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rb_kinematic_set_position_rotation_instance.lua
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rb_kinematic_set_position_rotation_instance.lua
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hg = require("harfang")
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()
-- 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, 2.5, -10), hg.Vec3(hg.Deg(20), 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_instance, _ = hg.CreateInstanceFromAssets(scene, hg.TranslationMat4(hg.Vec3(0, 0, 0)), "cube/cube.scn", res, hg.GetForwardPipelineInfo())
-- 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>>> Set the position and rotation of an instantiated kinematic cube in the rendering loop. The cube shall move from left to right and rotate on its Y axis.")
-- main loop
keyboard = hg.Keyboard()
local frame_count = 0
while not keyboard:Down(hg.K_Escape) and hg.IsWindowOpen(win) do
keyboard:Update()
cube_instance:GetTransform():SetPos(hg.Vec3((math.fmod(frame_count, 200.0) - 100.0) / 100.0, 0.0, 0.0))
cube_instance:GetTransform():SetRot(hg.Vec3(0.0, math.pi * frame_count / 360.0, 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)
frame_count = frame_count + 1
hg.Frame()
hg.UpdateWindow(win)
end
scene:Clear()
scene:GarbageCollect()
hg.RenderShutdown()
hg.DestroyWindow(win)
hg.WindowSystemShutdown()
hg.InputShutdown()