feat: JoltPhysicsSharp integration — physics simulation
- Engine.Physics project with JoltPhysicsSharp 2.21.0 - PhysicsWorld: PhysicsSystem init/update/dispose, body creation/removal, transform sync (Jolt body → ECS Transform) - RigidBody ECS component: MotionType (Static/Kinematic/Dynamic), ShapeType (Box/Sphere), mass, friction, restitution, damping - Factory methods: DynamicBox, DynamicSphere, StaticBox, StaticPlane - Main loop integration: create bodies on first frame, step physics, sync transforms back to ECS - Demo scene: 6 dynamic cubes + 3 dynamic spheres fall from height, static floor plane. Torus knot and textured cube remain static. - Collision layers: NonMoving (floor), Moving (dynamic objects) - JobSystemThreadPool for multi-threaded physics - 66/66 tests passing, 0 warnings, 0 errors
This commit is contained in:
emil28092005
@@ -1,3 +1,4 @@
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{3F5F10AA-A4CD-4E37-B4CE-B37BC60C3883} = {827E0CD3-B72D-47B6-A68D-7590B98EB39B}
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EndGlobalSection
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EndGlobal
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@@ -723,7 +723,8 @@ In Release (NativeAOT), the MCP server and ASP.NET Core are excluded. The AI can
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- [ ] **Vulkan backend reintegration** — see §3.3 checklist. Compiles but untested.
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Kept architecturally compatible via `IWindow` / `IRenderContext` / `IRenderer`.
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Deferred because Raylib covers all current needs with far less complexity.
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- [ ] Physics (JoltPhysicsSharp)
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- [x] Physics (JoltPhysicsSharp 2.21.0) — Engine.Physics project, PhysicsWorld wrapper,
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RigidBody ECS component, dynamic boxes/spheres with gravity, static floor, transform sync
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- [ ] AI hot-reload of C# scripts (Roslyn — conflicts with NativeAOT)
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- [ ] Semantic segmentation maps for MMLM vision input
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@@ -25,6 +25,7 @@
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<ProjectReference Include="..\Engine.Graphics.Raylib\Engine.Graphics.Raylib.csproj" />
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<ProjectReference Include="..\Engine.Graphics.Vulkan\Engine.Graphics.Vulkan.csproj" />
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<ProjectReference Include="..\Engine.AI\Engine.AI.csproj" />
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<ProjectReference Include="..\Engine.Physics\Engine.Physics.csproj" />
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</ItemGroup>
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<ItemGroup>
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@@ -13,6 +13,7 @@ using Engine.Graphics;
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using Engine.Graphics.Loaders;
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using Engine.Graphics.RaylibBackend;
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using Engine.Graphics.Vulkan;
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using Engine.Physics;
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using Flecs.NET.Core;
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namespace CortexEngine.App;
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@@ -38,6 +39,7 @@ class Program
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using var world = World.Create();
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var timing = new Timing();
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using var physicsWorld = new PhysicsWorld();
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RaylibBackendRegistrar.EnsureRegistered();
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VulkanBackendRegistrar.EnsureRegistered();
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@@ -238,15 +240,21 @@ class Program
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}
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}
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// Slowly rotate the model so we can see it in 3D, unless the camera tour or test scene is active.
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if (!cameraTour && !testScene)
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// Physics: create bodies, step, sync transforms
|
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if (!cameraTour)
|
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{
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var modelEntity = world.Lookup("CubeCenter");
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if (modelEntity.Id != 0)
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world.Each((Entity e, ref RigidBody rb, ref Transform t) =>
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{
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ref var modelTransform = ref modelEntity.Ensure<Transform>();
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modelTransform.Rotation = Quaternion.CreateFromAxisAngle(Vector3.UnitY, (float)timing.TotalTime * 0.5f);
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}
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if (!rb.IsInitialized)
|
||||
{
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physicsWorld.CreateBody(e, rb, t);
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rb.IsInitialized = true;
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e.Set(rb);
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}
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});
|
||||
|
||||
physicsWorld.Update((float)timing.DeltaTime);
|
||||
physicsWorld.SyncTransforms(world);
|
||||
}
|
||||
|
||||
// Capture a demo screenshot after the scene warms up (non-tour mode only).
|
||||
@@ -295,14 +303,12 @@ class Program
|
||||
|
||||
var cubes = new (string name, Vector3 pos, Vector3 color, float scale, float rough, float metal)[]
|
||||
{
|
||||
("CubeCenter", new Vector3(0, 0.5f, 0), new Vector3(0.9f, 0.6f, 0.3f), 0.5f, 0.3f, 0.1f),
|
||||
("CubeRed", new Vector3(2, 0.5f, 0), new Vector3(0.85f, 0.15f, 0.15f), 0.5f, 0.4f, 0.2f),
|
||||
("CubeGreen", new Vector3(-2, 0.5f, 0), new Vector3(0.2f, 0.8f, 0.3f), 0.5f, 0.5f, 0.0f),
|
||||
("CubeBlue", new Vector3(0, 0.5f, 3), new Vector3(0.2f, 0.4f, 0.9f), 0.6f, 0.2f, 0.3f),
|
||||
("CubeYellow", new Vector3(0, 0.5f, -3), new Vector3(0.95f, 0.85f, 0.2f), 0.5f, 0.6f, 0.0f),
|
||||
("CubeOrange", new Vector3(-3, 0.5f, 3), new Vector3(0.95f, 0.5f, 0.1f), 0.45f, 0.5f, 0.1f),
|
||||
("CubeWide", new Vector3(-1.5f, 0.5f, -1.5f), new Vector3(0.5f, 0.5f, 0.6f), 0.8f, 0.8f, 0.0f),
|
||||
("CubeSmallGold", new Vector3(5, 0.3f, -2), new Vector3(1.0f, 0.8f, 0.3f), 0.3f, 0.15f, 1.0f),
|
||||
("CubeCenter", new Vector3(0, 5f, 0), new Vector3(0.9f, 0.6f, 0.3f), 0.5f, 0.3f, 0.1f),
|
||||
("CubeRed", new Vector3(0.3f, 7f, 0.3f), new Vector3(0.85f, 0.15f, 0.15f), 0.5f, 0.4f, 0.2f),
|
||||
("CubeGreen", new Vector3(-0.3f, 9f, -0.3f), new Vector3(0.2f, 0.8f, 0.3f), 0.5f, 0.5f, 0.0f),
|
||||
("CubeBlue", new Vector3(0.1f, 11f, 0.1f), new Vector3(0.2f, 0.4f, 0.9f), 0.6f, 0.2f, 0.3f),
|
||||
("CubeYellow", new Vector3(-0.2f, 13f, 0.2f), new Vector3(0.95f, 0.85f, 0.2f), 0.5f, 0.6f, 0.0f),
|
||||
("CubeOrange", new Vector3(0.15f, 15f, -0.1f), new Vector3(0.95f, 0.5f, 0.1f), 0.45f, 0.5f, 0.1f),
|
||||
};
|
||||
|
||||
foreach (var (name, pos, color, scale, rough, metal) in cubes)
|
||||
@@ -310,18 +316,15 @@ class Program
|
||||
world.Entity(name)
|
||||
.Set(new Transform(pos, Quaternion.Identity, new Vector3(scale)))
|
||||
.Set(mesh)
|
||||
.Set(new Material(color, roughness: rough, metallic: metal));
|
||||
.Set(new Material(color, roughness: rough, metallic: metal))
|
||||
.Set(RigidBody.DynamicBox(new Vector3(scale), mass: scale * 2f));
|
||||
}
|
||||
|
||||
var spheres = new (string name, Vector3 pos, Vector3 color, float scale, float rough, float metal)[]
|
||||
{
|
||||
("SphereGold", new Vector3(-5, 0.5f, -2), new Vector3(1.0f, 0.85f, 0.4f), 1.0f, 0.1f, 1.0f),
|
||||
("SphereChrome", new Vector3(-6, 0.5f, 0), new Vector3(0.9f, 0.9f, 0.95f), 1.0f, 0.05f, 1.0f),
|
||||
("SphereRed", new Vector3(-5, 0.5f, 2), new Vector3(0.9f, 0.1f, 0.1f), 1.0f, 0.4f, 0.0f),
|
||||
("SphereBlue", new Vector3(5, 0.5f, 2), new Vector3(0.1f, 0.3f, 0.9f), 1.0f, 0.2f, 0.5f),
|
||||
("SphereGreen", new Vector3(6, 0.5f, 0), new Vector3(0.1f, 0.8f, 0.3f), 1.0f, 0.7f, 0.0f),
|
||||
("SphereWhite", new Vector3(5, 0.5f, -4), new Vector3(0.95f, 0.95f, 0.95f), 1.0f, 0.3f, 0.0f),
|
||||
("SphereRough", new Vector3(3, 0.5f, 5), new Vector3(0.6f, 0.4f, 0.2f), 1.0f, 0.9f, 0.0f),
|
||||
("SphereGold", new Vector3(3, 6f, -2), new Vector3(1.0f, 0.85f, 0.4f), 1.0f, 0.1f, 1.0f),
|
||||
("SphereChrome", new Vector3(-3, 8f, 0), new Vector3(0.9f, 0.9f, 0.95f), 1.0f, 0.05f, 1.0f),
|
||||
("SphereRed", new Vector3(3, 10f, 2), new Vector3(0.9f, 0.1f, 0.1f), 1.0f, 0.4f, 0.0f),
|
||||
};
|
||||
|
||||
foreach (var (name, pos, color, scale, rough, metal) in spheres)
|
||||
@@ -329,26 +332,25 @@ class Program
|
||||
world.Entity(name)
|
||||
.Set(new Transform(pos, Quaternion.Identity, new Vector3(scale)))
|
||||
.Set(sphere)
|
||||
.Set(new Material(color, roughness: rough, metallic: metal));
|
||||
.Set(new Material(color, roughness: rough, metallic: metal))
|
||||
.Set(RigidBody.DynamicSphere(scale * 0.5f, mass: scale));
|
||||
}
|
||||
|
||||
// Torus knot with checker texture
|
||||
world.Entity("TorusKnot")
|
||||
.Set(new Transform(new Vector3(0, 2.0f, 0), Quaternion.Identity, new Vector3(1.5f)))
|
||||
.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"));
|
||||
|
||||
// Textured cube
|
||||
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"));
|
||||
|
||||
// Floor plane for shadow visibility
|
||||
world.Entity("Floor")
|
||||
.Set(new Transform(new Vector3(0, -0.02f, 0), Quaternion.Identity, new Vector3(20, 1, 20)))
|
||||
.Set(mesh)
|
||||
.Set(new Material(new Vector3(0.45f, 0.45f, 0.5f), roughness: 0.8f, metallic: 0.0f));
|
||||
.Set(new Material(new Vector3(0.45f, 0.45f, 0.5f), roughness: 0.8f, metallic: 0.0f))
|
||||
.Set(RigidBody.StaticPlane(20f));
|
||||
|
||||
world.Entity("Grid")
|
||||
.Set(new Transform(new Vector3(0.0f, 0.0f, 0.0f), Quaternion.Identity, Vector3.One))
|
||||
|
||||
@@ -0,0 +1,72 @@
|
||||
using System.Numerics;
|
||||
|
||||
namespace Engine.Core.Components;
|
||||
|
||||
/// <summary>
|
||||
/// Physics body motion type.
|
||||
/// </summary>
|
||||
public enum PhysicsMotionType
|
||||
{
|
||||
Static = 0,
|
||||
Kinematic = 1,
|
||||
Dynamic = 2,
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Collision shape type for the physics body.
|
||||
/// </summary>
|
||||
public enum PhysicsShapeType
|
||||
{
|
||||
Box = 0,
|
||||
Sphere = 1,
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// RigidBody component — links an ECS entity to a Jolt physics body.
|
||||
/// Added to entities that should participate in physics simulation.
|
||||
/// </summary>
|
||||
public record struct RigidBody
|
||||
{
|
||||
public PhysicsMotionType MotionType;
|
||||
public PhysicsShapeType ShapeType;
|
||||
public Vector3 ShapeSize;
|
||||
public float Mass;
|
||||
public float Friction;
|
||||
public float Restitution;
|
||||
public float LinearDamping;
|
||||
public float AngularDamping;
|
||||
public bool IsInitialized;
|
||||
|
||||
public RigidBody(
|
||||
PhysicsMotionType motionType = PhysicsMotionType.Dynamic,
|
||||
PhysicsShapeType shapeType = PhysicsShapeType.Box,
|
||||
Vector3? shapeSize = null,
|
||||
float mass = 1.0f,
|
||||
float friction = 0.5f,
|
||||
float restitution = 0.3f,
|
||||
float linearDamping = 0.1f,
|
||||
float angularDamping = 0.1f)
|
||||
{
|
||||
MotionType = motionType;
|
||||
ShapeType = shapeType;
|
||||
ShapeSize = shapeSize ?? new Vector3(0.5f);
|
||||
Mass = mass;
|
||||
Friction = friction;
|
||||
Restitution = restitution;
|
||||
LinearDamping = linearDamping;
|
||||
AngularDamping = angularDamping;
|
||||
IsInitialized = false;
|
||||
}
|
||||
|
||||
public static RigidBody DynamicBox(Vector3 halfExtent, float mass = 1.0f) =>
|
||||
new(PhysicsMotionType.Dynamic, PhysicsShapeType.Box, halfExtent, mass);
|
||||
|
||||
public static RigidBody DynamicSphere(float radius, float mass = 1.0f) =>
|
||||
new(PhysicsMotionType.Dynamic, PhysicsShapeType.Sphere, new Vector3(radius), mass);
|
||||
|
||||
public static RigidBody StaticBox(Vector3 halfExtent) =>
|
||||
new(PhysicsMotionType.Static, PhysicsShapeType.Box, halfExtent, friction: 0.8f);
|
||||
|
||||
public static RigidBody StaticPlane(float size = 50f) =>
|
||||
new(PhysicsMotionType.Static, PhysicsShapeType.Box, new Vector3(size, 0.5f, size), friction: 0.8f);
|
||||
}
|
||||
@@ -0,0 +1,20 @@
|
||||
<Project Sdk="Microsoft.NET.Sdk">
|
||||
|
||||
<PropertyGroup>
|
||||
<TargetFramework>net9.0</TargetFramework>
|
||||
<ImplicitUsings>enable</ImplicitUsings>
|
||||
<Nullable>enable</Nullable>
|
||||
<AllowUnsafeBlocks>true</AllowUnsafeBlocks>
|
||||
</PropertyGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<PackageReference Include="JoltPhysicsSharp" Version="2.21.0" />
|
||||
<PackageReference Include="Flecs.NET.Debug" Version="4.0.4-build.546" Condition="'$(Configuration)' == 'Debug'" />
|
||||
<PackageReference Include="Flecs.NET.Release" Version="4.0.4-build.546" Condition="'$(Configuration)' == 'Release' OR '$(Configuration)' == 'ReleaseAOT'" />
|
||||
</ItemGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<ProjectReference Include="..\Engine.Core\Engine.Core.csproj" />
|
||||
</ItemGroup>
|
||||
|
||||
</Project>
|
||||
@@ -0,0 +1,177 @@
|
||||
using System.Numerics;
|
||||
using Engine.Core.Components;
|
||||
using Flecs.NET.Core;
|
||||
using JoltPhysicsSharp;
|
||||
|
||||
namespace Engine.Physics;
|
||||
|
||||
/// <summary>
|
||||
/// Physics world wrapper — manages Jolt PhysicsSystem, body creation, and ECS sync.
|
||||
/// </summary>
|
||||
public sealed class PhysicsWorld : IDisposable
|
||||
{
|
||||
private const int MaxBodies = 65536;
|
||||
private const int MaxBodyPairs = 65536;
|
||||
private const int MaxContactConstraints = 65536;
|
||||
|
||||
private static class Layers
|
||||
{
|
||||
public static readonly ObjectLayer NonMoving = 0;
|
||||
public static readonly ObjectLayer Moving = 1;
|
||||
}
|
||||
|
||||
private readonly PhysicsSystem _physicsSystem;
|
||||
private readonly BodyInterface _bodyInterface;
|
||||
private readonly JobSystem _jobSystem;
|
||||
private readonly Dictionary<Entity, BodyID> _entityToBody = new();
|
||||
private readonly Dictionary<BodyID, Entity> _bodyToEntity = new();
|
||||
private readonly List<Body> _bodies = new();
|
||||
private bool _disposed;
|
||||
|
||||
public Vector3 Gravity
|
||||
{
|
||||
get => _physicsSystem.Gravity;
|
||||
set => _physicsSystem.Gravity = value;
|
||||
}
|
||||
|
||||
public PhysicsWorld()
|
||||
{
|
||||
Foundation.Init(false);
|
||||
|
||||
var broadPhaseLayerInterface = new BroadPhaseLayerInterfaceTable(2, 2);
|
||||
broadPhaseLayerInterface.MapObjectToBroadPhaseLayer(Layers.NonMoving, new BroadPhaseLayer(0));
|
||||
broadPhaseLayerInterface.MapObjectToBroadPhaseLayer(Layers.Moving, new BroadPhaseLayer(1));
|
||||
|
||||
var objectLayerPairFilter = new ObjectLayerPairFilterTable(2);
|
||||
|
||||
var objectVsBroadPhaseLayerFilter = new ObjectVsBroadPhaseLayerFilterTable(
|
||||
broadPhaseLayerInterface, 2, objectLayerPairFilter, 2);
|
||||
|
||||
var settings = new PhysicsSystemSettings
|
||||
{
|
||||
MaxBodies = MaxBodies,
|
||||
MaxBodyPairs = MaxBodyPairs,
|
||||
MaxContactConstraints = MaxContactConstraints,
|
||||
BroadPhaseLayerInterface = broadPhaseLayerInterface,
|
||||
ObjectLayerPairFilter = objectLayerPairFilter,
|
||||
ObjectVsBroadPhaseLayerFilter = objectVsBroadPhaseLayerFilter,
|
||||
};
|
||||
|
||||
_physicsSystem = new PhysicsSystem(settings);
|
||||
_physicsSystem.Gravity = new Vector3(0, -9.81f, 0);
|
||||
_bodyInterface = _physicsSystem.BodyInterface;
|
||||
_jobSystem = new JobSystemThreadPool();
|
||||
}
|
||||
|
||||
public void CreateBody(Entity entity, in RigidBody rigidBody, in Transform transform)
|
||||
{
|
||||
if (_entityToBody.ContainsKey(entity))
|
||||
return;
|
||||
|
||||
var shape = CreateShape(rigidBody);
|
||||
var motionType = ToMotionType(rigidBody.MotionType);
|
||||
var layer = rigidBody.MotionType == PhysicsMotionType.Static ? Layers.NonMoving : Layers.Moving;
|
||||
|
||||
var creationSettings = new BodyCreationSettings(
|
||||
shape,
|
||||
transform.Position,
|
||||
transform.Rotation,
|
||||
motionType,
|
||||
layer);
|
||||
|
||||
var activation = rigidBody.MotionType == PhysicsMotionType.Static
|
||||
? Activation.DontActivate
|
||||
: Activation.Activate;
|
||||
|
||||
var body = _bodyInterface.CreateBody(creationSettings);
|
||||
_bodyInterface.AddBody(body.ID, activation);
|
||||
|
||||
if (rigidBody.MotionType != PhysicsMotionType.Static)
|
||||
{
|
||||
body.SetFriction(rigidBody.Friction);
|
||||
body.SetRestitution(rigidBody.Restitution);
|
||||
}
|
||||
|
||||
_entityToBody[entity] = body.ID;
|
||||
_bodyToEntity[body.ID] = entity;
|
||||
_bodies.Add(body);
|
||||
}
|
||||
|
||||
public void RemoveBody(Entity entity)
|
||||
{
|
||||
if (!_entityToBody.TryGetValue(entity, out var bodyId))
|
||||
return;
|
||||
|
||||
_bodyInterface.RemoveBody(bodyId);
|
||||
_bodyInterface.DestroyBody(bodyId);
|
||||
_entityToBody.Remove(entity);
|
||||
_bodyToEntity.Remove(bodyId);
|
||||
}
|
||||
|
||||
public void Update(float deltaTime, int collisionSteps = 1)
|
||||
{
|
||||
_physicsSystem.Update(deltaTime, collisionSteps, _jobSystem);
|
||||
}
|
||||
|
||||
public void SyncTransforms(World world)
|
||||
{
|
||||
foreach (var (entity, bodyId) in _entityToBody)
|
||||
{
|
||||
if ((ulong)entity.Id == 0)
|
||||
continue;
|
||||
|
||||
var pos = _bodyInterface.GetPosition(bodyId);
|
||||
var rot = _bodyInterface.GetRotation(bodyId);
|
||||
|
||||
if (entity.Has<Transform>())
|
||||
{
|
||||
var t = entity.Get<Transform>();
|
||||
t.Position = pos;
|
||||
t.Rotation = rot;
|
||||
entity.Set(t);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public void SyncToPhysics(Entity entity, in Transform transform)
|
||||
{
|
||||
if (!_entityToBody.TryGetValue(entity, out var bodyId))
|
||||
return;
|
||||
|
||||
_bodyInterface.SetPositionAndRotation(bodyId, transform.Position, transform.Rotation, Activation.Activate);
|
||||
}
|
||||
|
||||
private static Shape CreateShape(RigidBody rb)
|
||||
{
|
||||
return rb.ShapeType switch
|
||||
{
|
||||
PhysicsShapeType.Box => new BoxShape(rb.ShapeSize),
|
||||
PhysicsShapeType.Sphere => new SphereShape(rb.ShapeSize.X),
|
||||
_ => new BoxShape(rb.ShapeSize),
|
||||
};
|
||||
}
|
||||
|
||||
private static MotionType ToMotionType(PhysicsMotionType type) => type switch
|
||||
{
|
||||
PhysicsMotionType.Static => MotionType.Static,
|
||||
PhysicsMotionType.Kinematic => MotionType.Kinematic,
|
||||
PhysicsMotionType.Dynamic => MotionType.Dynamic,
|
||||
_ => MotionType.Dynamic,
|
||||
};
|
||||
|
||||
public void Dispose()
|
||||
{
|
||||
if (_disposed) return;
|
||||
_disposed = true;
|
||||
|
||||
foreach (var body in _bodies)
|
||||
body.Dispose();
|
||||
_bodies.Clear();
|
||||
_entityToBody.Clear();
|
||||
_bodyToEntity.Clear();
|
||||
|
||||
_jobSystem.Dispose();
|
||||
_physicsSystem.Dispose();
|
||||
Foundation.Shutdown();
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user