mirror of
https://github.com/Facepunch/sbox-public.git
synced 2026-04-29 10:43:46 -04:00
71f266059a
This commit imports the C# engine code and game files, excluding C++ source code. [Source-Commit: ceb3d758046e50faa6258bc3b658a30c97743268]
283 lines
8.0 KiB
C#
283 lines
8.0 KiB
C#
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namespace Sandbox;
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partial class SkinnedModelRenderer
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{
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/// <summary>
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/// Simulates bones using physics defined on the model.
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/// </summary>
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internal BonePhysics Physics { get; private set; }
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internal class BonePhysics
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{
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/// <summary>
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/// Isolated physics world to simulate physics bones.
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/// </summary>
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PhysicsWorld _physicsWorld;
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readonly record struct Body( PhysicsBody PhysicsBody, int Bone )
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{
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public Transform WorldTransform { get; init; }
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public PhysicsBody ParentBody { get; init; }
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public int ParentBone { get; init; }
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}
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readonly record struct Joint( PhysicsJoint PhysicsJoint, Body Body1, Body Body2 );
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readonly List<Body> _bodies = [];
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readonly List<Joint> _joints = [];
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readonly SkinnedModelRenderer _renderer;
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internal BonePhysics( SkinnedModelRenderer renderer, SkinnedModelRenderer parent )
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{
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_renderer = renderer;
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if ( _physicsWorld is not null ) return;
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if ( !_renderer.HasBonePhysics() ) return;
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_physicsWorld = new PhysicsWorld
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{
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SleepingEnabled = false,
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SimulationMode = PhysicsSimulationMode.Discrete,
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DebugSceneWorld = _renderer.Scene.DebugSceneWorld,
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Scene = _renderer.Scene,
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MaximumLinearSpeed = 1000,
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};
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var physics = _renderer.Model.Physics;
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CreateBodies( physics, parent );
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CreateJoints( physics );
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}
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public void Destroy()
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{
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if ( _physicsWorld is null ) return;
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_renderer.ClearPhysicsBones();
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_physicsWorld.Delete();
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_physicsWorld = null;
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_bodies.Clear();
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_joints.Clear();
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}
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public void Update()
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{
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if ( _physicsWorld is null ) return;
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var so = _renderer.SceneModel;
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if ( !so.IsValid() ) return;
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_renderer.ClearPhysicsBones();
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var world = so.Transform;
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for ( var i = 0; i < _bodies.Count; i++ )
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{
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var body = _bodies[i];
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if ( body.PhysicsBody.BodyType == PhysicsBodyType.Dynamic )
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{
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// We're not attached to a kinematic ancestor, bail.
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if ( body.ParentBody is null ) continue;
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// Get where the physics body is.
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var bodyWorld = body.PhysicsBody.GetLerpedTransform( Time.Now );
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// Get where the kinematic root physics body is.
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var parentBodyWorld = body.ParentBody.GetLerpedTransform( Time.Now );
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// Transform physics into localspace relative to kinematic root.
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var bodyLocal = parentBodyWorld.ToLocal( bodyWorld );
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// Transform physics back into rendering worldspace.
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var parentBoneWorld = so.GetWorldSpaceAnimationTransform( body.ParentBone );
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var boneWorld = parentBoneWorld.ToWorld( bodyLocal );
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// Transform bone world to modelspace.
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var boneLocal = world.ToLocal( boneWorld );
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so.SetBoneOverride( body.Bone, boneLocal );
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}
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else
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{
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// Set the physics bone to the rendering transform.
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var boneWorld = so.GetWorldSpaceAnimationTransform( body.Bone );
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var local = world.ToLocal( boneWorld );
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so.SetBoneOverride( body.Bone, local );
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// Store the target transform of this keyframe body so it can be moved to it in the physics step.
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_bodies[i] = body with { WorldTransform = boneWorld };
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}
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}
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}
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public void Step()
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{
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if ( !_physicsWorld.IsValid() ) return;
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foreach ( var body in _bodies )
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{
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if ( body.PhysicsBody.BodyType == PhysicsBodyType.Keyframed )
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{
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// Move the keyframe to target using velocity.
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body.PhysicsBody.Move( body.WorldTransform, Time.Delta );
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}
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}
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// Run at max substeps until there's a reason not to.
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_physicsWorld.Step( Time.Now, Time.Delta, 64 );
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}
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public void DebugDraw()
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{
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if ( !_physicsWorld.IsValid() ) return;
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_physicsWorld.DebugDraw();
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}
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void CreateBodies( PhysicsGroupDescription physics, SkinnedModelRenderer parent )
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{
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var bones = _renderer.Model.Bones;
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var targetBones = parent.Model.Bones;
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var world = _renderer.WorldTransform;
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var boneToBody = new Dictionary<int, PhysicsBody>();
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foreach ( var part in physics.Parts )
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{
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var bone = bones.GetBone( part.BoneName );
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if ( !_renderer.TryGetBoneTransform( bone, out var boneWorld ) )
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boneWorld = world.ToWorld( part.Transform );
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var body = new PhysicsBody( _physicsWorld )
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{
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Transform = boneWorld,
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LinearDamping = part.LinearDamping,
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AngularDamping = part.AngularDamping,
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Mass = part.Mass,
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OverrideMassCenter = part.OverrideMassCenter,
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LocalMassCenter = part.MassCenterOverride,
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BodyType = targetBones.HasBone( bone.Name ) ? PhysicsBodyType.Keyframed : PhysicsBodyType.Dynamic,
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UseController = true,
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EnableCollisionSounds = false,
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};
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boneToBody[bone.Index] = body;
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_bodies.Add( new Body( body, bone.Index ) { WorldTransform = boneWorld } );
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foreach ( var sphere in part.Spheres )
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body.AddSphereShape( sphere.Sphere ).Surface = sphere.Surface;
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foreach ( var capsule in part.Capsules )
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body.AddCapsuleShape( capsule.Capsule.CenterA, capsule.Capsule.CenterB, capsule.Capsule.Radius ).Surface = capsule.Surface;
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foreach ( var hull in part.Hulls )
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body.AddHullShape( Vector3.Zero, Rotation.Identity, hull.GetPoints().ToList() ).Surface = hull.Surface;
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}
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for ( var i = 0; i < _bodies.Count; i++ )
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{
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var body = _bodies[i];
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if ( body.PhysicsBody.BodyType != PhysicsBodyType.Dynamic ) continue;
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var bone = bones.AllBones[body.Bone];
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if ( bone.Parent is null ) continue;
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PhysicsBody parentBody = null;
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var parentBone = -1;
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var parentIndex = bone.Parent.Index;
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// Walk up the skeleton until we find a keyframed parent body.
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while ( parentIndex >= 0 )
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{
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if ( boneToBody.TryGetValue( parentIndex, out var physicsBody ) &&
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physicsBody.BodyType == PhysicsBodyType.Keyframed )
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{
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parentBody = physicsBody;
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parentBone = parentIndex;
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break;
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}
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parentIndex = bones.AllBones[parentIndex].Parent?.Index ?? -1;
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}
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_bodies[i] = body with { ParentBody = parentBody, ParentBone = parentBone };
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}
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}
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void CreateJoints( PhysicsGroupDescription physics )
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{
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foreach ( var jointDesc in physics.Joints )
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{
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var body1 = _bodies[jointDesc.Body1];
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var body2 = _bodies[jointDesc.Body2];
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var localFrame1 = jointDesc.Frame1;
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var localFrame2 = jointDesc.Frame2;
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var point1 = new PhysicsPoint( body1.PhysicsBody, localFrame1.Position, localFrame1.Rotation );
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var point2 = new PhysicsPoint( body2.PhysicsBody, localFrame2.Position, localFrame2.Rotation );
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PhysicsJoint joint = null;
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if ( jointDesc.Type == PhysicsGroupDescription.JointType.Hinge )
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{
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var hingeJoint = PhysicsJoint.CreateHinge( point1, point2 );
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if ( jointDesc.EnableTwistLimit )
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{
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hingeJoint.MinAngle = jointDesc.TwistMin;
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hingeJoint.MaxAngle = jointDesc.TwistMax;
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}
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if ( jointDesc.EnableAngularMotor )
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{
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var worldFrame1 = body1.PhysicsBody.Transform.ToWorld( localFrame1 );
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var hingeAxis = worldFrame1.Rotation.Up;
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var targetVelocity = hingeAxis.Dot( jointDesc.AngularTargetVelocity );
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hingeJoint.native.SetAngularMotor( targetVelocity, jointDesc.MaxTorque );
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}
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joint = hingeJoint;
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}
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else if ( jointDesc.Type == PhysicsGroupDescription.JointType.Ball )
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{
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var ballJoint = PhysicsJoint.CreateBallSocket( point1, point2 );
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if ( jointDesc.EnableSwingLimit )
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{
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ballJoint.SwingLimitEnabled = true;
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ballJoint.SwingLimit = new Vector2( jointDesc.SwingMin, jointDesc.SwingMax );
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}
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if ( jointDesc.EnableTwistLimit )
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{
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ballJoint.TwistLimitEnabled = true;
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ballJoint.TwistLimit = new Vector2( jointDesc.TwistMin, jointDesc.TwistMax );
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}
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joint = ballJoint;
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}
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else if ( jointDesc.Type == PhysicsGroupDescription.JointType.Fixed )
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{
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var fixedJoint = PhysicsJoint.CreateFixed( point1, point2 );
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fixedJoint.SpringLinear = new PhysicsSpring( jointDesc.LinearFrequency, jointDesc.LinearDampingRatio );
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fixedJoint.SpringAngular = new PhysicsSpring( jointDesc.AngularFrequency, jointDesc.AngularDampingRatio );
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joint = fixedJoint;
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}
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if ( joint.IsValid() )
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{
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_joints.Add( new Joint( joint, body1, body2 ) );
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}
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}
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}
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}
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}
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