Merge branch 'main' into SP3-2-Physics

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

SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp

@@ -276,6 +276,7 @@ namespace SHADE
       localInvInertia[i] = 1.0f / localInvInertia[i];
 
     
+
     // Build raycast layer from colliders. If none exist....then this never stops simulating technically.
     // I'm too lazy to handle that case, so I'll just throw an error.
     uint16_t raycastLayers  = 0;
@@ -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);
   }
 

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. <br/>
+     * 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    force           = SHVec3::Zero;
-      SHVec3    forceOffset           = SHVec3::Zero;
+      SHVec3    forceOffset     = SHVec3::Zero;
-      SHVec3    torque                = SHVec3::Zero;
+      SHVec3    torque          = SHVec3::Zero;
 
       // Whether or not to clear the force after the first iteration
-      bool      continuousForce       = false;
+      bool      continuousForce = false;
-      float     timeStep              = static_cast<float>(SHPhysicsConstants::DEFAULT_FIXED_DT);
+      float     timeStep        = static_cast<float>(SHPhysicsConstants::DEFAULT_FIXED_DT);
+      int       maxSteps        = -1;
     };