
"position": [ 0, -2.5, 0 ],
// "position": [ 12.5715, 3.53811, 7.6238 ],
@ -18,7 +16,7 @@
"axis": [ 0, 1, 0 ],
"angle": 0
},
"scale": [ 0.35, 0.35, 0.35 ],
// "scale": [ 0.35, 0.35, 0.35 ],
"reference": "parent"
},
"system": {
@ -50,6 +48,7 @@
"filter": "linear",
"flip textures": false,
"invert": false,
"render": false,
"skinned": true
},
"animations": {

5
bin/data/entities/door.json
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@ -6,8 +6,9 @@
"metadata": {
"physics": {
"mass": 0,
"inertia": [0, 0, 0],
"type": "bounding box"
// "inertia": [0, 0, 0],
// "type": "bounding box"
"type": "mesh"
}
}
}

4
bin/data/shaders/base/line/frag.glsl
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@ -5,5 +5,7 @@ layout (location = 0) in vec4 inColor;
layout (location = 0) out vec4 outColor;
void main() {
outColor = inColor;
// needs to be specified like this for some unknown reason
outColor.rgb = inColor.rgb;
outColor.a = inColor.a;
}

1
engine/inc/uf/engine/graph/graph.h
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@ -150,6 +150,7 @@ namespace uf {
void UF_API override( pod::Graph& );
void UF_API animate( pod::Graph&, const uf::stl::string&, float = 1, bool = true );
uf::stl::vector<pod::Bone> collectBones( const pod::Graph& graph, const pod::Node& node );
uf::stl::vector<pod::OBB> obbFromSkin( const pod::Graph& graph, const pod::Node& node );
void rigRagdoll( pod::Graph& graph, pod::Node& node );

5
engine/inc/uf/engine/graph/pod.inl
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@ -58,6 +58,11 @@ namespace pod {
uf::stl::vector<pod::Matrix4f> inverseBindMatrices;
};
struct UF_API Bone {
pod::Vector3f start;
pod::Vector3f end;
};
struct UF_API Animation {
struct Sampler {
uf::stl::string interpolator;

4
engine/inc/uf/utils/math/physics/common.h
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@ -12,7 +12,9 @@ namespace impl {
pod::Transform<> getTransform( const pod::PhysicsBody& body );
pod::Vector3f getPosition( const pod::PhysicsBody& body, bool useTransform = false );
pod::Vector3f apply( const pod::Transform<>& t, const pod::Vector3f& p );
pod::Vector3f applyInverse( const pod::Transform<>& t, const pod::Vector3f& p );
pod::PhysicsBody physicsBodyHullView( const pod::PhysicsBody& body, int32_t index = -1 );
pod::PhysicsBody physicsBodyTriView( const pod::TriangleWithNormal triangle, const pod::PhysicsBody& body = {} );
pod::PhysicsBody physicsBodyTriView( const pod::PhysicsBody& body, size_t triID );

4
engine/inc/uf/utils/math/physics/impl.h
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@ -58,8 +58,8 @@ namespace uf {
const pod::CollisionEvent::events_t& UF_API getCollisionEvents( const pod::World& world );
pod::CollisionEvent::events_t UF_API getCollisionEvents( const pod::PhysicsBody& body );
pod::PhysicsBody& UF_API create( uf::Object&, float mass = 0.0f, const pod::Vector3f& = {} );
pod::PhysicsBody& UF_API create( pod::World&, uf::Object&, float mass = 0.0f, const pod::Vector3f& = {} );
pod::PhysicsBody& UF_API create( uf::Object&, float mass = 0.0f, const pod::Vector3f& = {}, const pod::Quaternion<>& = {0,0,0,1} );
pod::PhysicsBody& UF_API create( pod::World&, uf::Object&, float mass = 0.0f, const pod::Vector3f& = {}, const pod::Quaternion<>& = {0,0,0,1} );
void UF_API destroy( uf::Object& );
void UF_API destroy( pod::PhysicsBody& );
}

11
engine/inc/uf/utils/math/physics/structs.h
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@ -407,7 +407,8 @@ namespace pod {
float inverseMass = 0.0f;
int32_t viewIndex = -1; // -1 means it's not an aliased view
pod::Vector3f offset = {};
pod::Vector3f offsetPosition = {};
pod::Quaternion<> offsetOrientation = { 0, 0, 0, 1 };
pod::Vector3f velocity = {};
pod::Vector3f forceAccumulator = {};
@ -437,7 +438,6 @@ namespace pod {
bool resolveBlockContact = true; // attempts to resolve an invalid BlockNxN solve with an BlockN-1xN-1 solve
bool useGjk = false; // currently don't have a way to broadphase mesh => narrowphase tri via GJK
pod::CollisionMask debugDraw = pod::Collider::CATEGORY_NONE; // draws wireframe of collision bodies
bool async = false; // dedicated thread for physics sim
float timestep = 1.0f / 60.0f; // timestep for fixed step ticks
bool fixedStep = true; // run physics simulation with a fixed delta time (with accumulation), rather than rely on actual engine deltatime
@ -485,6 +485,13 @@ namespace pod {
};
float groundedThreshold = 0.7f; // threshold before marking a body as grounded
struct {
pod::CollisionMask mask = pod::Collider::CATEGORY_NONE; // draws wireframe of collision bodies
bool contacts = false;
bool constraints = false;
bool rays = false;
} debugDraw;
};
struct World {

25
engine/src/engine/ext/ext.cpp
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@ -223,17 +223,24 @@ void UF_API uf::load( ext::json::Value& json ) {
}
auto& configEnginePhysicsDebugDrawJson = configEnginePhysicsJson["debug draw"];
if ( ext::json::isObject( configEnginePhysicsDebugDrawJson ) ) {
if ( configEnginePhysicsDebugDrawJson["static"].as<bool>() ) uf::physics::settings.debugDraw |= pod::Collider::CATEGORY_STATIC;
if ( configEnginePhysicsDebugDrawJson["dynamic"].as<bool>() ) uf::physics::settings.debugDraw |= pod::Collider::CATEGORY_DYNAMIC;
if ( configEnginePhysicsDebugDrawJson["player"].as<bool>() ) uf::physics::settings.debugDraw |= pod::Collider::CATEGORY_PLAYER;
if ( configEnginePhysicsDebugDrawJson["npc"].as<bool>() ) uf::physics::settings.debugDraw |= pod::Collider::CATEGORY_NPC;
if ( configEnginePhysicsDebugDrawJson["trigger"].as<bool>() ) uf::physics::settings.debugDraw |= pod::Collider::CATEGORY_TRIGGER;
if ( configEnginePhysicsDebugDrawJson["projectile"].as<bool>() ) uf::physics::settings.debugDraw |= pod::Collider::CATEGORY_PROJECTILE;
if ( configEnginePhysicsDebugDrawJson["character"].as<bool>() ) uf::physics::settings.debugDraw |= pod::Collider::CATEGORY_CHARACTER;
if ( configEnginePhysicsDebugDrawJson["all"].as<bool>() ) uf::physics::settings.debugDraw |= pod::Collider::CATEGORY_ALL;
if ( configEnginePhysicsDebugDrawJson["static"].as<bool>() ) uf::physics::settings.debugDraw.mask |= pod::Collider::CATEGORY_STATIC;
if ( configEnginePhysicsDebugDrawJson["dynamic"].as<bool>() ) uf::physics::settings.debugDraw.mask |= pod::Collider::CATEGORY_DYNAMIC;
if ( configEnginePhysicsDebugDrawJson["player"].as<bool>() ) uf::physics::settings.debugDraw.mask |= pod::Collider::CATEGORY_PLAYER;
if ( configEnginePhysicsDebugDrawJson["npc"].as<bool>() ) uf::physics::settings.debugDraw.mask |= pod::Collider::CATEGORY_NPC;
if ( configEnginePhysicsDebugDrawJson["trigger"].as<bool>() ) uf::physics::settings.debugDraw.mask |= pod::Collider::CATEGORY_TRIGGER;
if ( configEnginePhysicsDebugDrawJson["projectile"].as<bool>() ) uf::physics::settings.debugDraw.mask |= pod::Collider::CATEGORY_PROJECTILE;
if ( configEnginePhysicsDebugDrawJson["character"].as<bool>() ) uf::physics::settings.debugDraw.mask |= pod::Collider::CATEGORY_CHARACTER;
if ( configEnginePhysicsDebugDrawJson["all"].as<bool>() ) uf::physics::settings.debugDraw.mask |= pod::Collider::CATEGORY_ALL;
uf::physics::settings.debugDraw.contacts = configEnginePhysicsDebugDrawJson["contacts"].as( uf::physics::settings.debugDraw.contacts );
uf::physics::settings.debugDraw.constraints = configEnginePhysicsDebugDrawJson["constraints"].as( uf::physics::settings.debugDraw.constraints );
uf::physics::settings.debugDraw.rays = configEnginePhysicsDebugDrawJson["rays"].as( uf::physics::settings.debugDraw.rays );
} else if ( configEnginePhysicsDebugDrawJson.is<bool>() && configEnginePhysicsDebugDrawJson.as<bool>() ) {
uf::physics::settings.debugDraw = pod::Collider::CATEGORY_ALL;
uf::physics::settings.debugDraw.mask = pod::Collider::CATEGORY_ALL;
uf::physics::settings.debugDraw.contacts = true;
uf::physics::settings.debugDraw.constraints = true;
uf::physics::settings.debugDraw.rays = true;
}
}

146
engine/src/engine/graph/animation.cpp
View File

@ -76,17 +76,18 @@ namespace {
#endif
}
pod::Matrix4f localMatrix( pod::Graph& graph, int32_t index ) {
pod::Matrix4f localMatrix( const pod::Graph& graph, int32_t index ) {
auto& node = 0 < index && index <= graph.nodes.size() ? graph.nodes[index] : graph.root;
auto& transform = node.transform;
return
uf::matrix::translate( uf::matrix::identity(), node.transform.position ) *
uf::quaternion::matrix(node.transform.orientation) *
uf::matrix::scale( uf::matrix::identity(), node.transform.scale ) *
node.transform.model;
uf::matrix::translate( uf::matrix::identity(), transform.position ) *
uf::quaternion::matrix(transform.orientation) *
uf::matrix::scale( uf::matrix::identity(), transform.scale ) *
transform.model;
}
pod::Matrix4f worldMatrix( pod::Graph& graph, int32_t index ) {
pod::Matrix4f worldMatrix( const pod::Graph& graph, int32_t index ) {
pod::Matrix4f matrix = ::localMatrix( graph, index );
auto& node = *uf::graph::find( graph, index );
auto& node = 0 < index && index <= graph.nodes.size() ? graph.nodes[index] : graph.root;
int32_t parent = node.parent;
while ( 0 < parent && parent <= graph.nodes.size() ) {
matrix = ::localMatrix( graph, parent ) * matrix;
@ -261,6 +262,25 @@ void uf::graph::updateAnimation( pod::Graph& graph, pod::Node& node ) {
}
// separate function in the event something later might need it
uf::stl::vector<pod::Bone> uf::graph::collectBones( const pod::Graph& graph, const pod::Node& node ) {
auto& storage = ::getGraphStorage(uf::scene::getCurrentScene());
auto& name = graph.skins[node.skin];
auto& skin = storage.skins[name];
uf::stl::vector<pod::Bone> bones( graph.nodes.size() );
for ( auto i = 0; i < skin.joints.size(); ++i ) {
auto nodeID = skin.joints[i];
auto& node = graph.nodes[nodeID];
if ( node.parent < 0 ) continue;
auto& parent = graph.nodes[node.parent];
auto tA = uf::transform::flatten( parent.transform );
auto tB = uf::transform::flatten( node.transform );
bones[nodeID] = pod::Bone{ tA.position, tB.position };
}
return bones;
}
uf::stl::vector<pod::OBB> uf::graph::obbFromSkin( const pod::Graph& graph, const pod::Node& node ) {
const float wThresold = 0.15f;
@ -290,11 +310,11 @@ uf::stl::vector<pod::OBB> uf::graph::obbFromSkin( const pod::Graph& graph, const
for ( auto w = 0; w < 4; ++w ) {
if ( weights[w] <= wThresold ) continue;
uint16_t boneID = joints[w];
pod::Vector3f localPos = uf::matrix::multiply( skin.inverseBindMatrices[boneID], pos );
uint16_t jointID = joints[w];
pod::Vector3f localPos = uf::matrix::multiply( skin.inverseBindMatrices[jointID], pos );
bounds[boneID].center = uf::vector::min( bounds[boneID].center, localPos );
bounds[boneID].extent = uf::vector::max( bounds[boneID].extent, localPos );
bounds[jointID].center = uf::vector::min( bounds[jointID].center, localPos );
bounds[jointID].extent = uf::vector::max( bounds[jointID].extent, localPos );
}
}
}
@ -310,5 +330,107 @@ uf::stl::vector<pod::OBB> uf::graph::obbFromSkin( const pod::Graph& graph, const
}
void uf::graph::rigRagdoll( pod::Graph& graph, pod::Node& node ) {
// scrapped for now
auto& storage = ::getGraphStorage(uf::scene::getCurrentScene());
auto& name = graph.skins[node.skin];
auto& skin = storage.skins[name];
auto bounds = uf::graph::obbFromSkin( graph, node );
auto bones = uf::graph::collectBones( graph, node );
auto armatureTransform = uf::transform::flatten( graph.root.entity->getComponent<pod::Transform<>>() );
// create physics bodies
uf::stl::vector<pod::PhysicsBody*> bodies( graph.nodes.size(), NULL );
for ( auto i = 0; i < skin.joints.size(); ++i ) {
auto nodeID = skin.joints[i];
auto& node = graph.nodes[nodeID];
if ( node.parent < 0 ) continue;
auto& entity = *node.entity;
auto transform = uf::transform::flatten( entity.getComponent<pod::Transform<>>() );
// this definitely could be done better......
auto& bone = bones[nodeID];
auto& obb = bounds[i];
// if ( obb.extent.x < 0 ) continue;
// transform center into world space
auto boneCenter = uf::transform::apply( armatureTransform, (bone.end + bone.start) * 0.5f );
// transform back into local space
auto offset = uf::transform::applyInverse( transform, boneCenter );
auto orientation = uf::quaternion::identity();
float length = uf::vector::norm( offset ) * 2.0f;
float mass = 100.0f;
auto& body = uf::physics::create( entity, mass, offset, orientation );
if ( obb.extent.x < 0 ) {
uf::physics::initialize( body, pod::Sphere{ 0.1f } );
} else {
uf::physics::initialize( body, pod::OBB{ pod::Vector3f{}, obb.extent * armatureTransform.scale } );
}
//uf::physics::initialize( body, pod::Capsule{ 0.5f, length * 0.5f } );
bodies[nodeID] = &body;
}
// create constraints
for ( auto i = 0; i < skin.joints.size(); ++i ) {
auto nodeID = skin.joints[i];
auto& node = graph.nodes[nodeID];
if ( !bodies[node.parent] ) continue; // no parent body, skip constraint
if ( !bodies[nodeID] ) continue; // no node body, skip constraint
auto& bodyA = *bodies[node.parent];
auto& bodyB = *bodies[nodeID];
auto tA = uf::transform::flatten( *bodyA.transform ); // bone start
auto tB = uf::transform::flatten( *bodyB.transform ); // bone end
auto pivot = tA.position;
auto axis = uf::vector::normalize( tB.position - tA.position );
auto& constraint = uf::physics::constrain( bodyA, bodyB );
uf::physics::constrainConeTwist( constraint, pivot, axis );
}
// works only pre-init and for no scaling
#if 0
for ( auto i = 0; i < skin.joints.size(); ++i ) {
auto nodeID = skin.joints[i];
auto& node = graph.nodes[nodeID];
if ( node.parent < 0 ) continue;
auto& entity = *node.entity;
auto boneStart = uf::transform::applyInverse( node.transform, pod::Vector3f{0, 0, 0} );
auto offset = uf::vector::lerp( boneStart, pod::Vector3f{}, 0.5f );
auto orientation = uf::quaternion::identity();
// float length = ...
float mass = 0.0f;
auto& body = uf::physics::create( entity, mass, offset, orientation );
uf::physics::initialize( body, pod::Sphere{ 0.5f } );
bodies[nodeID] = &body;
}
// create constraints
for ( auto i = 0; i < skin.joints.size(); ++i ) {
auto nodeID = skin.joints[i];
auto& node = graph.nodes[nodeID];
if ( node.parent < 0 ) continue;
auto& parent = graph.nodes[node.parent];
if ( bodies.count( node.parent ) == 0 ) continue;
if ( bodies.count( nodeID ) == 0 ) continue;
auto& bodyA = bodies[node.parent];
auto& bodyB = bodies[nodeID];
auto tA = uf::transform::flatten( parent.transform );
auto tB = uf::transform::flatten( node.transform );
auto pivot = tA.position;
auto axis = uf::vector::normalize( tB.position - tA.position );
auto& constraint = uf::physics::constrain( *bodyA, *bodyB );
uf::physics::constrainConeTwist( constraint, pivot, axis );
}
#endif
}

20
engine/src/engine/graph/graph.cpp
View File

@ -1113,17 +1113,6 @@ void uf::graph::process( pod::Graph& graph ) {
}
*/
UF_DEBUG_TIMER_MULTITRACE("Rigging ragdolls");
for ( auto& node : graph.nodes ) {
if ( node.skin < 0 || node.mesh < 0 ) continue;
ext::json::Value tag = ext::json::find( node.name, graphMetadataJson["tags"] );
if ( ext::json::isNull( tag ) ) tag["physics"] = graphMetadataJson["physics"];
if ( tag["physics"]["ragdoll"].as<bool>(false) ) {
uf::graph::rigRagdoll( graph, node );
}
}
UF_DEBUG_TIMER_MULTITRACE_END("Rigged ragdolls.");
UF_DEBUG_TIMER_MULTITRACE("Updating master graph");
#if UF_GRAPH_EXTENDED
uf::graph::reload( graph );
@ -1406,6 +1395,15 @@ void uf::graph::initialize( pod::Graph& graph ) {
if ( entity->getUid() == 0 ) entity->initialize();
});
auto& graphMetadataJson = graph.metadata;
for ( auto& node : graph.nodes ) {
if ( node.skin < 0 || node.mesh < 0 ) continue;
ext::json::Value tag = ext::json::find( node.name, graphMetadataJson["tags"] );
if ( ext::json::isNull( tag ) ) tag["physics"] = graphMetadataJson["physics"];
if ( tag["physics"]["ragdoll"].as<bool>(false) ) {
uf::graph::rigRagdoll( graph, node );
}
}
auto& scene = uf::scene::getCurrentScene();
scene.invalidateGraph();

30
engine/src/engine/object/behaviors/graph.cpp
View File

@ -13,6 +13,7 @@
#include <uf/utils/mesh/mesh.h>
#include <uf/utils/string/hash.h>
#include <uf/utils/io/inputs.h>
#include <uf/utils/debug/draw.h>
UF_BEHAVIOR_REGISTER_CPP(uf::GraphBehavior)
UF_BEHAVIOR_TRAITS_CPP(uf::GraphBehavior, ticks = true, renders = false, thread = "")
@ -68,13 +69,32 @@ void uf::GraphBehavior::initialize( uf::Object& self ) {
}
void uf::GraphBehavior::destroy( uf::Object& self ) {}
void uf::GraphBehavior::tick( uf::Object& self ) {
/* Test */ {
TIMER(1, uf::inputs::kbm::states::T ) {
UF_MSG_DEBUG("Regenerating graph graphics...");
auto& graph = this->getComponent<pod::Graph>();
uf::graph::reload( graph );
if ( !this->hasComponent<pod::Graph>() ) return;
auto& graph = this->getComponent<pod::Graph>();
if ( !graph.metadata["debug"]["draw"]["armature"].as<bool>(false) ) return;
auto& transform = this->getComponent<pod::Transform<>>();
for ( auto& node : graph.nodes ) {
if ( node.skin < 0 || node.mesh < 0 ) continue;
auto bones = uf::graph::collectBones( graph, node );
for ( auto& bone : bones ) {
bone.start = uf::transform::apply( transform, bone.start );
bone.end = uf::transform::apply( transform, bone.end );
uf::debug::drawLine( bone.start, bone.end, pod::Vector4f{ 0, 1, 0, 1 } );
}
}
static bool hid = false;
if ( hid ) return;
hid = true;
this->process([&](uf::Entity* entity){
if ( !entity->hasComponent<uf::Graphic>() ) return;
auto& graphic = entity->getComponent<uf::Graphic>();
if ( !graphic.initialized ) return;
auto& descriptorSet = graphic.getDescriptorSet();
descriptorSet.metadata.process = false;
uf::renderer::states::rebuild = true;
});
}
void uf::GraphBehavior::render( uf::Object& self ) {}
void uf::GraphBehavior::Metadata::serialize( uf::Object& self, uf::Serializer& serializer ) {}

3
engine/src/ext/lua/usertypes/physics.cpp
View File

@ -31,7 +31,8 @@ namespace binds {
pod::Transform<> getTransform( pod::PhysicsBody& body ) {
pod::Transform<> t;
t.position = body.offset;
t.position = body.offsetPosition;
t.orientation = body.offsetOrientation;
t.reference = body.transform;
return uf::transform::flatten( t );
}

2
engine/src/utils/debug/draw.cpp
View File

@ -219,7 +219,7 @@ void uf::debug::draw( float dt ) {
graphic.material.device = &uf::renderer::device;
// to-do: bin by descriptor instead of one global set
graphic.descriptor.depth.test = true;
graphic.descriptor.depth.test = false;
graphic.descriptor.depth.write = false;
graphic.descriptor.renderTarget = 1; // "forward";
graphic.descriptor.topology = uf::renderer::enums::PrimitiveTopology::LINE_LIST;

27
engine/src/utils/math/physics/common.cpp
View File

@ -65,12 +65,9 @@ void impl::updateActivity( pod::PhysicsBody& body, float dt ) {
// to-do: find a succinct way to explain this madness
pod::Transform<> impl::getTransform( const pod::PhysicsBody& body ) {
pod::Transform<> t;
t.position = body.offset;
#if UF_PHYSICS_SYNC_TRANSFORMS
t.reference = const_cast<pod::Transform<>*>( &body.flattenedTransform );
#else
t.position = body.offsetPosition;
t.orientation = body.offsetOrientation;
t.reference = body.transform;
#endif
return uf::transform::flatten( t );
}
// get position of a body, uses bounds center or transform's position
@ -78,6 +75,23 @@ pod::Vector3f impl::getPosition( const pod::PhysicsBody& body, bool useTransform
if ( !useTransform ) return impl::aabbCenter( body.bounds );
return impl::getTransform( body ).position;
}
// applies a transform
pod::Vector3f impl::apply( const pod::Transform<>& t, const pod::Vector3f& p ) {
return uf::transform::apply( t, p );
}
// applies an inverse transform
pod::Vector3f impl::applyInverse( const pod::Transform<>& t, const pod::Vector3f& p ) {
return uf::transform::applyInverse( t, p );
}
/*
// these isometrically applies a transform
pod::Vector3f impl::apply( const pod::Transform<>& t, const pod::Vector3f& p ) {
return uf::quaternion::rotate( t.orientation, p + t.position );
}
pod::Vector3f impl::applyInverse( const pod::Transform<>& t, const pod::Vector3f& p ) {
return uf::quaternion::rotate( uf::quaternion::inverse( t.orientation ), p - t.position );
}
*/
// creates a view of a hull body
pod::PhysicsBody impl::physicsBodyHullView( const pod::PhysicsBody& body, int32_t index ) {
pod::PhysicsBody view = body;
@ -94,7 +108,8 @@ pod::PhysicsBody impl::physicsBodyTriView( const pod::TriangleWithNormal triangl
view.collider.triangle.normal = impl::triangleNormal( (const pod::Triangle&) triangle );
}
// assume triangle is already transformed
view.offset = {};
view.offsetPosition = {};
view.offsetOrientation = {0,0,0,1};
view.transform = NULL;
return view;
}

16
engine/src/utils/math/physics/constraints/ballSocket.cpp
View File

@ -14,8 +14,11 @@ void impl::solveBallSocketConstraint( pod::Constraint& constraint, float dt ) {
auto tA = impl::getTransform( a );
auto tB = impl::getTransform( b );
auto rA = uf::quaternion::rotate( tA.orientation, joint.localAnchorA );
auto rB = uf::quaternion::rotate( tB.orientation, joint.localAnchorB );
auto anchorA = joint.localAnchorA * tA.scale;
auto anchorB = joint.localAnchorB * tB.scale;
auto rA = uf::quaternion::rotate( tA.orientation, anchorA );
auto rB = uf::quaternion::rotate( tB.orientation, anchorB );
pod::Matrix3f K = {};
pod::Vector3f axes[3] = { {1,0,0}, {0,1,0}, {0,0,1} };
@ -63,13 +66,12 @@ pod::Constraint& uf::physics::constrainBallSocket( pod::Constraint& constraint,
void impl::drawBallSocket( const pod::Constraint& constraint ) {
if ( !constraint.a || !constraint.b ) return;
auto tA = impl::getTransform(*constraint.a);
auto tB = impl::getTransform(*constraint.b);
const auto& joint = constraint.ballSocket;
auto tA = impl::getTransform( *constraint.a );
auto tB = impl::getTransform( *constraint.b );
auto pA = tA.position + uf::quaternion::rotate(tA.orientation, joint.localAnchorA);
auto pB = tB.position + uf::quaternion::rotate(tB.orientation, joint.localAnchorB);
auto pA = uf::transform::apply( tA, joint.localAnchorA );
auto pB = uf::transform::apply( tB, joint.localAnchorB );
uf::debug::drawLine( tA.position, pA );
uf::debug::drawLine( tB.position, pB );

26
engine/src/utils/math/physics/constraints/coneTwist.cpp
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@ -172,26 +172,26 @@ pod::Constraint& uf::physics::constrainConeTwist( pod::Constraint& constraint, c
void impl::drawConeTwist( const pod::Constraint& constraint ) {
if ( !constraint.a || !constraint.b ) return;
auto tA = impl::getTransform(*constraint.a);
auto tB = impl::getTransform(*constraint.b);
const auto& joint = constraint.coneTwist;
auto tA = impl::getTransform( *constraint.a );
auto tB = impl::getTransform( *constraint.b );
auto pA = tA.position + uf::quaternion::rotate(tA.orientation, joint.localAnchorA);
auto pB = tB.position + uf::quaternion::rotate(tB.orientation, joint.localAnchorB);
auto pA = uf::transform::apply( tA, joint.localAnchorA );
auto pB = uf::transform::apply( tB, joint.localAnchorB );
auto taA = uf::quaternion::rotate(tA.orientation, joint.localTwistAxisA);
auto taB = uf::quaternion::rotate(tB.orientation, joint.localTwistAxisB);
auto taA = uf::quaternion::rotate( tA.orientation, joint.localTwistAxisA );
auto taB = uf::quaternion::rotate( tB.orientation, joint.localTwistAxisB );
auto raA = uf::quaternion::rotate(tA.orientation, joint.localReferenceAxisA);
auto raB = uf::quaternion::rotate(tB.orientation, joint.localReferenceAxisB);
auto raA = uf::quaternion::rotate( tA.orientation, joint.localReferenceAxisA );
auto raB = uf::quaternion::rotate( tB.orientation, joint.localReferenceAxisB );
uf::debug::drawLine( pA, pB );
uf::debug::drawLine( pA, pB, pod::Vector4f{ 1, 1, 0, 1 } ); // yellow
float axisLength = 0.5f;
uf::debug::drawLine( pA, pA + taA * axisLength );
uf::debug::drawLine( pB, pB + taB * axisLength );
uf::debug::drawLine( pA, pA + taA * axisLength, pod::Vector4f{ 1, 0, 1, 1 } ); // pink
uf::debug::drawLine( pB, pB + taB * axisLength, pod::Vector4f{ 1, 0, 1, 1 } );
float refLength = 0.25f;
uf::debug::drawLine( pA, pA + raA * refLength );
uf::debug::drawLine( pB, pB + raB * refLength );
uf::debug::drawLine( pA, pA + raA * refLength, pod::Vector4f{ 0, 1, 1, 1 } ); // cyan
uf::debug::drawLine( pB, pB + raB * refLength, pod::Vector4f{ 0, 1, 1, 1 } );
}

16
engine/src/utils/math/physics/constraints/distance.cpp
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@ -11,8 +11,11 @@ void impl::solveDistanceConstraint( pod::Constraint& constraint, float dt ) {
auto tA = impl::getTransform( a );
auto tB = impl::getTransform( b );
auto rA = uf::quaternion::rotate( tA.orientation, joint.localAnchorA );
auto rB = uf::quaternion::rotate( tB.orientation, joint.localAnchorB );
auto anchorA = joint.localAnchorA * tA.scale;
auto anchorB = joint.localAnchorB * tB.scale;
auto rA = uf::quaternion::rotate( tA.orientation, anchorA );
auto rB = uf::quaternion::rotate( tB.orientation, anchorB );
auto pA = tA.position + rA;
auto pB = tB.position + rB;
@ -58,13 +61,12 @@ pod::Constraint& uf::physics::constrainDistance( pod::Constraint& constraint, co
void impl::drawDistance( const pod::Constraint& constraint ) {
if ( !constraint.a || !constraint.b ) return;
auto tA = impl::getTransform(*constraint.a);
auto tB = impl::getTransform(*constraint.b);
const auto& joint = constraint.distance;
auto tA = impl::getTransform( *constraint.a );
auto tB = impl::getTransform( *constraint.b );
auto pA = tA.position + uf::quaternion::rotate(tA.orientation, joint.localAnchorA);
auto pB = tB.position + uf::quaternion::rotate(tB.orientation, joint.localAnchorB);
auto pA = uf::transform::apply( tA, joint.localAnchorA );
auto pB = uf::transform::apply( tB, joint.localAnchorB );
uf::debug::drawLine( tA.position, pA );
uf::debug::drawLine( tB.position, pB );

13
engine/src/utils/math/physics/constraints/hinge.cpp
View File

@ -76,16 +76,15 @@ pod::Constraint& uf::physics::constrainHinge( pod::Constraint& constraint, const
void impl::drawHinge( const pod::Constraint& constraint ) {
if ( !constraint.a || !constraint.b ) return;
auto tA = impl::getTransform(*constraint.a);
auto tB = impl::getTransform(*constraint.b);
const auto& joint = constraint.hinge;
auto tA = impl::getTransform( *constraint.a );
auto tB = impl::getTransform( *constraint.b );
auto pA = tA.position + uf::quaternion::rotate(tA.orientation, joint.localAnchorA);
auto pB = tB.position + uf::quaternion::rotate(tB.orientation, joint.localAnchorB);
auto pA = uf::transform::apply( tA, joint.localAnchorA );
auto pB = uf::transform::apply( tB, joint.localAnchorB );
auto aA = uf::quaternion::rotate(tA.orientation, joint.localAxisA);
auto aB = uf::quaternion::rotate(tB.orientation, joint.localAxisB);
auto aA = uf::quaternion::rotate( tA.orientation, joint.localAxisA );
auto aB = uf::quaternion::rotate( tB.orientation, joint.localAxisB );
uf::debug::drawLine( pA, pB );

7
engine/src/utils/math/physics/constraints/slider.cpp
View File

@ -12,8 +12,11 @@ void impl::solveSliderConstraint( pod::Constraint& constraint, float dt ) {
auto tA = impl::getTransform( a );
auto tB = impl::getTransform( b );
auto rA = uf::quaternion::rotate( tA.orientation, joint.localAnchorA );
auto rB = uf::quaternion::rotate( tB.orientation, joint.localAnchorB );
auto anchorA = joint.localAnchorA * tA.scale;
auto anchorB = joint.localAnchorB * tB.scale;
auto rA = uf::quaternion::rotate( tA.orientation, anchorA );
auto rB = uf::quaternion::rotate( tB.orientation, anchorB );
auto pA = tA.position + rA;
auto pB = tB.position + rB;

7
engine/src/utils/math/physics/constraints/spring.cpp
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@ -11,8 +11,11 @@ void impl::solveSpringConstraint( pod::Constraint& constraint, float dt ) {
auto tA = impl::getTransform( a );
auto tB = impl::getTransform( b );
auto rA = uf::quaternion::rotate( tA.orientation, joint.localAnchorA );
auto rB = uf::quaternion::rotate( tB.orientation, joint.localAnchorB );
auto anchorA = joint.localAnchorA * tA.scale;
auto anchorB = joint.localAnchorB * tB.scale;
auto rA = uf::quaternion::rotate( tA.orientation, anchorA );
auto rB = uf::quaternion::rotate( tB.orientation, anchorB );
auto worldAnchorA = tA.position + rA;
auto worldAnchorB = tB.position + rB;

8
engine/src/utils/math/physics/draw.cpp
View File

@ -7,6 +7,7 @@
void impl::drawManifold( const pod::Manifold& manifold ) {
if ( !uf::physics::settings.debugDraw.contacts ) return;
for ( auto& contact : manifold.points ) {
auto& start = contact.point;
auto end = contact.point + (contact.normal * MIN(contact.penetration, 0.1f) * 2);
@ -15,7 +16,7 @@ void impl::drawManifold( const pod::Manifold& manifold ) {
}
}
void impl::drawBody( const pod::PhysicsBody& body ) {
if ( !(body.collider.category & uf::physics::settings.debugDraw) ) return;
if ( !(body.collider.category & uf::physics::settings.debugDraw.mask) ) return;
switch( body.collider.type ) {
case pod::ShapeType::AABB:
impl::drawAabb( body );
@ -44,8 +45,9 @@ void impl::drawBody( const pod::PhysicsBody& body ) {
}
}
void impl::drawConstraint( const pod::Constraint& constraint ) {
if ( !(constraint.a->collider.category & uf::physics::settings.debugDraw) ) return;
if ( !(constraint.b->collider.category & uf::physics::settings.debugDraw) ) return;
if ( !uf::physics::settings.debugDraw.constraints ) return;
if ( !(constraint.a->collider.category & uf::physics::settings.debugDraw.mask) ) return;
if ( !(constraint.b->collider.category & uf::physics::settings.debugDraw.mask) ) return;
switch( constraint.type ) {
case pod::ConstraintType::BALL_AND_SOCKET:

16
engine/src/utils/math/physics/impl.cpp
View File

@ -66,7 +66,7 @@ void uf::physics::tick( pod::World& world, float dt ) {
accumulator -= timestep;
}
if ( uf::physics::settings.debugDraw != pod::Collider::CATEGORY_NONE ) impl::draw( world, dt );
if ( uf::physics::settings.debugDraw.mask != pod::Collider::CATEGORY_NONE ) impl::draw( world, dt );
}
void uf::physics::terminate() {
uf::physics::terminate( uf::scene::getCurrentScene() );
@ -241,7 +241,7 @@ void uf::physics::step( pod::World& world, float dt ) {
// dispatch collision events
impl::dispatchManifold( manifold, collisionEvents, activeCollisions, previousCollisions );
// draw collision events
if ( uf::physics::settings.debugDraw ) impl::drawManifold( manifold );
if ( uf::physics::settings.debugDraw.contacts ) impl::drawManifold( manifold );
}
// dispatch exiting collisions
for ( auto& [ key, pair ] : previousCollisions ) {
@ -534,7 +534,7 @@ pod::CollisionEvent::events_t uf::physics::getCollisionEvents( const pod::Physic
return res;
}
// body creation
pod::PhysicsBody& uf::physics::create( pod::World& world, uf::Object& object, float mass, const pod::Vector3f& offset ) {
pod::PhysicsBody& uf::physics::create( pod::World& world, uf::Object& object, float mass, const pod::Vector3f& positionOffset, const pod::Quaternion<>& orientationOffset ) {
auto& root = object.getComponent<pod::PhysicsBody>();
auto isRoot = !root.world;
auto& body = isRoot ? root : *(new pod::PhysicsBody);
@ -542,10 +542,8 @@ pod::PhysicsBody& uf::physics::create( pod::World& world, uf::Object& object, fl
body.world = &world;
body.object = &object;
body.transform = &object.getComponent<pod::Transform<>>();
#if UF_PHYSICS_SYNC_TRANSFORMS
body.flattenedTransform = uf::transform::flatten( *body.transform );
#endif
body.offset = offset;
body.offsetPosition = positionOffset;
body.offsetOrientation = orientationOffset;
body.inverseMass = mass == 0.0f ? 0.0f : 1.0f / mass;
body.collider.type = {};
@ -578,8 +576,8 @@ pod::PhysicsBody& uf::physics::create( pod::World& world, uf::Object& object, fl
return body;
}
pod::PhysicsBody& uf::physics::create( uf::Object& object, float mass, const pod::Vector3f& offset ) {
return create( getWorld(), object, mass, offset );
pod::PhysicsBody& uf::physics::create( uf::Object& object, float mass, const pod::Vector3f& positionOffset, const pod::Quaternion<>& orientationOffset ) {
return create( getWorld(), object, mass, positionOffset, orientationOffset );
}
void uf::physics::destroy( uf::Object& object ) {

29
engine/src/utils/math/physics/narrowphase/epa.cpp
View File

@ -178,7 +178,7 @@ void impl::getSupportFace( const pod::PhysicsBody& body, const pod::Vector3f& di
bool impl::generateClippingManifold( const pod::PhysicsBody& a, const pod::PhysicsBody& b, const pod::Contact& contact, pod::Manifold& manifold ) {
if ( !uf::vector::isValid(contact.point) ) return false;
auto& normal = contact.normal;
auto normal = contact.normal;
pod::Vector3f polyA[4];
pod::Vector3f polyB[4];
@ -192,18 +192,31 @@ bool impl::generateClippingManifold( const pod::PhysicsBody& a, const pod::Physi
return true;
}
// to-do: reference face is the most perpendicular face
pod::Vector3f* refPoly = polyA;
pod::Vector3f* incPoly = polyB;
int refCount = countA;
int incCount = countB;
pod::Vector3f normalA = uf::vector::normalize(uf::vector::cross(polyA[1] - polyA[0], polyA[2] - polyA[0]));
pod::Vector3f normalB = uf::vector::normalize(uf::vector::cross(polyB[1] - polyB[0], polyB[2] - polyB[0]));
float dotA = uf::vector::dot(normalA, normal);
float dotB = uf::vector::dot(normalB, -normal);
pod::Vector3f* refPoly;
pod::Vector3f* incPoly;
int refCount, incCount;
pod::Vector3f refNormal;
if ( dotA > dotB ) {
refPoly = polyA; refCount = countA; refNormal = normalA;
incPoly = polyB; incCount = countB;
} else {
refPoly = polyB; refCount = countB; refNormal = normalB;
incPoly = polyA; incCount = countA;
normal = -normal;
}
pod::Vector3f clipBuffer[8];
int clipCount = incCount;
for ( auto i = 0; i < incCount; ++i ) clipBuffer[i] = incPoly[i];
pod::Vector3f refNormal = uf::vector::normalize(uf::vector::cross(refPoly[1] - refPoly[0], refPoly[2] - refPoly[0]));
for ( auto i = 0; i < refCount; ++i ) {
pod::Vector3f edgeStart = refPoly[i];
pod::Vector3f edgeEnd = refPoly[(i + 1) % refCount];

2
engine/src/utils/math/physics/narrowphase/ray.cpp
View File

@ -342,7 +342,7 @@ pod::RayQuery uf::physics::rayCast( const pod::Ray& ray, const pod::World& world
}
}
if ( uf::physics::settings.debugDraw ) impl::drawRay( ray, rayHit );
if ( uf::physics::settings.debugDraw.rays ) impl::drawRay( ray, rayHit );
return rayHit;
}