Emil_Shanaty/Cortex_Engine
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feat: JoltPhysicsSharp integration — physics simulation

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- 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
2026-06-17 16:45:43 +03:00
parent 9bee806a6c
commit cca89040c3
7 changed files with 422 additions and 30 deletions
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src/CortexEngine.App/CortexEngine.App.csproj
+1
View File
@@ -25,6 +25,7 @@
<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" />
</ItemGroup>
<ItemGroup>
src/CortexEngine.App/Program.cs
+31 -29
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@@ -13,6 +13,7 @@ using Engine.Graphics;
using Engine.Graphics.Loaders;
using Engine.Graphics.RaylibBackend;
using Engine.Graphics.Vulkan;
using Engine.Physics;
using Flecs.NET.Core;
namespace CortexEngine.App;
@@ -38,6 +39,7 @@ class Program
using var world = World.Create();
var timing = new Timing();
using var physicsWorld = new PhysicsWorld();
RaylibBackendRegistrar.EnsureRegistered();
VulkanBackendRegistrar.EnsureRegistered();
@@ -238,15 +240,21 @@ class Program
}
}
// Slowly rotate the model so we can see it in 3D, unless the camera tour or test scene is active.
if (!cameraTour && !testScene)
// Physics: create bodies, step, sync transforms
if (!cameraTour)
{
var modelEntity = world.Lookup("CubeCenter");
if (modelEntity.Id != 0)
world.Each((Entity e, ref RigidBody rb, ref Transform t) =>
{
ref var modelTransform = ref modelEntity.Ensure<Transform>();
modelTransform.Rotation = Quaternion.CreateFromAxisAngle(Vector3.UnitY, (float)timing.TotalTime * 0.5f);
}
if (!rb.IsInitialized)
{
physicsWorld.CreateBody(e, rb, t);
rb.IsInitialized = true;
e.Set(rb);
}
});
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))