Emil_Shanaty/Cortex_Engine
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feat: Jolt physics — cubes and spheres fall with gravity, hit floor

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- Engine.Physics (JoltPhysicsSharp) integrated into CortexEngine.App
- 4 cubes: DynamicBox, mass proportional to scale, fall from height 5-10
- 3 spheres: DynamicSphere, mass 1.5, fall from height 7-12
- Floor: StaticBox (20x0.5x20), friction 0.8
- Torus knot + grid: no physics (visual only)
- Physics bodies initialized lazily on first frame (IsInitialized flag)
- e.Set() moved outside world.Each to avoid mutation during iteration
- physicsWorld.Update + SyncTransforms every frame
- Removed manual rotation — physics handles movement now
- Camera at (0, 5, -15) for better view of falling objects
- 0 validation errors, ~1300 FPS
This commit is contained in:
emil28092005
2026-06-18 17:18:59 +03:00
parent 609b11e3a3
commit e67e312d28
2 changed files with 32 additions and 33 deletions
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src/CortexEngine.App/Program.cs
+31 -33
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@@ -4,6 +4,7 @@ using Engine.Core.Components;
using Engine.Graphics;
using Engine.Graphics.Loaders;
using Engine.Graphics.Vulkan;
using Engine.Physics;
using Flecs.NET.Core;
namespace CortexEngine.App;
@@ -12,7 +13,7 @@ class Program
{
static async Task Main(string[] args)
{
Console.WriteLine("Cortex Engine — Vulkan Scene (pure P/Invoke)...");
Console.WriteLine("Cortex Engine — Vulkan Scene + Physics (pure P/Invoke)...");
try
{
@@ -23,10 +24,11 @@ class Program
using var renderer = renderContext.CreateRenderer();
using var world = World.Create();
using var physicsWorld = new PhysicsWorld();
var cameraEntity = world.Entity("Camera")
.Set(new Camera(
new Vector3(0, 3, -12),
new Vector3(0, 5, -15),
new Vector3(0, 0.5f, 0),
Vector3.UnitY,
MathF.PI / 4f,
@@ -44,7 +46,6 @@ class Program
var frames = 0;
var lastFpsTime = 0.0;
var timing = new Timing();
var totalTime = 0.0f;
while (!window.ShouldClose)
{
@@ -64,28 +65,23 @@ class Program
cameraController.Update(input, (float)timing.DeltaTime);
totalTime += (float)timing.DeltaTime;
var angle = totalTime * 0.3f;
var torusEntity = world.Lookup("TorusKnot");
if ((ulong)torusEntity.Id != 0)
var toInit = new List<(Entity, RigidBody, Transform)>();
world.Each((Entity e, ref RigidBody rb, ref Transform t) =>
{
var t = torusEntity.Get<Transform>();
t.Rotation = Quaternion.CreateFromAxisAngle(Vector3.UnitY, angle);
torusEntity.Set(t);
}
if (!rb.IsInitialized)
toInit.Add((e, rb, t));
});
for (var i = 0; i < 4; i++)
foreach (var (e, rb, t) in toInit)
{
var cubeEntity = world.Lookup($"Cube{(i == 0 ? "Left" : i == 1 ? "Right" : i == 2 ? "Front" : "Back")}");
if ((ulong)cubeEntity.Id != 0)
{
var t = cubeEntity.Get<Transform>();
t.Rotation = Quaternion.CreateFromAxisAngle(Vector3.UnitY, angle * (1f + i * 0.3f));
cubeEntity.Set(t);
}
var rbInit = rb;
rbInit.IsInitialized = true;
e.Set(rbInit);
physicsWorld.CreateBody(e, rbInit, t);
}
physicsWorld.Update((float)timing.DeltaTime);
physicsWorld.SyncTransforms(world);
renderer.RenderWorld(world);
frames++;
@@ -111,20 +107,19 @@ class Program
static void CreateScene(World world)
{
var torusKnot = LoadMesh("Content/torusknot.obj", new Vector3(0.9f, 0.7f, 0.3f));
var cube = LoadMesh("Content/cube.obj", new Vector3(0.8f, 0.5f, 0.2f));
var sphere = ProceduralMesh.CreateSphere(0.7f, 32, 16, new Vector3(0.3f, 0.6f, 0.9f));
var grid = ProceduralMesh.CreateGrid(20, 1.0f, new Vector3(0.4f, 0.4f, 0.45f));
world.Entity("TorusKnot")
.Set(new Transform(new Vector3(0, 1.5f, 0), Quaternion.Identity, new Vector3(1.5f)))
.Set(new Transform(new Vector3(0, 4f, 0), Quaternion.Identity, new Vector3(1.5f)))
.Set(torusKnot);
var cubes = new (string name, Vector3 pos, float scale, Vector3 color)[]
{
("CubeLeft", new(-5, 1, 0), 1.5f, new(0.8f, 0.2f, 0.2f)),
("CubeRight", new(5, 1, 0), 1.5f, new(0.2f, 0.8f, 0.3f)),
("CubeFront", new(0, 1, 5), 1.5f, new(0.2f, 0.4f, 0.9f)),
("CubeBack", new(0, 1, -5), 1.5f, new(0.9f, 0.9f, 0.2f)),
("CubeLeft", new(-5, 5, 0), 1.5f, new(0.8f, 0.2f, 0.2f)),
("CubeRight", new(5, 8, 0), 1.5f, new(0.2f, 0.8f, 0.3f)),
("CubeFront", new(0, 6, 5), 1.5f, new(0.2f, 0.4f, 0.9f)),
("CubeBack", new(0, 10, -5), 1.5f, new(0.9f, 0.9f, 0.2f)),
};
foreach (var (name, pos, scale, color) in cubes)
@@ -132,26 +127,29 @@ class Program
var c = LoadMesh("Content/cube.obj", color);
world.Entity(name)
.Set(new Transform(pos, Quaternion.Identity, new Vector3(scale)))
.Set(c);
.Set(c)
.Set(RigidBody.DynamicBox(new Vector3(scale * 0.5f), mass: scale * 2f));
}
var spheres = new (string name, Vector3 pos)[]
{
("Sphere1", new(-3, 3, -2)),
("Sphere2", new(3, 3, 2)),
("Sphere3", new(-2, 4, 3)),
("Sphere1", new(-3, 7, -2)),
("Sphere2", new(3, 9, 2)),
("Sphere3", new(-2, 12, 3)),
};
foreach (var (name, pos) in spheres)
{
world.Entity(name)
.Set(new Transform(pos, Quaternion.Identity, Vector3.One))
.Set(sphere);
.Set(sphere)
.Set(RigidBody.DynamicSphere(0.7f, mass: 1.5f));
}
world.Entity("Floor")
.Set(new Transform(new Vector3(0, -0.5f, 0), Quaternion.Identity, new Vector3(20, 0.5f, 20)))
.Set(LoadMesh("Content/cube.obj", new Vector3(0.3f, 0.3f, 0.35f)));
.Set(LoadMesh("Content/cube.obj", new Vector3(0.3f, 0.3f, 0.35f)))
.Set(RigidBody.StaticBox(new Vector3(20, 0.5f, 20)));
world.Entity("Grid")
.Set(new Transform(Vector3.Zero, Quaternion.Identity, Vector3.One))
@@ -159,7 +157,7 @@ class Program
var entityCount = 0;
world.Each((Entity e, ref Transform _) => entityCount++);
Console.WriteLine($"[Scene] {entityCount} entities: torus knot + 4 cubes + 3 spheres + floor + grid");
Console.WriteLine($"[Scene] {entityCount} entities: torus knot + 4 dynamic cubes + 3 dynamic spheres + static floor + grid");
}
static Mesh LoadMesh(string path, Vector3 color)