diff --git a/Assets/Scenes/Level3.shade b/Assets/Scenes/Level3.shade
index e7ece081..19224e22 100644
--- a/Assets/Scenes/Level3.shade
+++ b/Assets/Scenes/Level3.shade
@@ -6017,6 +6017,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -6347,6 +6348,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: true
Sleeping Enabled: true
@@ -6409,6 +6411,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: true
Sleeping Enabled: true
@@ -6471,6 +6474,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: true
Sleeping Enabled: true
@@ -6623,6 +6627,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -6674,6 +6679,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -6725,6 +6731,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -6776,6 +6783,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -6827,6 +6835,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -6878,6 +6887,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -6929,6 +6939,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -6980,6 +6991,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -7031,6 +7043,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -7082,6 +7095,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -7133,6 +7147,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -7184,6 +7199,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -7235,6 +7251,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -7286,6 +7303,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -7337,6 +7355,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -7388,6 +7407,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -7439,6 +7459,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -7490,6 +7511,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -7541,6 +7563,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -7592,6 +7615,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -7643,6 +7667,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -7700,6 +7725,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -7741,6 +7767,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -7782,6 +7809,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -7823,6 +7851,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -7864,6 +7893,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -7921,6 +7951,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -7962,6 +7993,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -8003,6 +8035,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -8044,6 +8077,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -8085,6 +8119,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -8142,6 +8177,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -8193,6 +8229,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -8244,6 +8281,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -8295,6 +8333,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -8346,6 +8385,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -8397,6 +8437,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -8454,6 +8495,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -8505,6 +8547,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -8556,6 +8599,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -8607,6 +8651,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -8658,6 +8703,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -8709,6 +8755,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -8766,6 +8813,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -8817,6 +8865,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -8868,6 +8917,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -8919,6 +8969,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -8970,6 +9021,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: true
Interpolate: false
Sleeping Enabled: true
@@ -9027,6 +9079,7 @@
Type: Dynamic
Drag: 0.00999999978
Angular Drag: 0.100000001
+ Gravity Scale: 1
Use Gravity: false
Interpolate: false
Sleeping Enabled: true
diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp
index 787a9f78..2e5f5c2c 100644
--- a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp
+++ b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp
@@ -274,6 +274,7 @@ namespace SHADE
// Invert the inertia
for (size_t i = 0; i < SHVec3::SIZE; ++i)
localInvInertia[i] = 1.0f / localInvInertia[i];
+
// Build raycast layer from colliders. If none exist....then this never stops simulating technically.
@@ -297,16 +298,17 @@ namespace SHADE
raycastInfo.continuous = false;
raycastInfo.layers = raycastLayers;
- bool terminate = true;
+ bool terminate = true;
+ int iterationCounter = simInfo.maxSteps;
do
{
raycastInfo.distance = linearVelocity.Length();
raycastInfo.ray.position = bodyPosition;
raycastInfo.ray.direction = SHVec3::Normalise(linearVelocity);
- terminate = !Raycast(raycastInfo).empty();
+ terminate = !Raycast(raycastInfo).empty() || iterationCounter == 0;
if (terminate)
- break;
+ return;
// Compute world space data
const SHMatrix R = SHMatrix::Rotate(bodyOrientation);
@@ -348,7 +350,7 @@ namespace SHADE
const SHQuaternion QV = SHQuaternion{ angularVelocity.x * simInfo.timeStep, angularVelocity.y * simInfo.timeStep, angularVelocity.z * simInfo.timeStep, 0.0f } * 0.5f;
bodyPosition += linearVelocity * simInfo.timeStep;
- bodyOrientation += bodyOrientation * QV;
+ bodyOrientation += bodyOrientation * QV * SHQuaternion::FromEuler(ANGULAR_LOCK);
bodyOrientation = SHQuaternion::Normalise(bodyOrientation);
// Clear forces after the first frame
@@ -362,6 +364,8 @@ namespace SHADE
positions.emplace_back(bodyPosition);
+ --iterationCounter;
+
} while (true);
}
diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h
index d95203b9..f466481d 100644
--- a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h
+++ b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h
@@ -50,19 +50,39 @@ namespace SHADE
/**
* @brief
- * Used to simulate the motion of a rigid body until it hits something.
+ * Used to simulate the motion of a rigid body, ignoring collision detection and response.
+ * @param bodyEID
+ * The EntityID of the Rigid Body to simulate.
+ * @param force
+ * The force applied onto the Rigid Body.
+ * @param forceOffset
+ * The position to apply the force onto the body relative to it's local Center of Mass.
+ * @param torque
+ * The torque to apply onto the Rigid Body.
+ * @param continuousForce
+ * If the force should be applied every step throughout the simulation. Defaults to false.
+ * True : The force indicated is added to the body every step, therefore it has constant acceleration.
+ * False: The force is applied only in the first step, therefore it has constant speed.
+ * @param timeStep
+ * The timestep for each step of the simulation. Defaults to 0.016s (The default Fixed DT)
+ * @param maxSteps
+ * The number of steps to run the simulation for. Defaults to -1.
+ * < 0 : Runs until the object may hit something. Hit detection is done through raycasting.
+ * = 0 : Runs only the current step and checks if it may hit something.
+ * > 0 : Runs for the given number of steps or until it may hit something.
*/
struct SimulateBodyInfo
{
- EntityID bodyEID = MAX_EID;
+ EntityID bodyEID = MAX_EID;
- SHVec3 force = SHVec3::Zero;
- SHVec3 forceOffset = SHVec3::Zero;
- SHVec3 torque = SHVec3::Zero;
+ SHVec3 force = SHVec3::Zero;
+ SHVec3 forceOffset = SHVec3::Zero;
+ SHVec3 torque = SHVec3::Zero;
// Whether or not to clear the force after the first iteration
- bool continuousForce = false;
- float timeStep = static_cast(SHPhysicsConstants::DEFAULT_FIXED_DT);
+ bool continuousForce = false;
+ float timeStep = static_cast(SHPhysicsConstants::DEFAULT_FIXED_DT);
+ int maxSteps = -1;
};