M4: engine.physics — Box3D, over a narrow, verified P/Invoke shim
native/physics-native/lingua_physics.c wraps Box3D at a specific pinned commit (47d7f7c — Box3D has no 1.0 release yet, and its only tag, v0.1.0, already diverges from this API, confirmed by diffing headers rather than assuming). The wrapper is deliberately narrow: Box3D's own b3WorldDef/ b3BodyDef/b3ShapeDef are large structs with function pointers, and b3BoxHull's own doc comment says it "has data hanging off the end and cannot be directly copied" — none of that crosses the P/Invoke boundary. Every exported Lingua_* function takes and returns only plain int32/float/ bool scalars, and handles are this shim's own array-index handles, not Box3D's id structs. C# binds them with classic DllImport rather than the newer LibraryImport specifically because LibraryImport's generated marshalling needs AllowUnsafeBlocks even for an all-scalar signature like every one of these — DllImport needs none, keeping this plugin inside the kernel's "no unsafe in the v1 hot path" rule with no exception required. engine.physics adds Rigidbody/BoxCollider/SphereCollider components and PhysicsWorld, which diffs Query<Rigidbody>() against its own tracked set every Stage.FixedUpdate (there's no destruction event to hook) to create and destroy native bodies, steps Box3D once per invocation — Engine.Host's accumulator decides how many times that runs per frame, not this plugin — and writes each body's resulting transform back to GameObject.Transform. IPhysicsService exposes ApplyLinearImpulse/Get/SetLinearVelocity for gameplay code. Verified twice: a standalone C smoke test against the native shim alone (a box dropped from y=5 onto a static ground settles at y≈1.0, exactly where the two half-heights sum to), and the full pipeline through Engine. Host — a headless run with a real scene, --dump showing the same box settling at y=0.9999 after physics, scene load, and Stage.FixedUpdate all went through the real kernel. 5 new automated tests in Engine.Physics. Tests cover the same settling behavior for both shapes, a missing-collider warning that fires once and doesn't throw, cleanup after a GameObject is destroyed mid-simulation, and that an applied impulse actually changes velocity — all passed on the first run. Physics-enabled GameObjects must be root-level for now: PhysicsWorld writes Box3D's world-space transform straight into LocalPosition/ LocalRotation, correct only when local and world space are the same thing. A parented rigidbody needs the same parent-WorldMatrix-inverse handling GizmoMath.WorldToLocalPosition already does for the gizmo — real, not-yet-done work, not silently wrong. Full suite: 81 tests. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01N1qPfzq8TDCUMFMV3UwV5N
This commit is contained in:
Emil
@@ -22,3 +22,10 @@ artifacts/
|
||||
## per-machine editing session preference, not project source, same
|
||||
## category as an IDE's own workspace state.
|
||||
imgui.ini
|
||||
|
||||
## CMake build output and FetchContent's cloned dependencies (Box3D) for
|
||||
## native/*-native/ — regenerated by cmake -S . -B build, not source; only
|
||||
## the built liblingua_physics.so (checked in under plugins/engine.physics/
|
||||
## Engine.Physics/native/) is what the engine actually ships.
|
||||
native/*/build/
|
||||
native/*/.fetchcontent-cache/
|
||||
|
||||
@@ -57,6 +57,14 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Engine.Editor", "plugins\en
|
||||
EndProject
|
||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Engine.Editor.Tests", "tests\Engine.Editor.Tests\Engine.Editor.Tests.csproj", "{7F1CF468-6717-4152-BA95-2DA1E011B6CB}"
|
||||
EndProject
|
||||
Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "engine.physics", "engine.physics", "{5BFA9F87-CB7C-360F-A763-812D3AAB4167}"
|
||||
EndProject
|
||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Engine.Physics.Contracts", "plugins\engine.physics\Engine.Physics.Contracts\Engine.Physics.Contracts.csproj", "{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}"
|
||||
EndProject
|
||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Engine.Physics", "plugins\engine.physics\Engine.Physics\Engine.Physics.csproj", "{A9205D28-762B-49C0-8CFF-8D59BA330786}"
|
||||
EndProject
|
||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Engine.Physics.Tests", "tests\Engine.Physics.Tests\Engine.Physics.Tests.csproj", "{70245995-311C-4CBE-A433-F4035303BEDB}"
|
||||
EndProject
|
||||
Global
|
||||
GlobalSection(SolutionConfigurationPlatforms) = preSolution
|
||||
Debug|Any CPU = Debug|Any CPU
|
||||
@@ -283,6 +291,42 @@ Global
|
||||
{7F1CF468-6717-4152-BA95-2DA1E011B6CB}.Release|x64.Build.0 = Release|Any CPU
|
||||
{7F1CF468-6717-4152-BA95-2DA1E011B6CB}.Release|x86.ActiveCfg = Release|Any CPU
|
||||
{7F1CF468-6717-4152-BA95-2DA1E011B6CB}.Release|x86.Build.0 = Release|Any CPU
|
||||
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
|
||||
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Debug|Any CPU.Build.0 = Debug|Any CPU
|
||||
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Debug|x64.ActiveCfg = Debug|Any CPU
|
||||
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Debug|x64.Build.0 = Debug|Any CPU
|
||||
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Debug|x86.ActiveCfg = Debug|Any CPU
|
||||
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Debug|x86.Build.0 = Debug|Any CPU
|
||||
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Release|Any CPU.ActiveCfg = Release|Any CPU
|
||||
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Release|Any CPU.Build.0 = Release|Any CPU
|
||||
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Release|x64.ActiveCfg = Release|Any CPU
|
||||
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Release|x64.Build.0 = Release|Any CPU
|
||||
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Release|x86.ActiveCfg = Release|Any CPU
|
||||
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Release|x86.Build.0 = Release|Any CPU
|
||||
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
|
||||
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Debug|Any CPU.Build.0 = Debug|Any CPU
|
||||
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Debug|x64.ActiveCfg = Debug|Any CPU
|
||||
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Debug|x64.Build.0 = Debug|Any CPU
|
||||
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Debug|x86.ActiveCfg = Debug|Any CPU
|
||||
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Debug|x86.Build.0 = Debug|Any CPU
|
||||
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Release|Any CPU.ActiveCfg = Release|Any CPU
|
||||
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Release|Any CPU.Build.0 = Release|Any CPU
|
||||
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Release|x64.ActiveCfg = Release|Any CPU
|
||||
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Release|x64.Build.0 = Release|Any CPU
|
||||
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Release|x86.ActiveCfg = Release|Any CPU
|
||||
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Release|x86.Build.0 = Release|Any CPU
|
||||
{70245995-311C-4CBE-A433-F4035303BEDB}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
|
||||
{70245995-311C-4CBE-A433-F4035303BEDB}.Debug|Any CPU.Build.0 = Debug|Any CPU
|
||||
{70245995-311C-4CBE-A433-F4035303BEDB}.Debug|x64.ActiveCfg = Debug|Any CPU
|
||||
{70245995-311C-4CBE-A433-F4035303BEDB}.Debug|x64.Build.0 = Debug|Any CPU
|
||||
{70245995-311C-4CBE-A433-F4035303BEDB}.Debug|x86.ActiveCfg = Debug|Any CPU
|
||||
{70245995-311C-4CBE-A433-F4035303BEDB}.Debug|x86.Build.0 = Debug|Any CPU
|
||||
{70245995-311C-4CBE-A433-F4035303BEDB}.Release|Any CPU.ActiveCfg = Release|Any CPU
|
||||
{70245995-311C-4CBE-A433-F4035303BEDB}.Release|Any CPU.Build.0 = Release|Any CPU
|
||||
{70245995-311C-4CBE-A433-F4035303BEDB}.Release|x64.ActiveCfg = Release|Any CPU
|
||||
{70245995-311C-4CBE-A433-F4035303BEDB}.Release|x64.Build.0 = Release|Any CPU
|
||||
{70245995-311C-4CBE-A433-F4035303BEDB}.Release|x86.ActiveCfg = Release|Any CPU
|
||||
{70245995-311C-4CBE-A433-F4035303BEDB}.Release|x86.Build.0 = Release|Any CPU
|
||||
EndGlobalSection
|
||||
GlobalSection(SolutionProperties) = preSolution
|
||||
HideSolutionNode = FALSE
|
||||
@@ -312,5 +356,9 @@ Global
|
||||
{6A2943F1-1984-470D-BD74-C6E16BB77241} = {8067C66D-9D49-192B-E4C1-1C024401ACE3}
|
||||
{B60A3933-923C-4339-98D1-E4C87A76E80B} = {8067C66D-9D49-192B-E4C1-1C024401ACE3}
|
||||
{7F1CF468-6717-4152-BA95-2DA1E011B6CB} = {0AB3BF05-4346-4AA6-1389-037BE0695223}
|
||||
{5BFA9F87-CB7C-360F-A763-812D3AAB4167} = {07D57EEB-2F50-60C4-C011-FE4FA775C9A8}
|
||||
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D} = {5BFA9F87-CB7C-360F-A763-812D3AAB4167}
|
||||
{A9205D28-762B-49C0-8CFF-8D59BA330786} = {5BFA9F87-CB7C-360F-A763-812D3AAB4167}
|
||||
{70245995-311C-4CBE-A433-F4035303BEDB} = {0AB3BF05-4346-4AA6-1389-037BE0695223}
|
||||
EndGlobalSection
|
||||
EndGlobal
|
||||
|
||||
@@ -0,0 +1,31 @@
|
||||
cmake_minimum_required(VERSION 3.16)
|
||||
project(lingua_physics_native C)
|
||||
|
||||
set(CMAKE_C_STANDARD 11)
|
||||
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
|
||||
|
||||
# Box3D built static and folded into our own shared library, so the engine
|
||||
# ships and P/Invokes exactly one native file (lingua_physics.so/.dll), not
|
||||
# two. Pinned to a specific commit, not a tag or branch: Box3D has no 1.0
|
||||
# release yet and its API is still moving (confirmed by diffing its only
|
||||
# tag, v0.1.0, against this commit — real, not hypothetical, drift), so a
|
||||
# floating reference would silently start building against a different API
|
||||
# than the one this shim's code was actually written and verified against.
|
||||
set(BUILD_SHARED_LIBS OFF CACHE BOOL "" FORCE)
|
||||
set(BOX3D_SAMPLES OFF CACHE BOOL "" FORCE)
|
||||
set(BOX3D_UNIT_TESTS OFF CACHE BOOL "" FORCE)
|
||||
set(BOX3D_BENCHMARKS OFF CACHE BOOL "" FORCE)
|
||||
set(BOX3D_DOCS OFF CACHE BOOL "" FORCE)
|
||||
|
||||
include(FetchContent)
|
||||
FetchContent_Declare(
|
||||
box3d
|
||||
GIT_REPOSITORY https://github.com/erincatto/box3d.git
|
||||
GIT_TAG 47d7f7cc7e091142c08d11dc7d2e493c5d34f536
|
||||
)
|
||||
FetchContent_MakeAvailable(box3d)
|
||||
|
||||
add_library(lingua_physics SHARED lingua_physics.c)
|
||||
target_link_libraries(lingua_physics PRIVATE box3d)
|
||||
|
||||
install(TARGETS lingua_physics RUNTIME DESTINATION . LIBRARY DESTINATION .)
|
||||
@@ -0,0 +1,228 @@
|
||||
// A deliberately narrow C shim between Box3D's real API and P/Invoke.
|
||||
//
|
||||
// Box3D's own API is not safe to bind directly from C#: b3WorldDef,
|
||||
// b3BodyDef, and b3ShapeDef are large structs with function pointers and
|
||||
// nested types passed by value, and b3BoxHull is a struct whose own doc
|
||||
// comment says "has data hanging off the end and cannot be directly
|
||||
// copied." Replicating any of that layout byte-for-byte in C# is exactly
|
||||
// the kind of "compiles, passes a smoke test, breaks on someone else's
|
||||
// machine" risk docs/kernel-contract.md's own risk table warns about for
|
||||
// native interop specifically. So none of it crosses the P/Invoke
|
||||
// boundary: every exported function here takes and returns only plain
|
||||
// int32_t/float scalars, which marshal automatically with no `unsafe` on
|
||||
// the C# side at all.
|
||||
//
|
||||
// Handles are plain array indices into fixed-capacity tables, not Box3D's
|
||||
// own id structs — one less thing to get the marshaling of exactly right,
|
||||
// and plenty of headroom for an indie-scale game (Box3D itself caps out at
|
||||
// 128 worlds; nothing here needs more than one at a time yet).
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
#include <box3d/box3d.h>
|
||||
|
||||
#if defined( _WIN32 )
|
||||
#define LINGUA_API __declspec( dllexport )
|
||||
#else
|
||||
#define LINGUA_API __attribute__( ( visibility( "default" ) ) )
|
||||
#endif
|
||||
|
||||
#define LINGUA_MAX_WORLDS 8
|
||||
#define LINGUA_MAX_BODIES 8192
|
||||
|
||||
static b3WorldId g_worlds[LINGUA_MAX_WORLDS];
|
||||
static bool g_worldUsed[LINGUA_MAX_WORLDS];
|
||||
|
||||
static b3BodyId g_bodies[LINGUA_MAX_BODIES];
|
||||
static bool g_bodyUsed[LINGUA_MAX_BODIES];
|
||||
|
||||
static bool ValidWorld( int32_t handle )
|
||||
{
|
||||
return handle >= 0 && handle < LINGUA_MAX_WORLDS && g_worldUsed[handle];
|
||||
}
|
||||
|
||||
static bool ValidBody( int32_t handle )
|
||||
{
|
||||
return handle >= 0 && handle < LINGUA_MAX_BODIES && g_bodyUsed[handle];
|
||||
}
|
||||
|
||||
static int32_t AllocBodySlot( void )
|
||||
{
|
||||
for ( int32_t i = 0; i < LINGUA_MAX_BODIES; i++ )
|
||||
{
|
||||
if ( !g_bodyUsed[i] )
|
||||
return i;
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
LINGUA_API int32_t Lingua_CreateWorld( float gravityX, float gravityY, float gravityZ )
|
||||
{
|
||||
for ( int32_t i = 0; i < LINGUA_MAX_WORLDS; i++ )
|
||||
{
|
||||
if ( g_worldUsed[i] )
|
||||
continue;
|
||||
|
||||
b3WorldDef def = b3DefaultWorldDef();
|
||||
def.gravity = ( b3Vec3 ){ gravityX, gravityY, gravityZ };
|
||||
|
||||
g_worlds[i] = b3CreateWorld( &def );
|
||||
g_worldUsed[i] = true;
|
||||
return i;
|
||||
}
|
||||
|
||||
return -1;
|
||||
}
|
||||
|
||||
LINGUA_API void Lingua_DestroyWorld( int32_t worldHandle )
|
||||
{
|
||||
if ( !ValidWorld( worldHandle ) )
|
||||
return;
|
||||
|
||||
b3DestroyWorld( g_worlds[worldHandle] );
|
||||
g_worldUsed[worldHandle] = false;
|
||||
}
|
||||
|
||||
LINGUA_API void Lingua_WorldStep( int32_t worldHandle, float timeStep, int32_t subStepCount )
|
||||
{
|
||||
if ( !ValidWorld( worldHandle ) )
|
||||
return;
|
||||
|
||||
b3World_Step( g_worlds[worldHandle], timeStep, subStepCount );
|
||||
}
|
||||
|
||||
static int32_t CreateBody(
|
||||
int32_t worldHandle,
|
||||
float px, float py, float pz,
|
||||
float qx, float qy, float qz, float qw,
|
||||
int32_t bodyType )
|
||||
{
|
||||
if ( !ValidWorld( worldHandle ) )
|
||||
return -1;
|
||||
|
||||
int32_t slot = AllocBodySlot();
|
||||
if ( slot < 0 )
|
||||
return -1;
|
||||
|
||||
b3BodyDef bodyDef = b3DefaultBodyDef();
|
||||
bodyDef.type = (b3BodyType)bodyType;
|
||||
bodyDef.position = ( b3Vec3 ){ px, py, pz };
|
||||
bodyDef.rotation = ( b3Quat ){ { qx, qy, qz }, qw };
|
||||
|
||||
g_bodies[slot] = b3CreateBody( g_worlds[worldHandle], &bodyDef );
|
||||
g_bodyUsed[slot] = true;
|
||||
return slot;
|
||||
}
|
||||
|
||||
static void ShapeDef( float density, float friction, float restitution, b3ShapeDef* def )
|
||||
{
|
||||
*def = b3DefaultShapeDef();
|
||||
def->density = density;
|
||||
def->baseMaterial.friction = friction;
|
||||
def->baseMaterial.restitution = restitution;
|
||||
}
|
||||
|
||||
LINGUA_API int32_t Lingua_CreateBoxBody(
|
||||
int32_t worldHandle,
|
||||
float px, float py, float pz,
|
||||
float qx, float qy, float qz, float qw,
|
||||
float halfWidth, float halfHeight, float halfDepth,
|
||||
int32_t bodyType, float density, float friction, float restitution )
|
||||
{
|
||||
int32_t handle = CreateBody( worldHandle, px, py, pz, qx, qy, qz, qw, bodyType );
|
||||
if ( handle < 0 )
|
||||
return -1;
|
||||
|
||||
b3ShapeDef shapeDef;
|
||||
ShapeDef( density, friction, restitution, &shapeDef );
|
||||
|
||||
b3BoxHull hull = b3MakeBoxHull( halfWidth, halfHeight, halfDepth );
|
||||
b3CreateHullShape( g_bodies[handle], &shapeDef, &hull.base );
|
||||
|
||||
return handle;
|
||||
}
|
||||
|
||||
LINGUA_API int32_t Lingua_CreateSphereBody(
|
||||
int32_t worldHandle,
|
||||
float px, float py, float pz,
|
||||
float qx, float qy, float qz, float qw,
|
||||
float radius,
|
||||
int32_t bodyType, float density, float friction, float restitution )
|
||||
{
|
||||
int32_t handle = CreateBody( worldHandle, px, py, pz, qx, qy, qz, qw, bodyType );
|
||||
if ( handle < 0 )
|
||||
return -1;
|
||||
|
||||
b3ShapeDef shapeDef;
|
||||
ShapeDef( density, friction, restitution, &shapeDef );
|
||||
|
||||
b3Sphere sphere = { ( b3Vec3 ){ 0, 0, 0 }, radius };
|
||||
b3CreateSphereShape( g_bodies[handle], &shapeDef, &sphere );
|
||||
|
||||
return handle;
|
||||
}
|
||||
|
||||
LINGUA_API void Lingua_DestroyBody( int32_t bodyHandle )
|
||||
{
|
||||
if ( !ValidBody( bodyHandle ) )
|
||||
return;
|
||||
|
||||
b3DestroyBody( g_bodies[bodyHandle] );
|
||||
g_bodyUsed[bodyHandle] = false;
|
||||
}
|
||||
|
||||
LINGUA_API void Lingua_GetBodyTransform(
|
||||
int32_t bodyHandle,
|
||||
float* outPx, float* outPy, float* outPz,
|
||||
float* outQx, float* outQy, float* outQz, float* outQw )
|
||||
{
|
||||
if ( !ValidBody( bodyHandle ) )
|
||||
return;
|
||||
|
||||
b3WorldTransform t = b3Body_GetTransform( g_bodies[bodyHandle] );
|
||||
*outPx = t.p.x;
|
||||
*outPy = t.p.y;
|
||||
*outPz = t.p.z;
|
||||
*outQx = t.q.v.x;
|
||||
*outQy = t.q.v.y;
|
||||
*outQz = t.q.v.z;
|
||||
*outQw = t.q.s;
|
||||
}
|
||||
|
||||
LINGUA_API void Lingua_SetBodyTransform(
|
||||
int32_t bodyHandle,
|
||||
float px, float py, float pz,
|
||||
float qx, float qy, float qz, float qw )
|
||||
{
|
||||
if ( !ValidBody( bodyHandle ) )
|
||||
return;
|
||||
|
||||
b3Body_SetTransform( g_bodies[bodyHandle], ( b3Pos ){ px, py, pz }, ( b3Quat ){ { qx, qy, qz }, qw } );
|
||||
}
|
||||
|
||||
LINGUA_API void Lingua_ApplyLinearImpulse( int32_t bodyHandle, float ix, float iy, float iz, bool wake )
|
||||
{
|
||||
if ( !ValidBody( bodyHandle ) )
|
||||
return;
|
||||
|
||||
b3Body_ApplyLinearImpulseToCenter( g_bodies[bodyHandle], ( b3Vec3 ){ ix, iy, iz }, wake );
|
||||
}
|
||||
|
||||
LINGUA_API void Lingua_GetLinearVelocity( int32_t bodyHandle, float* outVx, float* outVy, float* outVz )
|
||||
{
|
||||
if ( !ValidBody( bodyHandle ) )
|
||||
return;
|
||||
|
||||
b3Vec3 v = b3Body_GetLinearVelocity( g_bodies[bodyHandle] );
|
||||
*outVx = v.x;
|
||||
*outVy = v.y;
|
||||
*outVz = v.z;
|
||||
}
|
||||
|
||||
LINGUA_API void Lingua_SetLinearVelocity( int32_t bodyHandle, float vx, float vy, float vz )
|
||||
{
|
||||
if ( !ValidBody( bodyHandle ) )
|
||||
return;
|
||||
|
||||
b3Body_SetLinearVelocity( g_bodies[bodyHandle], ( b3Vec3 ){ vx, vy, vz } );
|
||||
}
|
||||
@@ -0,0 +1,13 @@
|
||||
namespace Engine.Physics.Contracts;
|
||||
|
||||
/// <summary>
|
||||
/// Values match Box3D's own b3BodyType exactly (Static=0, Kinematic=1,
|
||||
/// Dynamic=2) so engine.physics can cast this straight into the native
|
||||
/// shim's bodyType parameter with no translation table to keep in sync.
|
||||
/// </summary>
|
||||
public enum BodyType
|
||||
{
|
||||
Static = 0,
|
||||
Kinematic = 1,
|
||||
Dynamic = 2,
|
||||
}
|
||||
@@ -0,0 +1,15 @@
|
||||
using System.Numerics;
|
||||
using Engine.Kernel.World;
|
||||
|
||||
namespace Engine.Physics.Contracts;
|
||||
|
||||
/// <summary>
|
||||
/// A box collision shape, sized in half-extents (distance from center to
|
||||
/// each face) — Box3D's own convention (b3MakeBoxHull's hx/hy/hz), kept
|
||||
/// as-is rather than doubled into a "full size" field so there's no /2
|
||||
/// conversion to get subtly wrong between here and the native shim.
|
||||
/// </summary>
|
||||
public sealed class BoxCollider : Component
|
||||
{
|
||||
public Vector3 HalfExtents = new(0.5f, 0.5f, 0.5f);
|
||||
}
|
||||
@@ -0,0 +1,5 @@
|
||||
<Project Sdk="Microsoft.NET.Sdk">
|
||||
<ItemGroup>
|
||||
<ProjectReference Include="..\..\..\src\Engine.Kernel\Engine.Kernel.csproj" />
|
||||
</ItemGroup>
|
||||
</Project>
|
||||
@@ -0,0 +1,21 @@
|
||||
using System.Numerics;
|
||||
using Engine.Kernel.World;
|
||||
|
||||
namespace Engine.Physics.Contracts;
|
||||
|
||||
/// <summary>
|
||||
/// Gameplay-facing physics actions — impulses and velocity — for a
|
||||
/// GameObject that already has a Rigidbody. Separate from just poking
|
||||
/// Rigidbody's own fields because these aren't state the Inspector should
|
||||
/// show as persistent data (a velocity is a live simulation value, not
|
||||
/// something a scene file should round-trip) and because applying an
|
||||
/// impulse isn't a field write at all, it's an action Box3D performs.
|
||||
/// </summary>
|
||||
public interface IPhysicsService
|
||||
{
|
||||
void ApplyLinearImpulse(GameObject go, Vector3 impulse, bool wake = true);
|
||||
|
||||
Vector3 GetLinearVelocity(GameObject go);
|
||||
|
||||
void SetLinearVelocity(GameObject go, Vector3 velocity);
|
||||
}
|
||||
@@ -0,0 +1,25 @@
|
||||
using Engine.Kernel.World;
|
||||
|
||||
namespace Engine.Physics.Contracts;
|
||||
|
||||
/// <summary>
|
||||
/// Marks a GameObject as physics-simulated. Needs a BoxCollider or
|
||||
/// SphereCollider on the same GameObject to actually get a body — Rigidbody
|
||||
/// alone describes how it moves, not what shape it collides as, same split
|
||||
/// Box3D itself makes between a body and its shapes.
|
||||
///
|
||||
/// Physics-enabled GameObjects must be root-level (no parent) for now:
|
||||
/// PhysicsWorld writes Box3D's world-space transform straight into
|
||||
/// Transform.LocalPosition/LocalRotation, which is only correct when local
|
||||
/// and world space are the same thing. A parented rigidbody would need the
|
||||
/// same parent-WorldMatrix-inverse handling GizmoMath.WorldToLocalPosition
|
||||
/// already does for the gizmo — real work, not done here because nothing
|
||||
/// in M4's demo needs a physics object with a parent yet.
|
||||
/// </summary>
|
||||
public sealed class Rigidbody : Component
|
||||
{
|
||||
public BodyType Type = BodyType.Dynamic;
|
||||
public float Density = 1f;
|
||||
public float Friction = 0.5f;
|
||||
public float Restitution = 0.1f;
|
||||
}
|
||||
@@ -0,0 +1,8 @@
|
||||
using Engine.Kernel.World;
|
||||
|
||||
namespace Engine.Physics.Contracts;
|
||||
|
||||
public sealed class SphereCollider : Component
|
||||
{
|
||||
public float Radius = 0.5f;
|
||||
}
|
||||
@@ -0,0 +1,7 @@
|
||||
using System.Runtime.CompilerServices;
|
||||
|
||||
// PhysicsWorld is internal — nothing outside this plugin needs it, real
|
||||
// physics behavior is tested against it directly rather than only through
|
||||
// IPlugin/IPhysicsService's much narrower surface. Same pattern as
|
||||
// Engine.Assets' PngReader.
|
||||
[assembly: InternalsVisibleTo("Engine.Physics.Tests")]
|
||||
@@ -0,0 +1,31 @@
|
||||
<Project Sdk="Microsoft.NET.Sdk">
|
||||
|
||||
<PropertyGroup>
|
||||
<!-- Generates the deps.json AssemblyDependencyResolver needs to find
|
||||
this plugin's dependencies — see PluginLoadContext in Engine.Kernel,
|
||||
and the same property on the other native-facing plugins. -->
|
||||
<EnableDynamicLoading>true</EnableDynamicLoading>
|
||||
</PropertyGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<!-- The compiled native shim (Box3D folded in) — see
|
||||
native/physics-native/. Copied straight into this plugin's own
|
||||
output directory (not a runtimes/<rid>/native/ NuGet-style path):
|
||||
DllImport's default unmanaged-library probing already checks the
|
||||
calling assembly's own directory, and PluginLoadContext.
|
||||
LoadUnmanagedDll falls back to that default probing whenever its
|
||||
AssemblyDependencyResolver doesn't recognize the name (returning
|
||||
IntPtr.Zero, not failing outright) — confirmed empirically, see
|
||||
PhysicsWorldTests. -->
|
||||
<Content Include="native/liblingua_physics.so">
|
||||
<Link>liblingua_physics.so</Link>
|
||||
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
|
||||
</Content>
|
||||
</ItemGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<ProjectReference Include="..\..\..\src\Engine.Kernel\Engine.Kernel.csproj" />
|
||||
<ProjectReference Include="..\Engine.Physics.Contracts\Engine.Physics.Contracts.csproj" />
|
||||
</ItemGroup>
|
||||
|
||||
</Project>
|
||||
@@ -0,0 +1,72 @@
|
||||
using System.Runtime.InteropServices;
|
||||
|
||||
namespace Engine.Physics;
|
||||
|
||||
/// <summary>
|
||||
/// The entire P/Invoke surface, matching native/physics-native/
|
||||
/// lingua_physics.c's exports one-to-one. Every parameter is a plain
|
||||
/// int/float/bool — no struct crosses this boundary, on purpose, see that
|
||||
/// file's own doc comment for why.
|
||||
///
|
||||
/// Classic DllImport, not the newer source-generated LibraryImport:
|
||||
/// LibraryImport's generated marshalling code needs AllowUnsafeBlocks even
|
||||
/// for an all-blittable signature like every one of these, and there's no
|
||||
/// reason to open that door — DllImport marshals plain int/float/bool/out
|
||||
/// float scalars with no unsafe code at all, which is what actually keeps
|
||||
/// this plugin inside the kernel's "no unsafe in the v1 hot path" rule
|
||||
/// (Directory.Build.props) instead of needing a narrow exception to it.
|
||||
/// </summary>
|
||||
internal static class Native
|
||||
{
|
||||
private const string Lib = "lingua_physics";
|
||||
|
||||
[DllImport(Lib)]
|
||||
public static extern int Lingua_CreateWorld(float gravityX, float gravityY, float gravityZ);
|
||||
|
||||
[DllImport(Lib)]
|
||||
public static extern void Lingua_DestroyWorld(int worldHandle);
|
||||
|
||||
[DllImport(Lib)]
|
||||
public static extern void Lingua_WorldStep(int worldHandle, float timeStep, int subStepCount);
|
||||
|
||||
[DllImport(Lib)]
|
||||
public static extern int Lingua_CreateBoxBody(
|
||||
int worldHandle,
|
||||
float px, float py, float pz,
|
||||
float qx, float qy, float qz, float qw,
|
||||
float halfWidth, float halfHeight, float halfDepth,
|
||||
int bodyType, float density, float friction, float restitution);
|
||||
|
||||
[DllImport(Lib)]
|
||||
public static extern int Lingua_CreateSphereBody(
|
||||
int worldHandle,
|
||||
float px, float py, float pz,
|
||||
float qx, float qy, float qz, float qw,
|
||||
float radius,
|
||||
int bodyType, float density, float friction, float restitution);
|
||||
|
||||
[DllImport(Lib)]
|
||||
public static extern void Lingua_DestroyBody(int bodyHandle);
|
||||
|
||||
[DllImport(Lib)]
|
||||
public static extern void Lingua_GetBodyTransform(
|
||||
int bodyHandle,
|
||||
out float px, out float py, out float pz,
|
||||
out float qx, out float qy, out float qz, out float qw);
|
||||
|
||||
[DllImport(Lib)]
|
||||
public static extern void Lingua_SetBodyTransform(
|
||||
int bodyHandle,
|
||||
float px, float py, float pz,
|
||||
float qx, float qy, float qz, float qw);
|
||||
|
||||
[DllImport(Lib)]
|
||||
public static extern void Lingua_ApplyLinearImpulse(
|
||||
int bodyHandle, float ix, float iy, float iz, [MarshalAs(UnmanagedType.U1)] bool wake);
|
||||
|
||||
[DllImport(Lib)]
|
||||
public static extern void Lingua_GetLinearVelocity(int bodyHandle, out float vx, out float vy, out float vz);
|
||||
|
||||
[DllImport(Lib)]
|
||||
public static extern void Lingua_SetLinearVelocity(int bodyHandle, float vx, float vy, float vz);
|
||||
}
|
||||
@@ -0,0 +1,54 @@
|
||||
using System.Numerics;
|
||||
using Engine.Kernel.Diagnostics;
|
||||
using Engine.Kernel.Plugins;
|
||||
using Engine.Kernel.Scheduling;
|
||||
using Engine.Kernel.World;
|
||||
using Engine.Physics.Contracts;
|
||||
|
||||
namespace Engine.Physics;
|
||||
|
||||
/// <summary>
|
||||
/// M4's physics plugin: Box3D, over the shim in native/physics-native/ —
|
||||
/// see that file's own doc comment for why nothing crosses the P/Invoke
|
||||
/// boundary but plain scalars. One system, on Stage.FixedUpdate: sync new/
|
||||
/// removed Rigidbodies, step once, write results back to Transform. Each
|
||||
/// FixedUpdate invocation is exactly one physics step at ITime.
|
||||
/// FixedDeltaTime — Engine.Host's accumulator (Time.ConsumeFixedSteps)
|
||||
/// decides how many times that runs this frame, not this plugin.
|
||||
/// </summary>
|
||||
public sealed class PhysicsPlugin : IPlugin
|
||||
{
|
||||
private static readonly Vector3 Gravity = new(0f, -9.81f, 0f);
|
||||
|
||||
private PhysicsWorld? _world;
|
||||
private ITime? _time;
|
||||
|
||||
public void Configure(IPluginContext ctx)
|
||||
{
|
||||
_time = ctx.Time;
|
||||
_world = new PhysicsWorld(Gravity, ctx.Log);
|
||||
ctx.Services.Provide<IPhysicsService>(new PhysicsService(_world));
|
||||
|
||||
ctx.Schedule.Add(Stage.FixedUpdate, Step)
|
||||
.Reads<Rigidbody>()
|
||||
.Reads<BoxCollider>()
|
||||
.Reads<SphereCollider>();
|
||||
|
||||
ctx.Log.Info("physics world ready (Box3D)");
|
||||
}
|
||||
|
||||
public void Shutdown(IPluginContext ctx)
|
||||
{
|
||||
ctx.Schedule.RemoveAllFrom("engine.physics");
|
||||
ctx.Services.Revoke<IPhysicsService>();
|
||||
_world?.Dispose();
|
||||
_world = null;
|
||||
_time = null;
|
||||
}
|
||||
|
||||
private void Step(IWorld world)
|
||||
{
|
||||
_world!.Sync(world);
|
||||
_world.Step(_time!.FixedDeltaTime);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,15 @@
|
||||
using System.Numerics;
|
||||
using Engine.Kernel.World;
|
||||
using Engine.Physics.Contracts;
|
||||
|
||||
namespace Engine.Physics;
|
||||
|
||||
internal sealed class PhysicsService(PhysicsWorld world) : IPhysicsService
|
||||
{
|
||||
public void ApplyLinearImpulse(GameObject go, Vector3 impulse, bool wake = true) =>
|
||||
world.ApplyLinearImpulse(go, impulse, wake);
|
||||
|
||||
public Vector3 GetLinearVelocity(GameObject go) => world.GetLinearVelocity(go);
|
||||
|
||||
public void SetLinearVelocity(GameObject go, Vector3 velocity) => world.SetLinearVelocity(go, velocity);
|
||||
}
|
||||
@@ -0,0 +1,130 @@
|
||||
using System.Numerics;
|
||||
using Engine.Kernel.Diagnostics;
|
||||
using Engine.Kernel.World;
|
||||
using Engine.Physics.Contracts;
|
||||
|
||||
namespace Engine.Physics;
|
||||
|
||||
/// <summary>
|
||||
/// Owns the one native Box3D world this plugin creates, and the GameObject
|
||||
/// <-> native body handle mapping. <see cref="Sync"/> creates bodies for
|
||||
/// any GameObject that's grown a Rigidbody since last frame and destroys
|
||||
/// bodies for any that lost one (component removed, or the GameObject
|
||||
/// itself was destroyed) — there's no destruction event to hook, so this
|
||||
/// diffs Query<Rigidbody>() against the tracked set every FixedUpdate
|
||||
/// instead. <see cref="Step"/> advances the simulation once and writes
|
||||
/// every tracked body's new transform back into its GameObject.
|
||||
/// </summary>
|
||||
internal sealed class PhysicsWorld : IDisposable
|
||||
{
|
||||
private readonly int _handle;
|
||||
private readonly ILogger _log;
|
||||
private readonly Dictionary<GameObject, int> _bodies = [];
|
||||
private readonly HashSet<GameObject> _warnedMissingCollider = [];
|
||||
|
||||
public PhysicsWorld(Vector3 gravity, ILogger log)
|
||||
{
|
||||
_log = log;
|
||||
_handle = Native.Lingua_CreateWorld(gravity.X, gravity.Y, gravity.Z);
|
||||
}
|
||||
|
||||
public void Sync(IWorld world)
|
||||
{
|
||||
var live = new HashSet<GameObject>();
|
||||
|
||||
foreach (var go in world.Query<Rigidbody>())
|
||||
{
|
||||
live.Add(go);
|
||||
if (!_bodies.ContainsKey(go))
|
||||
TryCreateBody(go);
|
||||
}
|
||||
|
||||
if (_bodies.Count == live.Count)
|
||||
return;
|
||||
|
||||
foreach (var stale in _bodies.Keys.Where(go => !live.Contains(go)).ToList())
|
||||
{
|
||||
Native.Lingua_DestroyBody(_bodies[stale]);
|
||||
_bodies.Remove(stale);
|
||||
_warnedMissingCollider.Remove(stale);
|
||||
}
|
||||
}
|
||||
|
||||
public void Step(float timeStep, int subStepCount = 4)
|
||||
{
|
||||
Native.Lingua_WorldStep(_handle, timeStep, subStepCount);
|
||||
|
||||
foreach (var (go, handle) in _bodies)
|
||||
{
|
||||
Native.Lingua_GetBodyTransform(handle, out var px, out var py, out var pz, out var qx, out var qy, out var qz, out var qw);
|
||||
|
||||
var t = go.Transform;
|
||||
t.LocalPosition = new Vector3(px, py, pz);
|
||||
t.LocalRotation = new Quaternion(qx, qy, qz, qw);
|
||||
go.Transform = t;
|
||||
}
|
||||
}
|
||||
|
||||
public void ApplyLinearImpulse(GameObject go, Vector3 impulse, bool wake)
|
||||
{
|
||||
if (_bodies.TryGetValue(go, out var handle))
|
||||
Native.Lingua_ApplyLinearImpulse(handle, impulse.X, impulse.Y, impulse.Z, wake);
|
||||
}
|
||||
|
||||
public Vector3 GetLinearVelocity(GameObject go)
|
||||
{
|
||||
if (!_bodies.TryGetValue(go, out var handle))
|
||||
return Vector3.Zero;
|
||||
|
||||
Native.Lingua_GetLinearVelocity(handle, out var vx, out var vy, out var vz);
|
||||
return new Vector3(vx, vy, vz);
|
||||
}
|
||||
|
||||
public void SetLinearVelocity(GameObject go, Vector3 velocity)
|
||||
{
|
||||
if (_bodies.TryGetValue(go, out var handle))
|
||||
Native.Lingua_SetLinearVelocity(handle, velocity.X, velocity.Y, velocity.Z);
|
||||
}
|
||||
|
||||
private void TryCreateBody(GameObject go)
|
||||
{
|
||||
var rb = go.GetComponent<Rigidbody>()!;
|
||||
var pos = go.Transform.LocalPosition;
|
||||
var rot = go.Transform.LocalRotation;
|
||||
|
||||
var box = go.GetComponent<BoxCollider>();
|
||||
var sphere = go.GetComponent<SphereCollider>();
|
||||
|
||||
int handle;
|
||||
if (box is not null)
|
||||
{
|
||||
handle = Native.Lingua_CreateBoxBody(
|
||||
_handle, pos.X, pos.Y, pos.Z, rot.X, rot.Y, rot.Z, rot.W,
|
||||
box.HalfExtents.X, box.HalfExtents.Y, box.HalfExtents.Z,
|
||||
(int)rb.Type, rb.Density, rb.Friction, rb.Restitution);
|
||||
}
|
||||
else if (sphere is not null)
|
||||
{
|
||||
handle = Native.Lingua_CreateSphereBody(
|
||||
_handle, pos.X, pos.Y, pos.Z, rot.X, rot.Y, rot.Z, rot.W,
|
||||
sphere.Radius, (int)rb.Type, rb.Density, rb.Friction, rb.Restitution);
|
||||
}
|
||||
else
|
||||
{
|
||||
if (_warnedMissingCollider.Add(go))
|
||||
_log.Warn($"'{go.Name}' has a Rigidbody but no BoxCollider/SphereCollider — no physics body created.");
|
||||
return;
|
||||
}
|
||||
|
||||
_bodies[go] = handle;
|
||||
}
|
||||
|
||||
public void Dispose()
|
||||
{
|
||||
foreach (var handle in _bodies.Values)
|
||||
Native.Lingua_DestroyBody(handle);
|
||||
|
||||
_bodies.Clear();
|
||||
Native.Lingua_DestroyWorld(_handle);
|
||||
}
|
||||
}
|
||||
Binary file not shown.
@@ -0,0 +1,8 @@
|
||||
{
|
||||
"id": "engine.physics",
|
||||
"version": "0.1.0",
|
||||
"contracts": "Engine.Physics.Contracts.dll",
|
||||
"assembly": "Engine.Physics.dll",
|
||||
"dependsOn": {},
|
||||
"reloadable": true
|
||||
}
|
||||
@@ -0,0 +1,33 @@
|
||||
<Project Sdk="Microsoft.NET.Sdk">
|
||||
|
||||
<PropertyGroup>
|
||||
<IsPackable>false</IsPackable>
|
||||
</PropertyGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<PackageReference Include="coverlet.collector" Version="6.0.2" />
|
||||
<PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.12.0" />
|
||||
<PackageReference Include="xunit" Version="2.9.2" />
|
||||
<PackageReference Include="xunit.runner.visualstudio" Version="2.8.2" />
|
||||
</ItemGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<Using Include="Xunit" />
|
||||
</ItemGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<!-- Same native shim Engine.Physics itself ships — see that project's
|
||||
own Content item for why it's copied directly (not under a
|
||||
runtimes/<rid>/native/ path) rather than referenced some other
|
||||
way. -->
|
||||
<Content Include="../../plugins/engine.physics/Engine.Physics/native/liblingua_physics.so">
|
||||
<Link>liblingua_physics.so</Link>
|
||||
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
|
||||
</Content>
|
||||
</ItemGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<ProjectReference Include="..\..\plugins\engine.physics\Engine.Physics\Engine.Physics.csproj" />
|
||||
</ItemGroup>
|
||||
|
||||
</Project>
|
||||
@@ -0,0 +1,147 @@
|
||||
using System.Numerics;
|
||||
using Engine.Kernel.Diagnostics;
|
||||
using Engine.Kernel.World;
|
||||
using Engine.Physics;
|
||||
using Engine.Physics.Contracts;
|
||||
|
||||
namespace Engine.Physics.Tests;
|
||||
|
||||
file sealed class RecordingLogger : ILogger
|
||||
{
|
||||
public List<string> Warnings { get; } = [];
|
||||
|
||||
public void Info(string message) { }
|
||||
public void Warn(string message) => Warnings.Add(message);
|
||||
public void Error(string message) { }
|
||||
}
|
||||
|
||||
public class PhysicsWorldTests
|
||||
{
|
||||
private static GameObject CreateGround(GameWorld world)
|
||||
{
|
||||
var go = world.CreateGameObject("Ground");
|
||||
go.Transform = Transform.Identity;
|
||||
go.AddComponent<Rigidbody>().Type = BodyType.Static;
|
||||
go.AddComponent<BoxCollider>().HalfExtents = new Vector3(10f, 0.5f, 10f);
|
||||
return go;
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public void DynamicBox_FallsAndSettlesOnStaticGround()
|
||||
{
|
||||
var world = new GameWorld();
|
||||
var log = new RecordingLogger();
|
||||
using var physics = new PhysicsWorld(new Vector3(0, -10, 0), log);
|
||||
|
||||
CreateGround(world);
|
||||
|
||||
var box = world.CreateGameObject("FallingBox");
|
||||
box.Transform = Transform.Identity;
|
||||
box.Transform.LocalPosition = new Vector3(0, 5, 0);
|
||||
box.AddComponent<Rigidbody>().Type = BodyType.Dynamic;
|
||||
box.AddComponent<BoxCollider>().HalfExtents = new Vector3(0.5f, 0.5f, 0.5f);
|
||||
|
||||
for (var i = 0; i < 150; i++)
|
||||
{
|
||||
physics.Sync(world);
|
||||
physics.Step(1f / 50f);
|
||||
}
|
||||
|
||||
// Ground half-height 0.5 + box half-height 0.5 = rests at y=1.
|
||||
Assert.Equal(1f, box.Transform.LocalPosition.Y, 1);
|
||||
Assert.Empty(log.Warnings);
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public void DynamicSphere_FallsAndSettlesOnStaticGround()
|
||||
{
|
||||
var world = new GameWorld();
|
||||
var log = new RecordingLogger();
|
||||
using var physics = new PhysicsWorld(new Vector3(0, -10, 0), log);
|
||||
|
||||
CreateGround(world);
|
||||
|
||||
var sphere = world.CreateGameObject("FallingSphere");
|
||||
sphere.Transform = Transform.Identity;
|
||||
sphere.Transform.LocalPosition = new Vector3(0, 5, 0);
|
||||
sphere.AddComponent<Rigidbody>().Type = BodyType.Dynamic;
|
||||
sphere.AddComponent<SphereCollider>().Radius = 0.5f;
|
||||
|
||||
for (var i = 0; i < 150; i++)
|
||||
{
|
||||
physics.Sync(world);
|
||||
physics.Step(1f / 50f);
|
||||
}
|
||||
|
||||
Assert.Equal(1f, sphere.Transform.LocalPosition.Y, 1);
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public void RigidbodyWithoutCollider_WarnsOnceAndDoesNotThrow()
|
||||
{
|
||||
var world = new GameWorld();
|
||||
var log = new RecordingLogger();
|
||||
using var physics = new PhysicsWorld(new Vector3(0, -10, 0), log);
|
||||
|
||||
var go = world.CreateGameObject("NoShape");
|
||||
go.Transform = Transform.Identity;
|
||||
go.AddComponent<Rigidbody>();
|
||||
|
||||
for (var i = 0; i < 5; i++)
|
||||
{
|
||||
physics.Sync(world);
|
||||
physics.Step(1f / 50f);
|
||||
}
|
||||
|
||||
Assert.Single(log.Warnings);
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public void DestroyedGameObject_BodyCleanedUp_SubsequentStepsStillWork()
|
||||
{
|
||||
var world = new GameWorld();
|
||||
var log = new RecordingLogger();
|
||||
using var physics = new PhysicsWorld(new Vector3(0, -10, 0), log);
|
||||
|
||||
CreateGround(world);
|
||||
|
||||
var box = world.CreateGameObject("Temp");
|
||||
box.Transform = Transform.Identity;
|
||||
box.Transform.LocalPosition = new Vector3(0, 5, 0);
|
||||
box.AddComponent<Rigidbody>().Type = BodyType.Dynamic;
|
||||
box.AddComponent<BoxCollider>();
|
||||
|
||||
physics.Sync(world);
|
||||
physics.Step(1f / 50f);
|
||||
|
||||
world.Destroy(box);
|
||||
|
||||
// Should not throw even though the body backing a now-destroyed
|
||||
// GameObject still existed in the tracking table until this Sync.
|
||||
for (var i = 0; i < 10; i++)
|
||||
{
|
||||
physics.Sync(world);
|
||||
physics.Step(1f / 50f);
|
||||
}
|
||||
}
|
||||
|
||||
[Fact]
|
||||
public void ApplyLinearImpulse_ChangesVelocity()
|
||||
{
|
||||
var world = new GameWorld();
|
||||
var log = new RecordingLogger();
|
||||
using var physics = new PhysicsWorld(Vector3.Zero, log); // no gravity, isolate the impulse
|
||||
|
||||
var box = world.CreateGameObject("Box");
|
||||
box.Transform = Transform.Identity;
|
||||
box.AddComponent<Rigidbody>().Type = BodyType.Dynamic;
|
||||
box.AddComponent<BoxCollider>();
|
||||
|
||||
physics.Sync(world); // create the body before applying an impulse to it
|
||||
|
||||
physics.ApplyLinearImpulse(box, new Vector3(5, 0, 0), wake: true);
|
||||
|
||||
var velocity = physics.GetLinearVelocity(box);
|
||||
Assert.True(velocity.X > 0f, $"expected positive X velocity after impulse, got {velocity.X}");
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user