KinematicRigTest.cpp 3.0 KB

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  1. // Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
  2. // SPDX-FileCopyrightText: 2021 Jorrit Rouwe
  3. // SPDX-License-Identifier: MIT
  4. #include <TestFramework.h>
  5. #include <Tests/Rig/KinematicRigTest.h>
  6. #include <Jolt/Physics/Collision/Shape/BoxShape.h>
  7. #include <Jolt/Physics/StateRecorder.h>
  8. #include <Jolt/ObjectStream/ObjectStreamIn.h>
  9. #include <Application/DebugUI.h>
  10. #include <Layers.h>
  11. #include <Utils/Log.h>
  12. JPH_IMPLEMENT_RTTI_VIRTUAL(KinematicRigTest)
  13. {
  14. JPH_ADD_BASE_CLASS(KinematicRigTest, Test)
  15. }
  16. const char *KinematicRigTest::sAnimations[] =
  17. {
  18. "Neutral",
  19. "Walk",
  20. "Sprint",
  21. "Dead_Pose1",
  22. "Dead_Pose2",
  23. "Dead_Pose3",
  24. "Dead_Pose4"
  25. };
  26. const char *KinematicRigTest::sAnimationName = "Walk";
  27. KinematicRigTest::~KinematicRigTest()
  28. {
  29. mRagdoll->RemoveFromPhysicsSystem();
  30. }
  31. void KinematicRigTest::Initialize()
  32. {
  33. // Floor
  34. CreateFloor();
  35. // Wall
  36. RefConst<Shape> box_shape = new BoxShape(Vec3(0.2f, 0.2f, 0.2f), 0.01f);
  37. for (int i = 0; i < 3; ++i)
  38. for (int j = i / 2; j < 10 - (i + 1) / 2; ++j)
  39. {
  40. RVec3 position(-2.0f + j * 0.4f + (i & 1? 0.2f : 0.0f), 0.2f + i * 0.4f, -2.0f);
  41. Body &wall = *mBodyInterface->CreateBody(BodyCreationSettings(box_shape, position, Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
  42. mBodyInterface->AddBody(wall.GetID(), EActivation::DontActivate);
  43. }
  44. // Load ragdoll
  45. mRagdollSettings = RagdollLoader::sLoad("Assets/Human.tof", EMotionType::Kinematic);
  46. // Create ragdoll
  47. mRagdoll = mRagdollSettings->CreateRagdoll(0, 0, mPhysicsSystem);
  48. mRagdoll->AddToPhysicsSystem(EActivation::Activate);
  49. // Load animation
  50. String filename = String("Assets/Human/") + sAnimationName + ".tof";
  51. if (!ObjectStreamIn::sReadObject(filename.c_str(), mAnimation))
  52. FatalError("Could not open animation");
  53. // Initialize pose
  54. mPose.SetSkeleton(mRagdollSettings->GetSkeleton());
  55. // Position ragdoll
  56. mAnimation->Sample(0.0f, mPose);
  57. mPose.CalculateJointMatrices();
  58. mRagdoll->SetPose(mPose);
  59. }
  60. void KinematicRigTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
  61. {
  62. // Sample previous pose and draw it (ragdoll should have achieved this position)
  63. mAnimation->Sample(mTime, mPose);
  64. mPose.CalculateJointMatrices();
  65. #ifdef JPH_DEBUG_RENDERER
  66. mPose.Draw(*inParams.mPoseDrawSettings, mDebugRenderer);
  67. #endif // JPH_DEBUG_RENDERER
  68. // Update time
  69. mTime += inParams.mDeltaTime;
  70. // Sample new pose
  71. mAnimation->Sample(mTime, mPose);
  72. mPose.CalculateJointMatrices();
  73. mRagdoll->DriveToPoseUsingKinematics(mPose, inParams.mDeltaTime);
  74. }
  75. void KinematicRigTest::CreateSettingsMenu(DebugUI *inUI, UIElement *inSubMenu)
  76. {
  77. inUI->CreateTextButton(inSubMenu, "Select Animation", [this, inUI]() {
  78. UIElement *animation_name = inUI->CreateMenu();
  79. for (uint i = 0; i < size(sAnimations); ++i)
  80. inUI->CreateTextButton(animation_name, sAnimations[i], [this, i]() { sAnimationName = sAnimations[i]; RestartTest(); });
  81. inUI->ShowMenu(animation_name);
  82. });
  83. }
  84. void KinematicRigTest::SaveState(StateRecorder &inStream) const
  85. {
  86. inStream.Write(mTime);
  87. }
  88. void KinematicRigTest::RestoreState(StateRecorder &inStream)
  89. {
  90. inStream.Read(mTime);
  91. }