Revert "Implemented a custom physics engine"

Assets/Application.SHConfig

@@ -1,4 +1,4 @@
 Start in Fullscreen: false
-Starting Scene ID: 97402985
+Starting Scene ID: 87244611
 Window Size: {x: 1920, y: 1080}
 Window Title: SHADE Engine

Assets/CollisionTags.SHConfig

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

Assets/Editor/Editor.SHConfig

@@ -1,4 +1,4 @@
 Start Maximized: true
-Working Scene ID: 97402985
+Working Scene ID: 97161771
 Window Size: {x: 1920, y: 1080}
 Style: 0

Assets/Scenes/PhysicsSandbox.shade

@@ -1,247 +0,0 @@
-- EID: 0
-  Name: Default
-  IsActive: true
-  NumberOfChildren: 0
-  Components:
-    Transform Component:
-      Translate: {x: 2.72256827, y: 0.501797795, z: -0.0273017883}
-      Rotate: {x: 0, y: 0, z: 0.436332315}
-      Scale: {x: 4.61070776, y: 0.99999392, z: 0.999996722}
-      IsActive: true
-    Collider Component:
-      DrawColliders: false
-      Colliders:
-        - Is Trigger: false
-          Collision Tag: 1
-          Type: Box
-          Half Extents: {x: 1, y: 1, z: 1}
-          Friction: 0.400000006
-          Bounciness: 0
-          Density: 1
-          Position Offset: {x: 0, y: 0, z: 0}
-          Rotation Offset: {x: 0, y: 0, z: 0}
-      IsActive: true
-  Scripts: ~
-- EID: 1
-  Name: Default
-  IsActive: true
-  NumberOfChildren: 0
-  Components:
-    Camera Component:
-      Position: {x: 0, y: 2, z: 10}
-      Pitch: 0
-      Yaw: 0
-      Roll: 0
-      Width: 1920
-      Height: 1080
-      Near: 0.00999999978
-      Far: 10000
-      Perspective: true
-      IsActive: true
-  Scripts: ~
-- EID: 3
-  Name: Default
-  IsActive: true
-  NumberOfChildren: 0
-  Components:
-    Transform Component:
-      Translate: {x: 2, y: 7.5, z: 0}
-      Rotate: {x: -0, y: 0, z: 0.785398185}
-      Scale: {x: 1, y: 1, z: 1}
-      IsActive: true
-    RigidBody Component:
-      Type: Dynamic
-      Auto Mass: false
-      Mass: 0.52359879
-      Drag: 0.00999999978
-      Angular Drag: 0
-      Use Gravity: true
-      Gravity Scale: 1
-      Interpolate: true
-      Sleeping Enabled: true
-      Freeze Position X: false
-      Freeze Position Y: true
-      Freeze Position Z: false
-      Freeze Rotation X: false
-      Freeze Rotation Y: false
-      Freeze Rotation Z: false
-      IsActive: true
-    Collider Component:
-      DrawColliders: false
-      Colliders:
-        - Is Trigger: false
-          Collision Tag: 1
-          Type: Sphere
-          Radius: 1
-          Friction: 0.400000006
-          Bounciness: 0
-          Density: 1
-          Position Offset: {x: 0, y: 0, z: 0}
-          Rotation Offset: {x: 0, y: 0, z: 0}
-      IsActive: true
-  Scripts: ~
-- EID: 2
-  Name: Default
-  IsActive: true
-  NumberOfChildren: 0
-  Components:
-    Transform Component:
-      Translate: {x: 0, y: 4, z: 0}
-      Rotate: {x: -0, y: 0, z: -0.436332315}
-      Scale: {x: 4.61071014, y: 0.999995887, z: 1}
-      IsActive: true
-    Collider Component:
-      DrawColliders: false
-      Colliders:
-        - Is Trigger: false
-          Collision Tag: 2
-          Type: Box
-          Half Extents: {x: 1, y: 1, z: 1}
-          Friction: 0.400000006
-          Bounciness: 0
-          Density: 1
-          Position Offset: {x: 0, y: 0, z: 0}
-          Rotation Offset: {x: 0, y: 0, z: 0}
-      IsActive: true
-  Scripts: ~
-- EID: 4
-  Name: Default
-  IsActive: true
-  NumberOfChildren: 0
-  Components:
-    Transform Component:
-      Translate: {x: 0, y: -3, z: 0}
-      Rotate: {x: -0, y: 0, z: -0}
-      Scale: {x: 10, y: 3, z: 10}
-      IsActive: true
-    Collider Component:
-      DrawColliders: false
-      Colliders:
-        - Is Trigger: false
-          Collision Tag: 1
-          Type: Box
-          Half Extents: {x: 1, y: 1, z: 1}
-          Friction: 0.400000006
-          Bounciness: 0
-          Density: 1
-          Position Offset: {x: 0, y: 0, z: 0}
-          Rotation Offset: {x: 0, y: 0, z: 0}
-      IsActive: true
-  Scripts: ~
-- EID: 5
-  Name: Default
-  IsActive: true
-  NumberOfChildren: 0
-  Components:
-    Transform Component:
-      Translate: {x: -4.80025721, y: 3, z: 0}
-      Rotate: {x: -0, y: 0, z: 1.57079601}
-      Scale: {x: 9.99975109, y: 0.499992192, z: 10}
-      IsActive: true
-    Collider Component:
-      DrawColliders: false
-      Colliders:
-        - Is Trigger: false
-          Collision Tag: 1
-          Type: Box
-          Half Extents: {x: 1, y: 1, z: 1}
-          Friction: 0.400000006
-          Bounciness: 0
-          Density: 1
-          Position Offset: {x: 0, y: 0, z: 0}
-          Rotation Offset: {x: 0, y: 0, z: 0}
-      IsActive: true
-  Scripts: ~
-- EID: 6
-  Name: Default
-  IsActive: true
-  NumberOfChildren: 0
-  Components:
-    Transform Component:
-      Translate: {x: 4.80000019, y: 3, z: 0}
-      Rotate: {x: -0, y: 0, z: 1.57079601}
-      Scale: {x: 9.99975109, y: 0.499992192, z: 10}
-      IsActive: true
-    Collider Component:
-      DrawColliders: false
-      Colliders:
-        - Is Trigger: false
-          Collision Tag: 1
-          Type: Box
-          Half Extents: {x: 1, y: 1, z: 1}
-          Friction: 0.400000006
-          Bounciness: 0
-          Density: 1
-          Position Offset: {x: 0, y: 0, z: 0}
-          Rotation Offset: {x: 0, y: 0, z: 0}
-      IsActive: true
-  Scripts: ~
-- EID: 7
-  Name: Default
-  IsActive: true
-  NumberOfChildren: 0
-  Components:
-    Transform Component:
-      Translate: {x: 0, y: 7, z: 0}
-      Rotate: {x: 0, y: 0, z: 0.785398185}
-      Scale: {x: 0.999990404, y: 0.999994457, z: 0.999985337}
-      IsActive: true
-    RigidBody Component:
-      Type: Dynamic
-      Auto Mass: false
-      Mass: 1
-      Drag: 0.00999999978
-      Angular Drag: 0
-      Use Gravity: true
-      Gravity Scale: 1
-      Interpolate: true
-      Sleeping Enabled: true
-      Freeze Position X: false
-      Freeze Position Y: false
-      Freeze Position Z: false
-      Freeze Rotation X: false
-      Freeze Rotation Y: false
-      Freeze Rotation Z: false
-      IsActive: true
-    Collider Component:
-      DrawColliders: false
-      Colliders:
-        - Is Trigger: false
-          Collision Tag: 1
-          Type: Box
-          Half Extents: {x: 1, y: 1, z: 1}
-          Friction: 0.400000006
-          Bounciness: 0
-          Density: 1
-          Position Offset: {x: 0, y: 0, z: 0}
-          Rotation Offset: {x: 0, y: 0, z: 0}
-      IsActive: true
-  Scripts:
-    - Type: PhysicsTestObj
-      Enabled: true
-      forceAmount: 50
-      torqueAmount: 5
-- EID: 8
-  Name: Default
-  IsActive: true
-  NumberOfChildren: 0
-  Components:
-    Transform Component:
-      Translate: {x: 0, y: 0, z: 3}
-      Rotate: {x: -0, y: 0, z: -0}
-      Scale: {x: 1, y: 1, z: 1}
-      IsActive: true
-    Collider Component:
-      DrawColliders: false
-      Colliders:
-        - Is Trigger: false
-          Collision Tag: 1
-          Type: Box
-          Half Extents: {x: 1, y: 1, z: 1}
-          Friction: 0.400000006
-          Bounciness: 0
-          Density: 1
-          Position Offset: {x: 0, y: 0, z: 0}
-          Rotation Offset: {x: 0, y: 0, z: 0}
-      IsActive: true
-  Scripts: ~

Assets/Scenes/PhysicsSandbox.shade.shmeta

@@ -1,3 +0,0 @@
-Name: PhysicsSandbox
-ID: 97402985
-Type: 5

Assets/Scripts/Gameplay/AIBehaviour/Implemented/LeafNodes/LeafSearch.cs

@@ -159,7 +159,7 @@ public partial class LeafSearch : BehaviourTreeNode
       //Since transform position is often the raccoon's base and the ray needs to hit somewhere higher to be more reliable
       Vector3 rayDestination = plrT.GlobalPosition + plrT.GlobalScale * playerCollider.PositionOffset;
       Ray sightRay = new Ray(eyePosition, rayDestination - eyePosition);
-      RaycastHit sightRayHit = Physics.Raycast(sightRay, false)[0];
+      RaycastHit sightRayHit = Physics.Raycast(sightRay);
       //As of November 2022, RaycastHit contains only the FIRST object hit by
       //the ray in the Other GameObject data member
       //Diren may likely add ALL objects hit by the ray over December

Assets/Scripts/Gameplay/Player/SC_PickAndThrow.cs

@@ -1,7 +1,6 @@
 using SHADE;
 using SHADE_Scripting;
 using System;
-using System.Collections.Generic;
 using static PlayerController;
 using static Item;
 
@@ -204,13 +203,9 @@ public class PickAndThrow : Script
       Vector3 playerRayPos = pc.tranform.GlobalPosition;
       playerRayPos.y += 0.05f;
       dirNor.Normalise();
-      List<RaycastHit> rayList1 = Physics.Raycast(new Ray(playerRayPos, Vector3.RotateY(dirNor, SHADE.Math.DegreesToRadians(22.5f))), rayDistance, false);
+      RaycastHit ray1 = Physics.Raycast(new Ray(playerRayPos, Vector3.RotateY(dirNor, SHADE.Math.DegreesToRadians(22.5f))), rayDistance);
-      List<RaycastHit> rayList2 = Physics.Raycast(new Ray(playerRayPos, Vector3.RotateY(dirNor, SHADE.Math.DegreesToRadians(-22.5f))), rayDistance, false);
+      RaycastHit ray2 = Physics.Raycast(new Ray(playerRayPos, Vector3.RotateY(dirNor, SHADE.Math.DegreesToRadians(-22.5f))), rayDistance);
-      List<RaycastHit> rayList3 = Physics.Raycast(new Ray(playerRayPos, dirNor), rayDistance * 0.75f, false);
+      RaycastHit ray3 = Physics.Raycast(new Ray(playerRayPos, dirNor), rayDistance * 0.75f);
-
-      RaycastHit ray1 = rayList1[0];
-      RaycastHit ray2 = rayList2[0];
-      RaycastHit ray3 = rayList3[0];
       inRange = CheckForItem(ray1) || CheckForItem(ray2) || CheckForItem(ray3);
     }
   }

Assets/Scripts/Tests/PhysicsTestObj.cs

@@ -1,119 +0,0 @@
-using SHADE;
-using System;
-using System.Collections.Generic;
-using static Item;
-
-
-public class PhysicsTestObj : Script
-{
-    public RigidBody body { get; set; }
-    public Collider collider { get; set; }
-
-    // Movement input booleans
-    public enum Direction
-    {
-        UP,
-        DOWN,
-        FORWARD,
-        BACK,
-        LEFT,
-        RIGHT
-    };
-
-    internal bool[] move   = new bool[6];
-    internal bool[] rotate = new bool[6];
-
-    internal Vector3[] moveVec = new Vector3[6]
-    {
-        Vector3.Up, 
-        Vector3.Down, 
-        Vector3.Back, 
-        Vector3.Forward, 
-        Vector3.Left, 
-        Vector3.Right
-    };
-
-    internal Vector3[] rotateVec = new Vector3[6]
-    {
-        Vector3.Right,
-        Vector3.Left,
-        Vector3.Forward,
-        Vector3.Down,
-        Vector3.Up,
-        Vector3.Down
-    };
-
-    internal Input.KeyCode[] moveInputKeys = new Input.KeyCode[6]
-    {
-        Input.KeyCode.Space,
-        Input.KeyCode.LeftControl,
-        Input.KeyCode.W,
-        Input.KeyCode.S,
-        Input.KeyCode.A,
-        Input.KeyCode.D
-    };
-
-    internal Input.KeyCode[] rotateInputKeys = new Input.KeyCode[6]
-    {
-        Input.KeyCode.I,
-        Input.KeyCode.K,
-        Input.KeyCode.U,
-        Input.KeyCode.O,
-        Input.KeyCode.J,
-        Input.KeyCode.L
-    };
-
-    public float forceAmount = 50.0f;
-    public float torqueAmount = 500.0f;
-
-    protected override void awake()
-    {
-        body = GetComponent<RigidBody>();
-        collider = GetComponent<Collider>();
-
-        for (int i = 0; i < 6; ++i)
-        {
-            move[i] = false;
-            rotate[i] = false;
-        }
-    }
-
-    protected override void update()
-    {
-        Ray colliderRay = new Ray();
-        colliderRay.Direction = Vector3.Right;
-        Physics.ColliderRaycast(collider.Owner, colliderRay, false);
-
-        for (int i = 0; i < 6; ++i)
-        {
-            if (Input.GetKeyDown(moveInputKeys[i]))
-                move[i] = true;
-
-            if (Input.GetKeyDown(rotateInputKeys[i]))
-                rotate[i] = true;
-        }
-    }
-
-    protected override void fixedUpdate()
-    {
-        for (int i = 0; i < 6; ++i)
-        {
-            bool shouldMove = move[i];
-            bool shouldRotate = rotate[i];
-
-            if (shouldMove)
-            {
-                //Vector3 offset = new Vector3(0.25f, 0.0f, 0.0f);
-                //rb.AddForceAtLocalPos(moveVec[i] * forceAmount, offset);
-                body.AddForce(moveVec[i] * forceAmount);
-                move[i] = false;
-            }
-
-            if (shouldRotate)
-            {
-                body.AddTorque(rotateVec[i] * torqueAmount);
-                rotate[i] = false;
-            }
-        }
-    }
-}

Assets/Scripts/Tests/PhysicsTestObj.cs.shmeta

@@ -1,3 +0,0 @@
-Name: PhysicsTestObj
-ID: 159293012
-Type: 9

SHADE_Application/src/Application/SBApplication.cpp

@@ -77,6 +77,9 @@ namespace Sandbox
     SHSystemManager::CreateSystem<SHScriptEngine>();
     SHSystemManager::CreateSystem<SHTransformSystem>();
     SHSystemManager::CreateSystem<SHPhysicsSystem>();
+#ifndef _PUBLISH
+    SHSystemManager::CreateSystem<SHPhysicsDebugDrawSystem>();
+#endif
 
     SHSystemManager::CreateSystem<SHAudioSystem>();
     SHSystemManager::CreateSystem<SHCameraSystem>();
@@ -87,6 +90,7 @@ namespace Sandbox
 
     SHSystemManager::CreateSystem<SHGraphicsSystem>();
     SHGraphicsSystem* graphicsSystem = static_cast<SHGraphicsSystem*>(SHSystemManager::GetSystem<SHGraphicsSystem>());
+    SHPhysicsSystem* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
 
     // Link up SHDebugDraw
     SHSystemManager::CreateSystem<SHDebugDrawSystem>();
@@ -101,8 +105,6 @@ namespace Sandbox
       editor->SetSDLWindow(sdlWindow);
       editor->SetSHWindow(&window);
     }
-
-    SHSystemManager::CreateSystem<SHPhysicsDebugDrawSystem>();
 #endif
     
     // Create Routines
@@ -114,11 +116,11 @@ namespace Sandbox
     SHSystemManager::RegisterRoutine<SHTransformSystem, SHTransformSystem::TransformPostLogicUpdate>();
 
     SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsPreUpdate>();
-    SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsUpdate>();
+    SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsFixedUpdate>();
     SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsPostUpdate>();
 
-#ifdef SHEDITOR
+#ifndef _PUBLISH
-    SHSystemManager::RegisterRoutine<SHPhysicsDebugDrawSystem, SHPhysicsDebugDrawSystem::PhysicsDebugDraw>();
+    SHSystemManager::RegisterRoutine<SHPhysicsDebugDrawSystem, SHPhysicsDebugDrawSystem::PhysicsDebugDrawRoutine>();
 #endif
 
     SHSystemManager::RegisterRoutine<SHTransformSystem, SHTransformSystem::TransformPostPhysicsUpdate>();
@@ -191,12 +193,32 @@ namespace Sandbox
 #endif
       SHSceneManager::SceneUpdate(0.016f);
 #ifdef SHEDITOR
-
       SHSystemManager::RunRoutines(editor->editorState != SHEditor::State::PLAY, SHFrameRateController::GetRawDeltaTime());
       editor->PollPicking();
 #else
       SHSystemManager::RunRoutines(false, SHFrameRateController::GetRawDeltaTime());
 #endif
+      // TODO: Move into an Editor menu
+      static bool drawContacts = false;
+      if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::F9))
+      {
+        drawContacts = !drawContacts;
+        SHSystemManager::GetSystem<SHPhysicsDebugDrawSystem>()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::CONTACT_POINTS, drawContacts);
+        SHSystemManager::GetSystem<SHPhysicsDebugDrawSystem>()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::CONTACT_NORMALS, drawContacts);
+      }
+      static bool drawColliders = false;
+      if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::F10))
+      {
+        drawColliders = !drawColliders;
+        SHSystemManager::GetSystem<SHPhysicsDebugDrawSystem>()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::COLLIDER, drawColliders);
+      }
+      static bool drawRays = false;
+      if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::F11))
+      {
+        drawRays = !drawRays;
+        SHSystemManager::GetSystem<SHPhysicsDebugDrawSystem>()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::RAYCASTS, drawRays);
+      }
+      
     }
     // Finish all graphics jobs first
     graphicsSystem->AwaitGraphicsExecution();

SHADE_Application/src/Scenes/SBMainScene.cpp

@@ -44,6 +44,23 @@ namespace Sandbox
   {
     sceneName = SHSerialization::DeserializeSceneFromFile(sceneAssetID);
 
+    auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
+    if (!physicsSystem)
+    {
+      SHLOGV_CRITICAL("Failed to get the physics system for building the scene!")
+      return;
+    }
+
+  #ifdef SHEDITOR
+
+    physicsSystem->ForceBuild(SHSceneManager::GetCurrentSceneGraph());
+
+  #else
+
+    physicsSystem->BuildScene(SHSceneManager::GetCurrentSceneGraph());
+
+  #endif
+
     /*-----------------------------------------------------------------------*/
     /* TESTING CODE                                                          */
     /*-----------------------------------------------------------------------*/

SHADE_Application/src/Scenes/SBTestScene.cpp

@@ -92,7 +92,7 @@ namespace Sandbox
 
     floorRigidBody.SetType(SHRigidBodyComponent::Type::STATIC);
 
-    //floorCollider.AddBoundingBox();
+    floorCollider.AddBoundingBox();
 
     // Create blank entity with a script
     //testObj = SHADE::SHEntityManager::CreateEntity<SHRenderable, SHTransformComponent>();
@@ -113,9 +113,9 @@ namespace Sandbox
     racoonTransform.SetWorldScale({ 2.0f, 2.0f, 2.0f });
     racoonTransform.SetWorldPosition({ -3.0f, -2.0f, -5.0f });
 
-    //racoonCollider.AddBoundingBox();
+    racoonCollider.AddBoundingBox();
-    //racoonCollider.GetCollisionShape(0).SetPositionOffset(SHVec3(0.0f,0.5f,0.0f));
+    racoonCollider.GetCollisionShape(0).SetPositionOffset(SHVec3(0.0f,0.5f,0.0f));
-    //racoonCollider.GetCollisionShape(0).SetBoundingBox(SHVec3(0.5f, 0.5f, 0.5f));
+    racoonCollider.GetCollisionShape(0).SetBoundingBox(SHVec3(0.5f, 0.5f, 0.5f));
 
     auto racoonItemLocation = SHEntityManager::CreateEntity<SHTransformComponent>();
     auto& racoonItemLocationTransform = *SHComponentManager::GetComponent_s<SHTransformComponent>(racoonItemLocation);
@@ -138,15 +138,15 @@ namespace Sandbox
     itemTransform.SetWorldScale({ 2.0f, 2.0f, 2.0f });
     itemTransform.SetWorldPosition({ 0.0f, -2.0f, -5.0f });
 
-    //itemCollider.AddBoundingBox();
+    itemCollider.AddBoundingBox();
-    //itemCollider.AddBoundingBox(SHVec3(2.0f,2.0f,2.0f));
+    itemCollider.AddBoundingBox(SHVec3(2.0f,2.0f,2.0f));
-    //itemCollider.GetCollisionShape(1).SetIsTrigger(true);
+    itemCollider.GetCollisionShape(1).SetIsTrigger(true);
 
-    //itemCollider.GetCollisionShape(0).SetPositionOffset(SHVec3(0.0f, 0.5f, 0.0f));
+    itemCollider.GetCollisionShape(0).SetPositionOffset(SHVec3(0.0f, 0.5f, 0.0f));
-    //itemCollider.GetCollisionShape(0).SetBoundingBox(SHVec3(0.5f, 0.5f, 0.5f));
+    itemCollider.GetCollisionShape(0).SetBoundingBox(SHVec3(0.5f, 0.5f, 0.5f));
 
-    //itemCollider.GetCollisionShape(1).SetPositionOffset(SHVec3(0.0f, 0.5f, 0.0f));
+    itemCollider.GetCollisionShape(1).SetPositionOffset(SHVec3(0.0f, 0.5f, 0.0f));
-    //itemCollider.GetCollisionShape(1).SetBoundingBox(SHVec3(1.0f, 1.0f, 1.0f));
+    itemCollider.GetCollisionShape(1).SetBoundingBox(SHVec3(1.0f, 1.0f, 1.0f));
 
     itemRigidBody.SetInterpolate(false);
     itemRigidBody.SetFreezeRotationX(true);
@@ -167,9 +167,9 @@ namespace Sandbox
     AITransform.SetWorldScale({ 2.0f, 2.0f, 2.0f });
     AITransform.SetWorldPosition({ -8.0f, -2.0f, 2.5f });
 
-    //AICollider.AddBoundingBox();
+    AICollider.AddBoundingBox();
-    //AICollider.GetCollisionShape(0).SetPositionOffset(SHVec3(0.0f, 0.5f, 0.0f));
+    AICollider.GetCollisionShape(0).SetPositionOffset(SHVec3(0.0f, 0.5f, 0.0f));
-    //AICollider.GetCollisionShape(0).SetBoundingBox(SHVec3(0.5f, 0.5f, 0.5f));
+    AICollider.GetCollisionShape(0).SetBoundingBox(SHVec3(0.5f, 0.5f, 0.5f));
 
     AIRigidBody.SetInterpolate(false);
     AIRigidBody.SetFreezeRotationX(true);

SHADE_Engine/src/Camera/SHCameraArmComponent.h

@@ -10,7 +10,7 @@
 namespace SHADE
 {
 
-  class SHAABB;
+  class SHBox;
   class SHRay;
 
   class SH_API SHCameraArmComponent final: public SHComponent

SHADE_Engine/src/Camera/SHCameraSystem.cpp

@@ -10,7 +10,7 @@
 #include "Scene/SHSceneManager.h"
 #include "ECS_Base/Managers/SHSystemManager.h"
 #include "Editor/SHEditor.h"
-#include "Math/Geometry/SHAABB.h"
+#include "Math/Geometry/SHBox.h"
 #include "Math/SHRay.h"
 #include "Physics/System/SHPhysicsSystem.h"
 
@@ -186,20 +186,20 @@ namespace SHADE
       
      //SHLOG_INFO("Ray position: {},{},{}  direction:{},{},{}",pivot.ray.position.x, pivot.ray.position.y, pivot.ray.position.z,pivot.ray.direction.x, pivot.ray.direction.y, pivot.ray.direction.z)
 
-      //auto result = physicsSystem->Raycast(pivot.ray );
+      auto result = physicsSystem->Raycast(pivot.ray );
-      //if (result && result.distance < pivot.GetArmLength())
+      if (result && result.distance < pivot.GetArmLength())
-      //{
+      {
-      //  
+        
-      //  SHVec3 newOffset = SHVec3{ 0.0f,0.0f, result.distance * 0.8f };
+        SHVec3 newOffset = SHVec3{ 0.0f,0.0f, result.distance * 0.8f };
-      //  newOffset = SHVec3::RotateX(newOffset, -(SHMath::DegreesToRadians(pivot.GetPitch())));
+        newOffset = SHVec3::RotateX(newOffset, -(SHMath::DegreesToRadians(pivot.GetPitch())));
-      //  newOffset = SHVec3::RotateY(newOffset, (SHMath::DegreesToRadians(pivot.GetYaw())));
+        newOffset = SHVec3::RotateY(newOffset, (SHMath::DegreesToRadians(pivot.GetYaw())));
-      //  pivot.offset = newOffset;
+        pivot.offset = newOffset;
-      //  //SHLOG_INFO("CAMERA COLLISION HIT, {}", result.distance);
+        //SHLOG_INFO("CAMERA COLLISION HIT, {}", result.distance);
-      //}
+      }
-      //else
+      else
-      //{
+      {
-      //  //SHLOG_INFO("CAMERA COLLISION CANT HIT CAMERA");
+        //SHLOG_INFO("CAMERA COLLISION CANT HIT CAMERA");
-      //}
+      }
 
       
       

SHADE_Engine/src/ECS_Base/Managers/SHEntityManager.cpp

@@ -162,7 +162,7 @@ namespace SHADE
 
 			//SHSceneNode* parentNode = entityVec[eIndex]->GetSceneNode()->GetParent();
 
-			//SHSceneGraph::removeChild(parentNode,entityVec[eIndex].get());
+			//SHSceneGraph::RemoveChild(parentNode,entityVec[eIndex].get());
 
 			//TODO remove from parent and recursively delete child.
 

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

@@ -1,7 +1,7 @@
 #include "SHpch.h"
 #include "SHColliderTagPanel.h"
 #include "ECS_Base/Managers/SHSystemManager.h"
-#include "Physics/Collision/CollisionTags/SHCollisionTagMatrix.h"
+#include "Physics/Collision/SHCollisionTagMatrix.h"
 #include "Editor/SHEditorWidgets.hpp"
 
 namespace SHADE
@@ -15,7 +15,7 @@ namespace SHADE
       ImGui::TableNextRow();
       ImGui::PushID("CollisionTagNames");
 
-      for (int i = SHCollisionTag::NUM_LAYERS; i >= 1; --i)
+      for (int i = SHCollisionTag::NUM_LAYERS; i >= 0; --i)
       {
         ImGui::TableNextColumn();
         if(i == SHCollisionTag::NUM_LAYERS) continue;
@@ -29,7 +29,7 @@ namespace SHADE
         ImGui::PopID();
       }
       ImGui::PopID();
-      for (int i = 0; i < SHCollisionTag::NUM_LAYERS - 1; ++i)
+      for (int i = 0; i < SHCollisionTag::NUM_LAYERS; ++i)
       {
         std::string tagName = SHCollisionTagMatrix::GetTagName(i);
         auto tag = SHCollisionTagMatrix::GetTag(i);
@@ -53,8 +53,8 @@ namespace SHADE
             tagName2 = std::to_string(idx);
 
           ImGui::TableNextColumn();
-          if(i == idx)
+          //if(i == idx)
-            continue;
+          //  continue;
           std::string label = std::format("##{} vs {}", tagName, tagName2);
           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));
         }

SHADE_Engine/src/Editor/EditorWindow/Inspector/SHEditorComponentView.hpp

@@ -18,11 +18,10 @@
 #include "Physics/Interface/SHColliderComponent.h"
 #include "Reflection/SHReflectionMetadata.h"
 #include "Resource/SHResourceManager.h"
+#include "Physics/Collision/SHCollisionTagMatrix.h"
 #include "Serialization/SHSerializationHelper.hpp"
 #include "Tools/Utilities/SHClipboardUtilities.h"
 #include "SHInspectorCommands.h"
-#include "Physics/Collision/SHCompositeCollider.h"
-#include "Physics/Collision/CollisionTags/SHCollisionTagMatrix.h"
 namespace SHADE
 {
   template<typename T>
@@ -256,34 +255,31 @@ namespace SHADE
       
       if(rbType == SHRigidBodyComponent::Type::DYNAMIC) //Dynamic only fields
       {
-        SHEditorWidgets::CheckBox("Use Gravity", [component]{return component->IsGravityEnabled();}, [component](bool const& value){component->SetIsGravityEnabled(value);}, "Whether Gravity is enabled for this body");
+        SHEditorWidgets::CheckBox("Use Gravity", [component]{return component->IsGravityEnabled();}, [component](bool const& value){component->SetGravityEnabled(value);}, "Gravity");
-        SHEditorWidgets::DragFloat("Gravity Scale", [component] { return component->GetGravityScale(); }, [component](float const& value) { component->SetGravityScale(value); }, "Per-object Gravity Scale", 0.1f, 0.0f);
+        //SHEditorWidgets::DragFloat("Mass", [component] {return component->GetMass(); }, [component](float const& value) {component->SetMass(value); }, "Mass");
-
-        SHEditorWidgets::CheckBox("Auto Mass", [component]{return component->GetAutoMass();}, [component](bool const& value){component->SetAutoMass(value);}, "If mass should be automatically computed. Setting mass will turn this off.");
-        SHEditorWidgets::DragFloat("Mass", [component] {return component->GetMass(); }, [component](float const& value) {component->SetMass(value); }, "Mass");
       }
       if (rbType == SHRigidBodyComponent::Type::DYNAMIC || rbType == SHRigidBodyComponent::Type::KINEMATIC) //Dynamic or Kinematic only fields
       {
-        SHEditorWidgets::DragFloat("Drag", [component] {return component->GetDrag(); }, [component](float const& value) {component->SetDrag(value); }, "Drag", 0.1f, 0.0f);
+        SHEditorWidgets::DragFloat("Drag", [component] {return component->GetDrag(); }, [component](float const& value) {component->SetDrag(value); }, "Drag");
-        SHEditorWidgets::DragFloat("Angular Drag", [component] {return component->GetAngularDrag(); }, [component](float const& value) {component->SetAngularDrag(value); }, "Angular Drag", 0.1f, 0.0f);
+        SHEditorWidgets::DragFloat("Angular Drag", [component] {return component->GetAngularDrag(); }, [component](float const& value) {component->SetAngularDrag(value); }, "Angular Drag");
 
-        SHEditorWidgets::CheckBox("Interpolate", [component] {return component->IsInterpolating(); }, [component](bool const& value) {component->SetInterpolate(value); }, "If the position between frames should be interpolated.");
+        SHEditorWidgets::CheckBox("Interpolate", [component] {return component->IsInterpolating(); }, [component](bool const& value) {component->SetInterpolate(value); }, "Interpolate");
 
         SHEditorWidgets::BeginPanel(std::format("{} Constraints", ICON_FA_LOCK).data(), { ImGui::GetContentRegionAvail().x, ImGui::GetContentRegionAvail().y });
 
         SHEditorWidgets::TextLabel("Freeze Position");
         ImGui::PushID("FreezePos");
-        SHEditorWidgets::CheckBox("X", [component] {return component->GetFreezePositionX(); }, [component](bool const& value) {component->SetFreezePositionX(value); }, "Stops any displacement along the X-axis."); ImGui::SameLine();
+        SHEditorWidgets::CheckBox("X", [component] {return component->GetFreezePositionX(); }, [component](bool const& value) {component->SetFreezePositionX(value); }, "Freeze Position - X"); ImGui::SameLine();
-        SHEditorWidgets::CheckBox("Y", [component] {return component->GetFreezePositionY(); }, [component](bool const& value) {component->SetFreezePositionY(value); }, "Stops any displacement along the Y-axis."); ImGui::SameLine();
+        SHEditorWidgets::CheckBox("Y", [component] {return component->GetFreezePositionY(); }, [component](bool const& value) {component->SetFreezePositionY(value); }, "Freeze Position - Y"); ImGui::SameLine();
-        SHEditorWidgets::CheckBox("Z", [component] {return component->GetFreezePositionZ(); }, [component](bool const& value) {component->SetFreezePositionZ(value); }, "Stops any displacement along the Z-axis.");
+        SHEditorWidgets::CheckBox("Z", [component] {return component->GetFreezePositionZ(); }, [component](bool const& value) {component->SetFreezePositionZ(value); }, "Freeze Position - Z");
         ImGui::PopID();
 
 
         SHEditorWidgets::TextLabel("Freeze Rotation");
         ImGui::PushID("FreezeRot");
-        SHEditorWidgets::CheckBox("X", [component] {return component->GetFreezeRotationX(); }, [component](bool const& value) {component->SetFreezeRotationX(value); }, "Stops any rotation about the X-axis."); ImGui::SameLine();
+        SHEditorWidgets::CheckBox("X", [component] {return component->GetFreezeRotationX(); }, [component](bool const& value) {component->SetFreezeRotationX(value); }, "Freeze Rotation - X"); ImGui::SameLine();
-        SHEditorWidgets::CheckBox("Y", [component] {return component->GetFreezeRotationY(); }, [component](bool const& value) {component->SetFreezeRotationY(value); }, "Stops any rotation about the Y-axis."); ImGui::SameLine();
+        SHEditorWidgets::CheckBox("Y", [component] {return component->GetFreezeRotationY(); }, [component](bool const& value) {component->SetFreezeRotationY(value); }, "Freeze Rotation - Y"); ImGui::SameLine();
-        SHEditorWidgets::CheckBox("Z", [component] {return component->GetFreezeRotationZ(); }, [component](bool const& value) {component->SetFreezeRotationZ(value); }, "Stops any rotation about the Z-axis.");
+        SHEditorWidgets::CheckBox("Z", [component] {return component->GetFreezeRotationZ(); }, [component](bool const& value) {component->SetFreezeRotationZ(value); }, "Freeze Rotation - Z");
         ImGui::PopID();
 
         SHEditorWidgets::EndPanel();
@@ -292,15 +288,9 @@ namespace SHADE
       //Debug Info (Read-Only)
       if(ImGui::CollapsingHeader("Debug Information", ImGuiTreeNodeFlags_DefaultOpen))//Dynamic or Kinematic only fields
       {
+        SHEditorWidgets::DragFloat("Mass", [component] { return component->GetMass(); }, [](float value){}, "Mass", 0.1f, 0.0f, std::numeric_limits<float>::infinity(), "%.3f", ImGuiSliderFlags_ReadOnly);
         SHEditorWidgets::DragVec3("Position", { "X", "Y", "Z" }, [component] {return component->GetPosition(); }, [](SHVec3 const& value) {}, false, "Position", 0.1f, "%.3f", 0.0f, 0.0f, ImGuiSliderFlags_ReadOnly);
-        SHEditorWidgets::DragVec3("Rotation", { "X", "Y", "Z" }, [component]
+        SHEditorWidgets::DragVec3("Rotation", { "X", "Y", "Z" }, [component] {return component->GetRotation(); }, [](SHVec3 const& value) {}, false, "Rotation", 0.1f, "%.3f", 0.0f, 0.0f, ImGuiSliderFlags_ReadOnly);
-        {
-          // Convert it to degrees...
-          auto rot = component->GetRotation();
-          for (size_t i = 0; i < SHVec3::SIZE; ++i)
-            rot[i] = SHMath::RadiansToDegrees(rot[i]);
-          return rot;
-        }, [](SHVec3 const& value) {}, false, "Rotation", 0.1f, "%.3f", 0.0f, 0.0f, ImGuiSliderFlags_ReadOnly);
         if (rbType == SHRigidBodyComponent::Type::DYNAMIC || rbType == SHRigidBodyComponent::Type::KINEMATIC) //Dynamic or Kinematic only fields
         {
           SHEditorWidgets::DragVec3("Velocity", { "X", "Y", "Z" }, [component] {return component->GetLinearVelocity(); }, [](SHVec3 const& value) {}, false, "Linear Velocity", 0.1f, "%.3f", 0.0f, 0.0f, ImGuiSliderFlags_ReadOnly);
@@ -310,7 +300,7 @@ namespace SHADE
         {
           SHEditorWidgets::DragVec3("Force", { "X", "Y", "Z" }, [component] {return component->GetForce(); }, [](SHVec3 const& value) {}, false, "Force", 0.1f, "%.3f", 0.0f, 0.0f, ImGuiSliderFlags_ReadOnly);
           SHEditorWidgets::DragVec3("Torque", { "X", "Y", "Z" }, [component] {return component->GetTorque(); }, [](SHVec3 const& value) {}, false, "Torque", 0.1f, "%.3f", 0.0f, 0.0f, ImGuiSliderFlags_ReadOnly);
-          SHEditorWidgets::CheckBox("Is Asleep", [component] {return component->IsSleeping(); }, [](bool value) {}, "If the Rigid Body is asleep");
+          SHEditorWidgets::CheckBox("Is Asleep", [component] {return component->GetIsSleeping(); }, [](bool value) {}, "If the Rigid Body is asleep");
         } 
       }
 
@@ -342,67 +332,64 @@ namespace SHADE
     {
       DrawContextMenu(component);
 
-      SHEditorWidgets::CheckBox("Draw Colliders", [component] { return component->GetDebugDrawState(); }, [component](bool value) { component->SetDebugDrawState(value); });
+      auto& colliders = component->GetCollisionShapes();
-
+      int const size = static_cast<int>(colliders.size());
-      auto* collisionShapes = component->GetCollisionShapes();
+      ImGui::BeginChild("Collision Shapes", { 0.0f,  colliders.empty() ? 1.0f : 250.0f }, true);
-      int const size = collisionShapes ? static_cast<int>(collisionShapes->size()) : 0;
-      ImGui::BeginChild("Collision Shapes", { 0.0f,  collisionShapes->empty() ? 1.0f : 250.0f }, true);
       std::optional<int> colliderToDelete{ std::nullopt };
       for (int i{}; i < size; ++i)
       {
         ImGui::PushID(i);
-        SHCollisionShape* shape = component->GetCollisionShape(i);
+        SHCollisionShape* collider = &component->GetCollisionShape(i);
         auto cursorPos = ImGui::GetCursorPos();
 
-        //collider->IsTrigger
+        
-        if (shape->GetType() == SHCollisionShape::Type::BOX)
+        if (collider->GetType() == SHCollisionShape::Type::BOX)
         {
           SHEditorWidgets::BeginPanel(std::format("{} Box #{}", ICON_FA_CUBE, i).data(), { ImGui::GetContentRegionAvail().x, ImGui::GetContentRegionAvail().y });
           
-          auto* box = reinterpret_cast<SHBox*>(shape);
+          const auto* BOX = reinterpret_cast<const SHBox*>(collider->GetShape());
           SHEditorWidgets::DragVec3
           (
             "Half Extents", { "X", "Y", "Z" },
-            [box] { return box->GetRelativeExtents(); },
+            [BOX] { return BOX->GetRelativeExtents(); },
-            [box](SHVec3 const& vec) { box->SetRelativeExtents(vec); });
+            [collider](SHVec3 const& vec) { collider->SetBoundingBox(vec); });
         }
-        else if (shape->GetType() == SHCollisionShape::Type::SPHERE)
+        else if (collider->GetType() == SHCollisionShape::Type::SPHERE)
         {
           SHEditorWidgets::BeginPanel(std::format("{} Sphere #{}", ICON_MD_CIRCLE, i).data(), { ImGui::GetContentRegionAvail().x, ImGui::GetContentRegionAvail().y });
-          auto* sphere = reinterpret_cast<SHSphere*>(shape);
+          const auto* SPHERE = reinterpret_cast<const SHSphere*>(collider->GetShape());
           SHEditorWidgets::DragFloat
           (
             "Radius",
-            [sphere] { return sphere->GetRelativeRadius(); },
+            [SPHERE] { return SPHERE->GetRelativeRadius(); },
-            [sphere](float const& value) { sphere->SetRelativeRadius(value); });
+            [collider](float const& value) { collider->SetBoundingSphere(value); });
         }
-        else if (shape->GetType() == SHCollisionShape::Type::CAPSULE)
+        else if (collider->GetType() == SHCollisionShape::Type::CAPSULE)
         {
 
         }
 
         {
-          SHEditorWidgets::CheckBox("Is Trigger", [shape] { return shape->IsTrigger(); }, [shape](bool value) { shape->SetIsTrigger(value); });
+          SHEditorWidgets::CheckBox("Is Trigger", [collider] { return collider->IsTrigger(); }, [collider](bool value) { collider->SetIsTrigger(value); });
-          SHEditorWidgets::ComboBox("Tag", collisionTagNames, [shape]{return SHCollisionTagMatrix::GetTagIndex(shape->GetCollisionTag().GetName());}, [shape](int const& value){shape->SetCollisionTag(SHCollisionTagMatrix::GetTag(value));});
+          SHEditorWidgets::ComboBox("Tag", collisionTagNames, [collider]{return SHCollisionTagMatrix::GetTagIndex(collider->GetCollisionTag().GetName());}, [collider](int const& value){collider->SetCollisionTag(SHCollisionTagMatrix::GetTag(value));});
-
           if(ImGui::CollapsingHeader("Physics Material"))
           {
-            SHEditorWidgets::DragFloat("Friction", [shape] { return shape->GetFriction(); }, [shape](float value) { shape->SetFriction(value); }, "Friction", 0.05f, 0.0f, 1.0f);
+            SHEditorWidgets::DragFloat("Friction", [collider] { return collider->GetFriction(); }, [collider](float value) { collider->SetFriction(value); }, "Friction", 0.05f, 0.0f, 1.0f);
-            SHEditorWidgets::DragFloat("Bounciness", [shape] { return shape->GetBounciness(); }, [shape](float value) { shape->SetBounciness(value); }, "Bounciness", 0.05f, 0.0f, 1.0f);
+            SHEditorWidgets::DragFloat("Bounciness", [collider] { return collider->GetBounciness(); }, [collider](float value) { collider->SetBounciness(value); }, "Bounciness", 0.05f, 0.0f, 1.0f);
-            SHEditorWidgets::DragFloat("Mass Density", [shape] { return shape->GetDensity(); }, [shape](float value) { shape->SetDensity(value); }, "Mass Density", 0.1f, 0.0f);
+            SHEditorWidgets::DragFloat("Mass Density", [collider] { return collider->GetDensity(); }, [collider](float value) { collider->SetDensity(value); }, "Mass Density", 0.1f, 0.0f);
           }
 
           SHEditorWidgets::BeginPanel("Offsets",{ ImGui::GetContentRegionAvail().x, 30.0f });
-          SHEditorWidgets::DragVec3("Position", { "X", "Y", "Z" }, [&shape] {return shape->GetPositionOffset(); }, [&shape](SHVec3 const& vec) {shape->SetPositionOffset(vec); });
+          SHEditorWidgets::DragVec3("Position", { "X", "Y", "Z" }, [&collider] {return collider->GetPositionOffset(); }, [&collider](SHVec3 const& vec) {collider->SetPositionOffset(vec); });
           SHEditorWidgets::DragVec3("Rotation", { "X", "Y", "Z" }, 
-          [&shape]
+          [&collider]
           {
-            auto offset = shape->GetRotationOffset();
+            auto offset = collider->GetRotationOffset();
             return offset;
           }, 
-          [&shape](SHVec3 const& vec)
+          [&collider](SHVec3 const& vec)
           {
-            shape->SetRotationOffset(vec);
+            collider->SetRotationOffset(vec);
           }, true);
           SHEditorWidgets::EndPanel();
         }
@@ -417,24 +404,21 @@ namespace SHADE
       }
       if (colliderToDelete.has_value())
       {
-        component->GetCollider()->RemoveCollisionShape(colliderToDelete.value());
+        component->RemoveCollider(colliderToDelete.value());
       }
       ImGui::EndChild();
 
-      // TODO: Handle differences between composite & hull collider
       if (ImGui::BeginMenu("Add Collider"))
       {
         int newColl = -1;
 
         if (ImGui::Selectable("Box Collider"))
         {
-          auto* compositeCollider = dynamic_cast<SHCompositeCollider* const>(component->GetCollider());
+          newColl = component->AddBoundingBox();
-          compositeCollider->AddBoxCollisionShape(SHVec3::One);
         }
         if (ImGui::Selectable("Sphere Collider"))
         {
-          auto* compositeCollider = dynamic_cast<SHCompositeCollider* const>(component->GetCollider());
+          newColl = component->AddBoundingSphere();
-          compositeCollider->AddSphereCollisionShape(1.0f);
         }
 
         //No idea why this doesn't work

SHADE_Engine/src/Editor/EditorWindow/MenuBar/SHEditorMenuBar.cpp

@@ -25,7 +25,6 @@
 #include "Serialization/SHSerialization.h"
 #include "Serialization/Configurations/SHConfigurationManager.h"
 #include "Editor/EditorWindow/SHEditorWindowManager.h"
-#include "Physics/System/SHPhysicsDebugDrawSystem.h"
 
 const std::string LAYOUT_FOLDER_PATH{ std::string(ASSET_ROOT) + "/Editor/Layouts" };
 
@@ -89,7 +88,6 @@ namespace SHADE
         DrawThemeMenu();
         DrawLayoutMenu();
         DrawApplicationConfig();
-        DrawPhysicsSettings();
 
         std::string const sceneName{std::format("Current Scene: {}",SHSceneManager::GetSceneName().data())};
         auto const size = ImGui::CalcTextSize(sceneName.data());
@@ -306,32 +304,4 @@ namespace SHADE
       ImGui::EndMenu();
     }
   }
-
-  void SHEditorMenuBar::DrawPhysicsSettings() noexcept
-  {
-    if (ImGui::BeginMenu("Physics Settings"))
-    {
-      if (auto* physicsDebugDraw = SHSystemManager::GetSystem<SHPhysicsDebugDrawSystem>())
-      {
-        bool drawColliders = physicsDebugDraw->GetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::COLLIDERS);
-        if (ImGui::Checkbox("Draw Colliders", &drawColliders))
-          physicsDebugDraw->SetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::COLLIDERS, drawColliders);
-
-        bool drawContactPoints = physicsDebugDraw->GetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::CONTACTS);
-        if (ImGui::Checkbox("Draw Contact Points", &drawContactPoints))
-          physicsDebugDraw->SetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::CONTACTS, drawContactPoints);
-
-          bool drawRays = physicsDebugDraw->GetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::RAYCASTS);
-        if (ImGui::Checkbox("Draw Rays", &drawRays))
-          physicsDebugDraw->SetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::RAYCASTS, drawRays);
-
-        bool drawBroadphase = physicsDebugDraw->GetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::BROADPHASE);
-        if (ImGui::Checkbox("Draw Broadphase", &drawBroadphase))
-          physicsDebugDraw->SetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::BROADPHASE, drawBroadphase);
-      }
-
-      ImGui::EndMenu();
-    }
-  }
-
 }//namespace SHADE

SHADE_Engine/src/Editor/EditorWindow/MenuBar/SHEditorMenuBar.h

@@ -25,7 +25,6 @@ namespace SHADE
     void DrawThemeMenu() noexcept;
     void DrawLayoutMenu() noexcept;
     void DrawApplicationConfig() noexcept;
-    void DrawPhysicsSettings() noexcept;
 
     float menuBarHeight = 20.0f;
     std::vector<std::filesystem::path> layoutPaths;

SHADE_Engine/src/Events/SHEventDefines.h

@@ -24,6 +24,4 @@ constexpr SHEventIdentifier SH_SCENE_EXIT_PRE                     { 15 };
 constexpr SHEventIdentifier SH_SCENE_EXIT_POST                    { 16 }; 
 constexpr SHEventIdentifier SH_GRAPHICS_LIGHT_ENABLE_SHADOW_EVENT { 17 };
 constexpr SHEventIdentifier SH_BUTTON_CLICK_EVENT                 { 18 };
-constexpr SHEventIdentifier SH_PHYSICS_COLLIDER_DRAW_EVENT        { 19 };
-
 

SHADE_Engine/src/Math/Geometry/SHAABB.h

@@ -1,173 +0,0 @@
-/****************************************************************************************
- * \file      SHAABB.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a 3-Dimensional Axis Aligned Bounding Box
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-#include <DirectXCollision.h>
-
-// Project Headers
-#include "Math/SHRay.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Type Definitions                                                                  */
-  /*-----------------------------------------------------------------------------------*/
-
-  /**
-   * @brief
-   * Encapsulates a 3D Axis-Aligned Bounding Box.
-  */
-  class SH_API SHAABB : private DirectX::BoundingBox
-  {
-  public:
-    /*---------------------------------------------------------------------------------*/
-    /* Static Data Members                                                             */
-    /*---------------------------------------------------------------------------------*/
-
-    static constexpr size_t NUM_VERTICES = 8;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Constructors & Destructor                                                       */
-    /*---------------------------------------------------------------------------------*/
-
-    ~SHAABB  () noexcept = default;
-
-    SHAABB   ()                                                 noexcept;
-    SHAABB   (const SHVec3& center, const SHVec3& halfExtents)  noexcept;
-    SHAABB   (const SHAABB& rhs)                                noexcept;
-    SHAABB   (SHAABB&& rhs)                                     noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Operator Overloads                                                              */
-    /*---------------------------------------------------------------------------------*/
-
-    SHAABB& operator=  (const SHAABB& rhs)  noexcept;
-    SHAABB& operator=  (SHAABB&& rhs)       noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Getter Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    [[nodiscard]] SHVec3              GetCenter     ()  const noexcept;
-    [[nodiscard]] SHVec3              GetExtents    ()  const noexcept;
-    [[nodiscard]] SHVec3              GetMin        ()  const noexcept;
-    [[nodiscard]] SHVec3              GetMax        ()  const noexcept;
-    [[nodiscard]] std::vector<SHVec3> GetVertices   ()  const noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Setter Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    void  SetCenter   (const SHVec3& newCenter)               noexcept;
-    void  SetExtents  (const SHVec3& newHalfExtents)          noexcept;
-    void  SetMin      (const SHVec3& min)                     noexcept;
-    void  SetMax      (const SHVec3& max)                     noexcept;
-    void  SetMinMax   (const SHVec3& min, const SHVec3& max)  noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Member Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    /**
-     * @brief
-     * Checks if a point is inside the aabb.
-     * @param point
-     * The point to check.
-     * @return
-     * True if the point is inside the aabb.
-    */
-    [[nodiscard]] bool TestPoint (const SHVec3& point) const noexcept;
-
-    /**
-     * @brief
-     * Casts a ray against the aabb.
-     * @param ray
-     * The ray to cast.
-     * @return
-     * The result of the raycast. <br/>
-     * See the corresponding header for the contents of the raycast result object.
-     */
-    [[nodiscard]] SHRaycastResult Raycast (const SHRay& ray) const noexcept;
-
-    /**
-     * @brief
-     * Checks if an entire other aabb is contained by this aabb.
-     * @param rhs
-     * The aabb to check.
-     * @return
-     * True if the other sphere is completely contained by this aabb.
-     */
-    [[nodiscard]] bool Contains (const SHAABB& rhs) const noexcept;
-
-    /**
-     * @brief
-     * Calculates the volume of the aabb.
-     */
-    [[nodiscard]] float Volume () const noexcept;
-
-    /**
-     * @brief
-     * Calculates the surface area of the aabb.
-     */
-    [[nodiscard]] float SurfaceArea () const noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Static Member Functions                                                         */
-    /*---------------------------------------------------------------------------------*/
-
-    /**
-     * @brief
-     * Combines two aabbs to form a larger aabb.
-     * If one aabb is completely contained by the other, the result is the larger aabb.
-     * @return
-     * The combined aabb.
-     */
-    [[nodiscard]] static SHAABB Combine (const SHAABB& lhs, const SHAABB& rhs)  noexcept;
-
-    /**
-     * @brief
-     * Checks if two aabbs are intersecting.
-     * @return
-     * True if they are intersecting.
-     */
-    [[nodiscard]] static bool Intersect (const SHAABB& lhs, const SHAABB& rhs)  noexcept;
-
-    /**
-     * @brief
-     * Builds a single aabb from multiple aabbs.
-     * @param spheres
-     * The set of aabbs to build from.
-     * @param numSpheres
-     * The number of aabbs in the set to build from.
-     * @return
-     * An aabb that contains all the spheres in the set.
-     */
-    [[nodiscard]] static SHAABB BuildFromBoxes (const SHAABB* boxes, size_t numBoxes)  noexcept;
-
-    /**
-     * @brief
-     * Builds a aabb from a set of vertices.
-     * @param vertices
-     * The vertices to build a aabb from.
-     * @param numVertices
-     * The number of vertices in the set to build from.
-     * @param stride
-     * The stride between each vertex, in the instance there is data in between each
-     * vertex that does not define the geometry of the object.
-     * @return
-     * An aabb that contains all the vertices in the set.
-     */
-    [[nodiscard]] static SHAABB BuildFromVertices (const SHVec3* vertices, size_t numVertices, size_t stride = 0) noexcept;
-  };
-
-
-} // namespace SHADE
-

SHADE_Engine/src/Math/Geometry/SHBox.cpp

@@ -1,5 +1,5 @@
 /****************************************************************************************
- * \file      SHAABB.cpp
+ * \file      SHBox.cpp
  * \author    Diren D Bharwani, diren.dbharwani, 390002520
  * \brief     Implementation for a 3-Dimensional Axis Aligned Bounding Box
  *
@@ -11,7 +11,7 @@
 #include <SHpch.h>
 
 // Primary Header
-#include "SHAABB.h"
+#include "SHBox.h"
 // Project Headers
 #include "Math/SHMathHelpers.h"
 #include "Math/SHRay.h"
@@ -24,52 +24,75 @@ namespace SHADE
   /* Constructors & Destructor Definitions                                             */
   /*-----------------------------------------------------------------------------------*/
 
-  SHAABB::SHAABB() noexcept
+  SHBox::SHBox() noexcept
+  : RelativeExtents { SHVec3::One }
   {
-    Extents = SHVec3::One * 0.5f;
+    type = Type::BOX;
   }
 
-  SHAABB::SHAABB(const SHVec3& c, const SHVec3& hE) noexcept
+  SHBox::SHBox(const SHVec3& c, const SHVec3& hE) noexcept
+  : RelativeExtents { SHVec3::One }
   {
+    type = Type::BOX;
+
     Center = c;
     Extents = hE;
   }
 
 
-  SHAABB::SHAABB(const SHAABB& rhs) noexcept
+  SHBox::SHBox(const SHBox& rhs) noexcept
   {
     if (this == &rhs)
       return;
 
+    type = Type::BOX;
+
     Center          = rhs.Center;
     Extents         = rhs.Extents;
+    RelativeExtents = rhs.RelativeExtents;
   }
 
-  SHAABB::SHAABB(SHAABB&& rhs) noexcept
+  SHBox::SHBox(SHBox&& rhs) noexcept
   {
+    type = Type::BOX;
+
     Center          = rhs.Center;
     Extents         = rhs.Extents;
+    RelativeExtents = rhs.RelativeExtents;
   }
 
   /*-----------------------------------------------------------------------------------*/
   /* Operator Overload Definitions                                                     */
   /*-----------------------------------------------------------------------------------*/
 
-  SHAABB& SHAABB::operator=(const SHAABB& rhs) noexcept
+  SHBox& SHBox::operator=(const SHBox& rhs) noexcept
   {
-    if (this != &rhs)
+    if (rhs.type != Type::BOX)
+    {
+      SHLOG_WARNING("Cannot assign a non-bounding box to a bounding box!")
+    }
+    else if (this != &rhs)
     {
       Center          = rhs.Center;
       Extents         = rhs.Extents;
+      RelativeExtents = rhs.RelativeExtents;
     }
 
     return *this;
   }
 
-  SHAABB& SHAABB::operator=(SHAABB&& rhs) noexcept
+  SHBox& SHBox::operator=(SHBox&& rhs) noexcept
+  {
+    if (rhs.type != Type::BOX)
+    {
+      SHLOG_WARNING("Cannot assign a non-bounding box to a bounding box!")
+    }
+    else
     {
       Center          = rhs.Center;
       Extents         = rhs.Extents;
+      RelativeExtents = rhs.RelativeExtents;
+    }
 
     return *this;
   }
@@ -78,22 +101,27 @@ namespace SHADE
   /* Getter Function Definitions                                                       */
   /*-----------------------------------------------------------------------------------*/
 
-  SHVec3 SHAABB::GetCenter() const noexcept
+  SHVec3 SHBox::GetCenter() const noexcept
   {
     return Center;
   }
 
-  SHVec3 SHAABB::GetExtents() const noexcept
+  SHVec3 SHBox::GetWorldExtents() const noexcept
   {
     return Extents;
   }
 
-  SHVec3 SHAABB::GetMin() const noexcept
+  const SHVec3& SHBox::GetRelativeExtents() const noexcept
+  {
+    return RelativeExtents;
+  }
+
+  SHVec3 SHBox::GetMin() const noexcept
   {
     return SHVec3{ Center.x - Extents.x, Center.y - Extents.y, Center.z - Extents.z };
   }
 
-  SHVec3 SHAABB::GetMax() const noexcept
+  SHVec3 SHBox::GetMax() const noexcept
   {
     return SHVec3{ Center.x + Extents.x, Center.y + Extents.y, Center.z + Extents.z };
   }
@@ -102,17 +130,22 @@ namespace SHADE
   /* Setter Function Definitions                                                       */
   /*-----------------------------------------------------------------------------------*/
 
-  void SHAABB::SetCenter(const SHVec3& newCenter) noexcept
+  void SHBox::SetCenter(const SHVec3& newCenter) noexcept
   {
     Center = newCenter;
   }
 
-  void SHAABB::SetExtents(const SHVec3& newHalfExtents) noexcept
+  void SHBox::SetWorldExtents(const SHVec3& newWorldExtents) noexcept
   {
-    Extents = newHalfExtents;
+    Extents = newWorldExtents;
   }
 
-  void SHAABB::SetMin(const SHVec3& min) noexcept
+  void SHBox::SetRelativeExtents(const SHVec3& newRelativeExtents) noexcept
+  {
+    RelativeExtents = newRelativeExtents;
+  }
+
+  void SHBox::SetMin(const SHVec3& min) noexcept
   {
     const SHVec3 MAX = GetMax();
 
@@ -120,7 +153,7 @@ namespace SHADE
     Extents = SHVec3::Abs((MAX - min) * 0.5f);
   }
 
-  void SHAABB::SetMax(const SHVec3& max) noexcept
+  void SHBox::SetMax(const SHVec3& max) noexcept
   {
     const SHVec3 MIN = GetMin();
 
@@ -128,13 +161,13 @@ namespace SHADE
     Extents = SHVec3::Abs((max - MIN) * 0.5f);
   }
 
-  void SHAABB::SetMinMax(const SHVec3& min, const SHVec3& max) noexcept
+  void SHBox::SetMinMax(const SHVec3& min, const SHVec3& max) noexcept
   {
     Center  = SHVec3::Lerp(min, max, 0.5f);
     Extents = SHVec3::Abs((max - min) * 0.5f);
   }
 
-  std::vector<SHVec3> SHAABB::GetVertices() const noexcept
+  std::vector<SHVec3> SHBox::GetVertices() const noexcept
   {
     std::vector<SHVec3> vertices{ 8 };
     GetCorners(vertices.data());
@@ -145,12 +178,12 @@ namespace SHADE
   /* Public Function Member Definitions                                                */
   /*-----------------------------------------------------------------------------------*/
 
-  bool SHAABB::TestPoint(const SHVec3& point) const noexcept
+  bool SHBox::TestPoint(const SHVec3& point) const noexcept
   {
     return BoundingBox::Contains(point);
   }
 
-  SHRaycastResult SHAABB::Raycast(const SHRay& ray) const noexcept
+  SHRaycastResult SHBox::Raycast(const SHRay& ray) const noexcept
   {
     SHRaycastResult result;
 
@@ -159,24 +192,22 @@ namespace SHADE
     {
       result.position = ray.position + ray.direction * result.distance;
       result.angle    = SHVec3::Angle(ray.position, result.position);
-
-      // TODO: Compute normal
     }
 
     return result;
   }
 
-  bool SHAABB::Contains(const SHAABB& rhs) const noexcept
+  bool SHBox::Contains(const SHBox& rhs) const noexcept
   {
-    return BoundingBox::Contains(rhs) == CONTAINS;
+    return BoundingBox::Contains(rhs);
   }
 
-  float SHAABB::Volume() const noexcept
+  float SHBox::Volume() const noexcept
   {
     return 8.0f * (Extents.x * Extents.y * Extents.z);
   }
 
-  float SHAABB::SurfaceArea() const noexcept
+  float SHBox::SurfaceArea() const noexcept
   {
     return 8.0f * ((Extents.x * Extents.y) 
       + (Extents.x * Extents.z) 
@@ -187,21 +218,21 @@ namespace SHADE
   /* Static Function Member Definitions                                                */
   /*-----------------------------------------------------------------------------------*/
 
-  SHAABB SHAABB::Combine(const SHAABB& lhs, const SHAABB& rhs) noexcept
+  SHBox SHBox::Combine(const SHBox& lhs, const SHBox& rhs) noexcept
   {
-    SHAABB result;
+    SHBox result;
     CreateMerged(result, lhs, rhs);
     return result;
   }
 
-  bool SHAABB::Intersect(const SHAABB& lhs, const SHAABB& rhs) noexcept
+  bool SHBox::Intersect(const SHBox& lhs, const SHBox& rhs) noexcept
   {
     return lhs.Intersects(rhs);
   }
 
-  SHAABB SHAABB::BuildFromBoxes(const SHAABB* boxes, size_t numBoxes) noexcept
+  SHBox SHBox::BuildFromBoxes(const SHBox* boxes, size_t numBoxes) noexcept
   {
-    SHAABB result;
+    SHBox result;
 
     for (size_t i = 1; i < numBoxes; ++i)
       CreateMerged(result, boxes[i - 1], boxes[i]);
@@ -209,9 +240,9 @@ namespace SHADE
     return result;
   }
 
-  SHAABB SHAABB::BuildFromVertices(const SHVec3* vertices, size_t numVertices, size_t stride) noexcept
+  SHBox SHBox::BuildFromVertices(const SHVec3* vertices, size_t numVertices, size_t stride) noexcept
   {
-    SHAABB result;
+    SHBox result;
     CreateFromPoints(result, numVertices, vertices, stride);
     return result;
   }

SHADE_Engine/src/Math/Geometry/SHBox.h

@@ -0,0 +1,105 @@
+/****************************************************************************************
+ * \file      SHBox.h
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Interface for a 3-Dimensional Axis Aligned Bounding Box
+ *
+ * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
+ *            disclosure of this file or its contents without the prior written consent
+ *            of DigiPen Institute of Technology is prohibited.
+****************************************************************************************/
+
+#pragma once
+
+#include <DirectXCollision.h>
+
+// Project Headers
+#include "SHShape.h"
+#include "SH_API.h"
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Type Definitions                                                                  */
+  /*-----------------------------------------------------------------------------------*/
+
+  class SH_API SHBox :  public SHShape,
+                        private DirectX::BoundingBox
+  {
+  public:
+    /*---------------------------------------------------------------------------------*/
+    /* Static Data Members                                                             */
+    /*---------------------------------------------------------------------------------*/
+
+    static constexpr size_t NUM_VERTICES = 8;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Constructors & Destructor                                                       */
+    /*---------------------------------------------------------------------------------*/
+
+    ~SHBox  () override = default;
+
+    SHBox   ()                                                noexcept;
+    SHBox   (const SHVec3& center, const SHVec3& halfExtents) noexcept;
+    SHBox   (const SHBox& rhs)                        noexcept;
+    SHBox   (SHBox&& rhs)                             noexcept;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Operator Overloads                                                              */
+    /*---------------------------------------------------------------------------------*/
+
+    SHBox& operator=  (const SHBox& rhs)  noexcept;
+    SHBox& operator=  (SHBox&& rhs)       noexcept;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Getter Functions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    [[nodiscard]] SHVec3              GetCenter           ()  const noexcept;
+    [[nodiscard]] SHVec3              GetWorldExtents     ()  const noexcept;
+    [[nodiscard]] const SHVec3&       GetRelativeExtents  ()  const noexcept;
+    [[nodiscard]] SHVec3              GetMin              ()  const noexcept;
+    [[nodiscard]] SHVec3              GetMax              ()  const noexcept;
+    [[nodiscard]] std::vector<SHVec3> GetVertices         ()  const noexcept;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Setter Functions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    void  SetCenter           (const SHVec3& newCenter)               noexcept;
+    void  SetWorldExtents     (const SHVec3& newWorldExtents)         noexcept;
+    void  SetRelativeExtents  (const SHVec3& newRelativeExtents)      noexcept;
+    void  SetMin              (const SHVec3& min)                     noexcept;
+    void  SetMax              (const SHVec3& max)                     noexcept;
+    void  SetMinMax           (const SHVec3& min, const SHVec3& max)  noexcept;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Function Members                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    [[nodiscard]] bool            TestPoint   (const SHVec3& point) const noexcept override;
+    [[nodiscard]] SHRaycastResult Raycast(const SHRay& ray) const noexcept override;
+
+    [[nodiscard]] bool    Contains    (const SHBox& rhs)  const noexcept;
+    [[nodiscard]] float   Volume      ()  const noexcept;
+    [[nodiscard]] float   SurfaceArea ()  const noexcept;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Static Function Members                                                         */
+    /*---------------------------------------------------------------------------------*/
+
+    [[nodiscard]] static SHBox  Combine           (const SHBox& lhs, const SHBox& rhs)    noexcept;
+    [[nodiscard]] static bool   Intersect         (const SHBox& lhs, const SHBox& rhs)    noexcept;
+    [[nodiscard]] static SHBox  BuildFromBoxes    (const SHBox* boxes, size_t numBoxes)   noexcept;
+    [[nodiscard]] static SHBox  BuildFromVertices (const SHVec3* vertices, size_t numVertices, size_t stride = 0) noexcept;
+
+  private:
+    /*---------------------------------------------------------------------------------*/
+    /* Data Members                                                                    */
+    /*---------------------------------------------------------------------------------*/
+
+    SHVec3 RelativeExtents;
+  };
+
+
+} // namespace SHADE
+

SHADE_Engine/src/Math/Geometry/SHPlane.cpp

@@ -1,141 +0,0 @@
-/****************************************************************************************
- * \file      SHPlane.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for a plane.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#include <SHpch.h>
-
-#include <DirectXMath.h>
-
-// Primary Header
-#include "SHPlane.h"
-
-#include "Input/SHInputManager.h"
-#include "Math/SHMathHelpers.h"
-
-using namespace DirectX;
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Constructors & Destructor Definitions                                             */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHPlane::SHPlane() noexcept
-  : planeEquation { SHVec3::One }
-  {
-    planeEquation.w = 0.0f;
-  }
-
-  SHPlane::SHPlane(const SHVec3& point, const SHVec3& normal) noexcept
-  {
-    XMStoreFloat4(&planeEquation, XMPlaneFromPointNormal(point, normal));
-  }
-
-  SHPlane::SHPlane(float a, float b, float c, float d) noexcept
-  : planeEquation { a, b, c, d }
-  {}
-
-  SHPlane::SHPlane(const SHVec3& normal, float distance) noexcept
-  : planeEquation { normal }
-  {
-    planeEquation.w = distance;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Operator Overload Definitions                                                     */
-  /*-----------------------------------------------------------------------------------*/
-
-  bool SHPlane::operator==(const SHPlane& rhs) const noexcept
-  {
-    return XMPlaneEqual(planeEquation, rhs.planeEquation);
-  }
-
-  bool SHPlane::operator!=(const SHPlane& rhs) const noexcept
-  {
-    return XMPlaneNotEqual(planeEquation, rhs.planeEquation);
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Getter Function Definitions                                                       */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHVec3 SHPlane::GetNormal() const noexcept
-  {
-    return SHVec3{ planeEquation.x, planeEquation.y, planeEquation.z };
-  }
-
-  float SHPlane::GetDistance() const noexcept
-  {
-    return planeEquation.w;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Setter Function Definitions                                                       */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHPlane::SetNormal(const SHVec3& normal) noexcept
-  {
-    planeEquation.x = normal.x;
-    planeEquation.y = normal.y;
-    planeEquation.z = normal.z;
-  }
-
-  void SHPlane::SetDistance(float distance) noexcept
-  {
-    planeEquation.w = distance;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Public Function Member Definitions                                                */
-  /*-----------------------------------------------------------------------------------*/
-
-  bool SHPlane::TestPoint(const SHVec3& point) const noexcept
-  {
-    const float DISTANCE = SignedDistance(point);
-    return SHMath::CompareFloat(DISTANCE, 0.0f);
-  }
-
-  SHRaycastResult SHPlane::Raycast(const SHRay& ray) const noexcept
-  {
-    SHRaycastResult result;
-
-    const SHVec3 N = GetNormal();
-
-    // Check if ray is parallel to plane
-    const float N_DOT_D = N.Dot(ray.direction);
-    if (SHMath::CompareFloat(N_DOT_D, 0.0f))
-    {
-      result.hit = false;
-      return result;
-    }
-
-    const float DIST = (planeEquation.w - N.Dot(ray.position)) / N_DOT_D;
-    if (DIST < 0.0f || !SHMath::CompareFloat(DIST, 0.0f))
-    {
-      result.hit = false;
-      return result;
-    }
-
-    result.hit      = true;
-    result.distance = DIST;
-    result.position = ray.position + ray.direction * DIST;
-    result.angle    = SHVec3::Angle(ray.position, result.position);
-
-    // The normal is either the plane's normal or the reverse if the ray came from below
-    result.normal   = N_DOT_D < 0.0f ? -N : N;
-
-    return result;
-  }
-
-  float SHPlane::SignedDistance(const SHVec3& point) const noexcept
-  {
-    return XMVectorGetX(XMPlaneDotCoord(planeEquation, point));
-  }
-
-} // namespace SHADE

SHADE_Engine/src/Math/Geometry/SHPlane.h

@@ -1,121 +0,0 @@
-/****************************************************************************************
- * \file      SHPlane.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a plane.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-// Project Headers
-#include "Math/SHRay.h"
-#include "Math/Vector/SHVec4.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Type Definitions                                                                  */
-  /*-----------------------------------------------------------------------------------*/
-
-  /**
-   * @brief
-   * Encapsulates a 3D plane in point-normal form.
-  */
-  class SH_API SHPlane
-  {
-  public:
-    /*---------------------------------------------------------------------------------*/
-    /* Constructors & Destructor                                                       */
-    /*---------------------------------------------------------------------------------*/
-
-    ~SHPlane  ()                    noexcept = default;
-    SHPlane   (const SHPlane& rhs)  noexcept = default;
-    SHPlane   (SHPlane&& rhs)       noexcept = default;
-
-    SHPlane   ()                                          noexcept;
-    SHPlane   (const SHVec3& point, const SHVec3& normal) noexcept;
-    SHPlane   (float a, float b, float c, float d)        noexcept;
-    SHPlane   (const SHVec3& normal, float distance)      noexcept;
-    
-
-    /*---------------------------------------------------------------------------------*/
-    /* Operator Overloads                                                              */
-    /*---------------------------------------------------------------------------------*/
-
-    SHPlane& operator=  (const SHPlane& rhs)  noexcept = default;
-    SHPlane& operator=  (SHPlane&& rhs)       noexcept = default;
-
-    bool operator==     (const SHPlane& rhs)  const noexcept;
-    bool operator!=     (const SHPlane& rhs)  const noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Getter Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    [[nodiscard]] SHVec3  GetNormal   ()  const noexcept;
-    [[nodiscard]] float   GetDistance ()  const noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Setter Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    void SetNormal    (const SHVec3& normal)  noexcept;
-    void SetDistance  (float distance)        noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Member Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    /**
-     * @brief
-     * Checks if a point is on the plane.
-     * @param point
-     * The point to check.
-     * @return
-     * True if the point is on the plane.
-    */
-    [[nodiscard]] bool TestPoint (const SHVec3& point) const noexcept;
-
-    /**
-     * @brief
-     * Casts a ray against the plane.
-     * @param ray
-     * The ray to cast.
-     * @return
-     * The result of the raycast. <br/>
-     * See the corresponding header for the contents of the raycast result object.
-     */
-    [[nodiscard]] SHRaycastResult Raycast (const SHRay& ray) const noexcept;
-
-    /**
-     * @brief
-     * Gets the signed distance from a point to the plane.
-     * @param point
-     * The point to check.
-     * @return
-     * The signed distance of the point to a plane. <br/>
-     * If the signed distance is negative, the point is behind the plane. <br/>
-     * If the signed distance is zero, the point is on the plane. <br/>
-     * If the signed distance is positive, the point is in front of the plane. <br/>
-    */
-    [[nodiscard]] float SignedDistance (const SHVec3& point) const noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Static Member Functions                                                         */
-    /*---------------------------------------------------------------------------------*/
-
-    /*
-     * TODO:
-     * Transform plane
-     * Intersection Tests
-     */
-
-  private:
-
-    SHVec4 planeEquation;
-  }; 
-
-} // namespace SHADE

SHADE_Engine/src/Math/Geometry/SHShape.cpp

@@ -1,7 +1,7 @@
 /****************************************************************************************
- * \file      SHCapsuleVsCapsule.cpp
+ * \file      SHShape.cpp
  * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for the Detecting Collisions between two capsules
+ * \brief     Implementation for a shape.
  *
  * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
  *            disclosure of this file or its contents without the prior written consent
@@ -11,25 +11,25 @@
 #include <SHpch.h>
 
 // Primary Header
-#include "SHCollision.h"
+#include "SHShape.h"
-
-// Project Headers
-#include "Math/SHMathHelpers.h"
 
 namespace SHADE
 {
   /*-----------------------------------------------------------------------------------*/
-  /* Public Member Functions Definitions                                               */
+  /* Constructors & Destructor Definitions                                             */
   /*-----------------------------------------------------------------------------------*/
 
-  bool SHCollision::CapsuleVsCapsule(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
+  SHShape::SHShape()
-  {
+  : type { Type::NONE }
-    return false;
+  {}
-  }
 
-  bool SHCollision::CapsuleVsCapsule(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
+  /*-----------------------------------------------------------------------------------*/
+  /* Getter Function Definitions                                                       */
+  /*-----------------------------------------------------------------------------------*/
+
+  SHShape::Type SHShape::GetType() const noexcept
   {
-    return false;
+    return type;
   }
 
 } // namespace SHADE

SHADE_Engine/src/Math/Geometry/SHShape.h

@@ -1,8 +1,7 @@
 /****************************************************************************************
- * \file      SHContactSolver.h
+ * \file      SHShape.h
  * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a Contact Solver that builds contacct constraints and solves
+ * \brief     Interface for a shape.
- *            them.
  *
  * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
  *            disclosure of this file or its contents without the prior written consent
@@ -12,8 +11,9 @@
 #pragma once
 
 // Project Headers
-#include "Constraints/SHContactConstraint.h"
+#include "SH_API.h"
-#include "Constraints/SHVelocityState.h"
+#include "Math/SHRay.h"
+
 
 namespace SHADE
 {
@@ -21,73 +21,62 @@ namespace SHADE
   /* Type Definitions                                                                  */
   /*-----------------------------------------------------------------------------------*/
 
-  /**
+  class SH_API SHShape
-   * @brief
-   * Encapsulates an object that builds contact constraints and solves them.
-  */
-  class SH_API SHContactSolver
   {
   public:
     /*---------------------------------------------------------------------------------*/
     /* Type Definitions                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    using VelocityStates      = std::unordered_map<EntityID, SHVelocityState>; 
+    enum class Type
-    using ContactConstraints  = std::unordered_map<SHCollisionKey, SHContactConstraint, SHCollisionKeyHash>;
+    {
+      BOX
+    , SPHERE
+    , CAPSULE
+    , CONVEX_HULL
+
+    , COUNT
+    , NONE    =  -1
+    };
+
+    /*---------------------------------------------------------------------------------*/
+    /* Data Members                                                                    */
+    /*---------------------------------------------------------------------------------*/
+
+    bool isIntersecting;
 
     /*---------------------------------------------------------------------------------*/
     /* Constructors & Destructor                                                       */
     /*---------------------------------------------------------------------------------*/
 
-    SHContactSolver   () noexcept = default;
+    virtual ~SHShape  ()                = default;
-    ~SHContactSolver  () noexcept = default;
+
+    SHShape           (const SHShape&)  = default;
+    SHShape           (SHShape&&)       = default;
+
+    SHShape& operator=(const SHShape&)  = default;
+    SHShape& operator=(SHShape&&)       = default;
+
+    SHShape();
 
     /*---------------------------------------------------------------------------------*/
     /* Getter Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    [[nodiscard]] const VelocityStates&     GetVelocities         () const noexcept;
+    [[nodiscard]] Type          GetType   () const noexcept;
-    [[nodiscard]] const ContactConstraints& GetContantConstraints () const noexcept;
 
     /*---------------------------------------------------------------------------------*/
-    /* Member Functions                                                                */
+    /* Function Members                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    /**
+    [[nodiscard]] virtual bool            TestPoint (const SHVec3& point) const noexcept = 0;
-     * @brief
+    [[nodiscard]] virtual SHRaycastResult Raycast   (const SHRay& ray)    const noexcept = 0;
-     * Build a contact constraint from a new manifold.
-     * @param manifold
-     * A manifold to build a contact constraint from.
-    */
-    void AddContact     (const SHCollisionKey& key, const SHManifold& manifold) noexcept;
 
-    void Reset          () noexcept;
+  protected:
-
-    /**
-     * @brief
-     * Solves all the contact constraints.
-     * @param numIterations
-     * The number of times to iterate over constraints when solving them.
-     * @param dt
-     * The delta time of the simulation step.
-    */
-    void SolveContacts  (int numIterations, float dt) noexcept;
-
-  private:
     /*---------------------------------------------------------------------------------*/
     /* Data Members                                                                    */
     /*---------------------------------------------------------------------------------*/
 
-    VelocityStates      velocityStates;
+    Type    type;
-    ContactConstraints  contactConstraints;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Member Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    void preSolve   (float dt)  noexcept;
-    void solve      ()          noexcept;
-
   };
-
 } // namespace SHADE

SHADE_Engine/src/Math/Geometry/SHSphere.cpp

@@ -0,0 +1,208 @@
+/****************************************************************************************
+ * \file      SHBoundingSphere.cpp
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Implementation for a Bounding Sphere
+ *
+ * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
+ *            disclosure of this file or its contents without the prior written consent
+ *            of DigiPen Institute of Technology is prohibited.
+****************************************************************************************/
+
+#include <SHpch.h>
+
+// Primary Header
+#include "SHSphere.h"
+// Project Headers
+#include "Math/SHMathHelpers.h"
+#include "Math/SHRay.h"
+
+using namespace DirectX;
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Constructors & Destructor Definitions                                             */
+  /*-----------------------------------------------------------------------------------*/
+
+  SHSphere::SHSphere() noexcept
+  : RelativeRadius { 1.0f }
+  {
+    type = Type::SPHERE;
+  }
+
+  SHSphere::SHSphere(const SHVec3& center, float radius) noexcept
+  : RelativeRadius { 1.0f }
+  {
+    type = Type::SPHERE;
+
+    Center = center;
+    Radius = radius;
+  }
+
+  SHSphere::SHSphere(const SHSphere& rhs) noexcept
+  {
+    if (this == &rhs)
+      return;
+
+    type = Type::SPHERE;
+
+    Center          = rhs.Center;
+    Radius          = rhs.Radius;
+    RelativeRadius  = rhs.RelativeRadius;
+  }
+
+  SHSphere::SHSphere(SHSphere&& rhs) noexcept
+  {
+    type = Type::SPHERE;
+
+    Center          = rhs.Center;
+    Radius          = rhs.Radius;
+    RelativeRadius  = rhs.RelativeRadius;
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Operator Overload Definitions                                                     */
+  /*-----------------------------------------------------------------------------------*/
+
+  SHSphere& SHSphere::operator=(const SHSphere& rhs) noexcept
+  {
+    if (rhs.type != Type::SPHERE)
+    {
+      SHLOG_WARNING("Cannot assign a non-sphere to a sphere!")
+    }
+    else if (this != &rhs)
+    {
+      Center          = rhs.Center;
+      Radius          = rhs.Radius;
+      RelativeRadius  = rhs.RelativeRadius;
+    }
+
+    return *this;
+  }
+
+  SHSphere& SHSphere::operator=(SHSphere&& rhs) noexcept
+  {
+    if (rhs.type != Type::SPHERE)
+    {
+      SHLOG_WARNING("Cannot assign a non-sphere to a sphere!")
+    }
+    else
+    {
+      Center          = rhs.Center;
+      Radius          = rhs.Radius;
+      RelativeRadius  = rhs.RelativeRadius;
+    }
+
+    return *this;
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Getter Function Definitions                                                       */
+  /*-----------------------------------------------------------------------------------*/
+
+  SHVec3 SHSphere::GetCenter() const noexcept
+  {
+    return Center;
+  }
+
+  float SHSphere::GetWorldRadius() const noexcept
+  {
+    return Radius;
+  }
+
+  float SHSphere::GetRelativeRadius() const noexcept
+  {
+    return RelativeRadius;
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Setter Function Definitions                                                       */
+  /*-----------------------------------------------------------------------------------*/
+
+  void SHSphere::SetCenter(const SHVec3& center) noexcept
+  {
+    Center = center;
+  }
+
+  void SHSphere::SetWorldRadius(float newWorldRadius) noexcept
+  {
+    Radius = newWorldRadius;
+  }
+
+  void SHSphere::SetRelativeRadius(float newRelativeRadius) noexcept
+  {
+    RelativeRadius = newRelativeRadius;
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Public Function Member Definitions                                                */
+  /*-----------------------------------------------------------------------------------*/
+
+  bool SHSphere::TestPoint(const SHVec3& point) const noexcept
+  {
+    return BoundingSphere::Contains(point);
+  }
+
+  SHRaycastResult SHSphere::Raycast(const SHRay& ray) const noexcept
+  {
+    SHRaycastResult result;
+
+    result.hit = Intersects(ray.position, ray.direction, result.distance);
+    if (result.hit)
+    {
+      result.position = ray.position + ray.direction * result.distance;
+      result.angle    = SHVec3::Angle(ray.position, result.position);
+    }
+
+    return result;
+  }
+
+  bool SHSphere::Contains(const SHSphere& rhs) const noexcept
+  {
+    return BoundingSphere::Contains(rhs);
+  }
+
+  float SHSphere::Volume() const noexcept
+  {
+    return (4.0f / 3.0f) * SHMath::PI * (Radius * Radius * Radius);
+  }
+
+  float SHSphere::SurfaceArea() const noexcept
+  {
+    return 4.0f * SHMath::PI * (Radius * Radius);
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Static Function Member Definitions                                                */
+  /*-----------------------------------------------------------------------------------*/
+
+  SHSphere SHSphere::Combine(const SHSphere& lhs, const SHSphere& rhs) noexcept
+  {
+    SHSphere result;
+    CreateMerged(result, lhs, rhs);
+    return result;
+  }
+
+  bool SHSphere::Intersect(const SHSphere& lhs, const SHSphere& rhs) noexcept
+  {
+    return lhs.Intersects(rhs);
+  }
+
+  SHSphere SHSphere::BuildFromSpheres(const SHSphere* spheres, size_t numSpheres) noexcept
+  {
+    SHSphere result;
+
+    for (size_t i = 1; i < numSpheres; ++i)
+      CreateMerged(result, spheres[i - 1], spheres[i]);
+
+    return result;
+  }
+
+  SHSphere SHSphere::BuildFromVertices(const SHVec3* vertices, size_t numVertices, size_t stride) noexcept
+  {
+    SHSphere result;
+    CreateFromPoints(result, numVertices, vertices, stride);
+    return result;
+  }
+
+} // namespace SHADE

SHADE_Engine/src/Math/Geometry/SHSphere.h

@@ -1,7 +1,7 @@
 /****************************************************************************************
- * \file      SHSphereCollisionShape.h
+ * \file      SHBoundingSphere.h
  * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a Sphere Collision Shape.
+ * \brief     Interface for a Bounding Sphere.
  *
  * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
  *            disclosure of this file or its contents without the prior written consent
@@ -13,7 +13,8 @@
 #include <DirectXCollision.h>
 
 // Project Headers
-#include "SHCollisionShape.h"
+#include "SHShape.h"
+#include "SH_API.h"
 
 namespace SHADE
 {
@@ -21,42 +22,16 @@ namespace SHADE
   /* Type Definitions                                                                  */
   /*-----------------------------------------------------------------------------------*/
 
-  /**
+  class SH_API SHSphere : public SHShape,
-   * @brief
+                          private DirectX::BoundingSphere
-   * Encapsulates the information to create a sphere.
-  */
-  struct SHSphereCreateInfo
   {
-  public:
-    SHVec3  Center          = SHVec3::Zero;
-    float   Radius          = 1.0f;
-    float   RelativeRadius  = 1.0f;
-    float   Scale           = 1.0f;
-  };
-
-  /**
-   * @brief
-   * Encapsulate a Sphere Shape used for Physics Simulations.
-  */
-  class SH_API SHSphere final : public SHCollisionShape
-                              , private DirectX::BoundingSphere
-  {
-  private:
-    /*---------------------------------------------------------------------------------*/
-    /* Friends                                                                         */
-    /*---------------------------------------------------------------------------------*/
-
-    friend class SHCollider;
-    friend class SHCompositeCollider;
-    friend class SHCollision;
-    friend class SHCollisionShapeLibrary;
-
   public:
     /*---------------------------------------------------------------------------------*/
     /* Constructors & Destructor                                                       */
     /*---------------------------------------------------------------------------------*/
 
-    SHSphere  (SHCollisionShapeID id)             noexcept;
+    SHSphere  ()                                    noexcept;
+    SHSphere  (const SHVec3& center, float radius)  noexcept;
     SHSphere  (const SHSphere& rhs)         noexcept;
     SHSphere  (SHSphere&& rhs)              noexcept;
 
@@ -73,43 +48,45 @@ namespace SHADE
     /* Getter Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
+    [[nodiscard]] SHVec3  GetCenter         ()  const noexcept;
     [[nodiscard]] float   GetWorldRadius    ()  const noexcept;
     [[nodiscard]] float   GetRelativeRadius ()  const noexcept;
 
-    [[nodiscard]] SHVec3        GetWorldCentroid        ()              const noexcept override;
-    [[nodiscard]] SHVec3        GetRelativeCentroid     ()              const noexcept override;
-    [[nodiscard]] SHVec3        GetLocalCentroid        ()              const noexcept override;
-    [[nodiscard]] SHQuaternion  GetWorldOrientation     ()              const noexcept override;
-    [[nodiscard]] SHQuaternion  GetRelativeOrientation  ()              const noexcept override;
-    [[nodiscard]] float         GetVolume               ()              const noexcept override;
-    [[nodiscard]] float         GetSurfaceArea          ()              const noexcept override;
-    [[nodiscard]] SHMatrix      GetInertiaTensor        (float mass)    const noexcept override;
-
     /*---------------------------------------------------------------------------------*/
     /* Setter Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
+    void SetCenter          (const SHVec3& center)    noexcept;
     void SetWorldRadius     (float newWorldRadius)    noexcept;
     void SetRelativeRadius  (float newRelativeRadius) noexcept;
-    void SetScale           (float maxScale)          noexcept;
 
     /*---------------------------------------------------------------------------------*/
     /* Function Members                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    void                          Update      ()                    noexcept override;
     [[nodiscard]] bool            TestPoint   (const SHVec3& point) const noexcept override;
     [[nodiscard]] SHRaycastResult Raycast(const SHRay& ray) const noexcept override;
-    [[nodiscard]] SHMatrix        GetTRS      ()                    const noexcept override;
+
-    [[nodiscard]] SHAABB          ComputeAABB ()                    const noexcept override;
+    [[nodiscard]] bool    Contains    (const SHSphere& rhs) const noexcept;
+    [[nodiscard]] float   Volume      () const noexcept;
+    [[nodiscard]] float   SurfaceArea () const noexcept;
+
+
+    /*---------------------------------------------------------------------------------*/
+    /* Static Function Members                                                         */
+    /*---------------------------------------------------------------------------------*/
+
+    [[nodiscard]] static SHSphere Combine           (const SHSphere& lhs, const SHSphere& rhs)      noexcept;
+    [[nodiscard]] static bool             Intersect         (const SHSphere& lhs, const SHSphere& rhs)      noexcept;
+    [[nodiscard]] static SHSphere BuildFromSpheres  (const SHSphere* spheres, size_t numSpheres)            noexcept;
+    [[nodiscard]] static SHSphere BuildFromVertices (const SHVec3* vertices, size_t numVertices, size_t stride = 0) noexcept;
 
   private:
     /*---------------------------------------------------------------------------------*/
     /* Data Members                                                                    */
     /*---------------------------------------------------------------------------------*/
 
-    float relativeRadius;
+    float RelativeRadius;
-    float scale;
-  };
 
+  };
 } // namespace SHADE

SHADE_Engine/src/Math/SHColour.cpp

@@ -260,8 +260,6 @@ namespace SHADE
       case 1:   return y;
       case 2:   return z;
       case 3:   return w;
-      // This will never hit
-      default:  return x;
     }
   }
 
@@ -276,8 +274,6 @@ namespace SHADE
       case 1:   return y;
       case 2:   return z;
       case 3:   return w;
-      // This will never hit
-      default:  return x;
     }
   }
 
@@ -292,8 +288,6 @@ namespace SHADE
       case 1:   return y;
       case 2:   return z;
       case 3:   return w;
-      // This will never hit
-      default:  return x;
     }
   }
 
@@ -308,8 +302,6 @@ namespace SHADE
       case 1:   return y;
       case 2:   return z;
       case 3:   return w;
-      // This will never hit
-      default:  return x;
     }
   }
 

SHADE_Engine/src/Math/SHMathHelpers.h

@@ -46,7 +46,7 @@ namespace SHADE
     /*---------------------------------------------------------------------------------*/
 
     /** Standard Epsilon value for comparing Single-Precision Floating-Point values. */
-    static constexpr float EPSILON        = 0.0001f;
+    static constexpr float EPSILON    = 0.001f;
     
     /** Single-Precision Floating-Point value of infinity */ 
     static constexpr float INF        = std::numeric_limits<float>::infinity();
@@ -55,8 +55,6 @@ namespace SHADE
     static constexpr float HALF_PI    = PI * 0.5f;
     static constexpr float TWO_PI     = 2.0f * PI;
 
-    static constexpr float EULER_CONSTANT = std::numbers::egamma_v<float>;
-
     /*---------------------------------------------------------------------------------*/
     /* Static Function Members                                                         */
     /*---------------------------------------------------------------------------------*/

SHADE_Engine/src/Math/SHMatrix.cpp

@@ -34,14 +34,6 @@ namespace SHADE
     0.0f, 0.0f, 0.0f, 1.0f
   };
 
-  const SHMatrix SHMatrix::Zero
-  {
-    SHVec4::Zero
-  , SHVec4::Zero
-  , SHVec4::Zero
-  , SHVec4::Zero
-  };
-
   /*-----------------------------------------------------------------------------------*/
   /* Constructors & Destructor Definitions                                             */
   /*-----------------------------------------------------------------------------------*/

SHADE_Engine/src/Math/SHMatrix.h

@@ -45,7 +45,6 @@ namespace SHADE
     static constexpr  size_t  NUM_COLS  = 4U;
 
     static const SHMatrix     Identity;
-    static const SHMatrix     Zero;
 
     /*---------------------------------------------------------------------------------*/
     /* Constructors & Destructor                                                       */

SHADE_Engine/src/Math/SHQuaternion.cpp

@@ -40,14 +40,20 @@ namespace SHADE
   : XMFLOAT4( vec4.x, vec4.y, vec4.z, vec4.w )
   {}
 
-  SHQuaternion::SHQuaternion(const XMFLOAT4& xmfloat4) noexcept
-  : XMFLOAT4( xmfloat4 )
-  {}
-
   SHQuaternion::SHQuaternion(float _x, float _y, float _z, float _w) noexcept
   : XMFLOAT4( _x, _y, _z, _w )
   {}
 
+  SHQuaternion::SHQuaternion(const reactphysics3d::Vector3& rp3dEuler) noexcept
+  : XMFLOAT4( 0.0f, 0.0f, 0.0f, 1.0f )
+  {
+    XMStoreFloat4(this, XMQuaternionRotationRollPitchYawFromVector(SHVec3 { rp3dEuler }));
+  }
+
+  SHQuaternion::SHQuaternion(const reactphysics3d::Quaternion& rp3dQuat) noexcept
+  : XMFLOAT4( rp3dQuat.x, rp3dQuat.y, rp3dQuat.z, rp3dQuat.w )
+  {}
+
   /*-----------------------------------------------------------------------------------*/
   /* Operator Overload Definitions                                                     */
   /*-----------------------------------------------------------------------------------*/
@@ -135,6 +141,16 @@ namespace SHADE
     return XMQuaternionNotEqual(*this, rhs);
   }
 
+  SHQuaternion::operator reactphysics3d::Quaternion() const noexcept
+  {
+    return reactphysics3d::Quaternion{ x, y, z, w };
+  }
+
+  SHQuaternion::operator reactphysics3d::Vector3() const noexcept
+  {
+    return reactphysics3d::Vector3{ ToEuler() };
+  }
+
   SHQuaternion::operator XMVECTOR() const noexcept
   {
     return XMLoadFloat4(this);

SHADE_Engine/src/Math/SHQuaternion.h

@@ -11,6 +11,7 @@
 #pragma once
 
 #include <DirectXMath.h>
+#include <reactphysics3d/mathematics/Quaternion.h>
 
 #include <string>
 
@@ -49,9 +50,13 @@ namespace SHADE
 
     SHQuaternion  ()                                            noexcept;
     SHQuaternion  (const SHVec4& vec4)                          noexcept;
-    SHQuaternion  (const XMFLOAT4& xmfloat4)            noexcept;
     SHQuaternion  (float x, float y, float z, float w)          noexcept;
 
+    // Conversion from other math types
+
+    SHQuaternion  (const reactphysics3d::Vector3& rp3dEuler)    noexcept;
+    SHQuaternion  (const reactphysics3d::Quaternion& rp3dQuat)  noexcept;
+
     /*---------------------------------------------------------------------------------*/
     /* Operator Overloads                                                              */
     /*---------------------------------------------------------------------------------*/
@@ -77,6 +82,8 @@ namespace SHADE
 
     // Conversion to other math types used by SHADE
 
+    operator reactphysics3d::Quaternion       ()                        const noexcept;
+    operator reactphysics3d::Vector3          ()                        const noexcept;
     operator DirectX::XMVECTOR                ()                        const noexcept;
 
     /*---------------------------------------------------------------------------------*/

SHADE_Engine/src/Math/SHRay.cpp

@@ -30,6 +30,12 @@ namespace SHADE
   , direction { dir }
   {}
 
+  SHRay::SHRay(const reactphysics3d::Ray rp3dRay) noexcept
+  : position  { rp3dRay.point1 }
+  , direction { SHVec3::Normalise(rp3dRay.point2 - rp3dRay.point1) }
+  {}
+
+
   /*-----------------------------------------------------------------------------------*/
   /* Operator Overload Definitions                                                     */
   /*-----------------------------------------------------------------------------------*/
@@ -56,6 +62,12 @@ namespace SHADE
     return XMVector3NotEqual(LHS_POS, RHS_POS) || XMVector3NotEqual(LHS_DIR, RHS_DIR);
   }
 
+  SHRay::operator reactphysics3d::Ray() const noexcept
+  {
+    // We use 2km. Temp solution.
+    return reactphysics3d::Ray{ position, position + (direction * MAX_RAYCAST_DIST) };
+  }
+
   SHRaycastResult::operator bool() const noexcept
   {
     return hit;

SHADE_Engine/src/Math/SHRay.h

@@ -10,7 +10,10 @@
 
 #pragma once
 
+#include <reactphysics3d/mathematics/Ray.h>
+
 // Project Headers
+#include "SH_API.h"
 #include "Vector/SHVec3.h"
 
 namespace SHADE
@@ -37,6 +40,7 @@ namespace SHADE
 
     SHRay ()                                     noexcept;
     SHRay (const SHVec3& pos, const SHVec3& dir) noexcept;
+    SHRay (const reactphysics3d::Ray rp3dRay)    noexcept;
 
     SHRay (const SHRay&)  noexcept = default;
     SHRay (SHRay&&     )  noexcept = default;
@@ -51,6 +55,8 @@ namespace SHADE
 
     [[nodiscard]] bool operator==(const SHRay& rhs) const noexcept;
     [[nodiscard]] bool operator!=(const SHRay& rhs) const noexcept;
+
+    operator reactphysics3d::Ray()  const noexcept;
   };
 
   struct SH_API SHRaycastResult

SHADE_Engine/src/Math/Transform/SHTransformSystem.cpp

@@ -246,6 +246,8 @@ namespace SHADE
     tf.world.position = SHVec3::Transform(tf.local.position, localToWorld);
     tf.world.scale    = tf.local.scale * (parent ? parent->GetLocalScale() : SHVec3::One);
 
+    
+
     if (convertRotation)
     {
       tf.worldRotation  = tf.localRotation + (parent ? parent->GetLocalRotation() : SHVec3::Zero);

SHADE_Engine/src/Math/Vector/SHVec2.cpp

@@ -50,6 +50,10 @@ namespace SHADE
   : XMFLOAT2( _x, _y )
   {}
 
+  SHVec2::SHVec2(const reactphysics3d::Vector2& rp3dVec2) noexcept
+  : XMFLOAT2( rp3dVec2.x, rp3dVec2.y )
+  {}
+
   /*-----------------------------------------------------------------------------------*/
   /* Operator Overload Definitions                                                     */
   /*-----------------------------------------------------------------------------------*/
@@ -161,8 +165,6 @@ namespace SHADE
     {
       case 0:   return x;
       case 1:   return y;
-      // This will never hit
-      default:  return x;
     }
   }
 
@@ -175,8 +177,6 @@ namespace SHADE
     {
       case 0:   return x;
       case 1:   return y;
-      // This will never hit
-      default:  return x;
     }
   }
 
@@ -189,8 +189,6 @@ namespace SHADE
     {
       case 0:   return x;
       case 1:   return y;
-      // This will never hit
-      default:  return x;
     }
   }
 
@@ -203,11 +201,14 @@ namespace SHADE
     {
       case 0:   return x;
       case 1:   return y;
-      // This will never hit
-      default:  return x;
     }
   }
 
+  SHVec2::operator reactphysics3d::Vector2() const noexcept
+  {
+    return reactphysics3d::Vector2{ x, y };
+  }
+
   SHVec2 operator* (float lhs, const SHVec2& rhs) noexcept
   {
     SHVec2 result;

SHADE_Engine/src/Math/Vector/SHVec2.h

@@ -11,6 +11,7 @@
 #pragma once
 
 #include <DirectXMath.h>
+#include <reactphysics3d/mathematics/Vector2.h>
 
 #include <string>
 #include <initializer_list>
@@ -58,6 +59,10 @@ namespace SHADE
     SHVec2  (float n)                   noexcept;
     SHVec2  (float x, float y)          noexcept;
 
+    // Conversion from other math types to SHADE
+
+    SHVec2  (const reactphysics3d::Vector2& rp3dVec2) noexcept;
+
     /*---------------------------------------------------------------------------------*/
     /* Operator Overloads                                                              */
     /*---------------------------------------------------------------------------------*/
@@ -68,6 +73,7 @@ namespace SHADE
     // Conversion to other math types used by SHADE
 
     operator DirectX::XMVECTOR        ()                  const noexcept;
+    operator reactphysics3d::Vector2  ()                  const noexcept;
 
     SHVec2&               operator+=  (const SHVec2& rhs)       noexcept;
     SHVec2&               operator-=  (const SHVec2& rhs)       noexcept;

SHADE_Engine/src/Math/Vector/SHVec3.cpp

@@ -57,6 +57,14 @@ namespace SHADE
   : XMFLOAT3( _x, _y, _z )
   {}
 
+  SHVec3::SHVec3(const reactphysics3d::Vector3& rp3dVec3) noexcept
+  : XMFLOAT3( rp3dVec3.x, rp3dVec3.y, rp3dVec3.z )
+  {}
+
+  SHVec3::SHVec3(const reactphysics3d::Quaternion& rp3dVec3) noexcept
+  : XMFLOAT3( SHQuaternion{rp3dVec3}.ToEuler() )
+  {}
+
   /*-----------------------------------------------------------------------------------*/
   /* Operator Overload Definitions                                                     */
   /*-----------------------------------------------------------------------------------*/
@@ -171,8 +179,6 @@ namespace SHADE
       case 0:   return x;
       case 1:   return y;
       case 2:   return z;
-      // This will never hit
-      default:  return x;
     }
   }
 
@@ -186,8 +192,6 @@ namespace SHADE
       case 0:   return x;
       case 1:   return y;
       case 2:   return z;
-      // This will never hit
-      default:  return x;
     }
   }
 
@@ -201,8 +205,6 @@ namespace SHADE
       case 0:   return x;
       case 1:   return y;
       case 2:   return z;
-      // This will never hit
-      default:  return x;
     }
   }
 
@@ -216,11 +218,19 @@ namespace SHADE
       case 0:   return x;
       case 1:   return y;
       case 2:   return z;
-      // This will never hit
-      default:  return x;
     }
   }
 
+  SHVec3::operator reactphysics3d::Vector3() const noexcept 
+  {
+    return reactphysics3d::Vector3{ x, y , z };
+  }
+
+  SHVec3::operator reactphysics3d::Quaternion() const noexcept
+  {
+    return reactphysics3d::Quaternion::fromEulerAngles(x, y, z);
+  }
+
   SHVec3 operator* (float lhs, const SHVec3& rhs) noexcept
   {
     SHVec3 result;
@@ -372,30 +382,6 @@ namespace SHADE
     return lhs.Cross(rhs);
   }
 
-  SHMatrix SHVec3::OuterProduct(const SHVec3& lhs, const SHVec3& rhs) noexcept
-  {
-    /*
-     *  Outer product is a matrix multiplication u * vT
-     *  3x1 * 1x3 = 3x3
-     *
-     *  | u1 | | v1 v2 v3 |   | u1v1 u1v2 u1v3 |
-     *  | u2 |              = | u2v1 u2v2 u2v3 |
-     *  | u3 |                | u3v1 u3v2 u3v3 |
-     */
-
-    SHMatrix u  = SHMatrix::Zero;
-    SHMatrix vT = SHMatrix::Zero;
-
-    for (int i = 0; i < SIZE; ++i)
-    {
-      u.m[0][i]   = lhs[i];
-      vT.m[i][0]  = rhs[i];
-    }
-
-    return u * vT;
-  }
-
-
   SHVec3 SHVec3::Project(const SHVec3& v, const SHVec3& u) noexcept
   {
     SHVec3 result;

SHADE_Engine/src/Math/Vector/SHVec3.h

@@ -11,6 +11,8 @@
 #pragma once
 
 #include <DirectXMath.h>
+#include <reactphysics3d/mathematics/Vector3.h>
+#include <reactphysics3d/mathematics/Quaternion.h>
 
 #include <string>
 #include <initializer_list>
@@ -67,6 +69,9 @@ namespace SHADE
 
     // Conversion from other math types to SHADE
 
+    SHVec3  (const reactphysics3d::Vector3&     rp3dVec3) noexcept;
+    SHVec3  (const reactphysics3d::Quaternion&  rp3dVec3) noexcept;
+
     /*---------------------------------------------------------------------------------*/
     /* Operator Overloads                                                              */
     /*---------------------------------------------------------------------------------*/
@@ -76,6 +81,8 @@ namespace SHADE
 
     // Conversion to other math types used by SHADE
 
+    operator reactphysics3d::Vector3    ()                  const noexcept;
+    operator reactphysics3d::Quaternion ()                  const noexcept;
     operator DirectX::XMVECTOR          ()                  const noexcept;
 
     SHVec3&               operator+=    (const SHVec3& rhs)       noexcept;
@@ -128,7 +135,6 @@ namespace SHADE
     [[nodiscard]] static float  Angle           (const SHVec3& lhs, const SHVec3& rhs)                                            noexcept;
     [[nodiscard]] static float  Dot             (const SHVec3& lhs, const SHVec3& rhs)                                            noexcept;
     [[nodiscard]] static SHVec3 Cross           (const SHVec3& lhs, const SHVec3& rhs)                                            noexcept;
-    [[nodiscard]] static SHMatrix OuterProduct    (const SHVec3& lhs, const SHVec3& rhs)                                            noexcept;
     [[nodiscard]] static SHVec3 Project         (const SHVec3& v, const SHVec3& u)                                                noexcept;
     [[nodiscard]] static SHVec3 Reflect         (const SHVec3& v, const SHVec3& normal)                                           noexcept;
     [[nodiscard]] static SHVec3 Rotate          (const SHVec3& v, const SHVec3& axis, float angleInRad)                           noexcept;

SHADE_Engine/src/Math/Vector/SHVec4.cpp

@@ -164,8 +164,6 @@ namespace SHADE
       case 1:   return y;
       case 2:   return z;
       case 3:   return w;
-      // This will never hit
-      default:  return x;
     }
   }
 
@@ -180,8 +178,6 @@ namespace SHADE
       case 1:   return y;
       case 2:   return z;
       case 3:   return w;
-      // This will never hit
-      default:  return x;
     }
   }
 
@@ -196,8 +192,6 @@ namespace SHADE
       case 1:   return y;
       case 2:   return z;
       case 3:   return w;
-      // This will never hit
-      default:  return x;
     }
   }
 
@@ -212,8 +206,6 @@ namespace SHADE
       case 1:   return y;
       case 2:   return z;
       case 3:   return w;
-      // This will never hit
-      default:  return x;
     }
   }
 

SHADE_Engine/src/Physics/Collision/Broadphase/SHDynamicAABBTree.cpp

@@ -1,644 +0,0 @@
-/****************************************************************************************
- * \file      SHDynamicAABBTree.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for a Dynamic AABB Tree for broadphase collision detection.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#include <SHpch.h>
-
-#include <stack>
-
-// Primary Header
-#include "SHDynamicAABBTree.h"
-
-// Project Headers
-#include "Math/SHMathHelpers.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Constructors & Destructor Definitions                                             */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHAABBTree::SHAABBTree() noexcept
-  : root      { NULL_NODE }
-  , nodes     { nullptr }
-  , nodeCount { 0 }
-  , capacity  { 1024 }
-  , freeList  { NULL_NODE }
-  {
-    // Build initial tree
-    nodes = new Node[1024];
-
-    addToFreeList(0);
-  }
-
-  SHAABBTree::~SHAABBTree() noexcept
-  {
-    delete[] nodes;
-  }
-
-  SHAABBTree::Node::Node() noexcept
-  : id      { MAX_EID, std::numeric_limits<uint32_t>::max() }
-  , parent  { NULL_NODE }
-  , left    { NULL_NODE }
-  , right   { NULL_NODE }
-  , height  { NULL_NODE }
-  {}
-
-  SHAABBTree::Node::Node(const Node& rhs) noexcept
-  : AABB    { rhs.AABB }
-  , id      { rhs.id }
-  , next    { rhs.next }
-  , left    { rhs.left }
-  , right   { rhs.right }
-  , height  { rhs.height }
-  {}
-
-  SHAABBTree::Node::Node(Node&& rhs) noexcept
-  : AABB    { rhs.AABB }
-  , id      { rhs.id }
-  , next    { rhs.next }
-  , left    { rhs.left }
-  , right   { rhs.right }
-  , height  { rhs.height }
-  {}
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Operator Overload Definitions                                                     */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHAABBTree::Node& SHAABBTree::Node::operator=(const Node& rhs) noexcept
-  {
-    if (this == &rhs)
-      return *this;
-
-    AABB   = rhs.AABB;
-    id     = rhs.id;
-    parent = rhs.parent;
-    next   = rhs.next;
-    left   = rhs.left;
-    right  = rhs.right;
-    height = rhs.height;
-
-    return *this;
-  }
-
-  SHAABBTree::Node& SHAABBTree::Node::operator=(Node&& rhs) noexcept
-  {
-    AABB   = std::move(rhs.AABB);
-    id     = std::move(rhs.id);
-    parent = rhs.parent;
-    next   = rhs.next;
-    left   = rhs.left;
-    right  = rhs.right;
-    height = rhs.height;
-
-    return *this;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Getter Functions Definitions                                                      */
-  /*-----------------------------------------------------------------------------------*/
-
-  const std::vector<SHAABB>& SHAABBTree::GetAABBs() const noexcept
-  {
-    static AABBs                aabbs;
-    static std::stack<int32_t>  nodeIndices;
-
-    aabbs.clear();
-
-    nodeIndices.push(root);
-    while (!nodeIndices.empty())
-    {
-      // Pop the top node
-      const int INDEX = nodeIndices.top();
-      nodeIndices.pop();
-
-      // Skip null nodes
-      if (INDEX == NULL_NODE)
-        continue;
-
-      const Node& CURRENT_NODE = nodes[INDEX];
-
-      aabbs.emplace_back(CURRENT_NODE.AABB);
-
-      if (!isLeaf(INDEX))
-      {
-        nodeIndices.push(CURRENT_NODE.left);
-        nodeIndices.push(CURRENT_NODE.right);
-      }
-    }
-
-    return aabbs;
-  }
-
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Public Member Functions Definitions                                               */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHAABBTree::Insert(SHCollisionShapeID id, const SHAABB& AABB)
-  {
-    const int32_t NEW_INDEX = allocateNode();
-
-    if (!nodeMap.emplace(id, NEW_INDEX).second)
-    {
-      // Attempted to add a duplicate node
-      freeNode(NEW_INDEX);
-      return;
-    }
-
-    Node& newNode = nodes[NEW_INDEX];
-    newNode.AABB    = AABB;
-    newNode.id      = id;
-    newNode.height  = 0;
-
-    // Fatten the AABB
-    const SHVec3 EXTENSION{ AABB_EXTENSION };
-
-    const SHVec3 newMin = newNode.AABB.GetMin() - EXTENSION;
-    const SHVec3 newMax = newNode.AABB.GetMax() + EXTENSION;
-
-    newNode.AABB.SetMin(newMin);
-    newNode.AABB.SetMax(newMax);
-
-    insertLeaf(NEW_INDEX);
-  }
-
-  void SHAABBTree::Update(SHCollisionShapeID id, const SHAABB& AABB)
-  {
-    // Get node index
-    const int32_t INDEX_TO_UPDATE = nodeMap[id];
-
-    Node& nodeToUpdate = nodes[INDEX_TO_UPDATE];
-
-    // If new AABB has not moved enough, skip.
-    if (nodeToUpdate.AABB.Contains(AABB))
-      return;
-
-    removeLeaf(INDEX_TO_UPDATE);
-
-    nodeToUpdate.AABB = AABB;
-
-    // Fatten the AABB
-    const SHVec3 EXTENSION{ AABB_EXTENSION };
-
-    const SHVec3 newMin = nodeToUpdate.AABB.GetMin() - EXTENSION;
-    const SHVec3 newMax = nodeToUpdate.AABB.GetMax() + EXTENSION;
-
-    nodeToUpdate.AABB.SetMin(newMin);
-    nodeToUpdate.AABB.SetMax(newMax);
-
-    insertLeaf(INDEX_TO_UPDATE);
-  }
-
-  void SHAABBTree::Remove(SHCollisionShapeID id) noexcept
-  {
-    // Get node index
-    const int32_t INDEX_TO_REMOVE = nodeMap[id];
-
-    removeLeaf(INDEX_TO_REMOVE);
-    freeNode(INDEX_TO_REMOVE);
-
-    nodeMap.erase(id);
-  }
-
-  const std::vector<SHCollisionShapeID>& SHAABBTree::Query(SHCollisionShapeID id, const SHAABB& AABB) const noexcept
-  {
-    static std::vector<SHCollisionShapeID> potentialCollisions;
-    static std::stack<int32_t> nodeIndices;
-
-    potentialCollisions.clear();
-
-    // We use this to ignore shapes on the same entity
-    const EntityID EID = id.GetEntityID();
-
-    nodeIndices.push(root);
-    while (!nodeIndices.empty())
-    {
-      const int32_t INDEX = nodeIndices.top();
-      nodeIndices.pop();
-
-      if (INDEX == NULL_NODE)
-        continue;
-
-      const Node& NODE = nodes[INDEX];
-      if (!SHAABB::Intersect(AABB, NODE.AABB))
-        continue;
-
-      // Avoid checking against shapes of the same composite collider (and itself)
-      if (isLeaf(INDEX) && NODE.id.GetEntityID() != EID)
-      {
-        potentialCollisions.emplace_back(NODE.id);
-      }
-      else
-      {
-        nodeIndices.push(NODE.left);
-        nodeIndices.push(NODE.right);
-      }
-    }
-
-    return potentialCollisions;
-  }
-
-  const std::vector<SHCollisionShapeID>& SHAABBTree::Query(const SHRay& ray, float distance) const noexcept
-  {
-    static std::vector<SHCollisionShapeID> potentialHits;
-    static std::stack<int32_t> nodeIndices;
-
-    potentialHits.clear();
-
-    nodeIndices.push(root);
-    while (!nodeIndices.empty())
-    {
-      const int32_t INDEX = nodeIndices.top();
-      nodeIndices.pop();
-
-      if (INDEX == NULL_NODE)
-        continue;
-
-      const Node& NODE = nodes[INDEX];
-
-      const auto& RESULT = NODE.AABB.Raycast(ray);
-      if (!RESULT || RESULT.distance > distance)
-        continue;
-
-      if (isLeaf(INDEX))
-      {
-        potentialHits.emplace_back(NODE.id);
-      }
-      else
-      {
-        // Non-leaf nodes need to be traversed further
-        nodeIndices.push(NODE.left);
-        nodeIndices.push(NODE.right);
-      }
-    }
-
-    return potentialHits;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Private Member Functions Definitions                                              */
-  /*-----------------------------------------------------------------------------------*/
-
-  bool SHAABBTree::isLeaf(int32_t index) const noexcept
-  {
-    const Node& NODE = nodes[index];
-    return NODE.left == NULL_NODE && NODE.right == NULL_NODE;
-  }
-
-  int32_t SHAABBTree::allocateNode()
-  {
-    if (freeList == NULL_NODE)
-    {
-      // No more free nodes available, so we need to resize the tree for more nodes
-      capacity *= 2;
-
-      Node* newNodes = new Node[capacity];
-
-      // Copy all the nodes manually. I do this instead of memcpy to guarantee it copies properly.
-      for (int32_t i = 0; i < nodeCount; ++i)
-      {
-        newNodes[i].AABB    = nodes[i].AABB;
-        newNodes[i].id      = nodes[i].id;
-        newNodes[i].parent  = nodes[i].parent;
-        newNodes[i].left    = nodes[i].left;
-        newNodes[i].right   = nodes[i].right;
-        newNodes[i].height  = nodes[i].height;
-      }
-
-      delete[] nodes;
-      nodes = newNodes;
-
-      addToFreeList(nodeCount);
-    }
-
-    const int32_t FREE_NODE = freeList;
-    freeList = nodes[FREE_NODE].next;
-
-    // Set node to default
-    Node& newNode = nodes[FREE_NODE];
-    newNode.parent  = NULL_NODE;
-    newNode.left    = NULL_NODE;
-    newNode.right   = NULL_NODE;
-    newNode.height  = NULL_NODE;
-
-    ++nodeCount;
-    return FREE_NODE;
-  }
-
-  void SHAABBTree::freeNode(int32_t index) noexcept
-  {
-    SHASSERT(index >= 0 && index < capacity, "Trying to free an invalid AABB Tree node!")
-
-    nodes[index].next     = freeList;
-    nodes[index].height   = NULL_NODE;
-
-    // Put it back on the free list
-    freeList = index;
-
-    --nodeCount;
-  }
-
-  void SHAABBTree::insertLeaf(int32_t index)
-  {
-    // If there is no root, the first insert must make the root
-    if (root == NULL_NODE)
-    {
-      root = index;
-      nodes[root].parent = NULL_NODE;
-      return;
-    }
-
-    // Find best sibling for new leaf
-    // Utilise Surface Area Heuristic
-    const SHAABB& LEAF_AABB  = nodes[index].AABB;
-
-    uint32_t searchIndex = root;
-    while (!isLeaf(searchIndex))
-    {
-      const SHAABB COMBINED_AABB = SHAABB::Combine(LEAF_AABB, nodes[searchIndex].AABB);
-      const float COMBINED_AREA = COMBINED_AABB.SurfaceArea();
-
-      const float INHERITED_COST  = 2.0f * (COMBINED_AREA - nodes[searchIndex].AABB.SurfaceArea());
-
-      const int32_t LEFT_INDEX  = nodes[searchIndex].left;
-      const int32_t RIGHT_INDEX = nodes[searchIndex].right;
-
-      float leftCost  = 0.0f;
-      float rightCost = 0.0f;
-
-      const float LEFT_COMBINED_AREA  = SHAABB::Combine(LEAF_AABB, nodes[LEFT_INDEX].AABB).SurfaceArea();
-      const float RIGHT_COMBINED_AREA = SHAABB::Combine(LEAF_AABB, nodes[RIGHT_INDEX].AABB).SurfaceArea();
-
-      // Compute cost for descending into the left
-      if (isLeaf(LEFT_INDEX))
-        leftCost = LEFT_COMBINED_AREA + INHERITED_COST;
-      else
-        leftCost = LEFT_COMBINED_AREA - nodes[LEFT_INDEX].AABB.SurfaceArea() + INHERITED_COST;
-
-      // Compute cost for descending into the right
-      if (isLeaf(RIGHT_INDEX))
-        rightCost = RIGHT_COMBINED_AREA + INHERITED_COST;
-      else
-        rightCost = RIGHT_COMBINED_AREA - nodes[RIGHT_INDEX].AABB.SurfaceArea() + INHERITED_COST;
-
-      // Early out
-      const float BRANCH_COST = 2.0f * COMBINED_AREA;
-      if (BRANCH_COST < leftCost && BRANCH_COST < rightCost)
-        break;
-
-      // Traverse
-      searchIndex = leftCost < rightCost ? LEFT_INDEX : RIGHT_INDEX;
-    }
-
-    const int32_t BEST_SIBLING = searchIndex;
-
-    // Create a new parent for the leaf
-    const int32_t OLD_PARENT = nodes[BEST_SIBLING].parent;
-    const int32_t NEW_PARENT = allocateNode();
-
-    Node& newParent = nodes[NEW_PARENT];
-    newParent.parent  = OLD_PARENT;
-    newParent.id      = SHCollisionShapeID{ MAX_EID, std::numeric_limits<uint32_t>::max() };
-    newParent.AABB    = SHAABB::Combine(LEAF_AABB, nodes[BEST_SIBLING].AABB);
-    newParent.height  = nodes[BEST_SIBLING].height + 1;
-
-    newParent.left  = BEST_SIBLING;
-      newParent.right = index;
-
-      nodes[BEST_SIBLING].parent  = NEW_PARENT;
-      nodes[index].parent         = NEW_PARENT;
-
-    // If sibling was the root
-    if (OLD_PARENT == NULL_NODE)
-      root = NEW_PARENT;
-    else
-      (nodes[OLD_PARENT].left == BEST_SIBLING ? nodes[OLD_PARENT].left : nodes[OLD_PARENT].right) = NEW_PARENT;
-
-    syncHierarchy(NEW_PARENT);
-  }
-
-  void SHAABBTree::removeLeaf(int32_t index)
-  {
-    if (index == root)
-    {
-      root = NULL_NODE;
-      return;
-    }
-
-    const int32_t PARENT      = nodes[index].parent;
-
-    if (PARENT == NULL_NODE)
-    {
-      freeNode(index);
-      return;
-    }
-
-    const int32_t GRANDPARENT = nodes[PARENT].parent;
-    const int32_t SIBLING     = nodes[PARENT].left == index ? nodes[PARENT].right : nodes[PARENT].left;
-
-    if (GRANDPARENT != NULL_NODE)
-    {
-      // Replace parent with sibling
-      (nodes[GRANDPARENT].left == PARENT ? nodes[GRANDPARENT].left : nodes[GRANDPARENT].right) = SIBLING;
-      nodes[SIBLING].parent = GRANDPARENT;
-    }
-    else
-    {
-      // Parent was root
-      root = SIBLING;
-      nodes[SIBLING].parent = NULL_NODE;
-    }
-
-    freeNode(PARENT);
-    syncHierarchy(GRANDPARENT);
-  }
-
-  void SHAABBTree::syncHierarchy(int32_t index)
-  {
-    while (index != NULL_NODE)
-    {
-      index = balance(index);
-
-      const int32_t LEFT_INDEX  = nodes[index].left;
-      const Node&   LEFT_NODE   = nodes[LEFT_INDEX];
-
-      const int32_t RIGHT_INDEX = nodes[index].right;
-      const Node&   RIGHT_NODE  = nodes[RIGHT_INDEX];
-
-      nodes[index].height = 1 + SHMath::Max(LEFT_NODE.height, RIGHT_NODE.height);
-      nodes[index].AABB   = SHAABB::Combine(LEFT_NODE.AABB, RIGHT_NODE.AABB);
-
-      // Sync up to the root
-      index = nodes[index].parent;
-    }
-  }
-
-  int32_t SHAABBTree::balance(int32_t index)
-  {
-    if (isLeaf(index) || nodes[index].height == 1)
-      return index;
-
-    Node& nodeA = nodes[index];
-
-    const int32_t LEFT  = nodeA.left;
-    const int32_t RIGHT = nodeA.right;
-
-    const int32_t DIFF = nodes[RIGHT].height - nodes[LEFT].height;
-
-    if (DIFF > 1)
-      return rotateLeft(index);
-
-    if (DIFF < -1)
-      return rotateRight(index);
-
-    return index;
-  }
-
-  int32_t SHAABBTree::rotateLeft(int32_t index)
-  {
-    /****************************
-          A             C
-         / \           / \
-        B   C   -->   A  F/G
-           / \       / \
-          F   G     B  G/F
-    ****************************/
-
-    // Promote C
-
-    Node& nodeA = nodes[index];
-
-    const int32_t B = nodeA.left;
-    const int32_t C = nodeA.right;
-
-    Node& nodeB = nodes[B];
-    Node& nodeC = nodes[C];
-
-    const int32_t F = nodeC.left;
-    const int32_t G = nodeC.right;
-
-    Node& nodeF = nodes[F];
-    Node& nodeG = nodes[G];
-
-    if (nodeA.parent != NULL_NODE)
-      (nodes[nodeA.parent].left == index ? nodes[nodeA.parent].left : nodes[nodeA.parent].right) = C;
-    else
-      root = C;
-
-    nodeC.left    = index;
-    nodeC.parent  = nodeA.parent;
-    nodeA.parent  = C;
-
-    if (nodeF.height > nodeG.height)
-    {
-      nodeC.right   = F;
-      nodeA.right   = G;
-      nodeG.parent  = index;
-
-      nodeA.AABB    = SHAABB::Combine(nodeB.AABB, nodeG.AABB);
-      nodeC.AABB    = SHAABB::Combine(nodeA.AABB, nodeF.AABB);
-
-      nodeA.height  = 1 + SHMath::Max(nodeB.height, nodeG.height);
-      nodeC.height  = 1 + SHMath::Max(nodeA.height, nodeF.height);
-    }
-    else
-    {
-      nodeC.right   = G;
-      nodeA.right   = F;
-      nodeF.parent  = index;
-
-      nodeA.AABB    = SHAABB::Combine(nodeB.AABB, nodeF.AABB);
-      nodeC.AABB    = SHAABB::Combine(nodeA.AABB, nodeG.AABB);
-
-      nodeA.height  = 1 + SHMath::Max(nodeB.height, nodeF.height);
-      nodeC.height  = 1 + SHMath::Max(nodeA.height, nodeG.height);
-    }
-
-    return C;
-  }
-
-  int32_t SHAABBTree::rotateRight(int32_t index)
-  {
-    /*************************
-          A            B
-         / \          / \
-        B   C  -->  D/E  A
-       / \              / \
-      D   E           E/D  C
-    *************************/
-
-    // Promote B
-
-    Node& nodeA = nodes[index];
-
-    const int32_t B = nodeA.left;
-    const int32_t C = nodeA.right;
-
-    Node& nodeB = nodes[B];
-    Node& nodeC = nodes[C];
-
-    const int32_t D = nodeB.left;
-    const int32_t E = nodeB.right;
-
-    Node& nodeD = nodes[D];
-    Node& nodeE = nodes[E];
-
-    if (nodeA.parent != NULL_NODE)
-      (nodes[nodeA.parent].left == index ? nodes[nodeA.parent].left : nodes[nodeA.parent].right) = B;
-    else
-      root = B;
-
-    nodeB.right   = index;
-    nodeB.parent  = nodeA.parent;
-    nodeA.parent  = B;
-
-    if (nodeD.height > nodeE.height)
-    {
-      nodeB.left    = D;
-      nodeA.left    = E;
-      nodeE.parent  = index;
-
-      nodeA.AABB    = SHAABB::Combine(nodeC.AABB, nodeE.AABB);
-      nodeB.AABB    = SHAABB::Combine(nodeA.AABB, nodeD.AABB);
-
-      nodeA.height  = 1 + SHMath::Max(nodeC.height, nodeE.height);
-      nodeB.height  = 1 + SHMath::Max(nodeA.height, nodeD.height);
-    }
-    else
-    {
-      nodeB.left    = E;
-      nodeA.left    = D;
-      nodeD.parent  = index;
-
-      nodeA.AABB    = SHAABB::Combine(nodeC.AABB, nodeD.AABB);
-      nodeB.AABB    = SHAABB::Combine(nodeA.AABB, nodeE.AABB);
-
-      nodeA.height  = 1 + SHMath::Max(nodeC.height, nodeD.height);
-      nodeB.height  = 1 + SHMath::Max(nodeA.height, nodeE.height);
-    }
-
-    return B;
-  }
-
-  void SHAABBTree::addToFreeList(int32_t index) noexcept
-  {
-    for (int32_t i = index; i < capacity; ++i)
-    {
-      nodes[i].next   = i + 1;
-      nodes[i].height = NULL_NODE;
-    }
-
-    nodes[capacity - 1].next    = NULL_NODE;
-    nodes[capacity - 1].height  = NULL_NODE;
-
-    freeList = index;
-  }
-} // namespace SHADE

SHADE_Engine/src/Physics/Collision/Broadphase/SHDynamicAABBTree.h

@@ -1,156 +0,0 @@
-/****************************************************************************************
- * \file      SHDynamicAABBTree.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a Dynamic AABB Tree for broadphase collision detection.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-#include <unordered_map>
-
-// Project Headers
-#include "Physics/Collision/Shapes/SHCollisionShape.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Type Definitions                                                                  */
-  /*-----------------------------------------------------------------------------------*/
-
-  /**
-   * @brief
-   * Encapsulates a dynamic AABB Tree for collision detection.
-  */
-  class SH_API SHAABBTree
-  {
-  public:
-    /*---------------------------------------------------------------------------------*/
-    /* Type Definitions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    using AABBs = std::vector<SHAABB>;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Data Members                                                                    */
-    /*---------------------------------------------------------------------------------*/
-
-    static constexpr int NULL_NODE = -1;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Constructors & Destructor                                                       */
-    /*---------------------------------------------------------------------------------*/
-
-    SHAABBTree  () noexcept;
-    ~SHAABBTree () noexcept;
-
-    SHAABBTree(const SHAABBTree& other)                = delete;
-    SHAABBTree(SHAABBTree&& other) noexcept            = delete;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Operator Overloads                                                              */
-    /*---------------------------------------------------------------------------------*/
-
-    SHAABBTree& operator=(const SHAABBTree& other)     = delete;
-    SHAABBTree& operator=(SHAABBTree&& other) noexcept = delete;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Getter Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    [[nodiscard]] const AABBs& GetAABBs  () const noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Member Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    void Insert  (SHCollisionShapeID id, const SHAABB& AABB);
-    void Update  (SHCollisionShapeID id, const SHAABB& AABB);
-    void Remove  (SHCollisionShapeID id) noexcept;
-
-    [[nodiscard]] const std::vector<SHCollisionShapeID>& Query(SHCollisionShapeID id, const SHAABB& AABB)  const noexcept;
-    [[nodiscard]] const std::vector<SHCollisionShapeID>& Query(const SHRay& ray, float distance)          const noexcept;
-
-  private:
-    /*---------------------------------------------------------------------------------*/
-    /* Type Definitions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    struct Node
-    {
-    public:
-      /*-------------------------------------------------------------------------------*/
-      /* Constructors & Destructor                                                     */
-      /*-------------------------------------------------------------------------------*/
-
-      Node  ()                noexcept;
-      Node  (const Node& rhs) noexcept;
-      Node  (Node&& rhs)      noexcept;
-
-      ~Node () noexcept = default;
-
-      /*-------------------------------------------------------------------------------*/
-      /* Operator Overloads                                                            */
-      /*-------------------------------------------------------------------------------*/
-
-      Node& operator=(const Node& rhs)  noexcept;
-      Node& operator=(Node&& rhs)       noexcept;
-
-      /*-------------------------------------------------------------------------------*/
-      /* Data Members                                                                  */
-      /*-------------------------------------------------------------------------------*/
-
-      SHAABB               AABB;
-      SHCollisionShapeID  id;   // Used to lookup the collision shape & entity for culling against itself
-
-      union
-      {
-        int32_t parent;
-        int32_t next;
-      };
-
-
-      int32_t left;
-      int32_t right;
-      int32_t height;  // Leaves have a height of 0. Free nodes have a height of -1
-    };
-
-    /*---------------------------------------------------------------------------------*/
-    /* Data Members                                                                    */
-    /*---------------------------------------------------------------------------------*/
-
-    static constexpr float AABB_EXTENSION   = 0.2f;
-
-    // For quick access
-    std::unordered_map<SHCollisionShapeID, int32_t, SHCollisionShapeIDHash> nodeMap;
-
-    int32_t root;
-    Node*   nodes;      // Dynamically allocated array of nodes. I use dynamic allocation as in the past, using a vector causes weird issues.
-    int32_t nodeCount;
-    int32_t capacity;   // Used for resizing the tree.
-    int32_t freeList;   // Stores the next available node on the free list.
-
-    /*---------------------------------------------------------------------------------*/
-    /* Member Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    bool    isLeaf        (int32_t index) const noexcept;
-
-    int32_t allocateNode  ();
-    void    freeNode      (int32_t index) noexcept;
-
-    void    insertLeaf    (int32_t index);
-    void    removeLeaf    (int32_t index);
-    void    syncHierarchy (int32_t index);
-    int32_t balance       (int32_t index);
-    int32_t rotateLeft    (int32_t index);
-    int32_t rotateRight   (int32_t index);
-
-    void    addToFreeList (int32_t index) noexcept;
-  };
-
-
-}

SHADE_Engine/src/Physics/Collision/Contacts/SHCollisionEvents.h

@@ -1,60 +0,0 @@
-/****************************************************************************************
- * \file      SHCollisionKey.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for Collision Information for Collision & Triggers.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-// Project Headers
-#include "SHCollisionKey.h"
-
-namespace SHADE
-{ 
-  /*-----------------------------------------------------------------------------------*/
-  /* Type Definitions                                                                  */
-  /*-----------------------------------------------------------------------------------*/
-
-  enum class SHCollisionState
-  {
-    ENTER
-  , STAY
-  , EXIT
-
-  , TOTAL
-  , INVALID = -1
-  };
-
-  /**
-   * @brief
-   * Encapsulates the event for an intersection between two collision shapes that do not
-   * have physical resolution.
-  */
-  struct SH_API SHTriggerEvent
-  {
-  public:
-    SHCollisionKey     info;
-    SHCollisionState  state = SHCollisionState::INVALID;
-  };
-
-  /**
-   * @brief
-   * Encapsulates the event for an intersection between two collision shapes that do
-   * have physical resolution.
-  */
-  struct SH_API SHCollisionEvent
-  {
-  public:
-    static constexpr int MAX_NUM_CONTACTS = 4;
-
-    SHCollisionKey    info;
-    SHCollisionState  state = SHCollisionState::INVALID;
-    SHVec3            normal;
-    SHVec3            contactPoints[MAX_NUM_CONTACTS];
-  };
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Collision/Contacts/SHCollisionKey.cpp

@@ -1,166 +0,0 @@
-/****************************************************************************************
- * \file      SHCollisionInfo.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for Collision Info.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#include <SHpch.h>
-
-// Primary Header
-#include "SHCollisionKey.h"
-
-// Project Headers
-#include "Physics/Collision/SHCollider.h"
-#include "Physics/Interface/SHColliderComponent.h"
-
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Constructors & Destructor Definitions                                             */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHCollisionKey::SHCollisionKey() noexcept
-  {
-    ids[ENTITY_A]       = MAX_EID;
-    ids[ENTITY_B]       = MAX_EID;
-    ids[SHAPE_INDEX_A]  = std::numeric_limits<uint32_t>::max();
-    ids[SHAPE_INDEX_B]  = std::numeric_limits<uint32_t>::max();
-  }
-
-  SHCollisionKey::SHCollisionKey(const SHCollisionKey& rhs) noexcept
-  {
-    value[0] = rhs.value[0];
-    value[1] = rhs.value[1];
-  }
-
-  SHCollisionKey::SHCollisionKey(SHCollisionKey&& rhs) noexcept
-  {
-    value[0] = rhs.value[0];
-    value[1] = rhs.value[1];
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Operator Overload Definitions                                                     */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHCollisionKey& SHCollisionKey::operator=(const SHCollisionKey& rhs) noexcept
-  {
-    if (this == &rhs)
-      return *this;
-
-    value[0] = rhs.value[0];
-    value[1] = rhs.value[1];
-
-    return *this;
-  }
-
-  SHCollisionKey& SHCollisionKey::operator=(SHCollisionKey&& rhs) noexcept
-  {
-    value[0] = rhs.value[0];
-    value[1] = rhs.value[1];
-
-    return *this;
-  }
-
-  bool SHCollisionKey::operator==(const SHCollisionKey& rhs) const
-  {
-    // When checking for equal, check both ways.
-    // Exact Match (A, idxA, B, idxB)
-    const bool EXACT_MATCH    = value[0] == rhs.value[0] && value[1] == rhs.value[1];
-
-    // Flipped Match: (B, idxB, A, idxA)
-    const bool FLIPPED_MATCH  = value[0] == rhs.value[1] && value[1] == rhs.value[0];
-
-    return EXACT_MATCH || FLIPPED_MATCH;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Getter Function Definitions                                                       */
-  /*-----------------------------------------------------------------------------------*/
-
-  EntityID SHCollisionKey::GetEntityA() const noexcept
-  {
-    return ids[ENTITY_A];
-  }
-
-  EntityID SHCollisionKey::GetEntityB() const noexcept
-  {
-    return ids[ENTITY_B];
-  }
-
-  uint32_t SHCollisionKey::GetShapeIndexA() const noexcept
-  {
-    return ids[SHAPE_INDEX_A];
-  }
-
-  uint32_t SHCollisionKey::GetShapeIndexB() const noexcept
-  {
-    return ids[SHAPE_INDEX_B];
-  }
-
-  const SHRigidBodyComponent* SHCollisionKey::GetRigidBodyA() const noexcept
-  {
-    return SHComponentManager::GetComponent_s<SHRigidBodyComponent>(ids[ENTITY_A]);
-  }
-
-  const SHRigidBodyComponent* SHCollisionKey::GetRigidBodyB() const noexcept
-  {
-    return SHComponentManager::GetComponent_s<SHRigidBodyComponent>(ids[ENTITY_B]);
-  }
-
-  const SHCollisionShape* SHCollisionKey::GetCollisionShapeA() const noexcept
-  {
-    const auto* COLLIDER_COMPONENT = SHComponentManager::GetComponent<SHColliderComponent>(ids[ENTITY_A]);
-    return COLLIDER_COMPONENT->GetCollider()->GetCollisionShape(ids[SHAPE_INDEX_A]);
-  }
-
-  const SHCollisionShape* SHCollisionKey::GetCollisionShapeB() const noexcept
-  {
-    const auto* COLLIDER_COMPONENT = SHComponentManager::GetComponent<SHColliderComponent>(ids[ENTITY_B]);
-    return COLLIDER_COMPONENT->GetCollider()->GetCollisionShape(ids[SHAPE_INDEX_B]);
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Setter Function Definitions                                                       */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHCollisionKey::SetEntityA(EntityID entityID) noexcept
-  {
-    ids[ENTITY_A] = entityID;
-  }
-
-  void SHCollisionKey::SetEntityB(EntityID entityID) noexcept
-  {
-    ids[ENTITY_B] = entityID;
-  }
-
-  void SHCollisionKey::SetCollisionShapeA(uint32_t shapeIndexA) noexcept
-  {
-    ids[SHAPE_INDEX_A] = shapeIndexA;
-  }
-
-  void SHCollisionKey::SetCollisionShapeB(uint32_t shapeIndexB) noexcept
-  {
-    ids[SHAPE_INDEX_B] = shapeIndexB;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Public Function Member Definitions                                                */
-  /*-----------------------------------------------------------------------------------*/
-
-  std::size_t SHCollisionKeyHash::operator()(const SHCollisionKey& id) const
-  {
-    static constexpr int NUM_IDS = ARRAYSIZE(id.ids);
-
-    // Hashable is not a word. Sue me.
-    auto hashablePtr = reinterpret_cast<std::basic_string_view<char32_t>::const_pointer>(id.ids);
-    return std::hash<std::u32string_view>{}(std::u32string_view(hashablePtr, NUM_IDS));
-  }
-
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Collision/Contacts/SHContact.h

@@ -1,72 +0,0 @@
-/****************************************************************************************
- * \file      SHManifold.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a Collision Manifold
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-// Primary Header
-#include "Physics/Dynamics/SHRigidBody.h"
-#include "Physics/Collision/Shapes/SHCollisionShape.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Type Definitions                                                                  */
-  /*-----------------------------------------------------------------------------------*/
-
-  /**
-   * @brief
-   * Encapsulates a value that represents the touching features of a contact.
-  */
-  union SHContactFeatures
-  {
-  public:
-    /*---------------------------------------------------------------------------------*/
-    /* Data Members                                                                    */
-    /*---------------------------------------------------------------------------------*/
-
-    struct
-    {
-      uint8_t inI;  // Incoming Incident Edge
-      uint8_t outI; // Outgoing Incident Edge
-      uint8_t inR;  // Incoming Reference Edge
-      uint8_t outR; // Outgoing Reference Edge
-    };
-
-    uint32_t key = std::numeric_limits<uint32_t>::max();
-  };
-
-  /**
-   * @brief
-   * Encapsulates a physical collision contact.
-  */
-  struct SH_API SHContact
-  {
-  public:
-    /*---------------------------------------------------------------------------------*/
-    /* Data Members                                                                    */
-    /*---------------------------------------------------------------------------------*/
-
-    static constexpr int NUM_TANGENTS = 2;
-
-    float             penetration                   = 0.0f;
-    float             bias                          = 0.0f;     // Restitution + Baumguarte factor
-    float             normalImpulse                 = 0.0f;     // Accumulated normal impulse
-    float             normalMass                    = 0.0f;     // Effective mass along the normal
-    float             tangentImpulse[NUM_TANGENTS]  = { 0.0f }; // Accumulated tangent impulses
-    float             tangentMass[NUM_TANGENTS]     = { 0.0f }; // Effective masses along the tangents
-
-    SHVec3            position;
-    SHVec3            rA;                                       // Vector from COM of A to the contact
-    SHVec3            rB;                                       // Vector from COM of B to the contact
-    SHContactFeatures featurePair;
-  };
-}
-
-#pragma once

SHADE_Engine/src/Physics/Collision/Contacts/SHManifold.h

@@ -1,73 +0,0 @@
-/****************************************************************************************
- * \file      SHManifold.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a Collision Manifold
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-// Primary Header
-#include "Physics/Dynamics/SHRigidBody.h"
-#include "Physics/Collision/Narrowphase/SHSATInfo.h"
-#include "Physics/Collision/Shapes/SHCollisionShape.h"
-#include "SHContact.h"
-#include "SHCollisionEvents.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Type Definitions                                                                  */
-  /*-----------------------------------------------------------------------------------*/
-
-  struct SH_API SHManifold
-  {
-  public:
-    /*---------------------------------------------------------------------------------*/
-    /* Constructors & Destructor                                                       */
-    /*---------------------------------------------------------------------------------*/
-
-    SHManifold  (SHCollisionShape* a, SHCollisionShape* b)  noexcept;
-    SHManifold  (const SHManifold& rhs)                     noexcept;
-    SHManifold  (SHManifold&& rhs)                          noexcept;
-
-    ~SHManifold () noexcept = default;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Operator Overloads                                                              */
-    /*---------------------------------------------------------------------------------*/
-
-    SHManifold& operator=(const SHManifold& rhs)  noexcept;
-    SHManifold& operator=(SHManifold&& rhs)       noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Data Members                                                                    */
-    /*---------------------------------------------------------------------------------*/
-
-    // We only need 4 contact points to build a stable manifold.
-    static constexpr int MAX_NUM_CONTACTS = 4;
-
-    SHCollisionShape* shapeA;
-    SHCollisionShape* shapeB;
-
-    SHRigidBody*      bodyA       = nullptr;
-    SHRigidBody*      bodyB       = nullptr;
-
-    uint32_t          numContacts = 0;
-    SHCollisionState  state       = SHCollisionState::INVALID;
-
-    SHSATInfo         cachedSATInfo;
-
-    SHVec3            normal;
-    SHVec3            tangents[SHContact::NUM_TANGENTS];
-    SHContact         contacts[MAX_NUM_CONTACTS];
-    
-  };
-  
-} // namespace SHADE
-
-#include "SHManifold.hpp"
-

SHADE_Engine/src/Physics/Collision/Contacts/SHManifold.hpp

@@ -1,110 +0,0 @@
-/****************************************************************************************
- * \file      SHManifold.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a Collision Manifold
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-// Primary Header
-#include "SHManifold.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Constructors & Destructor Definitions                                             */
-  /*-----------------------------------------------------------------------------------*/
-
-  inline SHManifold::SHManifold(SHCollisionShape* a, SHCollisionShape* b) noexcept
-  : shapeA  { a }
-  , shapeB  { b }
-  {
-    bodyA = shapeA->collider->rigidBody;
-    bodyB = shapeB->collider->rigidBody;
-  }
-
-  inline SHManifold::SHManifold(const SHManifold& rhs) noexcept
-  : shapeA        { rhs.shapeA }
-  , shapeB        { rhs.shapeB }
-  , bodyA         { rhs.bodyA }
-  , bodyB         { rhs.bodyB }
-  , numContacts   { rhs.numContacts }
-  , state         { rhs.state }
-  , cachedSATInfo { rhs.cachedSATInfo }
-  , normal        { rhs.normal }
-  {
-    static constexpr size_t SIZE_OF_CONTACTS = sizeof(SHContact) * static_cast<size_t>(MAX_NUM_CONTACTS);
-    memcpy_s(contacts, SIZE_OF_CONTACTS, rhs.contacts, SIZE_OF_CONTACTS);
-
-    for (int i = 0; i < SHContact::NUM_TANGENTS; ++i)
-      tangents[i] = rhs.tangents[i];
-  }
-
-  inline SHManifold::SHManifold(SHManifold&& rhs) noexcept
-  : shapeA        { rhs.shapeA }
-  , shapeB        { rhs.shapeB }
-  , bodyA         { rhs.bodyA }
-  , bodyB         { rhs.bodyB }
-  , numContacts   { rhs.numContacts }
-  , state         { rhs.state }
-  , cachedSATInfo { rhs.cachedSATInfo }
-  , normal        { rhs.normal }
-  {
-    static constexpr size_t SIZE_OF_CONTACTS = sizeof(SHContact) * static_cast<size_t>(MAX_NUM_CONTACTS);
-    memcpy_s(contacts, SIZE_OF_CONTACTS, rhs.contacts, SIZE_OF_CONTACTS);
-
-    for (int i = 0; i < SHContact::NUM_TANGENTS; ++i)
-      tangents[i] = rhs.tangents[i];
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Operator Overload Definitions                                                     */
-  /*-----------------------------------------------------------------------------------*/
-  
-  inline SHManifold& SHManifold::operator=(const SHManifold& rhs) noexcept
-  {
-    if (this == &rhs)
-      return *this;
-
-    shapeA        = rhs.shapeA;
-    shapeB        = rhs.shapeB;
-    bodyA         = rhs.bodyA;
-    bodyB         = rhs.bodyB;
-    numContacts   = rhs.numContacts;
-    state         = rhs.state;
-    cachedSATInfo = rhs.cachedSATInfo;
-    normal        = rhs.normal;
-
-    static constexpr size_t SIZE_OF_CONTACTS = sizeof(SHContact) * static_cast<size_t>(MAX_NUM_CONTACTS);
-    memcpy_s(contacts, SIZE_OF_CONTACTS, rhs.contacts, SIZE_OF_CONTACTS);
-
-    for (int i = 0; i < SHContact::NUM_TANGENTS; ++i)
-      tangents[i] = rhs.tangents[i];
-
-    return *this;
-  }
-
-  inline SHManifold& SHManifold::operator=(SHManifold&& rhs) noexcept
-  {
-    shapeA        = rhs.shapeA;
-    shapeB        = rhs.shapeB;
-    bodyA         = rhs.bodyA;
-    bodyB         = rhs.bodyB;
-    numContacts   = rhs.numContacts;
-    state         = rhs.state;
-    cachedSATInfo = rhs.cachedSATInfo;
-    normal        = rhs.normal;
-
-    static constexpr size_t SIZE_OF_CONTACTS = sizeof(SHContact) * static_cast<size_t>(MAX_NUM_CONTACTS);
-    memcpy_s(contacts, SIZE_OF_CONTACTS, rhs.contacts, SIZE_OF_CONTACTS);
-
-    for (int i = 0; i < SHContact::NUM_TANGENTS; ++i)
-      tangents[i] = rhs.tangents[i];
-
-    return *this;
-  }
-} // namespace SHADE

SHADE_Engine/src/Physics/Collision/Narrowphase/SHCapsuleVsConvex.cpp

@@ -1,49 +0,0 @@
-/****************************************************************************************
- * \file      SHCapsuleVsConvex.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for the Detecting Collisions between a capsule and a convex
- *            polyhedron.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#include <SHpch.h>
-
-// Primary Header
-#include "SHCollision.h"
-
-// Project Headers
-#include "Math/SHMathHelpers.h"
-#include "Physics/Collision/Shapes/SHConvexPolyhedron.h"
-
-// TODO
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Public Member Functions Definitions                                               */
-  /*-----------------------------------------------------------------------------------*/
-
-  bool SHCollision::CapsuleVsConvex(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
-  {
-    return false;
-  }
-
-  bool SHCollision::ConvexVsCapsule(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
-  {
-    return CapsuleVsConvex(B, A);
-  }
-
-  bool SHCollision::CapsuleVsConvex(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
-  {
-    return false;
-  }
-
-  bool SHCollision::ConvexVsCapsule(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
-  {
-    return CapsuleVsConvex(manifold, B, A);
-  }
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Collision/Narrowphase/SHCollision.h

@@ -1,222 +0,0 @@
-/****************************************************************************************
- * \file      SHCollision.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for the Detecting Collisions between two shapes
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-// Project Headers
-#include "Math/Geometry/SHPlane.h"
-#include "Physics/Collision/Contacts/SHManifold.h"
-#include "Physics/Collision/Contacts/SHCollisionKey.h"
-#include "Physics/Collision/Shapes/SHHalfEdgeStructure.h"
-
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Type Definitions                                                                  */
-  /*-----------------------------------------------------------------------------------*/
-
-  /**
-   * @brief 
-   * Encapsulates static methods for testing for collision between two shapes.
-  */
-  class SH_API SHCollision
-  {
-  public:
-    /*---------------------------------------------------------------------------------*/
-    /* Member Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    /* Spheres VS X */
-
-    [[nodiscard]] static bool SphereVsSphere    (const SHCollisionShape& A, const SHCollisionShape& B)                        noexcept;
-    [[nodiscard]] static bool SphereVsSphere    (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B)  noexcept;
-
-    [[nodiscard]] static bool SphereVsCapsule   (const SHCollisionShape& A, const SHCollisionShape& B)                        noexcept;
-    [[nodiscard]] static bool SphereVsCapsule   (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B)  noexcept;
-
-    [[nodiscard]] static bool SphereVsConvex    (const SHCollisionShape& A, const SHCollisionShape& B)                        noexcept;
-    [[nodiscard]] static bool SphereVsConvex    (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B)  noexcept;
-
-    /* Capsule VS X */
-
-    [[nodiscard]] static bool CapsuleVsSphere   (const SHCollisionShape& A, const SHCollisionShape& B)                        noexcept;
-    [[nodiscard]] static bool CapsuleVsSphere   (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B)  noexcept;
-
-    [[nodiscard]] static bool CapsuleVsCapsule  (const SHCollisionShape& A, const SHCollisionShape& B)                        noexcept;
-    [[nodiscard]] static bool CapsuleVsCapsule  (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B)  noexcept;
-
-    [[nodiscard]] static bool CapsuleVsConvex   (const SHCollisionShape& A, const SHCollisionShape& B)                        noexcept;
-    [[nodiscard]] static bool CapsuleVsConvex   (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B)  noexcept;
-
-    /* Polygon VS X */
-
-    [[nodiscard]] static bool ConvexVsSphere    (const SHCollisionShape& A, const SHCollisionShape& B)                        noexcept;
-    [[nodiscard]] static bool ConvexVsSphere    (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B)  noexcept;
-
-    [[nodiscard]] static bool ConvexVsCapsule   (const SHCollisionShape& A, const SHCollisionShape& B)                        noexcept;
-    [[nodiscard]] static bool ConvexVsCapsule   (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B)  noexcept;
-
-    [[nodiscard]] static bool ConvexVsConvex    (const SHCollisionShape& A, const SHCollisionShape& B)                        noexcept;
-    [[nodiscard]] static bool ConvexVsConvex    (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B)  noexcept;
-
-  private:
-    /*---------------------------------------------------------------------------------*/
-    /* Type Definitions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    struct FaceQuery
-    {
-      bool    colliding     = false;  // Allows for early out
-      int32_t closestFace   = -1;
-      float   bestDistance  = std::numeric_limits<float>::lowest();
-    };
-
-    struct EdgeQuery
-    {
-      int32_t halfEdgeA     = -1;
-      int32_t halfEdgeB     = -1;
-      int32_t axis          = -1;
-      float   bestDistance  = std::numeric_limits<float>::lowest();
-    };
-
-    struct ClipVertex
-    {
-      SHVec3            position;
-      SHContactFeatures featurePair;
-    };
-
-    /*---------------------------------------------------------------------------------*/
-    /* Member Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    // Sphere VS Convex
-
-    static FaceQuery findClosestFace
-    (
-      const SHSphere&           sphere
-    , const SHConvexPolyhedron& polyhedron
-    ) noexcept;
-
-    static int32_t findClosestPoint
-    (
-      const SHSphere&           sphere
-    , const SHConvexPolyhedron& polyhedron
-    , int32_t                   faceIndex
-    ) noexcept;
-
-    static int32_t findVoronoiRegion
-    (
-      const SHSphere& sphere
-    , const SHVec3&   faceVertex
-    , const SHVec3&   faceNormal
-    , const SHVec3&   tangent1
-    , const SHVec3&   tangent2
-    ) noexcept;
-
-    // Capsule VS Convex
-
-    // TODO: Capsule VS Convex uses the same gauss map optimisation as convex vs convex
-
-    // Convex VS Convex
-
-    /*
-     * ! References
-     *  https://ia801303.us.archive.org/30/items/GDC2013Gregorius/GDC2013-Gregorius.pdf
-     *  https://github.com/RandyGaul/qu3e/blob/master/src/collision/q3Collide.cpp
-     */
-
-    static FaceQuery queryFaceDirections
-    (
-      const SHConvexPolyhedron& A
-    , const SHConvexPolyhedron& B
-    ) noexcept;
-
-    
-
-    static EdgeQuery queryEdgeDirections
-    (
-      const SHConvexPolyhedron& A
-    , const SHConvexPolyhedron& B
-    ) noexcept;
-
-    static bool buildMinkowskiFace
-    (
-      const SHConvexPolyhedron& A
-    , const SHConvexPolyhedron& B
-    , int32_t                   edgeA
-    , int32_t                   edgeB
-    ) noexcept;
-
-    static bool isMinkowskiFace
-    (
-      const SHVec3& a
-    , const SHVec3& b
-    , const SHVec3& c
-    , const SHVec3& d
-    ) noexcept;
-
-    static float distanceBetweenEdges
-    (
-      const SHConvexPolyhedron& A
-    , const SHConvexPolyhedron& B
-    , int32_t                   edgeA
-    , int32_t                   edgeB
-    ) noexcept;
-
-    static SHVec3 findClosestPointBetweenEdges
-    (
-      const SHConvexPolyhedron& A
-    , const SHConvexPolyhedron& B
-    , int32_t                   edgeA
-    , int32_t                   edgeB
-    ) noexcept;
-
-    static int32_t findIncidentFace
-    (
-      const SHConvexPolyhedron& poly
-    , const SHVec3&             normal
-    ) noexcept;
-
-    static bool findFaceContacts
-    (
-      SHManifold&               manifold
-    , const SHConvexPolyhedron& incPoly
-    , int32_t                   incFace
-    , const SHConvexPolyhedron& refPoly
-    , int32_t                   refFace
-    , bool                      flip
-    ) noexcept;
-
-    static std::vector<ClipVertex> clipPolygonWithPlane
-    (
-      const std::vector<ClipVertex>&  in
-    , int32_t                         numIn
-    , const SHPlane&                  plane
-    , int32_t                         planeIdx
-    ) noexcept;
-
-    static std::vector<int32_t> reduceContacts
-    (
-      const std::vector<SHContact>& in
-    , const SHVec3&                 faceNormal
-    ) noexcept;
-
-    // Cached Convex VS Convex
-
-    static bool cachedConvexVSConvex
-    (
-      SHManifold&               manifold
-    , const SHSATInfo&          cachedInfo
-    , const SHConvexPolyhedron& A
-    , const SHConvexPolyhedron& B
-    ) noexcept;
-  };
-} // namespace SHADE

SHADE_Engine/src/Physics/Collision/Narrowphase/SHCollisionDispatch.cpp

@@ -1,65 +0,0 @@
-/****************************************************************************************
- * \file      SHCollisionDispatch.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for the static Collision Dispatcher
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#include <SHpch.h>
-
-// Primary Header
-#include "SHCollisionDispatch.h"
-
-// Project Header
-#include "SHCollision.h"
-#include "Tools/Utilities/SHUtilities.h"
-
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Static Data Member Definitions                                                    */
-  /*-----------------------------------------------------------------------------------*/
-
-  const SHCollisionDispatcher::ManifoldCollide SHCollisionDispatcher::manifoldCollide[NUM_SHAPES][NUM_SHAPES]
-  {
-    // <SHAPE> vs Sphere / Box / Capsule
-
-    { SHCollision::SphereVsSphere,  SHCollision::SphereVsConvex,  SHCollision::SphereVsCapsule  }  // Sphere
-  , { SHCollision::ConvexVsSphere,  SHCollision::ConvexVsConvex,  SHCollision::ConvexVsCapsule  }  // Box
-  , { SHCollision::CapsuleVsSphere, SHCollision::CapsuleVsConvex, SHCollision::CapsuleVsCapsule }  // Capsule
-  };
-
-  const SHCollisionDispatcher::TriggerCollide SHCollisionDispatcher::triggerCollide[NUM_SHAPES][NUM_SHAPES]
-  {
-    // <SHAPE> vs Sphere / Box / Capsule
-
-    { SHCollision::SphereVsSphere,  SHCollision::SphereVsConvex,  SHCollision::SphereVsCapsule  }  // Sphere
-  , { SHCollision::ConvexVsSphere,  SHCollision::ConvexVsConvex,  SHCollision::ConvexVsCapsule  }  // Box
-  , { SHCollision::CapsuleVsSphere, SHCollision::CapsuleVsConvex, SHCollision::CapsuleVsCapsule }  // Capsule
-  };
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Public Member Functions Definitions                                               */
-  /*-----------------------------------------------------------------------------------*/
-
-  bool SHCollisionDispatcher::Collide(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
-  {
-    const int TYPE_A = SHUtilities::ConvertEnum(A.GetType());
-    const int TYPE_B = SHUtilities::ConvertEnum(B.GetType());
-
-    return manifoldCollide[TYPE_A][TYPE_B](manifold, A, B);
-  }
-
-  bool SHCollisionDispatcher::Collide(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
-  {
-    const int TYPE_A = SHUtilities::ConvertEnum(A.GetType());
-    const int TYPE_B = SHUtilities::ConvertEnum(B.GetType());
-
-    return triggerCollide[TYPE_A][TYPE_B](A, B);
-  }
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Collision/Narrowphase/SHConvexVsConvex.cpp

@@ -1,822 +0,0 @@
-/****************************************************************************************
- * \file      SHConvexVsConvex.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for the Detecting Collisions between two convex polyhedrons.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#include <SHpch.h>
-
-// Primary Header
-#include "SHCollision.h"
-
-// Project Headers
-#include "Math/SHMathHelpers.h"
-#include "Math/Geometry/SHPlane.h"
-#include "Physics/Collision/Shapes/SHConvexPolyhedron.h"
-#include "Physics/SHPhysicsConstants.h"
-#include "Tools/Utilities/SHUtilities.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Public Member Functions Definitions                                               */
-  /*-----------------------------------------------------------------------------------*/
-
-  bool SHCollision::ConvexVsConvex(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
-  {
-    const SHConvexPolyhedron& POLY_A = dynamic_cast<const SHConvexPolyhedron&>(A);
-    const SHConvexPolyhedron& POLY_B = dynamic_cast<const SHConvexPolyhedron&>(B);
-
-    const FaceQuery FACE_QUERY_A = queryFaceDirections(POLY_A, POLY_B);
-    if (FACE_QUERY_A.bestDistance > 0.0f)
-      return false;
-
-    const FaceQuery FACE_QUERY_B = queryFaceDirections(POLY_B, POLY_A);
-    if (FACE_QUERY_B.bestDistance > 0.0f)
-      return false;
-
-    const EdgeQuery EDGE_QUERY = queryEdgeDirections(POLY_A, POLY_B);
-    if (EDGE_QUERY.bestDistance > 0.0f)
-      return false;
-
-    return true;
-  }
-
-  bool SHCollision::ConvexVsConvex(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
-  {
-    static constexpr float ABSOLUTE_TOLERANCE = 0.01f;  // 0.0005
-    static constexpr float RELATIVE_TOLERANCE = 0.95f;  // 1.0002
-
-    const SHConvexPolyhedron& POLY_A = dynamic_cast<const SHConvexPolyhedron&>(A);
-    const SHConvexPolyhedron& POLY_B = dynamic_cast<const SHConvexPolyhedron&>(B);
-
-    if (manifold.cachedSATInfo.type != SHSATInfo::Type::INVALID)
-      return cachedConvexVSConvex(manifold, manifold.cachedSATInfo, POLY_A, POLY_B);
-
-    SHSATInfo cachedInfo;
-
-    const FaceQuery FACE_QUERY_A = queryFaceDirections(POLY_A, POLY_B);
-    if (FACE_QUERY_A.bestDistance > 0.0f)
-    {
-      // cache the info
-      cachedInfo.type         = SHSATInfo::Type::FACE;
-      cachedInfo.info.refPoly = SHSATInfo::ShapeID::A;
-      cachedInfo.info.refFace = FACE_QUERY_A.closestFace;
-
-      manifold.cachedSATInfo  = cachedInfo;
-
-      return false;
-    }
-      
-
-    const FaceQuery FACE_QUERY_B = queryFaceDirections(POLY_B, POLY_A);
-    if (FACE_QUERY_B.bestDistance > 0.0f)
-    {
-      // cache the info
-      cachedInfo.type         = SHSATInfo::Type::FACE;
-      cachedInfo.info.refPoly = SHSATInfo::ShapeID::B;
-      cachedInfo.info.refFace = FACE_QUERY_B.closestFace;
-
-      manifold.cachedSATInfo  = cachedInfo;
-
-      return false;
-    }
-
-    const EdgeQuery EDGE_QUERY = queryEdgeDirections(POLY_A, POLY_B);
-    if (EDGE_QUERY.bestDistance > 0.0f)
-    {
-      // cache the info
-      cachedInfo.type       = SHSATInfo::Type::EDGE;
-      cachedInfo.info.edgeA = EDGE_QUERY.halfEdgeA;
-      cachedInfo.info.edgeB = EDGE_QUERY.halfEdgeB;
-
-      manifold.cachedSATInfo  = cachedInfo;
-
-      return false;
-    }
-
-    // Apply weight to improve frame coherence of normal directions.
-    // We want a normal in the direction from A -> B, so we flip the normal if needed.
-    bool                      flipNormal    = false;
-    const SHConvexPolyhedron* referencePoly = nullptr;
-    const SHConvexPolyhedron* incidentPoly  = nullptr;
-
-    FaceQuery minFaceQuery;
-    if (FACE_QUERY_A.bestDistance + ABSOLUTE_TOLERANCE > FACE_QUERY_B.bestDistance * RELATIVE_TOLERANCE)
-    {
-      minFaceQuery  = FACE_QUERY_A;
-      referencePoly = &POLY_A;
-      incidentPoly  = &POLY_B;
-      flipNormal    = false;
-
-      cachedInfo.type         = SHSATInfo::Type::FACE;
-      cachedInfo.info.refPoly = SHSATInfo::ShapeID::A;
-      cachedInfo.info.refFace = minFaceQuery.closestFace;
-    }
-    else
-    {
-      minFaceQuery  = FACE_QUERY_B;
-      referencePoly = &POLY_B;
-      incidentPoly  = &POLY_A;
-      flipNormal    = true;
-
-      cachedInfo.type         = SHSATInfo::Type::FACE;
-      cachedInfo.info.refPoly = SHSATInfo::ShapeID::B;
-      cachedInfo.info.refFace = minFaceQuery.closestFace;
-    }
-
-    
-
-
-    // If an edge pair contains the closest distance,vwe ignore any face queries and find the closest points on
-    // each edge and use that as the contact point.
-    if (EDGE_QUERY.bestDistance * RELATIVE_TOLERANCE > minFaceQuery.bestDistance + ABSOLUTE_TOLERANCE)
-    {
-      const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_A = POLY_A.GetHalfEdge(EDGE_QUERY.halfEdgeA);
-      const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_B = POLY_B.GetHalfEdge(EDGE_QUERY.halfEdgeB);
-
-      const SHVec3 HEAD_A = POLY_A.GetVertex(HALF_EDGE_A.headVertexIndex);
-      const SHVec3 TAIL_A = POLY_A.GetVertex(HALF_EDGE_A.tailVertexIndex);
-      const SHVec3 HEAD_B = POLY_B.GetVertex(HALF_EDGE_B.headVertexIndex);
-      const SHVec3 TAIL_B = POLY_B.GetVertex(HALF_EDGE_B.tailVertexIndex);
-
-      const SHVec3 VA = SHVec3::Normalise(HEAD_A - TAIL_A);
-      const SHVec3 VB = SHVec3::Normalise(HEAD_B - TAIL_B);
-
-      manifold.normal = SHVec3::Cross(VB, VA);
-      // Flip normal if need to ( A -> B)
-      if (SHVec3::Dot(manifold.normal, HEAD_A - A.GetWorldCentroid()) < 0.0f)
-        manifold.normal = -manifold.normal;
-
-      // In this scenario, we only have one contact
-      uint32_t numContacts = 0;
-
-      SHContact contact;
-      contact.featurePair.key = EDGE_QUERY.axis;
-      contact.position        = findClosestPointBetweenEdges(POLY_A, POLY_B, EDGE_QUERY.halfEdgeA, EDGE_QUERY.halfEdgeB);
-      contact.penetration     = -EDGE_QUERY.bestDistance;
-
-      manifold.contacts[numContacts++] = contact;
-      manifold.numContacts = numContacts;
-
-      // Cache the info
-      cachedInfo.type       = SHSATInfo::Type::EDGE;
-      cachedInfo.info.edgeA = EDGE_QUERY.halfEdgeA;
-      cachedInfo.info.edgeB = EDGE_QUERY.halfEdgeB;
-
-      manifold.cachedSATInfo = cachedInfo;
-
-      return true;
-    }
-
-    const SHVec3 REFERENCE_NORMAL = referencePoly->GetNormal(minFaceQuery.closestFace);
-    const int32_t INCIDENT_FACE_IDX = findIncidentFace(*incidentPoly, REFERENCE_NORMAL);
-
-    manifold.cachedSATInfo = cachedInfo;
-    return findFaceContacts(manifold, *incidentPoly, INCIDENT_FACE_IDX, *referencePoly, minFaceQuery.closestFace, flipNormal);
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Private Member Functions Definitions                                              */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHCollision::FaceQuery SHCollision::queryFaceDirections(const SHConvexPolyhedron& A, const SHConvexPolyhedron& B) noexcept
-  {
-    FaceQuery faceQuery;
-
-    const int32_t NUM_FACES = A.GetFaceCount();
-    for (const int32_t i : std::views::iota(0, NUM_FACES))
-    {
-      const SHHalfEdgeStructure::Face& FACE_A = A.GetFace(i);
-      const SHVec3 NORMAL_A = A.GetNormal(i);
-
-      // Smallest penetration is point closest to face normal
-      const SHVec3  SUPPORT_POINT = B.FindSupportPoint(-NORMAL_A);
-
-      const SHVec3  VERTEX_A = A.GetVertex(FACE_A.vertexIndices[0].index);
-
-      const SHPlane FACE_PLANE { VERTEX_A, NORMAL_A };
-      const float   DISTANCE = FACE_PLANE.SignedDistance(SUPPORT_POINT);
-
-      if (DISTANCE > faceQuery.bestDistance)
-      {
-        faceQuery.bestDistance = DISTANCE;
-        faceQuery.closestFace = i;
-      }
-    }
-
-    return faceQuery;
-  }
-
-  SHCollision::EdgeQuery SHCollision::queryEdgeDirections(const SHConvexPolyhedron& A, const SHConvexPolyhedron& B) noexcept
-  {
-    EdgeQuery edgeQuery;
-
-    const int32_t EDGE_COUNT_A = A.GetHalfEdgeCount();
-    const int32_t EDGE_COUNT_B = B.GetHalfEdgeCount();
-
-    int32_t axis = -1;
-    for (int32_t i = 0; i < EDGE_COUNT_A; i += 2)
-    {
-      for (int32_t j = 0; j < EDGE_COUNT_B; j += 2)
-      {
-        const bool IS_MINKOWSKI_FACE = buildMinkowskiFace(A, B, i, j);
-        if (!IS_MINKOWSKI_FACE)
-          continue;
-
-        ++axis;
-
-        const float SEPARATION = distanceBetweenEdges(A, B, i, j);
-        if (SEPARATION > edgeQuery.bestDistance)
-        {
-          edgeQuery.bestDistance = SEPARATION;
-          edgeQuery.halfEdgeA = i;
-          edgeQuery.halfEdgeB = j;
-          edgeQuery.axis      = axis;
-        }
-      }
-    }
-
-    return edgeQuery;
-  }
-
-  bool SHCollision::buildMinkowskiFace(const SHConvexPolyhedron& A, const SHConvexPolyhedron& B, int32_t edgeA, int32_t edgeB) noexcept
-  {
-    // Get Half Edge from both polygons
-    const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_A = A.GetHalfEdge(edgeA);
-    const SHHalfEdgeStructure::HalfEdge& TWIN_EDGE_A = A.GetHalfEdge(HALF_EDGE_A.twinEdgeIndex);
-
-    const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_B = B.GetHalfEdge(edgeB);
-    const SHHalfEdgeStructure::HalfEdge& TWIN_EDGE_B = B.GetHalfEdge(HALF_EDGE_B.twinEdgeIndex);
-
-
-
-    // Get normals from face and twin edge face
-    const SHVec3 NA = A.GetNormal(HALF_EDGE_A.faceIndex);
-    const SHVec3 NB = A.GetNormal(TWIN_EDGE_A.faceIndex);
-    const SHVec3 NC = B.GetNormal(HALF_EDGE_B.faceIndex);
-    const SHVec3 ND = B.GetNormal(TWIN_EDGE_B.faceIndex);
-
-    return isMinkowskiFace(NA, NB, -NC, -ND);
-  }
-
-  bool SHCollision::isMinkowskiFace(const SHVec3& a, const SHVec3& b, const SHVec3& c, const SHVec3& d) noexcept
-  {
-    const SHVec3 BXA = SHVec3::Cross(b, a);
-    const SHVec3 DXC = SHVec3::Cross(d, c);
-
-    const float CBA = SHVec3::Dot(c, BXA);
-    const float DBA = SHVec3::Dot(d, BXA);
-    const float ADC = SHVec3::Dot(a, DXC);
-    const float BDC = SHVec3::Dot(b, DXC);
-
-    return CBA * DBA < 0.0f && ADC * BDC < 0.0f && CBA * BDC > 0.0f;
-  }
-
-  float SHCollision::distanceBetweenEdges(const SHConvexPolyhedron& A, const SHConvexPolyhedron& B, int32_t edgeA, int32_t edgeB) noexcept
-  {
-    const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_A = A.GetHalfEdge(edgeA);
-    const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_B = B.GetHalfEdge(edgeB);
-
-    const SHVec3 HEAD_A = A.GetVertex(HALF_EDGE_A.headVertexIndex);
-    const SHVec3 TAIL_A = A.GetVertex(HALF_EDGE_A.tailVertexIndex);
-    const SHVec3 HEAD_B = B.GetVertex(HALF_EDGE_B.headVertexIndex);
-    const SHVec3 TAIL_B = B.GetVertex(HALF_EDGE_B.tailVertexIndex);
-
-    const SHVec3 DIR_A = SHVec3::Normalise(HEAD_A - TAIL_A);
-    const SHVec3 DIR_B = SHVec3::Normalise(HEAD_B - TAIL_B);
-
-    // Check if the edges are parallel (abs dot product is 1)
-    const float DOT_BETWEEN_EDGES = std::fabs(SHVec3::Dot(DIR_A, DIR_B));
-    if (SHMath::CompareFloat(DOT_BETWEEN_EDGES, 1.0f))
-      return std::numeric_limits<float>::lowest();
-
-    SHVec3 normal = SHVec3::Cross(DIR_A, DIR_B);
-    // Flip normal if need to ( A -> B)
-    if (SHVec3::Dot(normal, HEAD_A - A.GetWorldCentroid()) < 0.0f)
-      normal = -normal;
-
-    return SHVec3::Dot(normal, HEAD_B - HEAD_A);
-  }
-
-  SHVec3 SHCollision::findClosestPointBetweenEdges(const SHConvexPolyhedron& A, const SHConvexPolyhedron& B, int32_t edgeA, int32_t edgeB) noexcept
-  {
-    /*
-     * The two edges can be parameterised in the form p + tv
-     *
-     * LA(r) = A + rVA
-     * LB(s) = B + sVB
-     *
-     * The vector between the closest points is the cross product of VA and VB.
-     * Since the cross product is orthogonal to VA and VB, we can generalise this as:
-     * (LB(s) - LA(r)) /dot VA = 0
-     * (LB(s) - LA(r)) /dot VB = 0
-     *
-     * Where LB(s) - LA(r) is the same vector as VB X VA.
-     *
-     */
-
-    const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_A = A.GetHalfEdge(edgeA);
-    const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_B = B.GetHalfEdge(edgeB);
-
-    const SHVec3 HEAD_A = A.GetVertex(HALF_EDGE_A.headVertexIndex);
-    const SHVec3 TAIL_A = A.GetVertex(HALF_EDGE_A.tailVertexIndex);
-    const SHVec3 HEAD_B = B.GetVertex(HALF_EDGE_B.headVertexIndex);
-    const SHVec3 TAIL_B = B.GetVertex(HALF_EDGE_B.tailVertexIndex);
-
-    const SHVec3 VA = SHVec3::Normalise(HEAD_A - TAIL_A);
-    const SHVec3 VB = SHVec3::Normalise(HEAD_B - TAIL_B);
-
-    /*
-     * Find a1, a2, b1, b2, c1, c2 to solve the simultaneous equation
-     *
-     * C' = TAIL_B - TAIL_A
-     *
-     * a =  VB /dot U
-     * b = -VA /dot U
-     * c =  C' /dot U
-     *
-     * U is either VA or VB
-     *
-     * TODO: Check if segments degenerate into a point
-     */
-
-    const SHVec3 C = TAIL_B - TAIL_A;
-
-    const float VB_DOT_VA = SHVec3::Dot(VB, VA);  // a1   
-    const float VB_DOT_VB = SHVec3::Dot(VB, VB);  // a2   
-    const float AV_DOT_VA = SHVec3::Dot(-VA, VA); // b1   
-    const float AV_DOT_VB = SHVec3::Dot(-VA, VB); // b2   
-    const float C_DOT_VA  = SHVec3::Dot(C, VA);   // c1   
-    const float C_DOT_VB  = SHVec3::Dot(C, VB);   // c2
-
-    /*
-     * We only need to solve for R
-     * R = (c1a2 / a1 - c2) / ( b2 - a2b1/a1 )
-     */
-
-    const float A2_OVER_A1  = VB_DOT_VA == 0.0f ? 0.0f : VB_DOT_VB / VB_DOT_VA;
-    const float NUMERATOR   = C_DOT_VA * A2_OVER_A1 - C_DOT_VB;
-    const float DENOMINATOR = AV_DOT_VB - AV_DOT_VA * A2_OVER_A1;
-
-    // We clamp it because the factor cannot be beyond [0,1] as it would be beyond the segment if it was so.
-    const float R           = DENOMINATOR == 0.0f ? NUMERATOR : NUMERATOR / DENOMINATOR;
-
-    // Just take a point from A since it's A -> B
-    return TAIL_A + R * VA;
-  }
-
-  int32_t SHCollision::findIncidentFace(const SHConvexPolyhedron& poly, const SHVec3& normal) noexcept
-  {
-    // Get the most anti-parallel face to the normal
-    int32_t bestFace        = 0;
-    float   bestProjection  = std::numeric_limits<float>::max();
-
-    const int32_t NUM_FACES = poly.GetFaceCount();
-    for (const int32_t i : std::views::iota(0, NUM_FACES))
-    {
-      const SHVec3  INC_NORMAL = poly.GetNormal(i);
-      const float   PROJECTION = SHVec3::Dot(INC_NORMAL, normal);
-
-      if (PROJECTION < bestProjection)
-      {
-        bestProjection  = PROJECTION;
-        bestFace        = i;
-      }
-    }
-
-    return bestFace;
-  }
-
-  bool SHCollision::findFaceContacts(SHManifold& manifold, const SHConvexPolyhedron& incPoly, int32_t incFace, const SHConvexPolyhedron& refPoly, int32_t refFace, bool flip) noexcept
-  {
-     const SHHalfEdgeStructure::Face& INCIDENT_FACE = incPoly.GetFace(incFace);
-    const SHHalfEdgeStructure::Face& REFERENCE_FACE = refPoly.GetFace(refFace);
-
-    const int32_t NUM_INCIDENT_VERTICES = static_cast<int32_t>(INCIDENT_FACE.vertexIndices.size());
-    const int32_t NUM_REFERENCE_VERTICES = static_cast<int32_t>(REFERENCE_FACE.vertexIndices.size());
-
-    // Build incoming vertices to clip
-    std::vector<ClipVertex> clipIn;
-    clipIn.resize(NUM_INCIDENT_VERTICES * 2, ClipVertex{});
-
-    int32_t numClipIn = 0;
-    for (int32_t i = 0; i < NUM_INCIDENT_VERTICES; ++i)
-    {
-      const int32_t prevI = i - 1 < 0 ? NUM_INCIDENT_VERTICES - 1 : i - 1;
-
-      const int32_t V_INDEX = INCIDENT_FACE.vertexIndices[i].index;
-
-      // The incoming id is the previous edge
-      // The outgoing id is the current edge (where this vertex is the tail of)
-
-      ClipVertex v;
-      v.position          = incPoly.GetVertex(V_INDEX);
-      v.featurePair.inI   = INCIDENT_FACE.vertexIndices[prevI].edgeIndex;
-      v.featurePair.outI  = INCIDENT_FACE.vertexIndices[i].edgeIndex;
-      v.featurePair.inR   = 0;
-      v.featurePair.outR  = 0;
-
-      clipIn[numClipIn++] = v;
-    }
-
-    // Clip the vertices against the reference face side planes.
-    // Number of side planes == number of edges == number of vertices
-    const SHVec3 REF_NORMAL = refPoly.GetNormal(refFace);
-    for (int32_t i = 0; i < NUM_REFERENCE_VERTICES; ++i)
-    {
-      // Side plane can be built with the vertex on the edge and the plane's normal
-      // Plane normal = faceNormal X tangent (v2 - v1)
-
-      const int32_t V1_INDEX = REFERENCE_FACE.vertexIndices[i].index;
-      const int32_t V2_INDEX = REFERENCE_FACE.vertexIndices[(i + 1) % NUM_REFERENCE_VERTICES].index;
-
-      const SHVec3  V1 = refPoly.GetVertex(V1_INDEX);
-      const SHVec3  V2 = refPoly.GetVertex(V2_INDEX);
-
-      const SHVec3  TANGENT = SHVec3::Normalise(V2 - V1);
-      const SHPlane CLIP_PLANE { V1, SHVec3::Cross(REF_NORMAL, TANGENT) };
-
-      std::vector<ClipVertex> clipOut = clipPolygonWithPlane(clipIn, numClipIn, CLIP_PLANE, REFERENCE_FACE.vertexIndices[i].edgeIndex);
-      if (clipOut.empty())
-        return false;
-
-      // Replace the clip container's contents with the clipped points for the next clipping pass
-      const int32_t NUM_CLIPPED = static_cast<int32_t>(clipOut.size());
-      for (int32_t clippedIndex = 0; clippedIndex < NUM_CLIPPED; ++clippedIndex)
-      {
-        clipIn[clippedIndex].position         = clipOut[clippedIndex].position;
-        clipIn[clippedIndex].featurePair.key  = clipOut[clippedIndex].featurePair.key;
-      }
-      numClipIn = NUM_CLIPPED;
-    }
-
-    // From the final set of clipped points, only keep the points that are below the reference plane.
-    const SHPlane REFERENCE_PLANE{ refPoly.GetVertex(REFERENCE_FACE.vertexIndices.front().index), REF_NORMAL };
-
-    uint32_t numContacts = 0;
-
-    std::vector<SHContact> contacts;
-    for (int32_t i = 0; i < numClipIn; ++i)
-    {
-      const SHVec3 POS = clipIn[i].position;
-      const float DIST = REFERENCE_PLANE.SignedDistance(POS);
-      if (DIST <= 0.0f)
-      {
-        SHContact contact;
-        contact.position = POS;
-        contact.penetration = -DIST;
-
-        if (flip)
-        {
-          contact.featurePair.inI = clipIn[i].featurePair.inR;
-          contact.featurePair.inR = clipIn[i].featurePair.inI;
-          contact.featurePair.outI = clipIn[i].featurePair.outR;
-          contact.featurePair.outR = clipIn[i].featurePair.outI;
-        }
-        else
-        {
-          contact.featurePair.key = clipIn[i].featurePair.key;
-        }
-
-        contacts.emplace_back(contact);
-        ++numContacts;
-      }
-    }
-
-    // Reduce contact manifold if more than 4 points
-    if (numContacts > 4)
-    {
-      const auto INDICES_TO_KEEP = reduceContacts(contacts, REF_NORMAL);
-      std::vector<SHContact> reducedContacts;
-
-      const int32_t NUM_REDUCED = static_cast<int32_t>(INDICES_TO_KEEP.size());
-      for (int32_t i = 0; i < NUM_REDUCED; ++i)
-        reducedContacts.emplace_back(contacts[INDICES_TO_KEEP[i]]);
-
-      contacts.clear();
-      // Copy contacts to main container
-      for (auto& contact : reducedContacts)
-        contacts.emplace_back(contact);
-    }
-
-    // Remove potential duplicate contact points
-    // No way about this being an n^2 loop
-    static constexpr float THRESHOLD = SHPHYSICS_SAME_CONTACT_DISTANCE * SHPHYSICS_SAME_CONTACT_DISTANCE;
-    for (auto i = contacts.begin(); i != contacts.end(); ++i)
-    {
-      for (auto j = i + 1; j != contacts.end();)
-      {
-        const float D2 = SHVec3::DistanceSquared(i->position, j->position);
-        if (D2 < THRESHOLD)
-          j = contacts.erase(j);
-        else
-          ++j;
-      }
-    }
-
-    // Copy final contacts into the manifold
-    numContacts = static_cast<int32_t>(contacts.size());
-    for (int32_t i = 0; i < numContacts; ++i)
-      manifold.contacts[i] = contacts[i];
-
-    manifold.numContacts  = numContacts;
-    manifold.normal       = REF_NORMAL;
-    if (flip)
-      manifold.normal = -manifold.normal;
-
-    return true;
-  }
-
-
-  std::vector<SHCollision::ClipVertex> SHCollision::clipPolygonWithPlane(const std::vector<ClipVertex>& in, int32_t numIn, const SHPlane& plane, int32_t planeIdx) noexcept
-  {
-    std::vector<ClipVertex> out;
-
-    int32_t v1Index = numIn - 1;
-    int32_t v2Index = 0;
-
-    float v1Distance = plane.SignedDistance(in[v1Index].position);
-    float v2Distance = 0.0f;
-
-    for (int32_t i = 0; i < numIn; ++i)
-    {
-      v2Index = i;
-
-      const SHVec3 v1Pos = in[v1Index].position;
-      const SHVec3 v2Pos = in[v2Index].position;
-
-      v2Distance = plane.SignedDistance(v2Pos);
-
-      // v1 in front, v2 behind
-      // keep the intersection point
-      if (v1Distance >= 0.0f && v2Distance < 0.0f)
-      {
-        ClipVertex intersection;
-
-        // In case the edge is parallel, the intersection is just the start point
-        const bool IS_PARALLEL = SHMath::CompareFloat(SHVec3::Dot(v2Pos - v1Pos, plane.GetNormal()), 0.0f);
-        const float ALPHA = IS_PARALLEL ? 0.0f : v1Distance / SHVec3::Distance(v1Pos, v2Pos);
-
-        intersection.position         = SHVec3::ClampedLerp(v1Pos, v2Pos, ALPHA);
-        intersection.featurePair.inI  = in[v1Index].featurePair.outI;
-        intersection.featurePair.outI = 0;
-        intersection.featurePair.inR  = 0;
-        intersection.featurePair.outR = planeIdx;
-
-        out.emplace_back(intersection);
-      }
-
-      // v1 behind, v2 in front
-      // keep intersection point & v2
-      if(v1Distance < 0.0f && v2Distance >= 0.0f)
-      {
-        ClipVertex intersection;
-
-        // In case the edge is parallel, the intersection is just the start point
-        const bool IS_PARALLEL = SHMath::CompareFloat(SHVec3::Dot(v2Pos - v1Pos, plane.GetNormal()), 0.0f);
-        const float ALPHA = IS_PARALLEL ? 0.0f : -v1Distance / SHVec3::Distance(v1Pos, v2Pos);
-
-        intersection.position         = SHVec3::ClampedLerp(v1Pos, v2Pos, ALPHA);
-        intersection.featurePair.inI  = 0;
-        intersection.featurePair.outI = in[v2Index].featurePair.inI;
-        intersection.featurePair.inR  = planeIdx;
-        intersection.featurePair.outR = 0;
-
-        out.emplace_back(intersection);
-        out.emplace_back(in[v2Index]);
-      }
-
-      // both in front, keep v2
-      if (v1Distance >= 0.0f && v2Distance >= 0.0f)
-      {
-        out.emplace_back(in[v2Index]);
-      }
-
-      // v2 is the next v1
-      v1Index    = v2Index;
-      v1Distance = v2Distance;
-    }
-
-    return out;
-  }
-
-  std::vector<int32_t> SHCollision::reduceContacts(const std::vector<SHContact>& in, const SHVec3& faceNormal) noexcept
-  {
-    std::vector<int32_t> indicesToKeep;
-
-    // Use a map to temporarily store and track the contacts we want
-    std::unordered_map<int, const SHContact*> contactMap;
-    const int32_t NUM_CONTACTS = static_cast<int32_t>(in.size());
-    for (int32_t i = 0; i < NUM_CONTACTS; ++i)
-      contactMap.emplace(i, &in[i]);
-
-    // Find the furthest point in a given direction
-    int32_t indexToKeep = -1;
-    float bestDistance  = std::numeric_limits<float>::lowest();
-
-    for (const auto& [index, contact] : contactMap)
-    {
-      const float DIST = SHVec3::Dot(contact->position, SHVec3::One);
-      if (DIST > bestDistance)
-      {
-        bestDistance  = DIST;
-        indexToKeep   = index;
-      }
-    }
-
-    indicesToKeep.emplace_back(indexToKeep);
-    contactMap.erase(indexToKeep);
-
-
-    indexToKeep   = -1;
-    bestDistance  = std::numeric_limits<float>::lowest();
-
-    // Find point furthest away from the first index
-    const SHVec3& FIRST_POS = in[indicesToKeep.back()].position;
-    for (const auto& [index, contact] : contactMap)
-    {
-      const float DIST_SQUARED = SHVec3::DistanceSquared(FIRST_POS, contact->position);
-      if (DIST_SQUARED > bestDistance)
-      {
-        bestDistance  = DIST_SQUARED;
-        indexToKeep   = index;
-      }
-    }
-
-    indicesToKeep.emplace_back(indexToKeep);
-    contactMap.erase(indexToKeep);
-
-    indexToKeep = -1;
-
-    // We compute the triangle with the largest area.
-    // The area can be positive or negative depending on the winding order.
-
-    float maxArea = std::numeric_limits<float>::lowest();
-    float minArea = std::numeric_limits<float>::max();
-
-    int32_t maxAreaIndex = -1;
-    int32_t minAreaIndex = -1;
-
-    const SHVec3& SECOND_POS = in[indicesToKeep.back()].position;
-    for (const auto& [index, contact] : contactMap)
-    {
-      const SHVec3& POS   = contact->position;
-      const SHVec3 TO_P1  = FIRST_POS - POS;
-      const SHVec3 TO_P2  = SECOND_POS - POS;
-
-      const float AREA = SHVec3::Dot(SHVec3::Cross(TO_P1, TO_P2), faceNormal) * 0.5f;
-
-      if (AREA > maxArea)
-      {
-        maxArea = AREA;
-        maxAreaIndex = index;
-      }
-
-      if (AREA < minArea)
-      {
-        minArea = AREA;
-        minAreaIndex = index;
-      }
-    }
-
-    // Compare which triangle creates the largest area
-    bool isAreaPositive = false;
-    if (maxArea > (-minArea))
-    {
-      isAreaPositive  = true;
-      indexToKeep     = maxAreaIndex;
-    }
-    else
-    {
-      isAreaPositive  = false;
-      indexToKeep     = minAreaIndex;
-    }
-
-    indicesToKeep.emplace_back(indexToKeep);
-    contactMap.erase(indexToKeep);
-
-    indexToKeep = -1;
-
-    // For the last point, we want the point which forms the largest area that is winded opposite to the first triangle
-    // The areas should be inverted: If area was -ve, we want a +ve. Otherwise, vice versa.
-    float bestArea = 0.0f;
-
-    const SHVec3& THIRD_POS = in[indicesToKeep.back()].position;
-    const SHVec3 ABC[3] = { FIRST_POS, SECOND_POS, THIRD_POS };
-
-    for (const auto& [index, contact] : contactMap)
-    {
-      const SHVec3& Q = contact->position;
-
-      for (int i = 0; i < 3; ++i)
-      {
-        const int P1 = i;
-        const int P2 = (i + 1) % 3;
-
-        const SHVec3 TO_P1 = ABC[P1] - Q;
-        const SHVec3 TO_P2 = ABC[P2] - Q;
-
-        const float AREA = SHVec3::Dot(SHVec3::Cross(TO_P1, TO_P2), faceNormal) * 0.5f;
-
-        if (isAreaPositive && AREA < bestArea)
-        {
-          bestArea    = AREA;
-          indexToKeep = index;
-        }
-
-        if (!isAreaPositive && AREA > bestArea)
-        {
-          bestArea    = AREA;
-          indexToKeep = index;
-        }
-      }
-    }
-
-    indicesToKeep.emplace_back(indexToKeep);
-    return indicesToKeep;
-  }
-
-  bool SHCollision::cachedConvexVSConvex(SHManifold& manifold, const SHSATInfo& cachedInfo, const SHConvexPolyhedron& A, const SHConvexPolyhedron& B) noexcept
-  {
-    if (cachedInfo.type == SHSATInfo::Type::FACE)
-    {
-      SHASSERT(cachedInfo.info.refPoly != SHSATInfo::ShapeID::INVALID, "Attempted to perform cached SAT with an invalid cached collision!")
-
-      // Assume the reference poly was A
-      const SHConvexPolyhedron* incPoly = &B;
-      const SHConvexPolyhedron* refPoly = &A;
-      bool flip = false;
-
-      // Swap if it was B
-      if (cachedInfo.info.refPoly == SHSATInfo::ShapeID::B)
-      {
-        refPoly = &B;
-        incPoly = &A;
-        flip    = true;
-      }
-
-      const SHHalfEdgeStructure::Face&  REF_FACE    = refPoly->GetFace(cachedInfo.info.refFace);
-      const SHVec3                      REF_NORMAL  = refPoly->GetNormal(cachedInfo.info.refFace);
-
-      const SHVec3  SUPPORT_POINT = incPoly->FindSupportPoint(-REF_NORMAL);
-
-      const SHPlane REF_FACE_PLANE { refPoly->GetVertex(REF_FACE.vertexIndices[0].index), REF_NORMAL };
-      const float   DISTANCE = REF_FACE_PLANE.SignedDistance(SUPPORT_POINT);
-
-      if (DISTANCE > 0.0f)
-        return false;
-
-      // Find the incident face
-      const int32_t INCIDENT_FACE_INDEX = findIncidentFace(*incPoly, REF_NORMAL);
-
-      return findFaceContacts(manifold, *incPoly, INCIDENT_FACE_INDEX, *refPoly, cachedInfo.info.refFace, flip);
-    }
-
-    if (cachedInfo.type == SHSATInfo::Type::EDGE)
-    {
-      const float DISTANCE = distanceBetweenEdges(A, B, cachedInfo.info.edgeA, cachedInfo.info.edgeB);
-      if (DISTANCE > 0.0f)
-        return false;
-
-      const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_A = A.GetHalfEdge(cachedInfo.info.edgeA);
-      const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_B = B.GetHalfEdge(cachedInfo.info.edgeB);
-
-      const SHVec3 HEAD_A = A.GetVertex(HALF_EDGE_A.headVertexIndex);
-      const SHVec3 TAIL_A = A.GetVertex(HALF_EDGE_A.tailVertexIndex);
-      const SHVec3 HEAD_B = B.GetVertex(HALF_EDGE_B.headVertexIndex);
-      const SHVec3 TAIL_B = B.GetVertex(HALF_EDGE_B.tailVertexIndex);
-
-      const SHVec3 VA = SHVec3::Normalise(HEAD_A - TAIL_A);
-      const SHVec3 VB = SHVec3::Normalise(HEAD_B - TAIL_B);
-
-      manifold.normal = SHVec3::Cross(VB, VA);
-      // Flip normal if need to ( A -> B)
-      if (SHVec3::Dot(manifold.normal, HEAD_A - A.GetWorldCentroid()) < 0.0f)
-        manifold.normal = -manifold.normal;
-
-      // In this scenario, we only have one contact
-      uint32_t numContacts = 0;
-
-      SHContact contact;
-      // Take feature pair key from previous manifold
-      contact.featurePair.key = manifold.contacts[0].featurePair.key;
-      contact.position        = findClosestPointBetweenEdges(A, B, cachedInfo.info.edgeA, cachedInfo.info.edgeB);
-      contact.penetration     = -DISTANCE;
-
-      manifold.contacts[numContacts++] = contact;
-      manifold.numContacts = numContacts;
-
-      return true;
-    }
-
-    // Should never reach this.
-    return false;
-  }
-
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Collision/Narrowphase/SHSATInfo.h

@@ -1,87 +0,0 @@
-/****************************************************************************************
- * \file      SHSATInfo.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for storing information of collision detection between two
- *            convex shapes using SAT.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-#include <numeric>    // int32_t
-
-namespace SHADE
-{
-  /**
-   * @brief
-   * Primarily used to cached collision information between two convex polyhedrons for
-   * temporal coherence.
-  */
-  struct SHSATInfo
-  {
-  public:
-    /*---------------------------------------------------------------------------------*/
-    /* Type Definitions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    enum class ShapeID : int32_t
-    {
-      A       = 0
-    , B       = 1
-
-    , INVALID = -1
-    };
-
-    enum class Type
-    {
-      EDGE
-    , FACE
-
-    , INVALID = -1
-    };
-
-    union ContactInfo
-    {
-      struct // FaceContact
-      {
-        ShapeID refPoly;
-        int32_t refFace;
-      };
-
-      struct // Edge Contact
-      {
-        int32_t edgeA;
-        int32_t edgeB;
-      };
-    };
-
-    /*---------------------------------------------------------------------------------*/
-    /* Data Members                                                                    */
-    /*---------------------------------------------------------------------------------*/
-
-    Type        type;
-    ContactInfo info;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Constructors & Destructor                                                       */
-    /*---------------------------------------------------------------------------------*/
-
-    SHSATInfo   ()                      noexcept;
-    SHSATInfo   (const SHSATInfo& rhs)  noexcept;
-    SHSATInfo   (SHSATInfo&& rhs)       noexcept;
-    ~SHSATInfo  () noexcept = default;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Operator Overloads                                                              */
-    /*---------------------------------------------------------------------------------*/
-
-    SHSATInfo& operator=  (const SHSATInfo& rhs)  noexcept;
-    SHSATInfo& operator=  (SHSATInfo&& rhs)       noexcept;
-  };
-  
-} // namespace SHADE
-
-#include "SHSATInfo.hpp"

SHADE_Engine/src/Physics/Collision/Narrowphase/SHSATInfo.hpp

@@ -1,71 +0,0 @@
-/****************************************************************************************
- * \file      SHSATInfo.hpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation of inlined methods for cached SAT Info.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-// Primary Header
-#include "SHSATInfo.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Constructors & Destructor                                                         */
-  /*-----------------------------------------------------------------------------------*/
-
-  inline SHSATInfo::SHSATInfo() noexcept
-  : type  { Type::INVALID }
-  , info  {}
-  {
-    info.refPoly = ShapeID::INVALID;
-    info.refFace = -1;
-  }
-
-  inline SHSATInfo::SHSATInfo(const SHSATInfo& rhs) noexcept
-  : type  { rhs.type }
-  , info  {}
-  {
-    info.refPoly = rhs.info.refPoly;
-    info.refFace = rhs.info.refFace;
-    
-  }
-
-  inline SHSATInfo::SHSATInfo(SHSATInfo&& rhs) noexcept
-  : type  { rhs.type }
-  , info  {}
-  {
-    info.refPoly = rhs.info.refPoly;
-    info.refFace = rhs.info.refFace;
-  }
-
-  /*---------------------------------------------------------------------------------- */
-  /* Operator Overloads                                                                */
-  /*---------------------------------------------------------------------------------- */
-
-  inline SHSATInfo& SHSATInfo::operator=(const SHSATInfo& rhs) noexcept
-  {
-    if (this == &rhs)
-      return *this;
-
-    type          = rhs.type;
-    info.refPoly  = rhs.info.refPoly;
-    info.refFace  = rhs.info.refFace;
-
-    return *this;
-  }
-
-  inline SHSATInfo& SHSATInfo::operator=(SHSATInfo&& rhs) noexcept
-  {
-    type          = rhs.type;
-    info.refPoly  = rhs.info.refPoly;
-    info.refFace  = rhs.info.refFace;
-
-    return *this;
-  }
-}

SHADE_Engine/src/Physics/Collision/Narrowphase/SHSphereVsCapsule.cpp

@@ -1,48 +0,0 @@
-/****************************************************************************************
- * \file      SHSphereVsCapsule.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for the Detecting Collisions between a sphere and a capsule.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#include <SHpch.h>
-
-// Primary Header
-#include "SHCollision.h"
-
-// Project Headers
-#include "Math/SHMathHelpers.h"
-#include "Physics/Collision/Shapes/SHSphere.h"
-
-// TODO
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Public Member Functions Definitions                                               */
-  /*-----------------------------------------------------------------------------------*/
-
-  bool SHCollision::SphereVsCapsule(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
-  {
-    return false;
-  }
-
-  bool SHCollision::CapsuleVsSphere(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
-  {
-    return SphereVsCapsule(B, A);
-  }
-
-  bool SHCollision::SphereVsCapsule(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
-  {
-    return false;
-  }
-
-  bool SHCollision::CapsuleVsSphere(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
-  {
-    return SphereVsCapsule(manifold, B, A);
-  }
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Collision/Narrowphase/SHSphereVsConvex.cpp

@@ -1,348 +0,0 @@
-/****************************************************************************************
- * \file      SHSphereVsConvex.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for the Detecting Collisions between a sphere and a convex
- *            polyhedron.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#include <SHpch.h>
-
-// Primary Header
-#include "SHCollision.h"
-
-// Project Headers
-#include "Math/Geometry/SHPlane.h"
-#include "Math/SHMathHelpers.h"
-#include "Physics/Collision/Shapes/SHSphere.h"
-#include "Physics/Collision/Shapes/SHConvexPolyhedron.h"
-#include "Physics/SHPhysicsConstants.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Public Member Functions Definitions                                               */
-  /*-----------------------------------------------------------------------------------*/
-
-  bool SHCollision::SphereVsConvex(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
-  {
-    const SHSphere&           SPHERE      = dynamic_cast<const SHSphere&>(A);
-    const SHConvexPolyhedron& POLYHEDRON  = dynamic_cast<const SHConvexPolyhedron&>(B);
-
-    const SHVec3  CENTER  = SPHERE.Center;
-    const float   RADIUS  = SPHERE.GetWorldRadius();
-
-    // Find closest face
-    const FaceQuery FACE_QUERY = findClosestFace(SPHERE, POLYHEDRON);
-    if (!FACE_QUERY.colliding)
-      return false;
-
-    // If center of sphere is inside the polyhedron (below the face)
-    if (FACE_QUERY.bestDistance < SHMath::EPSILON)
-      return true;
-
-    // Find closest face of polygon to circle
-    const int32_t CLOSEST_POINT = findClosestPoint(SPHERE, POLYHEDRON, FACE_QUERY.closestFace);
-
-    const auto&   FACE          = POLYHEDRON.GetFace(FACE_QUERY.closestFace);
-    const SHVec3& FACE_NORMAL   = POLYHEDRON.GetNormal(FACE_QUERY.closestFace);
-    const int32_t NUM_VERTICES  = static_cast<int32_t>(FACE.vertexIndices.size());
-
-    // Get points and build tangents
-    const int32_t P2_INDEX = (CLOSEST_POINT + 1) % NUM_VERTICES;
-    const int32_t P3_INDEX = CLOSEST_POINT == 0 ? NUM_VERTICES - 1 : CLOSEST_POINT - 1;
-
-    const SHVec3 P1 = POLYHEDRON.GetVertex(FACE.vertexIndices[CLOSEST_POINT].index);
-    const SHVec3 P2 = POLYHEDRON.GetVertex(FACE.vertexIndices[P2_INDEX].index);
-    const SHVec3 P3 = POLYHEDRON.GetVertex(FACE.vertexIndices[P3_INDEX].index);
-
-    const SHVec3 TANGENT_1 = SHVec3::Normalise(P2 - P1);
-    const SHVec3 TANGENT_2 = SHVec3::Normalise(P3 - P1);
-
-    // Get the voronoi region it belongs in
-    const int32_t REGION = findVoronoiRegion(SPHERE, P1, FACE_NORMAL, TANGENT_1, TANGENT_2);
-
-    return REGION > 0;
-  }
-
-  bool SHCollision::ConvexVsSphere(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
-  {
-    return SphereVsConvex(B, A);
-  }
-
-  bool SHCollision::SphereVsConvex(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
-  {
-    // Convert to underlying types
-    // For the convex, we only need the convex polyhedron shape since the get vertex is pure virtual.
-    const SHSphere&           SPHERE      = dynamic_cast<const SHSphere&>(A);
-    const SHConvexPolyhedron& POLYHEDRON  = dynamic_cast<const SHConvexPolyhedron&>(B);
-
-    const SHVec3  CENTER  = SPHERE.Center;
-    const float   RADIUS  = SPHERE.GetWorldRadius();
-
-    const FaceQuery FACE_QUERY = findClosestFace(SPHERE, POLYHEDRON);
-    if (!FACE_QUERY.colliding)
-      return false;
-
-    uint32_t    numContacts   = 0;
-    const float PENETRATION   = RADIUS - FACE_QUERY.bestDistance;
-
-    SHContact contact;
-    contact.featurePair.key = 0;
-
-    // Check if center is inside polyhedron (below the face)
-    if (FACE_QUERY.bestDistance < SHMath::EPSILON)
-    {
-      manifold.normal = -POLYHEDRON.GetNormal(FACE_QUERY.closestFace);
-
-      contact.penetration = PENETRATION;
-      contact.position    = CENTER;
-
-      manifold.contacts[numContacts++] = contact;
-      manifold.numContacts = numContacts;
-
-      return true;
-    }
-
-    // Find closest face of polygon to circle
-    const int32_t CLOSEST_POINT = findClosestPoint(SPHERE, POLYHEDRON, FACE_QUERY.closestFace);
-
-    const auto&   FACE          = POLYHEDRON.GetFace(FACE_QUERY.closestFace);
-    const SHVec3& FACE_NORMAL   = POLYHEDRON.GetNormal(FACE_QUERY.closestFace);
-    const int32_t NUM_VERTICES  = static_cast<int32_t>(FACE.vertexIndices.size());
-
-    // Get points and build tangents
-    const int32_t P2_INDEX = (CLOSEST_POINT + 1) % NUM_VERTICES;
-    const int32_t P3_INDEX = CLOSEST_POINT == 0 ? NUM_VERTICES - 1 : CLOSEST_POINT - 1;
-
-    const SHVec3 P1 = POLYHEDRON.GetVertex(FACE.vertexIndices[CLOSEST_POINT].index);
-    const SHVec3 P2 = POLYHEDRON.GetVertex(FACE.vertexIndices[P2_INDEX].index);
-    const SHVec3 P3 = POLYHEDRON.GetVertex(FACE.vertexIndices[P3_INDEX].index);
-
-    const SHVec3 TANGENT_1 = SHVec3::Normalise(P2 - P1);
-    const SHVec3 TANGENT_2 = SHVec3::Normalise(P3 - P1);
-
-    // Get the voronoi region it belongs in
-    const int32_t REGION = findVoronoiRegion(SPHERE, P1, FACE_NORMAL, TANGENT_1, TANGENT_2);
-    if (REGION == 0)
-      return false;
-
-    // Create contact information based on region
-
-    const SHVec3 P1_TO_CENTER = CENTER - P1;
-    switch (REGION)
-    {
-      case 1: // Region A
-      case 2: // Region B
-      {
-        // Find closest point
-        const SHVec3& TANGENT     = REGION == 1 ? TANGENT_1 : TANGENT_2;
-        const SHVec3 CP           = P1 + TANGENT * SHVec3::Dot(P1_TO_CENTER, TANGENT);
-        const SHVec3 CP_TO_CENTER = CENTER - CP;
-
-        manifold.normal     = -SHVec3::Normalise(CP_TO_CENTER);
-
-        contact.penetration = RADIUS - SHVec3::Dot(CP_TO_CENTER, -manifold.normal);
-        contact.position    = CP;
-
-        break;
-      }
-      case 3: // Region C
-      {
-        manifold.normal     = -SHVec3::Normalise(P1_TO_CENTER);
-
-        contact.penetration = RADIUS - P1_TO_CENTER.Length();
-        contact.position    = P1;
-
-        break;
-      }
-      case 4: // Region D
-      {
-        manifold.normal     = -FACE_NORMAL;
-
-        contact.penetration = PENETRATION;
-        contact.position    = CENTER - FACE_NORMAL * RADIUS;
-
-        break;
-      }
-      default: return false;  // Should never happen
-    }
-
-    manifold.contacts[numContacts++] = contact;
-    manifold.numContacts = numContacts;
-
-    return true;
-  }
-
-  bool SHCollision::ConvexVsSphere(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
-  {
-    if (SphereVsConvex(manifold, B, A))
-    {
-      manifold.normal = -manifold.normal;
-      return true;
-    };
-
-    return false;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Private Member Functions Definitions                                              */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHCollision::FaceQuery SHCollision::findClosestFace
-  (
-    const SHSphere&           sphere
-  , const SHConvexPolyhedron& polyhedron
-  ) noexcept
-  {
-    FaceQuery faceQuery;
-
-    const SHVec3  CENTER  = sphere.Center;
-    const float   RADIUS  = sphere.GetWorldRadius();
-
-    /*
-     * Test against each face.
-     *
-     * 1. For each face, build a plane in point-normal form.
-     * 2. Find the signed distance from plane to center of sphere.
-     * 3. Save best distance and face.
-     */
-    for (int32_t i = 0; i < polyhedron.GetFaceCount(); ++i)
-    {
-      const SHHalfEdgeStructure::Face& FACE = polyhedron.GetFace(i);
-
-      // Build plane equation
-      // Use first vertex to build the plane
-      const SHPlane FACE_PLANE { polyhedron.GetVertex(FACE.vertexIndices[0].index), polyhedron.GetNormal(i) };
-
-      // Find signed distance of center to plane
-      const float SIGNED_DIST = FACE_PLANE.SignedDistance(CENTER);
-
-      // Early out:
-      // If face is facing away from center, signed dist is negative.
-      // Therefore signed distance is only positive when sphere is in front of the face.
-      if (SIGNED_DIST > RADIUS)
-        return faceQuery;
-
-      if (SIGNED_DIST > faceQuery.bestDistance)
-      {
-        faceQuery.bestDistance = SIGNED_DIST;
-        faceQuery.closestFace = i;
-      }
-    }
-
-    faceQuery.colliding = true;
-    return faceQuery;
-  }
-
-  int32_t SHCollision::findClosestPoint
-  (
-    const SHSphere&           sphere
-  , const SHConvexPolyhedron& polyhedron
-  , int32_t                   faceIndex
-  ) noexcept
-  {
-    // Find closest point on face
-    int32_t closestPointIndex = -1;
-
-    const SHVec3  CENTER  = sphere.Center;
-    
-    const SHHalfEdgeStructure::Face& FACE = polyhedron.GetFace(faceIndex);
-    const int32_t NUM_VERITICES = static_cast<int32_t>(FACE.vertexIndices.size());
-
-    float smallestDist = std::numeric_limits<float>::max();
-    for (int32_t i = 0; i < NUM_VERITICES; ++i)
-    {
-      const SHVec3 POINT = polyhedron.GetVertex(FACE.vertexIndices[i].index);
-      const float DIST = SHVec3::DistanceSquared(CENTER, POINT);
-
-      if (DIST < smallestDist)
-      {
-        smallestDist = DIST;
-        closestPointIndex = i;
-      }
-    }
-
-    return closestPointIndex;
-  }
-
-  int32_t SHCollision::findVoronoiRegion
-  (
-    const SHSphere& sphere
-  , const SHVec3&   faceVertex
-  , const SHVec3&   faceNormal
-  , const SHVec3&   tangent1
-  , const SHVec3&   tangent2
-  ) noexcept
-  {
-    static constexpr int NUM_TANGENTS = 2;
-
-    // Check against voronoi regions of the face to determine the type of the intersection test
-    // We have 3 voronoi regions to check: 1 -> 2, 1 -> 3 and 1 -> center
-    // If none of these are true, the sphere is above the face but not separating
-
-    /*
-     *                   | 2
-     *       _ _ _ _ _ _ | _ _ _
-     *      /           /
-     *   | / regionD | /   regionA
-     *   |/ _ _ _ _ _|/ _ _ _
-     *  3/  regionB  /1
-     *  /           /   regionC
-     *
-     */
-
-    const SHVec3  CENTER  = sphere.Center;
-    const float   RADIUS  = sphere.GetWorldRadius();
-
-    const SHVec3 TANGENTS         [NUM_TANGENTS] { tangent1, tangent2 };
-    const SHVec3 ADJACENT_NORMALS [NUM_TANGENTS] { SHVec3::Cross(tangent1, faceNormal), SHVec3::Cross(faceNormal, tangent2) };
-
-    const SHVec3 FACE_TO_CENTER = CENTER - faceVertex;
-
-    // To be inside either region A or B, 2 conditions must be satisfied
-    // 1. Same side as tangent
-    // 2. Same side as adjacent normal
-
-    // Check Region A & B
-    for (int i = 0; i < NUM_TANGENTS; ++i)
-    {
-      float projection = SHVec3::Dot(FACE_TO_CENTER, TANGENTS[i]);
-      if (projection >= 0.0f)
-      {
-        // Find closest point
-        const SHVec3 CLOSEST_POINT = faceVertex + projection * TANGENTS[i];
-
-        projection = SHVec3::Dot(FACE_TO_CENTER, ADJACENT_NORMALS[i]);
-        if (projection >= 0.0f)
-        {
-          if (projection > RADIUS)
-            return 0;
-
-          // Region 1 or 2 ( A or B)
-          return i + 1;
-        }
-      }
-    }
-
-    // Check Region C
-    // Face to vertex is in the opposite direction of any tangent.
-    const float PROJECTION = SHVec3::Dot(FACE_TO_CENTER, tangent1);
-    if (PROJECTION < 0)
-    {
-      const float DISTANCE_SQUARED = SHVec3::DistanceSquared(faceVertex, CENTER);
-      if (DISTANCE_SQUARED > RADIUS * RADIUS)
-        return 0;
-
-      return 3;
-    }
-
-    // Belongs in region D by default
-    return 4;
-  }
-
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Collision/Narrowphase/SHSphereVsSphere.cpp

@@ -1,97 +0,0 @@
-/****************************************************************************************
- * \file      SHSphereVsSphere.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for the Detecting Collisions between two spheres
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#include <SHpch.h>
-
-// Primary Header
-#include "SHCollision.h"
-
-// Project Headers
-#include "Math/SHMathHelpers.h"
-#include "Physics/Collision/Shapes/SHSphere.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Public Member Functions Definitions                                               */
-  /*-----------------------------------------------------------------------------------*/
-
-   bool SHCollision::SphereVsSphere(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
-  {
-    const SHSphere& SPHERE_A = dynamic_cast<const SHSphere&>(A);
-    const SHSphere& SPHERE_B = dynamic_cast<const SHSphere&>(B);
-
-    const SHVec3  CENTER_A = SPHERE_A.Center;
-    const float   RADIUS_A = SPHERE_A.Radius;
-    const SHVec3  CENTER_B = SPHERE_B.Center;
-    const float   RADIUS_B = SPHERE_B.Radius;
-
-
-    const SHVec3  A_TO_B                            = CENTER_B - CENTER_A;
-    const float   DISTANCE_BETWEEN_CENTERS_SQUARED  = A_TO_B.LengthSquared();
-
-    const float   COMBINED_RADIUS                   = RADIUS_B + RADIUS_A;
-    const float   COMBINED_RADIUS_SQUARED           = COMBINED_RADIUS * COMBINED_RADIUS;
-
-    if (DISTANCE_BETWEEN_CENTERS_SQUARED > COMBINED_RADIUS_SQUARED)
-      return false;
-  }
-
-  bool SHCollision::SphereVsSphere(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
-  {
-    // Convert to underlying types
-    const SHSphere& SPHERE_A = dynamic_cast<const SHSphere&>(A);
-    const SHSphere& SPHERE_B = dynamic_cast<const SHSphere&>(B);
-
-    const SHVec3  CENTER_A = SPHERE_A.Center;
-    const float   RADIUS_A = SPHERE_A.Radius;
-    const SHVec3  CENTER_B = SPHERE_B.Center;
-    const float   RADIUS_B = SPHERE_B.Radius;
-
-
-    const SHVec3  A_TO_B                            = CENTER_B - CENTER_A;
-    const float   DISTANCE_BETWEEN_CENTERS_SQUARED  = A_TO_B.LengthSquared();
-
-    const float   COMBINED_RADIUS                   = RADIUS_B + RADIUS_A;
-    const float   COMBINED_RADIUS_SQUARED           = COMBINED_RADIUS * COMBINED_RADIUS;
-
-    if (DISTANCE_BETWEEN_CENTERS_SQUARED > COMBINED_RADIUS_SQUARED)
-      return false;
-
-    // Only populate the manifold if there is a collision
-
-    uint32_t numContacts = 0;
-
-    SHContact contact;
-    contact.featurePair.key = 0;
-
-    if (SHMath::CompareFloat(DISTANCE_BETWEEN_CENTERS_SQUARED, 0.0f))
-    {
-      manifold.normal     = SHVec3::UnitY;
-      contact.position    = CENTER_A;
-      contact.penetration = RADIUS_B;
-
-      manifold.contacts[numContacts++] = contact;
-    }
-    else
-    {
-      manifold.normal     = SHVec3::Normalise(A_TO_B);
-      contact.position    = CENTER_B - manifold.normal * RADIUS_B;
-      contact.penetration = COMBINED_RADIUS - A_TO_B.Length();
-
-      manifold.contacts[numContacts++] = contact;
-    }
-
-    manifold.numContacts = numContacts;
-    
-    return true;
-  }
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Collision/SHCollider.cpp

@@ -1,393 +0,0 @@
-/****************************************************************************************
- * \file      SHCollider.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for a Base Collider Class.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#include <SHpch.h>
-
-// Primary Header
-#include "SHCollider.h"
-
-// Project Headers
-#include "Broadphase/SHDynamicAABBTree.h"
-#include "Events/SHEvent.h"
-#include "Math/SHMathHelpers.h"
-#include "Physics/SHPhysicsEvents.h"
-#include "Physics/Dynamics/SHRigidBody.h"
-
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Constructors & Destructor Definitions                                             */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHCollider::SHCollider(EntityID eid, const SHTransform& worldTransform) noexcept
-  : entityID      { eid }
-  , flags         { 0 }
-  , rigidBody     { nullptr }
-  , shapeLibrary  { nullptr }
-  , broadphase    { nullptr }
-  , transform     { worldTransform }
-  {
-    flags |= ACTIVE_FLAG;
-    flags |= MOVED_FLAG;
-  }
-
-  SHCollider::SHCollider(const SHCollider& rhs) noexcept
-  : entityID      { rhs.entityID }
-  , flags         { rhs.flags }
-  , rigidBody     { rhs.rigidBody }
-  , shapeLibrary  { rhs.shapeLibrary }
-  , broadphase    { rhs.broadphase }
-  , transform     { rhs.transform }
-  {}
-
-  SHCollider::SHCollider(SHCollider&& rhs) noexcept
-  : entityID      { rhs.entityID }
-  , flags         { rhs.flags }
-  , rigidBody     { rhs.rigidBody }
-  , shapeLibrary  { rhs.shapeLibrary }
-  , broadphase    { rhs.broadphase }
-  , transform     { rhs.transform }
-  {}
-
-  SHCollider::~SHCollider() noexcept
-  {
-    if (!shapeLibrary)
-    {
-      SHLOGV_ERROR("Shape factory is unlinked with Composite Collider {}. Unable to add destroy collider!", entityID)
-      return;
-    }
-
-    for (auto* shape : shapes)
-      shapeLibrary->DestroyShape(shape);
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Operator Overload Definitions                                                     */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHCollider& SHCollider::operator=(const SHCollider& rhs) noexcept
-  {
-    if (this == &rhs)
-      return *this;
-
-    if (!shapeLibrary)
-    {
-      SHLOGV_ERROR("Shape factory is unlinked with Collider {}. Unable to add copy shapes!", entityID)
-      return *this;
-    }
-
-    entityID      = rhs.entityID;
-    flags         = rhs.flags;
-    rigidBody     = rhs.rigidBody;
-    shapeLibrary  = rhs.shapeLibrary;
-    broadphase    = rhs.broadphase;
-    transform     = rhs.transform;
-
-    copyShapes(rhs);
-
-    return *this;
-  }
-
-  SHCollider& SHCollider::operator=(SHCollider&& rhs) noexcept
-  {
-    if (!shapeLibrary)
-    {
-      SHLOGV_ERROR("Shape factory is unlinked with Collider {}. Unable to add copy shapes!", entityID)
-      return *this;
-    }
-
-    entityID      = rhs.entityID;
-    flags         = rhs.flags;
-    rigidBody     = rhs.rigidBody;
-    shapeLibrary  = rhs.shapeLibrary;
-    broadphase    = rhs.broadphase;
-    transform     = rhs.transform;
-
-    copyShapes(rhs);
-
-    return *this;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Getter Function Definitions                                                       */
-  /*-----------------------------------------------------------------------------------*/
-
-  EntityID SHCollider::GetEntityID() const noexcept
-  {
-    return entityID;
-  }
-
-  SHCollider::Type SHCollider::GetType() const noexcept
-  {
-    if (flags & COMPOSITE_FLAG)
-      return Type::COMPOSITE;
-
-    if (flags & HULL_FLAG)
-      return Type::HULL;
-
-    return Type::INVALID;
-  }
-
-  bool SHCollider::IsActive() const noexcept
-  {
-    return flags & ACTIVE_FLAG;
-  }
-
-  bool SHCollider::GetDebugDrawState() const noexcept
-  {
-    return flags & DRAW_FLAG;
-  }
-
-  const SHTransform& SHCollider::GetTransform() const noexcept
-  {
-    return transform;
-  }
-
-  const SHVec3& SHCollider::GetPosition() const noexcept
-  {
-    return transform.position;
-  }
-
-  const SHQuaternion& SHCollider::GetOrientation() const noexcept
-  {
-    return transform.orientation;
-  }
-
-  const SHVec3& SHCollider::GetScale() const noexcept
-  {
-    return transform.scale;
-  }
-
-  const SHCollider::CollisionShapes& SHCollider::GetCollisionShapes() const noexcept
-  {
-    return shapes;
-  }
-
-  SHCollisionShape* SHCollider::GetCollisionShape(int index) const
-  {
-    const int NUM_SHAPES = static_cast<int>(shapes.size());
-
-    if (index < 0 || index >= NUM_SHAPES)
-      throw std::invalid_argument("Out-of-range index!");
-
-    return shapes[index];
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Setter Function Definitions                                                       */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHCollider::SetType(Type type) noexcept
-  {
-    if (type == Type::COMPOSITE)
-      flags |= COMPOSITE_FLAG;
-
-    if (type == Type::HULL)
-      flags |= HULL_FLAG;
-  }
-
-  void SHCollider::SetIsActive(bool state) noexcept
-  {
-    const bool PREV_STATE = flags & ACTIVE_FLAG;
-    state ? flags |= ACTIVE_FLAG : flags &= ~(ACTIVE_FLAG);
-
-    if (!broadphase)
-      return;
-
-    for (auto* shape : shapes)
-    {
-      if (PREV_STATE) // Previously inactive
-        broadphase->Insert(shape->id, shape->ComputeAABB());
-      else        // Previously active
-        broadphase->Remove(shape->id);
-    }
-  }
-
-  void SHCollider::SetDebugDrawState(bool state) noexcept
-  {
-    state ? flags |= DRAW_FLAG : flags &= ~(DRAW_FLAG);
-
-  #ifdef SHEDITOR
-    
-    // Broadcast event for the Debug Draw system to catch
-    const SHColliderOnDebugDrawEvent EVENT_DATA
-    {
-      .entityID       = entityID
-    , .debugDrawState = state 
-    };
-
-    SHEventManager::BroadcastEvent<SHColliderOnDebugDrawEvent>(EVENT_DATA, SH_PHYSICS_COLLIDER_DRAW_EVENT);
-
-  #endif
-  }
-
-  void SHCollider::SetRigidBody(SHRigidBody* rb) noexcept
-  {
-    rigidBody = rb;
-  }
-
-  void SHCollider::SetTransform(const SHTransform& newTransform) noexcept
-  {
-    flags |= MOVED_FLAG;
-    transform = newTransform;
-  }
-
-  void SHCollider::SetPosition(const SHVec3& newPosition) noexcept
-  {
-    flags |= MOVED_FLAG;
-    transform.position = newPosition;
-  }
-
-  void SHCollider::SetOrientation(const SHQuaternion& newOrientation) noexcept
-  {
-    flags |= MOVED_FLAG;
-    transform.orientation = newOrientation;
-  }
-
-  void SHCollider::SetScale(const SHVec3& newScale) noexcept
-  {
-    flags |= MOVED_FLAG;
-    transform.scale = newScale;
-  }
-
-  void SHCollider::SetLibrary(SHCollisionShapeLibrary* factory) noexcept
-  {
-    shapeLibrary = factory;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Public Member Function Definitions                                                */
-  /*-----------------------------------------------------------------------------------*/
-
-  const SHMatrix& SHCollider::ComputeTRS() noexcept
-  {
-    return transform.ComputeTRS();
-  }
-
-  void SHCollider::RemoveCollisionShape(int index)
-  {
-    if (!shapeLibrary)
-    {
-      SHLOGV_ERROR("Shape factory is unlinked with Collider {}. Unable to add remove shape!", entityID)
-      return;
-    }
-
-    const int NUM_SHAPES = static_cast<int>(shapes.size());
-
-    if (index < 0 || index >= NUM_SHAPES)
-      throw std::invalid_argument("Out-of-range index!");
-
-    auto shape = shapes.begin();
-    for (int i = 0; i < NUM_SHAPES; ++i, ++shape)
-    {
-      if (i == index)
-        break;
-    }
-
-    const SHPhysicsColliderRemovedEvent EVENT_DATA
-    {
-      .entityID       = entityID
-    , .colliderType   = (*shape)->GetType()
-    , .colliderIndex  = index
-    };
-
-     // Remove from broadphase
-    if (broadphase)
-      broadphase->Remove((*shape)->id);
-
-    shapeLibrary->DestroyShape(*shape);
-    *shape = nullptr;
-
-    // Remove the shape from the container to prevent accessing a nullptr
-    shape = shapes.erase(shape);
-
-   
-
-    // Broadcast Event for removing a shape
-    SHEventManager::BroadcastEvent<SHPhysicsColliderRemovedEvent>(EVENT_DATA, SH_PHYSICS_COLLIDER_REMOVED_EVENT);
-
-    if (rigidBody)
-      rigidBody->ComputeMassData();
-
-    SHLOG_INFO_D("Removing Collision Shape {} from Entity {}", index, entityID)
-  }
-
-  void SHCollider::Update() noexcept
-  {
-    for (auto* shape : shapes)
-      shape->Update();
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Private Member Function Definitions                                               */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHCollider::copyShapes(const SHCollider& rhsCollider)
-  {
-    for (const auto* shape : rhsCollider.shapes)
-    {
-      switch (shape->GetType())
-      {
-        case SHCollisionShape::Type::BOX:
-        {
-          const SHBox* RHS_BOX = dynamic_cast<const SHBox*>(shape);
-
-          const SHBoxCreateInfo BOX_CREATE_INFO
-          {
-            .Center           = RHS_BOX->Center
-          , .Extents          = RHS_BOX->Extents
-          , .RelativeExtents  = RHS_BOX->relativeExtents
-          , .Orientation      = RHS_BOX->Orientation
-          , .Scale            = RHS_BOX->scale
-          };
-
-          const uint32_t NEW_INDEX = static_cast<uint32_t>(shapes.size());
-          const SHCollisionShapeID NEW_SHAPE_ID{ entityID, NEW_INDEX };
-
-          SHBox* box = shapeLibrary->CreateBox(NEW_SHAPE_ID, BOX_CREATE_INFO);
-          *box = *RHS_BOX;
-
-          shapes.emplace_back(box);
-
-          break;
-        }
-        case SHCollisionShape::Type::SPHERE:
-        {
-          const SHSphere* RHS_SPHERE = dynamic_cast<const SHSphere*>(shape);
-
-          const SHSphereCreateInfo SPHERE_CREATE_INFO
-          {
-            .Center         = RHS_SPHERE->Center
-          , .Radius         = RHS_SPHERE->Radius
-          , .RelativeRadius = RHS_SPHERE->relativeRadius
-          , .Scale          = RHS_SPHERE->scale
-          };
-
-          const uint32_t NEW_INDEX = static_cast<uint32_t>(shapes.size());
-          const SHCollisionShapeID NEW_SHAPE_ID{ entityID, NEW_INDEX };
-
-          SHSphere* sphere = shapeLibrary->CreateSphere(NEW_SHAPE_ID, SPHERE_CREATE_INFO);
-          *sphere = *RHS_SPHERE;
-
-          shapes.emplace_back(sphere);
-
-          break;
-        }
-        case SHCollisionShape::Type::CAPSULE:
-        {
-          break;
-        }
-        default: break;
-      }
-    }
-  }
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Collision/SHCollider.h

@@ -1,178 +0,0 @@
-/****************************************************************************************
- * \file      SHCollider.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a Base Collider Class.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-// Project Headers
-#include "ECS_Base/Entity/SHEntity.h"
-#include "Math/Transform/SHTransform.h"
-#include "Physics/Collision/Shapes/SHCollisionShapeLibrary.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Forward Declarations                                                              */
-  /*-----------------------------------------------------------------------------------*/
-
-  class SHRigidBody;
-  class SHAABBTree;
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Type Definitions                                                                  */
-  /*-----------------------------------------------------------------------------------*/
-
-  /**
-   * @brief
-   * Base class for a collider.
-   * There are only two collider types supported by SHADE Engine: Composite & Hull
-  */
-  class SH_API SHCollider
-  {
-  private:
-    /*---------------------------------------------------------------------------------*/
-    /* Friends                                                                         */
-    /*---------------------------------------------------------------------------------*/
-
-    friend class  SHCollisionSpace;
-    friend struct SHManifold;
-
-  public:
-    /*---------------------------------------------------------------------------------*/
-    /* Type Definitions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    enum class Type
-    {
-      COMPOSITE
-    , HULL
-
-    , TOTAL
-    , INVALID = -1
-    };
-
-    using CollisionShapes = std::vector<SHCollisionShape*>;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Constructors & Destructor                                                       */
-    /*---------------------------------------------------------------------------------*/
-
-    /**
-     * @brief
-     * Constructor for a collider.
-     * @param eid
-     * The entity this collider belongs to.
-     * @param worldTransform
-     * The world transform for the collider. Defaults to the identity transform.
-     * This is particularly important for composite colliders for offsets & relative sizes.
-     * @return 
-    */
-    SHCollider  (EntityID eid, const SHTransform& worldTransform = SHTransform::Identity) noexcept;
-    SHCollider  (const SHCollider& rhs)                                                   noexcept;
-    SHCollider  (SHCollider&& rhs)                                                        noexcept;
-    virtual ~SHCollider ()                                                                noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Operator Overloads                                                              */
-    /*---------------------------------------------------------------------------------*/
-    
-    SHCollider& operator=(const SHCollider& rhs)  noexcept;
-    SHCollider& operator=(SHCollider&& rhs)       noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Getter Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    [[nodiscard]] EntityID                GetEntityID         ()  const noexcept;
-
-    [[nodiscard]] Type                    GetType             ()  const noexcept;
-    [[nodiscard]] bool                    IsActive            ()  const noexcept;
-    [[nodiscard]] bool                    GetDebugDrawState   ()  const noexcept;
-
-    [[nodiscard]] const SHTransform&      GetTransform        ()  const noexcept;
-    [[nodiscard]] const SHVec3&           GetPosition         ()  const noexcept;
-    [[nodiscard]] const SHQuaternion&     GetOrientation      ()  const noexcept;
-    [[nodiscard]] const SHVec3&           GetScale            ()  const noexcept;
-
-    [[nodiscard]] const CollisionShapes&  GetCollisionShapes  ()  const noexcept;
-    [[nodiscard]] SHCollisionShape*       GetCollisionShape   (int index)  const;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Setter Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    void SetType            (Type type)                           noexcept;
-    void SetIsActive        (bool state)                          noexcept;
-    void SetDebugDrawState  (bool state)                          noexcept;
-
-    void SetRigidBody       (SHRigidBody* rb)                     noexcept;
-
-    void SetTransform       (const SHTransform& newTransform)     noexcept;
-    void SetPosition        (const SHVec3& newPosition)           noexcept;
-    void SetOrientation     (const SHQuaternion& newOrientation)  noexcept;
-    void SetScale           (const SHVec3& newScale)              noexcept;
-
-    void SetLibrary         (SHCollisionShapeLibrary* factory)    noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Member Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    /**
-     * @brief
-     * Computes the TRS for the collider's transform
-     * @return
-     * The computed TRS.
-    */
-    const SHMatrix& ComputeTRS() noexcept;
-
-    /**
-     * @brief
-     * Removes a shape from the container. Removal reduces the size of the container.
-     * If removing all, perform removal from back to front.
-     * @param index
-     * The index of the shape to remove.
-     * @throws
-     * Invalid argument for out-of-range indices.
-    */
-    void RemoveCollisionShape (int index);
-
-    /**
-     * @brief
-     * Recomputes the transforms for all shapes in this composite collider.
-    */
-    void Update () noexcept;
-
-  protected:
-    /*---------------------------------------------------------------------------------*/
-    /* Data Members                                                                    */
-    /*---------------------------------------------------------------------------------*/
-
-    static constexpr uint8_t COMPOSITE_FLAG = 1U << static_cast<uint8_t>(Type::COMPOSITE);
-    static constexpr uint8_t HULL_FLAG      = 1U << static_cast<uint8_t>(Type::HULL);
-    static constexpr uint8_t ACTIVE_FLAG    = 1U << 2;
-    static constexpr uint8_t DRAW_FLAG      = 1U << 3;
-    static constexpr uint8_t MOVED_FLAG     = 1U << 4;
-
-    EntityID                  entityID;
-    uint8_t                   flags;    // 0 0 0 hasMoved debugDraw active hull composite 
-    SHRigidBody*              rigidBody;
-    SHCollisionShapeLibrary*  shapeLibrary;
-    SHAABBTree*               broadphase;
-    SHTransform               transform;
-    CollisionShapes           shapes;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Member Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    void copyShapes       (const SHCollider& rhsCollider);
-  };
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Collision/SHCollisionInfo.cpp

@@ -0,0 +1,93 @@
+/****************************************************************************************
+ * \file      SHCollisionInfo.cpp
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Implementation for Collision Info.
+ *
+ * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
+ *            disclosure of this file or its contents without the prior written consent
+ *            of DigiPen Institute of Technology is prohibited.
+****************************************************************************************/
+
+#include <SHpch.h>
+
+// Primary Header
+#include "SHCollisionInfo.h"
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Constructors & Destructor Definitions                                             */
+  /*-----------------------------------------------------------------------------------*/
+
+  SHCollisionInfo::SHCollisionInfo() noexcept
+  : collisionState  { State::INVALID }
+  {
+    ids[ENTITY_A]   = MAX_EID;
+    ids[ENTITY_B]   = MAX_EID;
+    ids[COLLIDER_A] = std::numeric_limits<uint32_t>::max();
+    ids[COLLIDER_B] = std::numeric_limits<uint32_t>::max();
+  }
+
+  SHCollisionInfo::SHCollisionInfo(EntityID entityA, EntityID entityB) noexcept
+  : collisionState  { State::INVALID }
+  {
+    ids[ENTITY_A]   = entityA;
+    ids[ENTITY_B]   = entityB;
+    ids[COLLIDER_A] = std::numeric_limits<uint32_t>::max();
+    ids[COLLIDER_B] = std::numeric_limits<uint32_t>::max();
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Operator Overload Definitions                                                     */
+  /*-----------------------------------------------------------------------------------*/
+
+  bool SHCollisionInfo::operator==(const SHCollisionInfo& rhs) const noexcept
+  {
+    return value[0] == rhs.value[0] && value[1] == rhs.value[1];
+  }
+
+  bool SHCollisionInfo::operator!=(const SHCollisionInfo& rhs) const noexcept
+  {
+    return  value[0] != rhs.value[0] || value[1] != rhs.value[1];
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Getter Function Definitions                                                       */
+  /*-----------------------------------------------------------------------------------*/
+
+  EntityID SHCollisionInfo::GetEntityA() const noexcept
+  {
+    return ids[ENTITY_A];
+  }
+
+  EntityID SHCollisionInfo::GetEntityB() const noexcept
+  {
+    return ids[ENTITY_B];
+  }
+
+  const SHRigidBodyComponent* SHCollisionInfo::GetRigidBodyA() const noexcept
+  {
+    return SHComponentManager::GetComponent_s<SHRigidBodyComponent>(ids[ENTITY_A]);
+  }
+
+  const SHRigidBodyComponent* SHCollisionInfo::GetRigidBodyB() const noexcept
+  {
+    return SHComponentManager::GetComponent_s<SHRigidBodyComponent>(ids[ENTITY_B]);
+  }
+
+  const SHCollisionShape* SHCollisionInfo::GetColliderA() const noexcept
+  {
+    return &SHComponentManager::GetComponent<SHColliderComponent>(ids[ENTITY_A])->GetCollisionShape(ids[COLLIDER_A]);
+  }
+
+  const SHCollisionShape* SHCollisionInfo::GetColliderB() const noexcept
+  {
+    return &SHComponentManager::GetComponent<SHColliderComponent>(ids[ENTITY_B])->GetCollisionShape(ids[COLLIDER_B]);
+  }
+
+  SHCollisionInfo::State SHCollisionInfo::GetCollisionState() const noexcept
+  {
+    return collisionState;
+  }
+
+} // namespace SHADE

SHADE_Engine/src/Physics/Collision/SHCollisionInfo.h

@@ -1,7 +1,7 @@
 /****************************************************************************************
- * \file      SHCollisionShapeKey.h
+ * \file      SHCollisionInfo.h
  * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a Collison Shape ID Class and it's hashing function
+ * \brief     Interface for Collision Information for Collision & Triggers.
  *
  * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
  *            disclosure of this file or its contents without the prior written consent
@@ -11,95 +11,92 @@
 #pragma once
 
 // Project Headers
-#include "ECS_Base/Entity/SHEntity.h"
+#include "Physics/Interface/SHColliderComponent.h"
+#include "Physics/Interface/SHRigidBodyComponent.h"
+
 
 namespace SHADE
 {
-  /*-----------------------------------------------------------------------------------*/
-  /* Forward Declarations                                                              */
-  /*-----------------------------------------------------------------------------------*/
-
-  struct SHCollisionShapeIDHash;
-
   /*-----------------------------------------------------------------------------------*/
   /* Type Definitions                                                                  */
   /*-----------------------------------------------------------------------------------*/
 
-  /**
+  class SH_API SHCollisionInfo
-   * @brief
-   * Encapsulates an identifier for a collision shape.
-  */
-  union SHCollisionShapeID
   {
   private:
     /*---------------------------------------------------------------------------------*/
     /* Friends                                                                         */
     /*---------------------------------------------------------------------------------*/
 
-    friend struct SHCollisionShapeIDHash;
+    friend class SHCollisionListener;
 
   public:
+    /*---------------------------------------------------------------------------------*/
+    /* Type Definitions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    enum class State
+    {
+      ENTER
+    , STAY
+    , EXIT
+
+    , TOTAL
+    , INVALID = -1
+    };
+
     /*---------------------------------------------------------------------------------*/
     /* Constructors & Destructor                                                       */
     /*---------------------------------------------------------------------------------*/
 
-    SHCollisionShapeID  (EntityID eid, uint32_t shapeID)  noexcept;
+    SHCollisionInfo   ()                                    noexcept;
-    SHCollisionShapeID  (const SHCollisionShapeID& rhs)   noexcept;
+    SHCollisionInfo   (EntityID entityA, EntityID entityB)  noexcept;
-    SHCollisionShapeID  (SHCollisionShapeID&& rhs)        noexcept;
 
-    ~SHCollisionShapeID () noexcept = default;
+
+    SHCollisionInfo   (const SHCollisionInfo& rhs)  = default;
+    SHCollisionInfo   (SHCollisionInfo&& rhs)       = default;
+    ~SHCollisionInfo  ()                             = default;
 
     /*---------------------------------------------------------------------------------*/
     /* Operator Overloads                                                              */
     /*---------------------------------------------------------------------------------*/
 
-    SHCollisionShapeID& operator=(const SHCollisionShapeID& rhs)  noexcept;
+    bool operator== (const SHCollisionInfo& rhs)      const noexcept;
-    SHCollisionShapeID& operator=(SHCollisionShapeID&& rhs)       noexcept;
+    bool operator!= (const SHCollisionInfo& rhs)      const noexcept;
 
-    bool operator==(const SHCollisionShapeID& rhs) const;
+    SHCollisionInfo& operator= (const SHCollisionInfo& rhs) = default;
+    SHCollisionInfo& operator= (SHCollisionInfo&& rhs)      = default;
 
     /*---------------------------------------------------------------------------------*/
     /* Getter Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    [[nodiscard]] EntityID  GetEntityID   ()  const noexcept;
+    [[nodiscard]] EntityID                    GetEntityA        ()  const noexcept;
-    [[nodiscard]] uint32_t  GetShapeIndex ()  const noexcept;
+    [[nodiscard]] EntityID                    GetEntityB        ()  const noexcept;
+    [[nodiscard]] const SHRigidBodyComponent* GetRigidBodyA     ()  const noexcept;
+    [[nodiscard]] const SHRigidBodyComponent* GetRigidBodyB     ()  const noexcept;
+    [[nodiscard]] const SHCollisionShape*     GetColliderA      ()  const noexcept;
+    [[nodiscard]] const SHCollisionShape*     GetColliderB      ()  const noexcept;
+    [[nodiscard]] State                       GetCollisionState ()  const noexcept;
 
   private:
-    /*---------------------------------------------------------------------------------*/
-    /* Type Definitions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    struct IDs
-    {
-    public:
-      EntityID  entityID    = MAX_EID;
-      uint32_t  shapeIndex  = std::numeric_limits<uint32_t>::max();
-    };
 
+    static constexpr uint32_t ENTITY_A    = 0;
+    static constexpr uint32_t ENTITY_B    = 1;
+    static constexpr uint32_t COLLIDER_A  = 2;
+    static constexpr uint32_t COLLIDER_B  = 3;
 
     /*---------------------------------------------------------------------------------*/
     /* Data Members                                                                    */
     /*---------------------------------------------------------------------------------*/
 
-    uint64_t  value;
+    union
-    IDs       ids;
+    {
+      uint64_t value[2];  // EntityValue, ColliderIndexValue
+      uint32_t ids  [4];  // EntityA, EntityB, ColliderIndexA, ColliderIndexB
     };
 
-  /**
+    State     collisionState;
-   * @brief
-   * Encapsulates a functor to hash a CollisionShapeID
-  */
-  struct SHCollisionShapeIDHash
-  {
-  public:
-    /*---------------------------------------------------------------------------------*/
-    /* Member Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    std::size_t operator()(const SHCollisionShapeID& id) const;
   };
 
 } // namespace SHADE
-
-#include "SHCollisionShapeID.hpp"

SHADE_Engine/src/Physics/Collision/SHCollisionListener.cpp

@@ -0,0 +1,254 @@
+/****************************************************************************************
+ * \file      SHCollisionListener.cpp
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Implementation for a Collision Listener.
+ *
+ * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
+ *            disclosure of this file or its contents without the prior written consent
+ *            of DigiPen Institute of Technology is prohibited.
+****************************************************************************************/
+
+#include <SHpch.h>
+
+// Primary Header
+#include "SHCollisionListener.h"
+
+// Project Headers
+#include "ECS_Base/Managers/SHEntityManager.h"
+#include "Physics/PhysicsObject/SHPhysicsObject.h"
+#include "Physics/System/SHPhysicsSystem.h"
+#include "Scene/SHSceneManager.h"
+
+/*-------------------------------------------------------------------------------------*/
+/* Local Helper Functions                                                              */
+/*-------------------------------------------------------------------------------------*/
+
+uint32_t matchColliders(const SHADE::SHPhysicsObject&physicsObject, const rp3d::Entity colliderID)
+{
+  for (uint32_t i = 0; i < physicsObject.GetCollisionBody()->getNbColliders(); ++i)
+  {
+    const auto* collider = physicsObject.GetCollisionBody()->getCollider(i);
+    if (collider->getEntity() == colliderID)
+      return i;
+  }
+
+  return std::numeric_limits<uint32_t>::max();
+}
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Constructors & Destructor Definitions                                             */
+  /*-----------------------------------------------------------------------------------*/
+
+  SHCollisionListener::SHCollisionListener() noexcept
+  : system { nullptr }
+  {}
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Getter Function Definitions                                                       */
+  /*-----------------------------------------------------------------------------------*/
+
+  const std::vector<SHCollisionInfo>& SHCollisionListener::GetCollisionInfoContainer() const noexcept
+  {
+    return collisionInfoContainer;
+  }
+
+  const std::vector<SHCollisionInfo>& SHCollisionListener::GetTriggerInfoContainer() const noexcept
+  {
+    return triggerInfoContainer;
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Public Function Member Definitions                                                */
+  /*-----------------------------------------------------------------------------------*/
+
+  void SHCollisionListener::BindToSystem(SHPhysicsSystem* physicsSystem) noexcept
+  {
+    system = physicsSystem;
+  }
+
+  void SHCollisionListener::BindToWorld(rp3d::PhysicsWorld* world) noexcept
+  {
+    if (!world)
+      return;
+
+    world->setEventListener(this);
+  }
+
+  void SHCollisionListener::CleanContainers() noexcept
+  {
+    static const auto CLEAR = [](std::vector<SHCollisionInfo>& container)
+    {
+      for (auto eventIter = container.begin(); eventIter != container.end();)
+      {
+        const SHCollisionInfo& C_INFO = *eventIter;
+
+        const bool INVALID_ENTITY   = !SHEntityManager::IsValidEID(C_INFO.GetEntityA()) || !SHEntityManager::IsValidEID(C_INFO.GetEntityB());
+        if (INVALID_ENTITY)
+        {
+          eventIter = container.erase(eventIter);
+          continue;
+        }
+        else
+        {
+          const bool CLEAR_EVENT      = C_INFO.GetCollisionState() == SHCollisionInfo::State::EXIT ||  C_INFO.GetCollisionState() == SHCollisionInfo::State::INVALID;
+
+          const bool INACTIVE_OBJECT  = !SHSceneManager::CheckNodeAndComponentsActive<SHColliderComponent>(C_INFO.GetEntityA())
+                                    ||  !SHSceneManager::CheckNodeAndComponentsActive<SHColliderComponent>(C_INFO.GetEntityB());
+
+          if (CLEAR_EVENT || INACTIVE_OBJECT)
+          {
+            eventIter = container.erase(eventIter);
+            continue;
+          }
+        }
+
+        ++eventIter;
+      }
+    };
+
+    CLEAR(collisionInfoContainer);
+    CLEAR(triggerInfoContainer);
+  }
+
+  void SHCollisionListener::ClearContainers() noexcept
+  {
+    collisionInfoContainer.clear();
+    triggerInfoContainer.clear();
+  }
+
+  void SHCollisionListener::onContact(const rp3d::CollisionCallback::CallbackData& callbackData)
+  {
+    for (uint32_t i = 0; i < callbackData.getNbContactPairs(); ++i)
+    {
+      const auto CONTACT_PAIR         = callbackData.getContactPair(i);
+      const SHCollisionInfo NEW_INFO  = generateCollisionInfo(CONTACT_PAIR);
+
+      updateInfoContainers(NEW_INFO, collisionInfoContainer);
+    }
+  }
+
+  void SHCollisionListener::onTrigger(const rp3d::OverlapCallback::CallbackData& callbackData)
+  {
+    for (uint32_t i = 0; i < callbackData.getNbOverlappingPairs(); ++i)
+    {
+      const auto OVERLAP_PAIR         = callbackData.getOverlappingPair(i);
+      const SHCollisionInfo NEW_INFO  = generateTriggerInfo(OVERLAP_PAIR);
+
+      updateInfoContainers(NEW_INFO, triggerInfoContainer);
+    }
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Private Function Member Definitions                                               */
+  /*-----------------------------------------------------------------------------------*/
+  
+  void SHCollisionListener::updateInfoContainers(const SHCollisionInfo& collisionEvent, std::vector<SHCollisionInfo>& container) noexcept
+  {
+    const auto IT = std::ranges::find_if(container.begin(), container.end(), [&](const SHCollisionInfo& info)
+    {
+      const bool ENTITY_MATCH     =   (info.ids[0] == collisionEvent.ids[0] && info.ids[1] == collisionEvent.ids[1])
+                                  ||  (info.ids[0] == collisionEvent.ids[1] && info.ids[1] == collisionEvent.ids[0]);
+      const bool COLLIDERS_MATCH  =   (info.ids[2] == collisionEvent.ids[2] && info.ids[3] == collisionEvent.ids[3])
+                                  ||  (info.ids[2] == collisionEvent.ids[3] && info.ids[3] == collisionEvent.ids[2]);
+      return ENTITY_MATCH && COLLIDERS_MATCH;
+    });
+
+    if (IT == container.end())
+      container.emplace_back(collisionEvent);
+    else
+      IT->collisionState = collisionEvent.collisionState;
+  }
+
+  SHCollisionInfo SHCollisionListener::generateCollisionInfo(const rp3d::CollisionCallback::ContactPair& cp) const noexcept
+  {
+    SHCollisionInfo cInfo;
+
+    // Update collision state
+    cInfo.collisionState = static_cast<SHCollisionInfo::State>(cp.getEventType());
+
+    // Match body and collider for collision event
+    const rp3d::Entity body1      = cp.getBody1()->getEntity();
+    const rp3d::Entity body2      = cp.getBody2()->getEntity();
+    const rp3d::Entity collider1  = cp.getCollider1()->getEntity();
+    const rp3d::Entity collider2  = cp.getCollider2()->getEntity();
+
+    // Find and match both ids
+    bool matched[2] = { false, false };
+
+    
+    for (auto& [entityID, physicsObject] : system->GetPhysicsObjects())
+    {
+      // Match body 1
+      if (matched[SHCollisionInfo::ENTITY_A] == false && physicsObject.GetCollisionBody()->getEntity() == body1)
+      {
+        cInfo.ids[SHCollisionInfo::ENTITY_A] = entityID;
+        cInfo.ids[SHCollisionInfo::COLLIDER_A] = matchColliders(physicsObject, collider1);
+
+        matched[SHCollisionInfo::ENTITY_A] = true;
+      }
+
+      // Match body 2
+      if (matched[SHCollisionInfo::ENTITY_B] == false && physicsObject.GetCollisionBody()->getEntity() == body2)
+      {
+        cInfo.ids[SHCollisionInfo::ENTITY_B] = entityID;
+        cInfo.ids[SHCollisionInfo::COLLIDER_B] = matchColliders(physicsObject, collider2);
+
+        matched[SHCollisionInfo::ENTITY_B] = true;
+      }
+
+      if (matched[SHCollisionInfo::ENTITY_A] == true && matched[SHCollisionInfo::ENTITY_B] == true)
+        return cInfo;
+    }
+
+    return cInfo;
+  }
+
+  SHCollisionInfo SHCollisionListener::generateTriggerInfo(const rp3d::OverlapCallback::OverlapPair& cp) const noexcept
+  {
+    SHCollisionInfo cInfo;
+
+    // Update collision state
+    cInfo.collisionState = static_cast<SHCollisionInfo::State>(cp.getEventType());
+
+    // Match body and collider for collision event
+    const rp3d::Entity body1      = cp.getBody1()->getEntity();
+    const rp3d::Entity body2      = cp.getBody2()->getEntity();
+    const rp3d::Entity collider1  = cp.getCollider1()->getEntity();
+    const rp3d::Entity collider2  = cp.getCollider2()->getEntity();
+
+    // Find and match both ids
+    bool matched[2] = { false, false };
+
+    
+    for (auto& [entityID, physicsObject] : system->GetPhysicsObjects())
+    {
+      // Match body 1
+      if (matched[SHCollisionInfo::ENTITY_A] == false && physicsObject.GetCollisionBody()->getEntity() == body1)
+      {
+        cInfo.ids[SHCollisionInfo::ENTITY_A] = entityID;
+        cInfo.ids[SHCollisionInfo::COLLIDER_A] = matchColliders(physicsObject, collider1);
+
+        matched[SHCollisionInfo::ENTITY_A] = true;
+      }
+
+      // Match body 2
+      if (matched[SHCollisionInfo::ENTITY_B] == false && physicsObject.GetCollisionBody()->getEntity() == body2)
+      {
+        cInfo.ids[SHCollisionInfo::ENTITY_B] = entityID;
+        cInfo.ids[SHCollisionInfo::COLLIDER_B] = matchColliders(physicsObject, collider2);
+
+        matched[SHCollisionInfo::ENTITY_B] = true;
+      }
+
+      if (matched[SHCollisionInfo::ENTITY_A] == true && matched[SHCollisionInfo::ENTITY_B] == true)
+        return cInfo;
+    }
+
+    return cInfo;
+  }
+
+
+
+} // namespace SHADE

SHADE_Engine/src/Physics/Collision/SHCollisionListener.h

@@ -1,7 +1,7 @@
 /****************************************************************************************
- * \file      SHCollisionShapeLibrary.h
+ * \file      SHCollisionListener.h
  * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a Collison Shape Library.
+ * \brief     Interface for a Collision Listener.
  *
  * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
  *            disclosure of this file or its contents without the prior written consent
@@ -10,99 +10,71 @@
 
 #pragma once
 
-#include <unordered_map>
+// External Dependencies
+#include <reactphysics3d/reactphysics3d.h>
 
-// Project Header
+// Project Headers
-#include "SHSphere.h"
+#include "SH_API.h"
-#include "SHBox.h"
+#include "SHCollisionInfo.h"
 
 namespace SHADE
 {
+  /*-----------------------------------------------------------------------------------*/
+  /* Forward Declarations                                                              */
+  /*-----------------------------------------------------------------------------------*/
+
+  class SHPhysicsSystem;
+
   /*-----------------------------------------------------------------------------------*/
   /* Type Definitions                                                                  */
   /*-----------------------------------------------------------------------------------*/
 
-  /**
+  class SH_API SHCollisionListener final : public rp3d::EventListener
-   * @brief
-   * Encapsulates a class for Creating, Storing and Destroying Collision Shapes. <br/>
-   * All memory for collision shapes are stored in this factory class. <br/>
-  */
-  class SH_API SHCollisionShapeLibrary final
   {
   public:
     /*---------------------------------------------------------------------------------*/
     /* Constructors & Destructor                                                       */
     /*---------------------------------------------------------------------------------*/
 
-    SHCollisionShapeLibrary   () noexcept;
+    SHCollisionListener() noexcept;
-    ~SHCollisionShapeLibrary  () noexcept;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Getter Functions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    [[nodiscard]] const std::vector<SHCollisionInfo>& GetCollisionInfoContainer () const noexcept;
+    [[nodiscard]] const std::vector<SHCollisionInfo>& GetTriggerInfoContainer   () const noexcept;
 
     /*---------------------------------------------------------------------------------*/
     /* Function Members                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    /**
+    void  BindToSystem    (SHPhysicsSystem* physicsSystem)  noexcept;
-     * @brief
+    void  BindToWorld     (rp3d::PhysicsWorld* world)       noexcept;
-     * Creates a sphere collision shape.
+    void  CleanContainers ()  noexcept;
-     * @param id
+    void  ClearContainers ()  noexcept;
-     * The ID of the shape.
-     * @param createInfo
-     * The info to create the sphere with.
-     * @return
-     * A new sphere collision shape.
-    */
-    SHSphere*  CreateSphere  (SHCollisionShapeID id, const SHSphereCreateInfo& createInfo);
 
-    /**
+    void  onContact (const rp3d::CollisionCallback::CallbackData& callbackData) override;
-     * @brief
+    void  onTrigger (const rp3d::OverlapCallback::CallbackData& callbackData) override;
-     * Creates a box collision shape.
-     * @param id
-     * The ID of the shape.
-     * @param createInfo
-     * The info to create the box with.
-     * @return
-     * A new box collision shape.
-    */
-    SHBox*  CreateBox  (SHCollisionShapeID id, const SHBoxCreateInfo& createInfo);
-
-    /**
-     * @brief
-     * Destroys a collision shape.
-     * * @param eid
-     * The entity the shape belongs to.
-     * @param shapeID
-     * The ID of the shape.
-     * @param shape
-     * The shape to destroy.
-    */
-    void DestroyShape  (SHCollisionShape* shape);
 
   private:
-    /*---------------------------------------------------------------------------------*/
-    /* Type Definitions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    // We use unordered maps for fast lookup when deleting.
-    // Since we are not instancing shapes (yet?), I'd rather not iterate through an entire vector to find the shape.
-
-    using Spheres = std::unordered_map<SHCollisionShapeID, SHSphere*, SHCollisionShapeIDHash>;
-    using Boxes   = std::unordered_map<SHCollisionShapeID, SHBox*, SHCollisionShapeIDHash>;
 
     /*---------------------------------------------------------------------------------*/
     /* Data Members                                                                    */
     /*---------------------------------------------------------------------------------*/
 
-    SHHalfEdgeStructure   boxHalfEdgeStructure;
+    SHPhysicsSystem*              system;
-
+    std::vector<SHCollisionInfo>  collisionInfoContainer;
-    Spheres               spheres;
+    std::vector<SHCollisionInfo>  triggerInfoContainer;
-    Boxes                 boxes;
-    // TODO: Add capsules and hulls
 
     /*---------------------------------------------------------------------------------*/
     /* Function Members                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    void createBoxPolyhedron() noexcept;
+    static void     updateInfoContainers  (const SHCollisionInfo& collisionEvent, std::vector<SHCollisionInfo>& container) noexcept;
+
+    SHCollisionInfo generateCollisionInfo (const rp3d::CollisionCallback::ContactPair& cp)  const noexcept;
+    SHCollisionInfo generateTriggerInfo   (const rp3d::OverlapCallback::OverlapPair& cp)    const noexcept;
   };
 
 } // namespace SHADE

SHADE_Engine/src/Physics/Collision/SHCollisionSpace.cpp

@@ -1,308 +0,0 @@
-/****************************************************************************************
- * \file      SHCollisionSpace.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for a Collision Space that handles collision detetction.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-
-#include <SHpch.h>
-
-// Primary Header
-#include "SHCollisionSpace.h"
-
-#include "Narrowphase/SHCollisionDispatch.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Getter Functions Definitions                                                      */
-  /*-----------------------------------------------------------------------------------*/
-
-  const SHAABBTree::AABBs& SHCollisionSpace::GetBroadphaseAABBs() const noexcept
-  {
-    return broadphase.GetAABBs();
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Setter Functions Definitions                                                      */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHCollisionSpace::SetContactManager(SHContactManager* _contactManager) noexcept
-  {
-    contactManager = _contactManager;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Public Member Functions Definitions                                               */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHCollisionSpace::AddCollider(SHCollider* collider) noexcept
-  {
-    const bool INSERTED = colliders.emplace(collider->entityID, collider).second;
-    if (!INSERTED)
-    {
-      SHLOG_WARNING_D("Attempting to add duplicate collider {} to the Physics World!", collider->entityID)
-      return;
-    }
-
-    collider->broadphase = &broadphase;
-
-    // Add all existing shapes to the broadphase
-    for (const auto* shape : collider->shapes)
-      broadphase.Insert(shape->id, shape->ComputeAABB());
-  }
-
-  void SHCollisionSpace::RemoveCollider(SHCollider* collider) noexcept
-  {
-    colliders.erase(collider->entityID);
-
-    const uint32_t NUM_SHAPES = static_cast<uint32_t>(collider->shapes.size());
-    if (NUM_SHAPES == 0)
-      return;
-
-    for (uint32_t i = 0; i < NUM_SHAPES; ++i)
-      broadphase.Remove(collider->shapes[i]->id);
-
-    if (contactManager)
-    {
-      contactManager->RemoveInvalidatedTrigger(collider->entityID);
-      contactManager->RemoveInvalidatedManifold(collider->entityID);
-    }
-
-    /*
-     * TODO:
-     * Get collider's rigid body
-     * Run through the rigid body's contact graph and wake all of its non-static bodies that are asleep
-     */
-  }
-
-  void SHCollisionSpace::UpdateBroadphase() noexcept
-  {
-    // Update any colliders that have moved
-    for (auto& collider : colliders | std::views::values)
-    {
-      const bool IS_ACTIVE  = collider->IsActive();
-      const bool HAS_MOVED  = collider->flags & SHCollider::MOVED_FLAG;
-
-      if (!IS_ACTIVE || !HAS_MOVED)
-        continue;
-      
-      // Clear hasMoved flag here
-      collider->flags &= ~SHCollider::MOVED_FLAG;
-
-      // Update moved shapes in broadphase
-      for (auto* shape : collider->shapes)
-        broadphase.Update(shape->id, shape->ComputeAABB());
-    }
-  }
-
-  void SHCollisionSpace::DetectCollisions() noexcept
-  {
-    // TODO: Profile broad-phase and narrow-phase
-
-    /*
-     * Broad-phase
-     */
-
-    // Broadphase Queries: Kinematic Triggers, Awake Dynamic Bodies & Dynamic Triggers
-    for (auto& collider : colliders | std::views::values)
-    {
-      // Colliders without bodies are considered to be static bodies
-      // This is specific to this engine because of Unity's stupid convention.
-      const bool IS_IMPLICIT_STATIC = !collider->rigidBody;
-      const bool IS_ACTIVE          = collider->IsActive();
-
-      // Skip inactive colliders
-      if (!IS_ACTIVE || IS_IMPLICIT_STATIC)
-        continue;
-
-      const bool IS_EXPLICIT_STATIC = collider->rigidBody->GetType() == SHRigidBody::Type::STATIC;
-      if (IS_EXPLICIT_STATIC)
-        continue;
-
-      // All remaining are kinematic or dynamic
-      // Iterate through shapes: if kinematic / dynamic trigger, else if dynamic & awake
-      // Results are loaded into the narrowphase batch
-      broadphaseQuery(collider->rigidBody->GetType(), collider);
-    }
-
-    /*
-     * Narrow-phase
-     */
-
-    // If no potential collisions, we can skip the entire narrow phase. No further updates necessary.
-    // All contact / trigger states persist in this step.
-    if (narrowphaseBatch.empty())
-      return;
-
-    // All narrowphase IDs are unique, there should be no duplicate collision checks.
-    // This applies both ways: A -> B and B -> A.
-    for (auto& [key, narrowphasePair] : narrowphaseBatch)
-    {
-      // Filter through tags before attempting narrow-phase
-      const uint16_t TAG_A = narrowphasePair.A->GetCollisionTag().GetMask();
-      const uint16_t TAG_B = narrowphasePair.B->GetCollisionTag().GetMask();
-
-      const bool MATCH_TAG = TAG_A & TAG_B;
-      if (!MATCH_TAG)
-        continue;
-
-      const bool IS_A_TRIGGER = narrowphasePair.A->IsTrigger();
-      const bool IS_B_TRIGGER = narrowphasePair.B->IsTrigger();
-
-      if (IS_A_TRIGGER || IS_B_TRIGGER)
-        collideTriggers(key, narrowphasePair);
-      else
-        collideManifolds(key, narrowphasePair);
-    }
-
-    // Clear every frame
-    narrowphaseBatch.clear();
-
-    // Test all collisions
-    if (contactManager)
-      contactManager->Update();
-  }
-
-  const SHCollisionSpace::RaycastResults& SHCollisionSpace::Raycast(const RaycastInfo& info) noexcept
-  {
-    static RaycastResults results;
-    results.clear();
-
-    const bool FILTER_COLLIDER = info.colliderEntityID.has_value();
-
-    // Cast ray into the broadphase scene
-    const auto& POTENTIAL_HITS = broadphase.Query(info.ray, info.distance);
-
-    if (POTENTIAL_HITS.empty())
-      return results;
-
-    // Iterate through all potential hits
-    const int NUM_HITS = static_cast<int>(POTENTIAL_HITS.size());
-    for (const int i : std::ranges::views::iota(0, NUM_HITS))
-    {
-      const auto HIT_ID = POTENTIAL_HITS[i];
-
-      const EntityID EID = HIT_ID.GetEntityID();
-
-      if (FILTER_COLLIDER && EID == info.colliderEntityID.value())
-        continue;
-
-      // Get shape
-      const uint32_t IDX = HIT_ID.GetShapeIndex();
-      const auto* SHAPE = colliders.find(EID)->second->GetCollisionShape(IDX);
-
-      // Filter the layers
-      const bool LAYER_MATCH = SHAPE->GetCollisionTag().GetMask() & info.layers;
-      if (!LAYER_MATCH)
-        continue;
-
-      // We cast to the underlying shape. THis is done because a convex hull will not have an inherited raycast method.
-      // Kinda awkward oversight...oops
-
-      SHRaycastResult baseResult;
-      switch (SHAPE->GetType())
-      {
-        case SHCollisionShape::Type::SPHERE:
-        {
-          baseResult = dynamic_cast<const SHSphere*>(SHAPE)->Raycast(info.ray);
-          break;
-        }
-        case SHCollisionShape::Type::BOX:
-        {
-          baseResult = dynamic_cast<const SHBox*>(SHAPE)->Raycast(info.ray);
-          break;
-        }
-        case SHCollisionShape::Type::CAPSULE:
-        {
-          // TODO
-          break;
-        }
-        default: continue;  // Redundant case
-      }
-
-      if (!baseResult || baseResult.distance > info.distance)
-        continue;
-
-      // Copy to a physics raycast result
-      SHPhysicsRaycastResult result;
-      memcpy_s(&result, sizeof(SHRaycastResult), &baseResult, sizeof(SHRaycastResult));
-
-      result.entityHit  = EID;
-      result.shapeIndex = IDX;
-
-      results.emplace_back(result);
-    }
-
-    return results;
-  }
-
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Private Member Functions Definitions                                              */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHCollisionSpace::broadphaseQuery(SHRigidBody::Type rigidBodyType, SHCollider* collider) noexcept
-  {
-    for (auto* shape : collider->shapes)
-    {
-      // For kinematic shapes, we only query triggers against everything else
-      if (rigidBodyType == SHRigidBody::Type::KINEMATIC && !shape->IsTrigger())
-        continue;
-
-      auto& potentialCollisions = broadphase.Query(shape->id, shape->ComputeAABB());
-
-      // Build narrow-phase pairs
-      auto* shapeA = shape;
-
-      const EntityID ID_A     = shape->id.GetEntityID();
-      const uint32_t INDEX_A  = shape->id.GetShapeIndex();
-
-      for (auto& id : potentialCollisions)
-      {
-        // Get corresponding shape
-        const EntityID ID_B     = id.GetEntityID();
-        const uint32_t INDEX_B  = id.GetShapeIndex();
-
-        auto* shapeB = colliders[ID_B]->GetCollisionShape(INDEX_B);
-
-        // Build collision ID
-        SHCollisionKey collisionKey;
-        collisionKey.SetEntityA(ID_A);
-        collisionKey.SetEntityB(ID_B);
-        collisionKey.SetCollisionShapeA(INDEX_A);
-        collisionKey.SetCollisionShapeB(INDEX_B);
-
-        // Check if it already exists. If it doesn't, put into batch.
-        // The overloaded equality operator ensures no duplicate collision tests are performed.
-        auto narrowphasePair = narrowphaseBatch.find(collisionKey);
-        if (narrowphasePair == narrowphaseBatch.end())
-          narrowphaseBatch.emplace(collisionKey, NarrowphasePair{ shapeA, shapeB });
-      }
-    }
-  }
-
-  void SHCollisionSpace::collideTriggers(const SHCollisionKey& key, NarrowphasePair& narrowphasePair) const noexcept
-  {
-    auto* A = narrowphasePair.A;
-    auto* B = narrowphasePair.B;
-
-    // Send to contact manager
-    if (contactManager)
-      contactManager->AddTrigger(key, A, B);
-  }
-
-  void SHCollisionSpace::collideManifolds(const SHCollisionKey& key, NarrowphasePair& narrowphasePair) const noexcept
-  {
-    auto* A = narrowphasePair.A;
-    auto* B = narrowphasePair.B;
-
-    // Send to contact manager
-    if (contactManager)
-      contactManager->AddManifold(key, A, B);
-  }
-} // namespace SHADE

SHADE_Engine/src/Physics/Collision/SHCollisionSpace.h

@@ -1,196 +0,0 @@
-/****************************************************************************************
- * \file      SHCollisionSpace.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a Collision Space that handles collision detetction.
- *            This is to separate the logic between dynamics and collision detection,
- *            but the collision space does send information to the contact manager
- *            for dynamic resolution and collision state reporting.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-#include <optional>
-
-// Project Headers
-#include "Broadphase/SHDynamicAABBTree.h"
-#include "Physics/Dynamics/SHContactManager.h"
-#include "SHCollider.h"
-#include "SHPhysicsRaycastResult.h"
-#include "CollisionTags/SHCollisionTags.h"
-#include "CollisionTags/SHCollisionTags.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Type Definitions                                                                  */
-  /*-----------------------------------------------------------------------------------*/
-
-  /**
-   * @brief
-   * Allows collision detection to be performed with the use of colliders & collision shapes.
-   * The space will generate manifold data for resolution when needed.
-  */
-  class SH_API SHCollisionSpace
-  {
-  public:
-    /*---------------------------------------------------------------------------------*/
-    /* Type Definitions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    /**
-     * @brief
-     * Contains information to cast a ray into the collision space.
-     * The collider entityID and shape index is optional. 
-    */
-    struct RaycastInfo
-    {
-    private:
-      /*-------------------------------------------------------------------------------*/
-      /* Friends                                                                       */
-      /*-------------------------------------------------------------------------------*/
-
-      friend class SHCollisionSpace;
-
-    public:
-      /*-------------------------------------------------------------------------------*/
-      /* Data Members                                                                  */
-      /*-------------------------------------------------------------------------------*/
-
-      bool      continuous  = false;
-      uint16_t  layers      = static_cast<uint16_t>(SHCollisionTag::Layer::ALL);
-      float     distance    = std::numeric_limits<float>::infinity();
-      SHRay     ray;
-
-      /*-------------------------------------------------------------------------------*/
-      /* Setter Functions                                                              */
-      /*-------------------------------------------------------------------------------*/
-
-      /**
-       * @brief
-       * Sets the collider ID for the raycast. Setting this specifies that the ray
-       * should ignore this collider.
-       * @param eid
-       * The entity ID of the collider.
-      */
-      void SetColliderID(EntityID eid) noexcept { colliderEntityID = eid; }
-
-    private:
-      /*-------------------------------------------------------------------------------*/
-      /* Data Members                                                                  */
-      /*-------------------------------------------------------------------------------*/
-
-      std::optional<EntityID> colliderEntityID;
-    };
-
-    using RaycastResults = std::vector<SHPhysicsRaycastResult>;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Constructors & Destructor                                                       */
-    /*---------------------------------------------------------------------------------*/
-
-    SHCollisionSpace  () noexcept = default;
-    ~SHCollisionSpace () noexcept = default;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Getter Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    const SHAABBTree::AABBs&  GetBroadphaseAABBs  ()  const noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Setter Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    void SetContactManager(SHContactManager* contactManager) noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Member Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    /**
-     * @brief
-     * Adds a collider to the collision space for it to be tested for collision with
-     * other colliders.
-     * @param collider
-     * A collider to add. Duplicates will be ignored.
-    */
-    void AddCollider (SHCollider*  collider)   noexcept;
-
-    /**
-     * @brief
-     * Removes a collider from the collision space. This will prevent any collisions
-     * being detected between it and other colliders unless manually tested.
-     * @param collider
-     * A collider to remove. If a reference to it doesn't exist, it will be ignored.
-    */
-    void RemoveCollider (SHCollider*  collider)   noexcept;
-
-    /**
-     * @brief
-     * Invoke this method to update the broadphase of colliders that have been moved since
-     * the last frame.
-    */
-    void UpdateBroadphase () noexcept;
-
-    /**
-     * @brief 
-     * Detects collisions between all colliders. Results are sent to the attached contact
-     * manager for resolution.
-    */
-    void DetectCollisions () noexcept;
-
-    /**
-     * @brief
-     * Casts a ray into the collision space.
-     * @param info
-     * Contains the information for the raycast.
-     * @return
-     * A container of the objects hit by the ray. If nothing was hit, the container
-     * will be empty.
-     */
-    [[nodiscard]] const RaycastResults& Raycast(const RaycastInfo& info) noexcept;
-
-  private:
-    /*---------------------------------------------------------------------------------*/
-    /* Type Definitions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    struct NarrowphasePair
-    {
-      SHCollisionShape* A = nullptr;
-      SHCollisionShape* B = nullptr;
-    };
-
-    using Colliders         = std::unordered_map<EntityID, SHCollider*>;
-    using NarrowphaseBatch  = std::unordered_map<SHCollisionKey, NarrowphasePair, SHCollisionKeyHash>;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Data Members                                                                    */
-    /*---------------------------------------------------------------------------------*/
-
-    SHContactManager* contactManager = nullptr;
-
-    Colliders         colliders;
-    NarrowphaseBatch  narrowphaseBatch;
-
-    SHAABBTree        broadphase;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Member Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    // Broadphase helpers
-
-    void                    broadphaseQuery   (SHRigidBody::Type rigidBodyType, SHCollider* collider) noexcept;
-
-    // Narrowphase helpers
-
-    void                    collideTriggers   (const SHCollisionKey& key, NarrowphasePair& narrowphasePair) const noexcept;
-    void                    collideManifolds  (const SHCollisionKey& key, NarrowphasePair& narrowphasePair) const noexcept;
-  };
-  
-} // namespace SHADE

SHADE_Engine/src/Physics/Collision/SHCollisionTagMatrix.cpp

@@ -14,9 +14,6 @@
 // Primary Header
 #include "SHCollisionTagMatrix.h"
 
-// Project Headers
-#include "Tools/Utilities/SHUtilities.h"
-
 namespace SHADE
 {
   /*-----------------------------------------------------------------------------------*/
@@ -148,9 +145,8 @@ namespace SHADE
     /**
       * I HATE FILE IO
       *
-      * Each line in the file should be "index<space>tag name<space>mask".
+      * Each line in the file should be "index<space>tag name".
-      * If the line fails to follow this format, use the default tag name (index + 1) and default mask.
+      * If the line fails to follow this format, use the default tag name (index + 1)
-      * If no mask was read, use a default mask.
       */
 
     // Populate tag names with default
@@ -191,40 +187,18 @@ namespace SHADE
       {
         SHLOG_ERROR
         (
-          "Collision tag file line {} does not match the required format of 'index<space>tag name<space>mask'. Default tag used for index {}"
+          "Collision tag file line {} does not match the required format of 'index<space>tag name'. Default tag used for index {}"
         , linesRead + 1
         , tagIndex
         )
 
         // Use default
         collisionTags[tagIndex].SetName(std::to_string(tagIndex + 1));
-        collisionTags[tagIndex].SetMask(SHUtilities::ConvertEnum(SHCollisionTag::Layer::ALL));
         continue;
       }
 
       collisionTags[tagIndex].SetName(tagName);
 
-      // Next element is the mask value
-      std::string maskString;
-      ss >> maskString;
-
-      uint16_t mask = std::numeric_limits<uint16_t>::max();
-      if (maskString.empty())
-      {
-        SHLOG_ERROR
-        (
-          "Collision tag file line {} does not match the required format of 'index<space>tag name<space>mask'. Default mask used for index {}"
-        , linesRead + 1
-        , tagIndex
-        )
-      }
-      else
-      {
-        mask = static_cast<uint16_t>(std::stoi(maskString));
-      }
-
-      collisionTags[tagIndex].SetMask(mask);
-
       ss.clear();
     }
 
@@ -241,9 +215,8 @@ namespace SHADE
       return;
     }
 
-    // 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() << std::endl;
 
     collisionTagNamesFile.close();
   }

SHADE_Engine/src/Physics/Collision/SHCompositeCollider.cpp

@@ -1,176 +0,0 @@
-/****************************************************************************************
- * \file      SHCompositeCollider.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for a Composite Collider Class.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#include <SHpch.h>
-
-// Primary Header
-#include "SHCompositeCollider.h"
-
-// Project Headers
-#include "Broadphase/SHDynamicAABBTree.h"
-#include "Math/SHMathHelpers.h"
-#include "Physics/SHPhysicsEvents.h"
-#include "Physics/Dynamics/SHRigidBody.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Constructors & Destructor Definitions                                             */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHCompositeCollider::SHCompositeCollider(EntityID eid, const SHTransform& worldTransform) noexcept
-  : SHCollider( eid, worldTransform )
-  {
-    flags |= COMPOSITE_FLAG;
-  }
-
-  SHCompositeCollider::SHCompositeCollider(const SHCompositeCollider& rhs) noexcept
-  : SHCollider( rhs )
-  {}
-
-  SHCompositeCollider::SHCompositeCollider(SHCompositeCollider&& rhs) noexcept
-  : SHCollider( rhs )
-  {}
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Operator Overload Definitions                                                     */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHCompositeCollider& SHCompositeCollider::operator=(const SHCompositeCollider& rhs) noexcept
-  {
-    if (this == &rhs)
-      return *this;
-
-    SHCollider::operator=(rhs);
-
-    return *this;
-  }
-
-  SHCompositeCollider& SHCompositeCollider::operator=(SHCompositeCollider&& rhs) noexcept
-  {
-    SHCollider::operator=(rhs);
-
-    return *this;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Public Member Function Definitions                                                */
-  /*-----------------------------------------------------------------------------------*/
-
-  int SHCompositeCollider::AddSphereCollisionShape(float relativeRadius, const SHVec3& posOffset, const SHVec3& rotOffset)
-  {
-    if (!shapeLibrary)
-    {
-      SHLOGV_ERROR("Shape factory is unlinked with Collider {}. Unable to add new shape!", entityID)
-      return -1;
-    }
-
-    // Compute world radius
-    const float SPHERE_SCALE = std::fabs(SHMath::Max({ transform.scale.x, transform.scale.y, transform.scale.z }));
-
-    // Compute center
-    const SHQuaternion FINAL_ROT  = transform.orientation * SHQuaternion::FromEuler(rotOffset);
-    const SHMatrix     TRS        = SHMatrix::Rotate(FINAL_ROT) * SHMatrix::Translate(transform.position);
-
-    // Create Sphere
-    const SHSphereCreateInfo SPHERE_CREATE_INFO
-    {
-      .Center         = SHVec3::Transform(posOffset, TRS)
-    , .Radius         = relativeRadius * SPHERE_SCALE * 0.5f
-    , .RelativeRadius = relativeRadius
-    , .Scale          = SPHERE_SCALE
-    };
-
-    const uint32_t NEW_INDEX = static_cast<uint32_t>(shapes.size());
-    const SHCollisionShapeID NEW_SHAPE_ID{ entityID, NEW_INDEX };
-
-    SHSphere* sphere = shapeLibrary->CreateSphere(NEW_SHAPE_ID, SPHERE_CREATE_INFO);
-
-    // Set offsets
-    sphere->collider = this;
-    sphere->SetPositionOffset(posOffset);
-    sphere->SetRotationOffset(rotOffset);
-
-    shapes.emplace_back(sphere);
-
-    if (broadphase)
-      broadphase->Insert(NEW_SHAPE_ID, sphere->ComputeAABB());
-
-    // Broadcast Event for adding a shape
-    const SHPhysicsColliderAddedEvent EVENT_DATA
-    {
-      .entityID       = entityID
-    , .colliderType   = SHCollisionShape::Type::SPHERE
-    , .colliderIndex  = static_cast<int>(NEW_INDEX)
-    };
-
-    SHEventManager::BroadcastEvent<SHPhysicsColliderAddedEvent>(EVENT_DATA, SH_PHYSICS_COLLIDER_ADDED_EVENT);
-
-    if (rigidBody)
-      rigidBody->ComputeMassData();
-
-    return static_cast<int>(NEW_INDEX);
-  }
-
-  int SHCompositeCollider::AddBoxCollisionShape(const SHVec3& relativeExtents, const SHVec3& posOffset, const SHVec3& rotOffset)
-  {
-    if (!shapeLibrary)
-    {
-      SHLOGV_ERROR("Shape factory is unlinked with Collider {}. Unable to add new shape!", entityID)
-      return -1;
-    }
-
-    // Compute center
-    const SHQuaternion FINAL_ROT  = transform.orientation * SHQuaternion::FromEuler(rotOffset);
-    const SHMatrix     TRS        = SHMatrix::Rotate(FINAL_ROT) * SHMatrix::Translate(transform.position);
-
-    // Create Sphere
-    const SHBoxCreateInfo BOX_CREATE_INFO
-    {
-      .Center           = SHVec3::Transform(posOffset, TRS)
-    , .Extents          = relativeExtents * SHVec3::Abs(transform.scale) * 0.5f
-    , .RelativeExtents  = relativeExtents
-    , .Orientation      = FINAL_ROT
-    , .Scale            = SHVec3::Abs(transform.scale)
-    };
-
-    const uint32_t NEW_INDEX = static_cast<uint32_t>(shapes.size());
-    const SHCollisionShapeID NEW_SHAPE_ID{ entityID, NEW_INDEX };
-
-    SHBox* box = shapeLibrary->CreateBox(NEW_SHAPE_ID, BOX_CREATE_INFO);
-
-    // Set offsets
-    box->collider = this;
-    box->SetPositionOffset(posOffset);
-    box->SetRotationOffset(rotOffset);
-
-    shapes.emplace_back(box);
-
-    if (broadphase)
-      broadphase->Insert(NEW_SHAPE_ID, box->ComputeAABB());
-
-    // Broadcast Event for adding a shape
-    const SHPhysicsColliderAddedEvent EVENT_DATA
-    {
-      .entityID       = entityID
-    , .colliderType   = SHCollisionShape::Type::BOX
-    , .colliderIndex  = static_cast<int>(NEW_INDEX)
-    };
-
-    SHEventManager::BroadcastEvent<SHPhysicsColliderAddedEvent>(EVENT_DATA, SH_PHYSICS_COLLIDER_ADDED_EVENT);
-
-    if (rigidBody)
-      rigidBody->ComputeMassData();
-
-    return static_cast<int>(NEW_INDEX);
-  }
-
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Collision/SHCompositeCollider.h

@@ -1,80 +0,0 @@
-/****************************************************************************************
- * \file      SHCompositeCollider.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a Composite Collider Class.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-// Project Headers
-#include "SHCollider.h"
-
-namespace SHADE
-{
-  /**
-   * @brief
-   * Encapsulates the behaviour of a collider with composited shapes. <br/>
-   * Contains no data members but methods to add multiple shapes.
-  */
-  class SH_API SHCompositeCollider : public SHCollider
-  {
-  public:
-    /*---------------------------------------------------------------------------------*/
-    /* Constructors & Destructor                                                       */
-    /*---------------------------------------------------------------------------------*/
-
-    SHCompositeCollider(EntityID eid, const SHTransform& worldTransform = SHTransform::Identity) noexcept;
-    SHCompositeCollider(const SHCompositeCollider& rhs) noexcept;
-    SHCompositeCollider(SHCompositeCollider&& rhs) noexcept;
-    ~SHCompositeCollider () noexcept override = default;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Operator Overloads                                                              */
-    /*---------------------------------------------------------------------------------*/
-    
-    SHCompositeCollider& operator=(const SHCompositeCollider& rhs)  noexcept;
-    SHCompositeCollider& operator=(SHCompositeCollider&& rhs)       noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Member Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    /**
-     * @brief
-     * Adds a sphere collision shape.
-     * @param relativeRadius
-     * The relative radius is constructed with respect to the world scale. <br/>
-     * Radius = max(scale.x, scale.y, scale.z) * 0.5 * relativeRadius
-     * @param posOffset
-     * The position offset of the sphere from the center of the collider. Defaults to a Zero Vector.
-     * @param rotOffset
-     * The rotation offset of the sphere from the rotation of the collider. Defaults to a Zero Vector.
-     * @return
-     * The index of the newly added shape.
-    */
-    int AddSphereCollisionShape (float relativeRadius, const SHVec3& posOffset = SHVec3::Zero, const SHVec3& rotOffset = SHVec3::Zero);
-
-    /**
-     * @brief
-     * Adds a box collision shape.
-     * @param relativeExtents
-     * The relative extents are constructed with respect to the world scale. <br/>
-     * Extents = scale * 0.5 * relativeExtents
-     * @param posOffset
-     * The position offset of the box from the center of the collider. Defaults to a Zero Vector.
-     * @param rotOffset
-     * The rotation offset of the box from the rotation of the collider. Defaults to a Zero Vector.
-     * @return
-     * The index of the newly added shape.
-    */
-    int AddBoxCollisionShape (const SHVec3& relativeExtents, const SHVec3& posOffset = SHVec3::Zero, const SHVec3& rotOffset = SHVec3::Zero);
-
-    // TODO: Add Capsule
-  };
-
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Collision/SHPhysicsRaycaster.cpp

@@ -0,0 +1,350 @@
+/****************************************************************************************
+ * \file      SHPhysicsRaycaster.cpp
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Implementation for a Physics Raycaster.
+ *
+ * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
+ *            disclosure of this file or its contents without the prior written consent
+ *            of DigiPen Institute of Technology is prohibited.
+****************************************************************************************/
+
+#include <SHpch.h>
+
+// Primary Header
+#include "SHPhysicsRaycaster.h"
+
+/*
+ * TODO(DIREN):
+ * Once the physics engine has been rebuilt, this whole implementation should change
+ * and just call PhysicsWorld.Raycast etc.
+ *
+ * SHRaycastResult can be converted to a bool when necessary.
+ */
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Constructors & Destructor Definitions                                             */
+  /*-----------------------------------------------------------------------------------*/
+
+  SHPhysicsRaycaster::SHPhysicsRaycaster() noexcept
+  : world { nullptr }
+  {}
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Getter Function Definitions                                                       */
+  /*-----------------------------------------------------------------------------------*/
+
+  const SHPhysicsRaycaster::RaycastPairs& SHPhysicsRaycaster::GetRaycasts() const noexcept
+  {
+    return raycasts;
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Getter Function Definitions                                                       */
+  /*-----------------------------------------------------------------------------------*/
+
+  void SHPhysicsRaycaster::SetObjectManager(SHPhysicsObjectManager* physicsObjectManager) noexcept
+  {
+    objectManager = physicsObjectManager;
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Public Function Member Definitions                                                */
+  /*-----------------------------------------------------------------------------------*/
+
+  void SHPhysicsRaycaster::BindToWorld(rp3d::PhysicsWorld* physicsWorld) noexcept
+  {
+    world = physicsWorld;
+  }
+
+  void SHPhysicsRaycaster::ClearFrame() noexcept
+  {
+    raycasts.clear();
+  }
+
+  SHPhysicsRaycastResult SHPhysicsRaycaster::Raycast(const SHRay& ray, float distance, const SHCollisionTag& collisionTag) noexcept
+  {
+    // Reset temp
+    temp = SHPhysicsRaycastResult{};
+    temp.distance = distance;
+
+    if (!world)
+    {
+      SHLOG_ERROR("Physics world missing for raycasting!")
+      return temp;
+    }
+
+    // If distance in infinity, cast to the default max distance of 2 km.
+    if (distance == std::numeric_limits<float>::infinity())
+    {
+      world->raycast(ray, this, collisionTag);
+    }
+    else
+    {
+      const SHVec3 END_POINT = ray.position + ray.direction * distance;
+      const rp3d::Ray RP3D_RAY{ ray.position, END_POINT };
+      world->raycast(RP3D_RAY, this, collisionTag);
+    }
+
+    // If a hit was found, populate temp info for return.
+    if (temp.hit)
+    {
+      temp.distance = SHVec3::Distance(ray.position, temp.position);
+      temp.angle    = SHVec3::Angle(ray.position, temp.position);
+    }
+
+    raycasts.emplace_back(ray, temp);
+    return temp;
+  }
+
+  SHPhysicsRaycastResult SHPhysicsRaycaster::Linecast(const SHVec3& start, const SHVec3& end, const SHCollisionTag& collisionTag) noexcept
+  {
+    temp = SHPhysicsRaycastResult{};
+    temp.distance = SHVec3::Distance(start, end);
+
+    if (!world)
+    {
+      SHLOG_ERROR("Physics world missing for raycasting!")
+      return temp;
+    }
+
+    const rp3d::Ray RP3D_RAY{ start, end };
+    world->raycast(RP3D_RAY, this, collisionTag);
+
+    if (temp.hit)
+    {
+      temp.distance = SHVec3::Distance(start, temp.position);
+      temp.angle    = SHVec3::Angle(start, temp.position);
+    }
+    
+    raycasts.emplace_back(RP3D_RAY, temp);
+    return temp;
+  }
+
+  SHPhysicsRaycastResult SHPhysicsRaycaster::ColliderRaycast(EntityID eid, const SHRay& ray, float distance) noexcept
+  {
+    SHPhysicsRaycastResult result;
+    result.distance = distance;
+
+    // Get a valid physics object with at least 1 collider.
+    const auto* PHYSICS_OBJECT = validateColliderRaycast(eid);
+    if (!PHYSICS_OBJECT)
+      return result;
+
+    auto* rp3dBody = PHYSICS_OBJECT->GetCollisionBody();
+
+    // Data to populate
+    rp3d::RaycastInfo rp3dRaycastInfo;
+    bool hit = false;
+
+    if (distance == std::numeric_limits<float>::infinity())
+    {
+      hit = rp3dBody->raycast(ray, rp3dRaycastInfo);
+    }
+    else
+    {
+      const SHVec3 END_POINT = ray.position + ray.direction * distance;
+      const rp3d::Ray RP3D_RAY{ ray.position, END_POINT };
+      hit = rp3dBody->raycast(RP3D_RAY, rp3dRaycastInfo);
+    }
+
+    if (hit)
+    {
+      result.hit        = true;
+      result.position   = rp3dRaycastInfo.worldPoint;
+      result.normal     = rp3dRaycastInfo.worldPoint;
+      result.distance   = SHVec3::Distance(ray.position, result.position);
+      result.angle      = SHVec3::Angle(ray.position, result.position);
+      result.entityHit  = eid;
+      result.shapeIndex = findColliderIndex(rp3dBody, rp3dRaycastInfo.collider->getEntity());
+    }
+
+    raycasts.emplace_back(ray, result);
+    return result;
+  }
+
+  SHPhysicsRaycastResult SHPhysicsRaycaster::ColliderRaycast(EntityID eid, int shapeIndex, const SHRay& ray, float distance) noexcept
+  {
+    SHPhysicsRaycastResult result;
+    result.distance = distance;
+
+    // Get a valid physics object with at least 1 collider.
+    const auto* PHYSICS_OBJECT = validateColliderRaycast(eid);
+    if (!PHYSICS_OBJECT)
+      return result;
+
+    // Boundary check for shape index
+    if (shapeIndex < 0 || shapeIndex >= static_cast<int>(PHYSICS_OBJECT->GetCollisionBody()->getNbColliders()))
+    {
+      SHLOGV_WARNING("Invalid collision shape index passed in")
+      return result;
+    }
+
+    auto* rp3dCollider = PHYSICS_OBJECT->GetCollisionBody()->getCollider(shapeIndex);
+
+    rp3d::RaycastInfo rp3dRaycastInfo;
+    bool hit = false;
+    if (distance == std::numeric_limits<float>::infinity())
+    {
+      hit = rp3dCollider->raycast(ray, rp3dRaycastInfo);
+    }
+    else
+    {
+      const SHVec3 END_POINT = ray.position + ray.direction * distance;
+      const rp3d::Ray RP3D_RAY{ ray.position, END_POINT };
+      hit = rp3dCollider->raycast(RP3D_RAY, rp3dRaycastInfo);
+    }
+
+    if (hit)
+    {
+      result.hit        = true;
+      result.position   = rp3dRaycastInfo.worldPoint;
+      result.normal     = rp3dRaycastInfo.worldPoint;
+      result.distance   = SHVec3::Distance(ray.position, result.position);
+      result.angle      = SHVec3::Angle(ray.position, result.position);
+      result.entityHit  = eid;
+      result.shapeIndex = shapeIndex;
+    }
+
+    raycasts.emplace_back(ray, result);
+    return result;
+  }
+
+   SHPhysicsRaycastResult SHPhysicsRaycaster::ColliderLinecast(EntityID eid, const SHVec3& start, const SHVec3& end) noexcept
+  {
+    SHPhysicsRaycastResult result;
+    result.distance = SHVec3::Distance(start, end);
+
+    const auto* PHYSICS_OBJECT = validateColliderRaycast(eid);
+    if (!PHYSICS_OBJECT)
+      return result;
+
+    auto* rp3dBody = PHYSICS_OBJECT->GetCollisionBody();
+
+    rp3d::RaycastInfo rp3dRaycastInfo;
+
+    const rp3d::Ray RP3D_RAY{ start, end };
+    if (rp3dBody->raycast(RP3D_RAY, rp3dRaycastInfo))
+    {
+      result.hit        = true;
+      result.position   = rp3dRaycastInfo.worldPoint;
+      result.normal     = rp3dRaycastInfo.worldPoint;
+      result.distance   = SHVec3::Distance(start, result.position);
+      result.angle      = SHVec3::Angle(end, result.position);
+      result.entityHit  = eid;
+      result.shapeIndex = findColliderIndex(rp3dBody, rp3dRaycastInfo.collider->getEntity());
+    }
+
+    raycasts.emplace_back(RP3D_RAY, result);
+    return result;
+  }
+
+  SHPhysicsRaycastResult SHPhysicsRaycaster::ColliderLinecast(EntityID eid, int shapeIndex, const SHVec3& start, const SHVec3& end) noexcept
+  {
+    SHPhysicsRaycastResult result;
+    result.distance = SHVec3::Distance(start, end);
+
+    const auto* PHYSICS_OBJECT = validateColliderRaycast(eid);
+    if (!PHYSICS_OBJECT)
+      return result;
+
+    if (shapeIndex < 0 || shapeIndex >= static_cast<int>(PHYSICS_OBJECT->GetCollisionBody()->getNbColliders()))
+    {
+      SHLOGV_WARNING("Invalid collision shape index passed in")
+      return result;
+    }
+
+    auto* rp3dCollider = PHYSICS_OBJECT->GetCollisionBody()->getCollider(shapeIndex);
+
+    rp3d::RaycastInfo rp3dRaycastInfo;
+
+    const rp3d::Ray RP3D_RAY{ start, end };
+    if (rp3dCollider->raycast(RP3D_RAY, rp3dRaycastInfo))
+    {
+      result.hit        = true;
+      result.position   = rp3dRaycastInfo.worldPoint;
+      result.normal     = rp3dRaycastInfo.worldPoint;
+      result.distance   = SHVec3::Distance(start, result.position);
+      result.angle      = SHVec3::Angle(end, result.position);
+      result.entityHit  = eid;
+      result.shapeIndex = shapeIndex;
+    }
+
+    raycasts.emplace_back(RP3D_RAY, result);
+    return result;
+  }
+
+  rp3d::decimal SHPhysicsRaycaster::notifyRaycastHit(const rp3d::RaycastInfo& raycastInfo)
+  {
+    temp.hit      = true;
+    temp.position = raycastInfo.worldPoint;
+    temp.normal   = raycastInfo.worldNormal;
+
+    if (!objectManager)
+    {
+      SHLOGV_ERROR("No physics object manager linked with raycaster to match bodies")
+      return 0.0f;
+    }
+
+    // Compare body IDs to find the matching physics object
+    const auto HIT_BODY_EID = raycastInfo.body->getEntity();
+
+    for (const auto& [entityID, physicsObject] : objectManager->GetPhysicsObjects())
+    {
+      const auto RP3D_BODY = physicsObject.GetCollisionBody();
+
+      // Match rp3d bodies
+      if (RP3D_BODY->getEntity() != HIT_BODY_EID)
+        continue;
+
+      temp.entityHit = entityID;
+
+      // Find collider index
+      if (const int INDEX = findColliderIndex(RP3D_BODY, raycastInfo.collider->getEntity()); INDEX > -1)
+      {
+        temp.shapeIndex = INDEX;
+        break;
+      }
+    }
+
+    return 0.0f;
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Private Function Member Definitions                                               */
+  /*-----------------------------------------------------------------------------------*/
+
+  SHPhysicsObject* SHPhysicsRaycaster::validateColliderRaycast(EntityID eid) noexcept
+  {
+    if (!objectManager)
+    {
+      SHLOGV_ERROR("No physics object manager linked with raycaster to match bodies")
+      return nullptr;
+    }
+
+    auto* physicsObject = objectManager->GetPhysicsObject(eid);
+    if (!physicsObject || physicsObject->GetCollisionBody()->getNbColliders() == 0)
+    {
+      SHLOGV_WARNING("Cannot cast ray at an entity without colliders!")
+      return nullptr;
+    }
+
+    return physicsObject;
+  }
+
+  int SHPhysicsRaycaster::findColliderIndex(const rp3d::CollisionBody* rp3dBody, rp3d::Entity rp3dColliderEID) noexcept
+  {
+    const int NUM_COLLISION_SHAPES = static_cast<int>(rp3dBody->getNbColliders());
+    for (int i = 0; i < NUM_COLLISION_SHAPES; ++i)
+    {
+      const auto COLLIDER_EID = rp3dBody->getCollider(i)->getEntity();
+      if (COLLIDER_EID == rp3dColliderEID)
+        return i;
+    }
+
+    return -1;
+  }
+
+
+} // namespace SHADE

SHADE_Engine/src/Physics/Collision/SHPhysicsRaycaster.h

@@ -0,0 +1,134 @@
+/****************************************************************************************
+ * \file      SHPhysicsRaycaster.h
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Interface for a Physics Raycaster.
+ *
+ * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
+ *            disclosure of this file or its contents without the prior written consent
+ *            of DigiPen Institute of Technology is prohibited.
+****************************************************************************************/
+
+#pragma once
+
+#include <vector>
+
+#include <reactphysics3d/reactphysics3d.h>
+
+// Project Headers
+#include "Math/SHRay.h"
+#include "Physics/PhysicsObject/SHPhysicsObjectManager.h"
+#include "Physics/SHPhysicsWorld.h"
+#include "SH_API.h"
+#include "SHCollisionTags.h"
+#include "SHPhysicsRaycastResult.h"
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Type Definitions                                                                  */
+  /*-----------------------------------------------------------------------------------*/
+
+  class SH_API SHPhysicsRaycaster : public reactphysics3d::RaycastCallback
+  {
+  private:
+    /*---------------------------------------------------------------------------------*/
+    /* Type Definitions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    using RaycastPair   = std::pair<SHRay, SHPhysicsRaycastResult>;
+    using RaycastPairs  = std::vector<RaycastPair>;
+
+  public:
+    /*---------------------------------------------------------------------------------*/
+    /* Constructors & Destructor                                                       */
+    /*---------------------------------------------------------------------------------*/
+
+    SHPhysicsRaycaster() noexcept;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Getter Functions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    [[nodiscard]] const RaycastPairs& GetRaycasts() const noexcept;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Setter Functions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    void SetObjectManager(SHPhysicsObjectManager* physicsObjectManager) noexcept;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Function Members                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    void BindToWorld  (rp3d::PhysicsWorld* physicsWorld)  noexcept;
+    void ClearFrame   ()                                  noexcept;
+
+    // TODO(Diren): Filtering, return all shades ray hits
+
+    SHPhysicsRaycastResult  Raycast
+    (
+      const SHRay&          ray
+    , float                 distance = std::numeric_limits<float>::infinity()
+    , const SHCollisionTag& collisionTag = SHCollisionTag{}
+    ) noexcept;
+
+    SHPhysicsRaycastResult  Linecast
+    (
+      const SHVec3&         start
+    , const SHVec3&         end
+    , const SHCollisionTag& collisionTag = SHCollisionTag{}
+    ) noexcept;
+
+    SHPhysicsRaycastResult  ColliderRaycast
+    (
+      EntityID              eid
+    , const SHRay&          ray
+    , float                 distance = std::numeric_limits<float>::infinity()
+    ) noexcept;
+
+    SHPhysicsRaycastResult  ColliderRaycast
+    (
+      EntityID              eid
+    , int                   shapeIndex
+    , const SHRay&          ray
+    , float                 distance = std::numeric_limits<float>::infinity()
+    ) noexcept;
+
+    SHPhysicsRaycastResult  ColliderLinecast
+    (
+      EntityID              eid
+    , const SHVec3&         start
+    , const SHVec3&         end
+    ) noexcept;
+
+    SHPhysicsRaycastResult  ColliderLinecast
+    (
+      EntityID              eid
+    , int                   shapeIndex
+    , const SHVec3&         start
+    , const SHVec3&         end
+    ) noexcept;
+
+    rp3d::decimal notifyRaycastHit(const rp3d::RaycastInfo& raycastInfo) override;
+
+  private:
+    /*---------------------------------------------------------------------------------*/
+    /* Data Members                                                                    */
+    /*---------------------------------------------------------------------------------*/
+
+    rp3d::PhysicsWorld*     world;  
+    SHPhysicsObjectManager* objectManager;  // For
+    SHPhysicsRaycastResult  temp;           // Holds the temporary result after casting into the world
+    RaycastPairs            raycasts;       // Used for debug drawing
+
+    /*---------------------------------------------------------------------------------*/
+    /* Function Members                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    SHPhysicsObject*  validateColliderRaycast (EntityID eid) noexcept;
+    static int        findColliderIndex       (const rp3d::CollisionBody* rp3dBody, rp3d::Entity rp3dColliderEID) noexcept;
+  };
+
+  
+} // namespace SHADE

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

@@ -1,319 +0,0 @@
-/****************************************************************************************
- * \file      SHBoxCollisionShape.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for a Box Collision Shape.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#include <SHpch.h>
-
-// Primary Header
-#include "SHBox.h"
-
-// Project Headers
-#include "Math/SHMathHelpers.h"
-#include "Math/SHMatrix.h"
-#include "Physics/Collision/SHCollider.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Constructors & Destructor Definitions                                             */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHBox::SHBox(SHCollisionShapeID id) noexcept
-  : SHConvexPolyhedron  (id, Type::BOX)
-  , relativeExtents     { SHVec3::One }
-  , scale               { SHVec3::One }
-  {
-    Extents = SHVec3::One * 0.5f;
-  }
-
-  SHBox::SHBox(const SHBox& rhs) noexcept
-  : SHConvexPolyhedron  ( rhs )
-  , relativeExtents     { rhs.relativeExtents }
-  , scale               { rhs.scale }
-  {
-    Center  = rhs.Center;
-    Extents = rhs.Extents;
-    Orientation = rhs.Orientation;
-  }
-
-  SHBox::SHBox(SHBox&& rhs) noexcept
-  : SHConvexPolyhedron  ( rhs )
-  , relativeExtents     { rhs.relativeExtents }
-  , scale               { rhs.scale }
-  {
-    Center  = rhs.Center;
-    Extents = rhs.Extents;
-    Orientation = rhs.Orientation;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Operator Overload Definitions                                                     */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHBox& SHBox::operator=(const SHBox& rhs) noexcept
-  {
-    if (this == &rhs)
-      return *this;
-
-    // Collision Shape Properties
-
-    SHConvexPolyhedron::operator=(rhs);
-
-    // Box Properties
-
-    Center            = rhs.Center;
-    Extents           = rhs.Extents;
-    Orientation       = rhs.Orientation;
-
-    // Local Properties
-
-    relativeExtents   = rhs.relativeExtents;
-    scale             = rhs.scale;
-
-    return *this;
-  }
-
-  SHBox& SHBox::operator=(SHBox&& rhs) noexcept
-  {
-    // Collision Shape Properties
-
-    SHConvexPolyhedron::operator=(rhs);
-
-    // Box Properties
-
-    Center            = rhs.Center;
-    Extents           = rhs.Extents;
-    Orientation       = rhs.Orientation;
-
-    // Local Properties
-
-    relativeExtents   = rhs.relativeExtents;
-    scale             = rhs.scale;
-
-    return *this;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Getter Function Definitions                                                       */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHVec3 SHBox::GetWorldExtents() const noexcept
-  {
-    return Extents;
-  }
-
-  SHVec3 SHBox::GetRelativeExtents() const noexcept
-  {
-    return relativeExtents;
-  }
-
-  SHVec3 SHBox::GetVertex(int index) const
-  {
-    if (index < 0 || index >= NUM_VERTICES)
-      throw std::invalid_argument("Index out-of-range!");
-
-    SHVec3 vertices[NUM_VERTICES];
-    GetCorners(vertices);
-
-    return vertices[index];
-  }
-
-  SHVec3 SHBox::GetNormal(int faceIndex) const
-  {
-    // Get local normal
-    const SHVec3& LOCAL_NORMAL = halfEdgeStructure->GetFace(faceIndex).normal;
-
-    // Rotate normal into world space
-    return SHVec3::Rotate(LOCAL_NORMAL, Orientation);
-  }
-
-  SHVec3 SHBox::GetWorldCentroid() const noexcept
-  {
-    return Center;
-  }
-
-  SHVec3 SHBox::GetRelativeCentroid() const noexcept
-  {
-    if (collider)
-      return SHVec3{ Center }  - collider->GetPosition();
-
-    return Center;
-  }
-
-  SHVec3 SHBox::GetLocalCentroid() const noexcept
-  {
-    return SHVec3::Zero;
-  }
-
-  SHQuaternion SHBox::GetWorldOrientation() const noexcept
-  {
-    return Orientation;
-  }
-
-  SHQuaternion SHBox::GetRelativeOrientation() const noexcept
-  {
-    return transform.orientation;
-  }
-
-  float SHBox::GetVolume() const noexcept
-  {
-    return 8.0f * (Extents.x * Extents.y * Extents.z);
-  }
-
-  float SHBox::GetSurfaceArea() const noexcept
-  {
-    return 8.0f * (Extents.x * Extents.y
-      + Extents.x * Extents.z 
-      + Extents.y * Extents.z);
-  }
-
-  SHMatrix SHBox::GetInertiaTensor(float mass) const noexcept
-  {
-    static constexpr float ONE_OVER_TWELVE = (1.0f / 12.0f);
-
-    const float WIDTH   = 2.0f * Extents.x;
-    const float HEIGHT  = 2.0f * Extents.y;
-    const float DEPTH   = 2.0f * Extents.z;
-
-    const float WIDTH_SQUARED  = WIDTH * WIDTH;
-    const float HEIGHT_SQUARED = HEIGHT * HEIGHT;
-    const float DEPTH_SQUARED  = DEPTH * DEPTH;
-
-    const float H2_PLUS_D2 = HEIGHT_SQUARED + DEPTH_SQUARED;
-    const float W2_PLUS_H2 = WIDTH_SQUARED + HEIGHT_SQUARED;
-    const float W2_PLUS_D2 = WIDTH_SQUARED + DEPTH_SQUARED;
-
-    SHMatrix result;
-    result.m[0][0] = ONE_OVER_TWELVE * mass * H2_PLUS_D2;
-    result.m[1][1] = ONE_OVER_TWELVE * mass * W2_PLUS_H2;
-    result.m[2][2] = ONE_OVER_TWELVE * mass * W2_PLUS_D2;
-    return result;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Setter Function Definitions                                                       */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHBox::SetWorldExtents(const SHVec3& newWorldExtents) noexcept
-  {
-    Extents = newWorldExtents;
-
-    // Recompute Relative radius
-    relativeExtents = 2.0f * Extents / scale;
-  }
-
-  void SHBox::SetRelativeExtents(const SHVec3& newRelativeExtents) noexcept
-  {
-    relativeExtents = newRelativeExtents;
-
-    // Recompute world radius
-    Extents = relativeExtents * scale * 0.5f;
-  }
-
-  void SHBox::SetScale(const SHVec3& newScale) noexcept
-  {
-    scale = SHVec3::Abs(newScale);
-
-    // Recompute world radius
-    Extents = relativeExtents * scale * 0.5f;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Public Member Function Definitions                                                */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHBox::Update() noexcept
-  {
-    const SHTransform& PARENT_TRANSFORM = collider->GetTransform();
-
-    SetScale(PARENT_TRANSFORM.scale);
-
-    // Recompute center
-    const SHQuaternion  FINAL_ROT  = PARENT_TRANSFORM.orientation * transform.orientation;
-    const SHMatrix      TRS        = SHMatrix::Rotate(FINAL_ROT) * SHMatrix::Translate(PARENT_TRANSFORM.position);
-
-    Orientation = FINAL_ROT;
-    Center      = SHVec3::Transform(transform.position, TRS);
-  }
-
-  bool SHBox::TestPoint(const SHVec3& point) const noexcept
-  {
-    return Contains(point);
-  }
-
-  SHRaycastResult SHBox::Raycast(const SHRay& ray) const noexcept
-  {
-    SHRaycastResult result;
-
-    result.hit = Intersects(ray.position, ray.direction, result.distance);
-    if (result.hit)
-    {
-      result.position = ray.position + ray.direction * result.distance;
-      result.angle    = SHVec3::Angle(ray.position, result.position);
-
-      // TODO: Compute Normal: Test which face the position belongs in. The normal is that face's normal.
-    }
-
-    return result;
-  }
-
-  SHMatrix SHBox::GetTRS() const noexcept
-  {
-    const SHQuaternion  ROTATION  = collider ? collider->GetTransform().orientation * transform.orientation : Orientation;
-    const SHVec3        SCALE     = SHVec3{ Extents } *2.0f;
-
-    return SHMatrix::Transform(Center, ROTATION, SCALE);
-  }
-
-  SHAABB SHBox::ComputeAABB() const noexcept
-  {
-    SHVec3 min{ std::numeric_limits<float>::max() };
-    SHVec3 max{ std::numeric_limits<float>::lowest() };
-
-    SHVec3 vertices[NUM_VERTICES];
-    GetCorners(vertices);
-
-    for (auto& vertex : vertices)
-    {
-      min = SHVec3::Min({ vertex, min });
-      max = SHVec3::Max({ vertex, max });
-    }
-
-    const SHVec3  HALF_EXTENTS  = (max - min) * 0.5f;
-    const SHVec3  CENTROID      = min + HALF_EXTENTS;
-
-    return SHAABB{ CENTROID, HALF_EXTENTS };
-  }
-
-  SHVec3 SHBox::FindSupportPoint(const SHVec3& direction) const noexcept
-  {
-    float bestDistance = std::numeric_limits<float>::lowest();
-    
-
-    SHVec3 vertices[NUM_VERTICES];
-    GetCorners(vertices);
-
-    // No reason to put the center really..
-    SHVec3 bestPoint = Center;
-    for (auto& vertex : vertices)
-    {
-      const float PROJECTION = SHVec3::Dot(vertex, direction);
-
-      if (PROJECTION > bestDistance)
-      {
-        bestDistance = PROJECTION;
-        bestPoint = vertex;
-      }
-    }
-
-    return bestPoint;
-  }
-
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Collision/Shapes/SHBox.h

@@ -1,129 +0,0 @@
-/****************************************************************************************
- * \file      SHBox.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a Box Collision Shape.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-#include <DirectXCollision.h>
-
-// Project Headers
-#include "SHConvexPolyhedron.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Type Definitions                                                                  */
-  /*-----------------------------------------------------------------------------------*/
-
-  /**
-   * @brief
-   * Encapsulates the information to create a box.
-  */
-  struct SHBoxCreateInfo
-  {
-  public:
-    SHVec3        Center          = SHVec3::Zero;
-    SHVec3        Extents         = SHVec3::One * 0.5f;
-    SHVec3        RelativeExtents = SHVec3::One;
-    SHQuaternion  Orientation     = SHQuaternion::Identity;
-    SHVec3        Scale           = SHVec3::One;
-  };
-
-  /**
-   * @brief
-   * Encapsulate a Box Shape used for Physics Simulations.
-  */
-  class SH_API SHBox final  : public SHConvexPolyhedron
-                            , private DirectX::BoundingOrientedBox
-  {
-  private:
-    /*---------------------------------------------------------------------------------*/
-    /* Friends                                                                         */
-    /*---------------------------------------------------------------------------------*/
-
-    friend class SHCollider;
-    friend class SHCompositeCollider;
-    friend class SHCollision;
-    friend class SHCollisionShapeLibrary;
-
-  public:
-    /*---------------------------------------------------------------------------------*/
-    /* Data Members                                                                    */
-    /*---------------------------------------------------------------------------------*/
-
-    static constexpr int NUM_VERTICES = 8;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Constructors & Destructor                                                       */
-    /*---------------------------------------------------------------------------------*/
-
-    SHBox  (SHCollisionShapeID id)          noexcept;
-    SHBox  (const SHBox& rhs) noexcept;
-    SHBox  (SHBox&& rhs)      noexcept;
-
-    ~SHBox () override = default;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Operator Overloads                                                              */
-    /*---------------------------------------------------------------------------------*/
-
-    SHBox& operator=  (const SHBox& rhs)  noexcept;
-    SHBox& operator=  (SHBox&& rhs)       noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Getter Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    [[nodiscard]] SHVec3        GetWorldExtents         ()              const noexcept;
-    [[nodiscard]] SHVec3        GetRelativeExtents      ()              const noexcept;
-
-    // Overriden Methods
-
-    [[nodiscard]] SHVec3        GetVertex               (int index)     const override;
-    [[nodiscard]] SHVec3        GetNormal               (int faceIndex) const override;
-
-    [[nodiscard]] SHVec3        GetWorldCentroid        ()              const noexcept override;
-    [[nodiscard]] SHVec3        GetRelativeCentroid     ()              const noexcept override;
-    [[nodiscard]] SHVec3        GetLocalCentroid        ()              const noexcept override;
-    [[nodiscard]] SHQuaternion  GetWorldOrientation     ()              const noexcept override;
-    [[nodiscard]] SHQuaternion  GetRelativeOrientation  ()              const noexcept override;
-    [[nodiscard]] float         GetVolume               ()              const noexcept override;
-    [[nodiscard]] float         GetSurfaceArea          ()              const noexcept override;
-    [[nodiscard]] SHMatrix      GetInertiaTensor        (float mass)    const noexcept override;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Setter Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    void SetWorldExtents    (const SHVec3& newWorldExtents)         noexcept;
-    void SetRelativeExtents (const SHVec3& newRelativeExtents)      noexcept;
-    void SetScale           (const SHVec3& newScale)                noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Function Members                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    void                          Update            ()                        noexcept override;
-    [[nodiscard]] bool            TestPoint         (const SHVec3& point)     const noexcept override;
-    [[nodiscard]] SHRaycastResult Raycast           (const SHRay& ray)        const noexcept override;
-    [[nodiscard]] SHMatrix        GetTRS            ()                        const noexcept override;
-    [[nodiscard]] SHAABB          ComputeAABB       ()                        const noexcept override;
-    [[nodiscard]] SHVec3          FindSupportPoint  (const SHVec3& direction) const noexcept override;
-
-  private:
-    /*---------------------------------------------------------------------------------*/
-    /* Data Members                                                                    */
-    /*---------------------------------------------------------------------------------*/
-
-    SHVec3  relativeExtents;
-    SHVec3  scale;
-  };
-
-
-} // namespace SHADE

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

@@ -1,188 +0,0 @@
-/****************************************************************************************
- * \file      SHCollider.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for a Collider.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#include <SHpch.h>
-
-// Primary Header
-#include "SHCollisionShape.h"
-
-// Project Headers
-#include "Physics/Collision/SHCollider.h"
-#include "Physics/Collision/CollisionTags/SHCollisionTagMatrix.h"
-#include "Reflection/SHReflectionMetadata.h"
-#include "Tools/Utilities/SHUtilities.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Constructors & Destructor Definitions                                             */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHCollisionShape::SHCollisionShape(SHCollisionShapeID id, Type colliderType)
-  : id              { id }
-  , flags           { 0 }
-  , collider        { nullptr }
-  , collisionTag    { SHCollisionTagMatrix::GetTag(0) }
-  {
-    flags |= 1U << SHUtilities::ConvertEnum(colliderType);
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Getter Function Definitions                                                       */
-  /*-----------------------------------------------------------------------------------*/
-
-  EntityID SHCollisionShape::GetEntityID() const noexcept
-  {
-    return id.GetEntityID();
-  }
-
-  uint32_t SHCollisionShape::GetIndex() const noexcept
-  {
-    return id.GetShapeIndex();
-  }
-
-  float SHCollisionShape::GetFriction() const noexcept
-  {
-    return material.GetFriction();
-  }
-
-  float SHCollisionShape::GetBounciness() const noexcept
-  {
-    return material.GetBounciness();
-  }
-
-  float SHCollisionShape::GetDensity() const noexcept
-  {
-    return material.GetDensity();
-  }
-
-  const SHPhysicsMaterial& SHCollisionShape::GetMaterial() const noexcept
-  {
-    return material;
-  }
-
-  const SHVec3& SHCollisionShape::GetPositionOffset() const noexcept
-  {
-    return transform.position;
-  }
-
-  const SHVec3& SHCollisionShape::GetRotationOffset() const noexcept
-  {
-    return rotationOffset;
-  }
-
-  SHCollisionShape::Type SHCollisionShape::GetType() const noexcept
-  {
-    for (int i = 0; i < SHUtilities::ConvertEnum(Type::COUNT); ++i)
-    {
-      const uint8_t FLAG_VALUE = 1U << SHUtilities::ConvertEnum(static_cast<Type>(i));
-
-      if (flags & FLAG_VALUE)
-        return static_cast<Type>(i);
-    }
-
-    return Type::INVALID;
-  }
-
-  bool SHCollisionShape::IsTrigger() const noexcept
-  {
-    static constexpr int FLAG_POS = 3;
-    static constexpr uint8_t FLAG_VALUE = 1U << FLAG_POS;
-
-    return flags & FLAG_VALUE;
-  }
-
-  bool SHCollisionShape::IsColliding() const noexcept
-  {
-    static constexpr int FLAG_POS = 4;
-    static constexpr uint8_t FLAG_VALUE = 1U << FLAG_POS;
-
-    return flags & FLAG_VALUE;
-  }
-
-  const SHCollisionTag& SHCollisionShape::GetCollisionTag() const noexcept
-  {
-    return *collisionTag;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Setter Function Definitions                                                       */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHCollisionShape::SetCollisionTag(SHCollisionTag* newCollisionTag) noexcept
-  {
-    collisionTag = newCollisionTag;
-  }
-
-  void SHCollisionShape::SetFriction(float friction) noexcept
-  {
-    material.SetFriction(friction);
-  }
-
-  void SHCollisionShape::SetBounciness(float bounciness) noexcept
-  {
-    material.SetBounciness(bounciness);
-  }
-
-  void SHCollisionShape::SetDensity(float density) noexcept
-  {
-    material.SetDensity(density);
-  }
-
-  void SHCollisionShape::SetMaterial(const SHPhysicsMaterial& newMaterial) noexcept
-  {
-    material = newMaterial;
-  }
-
-  void SHCollisionShape::SetPositionOffset(const SHVec3& posOffset) noexcept
-  {
-    transform.position = posOffset;
-
-    Update();
-  }
-
-  void SHCollisionShape::SetRotationOffset(const SHVec3& rotOffset) noexcept
-  {
-    rotationOffset = rotOffset;
-    transform.orientation = SHQuaternion::FromEuler(rotationOffset);
-
-    Update();
-  }
-
-  void SHCollisionShape::SetIsTrigger(bool isTrigger) noexcept
-  {
-    static constexpr int FLAG_POS = 3;
-    static constexpr uint8_t FLAG_VALUE = 1U << FLAG_POS;
-
-    isTrigger ? flags |= FLAG_VALUE : flags &= ~FLAG_VALUE;
-  }
-
-} // namespace SHADE
-
-RTTR_REGISTRATION
-{
-  using namespace SHADE;
-  using namespace rttr;
-
-  registration::enumeration<SHCollisionShape::Type>("Collider Type")
-  (
-    value("Box",     SHCollisionShape::Type::BOX),
-    value("Sphere",  SHCollisionShape::Type::SPHERE)
-    // TODO(Diren): Add More Shapes
-  );
-
-  registration::class_<SHCollisionShape>("Collider")
-    .property("IsTrigger"       , &SHCollisionShape::IsTrigger        , &SHCollisionShape::SetIsTrigger     )
-    .property("Friction"        , &SHCollisionShape::GetFriction      , &SHCollisionShape::SetFriction      )
-    .property("Bounciness"      , &SHCollisionShape::GetBounciness    , &SHCollisionShape::SetBounciness    )
-    .property("Density"         , &SHCollisionShape::GetDensity       , &SHCollisionShape::SetDensity       )
-    .property("Position Offset" , &SHCollisionShape::GetPositionOffset, &SHCollisionShape::SetPositionOffset)
-    .property("Rotation Offset" , &SHCollisionShape::GetRotationOffset, &SHCollisionShape::SetRotationOffset) (metadata(META::angleInRad, true));
-}

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

@@ -1,210 +0,0 @@
-/****************************************************************************************
- * \file      SHCollisionShape.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a Base CollisionShape Class.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-#include <rttr/registration>
-
-// Project Headers
-#include "ECS_Base/Entity/SHEntity.h"
-#include "Physics/Collision/CollisionTags/SHCollisionTags.h"
-#include "Physics/Collision/SHPhysicsMaterial.h"
-#include "SHCollisionShapeID.h"
-#include "Math/Geometry/SHAABB.h"
-#include "Math/Transform/SHTransform.h"
-#include "Physics/Collision/SHPhysicsRaycastResult.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Forward Declarations                                                              */
-  /*-----------------------------------------------------------------------------------*/
-
-  class SHRigidBody;
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Type Definitions                                                                  */
-  /*-----------------------------------------------------------------------------------*/
-
-  class SH_API SHCollisionShape
-  {
-  private:
-
-    /*---------------------------------------------------------------------------------*/
-    /* Friends                                                                         */
-    /*---------------------------------------------------------------------------------*/
-
-    friend class  SHCollider;
-    friend class  SHCompositeCollider;
-    friend class  SHColliderComponent;
-    friend class  SHCollisionShapeLibrary;
-    friend class  SHCollisionSpace;
-    friend struct SHManifold;
-
-  public:
-    /*---------------------------------------------------------------------------------*/
-    /* Type Definitions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    enum class Type
-    {
-      SPHERE
-    , BOX
-    , CAPSULE
-    , CONVEX_HULL
-
-    , COUNT
-    , INVALID = -1
-    };
-
-    /*---------------------------------------------------------------------------------*/
-    /* Constructors & Destructor                                                       */
-    /*---------------------------------------------------------------------------------*/
-
-    SHCollisionShape          (SHCollisionShapeID id, Type colliderType = Type::SPHERE);
-
-    SHCollisionShape          (const SHCollisionShape& rhs) noexcept = default;
-    SHCollisionShape          (SHCollisionShape&& rhs)      noexcept = default;
-    virtual ~SHCollisionShape ()                            noexcept = default;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Operator Overloads                                                              */
-    /*---------------------------------------------------------------------------------*/
-
-    SHCollisionShape& operator=(const SHCollisionShape& rhs)  noexcept = default;
-    SHCollisionShape& operator=(SHCollisionShape&& rhs)       noexcept = default;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Getter Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    [[nodiscard]] EntityID                  GetEntityID             ()            const noexcept;
-    [[nodiscard]] uint32_t                  GetIndex                ()            const noexcept;
-
-    // Material Properties
-    // TODO: Remove individual setters once instanced materials are supported
-
-    [[nodiscard]] float                     GetFriction             ()            const noexcept;
-    [[nodiscard]] float                     GetBounciness           ()            const noexcept;
-    [[nodiscard]] float                     GetDensity              ()            const noexcept;
-    [[nodiscard]] const SHPhysicsMaterial&  GetMaterial             ()            const noexcept;
-
-    // Offsets
-
-    [[nodiscard]] const SHVec3&             GetPositionOffset       ()            const noexcept;
-    [[nodiscard]] const SHVec3&             GetRotationOffset       ()            const noexcept;
-
-    // Flags
-
-    [[nodiscard]] Type                      GetType                 ()            const noexcept;
-    [[nodiscard]] bool                      IsTrigger               ()            const noexcept;
-    [[nodiscard]] bool                      IsColliding             ()            const noexcept;
-
-    [[nodiscard]] const SHCollisionTag&     GetCollisionTag         ()            const noexcept;
-
-    // Virtual methods
-
-    [[nodiscard]] virtual SHVec3            GetWorldCentroid        ()            const noexcept = 0;
-    [[nodiscard]] virtual SHVec3            GetRelativeCentroid     ()            const noexcept = 0;
-    [[nodiscard]] virtual SHVec3            GetLocalCentroid        ()            const noexcept = 0;
-    [[nodiscard]] virtual SHQuaternion      GetWorldOrientation     ()            const noexcept = 0;
-    [[nodiscard]] virtual SHQuaternion      GetRelativeOrientation  ()            const noexcept = 0;
-    [[nodiscard]] virtual float             GetVolume               ()            const noexcept = 0;
-    [[nodiscard]] virtual float             GetSurfaceArea          ()            const noexcept = 0;
-    [[nodiscard]] virtual SHMatrix          GetInertiaTensor        (float mass)  const noexcept = 0;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Setter Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    void  SetCollisionTag     (SHCollisionTag* newCollisionTag)       noexcept;
-
-    void  SetFriction         (float friction)                        noexcept;
-    void  SetBounciness       (float bounciness)                      noexcept;
-    void  SetDensity          (float density)                         noexcept;
-    void  SetMaterial         (const SHPhysicsMaterial& newMaterial)  noexcept;
-
-    void  SetPositionOffset   (const SHVec3& posOffset)               noexcept;
-    void  SetRotationOffset   (const SHVec3& rotOffset)               noexcept;
-
-    // Flags
-
-    // Forces rigidbody to recompute mass if one exists
-    void  SetIsTrigger        (bool isTrigger)                        noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Member Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    /**
-     * @brief
-     * Computes the transform of the shape.
-    */
-    virtual void Update () noexcept = 0;
-
-    /**
-     * @brief
-     * Tests if a point is inside this shape.
-     * @param point
-     * The point to test against the shape.
-     * @return
-     * True if the point is inside the shape. False otherwise.
-     */
-    [[nodiscard]] virtual bool TestPoint (const SHVec3& point) const noexcept = 0;
-
-    /**
-     * @brief
-     * Casts a ray at this shape.
-     * @param ray
-     * The ray to cast at the shape.
-     * @return
-     * The result of the ray cast. See the corresponding struct for it's contents.
-     */
-    [[nodiscard]] virtual SHRaycastResult Raycast (const SHRay& ray) const noexcept = 0;
-
-    /**
-     * @brief
-     * Computes the TRS matrix for rendering the shape.
-     * @return
-     * The model-to-world matrix for rendering the shape.
-     */
-    [[nodiscard]] virtual SHMatrix GetTRS () const noexcept = 0;
-
-    /**
-     * @brief
-     * Computes a tight-fitting AABB around this shape.
-     * @return
-     * An AABB.
-     */
-    [[nodiscard]] virtual SHAABB ComputeAABB () const noexcept = 0;
-
-  protected:
-    /*---------------------------------------------------------------------------------*/
-    /* Data Members                                                                    */
-    /*---------------------------------------------------------------------------------*/
-
-    SHCollisionShapeID  id;
-
-    SHCollider*         collider;     // The collider it belongs to.
-    SHCollisionTag*     collisionTag;
-    SHPhysicsMaterial   material;     // TODO: Change to pointer once instancing is supported
-
-    SHTransform         transform;    // Stores the local position and rotation.
-
-    // Needed for conversion to euler angles
-    SHVec3              rotationOffset;
-
-    uint8_t             flags;        // 0 0 0 trigger convexHull capsule sphere box
-    
-
-    RTTR_ENABLE()
-  };
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Collision/Shapes/SHCollisionShapeID.hpp

@@ -1,80 +0,0 @@
-/****************************************************************************************
- * \file      SHCollisionShapeKey.hpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Inlined Implementations for a Collison Shape ID Class and
- *            it's hashing function.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-// Primary Header
-#include "SHCollisionShapeID.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Constructors & Destructor Definitions                                             */
-  /*-----------------------------------------------------------------------------------*/
-
-  inline SHCollisionShapeID::SHCollisionShapeID(EntityID eid, uint32_t shapeID) noexcept
-  : ids { eid, shapeID }
-  {}
-
-  inline SHCollisionShapeID::SHCollisionShapeID(const SHCollisionShapeID& rhs) noexcept
-  : ids { rhs.ids.entityID, rhs.ids.shapeIndex }
-  {}
-
-  inline SHCollisionShapeID::SHCollisionShapeID(SHCollisionShapeID&& rhs) noexcept
-  : ids { rhs.ids.entityID, rhs.ids.shapeIndex }
-  {}
-  
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Operator Overload Definitions                                                     */
-  /*-----------------------------------------------------------------------------------*/
-
-  inline SHCollisionShapeID& SHCollisionShapeID::operator=(const SHCollisionShapeID& rhs) noexcept
-  {
-    if (this == &rhs)
-      return *this;
-
-    value = rhs.value;
-
-    return *this;
-  }
-
-  inline SHCollisionShapeID& SHCollisionShapeID::operator=(SHCollisionShapeID&& rhs) noexcept
-  {
-    value = rhs.value;
-
-    return *this;
-  }
-
-  inline bool SHCollisionShapeID::operator==(const SHCollisionShapeID& rhs) const
-  {
-    return value == rhs.value;
-  }
-
-  inline std::size_t SHCollisionShapeIDHash::operator()(const SHCollisionShapeID& id) const
-  {
-    return std::hash<uint64_t>{}(id.value);
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Getter Function Definitions                                                       */
-  /*-----------------------------------------------------------------------------------*/
-
-  inline EntityID SHCollisionShapeID::GetEntityID() const noexcept
-  {
-    return ids.entityID;
-  }
-
-  inline uint32_t SHCollisionShapeID::GetShapeIndex() const noexcept
-  {
-    return ids.shapeIndex;
-  }
-}

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

@@ -1,174 +0,0 @@
-/****************************************************************************************
- * \file      SHCollisionShapeLibrary.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for a Collison Shape Factory Class.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#include <SHpch.h>
-
-// Primary Header
-#include "SHCollisionShapeLibrary.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Constructors & Destructor Definitions                                             */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHCollisionShapeLibrary::SHCollisionShapeLibrary() noexcept
-  {
-    createBoxPolyhedron();
-  }
-
-  SHCollisionShapeLibrary::~SHCollisionShapeLibrary() noexcept
-  {
-    // Free all shapes in each container
-    for (auto* sphereCollisionShape : spheres | std::views::values)
-      DestroyShape(sphereCollisionShape);
-
-    // Free all shapes in each container
-    for (auto* boxCollisionShape : boxes | std::views::values)
-      DestroyShape(boxCollisionShape);
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Public Member Function Definitions                                                */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHSphere* SHCollisionShapeLibrary::CreateSphere(SHCollisionShapeID id, const SHSphereCreateInfo& createInfo)
-  {
-    const auto RESULT = spheres.emplace(id, new SHSphere{ id });
-    if (RESULT.second)
-    {
-      SHSphere* sphere = RESULT.first->second;
-
-      sphere->Center          = createInfo.Center;
-      sphere->Radius          = createInfo.Radius;
-      sphere->relativeRadius  = createInfo.RelativeRadius;
-      sphere->scale           = createInfo.Scale;
-
-      return sphere;
-    }
-
-    return spheres.find(id)->second;
-  }
-
-  SHBox* SHCollisionShapeLibrary::CreateBox(SHCollisionShapeID id, const SHBoxCreateInfo& createInfo)
-  {
-    const auto RESULT = boxes.emplace(id, new SHBox{ id });
-    if (RESULT.second)
-    {
-      SHBox* box = RESULT.first->second;
-
-      box->Center             = createInfo.Center;
-      box->Extents            = createInfo.Extents;
-      box->relativeExtents    = createInfo.RelativeExtents;
-      box->Orientation        = createInfo.Orientation;
-      box->scale              = createInfo.Scale;
-
-      // Set halfEdge data structure for the box
-      box->halfEdgeStructure  = &boxHalfEdgeStructure;
-
-      return box;
-    }
-
-    return boxes.find(id)->second;
-  }
-
-
-  void SHCollisionShapeLibrary::DestroyShape(SHCollisionShape* shape)
-  {
-    switch (shape->GetType())
-    {
-      case SHCollisionShape::Type::BOX:
-      {
-        break;
-      }
-      case SHCollisionShape::Type::SPHERE:
-      {
-        SHSphere* sphere = spheres.find(shape->id)->second;
-        spheres.erase(shape->id);
-
-        delete sphere;
-        sphere = nullptr;
-
-        break;
-      }
-      case SHCollisionShape::Type::CAPSULE:
-      {
-        break;
-      }
-      default: break;
-    }
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Private Member Function Definitions                                               */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHCollisionShapeLibrary::createBoxPolyhedron() noexcept
-  {
-    static constexpr int NUM_VERTICES_PER_FACE  = 4;
-    static constexpr int NUM_FACES              = 6;
-
-    /*
-     * Vertices (Front/Back Face):
-     *
-     * 3/7 ----------  2/6
-     *     |        |
-     *     |        |
-     *     |        |
-     * 0/4 ----------  1/5
-     *
-     * Faces:
-     *
-     * Front:   0 (0,1,2,3) Normal: -Z
-     * Right:   1 (1,5,6,2) Normal:  X
-     * Back:    2 (5,4,7,6) Normal:  Z
-     * Left:    3 (4,0,3,7) Normal: -X
-     * Top:     4 (3,2,6,7) Normal:  Y
-     * Bottom:  5 (4,5,1,0) Normal: -Y
-     *
-     */
-
-    // Create face data
-
-    const SHVec3 FACE_NORMALS[NUM_FACES]
-    {
-      -SHVec3::UnitZ
-    ,  SHVec3::UnitX
-    ,  SHVec3::UnitZ
-    , -SHVec3::UnitX
-    ,  SHVec3::UnitY
-    , -SHVec3::UnitY
-    };
-
-    const int32_t FACE_VERTICES[NUM_FACES][NUM_VERTICES_PER_FACE]
-    {
-      { 0, 1, 2, 3 }
-    , { 5, 6, 2, 1 }
-    , { 5, 4, 7, 6 }
-    , { 0, 3, 7, 4 }
-    , { 2, 6, 7, 3 }
-    , { 5, 1, 0, 4 }
-    };
-
-    for (int i = 0; i < NUM_FACES; ++i)
-    {
-      SHHalfEdgeStructure::Face newFace;
-      newFace.normal = FACE_NORMALS[i];
-
-      for (int j = 0; j < NUM_VERTICES_PER_FACE; ++j)
-        newFace.vertexIndices.emplace_back(FACE_VERTICES[i][j]);
-
-      boxHalfEdgeStructure.AddFace(newFace);
-    }
-
-    boxHalfEdgeStructure.Build();
-  }
-
-} // namespace SHADE

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

@@ -1,96 +0,0 @@
-/****************************************************************************************
- * \file      SHConvexPolyhedronCollisionShape.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for a convex polyhedron collision shape.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#include <SHpch.h>
-
-// Primary Header
-#include "SHConvexPolyhedron.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Constructors & Destructor Definitions                                             */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHConvexPolyhedron::SHConvexPolyhedron(SHCollisionShapeID id,Type polyhedronType) noexcept
-  : SHCollisionShape  (id, polyhedronType)
-  , halfEdgeStructure { nullptr }
-  {}
-
-  SHConvexPolyhedron::SHConvexPolyhedron(const SHConvexPolyhedron& rhs) noexcept
-  : SHCollisionShape  ( rhs )
-  , halfEdgeStructure { rhs.halfEdgeStructure }
-  {}
-
-  SHConvexPolyhedron::SHConvexPolyhedron(SHConvexPolyhedron&& rhs) noexcept
-  : SHCollisionShape  ( rhs )
-  , halfEdgeStructure { rhs.halfEdgeStructure }
-  {}
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Operator Overload Definitions                                                     */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHConvexPolyhedron& SHConvexPolyhedron::operator=(const SHConvexPolyhedron& rhs) noexcept
-  {
-    if (this == &rhs)
-      return *this;
-
-    SHCollisionShape::operator=(rhs);
-
-    // Local Properties
-    halfEdgeStructure = rhs.halfEdgeStructure;
-
-    return *this;
-  }
-
-  SHConvexPolyhedron& SHConvexPolyhedron::operator=(SHConvexPolyhedron&& rhs) noexcept
-  {
-    SHCollisionShape::operator=(rhs);
-
-    // Local Properties
-    halfEdgeStructure = rhs.halfEdgeStructure;
-
-    return *this;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Getter Function Definitions                                                       */
-  /*-----------------------------------------------------------------------------------*/
-
-  const SHHalfEdgeStructure* SHConvexPolyhedron::GetHalfEdgeStructure() const noexcept
-  {
-    return halfEdgeStructure;
-  }
-
-  int32_t SHConvexPolyhedron::GetFaceCount() const noexcept
-  {
-    return halfEdgeStructure->GetFaceCount();
-  }
-
-  int32_t SHConvexPolyhedron::GetHalfEdgeCount() const noexcept
-  {
-    return halfEdgeStructure->GetHalfEdgeCount();
-  }
-
-  const SHHalfEdgeStructure::Face& SHConvexPolyhedron::GetFace(int index) const
-  {
-    // Assume it has already been initialised
-    return halfEdgeStructure->GetFace(index);
-  }
-
-  const SHHalfEdgeStructure::HalfEdge& SHConvexPolyhedron::GetHalfEdge(int index) const
-  {
-    // Assume it has already been initialised
-    return halfEdgeStructure->GetHalfEdge(index);
-  }
-
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Collision/Shapes/SHConvexPolyhedron.h

@@ -1,93 +0,0 @@
-/****************************************************************************************
- * \file      SHConvexPolyhedronCollisionShape.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a convex polyhedron collision shape.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-// Project Headers
-#include "SHCollisionShape.h"
-#include "SHHalfEdgeStructure.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Type Definitions                                                                  */
-  /*-----------------------------------------------------------------------------------*/
-
-  /**
-   * @brief
-   * Encapsulates a convex polyhedron shape used for Physics Simulations..
-  */
-  class SH_API SHConvexPolyhedron : public SHCollisionShape
-  {
-  private:
-    /*---------------------------------------------------------------------------------*/
-    /* Friends                                                                         */
-    /*---------------------------------------------------------------------------------*/
-
-    friend class SHCollider;
-    friend class SHCollision;
-    friend class SHCollisionShapeLibrary;
-
-  public:
-    /*---------------------------------------------------------------------------------*/
-    /* Constructors & Destructor                                                       */
-    /*---------------------------------------------------------------------------------*/
-
-    SHConvexPolyhedron  (SHCollisionShapeID id, Type polyhedronType)  noexcept;
-    SHConvexPolyhedron  (const SHConvexPolyhedron& rhs) noexcept;
-    SHConvexPolyhedron  (SHConvexPolyhedron&& rhs)      noexcept;
-
-    ~SHConvexPolyhedron () override = default;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Operator Overloads                                                              */
-    /*---------------------------------------------------------------------------------*/
-
-    SHConvexPolyhedron& operator=(const SHConvexPolyhedron& rhs)  noexcept;
-    SHConvexPolyhedron& operator=(SHConvexPolyhedron&& rhs)       noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Getter Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    [[nodiscard]] const SHHalfEdgeStructure*            GetHalfEdgeStructure  ()  const noexcept;
-    [[nodiscard]] int32_t                               GetFaceCount          ()  const noexcept;
-    [[nodiscard]] const SHHalfEdgeStructure::Face&      GetFace               (int index)  const;
-    [[nodiscard]] int32_t                               GetHalfEdgeCount      ()  const noexcept;
-    [[nodiscard]] const SHHalfEdgeStructure::HalfEdge&  GetHalfEdge           (int index)  const;
-
-    // Virtual Methods
-
-    [[nodiscard]] virtual SHVec3 GetVertex        (int index)     const = 0;
-    [[nodiscard]] virtual SHVec3 GetNormal        (int faceIndex) const = 0;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Member Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    /**
-     * @brief
-     * Finds the most extreme point on the polygon in a given direction.
-     * @param direction
-     * The direction to find the support point in.
-     * @return
-     * The most extreme vertex in the given direction.
-     */
-    [[nodiscard]] virtual SHVec3 FindSupportPoint  (const SHVec3& direction) const noexcept = 0;
-
-  protected:
-    /*---------------------------------------------------------------------------------*/
-    /* Data Members                                                                    */
-    /*---------------------------------------------------------------------------------*/
-
-    SHHalfEdgeStructure* halfEdgeStructure; // Defines the polyhedron by it's half edges.
-  };
-
-} // namespace SHADE

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

@@ -1,182 +0,0 @@
-/****************************************************************************************
- * \file      SHHalfEdgeStructure.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for a half-edge data structure to represent polyhedra.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#include <SHpch.h>
-
-// Primary Header
-#include "SHHalfEdgeStructure.h"
-
-// Helper Macros
-
-#define BUILD_UINT64_FROM_UINT32S(a, b) (uint64_t)a << 32 | b
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Constructors & Destructor Definitions                                             */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHHalfEdgeStructure::Face::Face(const Face& rhs) noexcept
-  : normal { rhs.normal }
-  {
-    std::ranges::copy(rhs.vertexIndices.begin(), rhs.vertexIndices.end(), std::back_inserter(vertexIndices));
-  }
-
-  SHHalfEdgeStructure::Face::Face(Face&& rhs) noexcept
-  : normal { rhs.normal }
-  {
-    std::ranges::copy(rhs.vertexIndices.begin(), rhs.vertexIndices.end(), std::back_inserter(vertexIndices));
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Operator Overload Definitions                                                     */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHHalfEdgeStructure::Face& SHHalfEdgeStructure::Face::operator=(const Face& rhs) noexcept
-  {
-    if (this == &rhs)
-      return *this;
-
-    normal = rhs.normal;
-
-    vertexIndices.clear();
-    std::ranges::copy(rhs.vertexIndices.begin(), rhs.vertexIndices.end(), std::back_inserter(vertexIndices));
-
-    return *this;
-  }
-
-  SHHalfEdgeStructure::Face& SHHalfEdgeStructure::Face::operator=(Face&& rhs) noexcept
-  {
-    normal = rhs.normal;
-
-    vertexIndices.clear();
-    std::ranges::copy(rhs.vertexIndices.begin(), rhs.vertexIndices.end(), std::back_inserter(vertexIndices));
-
-    return *this;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Getter Function Definitions                                                       */
-  /*-----------------------------------------------------------------------------------*/
-
-  int32_t SHHalfEdgeStructure::GetFaceCount() const noexcept
-  {
-    return static_cast<int32_t>(faces.size());
-  }
-
-  int32_t SHHalfEdgeStructure::GetHalfEdgeCount() const noexcept
-  {
-    return static_cast<int32_t>(halfEdges.size());
-  }
-
-  const SHHalfEdgeStructure::Face& SHHalfEdgeStructure::GetFace(int32_t index) const
-  {
-    if (index < 0 || index >= static_cast<int32_t>(faces.size()))
-      throw std::invalid_argument("Index out-of-range!");
-
-    return faces[index];
-  }
-
-  const SHHalfEdgeStructure::HalfEdge& SHHalfEdgeStructure::GetHalfEdge(int32_t index) const
-  {
-    if (index < 0 || index >= static_cast<int32_t>(halfEdges.size()))
-      throw std::invalid_argument("Index out-of-range!");
-
-    return halfEdges[index];
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Public Member Function Definitions                                                */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHHalfEdgeStructure::AddFace(const Face& face)
-  {
-    faces.emplace_back(face);
-  }
-
-  void SHHalfEdgeStructure::Build() noexcept
-  {
-    // We use the pair of vertex IDs on a half-edge to prevent duplicates
-    std::unordered_map<uint64_t, HalfEdge> edgeMap;
-    edgeMap.clear();
-
-    if (faces.empty())
-    {
-      SHLOGV_CRITICAL("Unable to build convex polyhedron, no faces have been added!")
-      return;
-    }
-
-    // For each face, build half edges
-    for (size_t i = 0; i < faces.size(); ++i)
-    {
-      Face& face = faces[i];
-
-      if (face.vertexIndices.empty())
-      {
-        SHLOGV_CRITICAL("Unable to build convex polyhedron, no vertices have been added to face {}!", i)
-        return;
-      }
-
-      // Iterate through vertices and build half-edges
-      for (size_t j = 0; j < face.vertexIndices.size(); ++j)
-      {
-        const int32_t TAIL = face.vertexIndices[j].index;
-        const int32_t HEAD = face.vertexIndices[(j + 1) % face.vertexIndices.size()].index;
-
-        const uint64_t NEW_EDGE_ID   = BUILD_UINT64_FROM_UINT32S(TAIL, HEAD);
-        const uint64_t TWIN_EDGE_ID  = BUILD_UINT64_FROM_UINT32S(HEAD, TAIL);
-
-        // Check if the half-edge has already been inserted
-        auto newEdgeIter = edgeMap.find(NEW_EDGE_ID);
-        if (newEdgeIter == edgeMap.end())
-        {
-          // Reuse the iterator for mapping with the twin
-          newEdgeIter = edgeMap.emplace(NEW_EDGE_ID, HalfEdge{}).first;
-
-          HalfEdge& newHalfEdge = newEdgeIter->second;
-          newHalfEdge.tailVertexIndex = TAIL;
-          newHalfEdge.headVertexIndex = HEAD;
-          newHalfEdge.faceIndex       = static_cast<int32_t>(i);
-
-          // Set edge index of the newly inserted edge as the size of the map - 1
-          // Since it is an unordered map, it will just be at the back
-          newHalfEdge.edgeIndex       = static_cast<int32_t>(edgeMap.size()) - 1;
-
-          // Map vertex to this edge index
-          face.vertexIndices[j].edgeIndex = newHalfEdge.edgeIndex;
-        }
-
-        // Find twin edge if one exists
-        auto twinEdgeIter = edgeMap.find(TWIN_EDGE_ID);
-        if (twinEdgeIter != edgeMap.end())
-        {
-          // Set the twin index of both the edges
-          HalfEdge& newHalfEdge   = newEdgeIter->second;
-          HalfEdge& twinHalfEdge  = twinEdgeIter->second;
-
-          newHalfEdge.twinEdgeIndex   = twinHalfEdge.edgeIndex;
-          twinHalfEdge.twinEdgeIndex  = newHalfEdge.edgeIndex;
-        }
-      }
-    }
-
-    // Copy all half edges into the vector
-    // At this point, no duplicates should be in the map and all edges should be linked.
-    for (auto& halfEdge : edgeMap | std::views::values)
-      halfEdges.emplace_back(halfEdge);
-
-    // Sort based on edge indices
-    std::ranges::sort(halfEdges.begin(), halfEdges.end(), [](const HalfEdge& lhs, const HalfEdge& rhs)
-    {
-      return lhs.edgeIndex < rhs.edgeIndex;
-    });
-  }
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Collision/Shapes/SHHalfEdgeStructure.h

@@ -1,143 +0,0 @@
-/****************************************************************************************
- * \file      SHHalfEdgeStructure.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a half-edge data structure to represent polyhedra.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-#include <vector>
-
-// Project Headers
-#include "Math/Vector/SHVec3.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Type Definitions                                                                  */
-  /*-----------------------------------------------------------------------------------*/
-
-  /**
-   * @brief
-   * Encapsulates data for a convex polyhedron's geometry represented as faces & half edges.
-  */
-  class SH_API SHHalfEdgeStructure
-  {
-  public:
-    /*---------------------------------------------------------------------------------*/
-    /* Type Definitions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    /**
-     * @brief
-     * Encapsulates the data half edge of a face on a polyhedron.
-    */
-    struct HalfEdge
-    {
-      /*-------------------------------------------------------------------------------*/
-      /* Data Members                                                                  */
-      /*-------------------------------------------------------------------------------*/
-
-      //Head and tail forms the edge. 
-      //Head <----- Tail
-      int32_t tailVertexIndex = -1;
-
-      // Head is also tail of the next edge.
-      int32_t headVertexIndex = -1;
-
-      int32_t edgeIndex       = -1;
-      // Other half of the edge on a different face.
-      // Important for extrapolating face normals.
-      int32_t twinEdgeIndex   = -1;
-
-      // Adjacent face of this edge.
-      int32_t faceIndex       = -1;
-    };
-
-    struct Vertex
-    {
-    public:
-      /*-------------------------------------------------------------------------------*/
-      /* Data Members                                                                  */
-      /*-------------------------------------------------------------------------------*/
-
-      int32_t index     = -1;
-      int32_t edgeIndex = -1;  // the half-edge that this vertex is a tail of.
-    };
-
-    /**
-     * @brief
-     * Encapsulates the data of a face on a polyhedron.
-    */
-    struct Face
-    {
-    public:
-      /*-------------------------------------------------------------------------------*/
-      /* Data Members                                                                  */
-      /*-------------------------------------------------------------------------------*/
-
-      SHVec3                normal;
-      std::vector<Vertex>   vertexIndices;    // Must be in CCW order
-
-      /*-------------------------------------------------------------------------------*/
-      /* Constructors & Destructor                                                     */
-      /*-------------------------------------------------------------------------------*/
-
-      Face  ()                noexcept = default;
-      Face  (const Face& rhs) noexcept;
-      Face  (Face&& rhs)      noexcept;
-      ~Face ()                noexcept = default;
-
-      /*-------------------------------------------------------------------------------*/
-      /* Operator Overloads                                                            */
-      /*-------------------------------------------------------------------------------*/
-
-      Face& operator= (const Face& rhs) noexcept;
-      Face& operator= (Face&& rhs)      noexcept;
-    };
-
-    /*---------------------------------------------------------------------------------*/
-    /* Getter Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    [[nodiscard]] int32_t           GetFaceCount      () const noexcept;
-    [[nodiscard]] int32_t           GetHalfEdgeCount  () const noexcept;
-
-    [[nodiscard]] const Face&       GetFace           (int32_t index) const;
-    [[nodiscard]] const HalfEdge&   GetHalfEdge       (int32_t index) const;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Member Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    /**
-     * @brief
-     * Adds a face to the polyhedron. The face must be constructed outside the polyhedron.
-     * @param face
-     * The face to insert.
-    */
-    void AddFace (const Face& face);
-
-    /**
-     * @brief
-     * Builds the half-edges of the polyhedron using the faces. <br/>
-     * Before this method is invoked, there must be some faces.
-     * @return 
-    */
-    void Build() noexcept;
-
-  private:
-    /*---------------------------------------------------------------------------------*/
-    /* Data Members                                                                    */
-    /*---------------------------------------------------------------------------------*/
-
-    std::vector<Face>     faces;
-    std::vector<HalfEdge> halfEdges;
-
-  };
-
-} // namespace SHADE

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

@@ -1,240 +0,0 @@
-/****************************************************************************************
- * \file      SHSphereCollisionShape.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for a Sphere Collision Shape.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#include <SHpch.h>
-
-// Primary Header
-#include "SHSphere.h"
-
-// Project Headers
-#include "Math/SHMathHelpers.h"
-#include "Math/SHMatrix.h"
-#include "Physics/Collision/SHCollider.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Constructors & Destructor Definitions                                             */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHSphere::SHSphere(SHCollisionShapeID id) noexcept
-  : SHCollisionShape  (id, Type::SPHERE)
-  , relativeRadius    { 1.0f }
-  , scale             { 1.0f }
-  {
-    Radius = 0.5f;
-  }
-
-  SHSphere::SHSphere(const SHSphere& rhs) noexcept
-  : SHCollisionShape  ( rhs )
-  , relativeRadius    { rhs.relativeRadius }
-  , scale             { rhs.scale }
-  {
-    Center = rhs.Center;
-    Radius = rhs.Radius;
-  }
-
-  SHSphere::SHSphere(SHSphere&& rhs) noexcept
-  : SHCollisionShape  ( rhs )
-  , relativeRadius    { rhs.relativeRadius }
-  , scale             { rhs.scale }
-  {
-    Center = rhs.Center;
-    Radius = rhs.Radius;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Operator Overload Definitions                                                     */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHSphere& SHSphere::operator=(const SHSphere& rhs) noexcept
-  {
-    if (this == &rhs)
-      return *this;
-
-    SHCollisionShape::operator=(rhs);
-
-    // Sphere Properties
-
-    Center          = rhs.Center;
-    Radius          = rhs.Radius;
-
-    // Local Properties
-
-    relativeRadius  = rhs.relativeRadius;
-    scale           = rhs.scale;
-
-    return *this;
-  }
-
-  SHSphere& SHSphere::operator=(SHSphere&& rhs) noexcept
-  {
-    SHCollisionShape::operator=(rhs);
-
-    // Sphere Properties
-
-    Center          = rhs.Center;
-    Radius          = rhs.Radius;
-
-    // Local Properties
-
-    relativeRadius  = rhs.relativeRadius;
-    scale           = rhs.scale;
-
-    return *this;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Getter Function Definitions                                                       */
-  /*-----------------------------------------------------------------------------------*/
-
-  float SHSphere::GetWorldRadius() const noexcept
-  {
-    return Radius;
-  }
-
-  float SHSphere::GetRelativeRadius() const noexcept
-  {
-    return relativeRadius;
-  }
-
-  SHVec3 SHSphere::GetWorldCentroid() const noexcept
-  {
-    return Center;
-  }
-
-  SHVec3 SHSphere::GetRelativeCentroid() const noexcept
-  {
-    if (collider)
-      return SHVec3{ Center }  - collider->GetPosition();
-
-    return Center;
-  }
-
-  SHVec3 SHSphere::GetLocalCentroid() const noexcept
-  {
-    return SHVec3::Zero;
-  }
-
-  SHQuaternion SHSphere::GetWorldOrientation() const noexcept
-  {
-    if (collider)
-      return collider->GetOrientation() * transform.orientation;
-
-    return transform.orientation;
-  }
-
-  SHQuaternion SHSphere::GetRelativeOrientation() const noexcept
-  {
-    return transform.orientation;
-  }
-
-  float SHSphere::GetVolume() const noexcept
-  {
-    return (4.0f / 3.0f) * SHMath::PI * (Radius * Radius * Radius);
-  }
-
-  float SHSphere::GetSurfaceArea() const noexcept
-  {
-    return 4.0f * SHMath::PI * (Radius * Radius);
-  }
-
-  SHMatrix SHSphere::GetInertiaTensor(float mass) const noexcept
-  {
-    static constexpr float TWO_OVER_FIVE = 2.0f / 5.0f;
-
-    const float DIAGONAL = TWO_OVER_FIVE * mass * (Radius * Radius);
-
-    SHMatrix result;
-    result.m[0][0] = result.m[1][1] = result.m[2][2] = DIAGONAL;
-    return result;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Setter Function Definitions                                                       */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHSphere::SetWorldRadius(float newWorldRadius) noexcept
-  {
-    Radius = newWorldRadius;
-
-    // Recompute Relative radius
-    relativeRadius = 2.0f * Radius / scale;
-  }
-
-  void SHSphere::SetRelativeRadius(float newRelativeRadius) noexcept
-  {
-    relativeRadius = newRelativeRadius;
-
-    // Recompute world radius
-    Radius = relativeRadius * scale * 0.5f;
-  }
-
-  void SHSphere::SetScale(float maxScale) noexcept
-  {
-    scale = std::fabs(maxScale);
-
-    // Recompute world radius
-    Radius = relativeRadius * scale * 0.5f;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Public Member Function Definitions                                                */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHSphere::Update() noexcept
-  {
-    const SHTransform& PARENT_TRANSFORM = collider->GetTransform();
-
-    const float SPHERE_SCALE = std::fabs(SHMath::Max({ PARENT_TRANSFORM.scale.x, PARENT_TRANSFORM.scale.y, PARENT_TRANSFORM.scale.z }));
-    SetScale(SPHERE_SCALE);
-
-    // Recompute center
-    const SHQuaternion  FINAL_ROT  = PARENT_TRANSFORM.orientation * transform.orientation;
-    const SHMatrix      TRS        = SHMatrix::Rotate(FINAL_ROT) * SHMatrix::Translate(PARENT_TRANSFORM.position);
-
-    Center = SHVec3::Transform(transform.position, TRS);
-  }
-
-  bool SHSphere::TestPoint(const SHVec3& point) const noexcept
-  {
-    return Contains(point);
-  }
-
-  SHRaycastResult SHSphere::Raycast(const SHRay& ray) const noexcept
-  {
-    SHRaycastResult result;
-
-    result.hit = Intersects(ray.position, ray.direction, result.distance);
-    if (result.hit)
-    {
-      result.position = ray.position + ray.direction * result.distance;
-      result.angle    = SHVec3::Angle(ray.position, result.position);
-      result.normal   = SHVec3::Normalise(result.position - Center);
-    }
-
-    return result;
-  }
-
-  SHMatrix SHSphere::GetTRS() const noexcept
-  {
-    const SHQuaternion  ROTATION  = collider ? collider->GetTransform().orientation * transform.orientation : transform.orientation;
-    const SHVec3        SCALE     { Radius };
-
-    return SHMatrix::Transform(Center, ROTATION, SCALE);
-  }
-
-  SHAABB SHSphere::ComputeAABB() const noexcept
-  {
-    return SHAABB{ Center, SHVec3{ Radius } };
-  }
-
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Dynamics/Constraints/SHContactConstraint.h

@@ -1,56 +0,0 @@
-/****************************************************************************************
- * \file      SHContactConstraint.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a Contact Constraint.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-// Project Headers
-#include "Physics/Collision/Contacts/SHManifold.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Type Definitions                                                                  */
-  /*-----------------------------------------------------------------------------------*/
-
-  struct SH_API SHContactConstraint
-  {
-  public:
-    /*---------------------------------------------------------------------------------*/
-    /* Data Members                                                                    */
-    /*---------------------------------------------------------------------------------*/
-
-    // Use the entity IDs to map resolved constraints back to the bodies
-
-    SHCollisionKey key;
-
-    // Material Data
-
-    float     friction    = 0.0f;
-    float     restitution = 0.0f;
-
-    // Mass Data
-
-    float     invMassA    = 0.0f;
-    float     invMassB    = 0.0f;
-    SHMatrix  invInertiaA;
-    SHMatrix  invInertiaB;
-    SHVec3    centerOfMassA;
-    SHVec3    centerOfMassB;
-
-    // Collision Data
-
-    SHVec3    normal;
-    SHVec3    tangents[SHContact::NUM_TANGENTS];
-    SHContact contacts[SHManifold::MAX_NUM_CONTACTS];
-
-    uint32_t  numContacts = 0;
-  };
-} // namespace SHADE
-

SHADE_Engine/src/Physics/Dynamics/Constraints/SHVelocityState.h

@@ -1,63 +0,0 @@
-/****************************************************************************************
- * \file      SHVelocityState.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a Velocity State for constraint solving.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-// Project Headers
-#include "Physics/Dynamics/SHRigidBody.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Type Definitions                                                                  */
-  /*-----------------------------------------------------------------------------------*/
-
-  struct SH_API SHVelocityState
-  {
-  public:
-    SHVec3 LinearVelocity;
-    SHVec3 AngularVelocity;
-
-    SHVec3 LinearLockFactor;
-    SHVec3 AngularLockFactor;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Constructors & Destructor                                                       */
-    /*---------------------------------------------------------------------------------*/
-
-    SHVelocityState (const SHRigidBody* rigidBody) noexcept
-    : LinearVelocity    { SHVec3::Zero }
-    , AngularVelocity   { SHVec3::Zero }
-    , LinearLockFactor  { SHVec3::Zero }
-    , AngularLockFactor { SHVec3::Zero }
-    {
-      if (rigidBody)
-      {
-        LinearVelocity    = rigidBody->GetLinearVelocity();
-        AngularVelocity   = rigidBody->GetAngularVelocity();
-
-        LinearLockFactor  = SHVec3
-        {
-          rigidBody->GetFreezePositionX() ? 0.0f :  1.0f
-        , rigidBody->GetFreezePositionY() ? 0.0f :  1.0f
-        , rigidBody->GetFreezePositionZ() ? 0.0f :  1.0f
-        };
-
-        AngularLockFactor = SHVec3
-        {
-          rigidBody->GetFreezeRotationX() ? 0.0f :  1.0f
-        , rigidBody->GetFreezeRotationY() ? 0.0f :  1.0f
-        , rigidBody->GetFreezeRotationZ() ? 0.0f :  1.0f
-        };
-      }
-    }
-  };
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Dynamics/SHContactManager.cpp

@@ -1,297 +0,0 @@
-/****************************************************************************************
- * \file      SHContactManager.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for a Contact Manager that stores collision information and
- *            resolves contact constraints.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#include <SHpch.h>
-
-// Primary Header
-#include "SHContactManager.h"
-
-// Project Headers
-#include "Math/SHMathHelpers.h"
-#include "Physics/Collision/Narrowphase/SHCollisionDispatch.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Getter Functions Definitions                                                      */
-  /*-----------------------------------------------------------------------------------*/
-
-  const SHContactManager::TriggerEvents& SHContactManager::GetTriggerEvents() const noexcept
-  {
-    static TriggerEvents triggerEvents;
-
-    triggerEvents.clear();
-
-    for (auto& [id, trigger] : triggers)
-      triggerEvents.emplace_back(SHTriggerEvent{ id, trigger.state });
-
-    return triggerEvents;
-  }
-
-  const SHContactManager::CollisionEvents& SHContactManager::GetCollisionEvents() const noexcept
-  {
-    static CollisionEvents collisionEvents;
-
-    collisionEvents.clear();
-
-    for (auto& [id, manifold] : manifolds)
-    {
-      SHCollisionEvent collisionEvent
-      {
-        .info   = id
-      , .state  = manifold.state
-      , .normal = manifold.normal
-      };
-
-      for (uint32_t i = 0; i < manifold.numContacts; ++i)
-        collisionEvent.contactPoints[i] = manifold.contacts[i].position;
-
-      collisionEvents.emplace_back(collisionEvent);
-    }
-
-    return collisionEvents;
-  }
-
-  const SHContactManager::ContactPoints& SHContactManager::GetContactPoints() const noexcept
-  {
-    static ContactPoints contactPoints;
-    contactPoints.clear();
-
-    for (auto& manifold : manifolds | std::views::values)
-    {
-      // Skip exit state manifolds
-      if (manifold.state == SHCollisionState::EXIT)
-        continue;
-
-      for (uint32_t i = 0; i < manifold.numContacts; ++i)
-      {
-        const ContactInfo INFO
-        {
-          .position = manifold.contacts[i].position
-        , .normal   = manifold.normal 
-        };
-
-        contactPoints.emplace_back(INFO);
-      }
-    }
-
-    return contactPoints;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Public Member Functions Definitions                                               */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHContactManager::AddTrigger(const SHCollisionKey& key, SHCollisionShape* A, SHCollisionShape* B) noexcept
-  {
-    // If id not found, emplace new trigger.
-    auto trigger = triggers.find(key);
-    if (trigger == triggers.end())
-      triggers.emplace(key, Trigger{ A, B, SHCollisionState::INVALID });
-  }
-
-  void SHContactManager::AddManifold(const SHCollisionKey& key, SHCollisionShape* A, SHCollisionShape* B) noexcept
-  {
-    // If id not found, emplace new manifold
-    auto manifold = manifolds.find(key);
-    if (manifold == manifolds.end())
-      manifolds.emplace(key, SHManifold{ A, B });
-  }
-
-  void SHContactManager::RemoveInvalidatedTrigger(EntityID eid) noexcept
-  {
-    removeInvalidObject(triggers, eid);
-  }
-
-  void SHContactManager::RemoveInvalidatedTrigger(EntityID eid, uint32_t shapeIndex) noexcept
-  {
-    removeInvalidObject(triggers, eid, shapeIndex);
-  }
-
-  void SHContactManager::RemoveInvalidatedManifold(EntityID eid) noexcept
-  {
-    removeInvalidObject(manifolds, eid);
-  }
-
-  void SHContactManager::RemoveInvalidatedManifold(EntityID eid, uint32_t shapeIndex) noexcept
-  {
-    removeInvalidObject(manifolds, eid, shapeIndex);
-  }
-
-  void SHContactManager::Update() noexcept
-  {
-    // Clear expired or invalid collisions. If not, test collision.
-    for (auto manifoldPair = manifolds.begin(); manifoldPair != manifolds.end();)
-    {
-      // Test collision of every manifold.
-      SHManifold& manifold = manifoldPair->second;
-      SHManifold  oldManifold = manifold;
-
-      const bool IS_COLLIDING = SHCollisionDispatcher::Collide(manifold, *manifold.shapeA, *manifold.shapeB);
-
-      auto& collisionState = manifold.state;
-      updateCollisionState(IS_COLLIDING, collisionState);
-
-      const bool IS_INVALID = collisionState == SHCollisionState::INVALID;
-      if (IS_INVALID)
-      {
-        manifoldPair = manifolds.erase(manifoldPair);
-        continue;
-      }
-
-      updateManifold(manifold, oldManifold);
-      ++manifoldPair;
-    }
-
-    // Clear expired or invalid triggers, If not, test collision.
-    for (auto triggerPair = triggers.begin(); triggerPair != triggers.end();)
-    {
-      // Test collision of every trigger.
-      Trigger&  oldTrigger  = triggerPair->second;
-      Trigger   newTrigger  = oldTrigger;
-
-      const bool IS_COLLIDING = SHCollisionDispatcher::Collide(*newTrigger.A, *newTrigger.B);
-
-      auto& collisionState = newTrigger.state;
-      updateCollisionState(IS_COLLIDING, collisionState);
-
-      const bool IS_INVALID = collisionState == SHCollisionState::INVALID;
-      if (IS_INVALID)
-        triggerPair = triggers.erase(triggerPair);
-      else
-        ++triggerPair;
-    }
-  }
-
-  void SHContactManager::SolveCollisions(int numIterations, float dt) noexcept
-  {
-    static constexpr int SIZE_CONTACTS = sizeof(SHContact) * SHManifold::MAX_NUM_CONTACTS;
-
-    // Build constraints
-    for (auto& [key, manifold] : manifolds)
-      contactSolver.AddContact(key, manifold);
-
-    // Solve contacts
-    contactSolver.SolveContacts(numIterations, dt);
-
-    // Map impulses back to manifolds
-    const auto& CONTACT_CONSTRAINTS = contactSolver.GetContantConstraints();
-    const auto& VELOCITY_STATES     = contactSolver.GetVelocities();
-
-    for (auto& [key, contactConstraint] : CONTACT_CONSTRAINTS)
-    {
-      SHManifold& manifold = manifolds.find(key)->second;
-
-      for (uint32_t i = 0; i < contactConstraint.numContacts; ++i)
-        manifold.contacts[i] = contactConstraint.contacts[i];
-
-      // Assign velocities back to the bodies
-      SHRigidBody* bodyA = manifold.bodyA;
-      SHRigidBody* bodyB = manifold.bodyB;
-
-      const auto& STATE_A = VELOCITY_STATES.find(key.GetEntityA())->second;
-      const auto& STATE_B = VELOCITY_STATES.find(key.GetEntityB())->second;
-
-      if (bodyA)
-      {
-        bodyA->SetLinearVelocity(STATE_A.LinearVelocity);
-        bodyA->SetAngularVelocity(STATE_A.AngularVelocity);
-      }
-
-      if (bodyB)
-      {
-        bodyB->SetLinearVelocity(STATE_B.LinearVelocity);
-        bodyB->SetAngularVelocity(STATE_B.AngularVelocity);
-      }
-    }
-
-    contactSolver.Reset();
-  }
-
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Private Member Functions Definitions                                              */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHContactManager::updateCollisionState(bool isColliding, SHCollisionState& state) noexcept
-  {
-    if (isColliding)
-    {
-      // New states start at invalid. In the first frame of collision, move to enter.
-      // If it already in enter, move to stay
-      state = state == SHCollisionState::INVALID ? SHCollisionState::ENTER : SHCollisionState::STAY;
-    }
-    else
-    {
-      // If already exited and still not colliding, the collision has expired.
-      // Invalid states are removed in the next frame
-      if (state == SHCollisionState::EXIT)
-        state = SHCollisionState::INVALID;
-
-      // If previously colliding, move to exit.
-      if (state == SHCollisionState::ENTER || state == SHCollisionState::STAY)
-        state = SHCollisionState::EXIT;
-    }
-  }
-
-  void SHContactManager::updateManifold(SHManifold& manifold, const SHManifold& oldManifold) noexcept
-  {
-    static const float SQRT_ONE_THIRD = std::sqrtf(1.0f / 3.0f);
-
-    // Early out since exiting a collision does not require an update beyond updating the state
-    if (manifold.state == SHCollisionState::EXIT)
-      return;
-
-    const SHVec3& NORMAL        = manifold.normal;
-    SHVec3& tangent0            = manifold.tangents[0];
-    SHVec3& tangent1            = manifold.tangents[1];
-
-    const SHVec3& OLD_TANGENT_0 = oldManifold.tangents[0];
-    const SHVec3& OLD_TANGENT_1 = oldManifold.tangents[1];
-
-    // Compute tangents
-    if (std::fabs(NORMAL.x) >= SQRT_ONE_THIRD)
-      tangent0 = SHVec3{ NORMAL.y, -NORMAL.x, 0.0f };
-    else
-      tangent0 = SHVec3{ 0.0f, NORMAL.z, -NORMAL.y };
-
-    tangent0 = SHVec3::Normalise(tangent0);
-    tangent1 = SHVec3::Cross(NORMAL, tangent0);
-
-    // Accumulate impulses
-    for (uint32_t i = 0; i < manifold.numContacts; ++i)
-    {
-      SHContact& contact = manifold.contacts[i];
-
-      // Reset impulses
-      contact.normalImpulse = 0.0f;
-      contact.tangentImpulse[0] = contact.tangentImpulse[1] = 0.0f;
-
-      for (uint32_t j = 0; j < oldManifold.numContacts; ++j)
-      {
-        const SHContact& OLD_CONTACT = oldManifold.contacts[j];
-
-        if (OLD_CONTACT.featurePair.key == contact.featurePair.key)
-        {
-          // If contact features persists, re-project old solution
-          contact.normalImpulse = OLD_CONTACT.normalImpulse;
-
-          const SHVec3 FRICTION_FORCE = OLD_TANGENT_0 * OLD_CONTACT.tangentImpulse[0] + OLD_TANGENT_1 * OLD_CONTACT.tangentImpulse[1];
-          contact.tangentImpulse[0]   = SHVec3::Dot(FRICTION_FORCE, tangent0); 
-          contact.tangentImpulse[1]   = SHVec3::Dot(FRICTION_FORCE, tangent1);
-
-          break;
-        }
-      }
-    }
-  }
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Dynamics/SHContactManager.h

@@ -1,140 +0,0 @@
-/****************************************************************************************
- * \file      SHContactManager.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a Contact Manager that stores collision information.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-#include <unordered_map>
-
-// Project Headers
-#include "Physics/Collision/Contacts/SHCollisionEvents.h"
-#include "Physics/Collision/Contacts/SHCollisionKey.h"
-#include "Physics/Collision/Contacts/SHManifold.h"
-#include "SHContactSolver.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Type Definitions                                                                  */
-  /*-----------------------------------------------------------------------------------*/
-
-  /**
-   * @brief
-   * Encapsulates a class that stores collision information.
-  */
-  class SH_API SHContactManager
-  {
-  private:
-    /*---------------------------------------------------------------------------------*/
-    /* Friends                                                                         */
-    /*---------------------------------------------------------------------------------*/
-
-    friend class SHPhysicsWorld;
-
-  public:
-    /*---------------------------------------------------------------------------------*/
-    /* Type Definitions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    struct ContactInfo
-    {
-      SHVec3 position;
-      SHVec3 normal;
-    };
-
-    using TriggerEvents     = std::vector<SHTriggerEvent>;
-    using CollisionEvents   = std::vector<SHCollisionEvent>;
-    using ContactPoints     = std::vector<ContactInfo>;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Constructors & Destructor                                                       */
-    /*---------------------------------------------------------------------------------*/
-
-    SHContactManager  ()  noexcept = default;
-    ~SHContactManager ()  noexcept = default;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Getter Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    const TriggerEvents&    GetTriggerEvents      ()  const noexcept;
-    const CollisionEvents&  GetCollisionEvents    ()  const noexcept;
-    const ContactPoints&    GetContactPoints      ()  const noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Member Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    void AddTrigger                 (const SHCollisionKey& key, SHCollisionShape* A, SHCollisionShape* B) noexcept;
-    void AddManifold                (const SHCollisionKey& key, SHCollisionShape* A, SHCollisionShape* B) noexcept;
-
-    void RemoveInvalidatedTrigger   (EntityID eid)                      noexcept;
-    void RemoveInvalidatedTrigger   (EntityID eid, uint32_t shapeIndex) noexcept;
-    void RemoveInvalidatedManifold  (EntityID eid)                      noexcept;
-    void RemoveInvalidatedManifold  (EntityID eid, uint32_t shapeIndex) noexcept;
-
-    /**
-     * @brief
-     * Removes any invalidated contacts and triggers, then performs narrowphase collision
-     * detection on existing triggers and manifolds.
-    */
-    void Update                     () noexcept;
-
-    /**
-     * @brief
-     * Builds contact constraints and solves them. Results are stored in the corresponding
-     * manifolds abiding by the sequential impulse method.
-    */
-    void SolveCollisions            (int numIterations, float dt) noexcept;
-
-  private:
-    /*---------------------------------------------------------------------------------*/
-    /* Type Definitions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    struct Trigger
-    {
-      SHCollisionShape* A     = nullptr;
-      SHCollisionShape* B     = nullptr;
-
-      SHCollisionState state  = SHCollisionState::INVALID;
-    };
-
-    using Manifolds = std::unordered_map<SHCollisionKey, SHManifold, SHCollisionKeyHash>;
-    using Triggers  = std::unordered_map<SHCollisionKey, Trigger, SHCollisionKeyHash>;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Data Members                                                                    */
-    /*---------------------------------------------------------------------------------*/
-
-    Manifolds       manifolds;
-    Triggers        triggers;
-
-    SHContactSolver contactSolver;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Member Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    static void updateCollisionState (bool isColliding, SHCollisionState& state)            noexcept;
-    static void updateManifold       (SHManifold& manifold, const SHManifold& oldManifold)  noexcept;
-
-    // Removal Helpers
-
-    template <typename T>
-    static void removeInvalidObject (std::unordered_map<SHCollisionKey, T, SHCollisionKeyHash>& container, EntityID eid) noexcept;
-    template <typename T>
-    static void removeInvalidObject  (std::unordered_map<SHCollisionKey, T, SHCollisionKeyHash>& container, EntityID eid, uint32_t shapeIndex) noexcept;
-
-  };
-
-  
-} // namespace SHADE
-
-#include "SHContactManager.hpp"

SHADE_Engine/src/Physics/Dynamics/SHContactManager.hpp

@@ -1,61 +0,0 @@
-/****************************************************************************************
- * \file      SHContactManager.hpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for templated methods of the Contact Manager.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-// Primary Header
-#include "SHContactManager.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Private Member Functions Definitions                                              */
-  /*-----------------------------------------------------------------------------------*/
-
-  template <typename T>
-  void SHContactManager::removeInvalidObject(std::unordered_map<SHCollisionKey, T, SHCollisionKeyHash>& container, EntityID eid) noexcept
-  {
-    if (container.empty())
-      return;
-
-    for (auto invalidated = container.begin(); invalidated != container.end();)
-    {
-      const auto& ID = invalidated->first;
-
-      const bool MATCHES_A = ID.GetEntityA() == eid;
-      const bool MATCHES_B = ID.GetEntityB() == eid;
-
-      if (MATCHES_A || MATCHES_B)
-        invalidated = container.erase(invalidated);
-      else
-        ++invalidated;
-    }
-  }
-
-  template <typename T>
-  void SHContactManager::removeInvalidObject(std::unordered_map<SHCollisionKey, T, SHCollisionKeyHash>& container, EntityID eid, uint32_t shapeIndex) noexcept
-  {
-    if (container.empty())
-      return;
-
-    for (auto invalidated = container.begin(); invalidated != container.end();)
-    {
-      const auto& ID = invalidated->first;
-
-      const bool MATCHES_A = ID.GetEntityA() == eid && ID.GetShapeIndexA() == shapeIndex;
-      const bool MATCHES_B = ID.GetEntityB() == eid && ID.GetShapeIndexB() == shapeIndex;
-
-      if (MATCHES_A || MATCHES_B)
-        invalidated = container.erase(invalidated);
-      else
-        ++invalidated;
-    }
-  }
-} // namespace SHADE

SHADE_Engine/src/Physics/Dynamics/SHContactSolver.cpp

@@ -1,332 +0,0 @@
-/****************************************************************************************
- * \file      SHContactSolver.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for a Contact Solver.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-***************************************************************************************/
-
-#include <SHpch.h>
-
-// Primary Header
-#include "SHContactSolver.h"
-
-// Project Headers
-#include "Math/SHMathHelpers.h"
-#include "Physics/SHPhysicsConstants.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Getter Functions Definitions                                                      */
-  /*-----------------------------------------------------------------------------------*/
-
-  const SHContactSolver::VelocityStates& SHContactSolver::GetVelocities() const noexcept
-  {
-    return velocityStates;
-  }
-
-  const SHContactSolver::ContactConstraints& SHContactSolver::GetContantConstraints() const noexcept
-  {
-    return contactConstraints;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Public Member Functions Definitions                                               */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHContactSolver::AddContact(const SHCollisionKey& key, const SHManifold& manifold) noexcept
-  {
-    SHContactConstraint& newConstraint = contactConstraints.emplace(key, SHContactConstraint{}).first->second;
-
-    const auto* SHAPE_A = manifold.shapeA;
-    const auto* SHAPE_B = manifold.shapeB;
-
-    const auto* BODY_A  = manifold.bodyA;
-    const auto* BODY_B  = manifold.bodyB;
-
-    // Add velocities if it doesn't already exist
-    velocityStates.emplace(key.GetEntityA(), SHVelocityState{ BODY_A });
-    velocityStates.emplace(key.GetEntityB(), SHVelocityState{ BODY_B });
-
-    // Mix friction & restitution
-    const float FRICTION_A    = SHAPE_A->GetFriction();
-    const float RESTITUTION_A = SHAPE_A->GetBounciness();
-
-    const float FRICTION_B    = SHAPE_B->GetFriction();
-    const float RESTITUTION_B = SHAPE_B->GetBounciness();
-
-    newConstraint.friction    = std::sqrtf(FRICTION_A * FRICTION_B);
-    newConstraint.restitution = std::max(RESTITUTION_A, RESTITUTION_B);
-
-    // Mass data
-
-    // Account for implicity-static bodies
-    if (BODY_A)
-    {
-      newConstraint.invMassA      = BODY_A->invMass;
-      newConstraint.centerOfMassA = BODY_A->worldCentroid;
-      newConstraint.invInertiaA   = BODY_A->worldInvInertia;
-    }
-    else
-    {
-      newConstraint.invMassA      = 0.0f;
-      newConstraint.centerOfMassA = SHVec3::Zero;
-
-      // Matrix needs to maintain its homogenous structure
-      newConstraint.invInertiaA = SHMatrix::Zero;
-      newConstraint.invInertiaA.m[3][3] = 1.0f; 
-    }
-
-    if (BODY_B)
-    {
-      newConstraint.invMassB      = BODY_B->invMass;
-      newConstraint.centerOfMassB = BODY_B->worldCentroid;
-      newConstraint.invInertiaB   = BODY_B->worldInvInertia;
-    }
-    else
-    {
-      newConstraint.invMassB      = 0.0f;
-      newConstraint.centerOfMassB = SHVec3::Zero;
-
-      // Matrix needs to maintain its homogenous structure
-      newConstraint.invInertiaB = SHMatrix::Zero;
-      newConstraint.invInertiaB.m[3][3] = 1.0f;
-    }
-
-    // Collision data
-
-    newConstraint.numContacts = manifold.numContacts;
-
-    newConstraint.normal = manifold.normal;
-
-    static constexpr size_t TANGENTS_SIZE = sizeof(SHVec3) * SHContact::NUM_TANGENTS;
-    static constexpr size_t CONTACTS_SIZE = sizeof(SHContact) * SHManifold::MAX_NUM_CONTACTS;
-
-    memcpy_s(newConstraint.tangents, TANGENTS_SIZE, manifold.tangents, TANGENTS_SIZE);
-    memcpy_s(newConstraint.contacts, CONTACTS_SIZE, manifold.contacts, CONTACTS_SIZE);
-
-    // Compute rA & rB for contacts
-    for (uint32_t i = 0; i < newConstraint.numContacts; ++i)
-    {
-      newConstraint.contacts[i].rA = newConstraint.contacts[i].position - newConstraint.centerOfMassA;
-      newConstraint.contacts[i].rB = newConstraint.contacts[i].position - newConstraint.centerOfMassB;
-    }
-  }
-
-  void SHContactSolver::Reset() noexcept
-  {
-    velocityStates.clear();
-    contactConstraints.clear();
-  }
-
-  void SHContactSolver::SolveContacts(int numIterations, float dt) noexcept
-  {
-    preSolve(dt);
-
-    for (int i = 0; i < numIterations; ++i)
-      solve();
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Private Member Functions Definitions                                              */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHContactSolver::preSolve(float dt) noexcept
-  {
-    const float INV_DT = 1.0f / dt;
-
-    for (auto& [key, constraint] : contactConstraints)
-    {
-      const float INV_MASS_SUM = constraint.invMassA + constraint.invMassB;
-
-      SHVelocityState& velocityStateA = velocityStates.find(key.GetEntityA())->second;
-      SHVelocityState& velocityStateB = velocityStates.find(key.GetEntityB())->second;
-
-      SHVec3 vA = velocityStateA.LinearVelocity;
-      SHVec3 wA = velocityStateA.AngularVelocity;
-      SHVec3 vB = velocityStateB.LinearVelocity;
-      SHVec3 wB = velocityStateB.AngularVelocity;
-
-      const SHVec3& LINEAR_LOCK_A   = velocityStateA.LinearLockFactor;
-      const SHVec3& ANGULAR_LOCK_A  = velocityStateA.AngularLockFactor;
-      const SHVec3& LINEAR_LOCK_B   = velocityStateB.LinearLockFactor;
-      const SHVec3& ANGULAR_LOCK_B  = velocityStateB.AngularLockFactor;
-
-      for (uint32_t i = 0; i < constraint.numContacts; ++i)
-      {
-        SHContact& contact = constraint.contacts[i];
-
-        // Calculate JM-1JT (Effective mass)
-        /*
-         * rXnT * I-1 * rXn:
-         *
-         * 1. 3x3 * 3x1 = 3x1
-         * 2. 1x3 * 3x1 = 1x1
-         *
-         * First do I-1 * rXn
-         * | ix  0   0  || x |   | ix * x |
-         * | 0   iy  0  || y | = | iy * y |
-         * | 0   0   iz || z |   | iz * z |
-         *
-         * Then dot product the result with rXnT
-         * | ix * x |[ u v w ]
-         * | iy * y |          = [ ix * x * w + iy * y * v + iz * z * w ]
-         * | iz * z |
-         *
-         * Simplified:
-         *
-         * rXnT /dot (I-1 * rXn)
-         */
-
-        // Effective mass along Normal
-        const SHVec3 RA_CROSS_N = SHVec3::Cross(contact.rA, constraint.normal);
-        const SHVec3 RB_CROSS_N = SHVec3::Cross(contact.rB, constraint.normal);
-
-        contact.normalMass = INV_MASS_SUM;
-        contact.normalMass += SHVec3::Dot(RA_CROSS_N, constraint.invInertiaA * RA_CROSS_N);
-        contact.normalMass += SHVec3::Dot(RB_CROSS_N, constraint.invInertiaB * RB_CROSS_N);
-
-        // Invert the normal mass (we want the actual mass, not the inverse mass)
-        contact.normalMass = 1.0f / contact.normalMass;
-
-        // Effective mass along tangents (same steps as above)
-
-        for (int j = 0; j < SHContact::NUM_TANGENTS; ++j)
-        {
-          const SHVec3 RA_CROSS_T = SHVec3::Cross(contact.rA, constraint.tangents[j]);
-          const SHVec3 RB_CROSS_T = SHVec3::Cross(contact.rB, constraint.tangents[j]);
-
-          contact.tangentMass[j] = INV_MASS_SUM;
-          contact.tangentMass[j] += SHVec3::Dot(RA_CROSS_T, constraint.invInertiaA * RA_CROSS_T);
-          contact.tangentMass[j] += SHVec3::Dot(RB_CROSS_T, constraint.invInertiaB * RB_CROSS_T);
-
-          contact.tangentMass[j] = 1.0f / contact.tangentMass[j];
-        }
-
-        // Calculate bias per contact
-        /*
-         * error bias       = baumgarte factor / dt * penetration
-         * restituion bias  = restitution * (relative velocity /dot normal)
-         */
-
-        const float ERROR_BIAS = -SHPHYSICS_BAUMGARTE * INV_DT * std::max(0.0f, contact.penetration - SHPHYSICS_LINEAR_SLOP);
-
-        // Warm starting
-        // Compute impulses
-        SHVec3 impulse = constraint.normal * contact.normalImpulse;
-        for (int j = 0; j < SHContact::NUM_TANGENTS; ++j)
-          impulse += constraint.tangents[j] * contact.tangentImpulse[j];
-
-        // Apply impulses onto velocities
-        vA -= impulse * constraint.invMassA * LINEAR_LOCK_A;
-        wA -= constraint.invInertiaA * SHVec3::Cross(contact.rA, impulse) * ANGULAR_LOCK_A;
-
-        vB += impulse * constraint.invMassB * LINEAR_LOCK_B;
-        wB += constraint.invInertiaB * SHVec3::Cross(contact.rB, impulse) * ANGULAR_LOCK_B;
-
-        const SHVec3  RV_A = vA + SHVec3::Cross(wA, contact.rA);
-        const SHVec3  RV_B = vB + SHVec3::Cross(wB, contact.rB);
-        const float   RV_N = SHVec3::Dot(RV_B - RV_A, constraint.normal);
-
-        const float RESTITUTION_BIAS = std::fabs(RV_N) > SHPHYSICS_RESTITUTION_THRESHOLD ? -constraint.restitution * RV_N : 0.0f;
-
-        contact.bias = ERROR_BIAS + RESTITUTION_BIAS;
-      }
-
-      velocityStateA.LinearVelocity   = vA;
-      velocityStateA.AngularVelocity  = wA;
-      velocityStateB.LinearVelocity   = vB;
-      velocityStateB.AngularVelocity  = wB;
-    }
-  }
-
-  void SHContactSolver::solve() noexcept
-  {
-    for (auto& [key, constraint] : contactConstraints)
-    {
-      SHVelocityState& velocityStateA = velocityStates.find(key.GetEntityA())->second;
-      SHVelocityState& velocityStateB = velocityStates.find(key.GetEntityB())->second;
-
-      SHVec3 vA = velocityStateA.LinearVelocity;
-      SHVec3 wA = velocityStateA.AngularVelocity;
-      SHVec3 vB = velocityStateB.LinearVelocity;
-      SHVec3 wB = velocityStateB.AngularVelocity;
-
-      const SHVec3& LINEAR_LOCK_A   = velocityStateA.LinearLockFactor;
-      const SHVec3& ANGULAR_LOCK_A  = velocityStateA.AngularLockFactor;
-      const SHVec3& LINEAR_LOCK_B   = velocityStateB.LinearLockFactor;
-      const SHVec3& ANGULAR_LOCK_B  = velocityStateB.AngularLockFactor;
-
-      for (uint32_t i = 0; i < constraint.numContacts; ++i)
-      {
-        SHContact& contact = constraint.contacts[i];
-
-        // Compute relative velocity
-        SHVec3 velocityA = vA + SHVec3::Cross(wA, contact.rA);
-        SHVec3 velocityB = vB + SHVec3::Cross(wB, contact.rB);
-        SHVec3 relativeVelocity = velocityB - velocityA;
-
-        // Get scalar of relative velocity along the normal
-        const float VN = SHVec3::Dot(relativeVelocity, constraint.normal);
-
-        // Compute true normal impulse
-        const float OLD_NORMAL_IMPULSE = contact.normalImpulse;
-
-        float newNormalImpulse = -(VN + contact.bias) * contact.normalMass;
-        contact.normalImpulse = std::max(OLD_NORMAL_IMPULSE + newNormalImpulse, 0.0f);
-        newNormalImpulse = contact.normalImpulse - OLD_NORMAL_IMPULSE;
-
-        const SHVec3 NORMAL_IMPULSE = newNormalImpulse * constraint.normal;
-
-        // Apply impulses
-        vA -= NORMAL_IMPULSE * constraint.invMassA * LINEAR_LOCK_A;
-        wA -= constraint.invInertiaA * SHVec3::Cross(contact.rA, NORMAL_IMPULSE) * ANGULAR_LOCK_A;
-
-        vB += NORMAL_IMPULSE * constraint.invMassB * LINEAR_LOCK_B;
-        wB += constraint.invInertiaB * SHVec3::Cross(contact.rB, NORMAL_IMPULSE) * ANGULAR_LOCK_B;
-
-        // Solve normal impulse
-        // Re-compute relative velocity
-        velocityA = vA + SHVec3::Cross(wA, contact.rA);
-        velocityB = vB + SHVec3::Cross(wB, contact.rB);
-        relativeVelocity = velocityB - velocityA;
-
-        // Solve tangent impulse
-        for (int j = 0; j < SHContact::NUM_TANGENTS; ++j)
-        {
-          // Get scalar of relative velocity along tangent
-          const float VT = SHVec3::Dot(relativeVelocity, constraint.tangents[j]);
-
-          // Compute true tangent impulse
-          const float MAX_TANGENT_IMPULSE = constraint.friction * contact.normalImpulse;
-          const float OLD_TANGENT_IMPULSE = contact.tangentImpulse[j];
-
-          // We cannot exceed the maximum frictional force (coulumb's law)
-          // Compute true tangent impulse
-          float newTangentImpulse = -VT * contact.tangentMass[j];
-          contact.tangentImpulse[j] = std::clamp(OLD_TANGENT_IMPULSE + newTangentImpulse, -MAX_TANGENT_IMPULSE, MAX_TANGENT_IMPULSE);
-          newTangentImpulse = contact.tangentImpulse[j] - OLD_TANGENT_IMPULSE;
-
-          const SHVec3 TANGENT_IMPULSE = newTangentImpulse * constraint.tangents[j];
-
-          // Apply impulses
-          vA -= TANGENT_IMPULSE * constraint.invMassA * LINEAR_LOCK_A;
-          wA -= constraint.invInertiaA * SHVec3::Cross(contact.rA, TANGENT_IMPULSE) * ANGULAR_LOCK_A;
-
-          vB += TANGENT_IMPULSE * constraint.invMassB * LINEAR_LOCK_B;
-          wB += constraint.invInertiaB * SHVec3::Cross(contact.rB, TANGENT_IMPULSE) * ANGULAR_LOCK_B;
-        }
-      }
-
-      velocityStateA.LinearVelocity   = vA;
-      velocityStateA.AngularVelocity  = wA;
-      velocityStateB.LinearVelocity   = vB;
-      velocityStateB.AngularVelocity  = wB;
-    }
-  }
-
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Dynamics/SHMotionState.cpp

@@ -1,128 +0,0 @@
-/****************************************************************************************
- * \file      SHMotionState.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for a Motion State.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#include <SHpch.h>
-
-// Primary Header
-#include "SHMotionState.h"
-
-// Project Headers
-#include "Math/SHMathHelpers.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Constructors & Destructor Definitions                                             */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHMotionState::SHMotionState() noexcept
-  : hasMoved { false }
-  {}
-
-  SHMotionState::SHMotionState(const SHMotionState& rhs) noexcept
-  : hasMoved      { rhs.hasMoved }
-  , position      { rhs.position }
-  , prevPosition  { rhs.prevPosition }
-  {}
-
-  SHMotionState::SHMotionState(SHMotionState&& rhs) noexcept
-  : hasMoved      { rhs.hasMoved }
-  , position      { rhs.position }
-  , prevPosition  { rhs.prevPosition }
-  {}
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Operator Overload Definitions                                                     */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHMotionState& SHMotionState::operator=(const SHMotionState& rhs) noexcept
-  {
-    if (this == &rhs)
-      return *this;
-
-    hasMoved      = rhs.hasMoved;
-    position      = rhs.position;
-    prevPosition  = rhs.prevPosition;
-
-    return *this;
-  }
-
-  SHMotionState& SHMotionState::operator=(SHMotionState&& rhs) noexcept
-  {
-    hasMoved      = rhs.hasMoved;
-    position      = rhs.position;
-    prevPosition  = rhs.prevPosition;
-
-    return *this;
-  }
-
-  SHMotionState::operator bool() const noexcept
-  {
-    return hasMoved;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Public Member Function Definition                                                 */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHMotionState::ForcePosition(const SHVec3& newPosition) noexcept
-  {
-    hasMoved      = true;
-
-    prevPosition  = newPosition;
-    position      = newPosition;
-  }
-
-  void SHMotionState::ForceOrientation(const SHQuaternion& newOrientation) noexcept
-  {
-    hasMoved      = true;
-
-    prevOrientation  = newOrientation;
-    orientation      = newOrientation;
-  }
-
-
-  void SHMotionState::IntegratePosition(const SHVec3& velocity, float dt) noexcept
-  {
-    // Velocities are 0 when objects are static or sleeping. We do not want to integrate them here.
-    // This call should never reach here.
-
-    hasMoved = true;
-
-    prevPosition = position;
-    position += velocity * dt;
-  }
-
-  void SHMotionState::IntegrateOrientation(const SHVec3& velocity, float dt) noexcept
-  {
-    // Velocities are 0 when objects are static or sleeping. We do not want to integrate them here.
-    // This call should never reach here.
-
-    hasMoved = true;
-
-    prevOrientation = orientation;
-
-    orientation += orientation * SHQuaternion{ velocity.x, velocity.y, velocity.z, 0.0f } * dt * 0.5f;
-    orientation = SHQuaternion::Normalise(orientation);
-  }
-
-
-  SHVec3 SHMotionState::InterpolatePositions(float factor) const noexcept
-  {
-    return SHVec3::ClampedLerp(prevPosition, position, factor);
-  }
-
-  SHQuaternion SHMotionState::InterpolateOrientations(float factor) const noexcept
-  {
-    return SHQuaternion::ClampedSlerp(prevOrientation, orientation, factor);
-  }
-
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Dynamics/SHMotionState.h

@@ -1,127 +0,0 @@
-/****************************************************************************************
- * \file      SHMotionState.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a Motion State.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-// Project Headers
-#include "Math/SHQuaternion.h"
-#include "Math/Vector/SHVec3.h"
-
-
-namespace SHADE
-{
-  /*-------------------------------------------------------------------------------------*/
-  /* Type Definitions                                                                    */
-  /*-------------------------------------------------------------------------------------*/
-
-  /**
-   * @brief
-   * Encapsulates the motion state of a rigid body in physics.
-  */
-  struct SH_API SHMotionState
-  {
-  public:
-    /*-----------------------------------------------------------------------------------*/
-    /* Data Members                                                                      */
-    /*-----------------------------------------------------------------------------------*/
-
-    bool          hasMoved;
-
-    SHVec3        position;
-    SHVec3        prevPosition;
-
-    SHQuaternion  orientation;
-    SHQuaternion  prevOrientation;
-
-    /*-----------------------------------------------------------------------------------*/
-    /* Constructors & Destructor                                                         */
-    /*-----------------------------------------------------------------------------------*/
-
-    SHMotionState ()                          noexcept;
-    SHMotionState (const SHMotionState& rhs)  noexcept;
-    SHMotionState (SHMotionState&& rhs)       noexcept;
-
-    ~SHMotionState() = default;
-
-    /*-----------------------------------------------------------------------------------*/
-    /* Operator Overloads                                                                */
-    /*-----------------------------------------------------------------------------------*/
-
-    SHMotionState&  operator=     (const SHMotionState& rhs)  noexcept;
-    SHMotionState&  operator=     (SHMotionState&& rhs)       noexcept;
-
-                    operator bool ()                    const noexcept;
-
-    /*-----------------------------------------------------------------------------------*/
-    /* Function Members                                                                  */
-    /*-----------------------------------------------------------------------------------*/
-
-    /**
-     * @brief
-     * Forcefully sets the position. Meant to be used when transform overrides the rigid body
-     * positions.
-     * @param newPosition
-     * The new position to set.
-    */
-    void        ForcePosition             (const SHVec3& newPosition)           noexcept;
-
-    /**
-     * @brief
-     * Forcefully sets the orientation. Meant to be used when transform overrides the rigid body
-     * orientations
-     * @param newOrientation 
-     * The new orientation to set.
-    */
-    void        ForceOrientation          (const SHQuaternion& newOrientation)  noexcept;
-
-    /**
-     * @brief
-     * Integrates the positions using linear velocity with respect to time.
-     * @param velocity
-     * The linear velocity to integrate.
-     * @param dt
-     * The delta time to integrate with respect to.
-    */
-    void        IntegratePosition         (const SHVec3& velocity, float dt)    noexcept;
-
-    /**
-     * @brief
-     * Integrates the orientation using angular velocity with respect to time.
-     * @param velocity
-     * The angular velocity to integrate.
-     * @param dt
-     * The delta time to integrate with respect to.
-    */
-    void        IntegrateOrientation      (const SHVec3& velocity, float dt)    noexcept;
-
-    /**
-     * @brief
-     * Interpolates the position between the previous and the last using a given factor.
-     * @param factor
-     * The factor to interpolate by. Should be between 0 & 1.
-     * @returns
-     * The interpolated position meant for rendering.
-    */
-    SHVec3        InterpolatePositions    (float factor)                  const noexcept;
-
-    /**
-     * @brief
-     * Interpolates the orientation between the previous and the last using a given factor.
-     * @param factor
-     * The factor to interpolate by. Should be between 0 & 1.
-     * @returns
-     * The interpolated orientation meant for rendering.
-    */
-    SHQuaternion  InterpolateOrientations (float factor)                  const noexcept;
-
-  };
-
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Dynamics/SHPhysicsWorld.cpp

@@ -1,190 +0,0 @@
-/****************************************************************************************
- * \file      SHPhysicsWorld.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for a Physics World.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#include <SHpch.h>
-
-// Primary Header
-#include "SHPhysicsWorld.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Constructors & Destructor Definitions                                             */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHPhysicsWorld::SHPhysicsWorld(const WorldSettings& worldSettings) noexcept
-  : settings        { worldSettings }
-  , collisionSpace  { nullptr }
-  {
-    SHLOG_INFO_D("Creating Physics World")
-  }
-
-  SHPhysicsWorld::~SHPhysicsWorld() noexcept
-  {
-    collisionSpace = nullptr;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Getter Functions Definitions                                                      */
-  /*-----------------------------------------------------------------------------------*/
-
-  const SHContactManager::ContactPoints& SHPhysicsWorld::GetContactPoints() const noexcept
-  {
-    return contactManager.GetContactPoints();
-  }
-
-  const SHContactManager::TriggerEvents& SHPhysicsWorld::GetTriggerEvents() const noexcept
-  {
-    return contactManager.GetTriggerEvents();
-  }
-
-  const SHContactManager::CollisionEvents& SHPhysicsWorld::GetCollisionEvents() const noexcept
-  {
-    return contactManager.GetCollisionEvents();
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Setter Functions Definitions                                                      */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHPhysicsWorld::SetCollisionSpace(SHCollisionSpace* _collisionSpace) noexcept
-  {
-    collisionSpace = _collisionSpace;
-    _collisionSpace->SetContactManager(&contactManager);
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Public Member Functions Definitions                                               */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHPhysicsWorld::AddRigidBody(SHRigidBody* rigidBody) noexcept
-  {
-    const bool INSERTED = rigidBodies.emplace(rigidBody->entityID, rigidBody).second;
-    if (!INSERTED)
-    {
-      SHLOG_WARNING_D("Attempting to add duplicate rigid body {} to the Physics World!", rigidBody->entityID)
-    }
-  }
-
-  void SHPhysicsWorld::RemoveRigidBody(SHRigidBody* rigidBody) noexcept
-  {
-    rigidBodies.erase(rigidBody->entityID);
-
-    // Contact manager to remove invalidated contacts
-    contactManager.RemoveInvalidatedManifold(rigidBody->entityID);
-
-    // TODO: Run through the rigid body's contact graph and wake all of its non-static bodies that are asleep
-  }
-
-
-  void SHPhysicsWorld::Step(float dt)
-  {
-    /*
-     * Detect Collisions
-     */
-
-    if (collisionSpace)
-      collisionSpace->DetectCollisions();
-
-    /*
-     * Integrate Forces
-     */
-
-    for (auto* rigidBody : rigidBodies | std::views::values)
-    {
-      if (!rigidBody->IsActive())
-        continue;
-
-      rigidBody->ComputeWorldData();
-      integrateForces(*rigidBody, dt);
-    }
-
-
-    /*
-     * Resolve Contacts
-     */
-
-    contactManager.SolveCollisions(settings.numVelocitySolverIterations, dt);
-
-    /*
-     * Integrate Velocities
-     */
-
-    for (auto* rigidBody : rigidBodies | std::views::values)
-    {
-      if (!rigidBody->IsActive())
-        continue;
-
-      integrateVelocities(*rigidBody, dt);
-    }
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Private Member Functions Definitions                                              */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHPhysicsWorld::integrateForces(SHRigidBody& rigidBody, float dt) const noexcept
-  {
-    if (rigidBody.bodyType != SHRigidBody::Type::DYNAMIC)
-      return;
-
-    // Integrate forces and gravity into linear velocity
-    const SHVec3 LINEAR_ACCELERATION        = rigidBody.accumulatedForce * rigidBody.invMass;
-    const SHVec3 GRAVITATIONAL_ACCELERATION = rigidBody.IsGravityEnabled() ? settings.gravity * rigidBody.gravityScale : SHVec3::Zero;
-
-    rigidBody.linearVelocity  += (LINEAR_ACCELERATION + GRAVITATIONAL_ACCELERATION) * dt;
-
-    // Integrate torque into angular velocity
-    rigidBody.angularVelocity += rigidBody.worldInvInertia * rigidBody.accumulatedTorque * dt;
-
-    // Apply drag (exponentially applied)
-    rigidBody.linearVelocity  *= 1.0f / (1.0f + dt * rigidBody.linearDrag);
-    rigidBody.angularVelocity *= 1.0f / (1.0f + dt * rigidBody.angularDrag);
-
-    rigidBody.constrainLinearVelocities();
-    rigidBody.constrainAngularVelocities();
-  }
-
-  void SHPhysicsWorld::integrateVelocities(SHRigidBody& rigidBody, float dt) const noexcept
-  {
-    // Always reset movement flag
-    rigidBody.motionState.hasMoved = false;
-
-    // Set all velocities of static bodies to 0
-    if (rigidBody.bodyType == SHRigidBody::Type::STATIC)
-    {
-      rigidBody.linearVelocity = SHVec3::Zero;
-    }
-    // Dynamic & Kinematic bodies
-    // Both dynamic and kinematic can sleep when their velocities are under the thresholds.
-    else if (!rigidBody.IsSleeping())
-    {
-      rigidBody.constrainLinearVelocities();
-      rigidBody.constrainAngularVelocities();
-
-      rigidBody.motionState.IntegratePosition(rigidBody.linearVelocity, dt);
-      rigidBody.motionState.IntegrateOrientation(rigidBody.angularVelocity, dt);
-
-      // Sync with collider transforms if a collider is present
-      if (rigidBody.collider)
-      {
-        rigidBody.collider->SetPosition(rigidBody.motionState.position);
-        rigidBody.collider->SetOrientation(rigidBody.motionState.orientation);
-
-        rigidBody.collider->Update();
-      }
-    }
-
-    // Clear all forces
-    // We clear forces for static bodies as well for redundancy
-    rigidBody.ClearForces();
-  }
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Dynamics/SHPhysicsWorld.h

@@ -1,145 +0,0 @@
-/****************************************************************************************
- * \file      SHPhysicsWorld.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a Physics World.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-#include <unordered_map>
-
-// Project Headers
-#include "Physics/Collision/SHCollisionSpace.h"
-#include "SHContactManager.h"
-#include "SHContactSolver.h"
-#include "SHRigidBody.h"
-
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Type Definitions                                                                  */
-  /*-----------------------------------------------------------------------------------*/
-
-  /**
-   * @brief
-   * Encapsulates the overall simulation of physics. The bulk of dynamics are handled here,
-   * with the collision detection handled by an attached collision space. <br/>
-   * A collision space must be created separately and attached with the world.
-  */
-  class SH_API SHPhysicsWorld
-  {
-  public:
-    /*---------------------------------------------------------------------------------*/
-    /* Type Definitions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    struct WorldSettings
-    {
-    public:
-      /*-------------------------------------------------------------------------------*/
-      /* Data Members                                                                  */
-      /*-------------------------------------------------------------------------------*/
-
-      SHVec3    gravity                     = SHVec3{ 0.0f, -9.81f, 0.0f };
-      uint16_t  numVelocitySolverIterations = 10;
-      uint16_t  numPositionSolverIterations = 5;      // Unused until PGS is implemented
-      bool      sleepingEnabled             = true;
-    };
-
-    /*---------------------------------------------------------------------------------*/
-    /* Constructors & Destructor                                                       */
-    /*---------------------------------------------------------------------------------*/
-
-    SHPhysicsWorld  (const WorldSettings& worldSettings = WorldSettings{})  noexcept;
-    ~SHPhysicsWorld ()                                                      noexcept;
-    
-    SHPhysicsWorld  (const SHPhysicsWorld&) = delete;
-    SHPhysicsWorld  (SHPhysicsWorld&&)      = delete;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Operator Overloads                                                              */
-    /*---------------------------------------------------------------------------------*/
-
-    SHPhysicsWorld& operator=(const SHPhysicsWorld&)  = delete;
-    SHPhysicsWorld& operator=(SHPhysicsWorld&&)       = delete;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Getter Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    const SHContactManager::ContactPoints&    GetContactPoints    ()  const noexcept;
-    const SHContactManager::TriggerEvents&    GetTriggerEvents    ()  const noexcept;
-    const SHContactManager::CollisionEvents&  GetCollisionEvents  ()  const noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Setter Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    void SetCollisionSpace(SHCollisionSpace* collisionSpace) noexcept;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Member Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    /**
-     * @brief
-     * Adds a rigid body to the world for it to be simulated using motion dynamics.
-     * @param rigidBody
-     * A rigid body to add. Duplicates will be ignored.
-    */
-    void AddRigidBody     (SHRigidBody* rigidBody)  noexcept;
-
-    /**
-     * @brief
-     * Removes a rigid body from the world. It's motion will not be affected unless
-     * explicitly modified.
-     * @param rigidBody
-     * A rigid body to add. Duplicates will be ignored.
-    */
-    void RemoveRigidBody  (SHRigidBody* rigidBody)  noexcept;
-
-    /**
-     * @brief
-     * Performs a single simulation step. <br/>
-     * Detect Collisions -> Integrate Forces -> Resolve Contacts -> Integrate Velocities
-     * @param dt
-     * A discrete time step for the simulation. This should be consistent for deterministic
-     * behaviour.
-    */
-    void Step             (float dt);
-
-  private:
-    /*---------------------------------------------------------------------------------*/
-    /* Type Definitions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    // EntityIDs are used to map resolved constraints back to bodies
-    using RigidBodies       = std::unordered_map<EntityID, SHRigidBody*>;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Data Members                                                                    */
-    /*---------------------------------------------------------------------------------*/
-
-    WorldSettings     settings;
-    SHCollisionSpace* collisionSpace;
-
-    RigidBodies       rigidBodies;
-    SHContactManager  contactManager;
-    SHContactSolver   contactSolver;
-
-    /*---------------------------------------------------------------------------------*/
-    /* Function Members                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    // TODO: Move to island when islands are set up
-    void integrateForces            (SHRigidBody& rigidBody, float dt) const noexcept;
-    void integrateVelocities        (SHRigidBody& rigidBody, float dt) const noexcept;
-  };
-
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Dynamics/SHRigidBody.cpp

@@ -1,765 +0,0 @@
-/****************************************************************************************
- * \file      SHRigidBody.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for a Rigid Body.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#include <SHpch.h>
-
-// Primary Header
-#include "SHRigidBody.h"
-
-// Project Headers
-#include <complex.h>
-#include <numeric>
-
-#include "Physics/Collision/SHCollider.h"
-#include "Tools/Logger/SHLogger.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Constructors & Destructor Definitions                                             */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHRigidBody::SHRigidBody(EntityID eid, Type type) noexcept
-  : entityID      { eid }
-  , collider      { nullptr }
-  , bodyType      { type }
-  , gravityScale  { 1.0f }
-  , invMass       { type == Type::DYNAMIC ? 1.0f : 0.0f }
-  , linearDrag    { 0.01f }
-  , angularDrag   { 0.01f }
-  , flags         { 0U }
-  {
-    // Set default flags
-    flags |= 1U << 0;   // Body is active
-    flags |= 1U << 2;   // Sleeping is enabled
-    flags |= 1U << 3;   // Gravity is enabled
-
-    // TODO: Compute inertia if body is dynamic
-  }
-
-  SHRigidBody::SHRigidBody(const SHRigidBody& rhs) noexcept
-  : entityID        { rhs.entityID }
-  , collider        { nullptr }
-  , bodyType        { rhs.bodyType }
-  , gravityScale    { rhs.gravityScale }
-  , invMass         { rhs.invMass }
-  , linearDrag      { rhs.linearDrag }
-  , angularDrag     { rhs.angularDrag }
-  , localInvInertia { rhs.localInvInertia }
-  , worldInvInertia { rhs.worldInvInertia }
-  , localCentroid   { rhs.localCentroid }
-  , worldCentroid   { rhs.worldCentroid }
-  , flags           { rhs.flags }
-  , motionState     { rhs.motionState }
-  {
-    // All other properties are defaulted to 0 to not carry over any potential errors / invalid values.
-  }
-
-  SHRigidBody::SHRigidBody(SHRigidBody&& rhs) noexcept
-  : entityID        { rhs.entityID }
-  , collider        { nullptr }
-  , bodyType        { rhs.bodyType }
-  , gravityScale    { rhs.gravityScale }
-  , invMass         { rhs.invMass }
-  , linearDrag      { rhs.linearDrag }
-  , angularDrag     { rhs.angularDrag }
-  , localInvInertia { rhs.localInvInertia }
-  , worldInvInertia { rhs.worldInvInertia }
-  , localCentroid   { rhs.localCentroid }
-  , worldCentroid   { rhs.worldCentroid }
-  , flags           { rhs.flags }
-  , motionState     { std::move(rhs.motionState) }
-  {
-    // All other properties are defaulted to 0 to not carry over any potential errors / invalid values.
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Operator Overload Definitions                                                     */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHRigidBody& SHRigidBody::operator=(const SHRigidBody& rhs) noexcept
-  {
-    // Handle self assignment
-    if (this == &rhs)
-      return *this;
-
-    entityID      = rhs.entityID;
-
-    // Deep copy the collider
-    *collider       = *rhs.collider;
-    bodyType        = rhs.bodyType;
-    gravityScale    = rhs.gravityScale;
-    invMass         = rhs.invMass;
-    linearDrag      = rhs.linearDrag;
-    angularDrag     = rhs.angularDrag;
-    localInvInertia = rhs.localInvInertia;
-    worldInvInertia = rhs.worldInvInertia;
-    localCentroid   = rhs.localCentroid;
-    worldCentroid   = rhs.worldCentroid;
-    flags           = rhs.flags;
-    motionState     = rhs.motionState;
-
-    // All other properties are defaulted to 0 to not carry over any potential errors / invalid values.
-    accumulatedForce  = SHVec3::Zero;
-    accumulatedTorque = SHVec3::Zero;
-    linearVelocity    = SHVec3::Zero;
-    angularVelocity   = SHVec3::Zero;
-
-    return *this;
-  }
-
-  SHRigidBody& SHRigidBody::operator=(SHRigidBody&& rhs) noexcept
-  {
-    entityID        = rhs.entityID;
-
-    // Deep copy the collider
-    *collider       = *rhs.collider;
-    bodyType        = rhs.bodyType;
-    gravityScale    = rhs.gravityScale;
-    invMass         = rhs.invMass;
-    linearDrag      = rhs.linearDrag;
-    angularDrag     = rhs.angularDrag;
-    localInvInertia = rhs.localInvInertia;
-    worldInvInertia = rhs.worldInvInertia;
-    localCentroid   = rhs.localCentroid;
-    worldCentroid   = rhs.worldCentroid;
-    flags           = rhs.flags;
-    motionState     = std::move(rhs.motionState);
-
-    // All other properties are defaulted to 0 to not carry over any potential errors / invalid values.
-    accumulatedForce  = SHVec3::Zero;
-    accumulatedTorque = SHVec3::Zero;
-    linearVelocity    = SHVec3::Zero;
-    angularVelocity   = SHVec3::Zero;
-
-    return *this;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Getter Functions Definitions                                                      */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHRigidBody::Type  SHRigidBody::GetType() const noexcept
-  {
-    return bodyType;
-  }
-
-  float SHRigidBody::GetGravityScale() const noexcept
-  {
-    return gravityScale;
-  }
-
-  float SHRigidBody::GetMass() const noexcept
-  {
-    return 1.0f/ invMass;
-  }
-
-  float SHRigidBody::GetLinearDrag() const noexcept
-  {
-    return linearDrag;
-  }
-
-  float SHRigidBody::GetAngularDrag() const noexcept
-  {
-    return angularDrag;
-  }
-
-  const SHMatrix& SHRigidBody::GetLocalInvInertia() const noexcept
-  {
-    return localInvInertia;
-  }
-
-  const SHMatrix& SHRigidBody::GetWorldInvInertia() const noexcept
-  {
-    return worldInvInertia;
-  }
-
-  const SHVec3& SHRigidBody::GetLocalCentroid() const noexcept
-  {
-    return localCentroid;
-  }
-
-  const SHVec3& SHRigidBody::GetWorldCentroid() const noexcept
-  {
-    return worldCentroid;
-  }
-
-  const SHVec3& SHRigidBody::GetForce() const noexcept
-  {
-    return accumulatedForce;
-  }
-
-  const SHVec3& SHRigidBody::GetTorque() const noexcept
-  {
-    return accumulatedTorque;
-  }
-
-  const SHVec3& SHRigidBody::GetLinearVelocity() const noexcept
-  {
-    // Check if linear velocity needs to be constrained
-
-    return linearVelocity;
-  }
-
-  const SHVec3& SHRigidBody::GetAngularVelocity() const noexcept
-  {
-    return angularVelocity;
-  }
-
-  // Flags
-
-  bool SHRigidBody::IsActive() const noexcept
-  {
-    static constexpr unsigned int FLAG_POS = 0;
-    return flags & (1U << FLAG_POS);
-  }
-
-  bool SHRigidBody::IsSleeping() const noexcept
-  {
-    static constexpr unsigned int FLAG_POS = 1;
-    return flags & (1U << FLAG_POS);
-  }
-
-  bool SHRigidBody::IsSleepingEnabled() const noexcept
-  {
-    static constexpr unsigned int FLAG_POS = 2;
-    return flags & (1U << FLAG_POS);
-  }
-
-  bool SHRigidBody::IsGravityEnabled() const noexcept
-  {
-    static constexpr unsigned int FLAG_POS = 3;
-    return flags & (1U << FLAG_POS);
-  }
-
-  bool SHRigidBody::IsAutoMassEnabled() const noexcept
-  {
-    static constexpr unsigned int FLAG_POS = 4;
-    return flags & (1U << FLAG_POS);
-  }
-
-  bool SHRigidBody::IsTriggerInMassData() const noexcept
-  {
-    static constexpr unsigned int FLAG_POS = 6;
-    return flags & (1U << FLAG_POS);
-  }
-
-  bool SHRigidBody::GetFreezePositionX() const noexcept
-  {
-    static constexpr unsigned int FLAG_POS = 10;
-    return flags & (1U << FLAG_POS);
-  }
-
-  bool SHRigidBody::GetFreezePositionY() const noexcept
-  {
-    static constexpr unsigned int FLAG_POS = 11;
-    return flags & (1U << FLAG_POS);
-  }
-
-  bool SHRigidBody::GetFreezePositionZ() const noexcept
-  {
-    static constexpr unsigned int FLAG_POS = 12;
-    return flags & (1U << FLAG_POS);
-  }
-
-  bool SHRigidBody::GetFreezeRotationX() const noexcept
-  {
-    static constexpr unsigned int FLAG_POS = 13;
-    return flags & (1U << FLAG_POS);
-  }
-
-  bool SHRigidBody::GetFreezeRotationY() const noexcept
-  {
-    static constexpr unsigned int FLAG_POS = 14;
-    return flags & (1U << FLAG_POS);
-  }
-
-  bool SHRigidBody::GetFreezeRotationZ() const noexcept
-  {
-    static constexpr unsigned int FLAG_POS = 15;
-    return flags & (1U << FLAG_POS);
-  }
-
-  SHMotionState& SHRigidBody::GetMotionState() noexcept
-  {
-    return motionState;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Setter Functions Definitions                                                      */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHRigidBody::SetCollider(SHCollider* c) noexcept
-  {
-    collider = c;
-  }
-
-  void SHRigidBody::SetType(Type newType) noexcept
-  {
-    if (newType == bodyType)
-      return;
-
-    bodyType    = newType;
-
-    if (bodyType != Type::DYNAMIC)
-    {
-      invMass         = 0.0f;
-      localInvInertia.m[0][0] = localInvInertia.m[1][1] = localInvInertia.m[2][2] = 0.0f;
-      worldInvInertia.m[0][0] = worldInvInertia.m[1][1] = worldInvInertia.m[2][2] = 0.0f;
-    }
-    else
-    {
-      invMass         = 1.0f;
-      localInvInertia = SHMatrix::Identity;
-    }
-  }
-
-  void SHRigidBody::SetGravityScale(float newGravityScale) noexcept
-  {
-    gravityScale = newGravityScale;
-  }
-
-  void SHRigidBody::SetMass(float newMass) noexcept
-  {
-    if (bodyType != Type::DYNAMIC)
-    {
-      invMass = 0.0f;
-      SHLOG_WARNING("Cannot set mass of a non-Dynamic Body {}", entityID)
-      return;
-    }
-
-    if (newMass < 0.0f)
-    {
-      SHLOG_WARNING("Cannot set mass below 0. Object {}'s mass will remain unchanged.", entityID)
-      return;
-    }
-
-    invMass = 1.0f / newMass;
-
-    // Turn off automass
-    static constexpr unsigned int AUTO_MASS_FLAG = 4;
-    static constexpr uint16_t     VALUE = 1U << AUTO_MASS_FLAG;
-
-    flags &= ~(VALUE);
-    ComputeMassData();
-  }
-
-  void SHRigidBody::SetLinearDrag(float newLinearDrag) noexcept
-  {
-    if (bodyType == Type::STATIC)
-    {
-      SHLOG_WARNING("Cannot set linear drag of a Static Body {}", entityID)
-      return;
-    }
-
-    if (newLinearDrag < 0.0f)
-    {
-      SHLOG_WARNING("Cannot set drag below 0. Object {}'s linear drag will remain unchanged.", entityID)
-      return;
-    }
-
-    linearDrag = newLinearDrag;
-  }
-
-  void SHRigidBody::SetAngularDrag(float newAngularDrag) noexcept
-  {
-    if (bodyType == Type::STATIC)
-    {
-      SHLOG_WARNING("Cannot set angular drag of a Static Body {}", entityID)
-      return;
-    }
-
-    if (newAngularDrag < 0.0f)
-    {
-      SHLOG_WARNING("Cannot set drag below 0. Object {}'s angular drag will remain unchanged.", entityID)
-      return;
-    }
-
-    angularDrag = newAngularDrag;
-  }
-
-  void SHRigidBody::SetLinearVelocity(const SHVec3& newLinearVelocity) noexcept
-  {
-    if (bodyType == Type::STATIC)
-    {
-      SHLOG_WARNING("Cannot set linear velocity of a Static Body {}", entityID)
-      return;
-    }
-
-    linearVelocity = newLinearVelocity;
-    constrainLinearVelocities();
-  }
-
-  void SHRigidBody::SetAngularVelocity(const SHVec3& newAngularVelocity) noexcept
-  {
-    if (bodyType == Type::STATIC)
-    {
-      SHLOG_WARNING("Cannot set angular velocity of a Static Body {}", entityID)
-      return;
-    }
-
-    angularVelocity = newAngularVelocity;
-    constrainAngularVelocities();
-  }
-
-  void SHRigidBody::SetIsActive(bool isActive) noexcept
-  {
-    static constexpr unsigned int FLAG_POS  = 0;
-    static constexpr uint16_t     VALUE     = 1U << FLAG_POS;
-
-    isActive ? flags |= VALUE : flags &= ~VALUE;
-  }
-
-  void SHRigidBody::SetIsSleeping(bool isSleeping) noexcept
-  {
-    static constexpr unsigned int FLAG_POS  = 1;
-    static constexpr uint16_t     VALUE     = 1U << FLAG_POS;
-
-    if (isSleeping)
-    {
-      flags |= VALUE;
-
-      ClearForces();
-      linearVelocity  = SHVec3::Zero;
-      angularVelocity = SHVec3::Zero;
-    }
-    else
-    {
-      flags &= ~VALUE;
-    }
-  }
-
-  void SHRigidBody::SetSleepingEnabled(bool enableSleeping) noexcept
-  {
-    static constexpr unsigned int FLAG_POS  = 2;
-    static constexpr uint16_t     VALUE     = 1U << FLAG_POS;
-
-    if (enableSleeping)
-    {
-      flags |= VALUE;
-    }
-    else
-    {
-      flags &= ~VALUE;
-      // Wake the body
-      SetIsSleeping(false);
-    }
-  }
-
-  void SHRigidBody::SetGravityEnabled(bool enableGravity) noexcept
-  {
-    static constexpr unsigned int FLAG_POS  = 3;
-    static constexpr uint16_t     VALUE     = 1U << FLAG_POS;
-
-    enableGravity ? flags |= VALUE : flags &= ~VALUE;
-  }
-
-  void SHRigidBody::SetAutoMassEnabled(bool enableAutoMass) noexcept
-  {
-    static constexpr unsigned int FLAG_POS  = 4;
-    static constexpr uint16_t     VALUE     = 1U << FLAG_POS;
-
-    if (enableAutoMass)
-    {
-      flags |= VALUE;
-    }
-    else
-    {
-      flags &= ~VALUE;
-      // Use default mass of 1
-      invMass = 1.0f;
-    }
-
-    ComputeMassData();
-  }
-
-  void SHRigidBody::SetTriggerInMassData(bool triggerInMassData) noexcept
-  {
-    static constexpr unsigned int FLAG_POS  = 6;
-    static constexpr uint16_t     VALUE     = 1U << FLAG_POS;
-
-    triggerInMassData ? flags |= VALUE : flags &= ~VALUE;
-  }
-
-  void SHRigidBody::SetFreezePositionX(bool freezePositionX) noexcept
-  {
-    static constexpr unsigned int FLAG_POS  = 10;
-    static constexpr uint16_t     VALUE     = 1U << FLAG_POS;
-
-    if (freezePositionX)
-    {
-      flags |= VALUE;
-      // Reset linear velocity along X-axis
-      linearVelocity.x = 0.0f;
-    }
-    else
-    {
-      flags &= ~VALUE;
-    }
-  }
-
-  void SHRigidBody::SetFreezePositionY(bool freezePositionY) noexcept
-  {
-    static constexpr unsigned int FLAG_POS  = 11;
-    static constexpr uint16_t     VALUE     = 1U << FLAG_POS;
-
-    if (freezePositionY)
-    {
-      flags |= VALUE;
-      // Reset linear velocity along Y-axis
-      linearVelocity.y = 0.0f;
-    }
-    else
-    {
-      flags &= ~VALUE;
-    }
-  }
-
-  void SHRigidBody::SetFreezePositionZ(bool freezePositionZ) noexcept
-  {
-    static constexpr unsigned int FLAG_POS  = 12;
-    static constexpr uint16_t     VALUE     = 1U << FLAG_POS;
-
-    if (freezePositionZ)
-    {
-      flags |= VALUE;
-      // Reset linear velocity along Z-axis
-      linearVelocity.z = 0.0f;
-    }
-    else
-    {
-      flags &= ~VALUE;
-    }
-  }
-
-  void SHRigidBody::SetFreezeRotationX(bool freezeRotationX) noexcept
-  {
-    static constexpr unsigned int FLAG_POS  = 13;
-    static constexpr uint16_t     VALUE     = 1U << FLAG_POS;
-
-    if (freezeRotationX)
-    {
-      flags |= VALUE;
-      // Reset angular velocity along X-axis
-      angularVelocity.x = 0.0f;
-      // Set inertia tensor on the x-axis to 0
-      localInvInertia.m[0][0] = 0.0f;
-    }
-    else
-    {
-      flags &= ~VALUE;
-      ComputeMassData();
-    }
-  }
-
-  void SHRigidBody::SetFreezeRotationY(bool freezeRotationY) noexcept
-  {
-    static constexpr unsigned int FLAG_POS  = 14;
-    static constexpr uint16_t     VALUE     = 1U << FLAG_POS;
-
-    if (freezeRotationY)
-    {
-      flags |= VALUE;
-      // Reset angular velocity along Y-axis
-      angularVelocity.y = 0.0f;
-      // Set inertia tensor on the y-axis to 0
-      localInvInertia.m[1][1] = 0.0f;
-    }
-    else
-    {
-      flags &= ~VALUE;
-      ComputeMassData();
-    }
-  }
-
-  void SHRigidBody::SetFreezeRotationZ(bool freezeRotationZ) noexcept
-  {
-    static constexpr unsigned int FLAG_POS  = 15;
-    static constexpr uint16_t     VALUE     = 1U << FLAG_POS;
-
-    if (freezeRotationZ)
-    {
-      flags |= VALUE;
-      // Reset angular velocity along Z-axis
-      angularVelocity.z = 0.0f;
-      // Set inertia tensor on the z-axis to 0
-      localInvInertia.m[2][2] = 0.0f;
-    }
-    else
-    {
-      flags &= ~VALUE;
-      ComputeMassData();
-    }
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Public Member Function Definition                                                 */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHRigidBody::AddForce(const SHVec3& force, const SHVec3& pos) noexcept
-  {
-    if (bodyType != Type::DYNAMIC)
-      return;
-
-    accumulatedForce  += force;
-    accumulatedTorque += SHVec3::Cross(pos, force);
-  }
-
-  void SHRigidBody::AddImpulse(const SHVec3& impulse, const SHVec3& pos) noexcept
-  {
-    if (bodyType != Type::DYNAMIC)
-      return;
-
-    linearVelocity  += impulse * invMass;
-    angularVelocity += worldInvInertia * SHVec3::Cross(pos, impulse);
-  }
-
-  void SHRigidBody::AddTorque(const SHVec3& torque) noexcept
-  {
-    if (bodyType != Type::DYNAMIC)
-      return;
-
-    accumulatedTorque += torque;
-  }
-
-  void SHRigidBody::ClearForces() noexcept
-  {
-    accumulatedForce  = SHVec3::Zero;
-    accumulatedTorque = SHVec3::Zero;
-  }
-
-  void SHRigidBody::ComputeWorldData() noexcept
-  {
-    const SHMatrix R  = SHMatrix::Rotate(motionState.orientation);
-    const SHMatrix RT = SHMatrix::Transpose(R);
-
-    // Compute world centroid
-    worldCentroid = (R * localCentroid) + motionState.position;
-
-    if (bodyType != Type::DYNAMIC)
-      return;
-
-    // Compute world inertia
-    worldInvInertia = R * (localInvInertia * RT);
-  }
-
-  void SHRigidBody::ComputeMassData() noexcept
-  {
-    // Reset centroid
-    localCentroid   = SHVec3::Zero;
-    localInvInertia = SHMatrix::Identity;
-
-    // In the instance the body is a particle
-    if (!collider || collider->GetCollisionShapes().empty())
-    {
-      localInvInertia.m[0][0] = localInvInertia.m[1][1] = localInvInertia.m[2][2] = invMass;
-      return;
-    }
-
-    const float CUSTOM_MASS       = 1.0f / invMass;
-    const bool  AUTO_MASS         = IsAutoMassEnabled();
-    const bool  INCLUDE_TRIGGERS  = IsTriggerInMassData();
-    
-
-    // Compute Total mass and store individual masses if custom mass is being used.
-    // Compute local centroid at the same time
-
-    // Zero matrix;
-    SHMatrix J = SHMatrix::Zero;
-
-    float totalMass = 0.0f;
-    std::vector<float> trueMass;  // We store the true masses here for calculating the ratio with custom masses.
-
-    const auto& SHAPES = collider->GetCollisionShapes();
-    for (auto* shape : SHAPES)
-    {
-      // We skip triggers by default
-      if (shape->IsTrigger() && !INCLUDE_TRIGGERS)
-        continue;
-
-      // p = m/v, therefore m = pv. This is the true mass of the shape.
-      const float MASS = shape->GetDensity() * shape->GetVolume();
-      totalMass += MASS;
-
-      trueMass.emplace_back(MASS);
-
-      // Weighted sum of masses contribute to the centroid's location using the collider's local position.
-      localCentroid += MASS * shape->GetRelativeCentroid();
-    }
-
-    if (totalMass > 0.0f)
-    {
-      localCentroid /= totalMass;
-
-      if (AUTO_MASS)
-        invMass = 1.0f / totalMass;
-    }
-
-    const SHMatrix R  = SHMatrix::Rotate(motionState.orientation);
-    const SHMatrix RT = SHMatrix::Transpose(R);
-
-    // We need the world centroid to compute the offset of the collider from the body's centroid
-    worldCentroid = (R * localCentroid) + motionState.position;
-
-    for (size_t i = 0; i < SHAPES.size(); ++i)
-    {
-      const auto* SHAPE = SHAPES[i];
-
-      // We skip triggers by default
-      if (SHAPE->IsTrigger() && !INCLUDE_TRIGGERS)
-        continue;
-
-      // If using custom mass, take the ratio of the mass
-      float actualMass = trueMass[i];
-      if (!AUTO_MASS)
-        actualMass *= CUSTOM_MASS / totalMass;
-
-      // Convert inertia tensor into local-space of the body
-      // R * I * RT = R * (I * RT)
-      SHMatrix I  = SHAPE->GetInertiaTensor( actualMass ) * RT;
-      I = R * I;
-
-      // Parallel Axis Theorem
-      // https://en.wikipedia.org/wiki/Parallel_axis_theorem
-      // J = I + m((R /dot R)E_3 - R /outerProduct R)
-      const SHVec3    R       = SHAPE->GetWorldCentroid() - worldCentroid;
-      const float     R_MAG2  = R.LengthSquared();
-      const SHMatrix  R_OX_R  = SHVec3::OuterProduct(R, R);
-
-      J += I + actualMass * (SHMatrix::Identity * R_MAG2 - R_OX_R);
-    }
-
-    // Set diagonals then invert
-    localInvInertia.m[0][0] = J.m[0][0];
-    localInvInertia.m[1][1] = J.m[1][1];
-    localInvInertia.m[2][2] = J.m[2][2];
-
-    localInvInertia = SHMatrix::Inverse(localInvInertia);
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Private Member Function Definition                                                */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHRigidBody::constrainLinearVelocities() noexcept
-  {
-    linearVelocity.x = GetFreezePositionX() ? 0.0f : linearVelocity.x;
-    linearVelocity.y = GetFreezePositionY() ? 0.0f : linearVelocity.y;
-    linearVelocity.z = GetFreezePositionZ() ? 0.0f : linearVelocity.z;
-  }
-
-  void SHRigidBody::constrainAngularVelocities() noexcept
-  {
-    angularVelocity.x = GetFreezeRotationX() ? 0.0f : angularVelocity.x;
-    angularVelocity.y = GetFreezeRotationY() ? 0.0f : angularVelocity.y;
-    angularVelocity.z = GetFreezeRotationZ() ? 0.0f : angularVelocity.z;
-  }
-
-} // namespace SHADE

SHADE_Engine/src/Physics/Dynamics/SHRigidBody.h

@@ -1,268 +0,0 @@
-/****************************************************************************************
- * \file      SHRigidBody.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a Rigid Body.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-// Project Headers
-#include "ECS_Base/Entity/SHEntity.h"
-#include "Math/SHMatrix.h"
-#include "Math/Vector/SHVec3.h"
-#include "SHMotionState.h"
-
-namespace SHADE
-{
-  /*-------------------------------------------------------------------------------------*/
-  /* Forward Declarations                                                                */
-  /*-------------------------------------------------------------------------------------*/
-
-  class SHCollider;
-
-  /*-------------------------------------------------------------------------------------*/
-  /* Type Definitions                                                                    */
-  /*-------------------------------------------------------------------------------------*/
-
-  /**
-   * @brief
-   * Encapsulates a Rigid Body used in Physics Simulations
-  */
-  class SH_API SHRigidBody
-  {
-  private:
-    /*-----------------------------------------------------------------------------------*/
-    /* Friends                                                                           */
-    /*-----------------------------------------------------------------------------------*/
-
-    friend class SHPhysicsWorld;
-    friend class SHContactSolver;
-
-  public:
-    /*-----------------------------------------------------------------------------------*/
-    /* Type Definitions                                                                  */
-    /*-----------------------------------------------------------------------------------*/
-
-    enum class Type
-    {
-      STATIC    // Immovable body with infinite mass
-    , KINEMATIC // Only movable by setting velocity, unaffected by forces. Has infinite mass.
-    , DYNAMIC   // Affected by forces.
-    };
-
-    /*-----------------------------------------------------------------------------------*/
-    /* Constructors & Destructor                                                         */
-    /*-----------------------------------------------------------------------------------*/
-
-    SHRigidBody (EntityID eid, Type type) noexcept;
-    SHRigidBody (const SHRigidBody& rhs)  noexcept;
-    SHRigidBody (SHRigidBody&& rhs)       noexcept;
-
-    /*-----------------------------------------------------------------------------------*/
-    /* Operator Overloads                                                                */
-    /*-----------------------------------------------------------------------------------*/
-
-    SHRigidBody& operator=  (const SHRigidBody& rhs)  noexcept;
-    SHRigidBody& operator=  (SHRigidBody&& rhs)       noexcept;
-  
-    /*-----------------------------------------------------------------------------------*/
-    /* Getter Functions                                                                  */
-    /*-----------------------------------------------------------------------------------*/
-
-    [[nodiscard]] Type                GetType             ()  const noexcept;
-
-    [[nodiscard]] float               GetGravityScale     ()  const noexcept;
-
-    [[nodiscard]] float               GetMass             ()  const noexcept;
-    [[nodiscard]] float               GetLinearDrag       ()  const noexcept;
-    [[nodiscard]] float               GetAngularDrag      ()  const noexcept;
-
-    [[nodiscard]] const SHMatrix&     GetLocalInvInertia  ()  const noexcept;
-    [[nodiscard]] const SHMatrix&     GetWorldInvInertia  ()  const noexcept;
-
-    [[nodiscard]] const SHVec3&       GetLocalCentroid    ()  const noexcept;
-    [[nodiscard]] const SHVec3&       GetWorldCentroid    ()  const noexcept;
-
-    [[nodiscard]] const SHVec3&       GetForce            ()  const noexcept;
-    [[nodiscard]] const SHVec3&       GetTorque           ()  const noexcept;
-    [[nodiscard]] const SHVec3&       GetLinearVelocity   ()  const noexcept;
-    [[nodiscard]] const SHVec3&       GetAngularVelocity  ()  const noexcept;
-
-    // Flags
-
-    [[nodiscard]] bool                IsActive            ()  const noexcept;
-    [[nodiscard]] bool                IsSleeping          ()  const noexcept;
-    [[nodiscard]] bool                IsSleepingEnabled   ()  const noexcept;
-    [[nodiscard]] bool                IsGravityEnabled    ()  const noexcept;
-    [[nodiscard]] bool                IsAutoMassEnabled   ()  const noexcept;
-    [[nodiscard]] bool                IsTriggerInMassData ()  const noexcept;
-    [[nodiscard]] bool                GetFreezePositionX  ()  const noexcept;
-    [[nodiscard]] bool                GetFreezePositionY  ()  const noexcept;
-    [[nodiscard]] bool                GetFreezePositionZ  ()  const noexcept;
-    [[nodiscard]] bool                GetFreezeRotationX  ()  const noexcept;
-    [[nodiscard]] bool                GetFreezeRotationY  ()  const noexcept;
-    [[nodiscard]] bool                GetFreezeRotationZ  ()  const noexcept;
-
-    [[nodiscard]] SHMotionState&      GetMotionState      ()  noexcept;
-
-    /*-----------------------------------------------------------------------------------*/
-    /* Setter Functions                                                                  */
-    /*-----------------------------------------------------------------------------------*/
-
-    void SetCollider          (SHCollider* c)                   noexcept;
-
-    /**
-     * @brief
-     * Changing the type from non-Dynamic to Dynamic will set the default
-     * mass and drag values.
-    */
-    void SetType              (Type newType)                    noexcept;
-
-    void SetGravityScale      (float newGravityScale)           noexcept;
-
-    /**
-     * @brief
-     * Mass is only modifiable for Dynamic bodies.
-     * @param newMass
-     * The new mass to set. Values below 0 will be ignored.
-    */
-    void  SetMass             (float newMass)                   noexcept;
-
-    /**
-     * @brief
-     * Drag is only modifiable for non-Static bodies.
-     * @param newLinearDrag
-     * The new drag to set. Values below 0 will be ignored.
-    */
-    void  SetLinearDrag       (float newLinearDrag)             noexcept;
-
-    /**
-     * @brief
-     * Drag is only modifiable for non-Static bodies.
-     * @param newAngularDrag
-     * The new drag to set. Values below 0 will be ignored.
-    */
-    void  SetAngularDrag      (float newAngularDrag)            noexcept;
-
-    void  SetLinearVelocity   (const SHVec3& newLinearVelocity) noexcept;
-    void  SetAngularVelocity  (const SHVec3& newAngularVelocity)noexcept;
-
-    // Flags
-
-    void  SetIsActive         (bool isActive)                   noexcept;
-    void  SetIsSleeping       (bool isSleeping)                 noexcept;
-    void  SetSleepingEnabled  (bool enableSleeping)             noexcept;
-    void  SetGravityEnabled   (bool enableGravity)              noexcept;
-    void  SetAutoMassEnabled  (bool enableAutoMass)             noexcept;
-    void  SetTriggerInMassData(bool triggerInMassData)          noexcept;
-    void  SetFreezePositionX  (bool freezePositionX)            noexcept;
-    void  SetFreezePositionY  (bool freezePositionY)            noexcept;
-    void  SetFreezePositionZ  (bool freezePositionZ)            noexcept;
-    void  SetFreezeRotationX  (bool freezeRotationX)            noexcept;
-    void  SetFreezeRotationY  (bool freezeRotationY)            noexcept;
-    void  SetFreezeRotationZ  (bool freezeRotationZ)            noexcept;
-
-    /*-----------------------------------------------------------------------------------*/
-    /* Member Functions                                                                  */
-    /*-----------------------------------------------------------------------------------*/
-
-    /**
-     * @brief
-     * Adds a force to the body with an offset from it's center of mass. <br/>
-     * Non-dynamic bodies will be ignored.
-     * @param force
-     * The force to add to the body.
-     * @param pos
-     * The position from the center of mass to offset the force. Defaults to zero.
-    */
-    void AddForce         (const SHVec3& force, const SHVec3& pos = SHVec3::Zero) noexcept;
-
-    /**
-     * @brief
-     * Adds an impulse to the body with an offset from it's center of mass. <br/>
-     * Non-dynamic bodies will be ignored.
-     * @param impulse
-     * The impulse to add to the body.
-     * @param pos
-     * The position from the center of mass to offset the impulse. Defaults to zero.
-    */
-    void AddImpulse       (const SHVec3& impulse, const SHVec3& pos = SHVec3::Zero) noexcept;
-
-    /**
-     * @brief
-     * Adds torque to rotate the body about it's centroid. <br/>
-     * Non-dynamic bodies will be ignored.
-     * @param torque
-     * The torque to add to the body.
-    */
-    void AddTorque        (const SHVec3& torque) noexcept;
-
-    /**
-     * @brief
-     * Removes all the forces from the body.
-    */
-    void ClearForces      () noexcept;
-
-    /**
-     * @brief
-     * Computes the centroid and invInertia in world space.
-    */
-    void ComputeWorldData () noexcept;
-
-    /**
-     * @brief
-     * Computes the centroid and inertia of the object. <br/>
-     * If auto-mass is enabled, computes the mass. <br/>
-     * If auto-mass is disabled, the inertia is computed based on the ratio each shape's volume over the total volume.
-     * 
-    */
-    void ComputeMassData  () noexcept;
-
-  private:
-    /*-----------------------------------------------------------------------------------*/
-    /* Data Members                                                                      */
-    /*-----------------------------------------------------------------------------------*/
-
-    // The entityID here is only meant for linking with the actual component in the engine.
-    EntityID      entityID;
-    SHCollider*   collider;
-
-    Type          bodyType;
-
-    float         gravityScale;
-
-    float         invMass;
-    float         linearDrag;
-    float         angularDrag;
-
-    SHMatrix      localInvInertia;
-    SHMatrix      worldInvInertia;
-
-    SHVec3        localCentroid;
-    SHVec3        worldCentroid;
-      
-    SHVec3        accumulatedForce;
-    SHVec3        accumulatedTorque;
-
-    SHVec3        linearVelocity;
-    SHVec3        angularVelocity;
-
-    // aZ aY aX pZ pY pX 0 0 0 addTriggersToMassData inIsland autoMass enableGravity enableSleeping sleeping active
-    uint16_t      flags;
-
-    SHMotionState motionState;
-
-    /*-----------------------------------------------------------------------------------*/
-    /* Member Functions                                                                  */
-    /*-----------------------------------------------------------------------------------*/
-
-    void constrainLinearVelocities  ()  noexcept;
-    void constrainAngularVelocities ()  noexcept;
-    
-  };
-
-} // namespace SHADE

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

@@ -1,163 +0,0 @@
-/****************************************************************************************
- * \file      SHPhysicsObject.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for a Physics Object.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#include <SHpch.h>
-
-// Primary Header
-#include "SHPhysicsObject.h"
-
-#include "Physics/Collision/SHCollider.h"
-#include "Physics/Collision/SHCompositeCollider.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Constructor & Destructor Definitions                                              */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHPhysicsObject::SHPhysicsObject(EntityID eid) noexcept
-  : entityID  { eid }
-  {}
-
-  SHPhysicsObject::SHPhysicsObject(const SHPhysicsObject& rhs) noexcept
-  : entityID  { rhs.entityID }
-  {
-    deepCopyComponents(rhs.rigidBody, rhs.collider);
-  }
-
-  SHPhysicsObject::SHPhysicsObject(SHPhysicsObject&& rhs) noexcept
-  : entityID  { rhs.entityID }
-  {
-    deepCopyComponents(rhs.rigidBody, rhs.collider);
-  }
-
-  SHPhysicsObject::~SHPhysicsObject() noexcept
-  {
-    entityID = MAX_EID;
-
-    delete rigidBody;
-    rigidBody = nullptr;
-
-    delete collider;
-    collider = nullptr;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Operator Overload Definitions                                                     */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHPhysicsObject& SHPhysicsObject::operator=(const SHPhysicsObject& rhs) noexcept
-  {
-    if (this == &rhs)
-      return *this;
-
-    entityID = rhs.entityID;
-
-    deepCopyComponents(rhs.rigidBody, rhs.collider);
-
-    return *this;
-  }
-
-  SHPhysicsObject& SHPhysicsObject::operator=(SHPhysicsObject&& rhs) noexcept
-  {
-    entityID = rhs.entityID;
-
-    deepCopyComponents(rhs.rigidBody, rhs.collider);
-
-    return *this;
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Public Member Function Definitions                                                */
-  /*-----------------------------------------------------------------------------------*/
-
-  bool SHPhysicsObject::IsEmpty() const noexcept
-  {
-    return rigidBody == nullptr && collider == nullptr;
-  }
-
-  SHRigidBody* SHPhysicsObject::CreateRigidBody(SHRigidBody::Type bodyType)
-  {
-    if (rigidBody)
-    {
-      SHLOG_INFO_D("Rigid body for Entity {} has already been created!", entityID)
-      return rigidBody;
-    }
-
-    rigidBody = new SHRigidBody{ entityID, bodyType };
-
-    // Link with collider if it exists
-    if (collider)
-    {
-      collider->SetRigidBody(rigidBody);
-      rigidBody->SetCollider(collider);
-    }
-
-    rigidBody->ComputeMassData();
-    return rigidBody;
-  }
-
-  void SHPhysicsObject::DestroyRigidBody() noexcept
-  {
-    delete rigidBody;
-    rigidBody = nullptr;
-
-    // Unlink with collider
-    if (collider)
-      collider->SetRigidBody(nullptr);
-  }
-
-  SHCollider* SHPhysicsObject::CreateCompositeCollider(const SHTransform& transform)
-  {
-    if (collider)
-    {
-      SHLOG_INFO_D("Collider for Entity {} has already been created!", entityID)
-      return collider;
-    }
-
-    collider = new SHCompositeCollider{ entityID, transform };
-
-    // Link with rigidBody if it exists
-    if (rigidBody)
-    {
-      rigidBody->SetCollider(collider);
-      collider->SetRigidBody(rigidBody);
-    }
-
-    return collider;
-  }
-
-  void SHPhysicsObject::DestroyCollider() noexcept
-  {
-    delete collider;
-    collider = nullptr;
-
-    // Unlink with rigid body
-    if (rigidBody)
-    {
-      rigidBody->SetCollider(nullptr);
-      rigidBody->ComputeMassData();
-    }
-  }
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Private Member Function Definitions                                               */
-  /*-----------------------------------------------------------------------------------*/
-
-  void SHPhysicsObject::deepCopyComponents(const SHRigidBody* rhsRigidBody, const SHCollider* rhsCollider)
-  {
-    if (rhsRigidBody)
-      rigidBody = new SHRigidBody{ *rhsRigidBody };
-
-    if (rhsCollider)
-      collider = new SHCollider { *rhsCollider };
-  }
-
-} // namespace SHADE

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

@@ -1,109 +0,0 @@
-/****************************************************************************************
- * \file      SHPhysicsObject.h
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for a Physics Object.
- *
- * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
- *            disclosure of this file or its contents without the prior written consent
- *            of DigiPen Institute of Technology is prohibited.
-****************************************************************************************/
-
-#pragma once
-
-// Project Headers
-#include "Physics/Collision/SHCollider.h"
-#include "Physics/Dynamics/SHRigidBody.h"
-
-namespace SHADE
-{
-  /*-------------------------------------------------------------------------------------*/
-  /* Type Definitions                                                                    */
-  /*-------------------------------------------------------------------------------------*/
-
-  /**
-   * @brief
-   * Encapsulates a rigid body and a collider tied to an Entity.
-  */
-  struct SH_API SHPhysicsObject
-  {
-  public:
-    /*-----------------------------------------------------------------------------------*/
-    /* Data Members                                                                      */
-    /*-----------------------------------------------------------------------------------*/
-
-    EntityID      entityID  = MAX_EID;
-    SHRigidBody*  rigidBody = nullptr;
-    SHCollider*   collider  = nullptr;
-
-    /*-----------------------------------------------------------------------------------*/
-    /* Constructors & Destructor                                                         */
-    /*-----------------------------------------------------------------------------------*/
-
-    SHPhysicsObject   (EntityID eid)                noexcept;
-    SHPhysicsObject   (const SHPhysicsObject& rhs)  noexcept;
-    SHPhysicsObject   (SHPhysicsObject&& rhs)       noexcept;
-    ~SHPhysicsObject  ()                            noexcept;
-
-    /*-----------------------------------------------------------------------------------*/
-    /* Operator Overloads                                                                */
-    /*-----------------------------------------------------------------------------------*/
-
-    SHPhysicsObject& operator=(const SHPhysicsObject& rhs)  noexcept;
-    SHPhysicsObject& operator=(SHPhysicsObject&& rhs)       noexcept;
-
-    /*-----------------------------------------------------------------------------------*/
-    /* Member Functions                                                                  */
-    /*-----------------------------------------------------------------------------------*/
-
-    /**
-     * @brief
-     * Checks if the physics object has a rigid body or a collider.
-     * @return
-     * True if the physics object has neither a rigid body nor a collider.
-     */
-    [[nodiscard]] bool  IsEmpty () const noexcept;
-
-    /**
-     * @brief
-     * Creates a rigid body for this physics object.
-     * @param bodyType
-     * The rigid body's type. Can be modified after creation.
-     * @return
-     * Pointer to the rigid body that was created. The memory of this rigid body is managed
-     * by the physics object itself.
-    */
-    SHRigidBody* CreateRigidBody (SHRigidBody::Type bodyType);
-
-    /**
-     * @brief
-     * Destroys the rigid body of this physics object and frees the memory.
-    */
-    void DestroyRigidBody () noexcept;
-
-    /**
-     * @brief
-     * Creates a collider for this physics object.
-     * @param colliderType
-     * The collider's type. Should not be modified after creation.
-     * @param transform.
-     * The world transform of the collider. Defaults to the identity transform.
-     * @return
-     * Pointer to the collider that was created. The memory of this collider is managed
-     * by the physics object itself.
-    */
-    SHCollider* CreateCompositeCollider (const SHTransform& transform = SHTransform::Identity);
-
-    /**
-     * @brief
-     * Destroys the collider of this physics object and frees the memory.
-    */
-    void DestroyCollider () noexcept;
-
-  private:
-    /*-----------------------------------------------------------------------------------*/
-    /* Member Functions                                                                  */
-    /*-----------------------------------------------------------------------------------*/
-
-    void deepCopyComponents(const SHRigidBody* rhsRigidBody, const SHCollider* rhsCollider);
-  };
-} // namespace SHADE