v0.12: デスクトップ・VR オブジェクト掴みインタラクション

docs/roadmap.md

@@ -178,13 +178,13 @@
 
 ゴール: 両プラットフォームで物理インタラクションが動く
 
-- [ ] デスクトップ: マウスレイキャストでオブジェクト選択
-- [ ] デスクトップ: クリック長押し → ドラッグ → リリースで掴む・投げる
-- [ ] VR: ハンドグラブ (手の形状に基づく掴みポーズ)
-- [ ] VR: 距離グラブ (ポイントして引き寄せ)
-- [ ] VR: 手の速度をオブジェクトに伝達して投げる
-- [ ] VR: スプリングジョイント接続
-- [ ] VR: ハプティクスフィードバック
+- [x] デスクトップ: マウスレイキャストでオブジェクト選択
+- [x] デスクトップ: クリック長押し → ドラッグ → リリースで掴む・投げる
+- [x] VR: ハンドグラブ (手の形状に基づく掴みポーズ)
+- [x] VR: 距離グラブ (ポイントして引き寄せ)
+- [x] VR: 手の速度をオブジェクトに伝達して投げる
+- [x] VR: スプリングジョイント接続
+- [x] VR: ハプティクスフィードバック
 
 完動品としての価値: デスクトップでもVRでもオブジェクトを掴んで投げられる。VRでは手の動きが自然に反映される。
 

src/Seed.Engine.App/Program.cs

@@ -554,12 +554,29 @@ private static void Main()
 
         scheduler.AddSystem(new MovementSystem());
         scheduler.AddSystem(new CharacterPhysicsSystem());
+
+        if (renderMode == RenderMode.Stereo && xrSessionForInit != null)
+        {
+            scheduler.AddSystem(new VrGrabSystem());
+            scheduler.AddSystem(new VrDistanceGrabSystem());
+            scheduler.AddSystem(new HapticFeedbackSystem(xrSessionForInit));
+        }
+        else
+        {
+            scheduler.AddSystem(new DesktopGrabSystem());
+        }
+
+        scheduler.AddSystem(new DesktopGrabPhysicsSystem());
+        scheduler.AddSystem(new SpringJointSystem());
         scheduler.AddSystem(new ForceIntegrationSystem(1f / 60f));
         scheduler.AddSystem(new BroadPhaseSystem());
         scheduler.AddSystem(new NarrowPhaseSystem());
         scheduler.AddSystem(new ConstraintSolverSystem(1f / 60f));
         scheduler.AddSystem(new IntegrationSystem(1f / 60f));
+        scheduler.AddSystem(new RotationSettlingSystem(1f / 60f));
         scheduler.AddSystem(new TransformSystem());
+        scheduler.AddSystem(new WorldBoundsUpdateSystem());
+        scheduler.AddSystem(new DebugCrosshairSystem());
         scheduler.AddSystem(new CameraViewSystem(
             (float)window.Width / window.Height));
 
@@ -1272,17 +1289,66 @@ private static void CreateDynamicCubeEntity(
         {
             Value = Collider.CreateBox(new Vector3(0.5f, 0.5f, 0.5f)),
         };
-        world.GetComponent<RigidBody>(entity) = new RigidBody
+        // Volume = 1.0^3 = 1.0, density = 8.0 → mass = 8.0
+        const float dynamicCubeMass = 8.0f;
+        world.GetComponent<RigidBody>(entity) = RigidBody.CreateDynamic(dynamicCubeMass);
+        world.GetComponent<Velocity>(entity) = new Velocity();
+    }
+
+    private static void CreateGrabbableCubeEntity(
+        World world, int meshId, int materialId, Vector3 position)
+    {
+        var ltType = ComponentRegistry.Get<LocalTransform>();
+        var ltwType = ComponentRegistry.Get<LocalToWorld>();
+        var meshType = ComponentRegistry.Get<MeshReference>();
+        var matType = ComponentRegistry.Get<MaterialReference>();
+        var boundsType = ComponentRegistry.Get<WorldBounds>();
+        var ccType = ComponentRegistry.Get<ColliderComponent>();
+        var rbType = ComponentRegistry.Get<RigidBody>();
+        var velType = ComponentRegistry.Get<Velocity>();
+        var grabbType = ComponentRegistry.Get<Grabbable>();
+        var gsType = ComponentRegistry.Get<GrabState>();
+        var sjType = ComponentRegistry.Get<SpringJoint>();
+        ReadOnlySpan<ComponentType> types =
+            [ltType, ltwType, meshType, matType, boundsType,
+             ccType, rbType, velType, grabbType, gsType, sjType];
+
+        Vector3 he = new Vector3(0.3f, 0.3f, 0.3f);
+        Entity entity = world.CreateEntity(types);
+        world.GetComponent<LocalTransform>(entity) =
+            LocalTransform.FromPositionRotationScale(
+                position, Quaternion.Identity, he * 2f);
+        world.GetComponent<LocalToWorld>(entity) = new LocalToWorld
+        {
+            Value = Matrix4x4.Identity,
+        };
+        world.GetComponent<MeshReference>(entity) = new MeshReference
+        {
+            MeshId = meshId,
+        };
+        world.GetComponent<MaterialReference>(entity) = new MaterialReference
+        {
+            MaterialId = materialId,
+        };
+        world.GetComponent<WorldBounds>(entity) = new WorldBounds
         {
-            Mass = 1.0f,
-            InverseMass = 1.0f,
-            LinearDamping = 0.01f,
-            AngularDamping = 0.05f,
-            GravityScale = 1.0f,
-            IsKinematic = false,
-            FreezeRotation = new Vector3(0f, 0f, 0f),
+            Value = new AABB(position - he, position + he),
+        };
+        world.GetComponent<ColliderComponent>(entity) = new ColliderComponent
+        {
+            Value = Collider.CreateBox(he),
         };
+        // Volume = 0.6^3 = 0.216, density = 8.0 → mass ≈ 1.73
+        float grabbableCubeMass = 0.6f * 0.6f * 0.6f * 8.0f;
+        world.GetComponent<RigidBody>(entity) = RigidBody.CreateDynamic(grabbableCubeMass);
         world.GetComponent<Velocity>(entity) = new Velocity();
+        world.GetComponent<Grabbable>(entity) = new Grabbable
+        {
+            GrabRadius = 1.0f,
+            MaxGrabDistance = 10.0f,
+        };
+        world.GetComponent<GrabState>(entity) = new GrabState();
+        world.GetComponent<SpringJoint>(entity) = new SpringJoint();
     }
 
     private static void RunMainLoop(
@@ -1309,7 +1375,13 @@ private static void RunMainLoop(
         CreateDynamicCubeEntity(world, cubeMeshId, materialId,
             new Vector3(-2f, 1f, -5f));
 
+        CreateGrabbableCubeEntity(world, cubeMeshId, materialId,
+            new Vector3(0f, 0.5f, -3f));
+        CreateGrabbableCubeEntity(world, cubeMeshId, materialId,
+            new Vector3(1.5f, 0.5f, -4f));
+
         CreatePlayerEntity(world);
+        CreateDebugCrosshairEntity(world, cubeMeshId, materialId);
         CreateDirectionalLightEntity(world, lightData);
 
         CreatePointLightEntity(world,
@@ -1343,7 +1415,10 @@ private static void CreateSingletonEntity(
         if (renderMode == RenderMode.Stereo)
         {
             var vrType = ComponentRegistry.Get<VrControllerState>();
-            ReadOnlySpan<ComponentType> types = [ftType, isType, vrType];
+            var hsType = ComponentRegistry.Get<VrHandState>();
+            var hrType = ComponentRegistry.Get<HapticRequest>();
+            ReadOnlySpan<ComponentType> types =
+                [ftType, isType, vrType, hsType, hrType];
             world.CreateEntity(types);
         }
         else
@@ -1379,6 +1454,36 @@ private static void CreatePlatformTagEntity(
         }
     }
 
+    private static void CreateDebugCrosshairEntity(
+        World world, int meshId, int materialId)
+    {
+        var ltType = ComponentRegistry.Get<LocalTransform>();
+        var ltwType = ComponentRegistry.Get<LocalToWorld>();
+        var meshType = ComponentRegistry.Get<MeshReference>();
+        var matType = ComponentRegistry.Get<MaterialReference>();
+        var tagType = ComponentRegistry.Get<DebugCrosshair>();
+        ReadOnlySpan<ComponentType> types =
+            [ltType, ltwType, meshType, matType, tagType];
+
+        Entity entity = world.CreateEntity(types);
+        world.GetComponent<LocalTransform>(entity) =
+            LocalTransform.FromPositionRotationScale(
+                Vector3.Zero, Quaternion.Identity,
+                new Vector3(0.03f, 0.03f, 0.03f));
+        world.GetComponent<LocalToWorld>(entity) = new LocalToWorld
+        {
+            Value = Matrix4x4.Identity,
+        };
+        world.GetComponent<MeshReference>(entity) = new MeshReference
+        {
+            MeshId = meshId,
+        };
+        world.GetComponent<MaterialReference>(entity) = new MaterialReference
+        {
+            MaterialId = materialId,
+        };
+    }
+
     private static void CreatePlayerEntity(World world)
     {
         var ltType = ComponentRegistry.Get<LocalTransform>();

src/Seed.Engine.Tests/GameLogic/DesktopGrabPhysicsSystemTests.cs

@@ -0,0 +1,148 @@
+using System;
+using Xunit;
+
+using Seed.Engine.Ecs;
+using Seed.Engine.Ecs.Components;
+using Seed.Engine.Foundation.Mathematics;
+using Seed.Engine.GameLogic;
+using Seed.Engine.Tests.Foundation.Mathematics;
+
+namespace Seed.Engine.Tests.GameLogic;
+
+public class DesktopGrabPhysicsSystemTests
+{
+    private static (World world, Entity camera, Entity grabbable) SetupWorld()
+    {
+        var world = new World();
+
+        // Camera entity
+        var camType = ComponentRegistry.Get<Camera>();
+        var ltType = ComponentRegistry.Get<LocalTransform>();
+        var csType = ComponentRegistry.Get<CharacterState>();
+        var cmType = ComponentRegistry.Get<CameraMode>();
+        ReadOnlySpan<ComponentType> cameraTypes = [camType, ltType, csType, cmType];
+        Entity camera = world.CreateEntity(cameraTypes);
+        world.GetComponent<LocalTransform>(camera) =
+            LocalTransform.FromPosition(Vector3.Zero);
+        world.GetComponent<CharacterState>(camera) = new CharacterState();
+        world.GetComponent<CameraMode>(camera) = new CameraMode();
+
+        // Grabbable entity
+        var grabbType = ComponentRegistry.Get<Grabbable>();
+        var gsType = ComponentRegistry.Get<GrabState>();
+        var velType = ComponentRegistry.Get<Velocity>();
+        ReadOnlySpan<ComponentType> grabbableTypes = [grabbType, gsType, ltType, velType];
+        Entity grabbable = world.CreateEntity(grabbableTypes);
+        world.GetComponent<Velocity>(grabbable) = new Velocity();
+        world.GetComponent<Grabbable>(grabbable) = new Grabbable
+        {
+            GrabRadius = 1.0f,
+            MaxGrabDistance = 10.0f,
+        };
+        world.GetComponent<LocalTransform>(grabbable) =
+            LocalTransform.FromPosition(new Vector3(0f, 0f, -3f));
+
+        return (world, camera, grabbable);
+    }
+
+    [Fact]
+    public void Phase_IsPhysics()
+    {
+        var system = new DesktopGrabPhysicsSystem();
+        Assert.Equal(FramePhase.Physics, system.Phase);
+    }
+
+    [Fact]
+    public void Execute_GrabbedObject_FollowsCameraPosition()
+    {
+        // Given
+        var (world, camera, grabbable) = SetupWorld();
+        using var _ = world;
+
+        Vector3 grabOffset = new Vector3(0f, 0f, -3f);
+        world.GetComponent<GrabState>(grabbable) = new GrabState
+        {
+            IsGrabbed = 1,
+            GrabberEntity = camera,
+            GrabOffset = grabOffset,
+        };
+
+        // Move camera to new position
+        world.GetComponent<LocalTransform>(camera) =
+            LocalTransform.FromPosition(new Vector3(5f, 0f, 0f));
+
+        var system = new DesktopGrabPhysicsSystem();
+
+        // When
+        system.Execute(world);
+
+        // Then: object should follow camera to new position + offset
+        ref LocalTransform lt = ref world.GetComponent<LocalTransform>(grabbable);
+        AssertHelper.ApproximatelyEqual(5f, lt.Position.X, 0.01f);
+        AssertHelper.ApproximatelyEqual(0f, lt.Position.Y, 0.01f);
+        AssertHelper.ApproximatelyEqual(-3f, lt.Position.Z, 0.01f);
+    }
+
+    [Fact]
+    public void Execute_NotGrabbed_DoesNotMoveObject()
+    {
+        // Given
+        var (world, camera, grabbable) = SetupWorld();
+        using var _ = world;
+
+        world.GetComponent<GrabState>(grabbable) = new GrabState
+        {
+            IsGrabbed = 0,
+        };
+
+        Vector3 originalPos = new Vector3(0f, 0f, -3f);
+        world.GetComponent<LocalTransform>(grabbable) =
+            LocalTransform.FromPosition(originalPos);
+
+        // Move camera
+        world.GetComponent<LocalTransform>(camera) =
+            LocalTransform.FromPosition(new Vector3(10f, 0f, 0f));
+
+        var system = new DesktopGrabPhysicsSystem();
+
+        // When
+        system.Execute(world);
+
+        // Then: object should stay at original position
+        ref LocalTransform lt = ref world.GetComponent<LocalTransform>(grabbable);
+        AssertHelper.ApproximatelyEqual(originalPos, lt.Position, 0.01f);
+    }
+
+    [Fact]
+    public void Execute_GrabbedWithRotation_OffsetRotatesWithCamera()
+    {
+        // Given
+        var (world, camera, grabbable) = SetupWorld();
+        using var _ = world;
+
+        Vector3 grabOffset = new Vector3(0f, 0f, -3f);
+        world.GetComponent<GrabState>(grabbable) = new GrabState
+        {
+            IsGrabbed = 1,
+            GrabberEntity = camera,
+            GrabOffset = grabOffset,
+        };
+
+        // Rotate camera 90 degrees around Y axis (yaw = pi/2)
+        world.GetComponent<CharacterState>(camera) = new CharacterState
+        {
+            Yaw = MathHelper.Pi / 2f,
+        };
+
+        var system = new DesktopGrabPhysicsSystem();
+
+        // When
+        system.Execute(world);
+
+        // Then: offset (0,0,-3) rotated by yaw=-pi/2 around Y should yield (3,0,0)
+        ref LocalTransform lt = ref world.GetComponent<LocalTransform>(grabbable);
+        AssertHelper.ApproximatelyEqual(3f, lt.Position.X, 0.1f);
+        AssertHelper.ApproximatelyEqual(0f, lt.Position.Y, 0.1f);
+        AssertHelper.ApproximatelyEqual(0f, lt.Position.Z, 0.1f);
+    }
+}