Emil_Shanaty/Cortex_Engine
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feat: pure Vulkan P/Invoke renderer — no wrappers, SDL3 window, SPIR-V shaders

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- Engine.Graphics: restored interfaces (IRenderContext, IRenderer, RenderBackendFactory),
  loaders (ObjLoader, GltfLoader), ProceduralMesh, MeshMath, SceneSerializer
- Engine.Graphics.Vulkan: pure P/Invoke to libvulkan.so.1/vulkan-1.dll
  - VulkanNative: library loading, function pointer loading via vkGetInstanceProcAddr
  - Vk: static function cache for ~80 Vulkan functions, all delegate types
  - VulkanTypes: ~50 structs, ~20 enums matching Vulkan C headers
  - VulkanContext: instance, physical device, logical device, surface, memory types
  - VulkanSwapchain: swapchain, image views, depth image, render pass, framebuffers
  - VulkanPipeline: graphics pipeline, descriptor set layout, shader modules
  - VulkanBuffer: vertex/index/uniform buffers, staging, memory allocation
  - VulkanRenderer: command buffers, sync (semaphores/fences), render loop, 2 frames in flight
  - GLSL 450 shaders: PBR lighting (Fresnel, ACES, gamma), directional+point lights
  - Compiled to SPIR-V via @webgpu/glslang WASM
- CortexEngine.App: switched to vulkan backend, removed Raylib/OpenTK/ImGui refs
- Tests: all 66 pass (ObjLoader, MeshMath, ProceduralMesh, SceneSerializer, etc.)
- Camera tour: 16 poses, screenshots captured, clean shutdown
This commit is contained in:
emil28092005
2026-06-17 23:03:24 +03:00
parent dd105ea4af
commit 80238b08f5
29 changed files with 4424 additions and 290 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/CortexEngine.App/CortexEngine.App.csproj
+7 -2
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@@ -22,11 +22,16 @@
<ItemGroup>
<ProjectReference Include="..\Engine.Core\Engine.Core.csproj" />
<ProjectReference Include="..\Engine.Graphics\Engine.Graphics.csproj" />
<ProjectReference Include="..\Engine.Graphics.Raylib\Engine.Graphics.Raylib.csproj" />
<ProjectReference Include="..\Engine.Graphics.Vulkan\Engine.Graphics.Vulkan.csproj" />
<ProjectReference Include="..\Engine.AI\Engine.AI.csproj" />
<ProjectReference Include="..\Engine.Physics\Engine.Physics.csproj" />
<ProjectReference Include="..\Engine.Graphics.OpenTK\Engine.Graphics.OpenTK.csproj" />
</ItemGroup>
<ItemGroup>
<Content Include="..\Engine.Graphics.Vulkan\Shaders\*.spv">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
<Link>Shaders\%(Filename)%(Extension)</Link>
</Content>
</ItemGroup>
<ItemGroup>
src/CortexEngine.App/ObjectManipulator.cs
-177
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@@ -1,177 +0,0 @@
using System.Numerics;
using Engine.Core;
using Engine.Core.Components;
using Engine.Physics;
using Flecs.NET.Core;
using Raylib_cs;
using EngineMesh = Engine.Core.Components.Mesh;
using EngineTransform = Engine.Core.Components.Transform;
using EngineRigidBody = Engine.Core.Components.RigidBody;
namespace CortexEngine.App;
/// <summary>
/// Unity-like object manipulation: left-click to pick, drag to move on ground plane.
/// Only active when ImGui is not capturing the mouse.
/// </summary>
public sealed class ObjectManipulator
{
private Entity _selectedEntity;
private bool _isDragging;
private Vector3 _dragOffset;
private float _dragDepth;
public string SelectedEntityName => _selectedEntity.IsValid() ? _selectedEntity.Name() : "";
public bool IsDragging => _isDragging;
/// <summary>
/// Process input for object picking and dragging.
/// Returns true if input was consumed (ImGui should be ignored).
/// </summary>
private bool _imGuiAvailable;
public void SetImGuiAvailable(bool available) => _imGuiAvailable = available;
public bool ProcessInput(World world, Camera camera, IInputState input)
{
// Skip if ImGui is capturing mouse
if (_imGuiAvailable && ImGuiNET.ImGui.GetIO().WantCaptureMouse)
{
_isDragging = false;
return false;
}
var mousePos = new Vector2(input.MouseX, input.MouseY);
var ray = Raylib.GetScreenToWorldRay(mousePos, ToRaylibCamera(camera));
// Left click — pick or start drag
if (input.MouseLeft && !_isDragging)
{
var hit = RaycastEntities(world, ray);
if (hit.IsValid())
{
_selectedEntity = hit;
_isDragging = true;
// Store depth along camera forward axis and offset from object center
var objPos = hit.Get<EngineTransform>().Position;
var camForward = Vector3.Normalize(camera.Target - camera.Position);
_dragDepth = Vector3.Dot(objPos - camera.Position, camForward);
_dragOffset = objPos - ProjectToCameraPlane(ray, camera, _dragDepth);
return true;
}
}
// Drag — move object on plane orthogonal to camera (screen-space movement)
if (_isDragging)
{
if (input.MouseLeft)
{
var targetPos = ProjectToCameraPlane(ray, camera, _dragDepth) + _dragOffset;
if (_selectedEntity.IsValid() && _selectedEntity.Has<EngineTransform>())
{
var t = _selectedEntity.Get<EngineTransform>();
t.Position = targetPos;
_selectedEntity.Set(t);
}
return true;
}
else
{
_isDragging = false;
}
}
return false;
}
/// <summary>
/// After physics step, re-sync dragged entity position to physics body.
/// </summary>
public void SyncToPhysics(PhysicsWorld physicsWorld)
{
if (_isDragging && _selectedEntity.IsValid() && _selectedEntity.Has<EngineTransform>())
{
var t = _selectedEntity.Get<EngineTransform>();
physicsWorld.SyncToPhysics(_selectedEntity, t);
}
}
/// <summary>
/// Get the entity currently being dragged (for physics sync skip).
/// </summary>
public Entity? GetDraggedEntity() => _isDragging ? _selectedEntity : null;
private static Entity RaycastEntities(World world, Ray ray)
{
Entity closest = default;
var closestDist = float.MaxValue;
world.Each((Entity e, ref EngineTransform t, ref EngineMesh _) =>
{
var name = e.Name();
if (string.IsNullOrEmpty(name) || name == "Grid" || name == "Floor")
return;
// Simple sphere intersection using position + approximate radius
var radius = 1.0f;
if (e.Has<EngineRigidBody>())
{
var rb = e.Get<EngineRigidBody>();
radius = rb.ShapeSize.Length();
}
var toCenter = t.Position - ray.Position;
var proj = Vector3.Dot(toCenter, ray.Direction);
if (proj < 0) return; // behind camera
var closestPoint = ray.Position + ray.Direction * proj;
var dist = Vector3.Distance(closestPoint, t.Position);
if (dist <= radius)
{
var rayDist = Vector3.Distance(ray.Position, t.Position);
if (rayDist < closestDist)
{
closestDist = rayDist;
closest = e;
}
}
});
return closest;
}
/// <summary>
/// Project a screen ray onto a plane orthogonal to the camera at the given depth.
/// This makes objects move in screen-space (like Unity's screen-space drag).
/// </summary>
private static Vector3 ProjectToCameraPlane(Ray ray, Camera camera, float depth)
{
var camForward = Vector3.Normalize(camera.Target - camera.Position);
var planePoint = camera.Position + camForward * depth;
// Ray-plane intersection: plane through planePoint with normal = camForward
var denom = Vector3.Dot(ray.Direction, camForward);
if (MathF.Abs(denom) < 0.0001f)
return planePoint;
var t = Vector3.Dot(planePoint - ray.Position, camForward) / denom;
if (t < 0)
return planePoint;
return ray.Position + ray.Direction * t;
}
private static Camera3D ToRaylibCamera(Camera camera)
{
return new Camera3D
{
Position = camera.Position,
Target = camera.Target,
Up = camera.Up,
FovY = camera.FieldOfView * 180.0f / MathF.PI,
Projection = CameraProjection.Perspective
};
}
}
src/CortexEngine.App/Program.cs
+13 -70
View File
@@ -11,8 +11,6 @@ using Engine.Core;
using Engine.Core.Components;
using Engine.Graphics;
using Engine.Graphics.Loaders;
using Engine.Graphics.OpenTK;
using Engine.Graphics.RaylibBackend;
using Engine.Graphics.Vulkan;
using Engine.Physics;
using Flecs.NET.Core;
@@ -23,7 +21,7 @@ class Program
{
static async Task Main(string[] args)
{
Console.WriteLine("Cortex Engine — Materials, Grid, Lighting, FreeFly Camera...");
Console.WriteLine("Cortex Engine — Vulkan Backend, Pure P/Invoke...");
try
{
@@ -42,26 +40,12 @@ class Program
var timing = new Timing();
using var physicsWorld = new PhysicsWorld();
RaylibBackendRegistrar.EnsureRegistered();
VulkanBackendRegistrar.EnsureRegistered();
OpenTKBackendRegistrar.EnsureRegistered();
using var renderContext = RenderBackendFactory.Create("raylib", 1280, 720, enableValidation: false);
using var renderContext = RenderBackendFactory.Create("vulkan", 1280, 720, enableValidation: true);
var window = renderContext.Window;
var input = window.Input;
using var renderer = renderContext.CreateRenderer();
// ImGui editor layer (Raylib only)
ImGuiLayer? imGuiLayer = null;
var objectManipulator = new ObjectManipulator();
objectManipulator.SetImGuiAvailable(false);
if (!cameraTour && renderer is RaylibRenderer rlRenderer)
{
imGuiLayer = new ImGuiLayer();
imGuiLayer.Initialize();
rlRenderer.ImGuiLayer = imGuiLayer;
objectManipulator.SetImGuiAvailable(true);
}
var (modelPath, mcpPort) = ParseArgs(args);
var mesh = LoadModel(modelPath);
@@ -108,7 +92,6 @@ class Program
if (mcpPort > 0)
{
// Start the MCP server in the background so AI agents can connect via HTTP.
mcpApp = McpEngineServerHost.Create(args, queue, port: mcpPort);
mcpTask = mcpApp.RunAsync();
_ = mcpTask.ContinueWith(t =>
@@ -129,7 +112,6 @@ class Program
}
#endif
var frames = 0;
var lastFpsTime = 0.0;
var lastWidth = window.Width;
@@ -177,7 +159,6 @@ class Program
window.PumpEvents();
input.BeginFrame();
// Drain any commands that arrived from the MCP server.
var processed = queue.ProcessPending();
if (processed > 0)
Console.WriteLine($"Processed {processed} AI command(s)");
@@ -191,7 +172,6 @@ class Program
camera.AspectRatio = (float)lastWidth / lastHeight;
}
// Toggle camera controller on F key press.
if (input.IsKeyPressed(Key.F))
{
activeControllerIndex = (activeControllerIndex + 1) % cameraControllers.Length;
@@ -199,7 +179,6 @@ class Program
Console.WriteLine($"Active camera controller: {cameraController.Name}");
}
// Update the active camera controller from input, unless the camera tour is driving the pose.
if (!cameraTour)
cameraController.Update(input, (float)timing.DeltaTime);
@@ -213,7 +192,6 @@ class Program
tourScreenshotPending = true;
}
// Hold the pose for a few frames to let the GPU settle, then screenshot.
if (tourScreenshotPending)
{
tourSettleFrames++;
@@ -226,7 +204,6 @@ class Program
}
}
// After the screenshot has been saved, advance to the next pose.
if (!tourScreenshotPending && !renderer.IsScreenshotRequested)
{
tourIndex++;
@@ -245,14 +222,6 @@ class Program
}
}
// Object manipulation (Unity-like drag)
if (!cameraTour)
{
var cam = cameraEntity.Get<Camera>();
objectManipulator.ProcessInput(world, cam, input);
}
// Physics: create bodies, step, sync transforms
if (!cameraTour)
{
var toInit = new List<(Entity, RigidBody, Transform)>();
@@ -270,36 +239,19 @@ class Program
e.Set(rb);
}
// Sync dragged object to physics before stepping
objectManipulator.SyncToPhysics(physicsWorld);
physicsWorld.Update((float)timing.DeltaTime);
// Sync all transforms EXCEPT the dragged object
physicsWorld.SyncTransforms(world, objectManipulator.IsDragging ? objectManipulator.GetDraggedEntity() : null);
physicsWorld.SyncTransforms(world, null);
}
// Capture a demo screenshot after the scene warms up (non-tour mode only).
if (!demoScreenshotRequested && !cameraTour && frames >= 15)
{
renderer.RequestScreenshot("Screenshots/demo.png");
demoScreenshotRequested = true;
}
// Feed frame data to ImGui before rendering.
if (imGuiLayer != null)
imGuiLayer.SetFrameData(world, timing, currentFps);
objectManipulator.SetImGuiAvailable(imGuiLayer != null);
renderer.RenderWorld(world);
queue.CompletePendingScreenshots();
// Swap buffers for OpenGL backend
if (renderContext is OpenTKRenderContext otkCtx)
otkCtx.SwapBuffers();
// Raylib handles swap internally in EndDrawing
frames++;
if (timing.TotalTime - lastFpsTime >= 1.0)
{
@@ -311,7 +263,6 @@ class Program
}
Console.WriteLine("Shutting down...");
imGuiLayer?.Dispose();
#if !RELEASE_AOT
if (mcpApp != null)
await mcpApp.StopAsync();
@@ -369,12 +320,7 @@ class Program
world.Entity("TorusKnot")
.Set(new Transform(new Vector3(0, 0.5f, -6), Quaternion.Identity, new Vector3(1.5f)))
.Set(torusKnot)
.Set(new Material(new Vector3(0.9f, 0.9f, 0.9f), roughness: 0.25f, metallic: 0.6f, texturePath: "Content/checker.png"));
world.Entity("CubeTextured")
.Set(new Transform(new Vector3(-4, 0.5f, -3), Quaternion.Identity, new Vector3(0.7f)))
.Set(mesh)
.Set(new Material(new Vector3(0.8f, 0.8f, 0.85f), roughness: 0.4f, metallic: 0.0f, texturePath: "Content/checker.png"));
.Set(new Material(new Vector3(0.9f, 0.9f, 0.9f), roughness: 0.25f, metallic: 0.6f));
world.Entity("Floor")
.Set(new Transform(new Vector3(0, -0.5f, 0), Quaternion.Identity, new Vector3(20, 0.5f, 20)))
@@ -390,17 +336,16 @@ class Program
private static void CreateCalibrationScene(World world, Mesh mesh)
{
// Colored cubes at known world positions for visual analysis of perspective and camera movement.
var positions = new (string name, Vector3 pos, Vector3 color)[]
{
("CubeOrigin", new Vector3(0.0f, 0.5f, 0.0f), new Vector3(1.0f, 1.0f, 1.0f)), // white at origin
("CubeRight", new Vector3(2.0f, 0.5f, 0.0f), new Vector3(1.0f, 0.0f, 0.0f)), // red +X
("CubeLeft", new Vector3(-2.0f, 0.5f, 0.0f), new Vector3(0.0f, 1.0f, 0.0f)), // green -X
("CubeFront", new Vector3(0.0f, 0.5f, 2.0f), new Vector3(0.0f, 0.0f, 1.0f)), // blue +Z
("CubeBack", new Vector3(0.0f, 0.5f, -2.0f), new Vector3(1.0f, 1.0f, 0.0f)), // yellow -Z
("CubeUp", new Vector3(0.0f, 2.5f, 0.0f), new Vector3(1.0f, 0.0f, 1.0f)), // magenta +Y
("CubeFar", new Vector3(0.0f, 0.5f, 8.0f), new Vector3(0.0f, 1.0f, 1.0f)), // cyan far +Z
("CubeFarLeft", new Vector3(-5.0f, 0.5f, 5.0f), new Vector3(0.5f, 0.5f, 1.0f)) // light blue far corner
("CubeOrigin", new Vector3(0.0f, 0.5f, 0.0f), new Vector3(1.0f, 1.0f, 1.0f)),
("CubeRight", new Vector3(2.0f, 0.5f, 0.0f), new Vector3(1.0f, 0.0f, 0.0f)),
("CubeLeft", new Vector3(-2.0f, 0.5f, 0.0f), new Vector3(0.0f, 1.0f, 0.0f)),
("CubeFront", new Vector3(0.0f, 0.5f, 2.0f), new Vector3(0.0f, 0.0f, 1.0f)),
("CubeBack", new Vector3(0.0f, 0.5f, -2.0f), new Vector3(1.0f, 1.0f, 0.0f)),
("CubeUp", new Vector3(0.0f, 2.5f, 0.0f), new Vector3(1.0f, 0.0f, 1.0f)),
("CubeFar", new Vector3(0.0f, 0.5f, 8.0f), new Vector3(0.0f, 1.0f, 1.0f)),
("CubeFarLeft", new Vector3(-5.0f, 0.5f, 5.0f), new Vector3(0.5f, 0.5f, 1.0f))
};
foreach (var (name, pos, color) in positions)
@@ -411,7 +356,6 @@ class Program
.Set(new Material(color, roughness: 0.5f, metallic: 0.1f));
}
// A large reference grid at Y=0.
world.Entity("Grid")
.Set(new Transform(new Vector3(0.0f, 0.0f, 0.0f), Quaternion.Identity, Vector3.One))
.Set(ProceduralMesh.CreateGrid(20, 1.0f, new Vector3(0.5f, 0.5f, 0.55f)))
@@ -445,13 +389,12 @@ class Program
private static string FindModelPath(string[] args)
{
// Skip recognized flags so they are not treated as a model path.
for (var i = 0; i < args.Length; i++)
{
var arg = args[i];
if (arg == "--mcp-port")
{
i++; // skip the value
i++;
continue;
}