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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/PoweredRigTest.h>
- #include <Jolt/Physics/StateRecorder.h>
- #include <Jolt/ObjectStream/ObjectStreamIn.h>
- #include <Application/DebugUI.h>
- #include <Utils/RagdollLoader.h>
- #include <Utils/Log.h>
- JPH_IMPLEMENT_RTTI_VIRTUAL(PoweredRigTest)
- {
- JPH_ADD_BASE_CLASS(PoweredRigTest, Test)
- }
- const char *PoweredRigTest::sAnimations[] =
- {
- "Neutral",
- "Walk",
- "Sprint",
- "Dead_Pose1",
- "Dead_Pose2",
- "Dead_Pose3",
- "Dead_Pose4"
- };
- const char *PoweredRigTest::sAnimationName = "Sprint";
- PoweredRigTest::~PoweredRigTest()
- {
- mRagdoll->RemoveFromPhysicsSystem();
- }
- void PoweredRigTest::Initialize()
- {
- // Floor
- CreateFloor();
- // Load ragdoll
- mRagdollSettings = RagdollLoader::sLoad("Assets/Human.tof", EMotionType::Dynamic);
- // 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 PoweredRigTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
- {
- // Update time
- mTime += inParams.mDeltaTime;
- // Sample new pose
- mAnimation->Sample(mTime, mPose);
- // Place the root joint on the first body so that we draw the pose in the right place
- RVec3 root_offset;
- SkeletonPose::JointState &joint = mPose.GetJoint(0);
- joint.mTranslation = Vec3::sZero(); // All the translation goes into the root offset
- mRagdoll->GetRootTransform(root_offset, joint.mRotation);
- mPose.SetRootOffset(root_offset);
- mPose.CalculateJointMatrices();
- #ifdef JPH_DEBUG_RENDERER
- mPose.Draw(*inParams.mPoseDrawSettings, mDebugRenderer);
- #endif // JPH_DEBUG_RENDERER
- mRagdoll->DriveToPoseUsingMotors(mPose);
- }
- void PoweredRigTest::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 PoweredRigTest::SaveState(StateRecorder &inStream) const
- {
- inStream.Write(mTime);
- }
- void PoweredRigTest::RestoreState(StateRecorder &inStream)
- {
- inStream.Read(mTime);
- }
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