/
physics_overrides_matrix.lua
120 lines (87 loc) · 4.04 KB
/
physics_overrides_matrix.lua
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
-- Physics overrides node matrix.
-- Manual changes of position/rotation/scale of a physics node won't affect its matrix.
hg = require("harfang")
hg.InputInit()
hg.WindowSystemInit()
res_x, res_y = 1280, 720
win = hg.RenderInit('Harfang - Physics Matrix Interaction', res_x, res_y, hg.RF_VSync | hg.RF_MSAA4X)
pipeline = hg.CreateForwardPipeline()
res = hg.PipelineResources()
hg.ImGuiInit(10, hg.LoadProgramFromFile('resources_compiled/core/shader/imgui'), hg.LoadProgramFromFile('resources_compiled/core/shader/imgui_image'))
-- physics debug
vtx_line_layout = hg.VertexLayoutPosFloatColorUInt8()
line_shader = hg.LoadProgramFromFile("resources_compiled/shaders/pos_rgb")
-- create models
vtx_layout = hg.VertexLayoutPosFloatNormUInt8()
cube_mdl = hg.CreateCubeModel(vtx_layout, 1, 1, 1)
cube_ref = res:AddModel('cube', cube_mdl)
ground_mdl = hg.CreateCubeModel(vtx_layout, 100, 0.02, 100)
ground_ref = res:AddModel('ground', ground_mdl)
prg_ref = hg.LoadPipelineProgramRefFromFile('resources_compiled/core/shader/default.hps', res, hg.GetForwardPipelineInfo())
-- create material
mat = hg.CreateMaterial(prg_ref, 'uDiffuseColor', hg.Vec4(0.5, 0.5, 0.5), 'uSpecularColor', hg.Vec4(1, 1, 1))
-- setup scene
scene = hg.Scene()
cam_mat = hg.TransformationMat4(hg.Vec3(0, 1.5, -5), hg.Deg3(5, 0, 0))
cam = hg.CreateCamera(scene, cam_mat, 0.01, 1000)
scene:SetCurrentCamera(cam)
view_matrix = hg.InverseFast(cam_mat)
c = cam:GetCamera()
projection_matrix = hg.ComputePerspectiveProjectionMatrix(c:GetZNear(), c:GetZFar(), hg.FovToZoomFactor(c:GetFov()), hg.Vec2(res_x / res_y, 1))
lgt = hg.CreatePointLight(scene, hg.TranslationMat4(hg.Vec3(3, 4, -6)), 0)
cube_node = hg.CreatePhysicCube(scene, hg.Vec3(1, 1, 1), hg.TranslationMat4(hg.Vec3(1.25, 2.5, 0)), cube_ref, {mat}, 2)
ground_node = hg.CreatePhysicCube(scene, hg.Vec3(100, 0.02, 100), hg.TranslationMat4(hg.Vec3(0, -0.005, 0)), ground_ref, {mat}, 0)
clocks = hg.SceneClocks()
-- scene physics
physics = hg.SceneBullet3Physics()
physics:SceneCreatePhysicsFromAssets(scene)
-- main loop
mouse, keyboard = hg.Mouse(), hg.Keyboard()
while not keyboard:Pressed(hg.K_Escape) and hg.IsWindowOpen(win) do
keyboard:Update()
mouse:Update()
dt = hg.TickClock()
-- scene view
view_id = 0
hg.SceneUpdateSystems(scene, clocks, dt, physics, hg.time_from_sec_f(1 / 60), 1)
view_id,_ = hg.SubmitSceneToPipeline(view_id, scene, hg.IntRect(0, 0, res_x, res_y), true, pipeline, res)
-- Debug physics display
hg.SetViewClear(view_id, 0, 0, 1.0, 0)
hg.SetViewRect(view_id, 0, 0, res_x, res_y)
hg.SetViewTransform(view_id, view_matrix, projection_matrix)
rs = hg.ComputeRenderState(hg.BM_Opaque, hg.DT_Disabled, hg.FC_Disabled)
physics:RenderCollision(view_id, vtx_line_layout, line_shader, rs, 0)
-- ImGui view
hg.ImGuiBeginFrame(res_x, res_y, dt, mouse:GetState(), keyboard:GetState())
if hg.ImGuiBegin('Transform and Physics', true, hg.ImGuiWindowFlags_AlwaysAutoResize) then
hg.ImGuiTextWrapped('This tutorial demonstrates the interaction between the physics system and the Transform component of a node. The node position, rotation and scale are overriden by an active node rigid body.')
hg.ImGuiSeparator()
r, v = hg.ImGuiInputVec3('Transform.pos', cube_node:GetTransform():GetPos(), 2)
if r then
cube_node:GetTransform():SetPos(v)
end
if hg.ImGuiButton('Press to reset position using Transform.SetPos') then
cube_node:GetTransform():SetPos(hg.Vec3(1.25, 2.5, 0))
end
hg.ImGuiSeparator()
hg.ImGuiInputVec3('Transform.GetWorld().T', hg.GetT(cube_node:GetTransform():GetWorld()), 2, hg.ImGuiInputTextFlags_ReadOnly)
if physics:NodeHasBody(cube_node) then
if hg.ImGuiButton('Press to destroy the cube node physics') then
physics:NodeDestroyPhysics(cube_node)
physics:GarbageCollect(scene)
end
else
if hg.ImGuiButton('Create to create the cube node physics') then
physics:NodeCreatePhysicsFromAssets(cube_node)
end
end
end
hg.ImGuiEnd()
hg.ImGuiEndFrame(255)
hg.Frame()
hg.UpdateWindow(win)
end
hg.RenderShutdown()
hg.DestroyWindow(win)
hg.WindowSystemShutdown()
hg.InputShutdown()