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- // Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
- // SPDX-FileCopyrightText: 2021 Jorrit Rouwe
- // SPDX-License-Identifier: MIT
- #include <TestFramework.h>
- #include <Tests/Rig/KinematicRigTest.h>
- #include <Jolt/Physics/Collision/Shape/BoxShape.h>
- #include <Jolt/Physics/StateRecorder.h>
- #include <Jolt/ObjectStream/ObjectStreamIn.h>
- #include <Application/DebugUI.h>
- #include <Layers.h>
- #include <Utils/Log.h>
- JPH_IMPLEMENT_RTTI_VIRTUAL(KinematicRigTest)
- {
- JPH_ADD_BASE_CLASS(KinematicRigTest, Test)
- }
- const char *KinematicRigTest::sAnimations[] =
- {
- "Neutral",
- "Walk",
- "Sprint",
- "Dead_Pose1",
- "Dead_Pose2",
- "Dead_Pose3",
- "Dead_Pose4"
- };
- const char *KinematicRigTest::sAnimationName = "Walk";
- KinematicRigTest::~KinematicRigTest()
- {
- mRagdoll->RemoveFromPhysicsSystem();
- }
- void KinematicRigTest::Initialize()
- {
- // Floor
- CreateFloor();
- // Wall
- RefConst<Shape> box_shape = new BoxShape(Vec3(0.2f, 0.2f, 0.2f), 0.01f);
- for (int i = 0; i < 3; ++i)
- for (int j = i / 2; j < 10 - (i + 1) / 2; ++j)
- {
- RVec3 position(-2.0f + j * 0.4f + (i & 1? 0.2f : 0.0f), 0.2f + i * 0.4f, -2.0f);
- Body &wall = *mBodyInterface->CreateBody(BodyCreationSettings(box_shape, position, Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
- mBodyInterface->AddBody(wall.GetID(), EActivation::DontActivate);
- }
- // Load ragdoll
- mRagdollSettings = RagdollLoader::sLoad("Assets/Human.tof", EMotionType::Kinematic);
- // Create ragdoll
- mRagdoll = mRagdollSettings->CreateRagdoll(0, 0, mPhysicsSystem);
- mRagdoll->AddToPhysicsSystem(EActivation::Activate);
- // Load animation
- String filename = String("Assets/Human/") + sAnimationName + ".tof";
- if (!ObjectStreamIn::sReadObject(filename.c_str(), mAnimation))
- FatalError("Could not open animation");
- // Initialize pose
- mPose.SetSkeleton(mRagdollSettings->GetSkeleton());
- // Position ragdoll
- mAnimation->Sample(0.0f, mPose);
- mPose.CalculateJointMatrices();
- mRagdoll->SetPose(mPose);
- }
- void KinematicRigTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
- {
- // Sample previous pose and draw it (ragdoll should have achieved this position)
- mAnimation->Sample(mTime, mPose);
- mPose.CalculateJointMatrices();
- #ifdef JPH_DEBUG_RENDERER
- mPose.Draw(*inParams.mPoseDrawSettings, mDebugRenderer);
- #endif // JPH_DEBUG_RENDERER
- // Update time
- mTime += inParams.mDeltaTime;
- // Sample new pose
- mAnimation->Sample(mTime, mPose);
- mPose.CalculateJointMatrices();
-
- mRagdoll->DriveToPoseUsingKinematics(mPose, inParams.mDeltaTime);
- }
- void KinematicRigTest::CreateSettingsMenu(DebugUI *inUI, UIElement *inSubMenu)
- {
- inUI->CreateTextButton(inSubMenu, "Select Animation", [this, inUI]() {
- UIElement *animation_name = inUI->CreateMenu();
- for (uint i = 0; i < size(sAnimations); ++i)
- inUI->CreateTextButton(animation_name, sAnimations[i], [this, i]() { sAnimationName = sAnimations[i]; RestartTest(); });
- inUI->ShowMenu(animation_name);
- });
- }
- void KinematicRigTest::SaveState(StateRecorder &inStream) const
- {
- inStream.Write(mTime);
- }
- void KinematicRigTest::RestoreState(StateRecorder &inStream)
- {
- inStream.Read(mTime);
- }
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