Integrate Jolt Physics Engine (BoomingTech#215)

Integrate Jolt Physics Engine, - RigidBody creation and destroy (only support static object currently) - Scene Query: raycast, sweep, overlap - Simulation - Physics Debug Renderer: (work in progress) Co-authored-by: Olorin <[email protected]>
KaygNas · Feb 10, 2023 · 7577e86 · 7577e86
1 parent 545b910
commit 7577e86
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Showing 28 changed files with 1,047 additions and 27 deletions.
diff --git a/engine/3rdparty/CMakeLists.txt b/engine/3rdparty/CMakeLists.txt
@@ -42,3 +42,32 @@ if(NOT TARGET tinyobjloader)
     set_target_properties(tinyobjloader PROPERTIES FOLDER ${third_party_folder}/tinyobjloader)
     set_target_properties(uninstall PROPERTIES FOLDER ${third_party_folder}/tinyobjloader)
 endif()
+
+if(NOT TARGET Jolt)
+    option(TARGET_HELLO_WORLD "" OFF)
+    option(TARGET_PERFORMANCE_TEST "" OFF)
+    option(TARGET_SAMPLES "" OFF)
+    option(TARGET_UNIT_TESTS "" OFF)
+    option(TARGET_VIEWER "" OFF)
+
+    if(ENABLE_PHYSICS_DEBUG_RENDERER)
+        option(TARGET_TEST_FRAMEWORK "" ON)
+    else()
+        option(TARGET_TEST_FRAMEWORK "" OFF)
+    endif()
+
+    add_subdirectory(JoltPhysics/Build)
+
+    if(ENABLE_PHYSICS_DEBUG_RENDERER)
+        set_target_properties(Jolt TestFramework
+            PROPERTIES 
+            FOLDER ${third_party_folder}/JoltPhysics
+            MSVC_RUNTIME_LIBRARY "MultiThreadedDLL")
+    else()
+        set_target_properties(Jolt
+            PROPERTIES 
+            FOLDER ${third_party_folder}/JoltPhysics
+            MSVC_RUNTIME_LIBRARY "MultiThreadedDLL")
+    endif()
+
+endif()
diff --git a/engine/CMakeLists.txt b/engine/CMakeLists.txt
@@ -4,6 +4,16 @@ set(THIRD_PARTY_DIR "${ENGINE_ROOT_DIR}/3rdparty")
 set(ENGINE_ASSET_DIR "/asset")
 set(ENGINE_SCHEMA_DIR "/schema")
 
+option(ENABLE_PHYSICS_DEBUG_RENDERER "Enable Physics Debug Renderer" OFF)
+
+# only support physics debug render at windows platform
+if(NOT WIN32)
+  if(ENABLE_PHYSICS_DEBUG_RENDERER)
+    message(WARNING "Disable Physics Debug Renderer")
+    set(ENABLE_PHYSICS_DEBUG_RENDERER OFF CACHE BOOL "" FORCE)
+  endif()
+endif()
+
 if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
     add_compile_options("/MP")
     set_property(DIRECTORY ${CMAKE_SOURCE_DIR} PROPERTY VS_STARTUP_PROJECT PilotEditor)

diff --git a/engine/asset/objects/environment/floor/floor.object.json b/engine/asset/objects/environment/floor/floor.object.json
@@ -53,6 +53,42 @@
                 }
             },
             "$typeName": "MeshComponent"
+        },
+        {
+            "$typeName": "RigidBodyComponent",
+            "$context": {
+                "rigidbody_res": {
+                    "actor_type": 1,
+                    "inverse_mass": 0,
+                    "shapes": [
+                        {
+                            "geometry": {
+                                "$context": {
+                                    "half_extents": {
+                                        "x": 43,
+                                        "y": 24,
+                                        "z": 0.5
+                                    }
+                                },
+                                "$typeName": "Box"
+                            },
+                            "local_transform": {
+                                "position": {
+                                    "x": 0,
+                                    "y": 0,
+                                    "z": -0.5
+                                },
+                                "rotate": {},
+                                "scale": {
+                                    "x": 1,
+                                    "y": 1,
+                                    "z": 1
+                                }
+                            }
+                        }
+                    ]
+                }
+            }
         }
     ]
 }
diff --git a/engine/source/runtime/CMakeLists.txt b/engine/source/runtime/CMakeLists.txt
@@ -47,9 +47,15 @@ target_link_libraries(${TARGET_NAME} PRIVATE tinyobjloader stb)
 target_link_libraries(${TARGET_NAME} PUBLIC glm)
 target_link_libraries(${TARGET_NAME} PUBLIC glfw)
 target_link_libraries(${TARGET_NAME} PUBLIC imgui)
+target_link_libraries(${TARGET_NAME} PUBLIC Jolt)
 target_link_libraries(${TARGET_NAME} PUBLIC ${vulkan_lib})
 target_link_libraries(${TARGET_NAME} PRIVATE $<BUILD_INTERFACE:json11>)
 
+if(ENABLE_PHYSICS_DEBUG_RENDERER)
+  add_compile_definitions(ENABLE_PHYSICS_DEBUG_RENDERER)
+  target_link_libraries(${TARGET_NAME} PUBLIC TestFramework d3d12.lib shcore.lib)
+endif()
+
 target_include_directories(
   ${TARGET_NAME}
   PUBLIC $<BUILD_INTERFACE:${vulkan_include}>)

diff --git a/engine/source/runtime/engine.cpp b/engine/source/runtime/engine.cpp
@@ -6,6 +6,7 @@
 #include "runtime/function/framework/world/world_manager.h"
 #include "runtime/function/global/global_context.h"
 #include "runtime/function/input/input_system.h"
+#include "runtime/function/physics/physics_manager.h"
 #include "runtime/function/render/render_system.h"
 #include "runtime/function/render/window_system.h"
 
@@ -88,8 +89,13 @@ namespace Pilot
 
         rendererTick();
 
+#ifdef ENABLE_PHYSICS_DEBUG_RENDERER
+        g_runtime_global_context.m_physics_manager->renderPhysicsWorld(delta_time);
+#endif
+
         g_runtime_global_context.m_window_system->pollEvents();
 
+
         g_runtime_global_context.m_window_system->setTile(
             std::string("Pilot - " + std::to_string(getFPS()) + " FPS").c_str());
 

diff --git a/engine/source/runtime/function/controller/character_controller.cpp b/engine/source/runtime/function/controller/character_controller.cpp
@@ -1,15 +1,21 @@
 #include "runtime/function/controller/character_controller.h"
 
 #include "runtime/function/framework/component/motor/motor_component.h"
-#include "runtime/function/physics/physics_system.h"
 #include "runtime/function/global/global_context.h"
+#include "runtime/function/physics/physics_system.h"
 
 namespace Pilot
 {
     Vector3 CharacterController::move(const Vector3& current_position, const Vector3& displacement)
     {
+        const float gap = 0.1f;
+
+        Capsule test_capsule;
+        test_capsule.m_half_height = m_capsule.m_half_height - gap;
+        test_capsule.m_radius      = m_capsule.m_radius - gap;
+
         Vector3 desired_position = current_position + displacement;
-        if (g_runtime_global_context.m_physics_system->overlapByCapsule(desired_position, m_capsule))
+        if (g_runtime_global_context.m_legacy_physics_system->overlapByCapsule(desired_position, test_capsule))
         {
             desired_position = current_position;
         }

diff --git a/engine/source/runtime/function/framework/component/rigidbody/rigidbody_component.cpp b/engine/source/runtime/function/framework/component/rigidbody/rigidbody_component.cpp
@@ -4,8 +4,10 @@
 
 #include "runtime/function/framework/component/transform/transform_component.h"
 #include "runtime/function/framework/object/object.h"
-#include "runtime/function/physics/physics_system.h"
+#include "runtime/function/framework/world/world_manager.h"
 #include "runtime/function/global/global_context.h"
+#include "runtime/function/physics/physics_scene.h"
+#include "runtime/function/physics/physics_system.h"
 
 namespace Pilot
 {
@@ -20,15 +22,31 @@ namespace Pilot
             return;
         }
 
-        m_physics_actor = g_runtime_global_context.m_physics_system->createPhysicsActor(
+        m_physics_actor = g_runtime_global_context.m_legacy_physics_system->createPhysicsActor(
             parent_object, parent_transform->getTransformConst(), m_rigidbody_res);
+
+        std::shared_ptr<PhysicsScene> physics_scene =
+            g_runtime_global_context.m_world_manager->getCurrentActivePhysicsScene().lock();
+        ASSERT(physics_scene);
+
+        const uint32_t body_id = physics_scene->createRigidBody(parent_transform->getTransformConst(), m_rigidbody_res);
+        m_physics_actor->setBodyID(body_id);
     }
 
     RigidBodyComponent::~RigidBodyComponent()
     {
         if (m_physics_actor)
         {
-            g_runtime_global_context.m_physics_system->removePhyicsActor(m_physics_actor);
+            g_runtime_global_context.m_legacy_physics_system->removePhyicsActor(m_physics_actor);
+
+            const uint32_t body_id = m_physics_actor->getBodyID();
+
+            std::shared_ptr<PhysicsScene> physics_scene =
+                g_runtime_global_context.m_world_manager->getCurrentActivePhysicsScene().lock();
+            ASSERT(physics_scene);
+
+            physics_scene->removeRigidBody(body_id);
+
             m_physics_actor = nullptr;
         }
     }

diff --git a/engine/source/runtime/function/framework/level/level.cpp b/engine/source/runtime/function/framework/level/level.cpp
@@ -8,6 +8,8 @@
 #include "runtime/engine.h"
 #include "runtime/function/character/character.h"
 #include "runtime/function/framework/object/object.h"
+#include "runtime/function/physics/physics_manager.h"
+#include "runtime/function/physics/physics_scene.h"
 
 #include <limits>
 
@@ -19,6 +21,9 @@ namespace Pilot
     {
         m_current_active_character.reset();
         m_gobjects.clear();
+
+        ASSERT(g_runtime_global_context.m_physics_manager);
+        g_runtime_global_context.m_physics_manager->deletePhysicsScene(m_physics_scene);
     }
 
     GObjectID Level::createObject(const ObjectInstanceRes& object_instance_res)
@@ -62,6 +67,9 @@ namespace Pilot
             return false;
         }
 
+        ASSERT(g_runtime_global_context.m_physics_manager);
+        m_physics_scene = g_runtime_global_context.m_physics_manager->createPhysicsScene();
+
         for (const ObjectInstanceRes& object_instance_res : level_res.m_objects)
         {
             createObject(object_instance_res);
@@ -113,7 +121,8 @@ namespace Pilot
             }
         }
 
-        const bool is_save_success = g_runtime_global_context.m_asset_manager->saveAsset(output_level_res, m_level_res_url);
+        const bool is_save_success =
+            g_runtime_global_context.m_asset_manager->saveAsset(output_level_res, m_level_res_url);
 
         if (is_save_success == false)
         {
@@ -146,6 +155,12 @@ namespace Pilot
         {
             m_current_active_character->tick(delta_time);
         }
+
+        std::shared_ptr<PhysicsScene> physics_scene = m_physics_scene.lock();
+        if (physics_scene)
+        {
+            physics_scene->tick(delta_time);
+        }
     }
 
     std::weak_ptr<GObject> Level::getGObjectByID(GObjectID go_id) const

diff --git a/engine/source/runtime/function/framework/level/level.h b/engine/source/runtime/function/framework/level/level.h
@@ -11,6 +11,7 @@ namespace Pilot
     class Character;
     class GObject;
     class ObjectInstanceRes;
+    class PhysicsScene;
 
     using LevelObjectsMap = std::unordered_map<GObjectID, std::shared_ptr<GObject>>;
 
@@ -37,6 +38,8 @@ namespace Pilot
         GObjectID createObject(const ObjectInstanceRes& object_instance_res);
         void      deleteGObjectByID(GObjectID go_id);
 
+        std::weak_ptr<PhysicsScene> getPhysicsScene() const { return m_physics_scene; }
+
     protected:
         void clear();
 
@@ -47,5 +50,7 @@ namespace Pilot
         LevelObjectsMap m_gobjects;
 
         std::shared_ptr<Character> m_current_active_character;
+
+        std::weak_ptr<PhysicsScene> m_physics_scene;
     };
 } // namespace Pilot
diff --git a/engine/source/runtime/function/framework/world/world_manager.cpp b/engine/source/runtime/function/framework/world/world_manager.cpp
@@ -52,6 +52,17 @@ namespace Pilot
         }
     }
 
+    std::weak_ptr<PhysicsScene> WorldManager::getCurrentActivePhysicsScene() const
+    {
+        std::shared_ptr<Level> active_level = m_current_active_level.lock();
+        if (!active_level)
+        {
+            return std::weak_ptr<PhysicsScene>();
+        }
+
+        return active_level->getPhysicsScene();
+    }
+
     bool WorldManager::loadWorld(const std::string& world_url)
     {
         LOG_INFO("loading world: {}", world_url);
@@ -84,14 +95,17 @@ namespace Pilot
 
     bool WorldManager::loadLevel(const std::string& level_url)
     {
-        std::unique_ptr<Level> level(new Level);
-        const bool             is_level_load_success = level->load(level_url);
+        std::shared_ptr<Level> level = std::make_shared<Level>();
+        // set current level temporary
+        m_current_active_level       = level;
+
+        const bool is_level_load_success = level->load(level_url);
         if (is_level_load_success == false)
         {
             return false;
         }
 
-        m_loaded_levels.emplace(level_url, std::move(level));
+        m_loaded_levels.emplace(level_url, level);
 
         return true;
     }

diff --git a/engine/source/runtime/function/framework/world/world_manager.h b/engine/source/runtime/function/framework/world/world_manager.h
@@ -8,6 +8,7 @@
 namespace Pilot
 {
     class Level;
+    class PhysicsScene;
 
     /// Manage all game worlds, it should be support multiple worlds, including game world and editor world.
     /// Currently, the implement just supports one active world and one active level
@@ -25,6 +26,8 @@ namespace Pilot
         void                 tick(float delta_time);
         std::weak_ptr<Level> getCurrentActiveLevel() const { return m_current_active_level; }
 
+        std::weak_ptr<PhysicsScene> getCurrentActivePhysicsScene() const;
+
     private:
         bool loadWorld(const std::string& world_url);
         bool loadLevel(const std::string& level_url);

diff --git a/engine/source/runtime/function/global/global_context.cpp b/engine/source/runtime/function/global/global_context.cpp
@@ -13,6 +13,7 @@
 #include "runtime/function/framework/world/world_manager.h"
 #include "runtime/function/input/input_system.h"
 #include "runtime/function/physics/physics_system.h"
+#include "runtime/function/physics/physics_manager.h"
 #include "runtime/function/render/render_system.h"
 #include "runtime/function/render/window_system.h"
 
@@ -31,7 +32,10 @@ namespace Pilot
 
         m_asset_manager = std::make_shared<AssetManager>();
 
-        m_physics_system = std::make_shared<PhysicsSystem>();
+        m_legacy_physics_system = std::make_shared<PhysicsSystem>();
+
+        m_physics_manager = std::make_shared<PhysicsManager>();
+        m_physics_manager->initialize();
 
         m_world_manager = std::make_shared<WorldManager>();
         m_world_manager->initialize();
@@ -59,7 +63,9 @@ namespace Pilot
 
         m_world_manager.reset();
 
-        m_physics_system.reset();
+        m_legacy_physics_system.reset();
+
+        m_physics_manager.reset();
 
         m_input_system.reset();