Extremely hacky and bad physics

.gitmodules

@@ -2,31 +2,44 @@
 	path = third_party/glfw
 	url = https://github.com/glfw/glfw
 	ignore = dirty
+	shallow = true
 [submodule "ext/glm"]
 	path = third_party/glm
 	url = https://github.com/g-truc/glm
 	ignore = dirty
+	shallow = true
 [submodule "ext/stb"]
 	path = third_party/stb
 	url = https://github.com/nothings/stb
 	ignore = dirty
+	shallow = true
 [submodule "ext/tinyobjloader"]
 	path = third_party/tinyobjloader
 	url = https://github.com/tinyobjloader/tinyobjloader
 	ignore = dirty
+	shallow = true
 [submodule "ext/VulkanMemoryAllocator"]
 	path = third_party/VulkanMemoryAllocator
 	url = https://github.com/GPUOpen-LibrariesAndSDKs/VulkanMemoryAllocator
 	ignore = dirty
+	shallow = true
 [submodule "ext/imgui"]
 	path = third_party/imgui
 	url = https://github.com/ocornut/imgui
 	ignore = dirty
+	shallow = true
 [submodule "ext/ImGuizmo"]
 	path = third_party/ImGuizmo
 	url = https://github.com/CedricGuillemet/ImGuizmo
 	ignore = dirty
+	shallow = true
 [submodule "ext/ktx"]
 	path = third_party/ktx
 	url = https://github.com/KhronosGroup/KTX-Software
 	ignore = dirty
+	shallow = true
+[submodule "third_party/bullet3"]
+	path = third_party/bullet3
+	url = https://github.com/bulletphysics/bullet3
+	ignore = dirty
+	shallow = true

CMakeLists.txt

@@ -62,7 +62,7 @@ add_compile_definitions(VULKAN_HPP_NO_STRUCT_CONSTRUCTORS) # Version 145 at leas
 target_precompile_headers(vulkanologi PRIVATE ${Vulkan_INCLUDE_DIRS}/vulkan/vulkan.hpp third_party/glm/glm/glm.hpp)
 target_precompile_headers(vulkanologi PRIVATE src/BehDevice.h src/WindowWrapper.h)
 
-target_link_libraries(vulkanologi glfw glm tinyobjloader VulkanMemoryAllocator Vulkan::Vulkan ktx imgui stb)
+target_link_libraries(vulkanologi glfw glm tinyobjloader VulkanMemoryAllocator Vulkan::Vulkan ktx imgui stb bullet3)
 
 add_shader(vulkanologi shader.frag)
 add_shader(vulkanologi shader.vert)

src/Application.cpp

@@ -5,6 +5,8 @@
 #include <cstdlib>
 #include <chrono>
 #include <thread>
+// Include bullet
+#include <btBulletDynamicsCommon.h>
 
 #include "Renderer.h"
 #include "Application.h"
@@ -13,6 +15,47 @@
 #include "Path.h"
 #include "Spline.h"
 
+// dynamics world pointer
+btDiscreteDynamicsWorld* dynamicsWorld;
+
+class DebugDrawer : public btIDebugDraw {
+public:
+    void drawLine(const btVector3 &from, const btVector3 &to, const btVector3 &color) override {
+        auto path = linePath(glm::vec3(from.x(), from.y(), from.z()), glm::vec3(to.x(), to.y(), to.z()), glm::vec3(color.x(), color.y(), color.z()));
+        paths.emplace_back(path);
+    }
+
+    void drawContactPoint(const btVector3 &PointOnB, const btVector3 &normalOnB, btScalar distance, int lifeTime, const btVector3 &color) override {
+        auto path = linePath(glm::vec3(PointOnB.x(), PointOnB.y(), PointOnB.z()), glm::vec3(PointOnB.x(), PointOnB.y(), PointOnB.z()) + glm::vec3(normalOnB.x(), normalOnB.y(), normalOnB.z()) * distance, glm::vec3(color.x(), color.y(), color.z()));
+        paths.emplace_back(path);
+    }
+
+    void reportErrorWarning(const char *warningString) override {
+        std::cout << "Warning: " << warningString << std::endl;
+    }
+
+    void draw3dText(const btVector3 &location, const char *textString) override {
+        std::cout << "Text: " << textString << std::endl;
+    }
+
+    void setDebugMode(int debugMode) override {
+        std::cout << "Debug mode: " << debugMode << std::endl;
+    }
+
+    int getDebugMode() const override {
+        return DBG_DrawWireframe;
+    }
+
+    // clear lines
+    void clearLines() override {
+        paths.clear();
+    }
+
+    std::vector<Path> paths;
+
+};
+
+DebugDrawer * debugDrawer;
 
 void App::run() {
     setupCallBacks(); // We create ImGui in the renderer, so callbacks have to happen before.
@@ -193,6 +236,10 @@ int App::drawFrame(float delta) {
             frameInfo.paths.emplace_back(linePath(end, left, {0, 1, 0}));
             frameInfo.paths.emplace_back(linePath(right, left, {0, 1, 0}));
         }
+
+        dynamicsWorld->debugDrawWorld();
+        auto physicsPaths = debugDrawer->paths;
+        frameInfo.paths.insert(frameInfo.paths.end(), physicsPaths.begin(), physicsPaths.end());
     }
 
     if (!objects.empty()) {
@@ -209,6 +256,45 @@ int App::drawFrame(float delta) {
 }
 
 void App::mainLoop() {
+    // make bullet3 physics world
+    auto collisionConfiguration = new btDefaultCollisionConfiguration();
+    auto dispatcher = new btCollisionDispatcher(collisionConfiguration);
+    auto overlappingPairCache = new btDbvtBroadphase();
+    auto solver = new btSequentialImpulseConstraintSolver;
+    dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher, overlappingPairCache, solver, collisionConfiguration);
+    dynamicsWorld->setGravity(btVector3(0, -10, 0));
+
+    // Create a ground plane
+    auto groundShape = new btStaticPlaneShape(btVector3(0, 1, 0), 1);
+    auto groundTransform = btTransform();
+    groundTransform.setIdentity();
+    groundTransform.setOrigin(btVector3(0, -1, 0));
+    auto groundMass = 0.f;
+    auto groundLocalInertia = btVector3(0, 0, 0);
+    auto groundMotionState = new btDefaultMotionState(groundTransform);
+    auto groundRigidBodyCI = btRigidBody::btRigidBodyConstructionInfo(groundMass, groundMotionState, groundShape, groundLocalInertia);
+    auto groundRigidBody = new btRigidBody(groundRigidBodyCI);
+    dynamicsWorld->addRigidBody(groundRigidBody);
+
+    // add 5 dynamic boxes
+    auto colShape = new btBoxShape(btVector3(1, 1, 1));
+    auto startTransform = btTransform();
+    startTransform.setIdentity();
+    auto mass = 1.f;
+    auto localInertia = btVector3(0, 0, 0);
+    colShape->calculateLocalInertia(mass, localInertia);
+    for (int i = 0; i < 5; i++) {
+        startTransform.setOrigin(btVector3(2 * i, 10, 0));
+        auto myMotionState = new btDefaultMotionState(startTransform);
+        auto rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
+        auto body = new btRigidBody(rbInfo);
+        dynamicsWorld->addRigidBody(body);
+    }
+
+    // Add debug drawing
+    debugDrawer = new DebugDrawer();
+    dynamicsWorld->setDebugDrawer(debugDrawer);
+
     auto timeStart = std::chrono::high_resolution_clock::now();
     // objects.push_back(std::make_shared<RenderObject>(Mesh::LoadFromObj("resources/lost_empire.obj"), Material{}));
     objects.push_back(std::make_shared<RenderObject>(createCube(glm::vec3{}), Material{}));
@@ -221,6 +307,9 @@ void App::mainLoop() {
         timeStart = now;
 		glfwPollEvents();
         processPressedKeys(delta.count());
+
+        debugDrawer->clearLines();
+        dynamicsWorld->stepSimulation(delta.count() / 1000.f, 10);
 
         if (updateWindowSize) {
             renderer->recreateSwapchain();
@@ -231,6 +320,13 @@ void App::mainLoop() {
             renderer->recreateSwapchain();
         }
 	}
+
+    delete debugDrawer;
+    delete dynamicsWorld;
+    delete solver;
+    delete overlappingPairCache;
+    delete dispatcher;
+    delete collisionConfiguration;
 }
 
 bool App::drawImGuizmo(glm::mat4* matrix) {

src/Path.h

@@ -51,7 +51,7 @@ class Path {
 public:
     Path(bool loop = false);
 
-    const bool loop;
+    bool loop;
 
     void addPoint(Point point);
     Point getPoint(int index);

src/Renderer.cpp

@@ -575,8 +575,8 @@ void Renderer::createWireframePipeline() {
 }
 
 void Renderer::createLinePipeline() {
-    lineVertexBuffer = assetManager.allocatePersistentBuffer<Point>(10000, vk::BufferUsageFlagBits::eVertexBuffer);
-    lineIndexBuffer = assetManager.allocatePersistentBuffer<uint32_t>(10000 * 2, vk::BufferUsageFlagBits::eIndexBuffer);
+    lineVertexBuffer = assetManager.allocatePersistentBuffer<Point>(100000, vk::BufferUsageFlagBits::eVertexBuffer);
+    lineIndexBuffer = assetManager.allocatePersistentBuffer<uint32_t>(100000 * 2, vk::BufferUsageFlagBits::eIndexBuffer);
 
     PipelineConfigurationInfo pipelineConfig{};
     BehPipeline::defaultPipelineConfiguration(pipelineConfig);

third_party/CMakeLists.txt

@@ -18,6 +18,25 @@ add_subdirectory(tinyobjloader)
 # VMA
 add_subdirectory(VulkanMemoryAllocator)
 
+# bullet3
+set(BUILD_BULLET2_DEMOS OFF CACHE BOOL "Bullet Lib only" FORCE)
+set(BUILD_CPU_DEMOS OFF CACHE BOOL "Bullet Lib only" FORCE)
+set(BUILD_ENET OFF CACHE BOOL "Bullet Lib only" FORCE)
+set(BUILD_EXTRAS OFF CACHE BOOL "Bullet Lib only" FORCE)
+set(BUILD_OPENGL3_DEMOS OFF CACHE BOOL "Bullet Lib only" FORCE)
+set(BUILD_SHARED_LIBS  OFF CACHE BOOL "Bullet Lib only" FORCE)
+set(BUILD_UNIT_TESTS OFF CACHE BOOL "Bullet Lib only" FORCE)
+set(USE_MSVC_RUNTIME_LIBRARY_DLL ON CACHE BOOL "Bullet Lib only" FORCE)
+set(USE_MSVC_INCREMENTAL_LINKING ON CACHE BOOL "Bullet Lib only" FORCE)
+
+set(INSTALL_LIBS CACHE BOOL "Bullet Lib only" FORCE)
+set(INSTALL_CMAKE_FILES CACHE BOOL "Bullet Lib only" FORCE)
+
+add_subdirectory(bullet3)
+add_library(bullet3 INTERFACE)  # dummy target to make bullet3 a dependency
+target_link_libraries(bullet3 INTERFACE BulletDynamics BulletCollision LinearMath Bullet3Common)
+target_include_directories(bullet3 INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/bullet3/src)
+
 # Imgui
 include_directories(imgui)