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
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<Project Sdk="Microsoft.NET.Sdk">
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<PropertyGroup>
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<TargetFramework>net9.0</TargetFramework>
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<ImplicitUsings>enable</ImplicitUsings>
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<Nullable>enable</Nullable>
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<AllowUnsafeBlocks>true</AllowUnsafeBlocks>
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</PropertyGroup>
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<ItemGroup>
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<PackageReference Include="JoltPhysicsSharp" Version="2.21.0" />
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<PackageReference Include="Flecs.NET.Debug" Version="4.0.4-build.546" Condition="'$(Configuration)' == 'Debug'" />
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<PackageReference Include="Flecs.NET.Release" Version="4.0.4-build.546" Condition="'$(Configuration)' == 'Release' OR '$(Configuration)' == 'ReleaseAOT'" />
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</ItemGroup>
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<ItemGroup>
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<ProjectReference Include="..\Engine.Core\Engine.Core.csproj" />
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</ItemGroup>
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</Project>
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using System.Numerics;
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using Engine.Core.Components;
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using Flecs.NET.Core;
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using JoltPhysicsSharp;
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namespace Engine.Physics;
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/// <summary>
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/// Physics world wrapper — manages Jolt PhysicsSystem, body creation, and ECS sync.
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/// </summary>
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public sealed class PhysicsWorld : IDisposable
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{
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private const int MaxBodies = 65536;
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private const int MaxBodyPairs = 65536;
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private const int MaxContactConstraints = 65536;
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private static class Layers
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{
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public static readonly ObjectLayer NonMoving = 0;
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public static readonly ObjectLayer Moving = 1;
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}
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private readonly PhysicsSystem _physicsSystem;
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private readonly BodyInterface _bodyInterface;
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private readonly JobSystem _jobSystem;
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private readonly Dictionary<Entity, BodyID> _entityToBody = new();
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private readonly Dictionary<BodyID, Entity> _bodyToEntity = new();
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private readonly List<Body> _bodies = new();
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private bool _disposed;
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public Vector3 Gravity
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{
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get => _physicsSystem.Gravity;
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set => _physicsSystem.Gravity = value;
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}
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public PhysicsWorld()
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{
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Foundation.Init(false);
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var broadPhaseLayerInterface = new BroadPhaseLayerInterfaceTable(2, 2);
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broadPhaseLayerInterface.MapObjectToBroadPhaseLayer(Layers.NonMoving, new BroadPhaseLayer(0));
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broadPhaseLayerInterface.MapObjectToBroadPhaseLayer(Layers.Moving, new BroadPhaseLayer(1));
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var objectLayerPairFilter = new ObjectLayerPairFilterTable(2);
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var objectVsBroadPhaseLayerFilter = new ObjectVsBroadPhaseLayerFilterTable(
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broadPhaseLayerInterface, 2, objectLayerPairFilter, 2);
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var settings = new PhysicsSystemSettings
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{
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MaxBodies = MaxBodies,
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MaxBodyPairs = MaxBodyPairs,
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MaxContactConstraints = MaxContactConstraints,
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BroadPhaseLayerInterface = broadPhaseLayerInterface,
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ObjectLayerPairFilter = objectLayerPairFilter,
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ObjectVsBroadPhaseLayerFilter = objectVsBroadPhaseLayerFilter,
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};
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_physicsSystem = new PhysicsSystem(settings);
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_physicsSystem.Gravity = new Vector3(0, -9.81f, 0);
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_bodyInterface = _physicsSystem.BodyInterface;
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_jobSystem = new JobSystemThreadPool();
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}
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public void CreateBody(Entity entity, in RigidBody rigidBody, in Transform transform)
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{
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if (_entityToBody.ContainsKey(entity))
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return;
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var shape = CreateShape(rigidBody);
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var motionType = ToMotionType(rigidBody.MotionType);
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var layer = rigidBody.MotionType == PhysicsMotionType.Static ? Layers.NonMoving : Layers.Moving;
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var creationSettings = new BodyCreationSettings(
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shape,
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transform.Position,
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transform.Rotation,
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motionType,
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layer);
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var activation = rigidBody.MotionType == PhysicsMotionType.Static
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? Activation.DontActivate
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: Activation.Activate;
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var body = _bodyInterface.CreateBody(creationSettings);
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_bodyInterface.AddBody(body.ID, activation);
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if (rigidBody.MotionType != PhysicsMotionType.Static)
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{
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body.SetFriction(rigidBody.Friction);
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body.SetRestitution(rigidBody.Restitution);
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}
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_entityToBody[entity] = body.ID;
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_bodyToEntity[body.ID] = entity;
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_bodies.Add(body);
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}
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public void RemoveBody(Entity entity)
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{
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if (!_entityToBody.TryGetValue(entity, out var bodyId))
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return;
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_bodyInterface.RemoveBody(bodyId);
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_bodyInterface.DestroyBody(bodyId);
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_entityToBody.Remove(entity);
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_bodyToEntity.Remove(bodyId);
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}
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public void Update(float deltaTime, int collisionSteps = 1)
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{
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_physicsSystem.Update(deltaTime, collisionSteps, _jobSystem);
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}
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public void SyncTransforms(World world)
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{
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foreach (var (entity, bodyId) in _entityToBody)
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{
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if ((ulong)entity.Id == 0)
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continue;
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var pos = _bodyInterface.GetPosition(bodyId);
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var rot = _bodyInterface.GetRotation(bodyId);
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if (entity.Has<Transform>())
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{
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var t = entity.Get<Transform>();
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t.Position = pos;
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t.Rotation = rot;
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entity.Set(t);
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}
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}
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}
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public void SyncToPhysics(Entity entity, in Transform transform)
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{
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if (!_entityToBody.TryGetValue(entity, out var bodyId))
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return;
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_bodyInterface.SetPositionAndRotation(bodyId, transform.Position, transform.Rotation, Activation.Activate);
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}
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private static Shape CreateShape(RigidBody rb)
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{
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return rb.ShapeType switch
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{
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PhysicsShapeType.Box => new BoxShape(rb.ShapeSize),
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PhysicsShapeType.Sphere => new SphereShape(rb.ShapeSize.X),
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_ => new BoxShape(rb.ShapeSize),
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};
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}
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private static MotionType ToMotionType(PhysicsMotionType type) => type switch
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{
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PhysicsMotionType.Static => MotionType.Static,
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PhysicsMotionType.Kinematic => MotionType.Kinematic,
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PhysicsMotionType.Dynamic => MotionType.Dynamic,
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_ => MotionType.Dynamic,
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};
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public void Dispose()
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{
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if (_disposed) return;
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_disposed = true;
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foreach (var body in _bodies)
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body.Dispose();
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_bodies.Clear();
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_entityToBody.Clear();
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_bodyToEntity.Clear();
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_jobSystem.Dispose();
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_physicsSystem.Dispose();
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Foundation.Shutdown();
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}
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}
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