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rb_dynamic_add_force_during_update.lua
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rb_dynamic_add_force_during_update.lua
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hg = require("harfang")
function CreatePhysicCubeEx(scene, size, mtx, model_ref, materials, rb_type, mass)
local rb_type = rb_type or hg.RBT_Dynamic
local mass = mass or 0
local node = hg.CreateObject(scene, mtx, model_ref, materials)
node:SetName("Physic Cube")
local rb = scene:CreateRigidBody()
rb:SetType(rb_type)
node:SetRigidBody(rb)
-- create custom cube collision
local col = scene:CreateCollision()
col:SetType(hg.CT_Cube)
col:SetSize(size)
col:SetMass(mass)
-- set cube as collision shape
node:SetCollision(0, col)
return node, rb
end
hg.AddAssetsFolder('assets_compiled')
-- main window
hg.InputInit()
hg.WindowSystemInit()
res_x, res_y = 1280, 720
win = hg.RenderInit('Physics Test', res_x, res_y, hg.RF_VSync | hg.RF_MSAA4X)
pipeline = hg.CreateForwardPipeline()
res = hg.PipelineResources()
-- physics debug
vtx_line_layout = hg.VertexLayoutPosFloatColorUInt8()
line_shader = hg.LoadProgramFromAssets("shaders/pos_rgb")
-- create material
pbr_shader = hg.LoadPipelineProgramRefFromAssets('core/shader/pbr.hps', res, hg.GetForwardPipelineInfo())
mat_grey = hg.CreateMaterial(pbr_shader, 'uBaseOpacityColor', hg.Vec4(1, 1, 1), 'uOcclusionRoughnessMetalnessColor', hg.Vec4(1, 0.5, 0.05))
-- create models
vtx_layout = hg.VertexLayoutPosFloatNormUInt8()
-- cube
cube_size = hg.Vec3(1, 1, 1)
cube_ref = res:AddModel('cube', hg.CreateCubeModel(vtx_layout, cube_size.x, cube_size.y, cube_size.z))
-- ground
ground_size = hg.Vec3(4, 0.05, 4)
ground_ref = res:AddModel('ground', hg.CreateCubeModel(vtx_layout, ground_size.x, ground_size.y, ground_size.z))
-- setup the scene
scene = hg.Scene()
cam_mat = hg.TransformationMat4(hg.Vec3(0, 1.5, -5), hg.Vec3(hg.Deg(10), 0, 0))
cam = hg.CreateCamera(scene, cam_mat, 0.01, 1000)
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))
scene:SetCurrentCamera(cam)
lgt = hg.CreateLinearLight(scene, hg.TransformationMat4(hg.Vec3(0, 0, 0), hg.Vec3(hg.Deg(30), hg.Deg(30), 0)), hg.Color(1, 1, 1), hg.Color(1, 1, 1), 10, hg.LST_Map, 0.0001, hg.Vec4(2, 4, 10, 16))
cube_node, cube_rb = CreatePhysicCubeEx(scene, cube_size, hg.TranslationMat4(hg.Vec3(1.5, 0.5, 0)), cube_ref, {mat_grey}, hg.RBT_Dynamic, 1.0)
cube_rb:SetFriction(0.0)
cube_rb:SetLinearDamping(0.0)
ground_node, ground_rb = CreatePhysicCubeEx(scene, ground_size, hg.TranslationMat4(hg.Vec3(0, -0.005, 0)), ground_ref, {mat_grey}, hg.RBT_Static, 0)
ground_rb:SetFriction(0.0)
-- scene physics
physics = hg.SceneBullet3Physics()
physics:SceneCreatePhysicsFromAssets(scene)
physics_step = hg.time_from_sec_f(1 / 60)
dt_frame_step = hg.time_from_sec_f(1 / 60)
clocks = hg.SceneClocks()
-- description
hg.SetLogLevel(hg.LL_Normal)
print(">>> Description:\n>>> Apply a constant force on a cube. No damping and no fricton.")
-- main loop
keyboard = hg.Keyboard()
local frame_count = 0
while not keyboard:Down(hg.K_Escape) and hg.IsWindowOpen(win) do
keyboard:Update()
-- physics:NodeWake(cube_node)
-- apply force
physics:NodeAddForce(cube_node, hg.Vec3(-1.0,0,0))
view_id = 0
hg.SceneUpdateSystems(scene, clocks, dt_frame_step, physics, physics_step, 3)
view_id, pass_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)
hg.Frame()
hg.UpdateWindow(win)
end
scene:Clear()
scene:GarbageCollect()
hg.RenderShutdown()
hg.DestroyWindow(win)
hg.WindowSystemShutdown()
hg.InputShutdown()