Merge pull request #337 from SHADE-DP/SP3-2-Physics

Unretarded the collision tags

Assets/CollisionTags.SHConfig

@@ -1,16 +1,16 @@
-0 1 3
+0 1 0000000000000000
-1 2 65535
+1 2 0000000000000000
-2 3 65534
+2 3 0000000000000000
-3 4 65534
+3 4 0000000000000000
-4 5 65534
+4 5 0000000000000000
-5 6 65534
+5 6 0000000000000000
-6 7 65534
+6 7 0000000000000000
-7 8 65534
+7 8 0000000000000000
-8 9 65534
+8 9 0000000000000000
-9 10 65534
+9 10 0000000000000000
-10 11 65534
+10 11 0000000000000000
-11 12 65534
+11 12 0000000000000000
-12 13 65534
+12 13 0000000000000000
-13 14 65534
+13 14 0000000000000000
-14 15 65534
+14 15 0000000000000000
-15 16 65534
+15 16 0000000000000000

Assets/Editor/Layouts/UserLayout.ini

@@ -132,23 +132,23 @@ Size=165,120
 Collapsed=0
 
 [Table][0x9D40AE32,17]
-Column 0  Weight=0.9945
+Column 0  Weight=1.0696
-Column 1  Weight=0.9945
+Column 1  Weight=0.9194
 Column 2  Weight=0.9945
-Column 3  Weight=0.9945
+Column 3  Weight=1.0320
-Column 4  Weight=0.9945
+Column 4  Weight=0.9570
 Column 5  Weight=0.9945
 Column 6  Weight=0.9945
 Column 7  Weight=0.9945
 Column 8  Weight=0.9945
-Column 9  Weight=0.9945
+Column 9  Weight=1.0320
-Column 10 Weight=0.9945
+Column 10 Weight=0.9570
-Column 11 Weight=0.9945
+Column 11 Weight=1.0133
-Column 12 Weight=1.0132
+Column 12 Weight=0.9945
 Column 13 Weight=0.8444
 Column 14 Weight=0.9945
-Column 15 Weight=1.2009
+Column 15 Weight=0.8632
-Column 16 Weight=1.0132
+Column 16 Weight=1.3510
 
 [Docking][Data]
 DockSpace           ID=0xC5C9B8AB Window=0xBE4044E9 Pos=0,71 Size=1920,941 Split=X
@@ -159,7 +159,7 @@ DockSpace           ID=0xC5C9B8AB Window=0xBE4044E9 Pos=0,71 Size=1920,941 Split
     DockNode        ID=0x00000002 Parent=0x00000005 SizeRef=1130,1036 Split=Y Selected=0xB41284E7
       DockNode      ID=0x00000007 Parent=0x00000002 SizeRef=1501,672 Split=Y Selected=0xB41284E7
         DockNode    ID=0x00000009 Parent=0x00000007 SizeRef=1501,700 Split=Y Selected=0xB41284E7
-          DockNode  ID=0x0000000B Parent=0x00000009 SizeRef=1501,705 CentralNode=1 Selected=0xB41284E7
+          DockNode  ID=0x0000000B Parent=0x00000009 SizeRef=1501,705 CentralNode=1 Selected=0x69428B24
           DockNode  ID=0x0000000C Parent=0x00000009 SizeRef=1501,234 Selected=0xB128252A
         DockNode    ID=0x0000000A Parent=0x00000007 SizeRef=1501,310 Selected=0xD446F7B6
       DockNode      ID=0x00000008 Parent=0x00000002 SizeRef=1501,338 Selected=0xD9F31532

Assets/Scenes/PhysicsTest.shade

@@ -13,7 +13,7 @@
       Drag: 0.00999999978
       Angular Drag: 0.100000001
       Use Gravity: false
-      Interpolate: true
+      Interpolate: false
       Sleeping Enabled: true
       Freeze Position X: false
       Freeze Position Y: false
@@ -25,7 +25,7 @@
     Collider Component:
       Colliders:
         - Is Trigger: false
-          Collision Tag: 1
+          Collision Tag: 2
           Type: Box
           Half Extents: {x: 1, y: 1, z: 1}
           Friction: 0.400000006
@@ -52,7 +52,7 @@
     Collider Component:
       Colliders:
         - Is Trigger: false
-          Collision Tag: 1
+          Collision Tag: 5
           Type: Box
           Half Extents: {x: 1, y: 1, z: 1}
           Friction: 0.400000006
@@ -161,7 +161,7 @@
     Collider Component:
       Colliders:
         - Is Trigger: false
-          Collision Tag: 1
+          Collision Tag: 7
           Type: Box
           Half Extents: {x: 1, y: 1, z: 1}
           Friction: 0.400000006

Assets/Scripts/Tests/PhysicsTestObj.cs

@@ -82,7 +82,7 @@ public class PhysicsTestObj : Script
     {
         Ray colliderRay = new Ray();
         colliderRay.Direction = Vector3.Right;
-        Physics.ColliderRaycast(collider.Owner, colliderRay, false, 8);
+        Physics.ColliderRaycast(collider.Owner, colliderRay, false, (ushort)64);
 
         for (int i = 0; i < 6; ++i)
         {

SHADE_Engine/src/Editor/EditorWindow/ColliderTagPanel/SHColliderTagPanel.cpp

@@ -16,48 +16,52 @@ namespace SHADE
       ImGui::TableNextRow();
       ImGui::PushID("CollisionTagNames");
 
-      for (int i = SHCollisionTag::NUM_LAYERS; i >= 1; --i)
+      // Draw Layers
+      // We have 16 layers for each tag
+      ImGui::TableNextColumn();
+
+      for (int i = 1; i <= SHCollisionTag::NUM_LAYERS; ++i)
       {
         ImGui::TableNextColumn();
-        if(i == SHCollisionTag::NUM_LAYERS) continue;
+
         std::string const& tagName = SHCollisionTagMatrix::GetTagName(i);
         auto tag = SHCollisionTagMatrix::GetTag(i);
         if (!tag)
           continue;
-        //ImGui::Text(tagName.data());
+
-        ImGui::PushID(i);
+        // Show the layer number
-        SHEditorWidgets::InputText("##", [i]{return SHCollisionTagMatrix::GetTagName(i);}, [i](std::string const& value){SHCollisionTagMatrix::GetTag(i)->SetName(value);}, tagName.data(), ImGuiInputTextFlags_EnterReturnsTrue);
+        ImGui::Text(std::to_string(i).c_str());
-        ImGui::PopID();
+
       }
       ImGui::PopID();
+
+      // Draw the table
+      // Convenient how we have 16 layers & 16 tags huh?
+
       for (int i = 0; i < SHCollisionTag::NUM_LAYERS - 1; ++i)
       {
         std::string tagName = SHCollisionTagMatrix::GetTagName(i);
         auto tag = SHCollisionTagMatrix::GetTag(i);
+
         if(!tag)
           continue;
+
         ImGui::TableNextRow();
         ImGui::TableNextColumn();
-        ImGui::Text(tagName.data());
+
-        for (int j = (SHCollisionTag::NUM_LAYERS) - 1; j >= i; --j)
+        ImGui::PushID(i);
+        SHEditorWidgets::InputText("##", [i]{return SHCollisionTagMatrix::GetTagName(i);}, [i](std::string const& value){SHCollisionTagMatrix::GetTag(i)->SetName(value);}, tagName.data(), ImGuiInputTextFlags_EnterReturnsTrue);
+        ImGui::PopID();
+
+        // The checkboxes are just to set the layers of each tag
+        // Nothing else should be altered.
+
+        for (int j = 0; j < SHCollisionTag::NUM_LAYERS; ++j)
         {
-          int idx = j;
-          std::string tagName2 = SHCollisionTagMatrix::GetTagName(idx);
-          auto tag2 = SHCollisionTagMatrix::GetTag(idx);
-
-          if(!tag2)
-            continue;
-          
-          if(tagName.empty())
-            tagName = std::to_string(i);
-          if(tagName2.empty())
-            tagName2 = std::to_string(idx);
-
           ImGui::TableNextColumn();
-          if(i == idx)
+
-            continue;
+          std::string label = std::format("##{}, Layer {}", tagName, j);
-          std::string label = std::format("##{} vs {}", tagName, tagName2);
+          if (SHEditorWidgets::CheckBox(label, [tag, &j] {return tag->GetLayerState(j); }, [tag, j](bool const& value) {tag->SetLayerState(j, value); }, label.substr(2)))
-          if (SHEditorWidgets::CheckBox(label, [tag, &idx] {return tag->GetLayerState(idx); }, [tag, i, idx](bool const& value) {tag->SetLayerState(idx, value); SHCollisionTagMatrix::GetTag(idx)->SetLayerState(i, value); }, label.substr(2)))
           {
             isDirty = true;
           }
@@ -77,7 +81,7 @@ namespace SHADE
       {
         std::filesystem::path defaultCollisionTagNameFilePath{ ASSET_ROOT };
         defaultCollisionTagNameFilePath.append("CollisionTags.SHConfig");
-        SHCollisionTagMatrix::Exit(defaultCollisionTagNameFilePath);
+        SHCollisionTagMatrix::SaveToFile(defaultCollisionTagNameFilePath);
         isDirty = false;
       }
       ImGui::EndDisabled();

SHADE_Engine/src/Physics/Collision/CollisionTags/SHCollisionTagMatrix.cpp

@@ -166,7 +166,7 @@ namespace SHADE
   /* Public Function Member Definitions                                                */
   /*-----------------------------------------------------------------------------------*/
 
-  void SHCollisionTagMatrix::Init(const std::filesystem::path& tagNameFilePath) noexcept
+  void SHCollisionTagMatrix::LoadFromFile(const std::filesystem::path& tagNameFilePath) noexcept
   {
     /**
       * I HATE FILE IO
@@ -240,21 +240,26 @@ namespace SHADE
         , linesRead + 1
         , tagIndex
         )
+
+        collisionTags[tagIndex].SetMask(mask);
       }
       else
       {
         mask = static_cast<uint16_t>(std::stoi(maskString));
+        for (int i = 0; i < SHCollisionTag::NUM_LAYERS; ++i)
+        {
+          const bool LAYER_STATE = mask & 1U << i;
+          collisionTags[tagIndex].SetLayerState(i, LAYER_STATE);
+        }
       }
 
-      collisionTags[tagIndex].SetMask(mask);
-
       ss.clear();
     }
 
     collisionTagNamesFile.close();
   }
 
-  void SHCollisionTagMatrix::Exit(const std::filesystem::path& tagNameFilePath) noexcept
+  void SHCollisionTagMatrix::SaveToFile(const std::filesystem::path& tagNameFilePath) noexcept
   {
     std::ofstream collisionTagNamesFile { tagNameFilePath };
 
@@ -266,7 +271,15 @@ namespace SHADE
 
     // Index Name Mask
     for (int i = 0; i < SHCollisionTag::NUM_LAYERS; ++i)
-      collisionTagNamesFile << i << " " << collisionTags[i].GetName() << " " << collisionTags[i].GetMask() << std::endl;
+    {
+      collisionTagNamesFile << i << " " << collisionTags[i].GetName() << " ";
+
+      // Write 1 or 0 for each layer for improved clarity
+      for (int j = 0; j < SHCollisionTag::NUM_LAYERS; ++j)
+        collisionTagNamesFile << (collisionTags[i].GetMask() & 1U << j ? 1 : 0);
+
+      collisionTagNamesFile << std::endl;
+    }
 
     collisionTagNamesFile.close();
   }

SHADE_Engine/src/Physics/Collision/CollisionTags/SHCollisionTagMatrix.h

@@ -55,8 +55,8 @@ namespace SHADE
     /* Function Members                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    static void Init  (const std::filesystem::path& tagNameFilePath) noexcept;
+    static void LoadFromFile  (const std::filesystem::path& tagNameFilePath) noexcept;
-    static void Exit  (const std::filesystem::path& tagNameFilePath) noexcept;
+    static void SaveToFile    (const std::filesystem::path& tagNameFilePath) noexcept;
 
     /**
      * @brief 

SHADE_Engine/src/Physics/Collision/Shapes/SHCollisionShape.cpp

@@ -120,7 +120,10 @@ namespace SHADE
     collisionTag = newCollisionTag;
 
     if (rp3dCollider)
+    {
+      rp3dCollider->setCollisionCategoryBits(collisionTag->GetMask());
       rp3dCollider->setCollideWithMaskBits(collisionTag->GetMask());
+    }
   }
 
   void SHCollisionShape::SetFriction(float friction) noexcept
@@ -144,7 +147,12 @@ namespace SHADE
     material.SetDensity(density);
 
     if (rp3dCollider)
+    {
       rp3dCollider->getMaterial().setMassDensity(material.GetDensity());
+
+      // Recompute the bodies' mass
+      dynamic_cast<rp3d::RigidBody*>(collider->collisionBody)->updateMassPropertiesFromColliders();
+    }
   }
 
   void SHCollisionShape::SetMaterial(const SHPhysicsMaterial& newMaterial) noexcept
@@ -157,6 +165,9 @@ namespace SHADE
       rp3dMaterial.setFrictionCoefficient(material.GetFriction());
       rp3dMaterial.setBounciness(material.GetBounciness());
       rp3dMaterial.setMassDensity(material.GetDensity());
+
+      // Recompute the bodies' mass
+      dynamic_cast<rp3d::RigidBody*>(collider->collisionBody)->updateMassPropertiesFromColliders();
     }
   }
 
@@ -180,7 +191,13 @@ namespace SHADE
     isTrigger ? flags |= FLAG_VALUE : flags &= ~FLAG_VALUE;
 
     if (rp3dCollider)
+    {
       rp3dCollider->setIsTrigger(isTrigger);
+
+      // Recompute the bodies' mass
+      dynamic_cast<rp3d::RigidBody*>(collider->collisionBody)->updateMassPropertiesFromColliders();
+    }
+      
   }
 
   /*-----------------------------------------------------------------------------------*/
@@ -189,8 +206,11 @@ namespace SHADE
 
   void SHCollisionShape::UpdateCollisionTags() noexcept
   {
-    if (collisionTag->IsDirty())
+    if (rp3dCollider && collisionTag->IsDirty())
+    {
+      rp3dCollider->setCollisionCategoryBits(collisionTag->GetMask());
       rp3dCollider->setCollideWithMaskBits(collisionTag->GetMask());
+    }
   }
 
 

SHADE_Engine/src/Physics/Interface/PhysicsObject/SHPhysicsObjectManager.cpp

@@ -210,9 +210,6 @@ namespace SHADE
     {
       .entityID     = rigidBody->GetEID()
     , .bodyType     = rigidBody->type
-    , .interpolate  = rigidBody->interpolate
-    , .drag         = rigidBody->drag
-    , .angularDrag  = rigidBody->angularDrag
     };
 
     rigidBodyQueue.push(RIGID_BODY_DEF);
@@ -232,22 +229,8 @@ namespace SHADE
       SHColliderDef::ShapeDef shapeDef
       {
         .type       = shape->GetType()
-      , .posOffset  = shape->GetPositionOffset()
-      , .rotOffset  = shape->GetRotationOffset()
       };
 
-      switch (shape->GetType())
-      {
-        case SHCollisionShape::Type::SPHERE:
-          shapeDef.size.x = dynamic_cast<const SHSphere*>(shape)->GetWorldRadius();
-          break;
-        case SHCollisionShape::Type::BOX:
-          shapeDef.size = dynamic_cast<const SHBox*>(shape)->GetWorldExtents();
-          break;
-        default:
-          break;
-      }
-
       colliderDef.shapes.emplace_back(shapeDef);
     }
 
@@ -311,9 +294,9 @@ namespace SHADE
       rigidBodyComponent->SetFreezeRotationY  (rigidBodyComponent->GetFreezeRotationY());
       rigidBodyComponent->SetFreezeRotationZ  (rigidBodyComponent->GetFreezeRotationZ());
 
-      rigidBodyComponent->SetInterpolate      (DEF.interpolate);
+      rigidBodyComponent->SetInterpolate      (rigidBodyComponent->IsInterpolating());
-      rigidBodyComponent->SetDrag             (DEF.drag);
+      rigidBodyComponent->SetDrag             (rigidBodyComponent->GetDrag());
-      rigidBodyComponent->SetAngularDrag      (DEF.angularDrag);
+      rigidBodyComponent->SetAngularDrag      (rigidBodyComponent->GetAngularDrag());
 
       rigidBodyQueue.pop();
     }

SHADE_Engine/src/Physics/Interface/PhysicsObject/SHPhysicsObjectManager.h

@@ -47,9 +47,6 @@ namespace SHADE
     {
       EntityID                    entityID    = MAX_EID;
       SHRigidBodyComponent::Type  bodyType    = SHRigidBodyComponent::Type::STATIC;
-      bool                        interpolate = true;
-      float                       drag        = 0.0f;
-      float                       angularDrag = 0.0f;
     };
 
     struct SHColliderDef
@@ -57,9 +54,6 @@ namespace SHADE
       struct ShapeDef
       {
         SHCollisionShape::Type  type        = SHCollisionShape::Type::SPHERE;
-        SHVec3                  posOffset   = SHVec3::Zero;
-        SHVec3                  rotOffset   = SHVec3::Zero;
-        SHVec3                  size        = SHVec3::Zero; // x for sphere radius, all 3 for box extents
       };
 
       EntityID                  entityID    = MAX_EID;

SHADE_Engine/src/Physics/Interface/SHColliderComponent.h

@@ -42,6 +42,7 @@ namespace SHADE
     /* Friends                                                                         */
     /*---------------------------------------------------------------------------------*/
 
+    friend class SHCollisionShape;
     friend class SHPhysicsSystem;
     friend class SHPhysicsObjectManager;
 

SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp

@@ -122,7 +122,7 @@ namespace SHADE
     // Initialise collision tags
     std::filesystem::path defaultCollisionTagNameFilePath { ASSET_ROOT };
     defaultCollisionTagNameFilePath.append("CollisionTags.SHConfig");
-    SHCollisionTagMatrix::Init(defaultCollisionTagNameFilePath);
+    SHCollisionTagMatrix::LoadFromFile(defaultCollisionTagNameFilePath);
 
     // Register Events
     for (int i = 0; i < NUM_EVENT_FUNCTIONS; ++i)
@@ -145,7 +145,7 @@ namespace SHADE
     // Write collision tag names to file
     std::filesystem::path defaultCollisionTagNameFilePath { ASSET_ROOT };
     defaultCollisionTagNameFilePath.append("CollisionTags.SHConfig");
-    SHCollisionTagMatrix::Exit(defaultCollisionTagNameFilePath);
+    SHCollisionTagMatrix::SaveToFile(defaultCollisionTagNameFilePath);
   }
 
   const std::vector<SHPhysicsRaycastResult>& SHPhysicsSystem::Raycast(const SHRaycaster::RaycastInfo& info) noexcept
@@ -155,7 +155,7 @@ namespace SHADE
     // Load start and end points into the container for debug drawing
     #ifdef SHEDITOR
 
-      SHVec3 endPos = info.ray.position + info.ray.direction * std::clamp(info.distance,0.0f, SHRay::MAX_RAYCAST_DIST);
+      SHVec3 endPos = info.ray.position + info.ray.direction * std::clamp(info.distance, 0.0f, SHRay::MAX_RAYCAST_DIST);
 
       if (!results.empty())
         endPos = results.back().position;