From 52dc993941676f93f0af4985c197b63e38072016 Mon Sep 17 00:00:00 2001 From: Diren D Bharwani Date: Fri, 2 Dec 2022 17:44:44 +0800 Subject: [PATCH] goodbye react --- .../src/Application/SBApplication.cpp | 29 -- SHADE_Application/src/Scenes/SBMainScene.cpp | 10 - SHADE_Engine/src/Camera/SHCameraSystem.cpp | 28 +- .../Inspector/SHEditorComponentView.hpp | 4 +- .../Physics/Collision/SHCollisionListener.cpp | 254 ----------- .../Physics/Collision/SHCollisionListener.h | 80 ---- .../Physics/Collision/SHPhysicsRaycaster.cpp | 350 -------------- .../Physics/Collision/SHPhysicsRaycaster.h | 134 ------ .../Physics/Interface/SHColliderComponent.cpp | 131 +----- .../Physics/Interface/SHColliderComponent.h | 9 - .../Physics/Interface/SHCollisionShape.cpp | 82 ++-- .../Interface/SHRigidBodyComponent.cpp | 310 ++----------- .../Physics/Interface/SHRigidBodyComponent.h | 28 +- .../Physics/PhysicsObject/SHPhysicsObject.cpp | 431 ------------------ .../Physics/PhysicsObject/SHPhysicsObject.h | 111 ----- .../PhysicsObject/SHPhysicsObjectManager.cpp | 309 ------------- .../PhysicsObject/SHPhysicsObjectManager.h | 181 -------- .../System/SHPhysicsDebugDrawSystem.cpp | 334 -------------- .../Physics/System/SHPhysicsDebugDrawSystem.h | 138 ------ .../src/Physics/System/SHPhysicsSystem.cpp | 394 ---------------- .../src/Physics/System/SHPhysicsSystem.h | 151 +----- .../System/SHPhysicsSystemInterface.cpp | 96 +--- .../Physics/System/SHPhysicsSystemInterface.h | 9 +- .../System/SHPhysicsSystemRoutines.cpp | 307 +------------ SHADE_Managed/src/Components/Collider.cxx | 2 +- SHADE_Managed/src/Physics/Physics.cxx | 18 +- SHADE_Managed/src/Utility/Convert.cxx | 32 -- SHADE_Managed/src/Utility/Convert.hxx | 14 - 28 files changed, 131 insertions(+), 3845 deletions(-) delete mode 100644 SHADE_Engine/src/Physics/Collision/SHCollisionListener.cpp delete mode 100644 SHADE_Engine/src/Physics/Collision/SHCollisionListener.h delete mode 100644 SHADE_Engine/src/Physics/Collision/SHPhysicsRaycaster.cpp delete mode 100644 SHADE_Engine/src/Physics/Collision/SHPhysicsRaycaster.h delete mode 100644 SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.cpp delete mode 100644 SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.h delete mode 100644 SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObjectManager.cpp delete mode 100644 SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObjectManager.h delete mode 100644 SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.cpp delete mode 100644 SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.h diff --git a/SHADE_Application/src/Application/SBApplication.cpp b/SHADE_Application/src/Application/SBApplication.cpp index 5aa1eb00..ce0a939c 100644 --- a/SHADE_Application/src/Application/SBApplication.cpp +++ b/SHADE_Application/src/Application/SBApplication.cpp @@ -31,7 +31,6 @@ #include "Input/SHInputManager.h" #include "Math/Transform/SHTransformSystem.h" #include "Physics/System/SHPhysicsSystem.h" -#include "Physics/System/SHPhysicsDebugDrawSystem.h" #include "Scripting/SHScriptEngine.h" #include "UI/SHUISystem.h" @@ -74,9 +73,6 @@ namespace Sandbox SHSystemManager::CreateSystem(); SHSystemManager::CreateSystem(); SHSystemManager::CreateSystem(); -#ifndef _PUBLISH - SHSystemManager::CreateSystem(); -#endif SHSystemManager::CreateSystem(); SHSystemManager::CreateSystem(); @@ -116,10 +112,6 @@ namespace Sandbox SHSystemManager::RegisterRoutine(); SHSystemManager::RegisterRoutine(); -#ifndef _PUBLISH - SHSystemManager::RegisterRoutine(); -#endif - SHSystemManager::RegisterRoutine(); SHSystemManager::RegisterRoutine(); @@ -192,27 +184,6 @@ namespace Sandbox #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()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::CONTACT_POINTS, drawContacts); - SHSystemManager::GetSystem()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::CONTACT_NORMALS, drawContacts); - } - static bool drawColliders = false; - if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::F10)) - { - drawColliders = !drawColliders; - SHSystemManager::GetSystem()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::COLLIDER, drawColliders); - } - static bool drawRays = false; - if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::F11)) - { - drawRays = !drawRays; - SHSystemManager::GetSystem()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::RAYCASTS, drawRays); - } - } // Finish all graphics jobs first graphicsSystem->AwaitGraphicsExecution(); diff --git a/SHADE_Application/src/Scenes/SBMainScene.cpp b/SHADE_Application/src/Scenes/SBMainScene.cpp index 73926115..55ce32b0 100644 --- a/SHADE_Application/src/Scenes/SBMainScene.cpp +++ b/SHADE_Application/src/Scenes/SBMainScene.cpp @@ -51,16 +51,6 @@ namespace Sandbox return; } - #ifdef SHEDITOR - - physicsSystem->ForceBuild(SHSceneManager::GetCurrentSceneGraph()); - - #else - - physicsSystem->BuildScene(SHSceneManager::GetCurrentSceneGraph()); - - #endif - /*-----------------------------------------------------------------------*/ /* TESTING CODE */ /*-----------------------------------------------------------------------*/ diff --git a/SHADE_Engine/src/Camera/SHCameraSystem.cpp b/SHADE_Engine/src/Camera/SHCameraSystem.cpp index 8ef7ff64..d94bd3f8 100644 --- a/SHADE_Engine/src/Camera/SHCameraSystem.cpp +++ b/SHADE_Engine/src/Camera/SHCameraSystem.cpp @@ -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 ); - if (result && result.distance < pivot.GetArmLength()) - { - - SHVec3 newOffset = SHVec3{ 0.0f,0.0f, result.distance * 0.8f }; - newOffset = SHVec3::RotateX(newOffset, -(SHMath::DegreesToRadians(pivot.GetPitch()))); - newOffset = SHVec3::RotateY(newOffset, (SHMath::DegreesToRadians(pivot.GetYaw()))); - pivot.offset = newOffset; - //SHLOG_INFO("CAMERA COLLISION HIT, {}", result.distance); - } - else - { - //SHLOG_INFO("CAMERA COLLISION CANT HIT CAMERA"); - } + //auto result = physicsSystem->Raycast(pivot.ray ); + //if (result && result.distance < pivot.GetArmLength()) + //{ + // + // SHVec3 newOffset = SHVec3{ 0.0f,0.0f, result.distance * 0.8f }; + // newOffset = SHVec3::RotateX(newOffset, -(SHMath::DegreesToRadians(pivot.GetPitch()))); + // newOffset = SHVec3::RotateY(newOffset, (SHMath::DegreesToRadians(pivot.GetYaw()))); + // pivot.offset = newOffset; + // //SHLOG_INFO("CAMERA COLLISION HIT, {}", result.distance); + //} + //else + //{ + // //SHLOG_INFO("CAMERA COLLISION CANT HIT CAMERA"); + //} diff --git a/SHADE_Engine/src/Editor/EditorWindow/Inspector/SHEditorComponentView.hpp b/SHADE_Engine/src/Editor/EditorWindow/Inspector/SHEditorComponentView.hpp index 0f3dce3e..f70ab889 100644 --- a/SHADE_Engine/src/Editor/EditorWindow/Inspector/SHEditorComponentView.hpp +++ b/SHADE_Engine/src/Editor/EditorWindow/Inspector/SHEditorComponentView.hpp @@ -285,8 +285,8 @@ namespace SHADE 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::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] {return component->GetRotation(); }, [](SHVec3 const& value) {}, false, "Rotation", 0.1f, "%.3f", 0.0f, 0.0f, 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] {return component->GetRotation(); }, [](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); diff --git a/SHADE_Engine/src/Physics/Collision/SHCollisionListener.cpp b/SHADE_Engine/src/Physics/Collision/SHCollisionListener.cpp deleted file mode 100644 index 3e485153..00000000 --- a/SHADE_Engine/src/Physics/Collision/SHCollisionListener.cpp +++ /dev/null @@ -1,254 +0,0 @@ -/**************************************************************************************** - * \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 - -// 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::max(); -} - -namespace SHADE -{ - /*-----------------------------------------------------------------------------------*/ - /* Constructors & Destructor Definitions */ - /*-----------------------------------------------------------------------------------*/ - - SHCollisionListener::SHCollisionListener() noexcept - : system { nullptr } - {} - - /*-----------------------------------------------------------------------------------*/ - /* Getter Function Definitions */ - /*-----------------------------------------------------------------------------------*/ - - const std::vector& SHCollisionListener::GetCollisionInfoContainer() const noexcept - { - return collisionInfoContainer; - } - - const std::vector& 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& 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(C_INFO.GetEntityA()) - || !SHSceneManager::CheckNodeAndComponentsActive(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& 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(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(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 \ No newline at end of file diff --git a/SHADE_Engine/src/Physics/Collision/SHCollisionListener.h b/SHADE_Engine/src/Physics/Collision/SHCollisionListener.h deleted file mode 100644 index 62882556..00000000 --- a/SHADE_Engine/src/Physics/Collision/SHCollisionListener.h +++ /dev/null @@ -1,80 +0,0 @@ -/**************************************************************************************** - * \file SHCollisionListener.h - * \author Diren D Bharwani, diren.dbharwani, 390002520 - * \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 - * of DigiPen Institute of Technology is prohibited. -****************************************************************************************/ - -#pragma once - -// External Dependencies -#include - -// Project Headers -#include "SH_API.h" -#include "SHCollisionInfo.h" - -namespace SHADE -{ - /*-----------------------------------------------------------------------------------*/ - /* Forward Declarations */ - /*-----------------------------------------------------------------------------------*/ - - class SHPhysicsSystem; - - /*-----------------------------------------------------------------------------------*/ - /* Type Definitions */ - /*-----------------------------------------------------------------------------------*/ - - class SH_API SHCollisionListener final : public rp3d::EventListener - { - public: - /*---------------------------------------------------------------------------------*/ - /* Constructors & Destructor */ - /*---------------------------------------------------------------------------------*/ - - SHCollisionListener() noexcept; - - /*---------------------------------------------------------------------------------*/ - /* Getter Functions */ - /*---------------------------------------------------------------------------------*/ - - [[nodiscard]] const std::vector& GetCollisionInfoContainer () const noexcept; - [[nodiscard]] const std::vector& GetTriggerInfoContainer () const noexcept; - - /*---------------------------------------------------------------------------------*/ - /* Function Members */ - /*---------------------------------------------------------------------------------*/ - - void BindToSystem (SHPhysicsSystem* physicsSystem) noexcept; - void BindToWorld (rp3d::PhysicsWorld* world) noexcept; - void CleanContainers () noexcept; - void ClearContainers () noexcept; - - void onContact (const rp3d::CollisionCallback::CallbackData& callbackData) override; - void onTrigger (const rp3d::OverlapCallback::CallbackData& callbackData) override; - - private: - - /*---------------------------------------------------------------------------------*/ - /* Data Members */ - /*---------------------------------------------------------------------------------*/ - - SHPhysicsSystem* system; - std::vector collisionInfoContainer; - std::vector triggerInfoContainer; - - /*---------------------------------------------------------------------------------*/ - /* Function Members */ - /*---------------------------------------------------------------------------------*/ - - static void updateInfoContainers (const SHCollisionInfo& collisionEvent, std::vector& container) noexcept; - - SHCollisionInfo generateCollisionInfo (const rp3d::CollisionCallback::ContactPair& cp) const noexcept; - SHCollisionInfo generateTriggerInfo (const rp3d::OverlapCallback::OverlapPair& cp) const noexcept; - }; - -} // namespace SHADE \ No newline at end of file diff --git a/SHADE_Engine/src/Physics/Collision/SHPhysicsRaycaster.cpp b/SHADE_Engine/src/Physics/Collision/SHPhysicsRaycaster.cpp deleted file mode 100644 index cab5c93b..00000000 --- a/SHADE_Engine/src/Physics/Collision/SHPhysicsRaycaster.cpp +++ /dev/null @@ -1,350 +0,0 @@ -/**************************************************************************************** - * \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 - -// 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::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::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(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::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(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(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 \ No newline at end of file diff --git a/SHADE_Engine/src/Physics/Collision/SHPhysicsRaycaster.h b/SHADE_Engine/src/Physics/Collision/SHPhysicsRaycaster.h deleted file mode 100644 index 447207c7..00000000 --- a/SHADE_Engine/src/Physics/Collision/SHPhysicsRaycaster.h +++ /dev/null @@ -1,134 +0,0 @@ -/**************************************************************************************** - * \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 - -#include - -// 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; - using RaycastPairs = std::vector; - - 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::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::infinity() - ) noexcept; - - SHPhysicsRaycastResult ColliderRaycast - ( - EntityID eid - , int shapeIndex - , const SHRay& ray - , float distance = std::numeric_limits::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 \ No newline at end of file diff --git a/SHADE_Engine/src/Physics/Interface/SHColliderComponent.cpp b/SHADE_Engine/src/Physics/Interface/SHColliderComponent.cpp index d7db2c64..eef92493 100644 --- a/SHADE_Engine/src/Physics/Interface/SHColliderComponent.cpp +++ b/SHADE_Engine/src/Physics/Interface/SHColliderComponent.cpp @@ -25,34 +25,12 @@ namespace SHADE /*-----------------------------------------------------------------------------------*/ SHColliderComponent::SHColliderComponent() noexcept - : system { nullptr } {} /*-----------------------------------------------------------------------------------*/ /* Getter Function Definitions */ /*-----------------------------------------------------------------------------------*/ - - const SHVec3& SHColliderComponent::GetPosition() const noexcept - { - return position; - } - - const SHQuaternion& SHColliderComponent::GetOrientation() const noexcept - { - return orientation; - } - - SHVec3 SHColliderComponent::GetRotation() const noexcept - { - return orientation.ToEuler(); - } - - const SHVec3& SHColliderComponent::GetScale() const noexcept - { - return scale; - } - const SHColliderComponent::CollisionShapes& SHColliderComponent::GetCollisionShapes() const noexcept { return collisionShapes; @@ -72,22 +50,7 @@ namespace SHADE void SHColliderComponent::OnCreate() { - auto* physicsSystem = SHSystemManager::GetSystem(); - if (!physicsSystem) - { - SHLOG_ERROR("Physics System does not exist to link with Physics Components!") - return; - } - system = physicsSystem; - - // Sync with transform if one already exists - if (auto* transformComponent = SHComponentManager::GetComponent_s(GetEID()); transformComponent) - { - position = transformComponent->GetWorldPosition(); - orientation = transformComponent->GetWorldOrientation(); - scale = transformComponent->GetWorldScale(); - } } void SHColliderComponent::OnDestroy() @@ -97,112 +60,22 @@ namespace SHADE void SHColliderComponent::RecomputeCollisionShapes() noexcept { - for (auto& collisionShape : collisionShapes) - { - switch (collisionShape.GetType()) - { - case SHCollisionShape::Type::BOX: - { - auto* box = reinterpret_cast(collisionShape.shape); - const SHVec3& RELATIVE_EXTENTS = box->GetRelativeExtents(); - // Recompute world extents based on new scale and fixed relative extents - - const SHVec3 WORLD_EXTENTS = RELATIVE_EXTENTS * (scale * 0.5f); - box->SetWorldExtents(WORLD_EXTENTS); - - continue; - } - case SHCollisionShape::Type::SPHERE: - { - auto* sphere = reinterpret_cast(collisionShape.shape); - const float RELATIVE_RADIUS = sphere->GetRelativeRadius(); - - // Recompute world radius based on new scale and fixed radius - - const float MAX_SCALE = SHMath::Max({ scale.x, scale.y, scale.z }); - const float WORLD_RADIUS = RELATIVE_RADIUS * MAX_SCALE * 0.5f; - sphere->SetWorldRadius(WORLD_RADIUS); - - continue; - } - default: continue; - } - } } int SHColliderComponent::AddBoundingBox(const SHVec3& halfExtents, const SHVec3& posOffset, const SHVec3& rotOffset) noexcept { - if (!system) - { - SHLOG_ERROR("Physics system does not exist, unable to add Box Collider!") - return -1; - } - - static constexpr auto TYPE = SHCollisionShape::Type::BOX; - - auto& collider = collisionShapes.emplace_back(SHCollisionShape{ GetEID(), TYPE }); - - collider.entityID = GetEID(); - collider.SetPositionOffset(posOffset); - collider.SetRotationOffset(rotOffset); - collider.SetBoundingBox(halfExtents); - - // Notify Physics System - const int NEW_SHAPE_INDEX = static_cast(collisionShapes.size()) - 1; - - system->AddCollisionShape(GetEID(), NEW_SHAPE_INDEX); - return NEW_SHAPE_INDEX; + return 0; } int SHColliderComponent::AddBoundingSphere(float radius, const SHVec3& posOffset) noexcept { - if (!system) - { - SHLOG_ERROR("Physics system does not exist, unable to add Sphere Collider!") - return -1; - } - - static constexpr auto TYPE = SHCollisionShape::Type::SPHERE; - - auto& collider = collisionShapes.emplace_back(SHCollisionShape{ GetEID(), TYPE }); - - collider.entityID = GetEID(); - collider.SetPositionOffset(posOffset); - collider.SetBoundingSphere(radius); - - // Notify Physics System - const int NEW_SHAPE_INDEX = static_cast(collisionShapes.size()) - 1; - - system->AddCollisionShape(GetEID(), NEW_SHAPE_INDEX); - return NEW_SHAPE_INDEX; + return 0; } void SHColliderComponent::RemoveCollider(int index) { - if (index < 0 || static_cast(index) >= collisionShapes.size()) - throw std::invalid_argument("Out-of-range access!"); - int idx = 0; - auto it = collisionShapes.begin(); - for (; it != collisionShapes.end(); ++it) - { - if (idx == index) - break; - - ++idx; - } - - it = collisionShapes.erase(it); - - // Notify Physics System - if (!system) - { - SHLOG_ERROR("Physics system does not exist, unable to remove Collider!") - return; - } - - system->RemoveCollisionShape(GetEID(), index); } } // namespace SHADE diff --git a/SHADE_Engine/src/Physics/Interface/SHColliderComponent.h b/SHADE_Engine/src/Physics/Interface/SHColliderComponent.h index 0781f3cf..15a02173 100644 --- a/SHADE_Engine/src/Physics/Interface/SHColliderComponent.h +++ b/SHADE_Engine/src/Physics/Interface/SHColliderComponent.h @@ -69,11 +69,6 @@ namespace SHADE [[nodiscard]] bool HasChanged () const noexcept; - [[nodiscard]] const SHVec3& GetPosition () const noexcept; - [[nodiscard]] const SHQuaternion& GetOrientation () const noexcept; - [[nodiscard]] SHVec3 GetRotation () const noexcept; - [[nodiscard]] const SHVec3& GetScale () const noexcept; - [[nodiscard]] const CollisionShapes& GetCollisionShapes() const noexcept; [[nodiscard]] SHCollisionShape& GetCollisionShape (int index); @@ -97,10 +92,6 @@ namespace SHADE /* Data Members */ /*---------------------------------------------------------------------------------*/ - SHPhysicsSystem* system; - - SHVec3 position; - SHQuaternion orientation; SHVec3 scale; CollisionShapes collisionShapes; diff --git a/SHADE_Engine/src/Physics/Interface/SHCollisionShape.cpp b/SHADE_Engine/src/Physics/Interface/SHCollisionShape.cpp index f597077f..4dd506f9 100644 --- a/SHADE_Engine/src/Physics/Interface/SHCollisionShape.cpp +++ b/SHADE_Engine/src/Physics/Interface/SHCollisionShape.cpp @@ -190,63 +190,63 @@ namespace SHADE void SHCollisionShape::SetBoundingBox(const SHVec3& halfExtents) { - dirty = true; + //dirty = true; - const auto* COLLIDER = SHComponentManager::GetComponent(entityID); - auto* box = reinterpret_cast(shape); + //const auto* COLLIDER = SHComponentManager::GetComponent(entityID); + //auto* box = reinterpret_cast(shape); - SHVec3 correctedHalfExtents = halfExtents; + //SHVec3 correctedHalfExtents = halfExtents; - // Get current relative halfExtents for error checking. 0 is ignored - const SHVec3& CURRENT_RELATIVE_EXTENTS = box->GetRelativeExtents(); - for (size_t i = 0; i < SHVec3::SIZE; ++i) - { - if (SHMath::CompareFloat(halfExtents[i], 0.0f)) - correctedHalfExtents[i] = CURRENT_RELATIVE_EXTENTS[i]; - } - - // Set the half extents relative to world scale - const SHVec3 WORLD_EXTENTS = correctedHalfExtents * COLLIDER->GetScale() * 0.5f; + //// Get current relative halfExtents for error checking. 0 is ignored + //const SHVec3& CURRENT_RELATIVE_EXTENTS = box->GetRelativeExtents(); + //for (size_t i = 0; i < SHVec3::SIZE; ++i) + //{ + // if (SHMath::CompareFloat(halfExtents[i], 0.0f)) + // correctedHalfExtents[i] = CURRENT_RELATIVE_EXTENTS[i]; + //} + // + //// Set the half extents relative to world scale + //const SHVec3 WORLD_EXTENTS = correctedHalfExtents * COLLIDER->GetScale() * 0.5f; - if (type != Type::BOX) - { - type = Type::BOX; + //if (type != Type::BOX) + //{ + // type = Type::BOX; - delete shape; - shape = new SHBox{ positionOffset, WORLD_EXTENTS }; - } + // delete shape; + // shape = new SHBox{ positionOffset, WORLD_EXTENTS }; + //} - box->SetWorldExtents(WORLD_EXTENTS); - box->SetRelativeExtents(correctedHalfExtents); + //box->SetWorldExtents(WORLD_EXTENTS); + //box->SetRelativeExtents(correctedHalfExtents); } void SHCollisionShape::SetBoundingSphere(float radius) { - dirty = true; + //dirty = true; - auto* sphere = reinterpret_cast(shape); - const auto* COLLIDER = SHComponentManager::GetComponent(entityID); + //auto* sphere = reinterpret_cast(shape); + //const auto* COLLIDER = SHComponentManager::GetComponent(entityID); - // Get current relative halfExtents for error checking. 0 is ignored - const float CURRENT_RELATIVE_RADIUS = sphere->GetRelativeRadius(); - if (SHMath::CompareFloat(radius, 0.0f)) - radius = CURRENT_RELATIVE_RADIUS; + //// Get current relative halfExtents for error checking. 0 is ignored + //const float CURRENT_RELATIVE_RADIUS = sphere->GetRelativeRadius(); + //if (SHMath::CompareFloat(radius, 0.0f)) + // radius = CURRENT_RELATIVE_RADIUS; - // Set the radius relative to world scale - const SHVec3 WORLD_SCALE = COLLIDER->GetScale(); - const float MAX_SCALE = SHMath::Max({ WORLD_SCALE.x, WORLD_SCALE.y, WORLD_SCALE.z }); - const float WORLD_RADIUS = radius * MAX_SCALE * 0.5f; + //// Set the radius relative to world scale + //const SHVec3 WORLD_SCALE = COLLIDER->GetScale(); + //const float MAX_SCALE = SHMath::Max({ WORLD_SCALE.x, WORLD_SCALE.y, WORLD_SCALE.z }); + //const float WORLD_RADIUS = radius * MAX_SCALE * 0.5f; - if (type != Type::SPHERE) - { - type = Type::SPHERE; + //if (type != Type::SPHERE) + //{ + // type = Type::SPHERE; - delete shape; - shape = new SHSphere{ positionOffset, WORLD_RADIUS }; - } + // delete shape; + // shape = new SHSphere{ positionOffset, WORLD_RADIUS }; + //} - sphere->SetWorldRadius(WORLD_RADIUS); - sphere->SetRelativeRadius(radius); + //sphere->SetWorldRadius(WORLD_RADIUS); + //sphere->SetRelativeRadius(radius); } void SHCollisionShape::SetIsTrigger(bool trigger) noexcept diff --git a/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.cpp b/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.cpp index 330c3abe..6dad9020 100644 --- a/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.cpp +++ b/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.cpp @@ -28,18 +28,8 @@ namespace SHADE /*-----------------------------------------------------------------------------------*/ SHRigidBodyComponent::SHRigidBodyComponent() noexcept - : type { Type::DYNAMIC } - , flags { 0 } - , dirtyFlags { std::numeric_limits::max() } - , mass { 1.0f } - , drag { 0.01f } - , angularDrag { 0.01f } - , system { nullptr } { - // Initialise default flags - flags |= 1U << 0; // Gravity set to true - flags |= 1U << 1; // Sleeping allowed - flags |= 1U << 8; // Interpolate by default + } /*-----------------------------------------------------------------------------------*/ @@ -48,363 +38,166 @@ namespace SHADE bool SHRigidBodyComponent::IsGravityEnabled() const noexcept { - static constexpr int FLAG_POS = 0; - return flags & (1U << FLAG_POS); + return false; } bool SHRigidBodyComponent::IsAllowedToSleep() const noexcept { - static constexpr int FLAG_POS = 1; - return flags & (1U << FLAG_POS); + return false; } bool SHRigidBodyComponent::IsInterpolating() const noexcept { - static constexpr int FLAG_POS = 8; - return flags & (1U << FLAG_POS); + return false; } bool SHRigidBodyComponent::GetIsSleeping() const noexcept { - if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject) - return physicsObject->GetRigidBody()->isSleeping(); - return false; } SHRigidBodyComponent::Type SHRigidBodyComponent::GetType() const noexcept { - return type; + return Type::STATIC; } bool SHRigidBodyComponent::GetFreezePositionX() const noexcept { - static constexpr int FLAG_POS = 2; - return flags & (1U << FLAG_POS); + return false; } bool SHRigidBodyComponent::GetFreezePositionY() const noexcept { - static constexpr int FLAG_POS = 3; - return flags & (1U << FLAG_POS); + return false; } bool SHRigidBodyComponent::GetFreezePositionZ() const noexcept { - static constexpr int FLAG_POS = 4; - return flags & (1U << FLAG_POS); + return false; } bool SHRigidBodyComponent::GetFreezeRotationX() const noexcept { - static constexpr int FLAG_POS = 5; - return flags & (1U << FLAG_POS); + return false; } bool SHRigidBodyComponent::GetFreezeRotationY() const noexcept { - static constexpr int FLAG_POS = 6; - return flags & (1U << FLAG_POS); + return false; } bool SHRigidBodyComponent::GetFreezeRotationZ() const noexcept { - static constexpr int FLAG_POS = 7; - return flags & (1U << FLAG_POS); + return false; } - //bool SHRigidBodyComponent::GetAutoMass() const noexcept - //{ - // static constexpr int FLAG_POS = 9; - // return flags & (1U << FLAG_POS); - //} - float SHRigidBodyComponent::GetMass() const noexcept { - return mass; + return 0.0f; } float SHRigidBodyComponent::GetDrag() const noexcept { - return drag; + return 0.0f; } float SHRigidBodyComponent::GetAngularDrag() const noexcept { - return angularDrag; + return 0.0f; } SHVec3 SHRigidBodyComponent::GetForce() const noexcept { - if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject) - return physicsObject->GetRigidBody()->getForce(); - return SHVec3::Zero; } SHVec3 SHRigidBodyComponent::GetTorque() const noexcept { - if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject) - return physicsObject->GetRigidBody()->getTorque(); - return SHVec3::Zero; } SHVec3 SHRigidBodyComponent::GetLinearVelocity() const noexcept { - if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject) - return physicsObject->GetRigidBody()->getLinearVelocity(); - return SHVec3::Zero; } SHVec3 SHRigidBodyComponent::GetAngularVelocity() const noexcept { - if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject) - return physicsObject->GetRigidBody()->getAngularVelocity(); - return SHVec3::Zero; } - const SHVec3& SHRigidBodyComponent::GetPosition() const noexcept - { - return position; - } - - const SHQuaternion& SHRigidBodyComponent::GetOrientation() const noexcept - { - return orientation; - } - - SHVec3 SHRigidBodyComponent::GetRotation() const noexcept - { - return orientation.ToEuler(); - } - /*-----------------------------------------------------------------------------------*/ /* Setter Function Definitions */ /*-----------------------------------------------------------------------------------*/ void SHRigidBodyComponent::SetType(Type newType) noexcept { - static constexpr int FLAG_POS = 8; - - if (type == newType) - return; - - type = newType; - dirtyFlags |= 1U << FLAG_POS; + } void SHRigidBodyComponent::SetGravityEnabled(bool enableGravity) noexcept { - static constexpr int FLAG_POS = 0; - - if (type != Type::DYNAMIC) - { - SHLOG_WARNING("Cannot enable gravity of a non-dynamic object {}", GetEID()) - return; - } - - dirtyFlags |= 1U << FLAG_POS; - enableGravity ? flags |= 1U << FLAG_POS : flags &= ~(1U << FLAG_POS); + } void SHRigidBodyComponent::SetIsAllowedToSleep(bool isAllowedToSleep) noexcept { - static constexpr int FLAG_POS = 1; - - if (type != Type::DYNAMIC) - { - SHLOG_WARNING("Cannot enable sleeping of a non-dynamic object {}", GetEID()) - return; - } - - dirtyFlags |= 1U << FLAG_POS; - isAllowedToSleep ? flags |= 1U << FLAG_POS : flags &= ~(1U << FLAG_POS); + } void SHRigidBodyComponent::SetFreezePositionX(bool freezePositionX) noexcept { - static constexpr int FLAG_POS = 2; - - if (type == Type::STATIC) - { - SHLOG_WARNING("Cannot set linear constraints of a static object {}", GetEID()) - return; - } - - dirtyFlags |= 1U << FLAG_POS; - freezePositionX ? flags |= 1U << FLAG_POS : flags &= ~(1U << FLAG_POS); + } void SHRigidBodyComponent::SetFreezePositionY(bool freezePositionY) noexcept { - static constexpr int FLAG_POS = 3; - - if (type == Type::STATIC) - { - SHLOG_WARNING("Cannot set linear constraints of a static object {}", GetEID()) - return; - } - - dirtyFlags |= 1U << FLAG_POS; - freezePositionY ? flags |= 1U << FLAG_POS : flags &= ~(1U << FLAG_POS); + } void SHRigidBodyComponent::SetFreezePositionZ(bool freezePositionZ) noexcept { - static constexpr int FLAG_POS = 4; - - if (type == Type::STATIC) - { - SHLOG_WARNING("Cannot set linear constraints of a static object {}", GetEID()) - return; - } - - dirtyFlags |= 1U << FLAG_POS; - freezePositionZ ? flags |= 1U << FLAG_POS : flags &= ~(1U << FLAG_POS); + } void SHRigidBodyComponent::SetFreezeRotationX(bool freezeRotationX) noexcept { - static constexpr int FLAG_POS = 5; - - if (type == Type::STATIC) - { - SHLOG_WARNING("Cannot set angular constraints of a static object {}", GetEID()) - return; - } - - dirtyFlags |= 1U << FLAG_POS; - freezeRotationX ? flags |= 1U << FLAG_POS : flags &= ~(1U << FLAG_POS); + } void SHRigidBodyComponent::SetFreezeRotationY(bool freezeRotationY) noexcept { - static constexpr int FLAG_POS = 6; - - if (type == Type::STATIC) - { - SHLOG_WARNING("Cannot set angular constraints of a static object {}", GetEID()) - return; - } - - dirtyFlags |= 1U << FLAG_POS; - freezeRotationY ? flags |= 1U << FLAG_POS : flags &= ~(1U << FLAG_POS); + } void SHRigidBodyComponent::SetFreezeRotationZ(bool freezeRotationZ) noexcept { - static constexpr int FLAG_POS = 7; - - if (type == Type::STATIC) - { - SHLOG_WARNING("Cannot set angular constraints of a static object {}", GetEID()) - return; - } - - dirtyFlags |= 1U << FLAG_POS; - freezeRotationZ ? flags |= 1U << FLAG_POS : flags &= ~(1U << FLAG_POS); + } void SHRigidBodyComponent::SetInterpolate(bool allowInterpolation) noexcept { - static constexpr int FLAG_POS = 8; - allowInterpolation ? flags |= 1U << FLAG_POS : flags &= ~(1U << FLAG_POS); + } - //void SHRigidBodyComponent::SetAutoMass(bool autoMass) noexcept - //{ - // static constexpr int FLAG_POS = 9; - // autoMass ? flags |= 1U << FLAG_POS : flags &= ~(1U << FLAG_POS); - - // dirtyFlags |= 1U << FLAG_POS; - //} - - //void SHRigidBodyComponent::SetMass(float newMass) noexcept - //{ - // static constexpr int FLAG_POS = 9; - - // if (newMass < 0.0f) - // return; - - // if (type != Type::DYNAMIC) - // { - // SHLOG_WARNING("Cannot set mass of a non-dynamic object {}", GetEID()) - // return; - // } - - // dirtyFlags |= 1U << FLAG_POS; - // mass = newMass; - - // // Turn off automass - // flags &= ~(1U << FLAG_POS); - //} - void SHRigidBodyComponent::SetDrag(float newDrag) noexcept { - static constexpr int FLAG_POS = 10; - - if (type != Type::DYNAMIC) - { - SHLOG_WARNING("Cannot set drag of a non-dynamic object {}", GetEID()) - return; - } - - dirtyFlags |= 1U << FLAG_POS; - drag = newDrag; + } void SHRigidBodyComponent::SetAngularDrag(float newAngularDrag) noexcept { - static constexpr int FLAG_POS = 11; - - if (type != Type::DYNAMIC) - { - SHLOG_WARNING("Cannot set angular drag of a non-dynamic object {}", GetEID()) - return; - } - - dirtyFlags |= 1U << FLAG_POS; - angularDrag = newAngularDrag; + } void SHRigidBodyComponent::SetLinearVelocity(const SHVec3& newLinearVelocity) noexcept { - - if (type == Type::STATIC) - { - SHLOG_WARNING("Cannot set linear velocity of a static object {}", GetEID()) - return; - } - - auto* physicsObject = system->GetPhysicsObject(GetEID()); - if (!physicsObject) - { - SHLOGV_ERROR("Unable to retrieve physics object of Entity {}", GetEID()) - return; - } - physicsObject->GetRigidBody()->setLinearVelocity(newLinearVelocity); + } void SHRigidBodyComponent::SetAngularVelocity(const SHVec3& newAngularVelocity) noexcept { - static constexpr int FLAG_POS = 13; - - if (type == Type::STATIC) - { - SHLOG_WARNING("Cannot set angular velocity of a static object {}", GetEID()) - return; - } - - auto* physicsObject = system->GetPhysicsObject(GetEID()); - if (!physicsObject) - { - SHLOGV_ERROR("Unable to retrieve physics object of Entity {}", GetEID()) - return; - } - physicsObject->GetRigidBody()->setAngularVelocity(newAngularVelocity); + } /*-----------------------------------------------------------------------------------*/ @@ -413,81 +206,57 @@ namespace SHADE void SHRigidBodyComponent::OnCreate() { - auto* physicsSystem = SHSystemManager::GetSystem(); - if (!physicsSystem) - { - SHLOG_ERROR("Physics System does not exist to link with Physics Components!") - return; - } - - system = physicsSystem; - - // Sync with transform if one already exists - if (auto* transformComponent = SHComponentManager::GetComponent_s(GetEID()); transformComponent) - { - position = transformComponent->GetWorldPosition(); - orientation = transformComponent->GetWorldOrientation(); - } + } void SHRigidBodyComponent::AddForce(const SHVec3& force) const noexcept { - if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject) - physicsObject->GetRigidBody()->applyWorldForceAtCenterOfMass(force); + } void SHRigidBodyComponent::AddForceAtLocalPos(const SHVec3& force, const SHVec3& localPos) const noexcept { - if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject) - physicsObject->GetRigidBody()->applyWorldForceAtLocalPosition(force, localPos); + } void SHRigidBodyComponent::AddForceAtWorldPos(const SHVec3& force, const SHVec3& worldPos) const noexcept { - if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject) - physicsObject->GetRigidBody()->applyWorldForceAtWorldPosition(force, worldPos); + } void SHRigidBodyComponent::AddRelativeForce(const SHVec3& relativeForce) const noexcept { - if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject) - physicsObject->GetRigidBody()->applyLocalForceAtCenterOfMass(relativeForce); + } void SHRigidBodyComponent::AddRelativeForceAtLocalPos(const SHVec3& relativeForce, const SHVec3& localPos) const noexcept { - if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject) - physicsObject->GetRigidBody()->applyLocalForceAtLocalPosition(relativeForce, localPos); + } void SHRigidBodyComponent::AddRelativeForceAtWorldPos(const SHVec3& relativeForce, const SHVec3& worldPos) const noexcept { - if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject) - physicsObject->GetRigidBody()->applyLocalForceAtWorldPosition(relativeForce, worldPos); + } void SHRigidBodyComponent::AddTorque(const SHVec3& torque) const noexcept { - if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject) - physicsObject->GetRigidBody()->applyWorldTorque(torque); + } void SHRigidBodyComponent::AddRelativeTorque(const SHVec3& relativeTorque) const noexcept { - if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject) - physicsObject->GetRigidBody()->applyLocalTorque(relativeTorque); + } void SHRigidBodyComponent::ClearForces() const noexcept { - if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject) - physicsObject->GetRigidBody()->resetForce(); + } void SHRigidBodyComponent::ClearTorque() const noexcept { - if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject) - physicsObject->GetRigidBody()->resetTorque(); + } } // namespace SHADE @@ -512,7 +281,6 @@ RTTR_REGISTRATION .property("Use Gravity" , &SHRigidBodyComponent::IsGravityEnabled , &SHRigidBodyComponent::SetGravityEnabled ) .property("Interpolate" , &SHRigidBodyComponent::IsInterpolating , &SHRigidBodyComponent::SetInterpolate ) .property("Sleeping Enabled" , &SHRigidBodyComponent::IsAllowedToSleep , &SHRigidBodyComponent::SetIsAllowedToSleep) - //.property("Auto Mass" , &SHRigidBodyComponent::GetAutoMass , &SHRigidBodyComponent::SetAutoMass ) .property("Freeze Position X" , &SHRigidBodyComponent::GetFreezePositionX , &SHRigidBodyComponent::SetFreezePositionX ) .property("Freeze Position Y" , &SHRigidBodyComponent::GetFreezePositionY , &SHRigidBodyComponent::SetFreezePositionY ) .property("Freeze Position Z" , &SHRigidBodyComponent::GetFreezePositionZ , &SHRigidBodyComponent::SetFreezePositionZ ) diff --git a/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.h b/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.h index 532b3312..021743da 100644 --- a/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.h +++ b/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.h @@ -82,8 +82,6 @@ namespace SHADE [[nodiscard]] bool GetFreezeRotationY () const noexcept; [[nodiscard]] bool GetFreezeRotationZ () const noexcept; - //[[nodiscard]] bool GetAutoMass () const noexcept; - [[nodiscard]] float GetMass () const noexcept; [[nodiscard]] float GetDrag () const noexcept; [[nodiscard]] float GetAngularDrag () const noexcept; @@ -93,9 +91,9 @@ namespace SHADE [[nodiscard]] SHVec3 GetLinearVelocity () const noexcept; [[nodiscard]] SHVec3 GetAngularVelocity () const noexcept; - [[nodiscard]] const SHVec3& GetPosition () const noexcept; - [[nodiscard]] const SHQuaternion& GetOrientation () const noexcept; - [[nodiscard]] SHVec3 GetRotation () const noexcept; + //[[nodiscard]] const SHVec3& GetPosition () const noexcept; + //[[nodiscard]] const SHQuaternion& GetOrientation () const noexcept; + //[[nodiscard]] SHVec3 GetRotation () const noexcept; /*---------------------------------------------------------------------------------*/ /* Setter Functions */ @@ -144,26 +142,6 @@ namespace SHADE /* Data Members */ /*---------------------------------------------------------------------------------*/ - static constexpr size_t NUM_FLAGS = 8; - static constexpr size_t NUM_DIRTY_FLAGS = 12; - - Type type; - - uint16_t flags; // 0 0 0 0 0 0 am ip aZ aY aX lZ lY lX slp g - uint16_t dirtyFlags; // 0 0 0 0 aD d m t aZ aY aX lZ lY lX slp g - - float mass; - float drag; - float angularDrag; - - SHVec3 linearVelocity; - SHVec3 angularVelocity; - - SHPhysicsSystem* system; - - SHVec3 position; - SHQuaternion orientation; - RTTR_ENABLE() }; } // namespace SHADE \ No newline at end of file diff --git a/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.cpp b/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.cpp deleted file mode 100644 index 71b08831..00000000 --- a/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.cpp +++ /dev/null @@ -1,431 +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 - -// Primary Header -#include "SHPhysicsObject.h" - -// Project Headers -#include "ECS_Base/Managers/SHSystemManager.h" -#include "ECS_Base/Managers/SHComponentManager.h" -#include "Scene/SHSceneManager.h" - - -namespace SHADE -{ - /*-----------------------------------------------------------------------------------*/ - /* Constructors & Destructor Definitions */ - /*-----------------------------------------------------------------------------------*/ - - SHPhysicsObject::SHPhysicsObject(EntityID eid, rp3d::PhysicsCommon* physicsFactory, rp3d::PhysicsWorld* physicsWorld) noexcept - : entityID { eid } - , collidersActive { true } - , factory { physicsFactory } - , world { physicsWorld } - , rp3dBody { nullptr } - { - // Implicitly create a static body. - - const auto* TRANSFORM = SHComponentManager::GetComponent(eid); - - const rp3d::Transform RP3D_TRANSFORM { TRANSFORM->GetWorldPosition(), TRANSFORM->GetWorldOrientation() }; - - rp3dBody = world->createRigidBody(RP3D_TRANSFORM); - rp3dBody->setType(rp3d::BodyType::STATIC); - } - - SHPhysicsObject::~SHPhysicsObject() noexcept - { - factory = nullptr; - world = nullptr; - rp3dBody = nullptr; - } - - /*-----------------------------------------------------------------------------------*/ - /* Getter Function Definitions */ - /*-----------------------------------------------------------------------------------*/ - - SHVec3 SHPhysicsObject::GetPosition() const noexcept - { - return rp3dBody->getTransform().getPosition(); - } - - SHQuaternion SHPhysicsObject::GetOrientation() const noexcept - { - return rp3dBody->getTransform().getOrientation(); - } - - SHVec3 SHPhysicsObject::GetRotation() const noexcept - { - return SHQuaternion{ rp3dBody->getTransform().getOrientation() }.ToEuler(); - } - - rp3d::CollisionBody* SHPhysicsObject::GetCollisionBody() const noexcept - { - return rp3dBody; - } - - rp3d::RigidBody* SHPhysicsObject::GetRigidBody() const noexcept - { - return rp3dBody; - } - - /*-----------------------------------------------------------------------------------*/ - /* Setter Function Definitions */ - /*-----------------------------------------------------------------------------------*/ - - void SHPhysicsObject::SetStaticBody() const noexcept - { - if (!rp3dBody) - return; - - rp3dBody->setType(rp3d::BodyType::STATIC); - } - - /*-----------------------------------------------------------------------------------*/ - /* Public Function Member Definitions */ - /*-----------------------------------------------------------------------------------*/ - - int SHPhysicsObject::AddCollisionShape(int index) - { - // Get collider component - auto* colliderComponent = SHComponentManager::GetComponent_s(entityID); - if (!colliderComponent) - { - SHLOGV_ERROR("Unable to add Collision Shape to Entity {} due to Missing Collider Component!", entityID) - return -1; - } - - auto& collisionShape = colliderComponent->GetCollisionShape(index); - switch (collisionShape.GetType()) - { - // TODO(Diren): Add more collider shapes - - case SHCollisionShape::Type::BOX: - { - addBoxShape(collisionShape); - break; - } - - case SHCollisionShape::Type::SPHERE: - { - addSphereShape(collisionShape); - break; - } - default: break; - } - - auto* rp3dCollider = rp3dBody->getCollider(rp3dBody->getNbColliders() - 1); - syncColliderProperties(collisionShape, rp3dCollider); - - if (rp3dBody->getType() == rp3d::BodyType::DYNAMIC) - { - rp3dBody->updateMassPropertiesFromColliders(); - - if (auto* rigidBodyComponent = SHComponentManager::GetComponent_s(entityID); rigidBodyComponent) - rigidBodyComponent->mass = rp3dBody->getMass(); - } - - return index; - } - - void SHPhysicsObject::RemoveCollisionShape(int index) - { - const int NUM_COLLIDERS = static_cast(rp3dBody->getNbColliders()); - if (NUM_COLLIDERS == 0) - return; - - if (index < 0 || index >= NUM_COLLIDERS) - throw std::invalid_argument("Index out of range!"); - - auto* collider = rp3dBody->getCollider(index); - rp3dBody->removeCollider(collider); - - if (rp3dBody->getType() == rp3d::BodyType::DYNAMIC) - { - rp3dBody->updateMassPropertiesFromColliders(); - - auto* rigidBodyComponent = SHComponentManager::GetComponent_s(entityID); - if (rigidBodyComponent) - rigidBodyComponent->mass = rp3dBody->getMass(); - } - } - - void SHPhysicsObject::RemoveAllCollisionShapes() const noexcept - { - int numColliders = static_cast(rp3dBody->getNbColliders()); - if (numColliders == 0) - return; - - while (numColliders - 1 >= 0) - { - auto* collider = rp3dBody->getCollider(numColliders - 1); - rp3dBody->removeCollider(collider); - - --numColliders; - } - } - - void SHPhysicsObject::SyncRigidBody(SHRigidBodyComponent& component) const noexcept - { - // This state is synced in the pre-update routine - if (!rp3dBody->isActive()) - return; - - if (component.dirtyFlags == 0) - return; - - for (size_t i = 0; i < SHRigidBodyComponent::NUM_DIRTY_FLAGS; ++i) - { - if (const bool IS_DIRTY = component.dirtyFlags & (1U << i); IS_DIRTY) - { - switch (i) - { - case 0: // Gravity - { - const bool IS_ENABLED = component.flags & (1U << i); - rp3dBody->enableGravity(IS_ENABLED); - - break; - } - case 1: // Sleeping - { - const bool IS_ENABLED = component.flags & (1U << i); - rp3dBody->setIsAllowedToSleep(IS_ENABLED); - - break; - } - case 2: // Lock Position X - { - const bool IS_ENABLED = component.flags & (1U << i); - - auto positionLock = rp3dBody->getLinearLockAxisFactor(); - positionLock.x = IS_ENABLED ? 0.0f : 1.0f; - rp3dBody->setLinearLockAxisFactor(positionLock); - - break; - } - case 3: // Lock Position Y - { - const bool IS_ENABLED = component.flags & (1U << i); - - auto positionLock = rp3dBody->getLinearLockAxisFactor(); - positionLock.y = IS_ENABLED ? 0.0f : 1.0f; - rp3dBody->setLinearLockAxisFactor(positionLock); - - break; - } - case 4: // Lock Position Z - { - const bool IS_ENABLED = component.flags & (1U << i); - - auto positionLock = rp3dBody->getLinearLockAxisFactor(); - positionLock.z = IS_ENABLED ? 0.0f : 1.0f; - rp3dBody->setLinearLockAxisFactor(positionLock); - - break; - } - case 5: // Lock Rotation X - { - const bool IS_ENABLED = component.flags & (1U << i); - - auto rotationLock = rp3dBody->getAngularLockAxisFactor(); - rotationLock.x = IS_ENABLED ? 0.0f : 1.0f; - rp3dBody->setAngularLockAxisFactor(rotationLock); - - break; - } - case 6: // Lock Rotation Y - { - const bool IS_ENABLED = component.flags & (1U << i); - - auto rotationLock = rp3dBody->getAngularLockAxisFactor(); - rotationLock.y = IS_ENABLED ? 0.0f : 1.0f; - rp3dBody->setAngularLockAxisFactor(rotationLock); - - break; - } - case 7: // Lock Rotation Z - { - const bool IS_ENABLED = component.flags & (1U << i); - - auto rotationLock = rp3dBody->getAngularLockAxisFactor(); - rotationLock.z = IS_ENABLED ? 0.0f : 1.0f; - rp3dBody->setAngularLockAxisFactor(rotationLock); - - break; - } - case 8: // Type - { - rp3dBody->setType(static_cast(component.type)); - - break; - } - case 9: // Mass - { - //rp3dBody->setMass(component.mass); - - //if (component.GetAutoMass()) - //{ - // rp3dBody->updateMassPropertiesFromColliders(); - // component.mass = rp3dBody->getMass(); - //} - //else - //{ - // rp3dBody->setMass(component.mass); - // rp3dBody->updateLocalCenterOfMassFromColliders(); - // rp3dBody->updateLocalInertiaTensorFromColliders(); - //} - - break; - } - case 10: // Drag - { - rp3dBody->setLinearDamping(component.drag); - - break; - } - case 11: // Angular Drag - { - rp3dBody->setAngularDamping(component.angularDrag); - - break; - } - default: break; - } - } - } - - component.dirtyFlags = 0; - } - - void SHPhysicsObject::SyncColliders(SHColliderComponent& component) const noexcept - { - // This state is synced in the pre-update routine - if (!rp3dBody->isActive()) - return; - - const int NUM_SHAPES = static_cast(rp3dBody->getNbColliders()); - for (int i = 0; i < NUM_SHAPES; ++i) - { - auto& collisionShape = component.collisionShapes[i]; - - if (!collisionShape.dirty) - continue; - - switch (collisionShape.GetType()) - { - case SHCollisionShape::Type::BOX: syncBoxShape(i, collisionShape); break; - case SHCollisionShape::Type::SPHERE: syncSphereShape(i, collisionShape); break; - default: break; - } - - auto* rp3dCollider = rp3dBody->getCollider(i); - syncColliderProperties(collisionShape, rp3dCollider); - - collisionShape.dirty = false; - } - - // Set rigidbody mass if dynamic - auto* rigidBodyComponent = SHComponentManager::GetComponent_s(entityID); - if (rigidBodyComponent) - { - // This is generally expensive, will be optimised in the future with my own engine. - rp3dBody->updateMassPropertiesFromColliders(); - rigidBodyComponent->mass = rp3dBody->getMass(); - } - } - - /*-----------------------------------------------------------------------------------*/ - /* Private Function Member Definitions */ - /*-----------------------------------------------------------------------------------*/ - - void SHPhysicsObject::syncColliderProperties(const SHCollisionShape& collisionShape, rp3d::Collider* rp3dCollider) const noexcept - { - rp3dCollider->setIsTrigger(collisionShape.IsTrigger()); - - auto& rp3dMaterial = rp3dCollider->getMaterial(); - - rp3dMaterial.setFrictionCoefficient(collisionShape.GetFriction()); - rp3dMaterial.setBounciness(collisionShape.GetBounciness()); - rp3dMaterial.setMassDensity(collisionShape.GetDensity()); - - const unsigned short MASK_BITS = collisionShape.GetCollisionTag(); - rp3dCollider->setCollisionCategoryBits(MASK_BITS); - rp3dCollider->setCollideWithMaskBits(MASK_BITS); - } - - void SHPhysicsObject::addBoxShape(const SHCollisionShape& boxShape) const noexcept - { - const rp3d::Transform OFFSETS - { - boxShape.GetPositionOffset() - , boxShape.GetRotationOffset() - }; - - const auto* BOX = reinterpret_cast(boxShape.GetShape()); - rp3d::BoxShape* newBox = factory->createBoxShape(BOX->GetWorldExtents()); - - rp3dBody->addCollider(newBox, OFFSETS); - } - - void SHPhysicsObject::syncBoxShape(int index, const SHCollisionShape& boxShape) const noexcept - { - const auto* BOX = reinterpret_cast(boxShape.GetShape()); - - auto* rp3dCollider = rp3dBody->getCollider(index); - auto* rp3dBox = reinterpret_cast(rp3dCollider->getCollisionShape()); - - const rp3d::Transform OFFSETS - { - boxShape.GetPositionOffset() - , boxShape.GetRotationOffset() - }; - - rp3dCollider->setIsTrigger(boxShape.IsTrigger()); - rp3dCollider->setLocalToBodyTransform(OFFSETS); - - rp3dBox->setHalfExtents(BOX->GetWorldExtents()); - } - - void SHPhysicsObject::addSphereShape(const SHCollisionShape& sphereShape) const noexcept - { - const rp3d::Transform OFFSETS - { - sphereShape.GetPositionOffset() - , sphereShape.GetRotationOffset() - }; - - const auto* SPHERE = reinterpret_cast(sphereShape.GetShape()); - rp3d::SphereShape* newSphere = factory->createSphereShape(SPHERE->GetWorldRadius()); - - rp3dBody->addCollider(newSphere, OFFSETS); - } - - void SHPhysicsObject::syncSphereShape(int index, const SHCollisionShape& sphereShape) const noexcept - { - const auto* SPHERE = reinterpret_cast(sphereShape.GetShape()); - - auto* rp3dCollider = rp3dBody->getCollider(index); - auto* rp3dSphere = reinterpret_cast(rp3dCollider->getCollisionShape()); - - const rp3d::Transform OFFSETS - { - sphereShape.GetPositionOffset() - , sphereShape.GetRotationOffset() - }; - - rp3dCollider->setIsTrigger(sphereShape.IsTrigger()); - rp3dCollider->setLocalToBodyTransform(OFFSETS); - - rp3dSphere->setRadius(SPHERE->GetWorldRadius()); - } -} // namespace SHADE \ No newline at end of file diff --git a/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.h b/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.h deleted file mode 100644 index c572ca2e..00000000 --- a/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.h +++ /dev/null @@ -1,111 +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 - -#include - -// Project Headers -#include "Math/Transform/SHTransformComponent.h" -#include "Physics/Interface/SHRigidBodyComponent.h" -#include "Physics/Interface/SHColliderComponent.h" - -namespace SHADE -{ - /*-----------------------------------------------------------------------------------*/ - /* Type Definitions */ - /*-----------------------------------------------------------------------------------*/ - - class SH_API SHPhysicsObject - { - private: - /*---------------------------------------------------------------------------------*/ - /* Friends */ - /*---------------------------------------------------------------------------------*/ - - friend class SHPhysicsSystem; - friend class SHPhysicsObjectManager; - - public: - /*---------------------------------------------------------------------------------*/ - /* Constructors & Destructor */ - /*---------------------------------------------------------------------------------*/ - - SHPhysicsObject (EntityID eid, rp3d::PhysicsCommon* physicsFactory, rp3d::PhysicsWorld* physicsWorld) noexcept; - SHPhysicsObject (const SHPhysicsObject& rhs) noexcept = default; - SHPhysicsObject (SHPhysicsObject&& rhs) noexcept = default; - virtual ~SHPhysicsObject () noexcept; - - /*---------------------------------------------------------------------------------*/ - /* Operator Overloads */ - /*---------------------------------------------------------------------------------*/ - - SHPhysicsObject& operator=(const SHPhysicsObject& rhs) noexcept = default; - SHPhysicsObject& operator=(SHPhysicsObject&& rhs) noexcept = default; - - /*---------------------------------------------------------------------------------*/ - /* Getter Functions */ - /*---------------------------------------------------------------------------------*/ - - [[nodiscard]] SHVec3 GetPosition () const noexcept; - [[nodiscard]] SHQuaternion GetOrientation () const noexcept; - [[nodiscard]] SHVec3 GetRotation () const noexcept; - - [[nodiscard]] rp3d::CollisionBody* GetCollisionBody () const noexcept; - [[nodiscard]] rp3d::RigidBody* GetRigidBody () const noexcept; - - /*---------------------------------------------------------------------------------*/ - /* Setter Functions */ - /*---------------------------------------------------------------------------------*/ - - void SetStaticBody () const noexcept; - - /*---------------------------------------------------------------------------------*/ - /* Function Members */ - /*---------------------------------------------------------------------------------*/ - - int AddCollisionShape (int index); - void RemoveCollisionShape (int index); - void RemoveAllCollisionShapes () const noexcept; - - void SyncRigidBody (SHRigidBodyComponent& component) const noexcept; - void SyncColliders (SHColliderComponent& component) const noexcept; - - private: - /*---------------------------------------------------------------------------------*/ - /* Data Members */ - /*---------------------------------------------------------------------------------*/ - - EntityID entityID; - bool collidersActive; // Only used to sync with SHADE components - - rp3d::PhysicsCommon* factory; - rp3d::PhysicsWorld* world; - - rp3d::RigidBody* rp3dBody; - rp3d::Transform prevTransform; // Cached transform for interpolation - - /*---------------------------------------------------------------------------------*/ - /* Function Members */ - /*---------------------------------------------------------------------------------*/ - - void syncColliderProperties (const SHCollisionShape& collisionShape, rp3d::Collider* rp3dCollider) const noexcept; - - // Box Shapes - - void addBoxShape (const SHCollisionShape& boxShape) const noexcept; - void syncBoxShape (int index, const SHCollisionShape& boxShape) const noexcept; - - // Sphere Shapes - - void addSphereShape (const SHCollisionShape& sphereShape) const noexcept; - void syncSphereShape (int index, const SHCollisionShape& sphereShape) const noexcept; - }; -} // namespace SHADE \ No newline at end of file diff --git a/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObjectManager.cpp b/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObjectManager.cpp deleted file mode 100644 index 7c111a2d..00000000 --- a/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObjectManager.cpp +++ /dev/null @@ -1,309 +0,0 @@ -/**************************************************************************************** - * \file SHPhysicsObjectManager.cpp - * \author Diren D Bharwani, diren.dbharwani, 390002520 - * \brief Implementation for a Physics Object 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. -****************************************************************************************/ - -#include - -// Primary Header -#include "SHPhysicsObjectManager.h" - -// Project Headers -#include "ECS_Base/Managers/SHEntityManager.h" -#include "Tools/Utilities/SHUtilities.h" - -namespace SHADE -{ - /*-----------------------------------------------------------------------------------*/ - /* Static Data Member Definitions */ - /*-----------------------------------------------------------------------------------*/ - - SHPhysicsObjectManager::CommandFunctionPtr SHPhysicsObjectManager::componentFunc[3][2] - { - addRigidBody , addCollider , addCollisionShape - , removeRigidBody , removeCollider , removeCollisionShape - }; - - /*-----------------------------------------------------------------------------------*/ - /* Setter Function Definitions */ - /*-----------------------------------------------------------------------------------*/ - - void SHPhysicsObjectManager::SetFactory(rp3d::PhysicsCommon& physicsFactory) noexcept - { - factory = &physicsFactory; - } - - void SHPhysicsObjectManager::SetWorld(rp3d::PhysicsWorld* physicsWorld) noexcept - { - world = physicsWorld; - } - - /*-----------------------------------------------------------------------------------*/ - /* Getter Function Definitions */ - /*-----------------------------------------------------------------------------------*/ - - SHPhysicsObject* SHPhysicsObjectManager::GetPhysicsObject(EntityID eid) noexcept - { - const auto it = physicsObjects.find(eid); - if (it == physicsObjects.end()) - return nullptr; - - return &it->second; - } - - const SHPhysicsObjectManager::PhysicsObjectEntityMap SHPhysicsObjectManager::GetPhysicsObjects() const noexcept - { - return physicsObjects; - } - - /*-----------------------------------------------------------------------------------*/ - /* Public Function Member Definitions */ - /*-----------------------------------------------------------------------------------*/ - - void SHPhysicsObjectManager::AddRigidBody(EntityID eid) noexcept - { - const QueueCommand NEW_QUEUE_COMMAND - { - .eid = eid - , .command = QueueCommand::Command::ADD - , .component = PhysicsComponents::RIGID_BODY - }; - - commandQueue.push(NEW_QUEUE_COMMAND); - } - - void SHPhysicsObjectManager::AddCollider(EntityID eid) noexcept - { - const QueueCommand NEW_QUEUE_COMMAND - { - .eid = eid - , .command = QueueCommand::Command::ADD - , .component = PhysicsComponents::COLLIDER - }; - - commandQueue.push(NEW_QUEUE_COMMAND); - } - - void SHPhysicsObjectManager::AddCollisionShape(EntityID eid, int shapeIndex) noexcept - { - const QueueCommand NEW_QUEUE_COMMAND - { - .eid = eid - , .command = QueueCommand::Command::ADD - , .component = PhysicsComponents::COLLISION_SHAPE - , .shapeIndex = shapeIndex - }; - - commandQueue.push(NEW_QUEUE_COMMAND); - } - - void SHPhysicsObjectManager::RemoveRigidBody(EntityID eid) noexcept - { - const QueueCommand NEW_QUEUE_COMMAND - { - .eid = eid - , .command = QueueCommand::Command::REMOVE - , .component = PhysicsComponents::RIGID_BODY - }; - - commandQueue.push(NEW_QUEUE_COMMAND); - } - - void SHPhysicsObjectManager::RemoveCollider(EntityID eid) noexcept - { - const QueueCommand NEW_QUEUE_COMMAND - { - .eid = eid - , .command = QueueCommand::Command::REMOVE - , .component = PhysicsComponents::COLLIDER - }; - - commandQueue.push(NEW_QUEUE_COMMAND); - } - - void SHPhysicsObjectManager::RemoveCollisionShape(EntityID eid, int shapeIndex) noexcept - { - const QueueCommand NEW_QUEUE_COMMAND - { - .eid = eid - , .command = QueueCommand::Command::REMOVE - , .component = PhysicsComponents::COLLISION_SHAPE - , .shapeIndex = shapeIndex - }; - - commandQueue.push(NEW_QUEUE_COMMAND); - } - - void SHPhysicsObjectManager::UpdateCommands() - { - if (commandQueue.empty()) - return; - - while (!commandQueue.empty()) - { - const QueueCommand COMMAND = commandQueue.front(); - commandQueue.pop(); - - // Check validity of command - if (COMMAND.command == QueueCommand::Command::INVALID || COMMAND.component == PhysicsComponents::INVALID) - continue; - - // Get physics components - const PhysicsComponentGroup COMPONENT_GROUP - { - .eid = COMMAND.eid - , .rigidBodyComponent = SHComponentManager::GetComponent_s(COMMAND.eid) - , .colliderComponent = SHComponentManager::GetComponent_s(COMMAND.eid) - }; - - // Delete any object that is missing both components - // We infer that a remove command has been pushed for these, but we will ignore those if both components have already been removed. - if (!COMPONENT_GROUP.rigidBodyComponent && !COMPONENT_GROUP.colliderComponent) - { - destroyPhysicsObject(COMMAND.eid); - wakeAllObjects(); - continue; - } - - // Find the physics Object. If none found and attempting to add, create an object. - SHPhysicsObject* physicsObject = GetPhysicsObject(COMMAND.eid); - if (!physicsObject && COMMAND.command == QueueCommand::Command::ADD) - physicsObject = createPhysicsObject(COMMAND.eid); - - componentFunc[SHUtilities::ConvertEnum(COMMAND.command)][SHUtilities::ConvertEnum(COMMAND.component)](COMMAND, physicsObject, COMPONENT_GROUP); - - // If any removal was done, wake all objects - if (COMMAND.command == QueueCommand::Command::REMOVE) - wakeAllObjects(); - } - } - - void SHPhysicsObjectManager::RemoveAllObjects() - { - // Destroy all objects and clear - for (auto& physicsObject : physicsObjects | std::views::values) - { - world->destroyRigidBody(physicsObject.GetRigidBody()); - physicsObject.rp3dBody = nullptr; - } - - physicsObjects.clear(); - } - - /*-----------------------------------------------------------------------------------*/ - /* Private Function Member Definitions */ - /*-----------------------------------------------------------------------------------*/ - - SHPhysicsObject* SHPhysicsObjectManager::createPhysicsObject(EntityID eid) noexcept - { - // Force transforms to sync - SHVec3 worldPos = SHVec3::Zero; - SHQuaternion worldRot = SHQuaternion::Identity; - - const SHTransformComponent* TRANSFORM = nullptr; - if (SHEntityManager::IsValidEID(eid)) - TRANSFORM = SHComponentManager::GetComponent_s(eid); - - if (TRANSFORM) - { - worldPos = TRANSFORM->GetWorldPosition(); - worldRot = TRANSFORM->GetWorldOrientation(); - } - - const rp3d::Transform RP3D_TRANSFORM{ worldPos, worldRot }; - - auto& newPhysicsObject = physicsObjects.emplace(eid, SHPhysicsObject{ eid, factory, world }).first->second; - newPhysicsObject.GetRigidBody()->setTransform(RP3D_TRANSFORM); - newPhysicsObject.prevTransform = RP3D_TRANSFORM; - - return &newPhysicsObject; - } - - void SHPhysicsObjectManager::destroyPhysicsObject(EntityID eid) noexcept - { - const auto ITER = physicsObjects.find(eid); - if (ITER == physicsObjects.end()) - { - // Assume the object has already been successfully destroyed - return; - } - - world->destroyRigidBody(ITER->second.GetRigidBody()); - ITER->second.rp3dBody = nullptr; - - physicsObjects.erase(eid); - } - - void SHPhysicsObjectManager::addRigidBody(const QueueCommand&, SHPhysicsObject* physicsObject, const PhysicsComponentGroup& componentGroup) - { - SHASSERT(physicsObject != nullptr, "Valid physics object required to add body!") - - if (!componentGroup.rigidBodyComponent) - { - SHLOG_ERROR("Entity {} is missing a Rigidbody Component. Unable to update physics object!", componentGroup.eid) - return; - } - - // A static rigid body is implicitly created on creation of a physics object. - // Nothing is needed here. - } - - void SHPhysicsObjectManager::addCollider(const QueueCommand&, SHPhysicsObject* physicsObject, const PhysicsComponentGroup& componentGroup) - { - SHASSERT(physicsObject != nullptr, "Valid physics object required to add collider!") - - if (!componentGroup.colliderComponent) - { - SHLOG_ERROR("Entity {} is missing a Rigidbody Component. Unable to update physics object!", componentGroup.eid) - return; - } - - //const int NUM_SHAPES = static_cast(componentGroup.colliderComponent->GetCollisionShapes().size()); - //for (int i = 0; i < NUM_SHAPES; ++i) - // physicsObject->AddCollisionShape(i); - - physicsObject->SyncColliders(*componentGroup.colliderComponent); - } - - void SHPhysicsObjectManager::removeRigidBody(const QueueCommand&, SHPhysicsObject* physicsObject, const PhysicsComponentGroup& componentGroup) - { - SHASSERT(physicsObject != nullptr, "Valid physics object required to remove body!") - - if (componentGroup.colliderComponent) - physicsObject->SetStaticBody(); - } - - void SHPhysicsObjectManager::removeCollider(const QueueCommand&, SHPhysicsObject* physicsObject, const PhysicsComponentGroup&) - { - SHASSERT(physicsObject != nullptr, "Valid physics object required to remove collider!") - - physicsObject->RemoveAllCollisionShapes(); - } - - void SHPhysicsObjectManager::addCollisionShape(const QueueCommand& command, SHPhysicsObject* physicsObject, const PhysicsComponentGroup&) - { - SHASSERT(physicsObject != nullptr, "Valid physics object required to add collision shape!") - - physicsObject->AddCollisionShape(command.shapeIndex); - } - - void SHPhysicsObjectManager::removeCollisionShape(const QueueCommand& command, SHPhysicsObject* physicsObject, const PhysicsComponentGroup&) - { - SHASSERT(physicsObject != nullptr, "Valid physics object required to remove collision shape!") - - physicsObject->RemoveCollisionShape(command.shapeIndex); - } - - void SHPhysicsObjectManager::wakeAllObjects() noexcept - { - for (auto& physicsObject : physicsObjects | std::views::values) - physicsObject.GetRigidBody()->setIsSleeping(false); - } - - -} // namespace SHADE \ No newline at end of file diff --git a/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObjectManager.h b/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObjectManager.h deleted file mode 100644 index f41c62ad..00000000 --- a/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObjectManager.h +++ /dev/null @@ -1,181 +0,0 @@ -/**************************************************************************************** - * \file SHPhysicsObjectManager.h - * \author Diren D Bharwani, diren.dbharwani, 390002520 - * \brief Interface for a Physics Object 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 - -#include -#include - -#include - -// Project Headers -#include "SHPhysicsObject.h" - -namespace SHADE -{ - /*-----------------------------------------------------------------------------------*/ - /* Type Definitions */ - /*-----------------------------------------------------------------------------------*/ - - class SH_API SHPhysicsObjectManager - { - private: - /*---------------------------------------------------------------------------------*/ - /* Friends */ - /*---------------------------------------------------------------------------------*/ - - friend class SHPhysicsSystem; - - /*---------------------------------------------------------------------------------*/ - /* Type Definitions */ - /*---------------------------------------------------------------------------------*/ - - using PhysicsObjectEntityMap = std::unordered_map; - - public: - - /*---------------------------------------------------------------------------------*/ - /* Type Definitions */ - /*---------------------------------------------------------------------------------*/ - - enum class PhysicsComponents - { - RIGID_BODY - , COLLIDER - , COLLISION_SHAPE - - , TOTAL - , INVALID = -1 - }; - - /*---------------------------------------------------------------------------------*/ - /* Constructors & Destructor */ - /*---------------------------------------------------------------------------------*/ - - SHPhysicsObjectManager () = default; - ~SHPhysicsObjectManager () = default; - - SHPhysicsObjectManager (const SHPhysicsObjectManager&) = delete; - SHPhysicsObjectManager (SHPhysicsObjectManager&&) = delete; - - /*---------------------------------------------------------------------------------*/ - /* Operator Overloads */ - /*---------------------------------------------------------------------------------*/ - - SHPhysicsObjectManager& operator=(const SHPhysicsObjectManager&) = delete; - SHPhysicsObjectManager& operator=(SHPhysicsObjectManager&&) = delete; - - /*---------------------------------------------------------------------------------*/ - /* Getter Functions */ - /*---------------------------------------------------------------------------------*/ - - [[nodiscard]] SHPhysicsObject* GetPhysicsObject (EntityID eid) noexcept; - [[nodiscard]] const PhysicsObjectEntityMap GetPhysicsObjects () const noexcept; - - /*---------------------------------------------------------------------------------*/ - /* Setter Functions */ - /*---------------------------------------------------------------------------------*/ - - void SetFactory (rp3d::PhysicsCommon& physicsFactory) noexcept; - void SetWorld (rp3d::PhysicsWorld* physicsWorld) noexcept; - - /*---------------------------------------------------------------------------------*/ - /* Function Members */ - /*---------------------------------------------------------------------------------*/ - - void AddRigidBody (EntityID eid) noexcept; - void AddCollider (EntityID eid) noexcept; - void AddCollisionShape (EntityID eid, int shapeIndex) noexcept; - - void RemoveRigidBody (EntityID eid) noexcept; - void RemoveCollider (EntityID eid) noexcept; - void RemoveCollisionShape (EntityID eid, int shapeIndex) noexcept; - - void UpdateCommands (); - void RemoveAllObjects (); - - private: - /*---------------------------------------------------------------------------------*/ - /* Type Definitions */ - /*---------------------------------------------------------------------------------*/ - - struct QueueCommand - { - /*-------------------------------------------------------------------------------*/ - /* Type Definitions */ - /*-------------------------------------------------------------------------------*/ - - enum class Command - { - ADD - , REMOVE - - , INVALID = -1 - }; - - /*-------------------------------------------------------------------------------*/ - /* Data Members */ - /*-------------------------------------------------------------------------------*/ - - EntityID eid = MAX_EID; - Command command = Command::INVALID; - PhysicsComponents component = PhysicsComponents::INVALID; - int shapeIndex = -1; // Only used when adding & removing collision shapes - }; - - struct PhysicsComponentGroup - { - public: - - /*-------------------------------------------------------------------------------*/ - /* Data Members */ - /*-------------------------------------------------------------------------------*/ - - - EntityID eid = MAX_EID; - SHRigidBodyComponent* rigidBodyComponent = nullptr; - SHColliderComponent* colliderComponent = nullptr; - }; - - using CommandFunctionPtr = void(*)(const QueueCommand&, SHPhysicsObject*, const PhysicsComponentGroup&); - - /*---------------------------------------------------------------------------------*/ - /* Data Members */ - /*---------------------------------------------------------------------------------*/ - - static CommandFunctionPtr componentFunc[3][2]; // 3 components, 2 commands - - rp3d::PhysicsCommon* factory = nullptr; - rp3d::PhysicsWorld* world = nullptr; - - PhysicsObjectEntityMap physicsObjects; - std::queue commandQueue; - - /*---------------------------------------------------------------------------------*/ - /* Function Members */ - /*---------------------------------------------------------------------------------*/ - - SHPhysicsObject* createPhysicsObject (EntityID eid) noexcept; - void destroyPhysicsObject (EntityID eid) noexcept; - - void wakeAllObjects () noexcept; - - static void addRigidBody (const QueueCommand& command, SHPhysicsObject* physicsObject, const PhysicsComponentGroup& componentGroup); - static void addCollider (const QueueCommand& command, SHPhysicsObject* physicsObject, const PhysicsComponentGroup& componentGroup); - static void removeRigidBody (const QueueCommand& command, SHPhysicsObject* physicsObject, const PhysicsComponentGroup& componentGroup); - static void removeCollider (const QueueCommand& command, SHPhysicsObject* physicsObject, const PhysicsComponentGroup& componentGroup); - - static void addCollisionShape (const QueueCommand& command, SHPhysicsObject* physicsObject, const PhysicsComponentGroup& componentGroup); - static void removeCollisionShape (const QueueCommand& command, SHPhysicsObject* physicsObject, const PhysicsComponentGroup& componentGroup); - - - }; - -} // namespace SHADE \ No newline at end of file diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.cpp b/SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.cpp deleted file mode 100644 index 1ca7ae39..00000000 --- a/SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.cpp +++ /dev/null @@ -1,334 +0,0 @@ -/**************************************************************************************** - * \file SHPhysicsDebugDrawSystem.cpp - * \author Diren D Bharwani, diren.dbharwani, 390002520 - * \brief Implementation for the Physics Debug Draw System - * - * \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 - -// Primary Header -#include "SHPhysicsDebugDrawSystem.h" - -// Project Headers -#include "ECS_Base/Managers/SHSystemManager.h" -#include "Editor/SHEditor.h" -#include "Scene/SHSceneManager.h" - -namespace SHADE -{ - /*-----------------------------------------------------------------------------------*/ - /* Static Data Member Definitions */ - /*-----------------------------------------------------------------------------------*/ - - const SHPhysicsDebugDrawSystem::DebugDrawFunction SHPhysicsDebugDrawSystem::drawFunctions[NUM_FLAGS] = - { - drawColliders - , drawColliderAABBs - , drawBroadPhaseAABBs - , drawContactPoints - , drawContactNormals - , drawRaycasts - }; - - SHVec3 SHPhysicsDebugDrawSystem::boxVertices[NUM_BOX_VERTICES]; - - /*-----------------------------------------------------------------------------------*/ - /* Constructors & Destructor Definitions */ - /*-----------------------------------------------------------------------------------*/ - - SHPhysicsDebugDrawSystem::SHPhysicsDebugDrawSystem() noexcept - : debugDrawFlags { 0 } - , physicsSystem { nullptr } - { - debugColours[SHUtilities::ConvertEnum(DebugDrawFlags::COLLIDER)] = SHColour::GREEN; - debugColours[SHUtilities::ConvertEnum(DebugDrawFlags::COLLIDER_AABB)] = SHColour::YELLOW; - debugColours[SHUtilities::ConvertEnum(DebugDrawFlags::BROAD_PHASE_AABB)] = SHColour::CYAN; - debugColours[SHUtilities::ConvertEnum(DebugDrawFlags::CONTACT_POINTS)] = SHColour::RED; - debugColours[SHUtilities::ConvertEnum(DebugDrawFlags::CONTACT_NORMALS)] = SHColour::RED; - debugColours[SHUtilities::ConvertEnum(DebugDrawFlags::RAYCASTS)] = SHColour::ORANGE; - } - - SHPhysicsDebugDrawSystem::PhysicsDebugDrawRoutine::PhysicsDebugDrawRoutine() - : SHSystemRoutine { "Physics Debug Draw", true } - {} - - /*-----------------------------------------------------------------------------------*/ - /* Getter Function Definitions */ - /*-----------------------------------------------------------------------------------*/ - - bool SHPhysicsDebugDrawSystem::GetDebugDrawFlag(DebugDrawFlags flag) const noexcept - { - const auto INT_FLAG = SHUtilities::ConvertEnum(flag); - if (INT_FLAG < 0 || INT_FLAG >= NUM_FLAGS) - { - SHLOG_ERROR("Invalid Debug Draw Flag Passed {} in. Unable to get debug draw state!", INT_FLAG) - return false; - } - - return debugDrawFlags & 1U << SHUtilities::ConvertEnum(flag); - } - - /*-----------------------------------------------------------------------------------*/ - /* Setter Function Definitions */ - /*-----------------------------------------------------------------------------------*/ - - void SHPhysicsDebugDrawSystem::SetDebugDrawFlag(DebugDrawFlags flag, bool value) noexcept - { - const auto INT_FLAG = SHUtilities::ConvertEnum(flag); - if (INT_FLAG < 0 || INT_FLAG >= NUM_FLAGS) - { - SHLOG_ERROR("Invalid Debug Draw Flag Passed {} in. Unable to set debug draw state!", INT_FLAG) - return; - } - - value ? (debugDrawFlags |= 1U << INT_FLAG) : (debugDrawFlags &= ~(1U << INT_FLAG)); - } - - /*-----------------------------------------------------------------------------------*/ - /* Public Function Member Definitions */ - /*-----------------------------------------------------------------------------------*/ - - void SHPhysicsDebugDrawSystem::Init() - { - SystemFamily::GetID(); - - SHASSERT(physicsSystem == nullptr, "Non-existent physics system attached to the physics debug draw system!") - physicsSystem = SHSystemManager::GetSystem(); - - // Generate shapes - generateBox(); - } - - void SHPhysicsDebugDrawSystem::Exit() - { - physicsSystem = nullptr; - } - - void SHPhysicsDebugDrawSystem::PhysicsDebugDrawRoutine::Execute(double) noexcept - { - auto* system = reinterpret_cast(GetSystem()); - - auto* debugDrawSystem = SHSystemManager::GetSystem(); - if (debugDrawSystem == nullptr) - { - SHLOG_ERROR("Unable to get a debug draw system for Physics Debug Drawing!") - return; - } - - rp3d::DebugRenderer* rp3dRenderer = nullptr; - if (system->physicsSystem->worldState.world) - rp3dRenderer = &system->physicsSystem->worldState.world->getDebugRenderer(); - - for (int i = 0; i < SHUtilities::ConvertEnum(DebugDrawFlags::NUM_FLAGS); ++i) - { - const bool DRAW = (system->debugDrawFlags & (1U << i)) > 0; - if (DRAW) - { - drawFunctions[i](debugDrawSystem, rp3dRenderer); - } - else - { - if (rp3dRenderer && (i == 3 || i == 4)) - { - rp3dRenderer->setIsDebugItemDisplayed(reactphysics3d::DebugRenderer::DebugItem::CONTACT_POINT, false); - rp3dRenderer->setIsDebugItemDisplayed(reactphysics3d::DebugRenderer::DebugItem::CONTACT_NORMAL, false); - } - } - - } - - // Automatically clear the container of raycasts despite debug drawing state - // TODO(Diren): Move this somewhere else - system->physicsSystem->raycaster.ClearFrame(); - } - - /*-----------------------------------------------------------------------------------*/ - /* Private Function Member Definitions */ - /*-----------------------------------------------------------------------------------*/ - - void SHPhysicsDebugDrawSystem::drawColliders(SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept - { - const auto& COLLIDER_SET = SHComponentManager::GetDense(); - for (const auto& COLLIDER : COLLIDER_SET) - { - // Skip inactive colliders - if (!SHSceneManager::CheckNodeAndComponentsActive(COLLIDER.GetEID())) - continue; - - for (auto& collisionShape : COLLIDER.GetCollisionShapes()) - { - switch (collisionShape.GetType()) - { - case SHCollisionShape::Type::BOX: debugDrawBox(debugRenderer, COLLIDER, collisionShape); break; - case SHCollisionShape::Type::SPHERE: debugDrawSphere(debugRenderer, COLLIDER, collisionShape); break; - default: break; - } - } - } - } - - void SHPhysicsDebugDrawSystem::drawColliderAABBs(SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept - { - - } - - void SHPhysicsDebugDrawSystem::drawBroadPhaseAABBs(SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept - { - - } - - void SHPhysicsDebugDrawSystem::drawContactPoints(SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept - { - #ifdef SHEDITOR - - const auto* EDITOR = SHSystemManager::GetSystem(); - if (EDITOR && EDITOR->editorState != SHEditor::State::STOP) - { - rp3dRenderer->setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_POINT, true); - const int NUM_TRIS = static_cast(rp3dRenderer->getNbTriangles()); - if (NUM_TRIS == 0) - return; - - const auto& TRI_ARRAY = rp3dRenderer->getTrianglesArray(); - for (int i = 0; i < NUM_TRIS; ++i) - debugRenderer->DrawTri(SHColour::RED, TRI_ARRAY[i].point1, TRI_ARRAY[i].point2, TRI_ARRAY[i].point3); - } - - #else - - rp3dRenderer->setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_POINT, true); - const int NUM_TRIS = static_cast(rp3dRenderer->getNbTriangles()); - if (NUM_TRIS == 0) - return; - - const auto& TRI_ARRAY = rp3dRenderer->getTrianglesArray(); - for (int i = 0; i < NUM_TRIS; ++i) - debugRenderer->DrawTri(SHColour::RED, TRI_ARRAY[i].point1, TRI_ARRAY[i].point2, TRI_ARRAY[i].point3); - - #endif - } - - void SHPhysicsDebugDrawSystem::drawContactNormals(SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept - { - #ifdef SHEDITOR - const auto* EDITOR = SHSystemManager::GetSystem(); - if (EDITOR && EDITOR->editorState != SHEditor::State::STOP) - { - rp3dRenderer->setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_NORMAL, true); - const int NUM_LINES = static_cast(rp3dRenderer->getNbLines()); - if (NUM_LINES == 0) - return; - - const auto& LINE_ARRAY = rp3dRenderer->getLinesArray(); - for (int i = 0; i < NUM_LINES; ++i) - debugRenderer->DrawLine(SHColour::RED, LINE_ARRAY[i].point1, LINE_ARRAY[i].point2); - } - - #else - - rp3dRenderer->setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_NORMAL, true); - const int NUM_LINES = static_cast(rp3dRenderer->getNbLines()); - if (NUM_LINES == 0) - return; - - const auto& LINE_ARRAY = rp3dRenderer->getLinesArray(); - for (int i = 0; i < NUM_LINES; ++i) - debugRenderer->DrawLine(SHColour::RED, LINE_ARRAY[i].point1, LINE_ARRAY[i].point2); - - #endif - } - - void SHPhysicsDebugDrawSystem::drawRaycasts(SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept - { - auto* physicsSystem = SHSystemManager::GetSystem(); - if (!physicsSystem) - { - SHLOG_ERROR("Unable to retrieve physics system for debug drawing raycasts!") - return; - } - - const SHColour& RAY_COLOUR = SHColour::ORANGE; - - // Draw all raycast pairs - for (const auto& [ray, raycastResult] : physicsSystem->raycaster.GetRaycasts()) - { - // If infinity, it is an infinite raycast. If not, render the distance in raycastResult. - // Ignore the hit variable as it will always correspond to the length of the raycast, hit or miss. - const float RENDER_DIST = raycastResult.distance == std::numeric_limits::infinity() ? SHRay::MAX_RAYCAST_DIST : raycastResult.distance; - const SHVec3 END_POS = ray.position + (ray.direction * RENDER_DIST); - - debugRenderer->DrawLine(RAY_COLOUR, ray.position, END_POS); - } - } - - - void SHPhysicsDebugDrawSystem::generateBox() noexcept - { - boxVertices[0] = { 0.5f, 0.5f, -0.5f }; // TOP_RIGHT_BACK - boxVertices[1] = { -0.5f, 0.5f, -0.5f }; // TOP_LEFT_BACK - boxVertices[2] = { 0.5f, -0.5f, -0.5f }; // BTM_RIGHT_BACK - boxVertices[3] = { -0.5f, -0.5f, -0.5f }; // BTM_LEFT_BACK - boxVertices[4] = { 0.5f, 0.5f, 0.5f }; // TOP_RIGHT_FRONT - boxVertices[5] = { -0.5f, 0.5f, 0.5f }; // TOP_LEFT_FRONT - boxVertices[6] = { 0.5f, -0.5f, 0.5f }; // BTM_RIGHT_FRONT - boxVertices[7] = { -0.5f, -0.5f, 0.5f }; // BTM_LEFT_FRONT - } - - void SHPhysicsDebugDrawSystem::debugDrawBox(SHDebugDrawSystem* debugRenderer, const SHColliderComponent& colliderComponent, const SHCollisionShape& collisionShape) noexcept - { - auto* BOX = reinterpret_cast(collisionShape.GetShape()); - - // Calculate final position & orientation - const SHVec3 COLLIDER_POS = colliderComponent.GetPosition(); - const SHVec3 BOX_POS = collisionShape.GetPositionOffset(); - const SHQuaternion COLLIDER_ROT = colliderComponent.GetOrientation(); - const SHQuaternion BOX_ROT = SHQuaternion::FromEuler(collisionShape.GetRotationOffset()); - - - const SHMatrix COLLIDER_TR = SHMatrix::Rotate(COLLIDER_ROT) * SHMatrix::Translate(COLLIDER_POS); - const SHMatrix BOX_TRS = SHMatrix::Scale(BOX->GetWorldExtents() * 2.0f) * SHMatrix::Rotate(BOX_ROT) * SHMatrix::Translate(BOX_POS); - - const SHMatrix FINAL_TRS = BOX_TRS * COLLIDER_TR; - - const SHColour COLLIDER_COLOUR = collisionShape.IsTrigger() ? SHColour::PURPLE : SHColour::GREEN; - - std::array transformedVertices; - for (uint32_t i = 0; i < NUM_BOX_VERTICES / 2; ++i) - { - const uint32_t IDX1 = i; - const uint32_t IDX2 = i + NUM_BOX_VERTICES / 2; - - transformedVertices[IDX1] = SHVec3::Transform(boxVertices[IDX1], FINAL_TRS); - transformedVertices[IDX2] = SHVec3::Transform(boxVertices[IDX2], FINAL_TRS); - - // Draw 4 line to connect the quads - debugRenderer->DrawLine(COLLIDER_COLOUR, transformedVertices[IDX1], transformedVertices[IDX2]); - } - - // A, B, C, D - std::array backQuad { transformedVertices[0], transformedVertices[1], transformedVertices[3], transformedVertices[2] }; - debugRenderer->DrawPoly(COLLIDER_COLOUR, backQuad.begin(), backQuad.end()); - - // E, F, G, H - std::array frontQuad { transformedVertices[4], transformedVertices[5], transformedVertices[7], transformedVertices[6] }; - debugRenderer->DrawPoly(COLLIDER_COLOUR, frontQuad.begin(), frontQuad.end()); - } - - void SHPhysicsDebugDrawSystem::debugDrawSphere(SHDebugDrawSystem* debugRenderer, const SHColliderComponent& colliderComponent, const SHCollisionShape& collisionShape) noexcept - { - auto* SPHERE = reinterpret_cast(collisionShape.GetShape()); - - const SHColour COLLIDER_COLOUR = collisionShape.IsTrigger() ? SHColour::PURPLE : SHColour::GREEN; - - // Calculate final position & orientation - const SHQuaternion FINAL_ROT = colliderComponent.GetOrientation() * SHQuaternion::FromEuler(collisionShape.GetRotationOffset()); - const SHMatrix TR = SHMatrix::Rotate(FINAL_ROT) * SHMatrix::Translate(colliderComponent.GetPosition()); - - debugRenderer->DrawSphere(COLLIDER_COLOUR, SHVec3::Transform(collisionShape.GetPositionOffset(), TR), SPHERE->GetWorldRadius()); - } - -} // namespace SHADE \ No newline at end of file diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.h b/SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.h deleted file mode 100644 index dc703092..00000000 --- a/SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.h +++ /dev/null @@ -1,138 +0,0 @@ -/**************************************************************************************** - * \file SHPhysicsDebugDrawSystem.h - * \author Diren D Bharwani, diren.dbharwani, 390002520 - * \brief Interface for the Physics Debug Draw System - * - * \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 - -// Project Headers -#include "ECS_Base/System/SHSystemRoutine.h" -#include "Graphics/MiddleEnd/Interface/SHDebugDrawSystem.h" -#include "Math/SHColour.h" -#include "SHPhysicsSystem.h" -#include "Tools/Utilities/SHUtilities.h" - -namespace SHADE -{ - /*-----------------------------------------------------------------------------------*/ - /* Type Definitions */ - /*-----------------------------------------------------------------------------------*/ - - class SH_API SHPhysicsDebugDrawSystem final : public SHSystem - { - public: - /*---------------------------------------------------------------------------------*/ - /* Type Definitions */ - /*---------------------------------------------------------------------------------*/ - - enum class DebugDrawFlags - { - COLLIDER - , COLLIDER_AABB - , BROAD_PHASE_AABB - , CONTACT_POINTS - , CONTACT_NORMALS - , RAYCASTS - - , NUM_FLAGS - }; - - /*---------------------------------------------------------------------------------*/ - /* Constructors & Destructor */ - /*---------------------------------------------------------------------------------*/ - - SHPhysicsDebugDrawSystem() noexcept; - - /*---------------------------------------------------------------------------------*/ - /* Getter Functions */ - /*---------------------------------------------------------------------------------*/ - - bool GetDebugDrawFlag(DebugDrawFlags flag) const noexcept; - - /*---------------------------------------------------------------------------------*/ - /* Setter Functions */ - /*---------------------------------------------------------------------------------*/ - - void SetDebugDrawFlag(DebugDrawFlags flag, bool value) noexcept; - - /*---------------------------------------------------------------------------------*/ - /* Function Members */ - /*---------------------------------------------------------------------------------*/ - - void Init() override; - void Exit() override; - - /*---------------------------------------------------------------------------------*/ - /* System Routines */ - /*---------------------------------------------------------------------------------*/ - - class SH_API PhysicsDebugDrawRoutine final : public SHSystemRoutine - { - public: - /*-------------------------------------------------------------------------------*/ - /* Constructors & Destructor */ - /*-------------------------------------------------------------------------------*/ - - PhysicsDebugDrawRoutine(); - - /*-------------------------------------------------------------------------------*/ - /* Function Members */ - /*-------------------------------------------------------------------------------*/ - void Execute(double dt) noexcept override; - }; - - private: - /*---------------------------------------------------------------------------------*/ - /* Type Definitions */ - /*---------------------------------------------------------------------------------*/ - - using DebugDrawFunction = void(*)(SHDebugDrawSystem*, rp3d::DebugRenderer*) noexcept; - - /*---------------------------------------------------------------------------------*/ - /* Data Members */ - /*---------------------------------------------------------------------------------*/ - - static constexpr int NUM_FLAGS = SHUtilities::ConvertEnum(DebugDrawFlags::NUM_FLAGS); - static const DebugDrawFunction drawFunctions[NUM_FLAGS]; - - // SHAPES INFO - - static constexpr size_t NUM_BOX_VERTICES = 8; - static SHVec3 boxVertices[NUM_BOX_VERTICES]; - - - uint8_t debugDrawFlags; - SHPhysicsSystem* physicsSystem; - SHColour debugColours[NUM_FLAGS]; - - /*---------------------------------------------------------------------------------*/ - /* Function Members */ - /*---------------------------------------------------------------------------------*/ - - // Generic Draw Functions - - static void drawColliders (SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept; - static void drawColliderAABBs (SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept; - static void drawBroadPhaseAABBs (SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept; - static void drawContactPoints (SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept; - static void drawContactNormals (SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept; - static void drawRaycasts (SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept; - - // Shape Generation Functions - - static void generateBox () noexcept; - - // Shape Draw Functions - - static void debugDrawBox (SHDebugDrawSystem* debugRenderer, const SHColliderComponent& colliderComponent, const SHCollisionShape& collisionShape) noexcept; - static void debugDrawSphere (SHDebugDrawSystem* debugRenderer, const SHColliderComponent& colliderComponent, const SHCollisionShape& collisionShape) noexcept; - }; - -} // namespace SHADE diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp index 768c9b77..eacd6ac9 100644 --- a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp +++ b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp @@ -45,32 +45,6 @@ namespace SHADE return 1.0 / fixedDT; } - const SHPhysicsWorldState::WorldSettings& SHPhysicsSystem::GetWorldSettings() const noexcept - { - return worldState.settings; - } - - const std::vector& SHPhysicsSystem::GetAllCollisionInfo() const noexcept - { - return collisionListener.GetCollisionInfoContainer(); - } - - const std::vector& SHPhysicsSystem::GetAllTriggerInfo() const noexcept - { - return collisionListener.GetTriggerInfoContainer(); - } - - const SHPhysicsObject* SHPhysicsSystem::GetPhysicsObject(EntityID eid) noexcept - { - return objectManager.GetPhysicsObject(eid); - } - - - const SHPhysicsObjectManager::PhysicsObjectEntityMap& SHPhysicsSystem::GetPhysicsObjects() const noexcept - { - return objectManager.physicsObjects; - } - /*-----------------------------------------------------------------------------------*/ /* Setter Function Definitions */ /*-----------------------------------------------------------------------------------*/ @@ -80,12 +54,6 @@ namespace SHADE fixedDT = 1.0 / fixedUpdateRate; } - void SHPhysicsSystem::SetWorldSettings(const SHPhysicsWorldState::WorldSettings& settings) noexcept - { - worldState.settings = settings; - worldState.UpdateSettings(); - } - /*-----------------------------------------------------------------------------------*/ /* Public Function Member Definitions */ /*-----------------------------------------------------------------------------------*/ @@ -96,41 +64,10 @@ namespace SHADE std::filesystem::path defaultCollisionTagNameFilePath { ASSET_ROOT }; defaultCollisionTagNameFilePath.append("CollisionTags.SHConfig"); SHCollisionTagMatrix::Init(defaultCollisionTagNameFilePath); - - // Link Physics Object Manager with System & Raycaster - objectManager.SetFactory(factory); - raycaster.SetObjectManager(&objectManager); - - // Link Collision Listener with System - collisionListener.BindToSystem(this); - - // Subscribe to component events - const std::shared_ptr ADD_COMPONENT_RECEIVER { std::make_shared>(this, &SHPhysicsSystem::addPhysicsComponent) }; - const ReceiverPtr ADD_COMPONENT_RECEIVER_PTR = std::dynamic_pointer_cast(ADD_COMPONENT_RECEIVER); - SHEventManager::SubscribeTo(SH_COMPONENT_ADDED_EVENT, ADD_COMPONENT_RECEIVER_PTR); - - const std::shared_ptr REMOVE_COMPONENT_RECEIVER { std::make_shared>(this, &SHPhysicsSystem::removePhysicsComponent) }; - const ReceiverPtr REMOVE_COMPONENT_RECEIVER_PTR = std::dynamic_pointer_cast(REMOVE_COMPONENT_RECEIVER); - SHEventManager::SubscribeTo(SH_COMPONENT_REMOVED_EVENT, REMOVE_COMPONENT_RECEIVER_PTR); - - #ifdef SHEDITOR - - // Subscribe to Editor State Change Events - const std::shared_ptr ON_PLAY_RECEIVER { std::make_shared>(this, &SHPhysicsSystem::onPlay) }; - const ReceiverPtr ON_PLAY_RECEIVER_PTR = std::dynamic_pointer_cast(ON_PLAY_RECEIVER); - SHEventManager::SubscribeTo(SH_EDITOR_ON_PLAY_EVENT, ON_PLAY_RECEIVER_PTR); - - const std::shared_ptr ON_STOP_RECEIVER { std::make_shared>(this, &SHPhysicsSystem::onStop) }; - const ReceiverPtr ON_STOP_RECEIVER_PTR = std::dynamic_pointer_cast(ON_STOP_RECEIVER); - SHEventManager::SubscribeTo(SH_EDITOR_ON_STOP_EVENT, ON_STOP_RECEIVER_PTR); - - #endif - } void SHPhysicsSystem::Exit() { - worldState.DestroyWorld(factory); // Write collision tag names to file std::filesystem::path defaultCollisionTagNameFilePath { ASSET_ROOT }; @@ -138,344 +75,13 @@ namespace SHADE SHCollisionTagMatrix::Exit(defaultCollisionTagNameFilePath); } - void SHPhysicsSystem::BuildScene(SHSceneGraph& sceneGraph) - { - static const auto BUILD_NEW_SCENE_PHYSICS_OBJECT = [&](SHSceneNode* node) - { - const EntityID EID = node->GetEntityID(); - - if (SHComponentManager::HasComponent(EID)) - objectManager.AddRigidBody(EID); - - if (SHComponentManager::HasComponent(EID)) - { - objectManager.AddCollider(EID); - - auto* COLLIDER = SHComponentManager::GetComponent(EID); - for (size_t i = 0; i < COLLIDER->GetCollisionShapes().size(); ++i) - objectManager.AddCollisionShape(EID, i); - } - - }; - - //////////////////////////////// - - // Destroy an existing world - if (worldState.world != nullptr) - { - objectManager.RemoveAllObjects(); - objectManager.SetWorld(nullptr); - - collisionListener.ClearContainers(); - raycaster.ClearFrame(); - - worldState.DestroyWorld(factory); - } - - worldState.CreateWorld(factory); -#ifdef _PUBLISH - worldState.world->setIsDebugRenderingEnabled(false); -#else - worldState.world->setIsDebugRenderingEnabled(true); -#endif - - // Link Collision Listener & Raycaster - collisionListener.BindToWorld(worldState.world); - raycaster.BindToWorld(worldState.world); - - // Link with object manager & create all physics objects - objectManager.SetWorld(worldState.world); - - // When building a scene, clear the object manager command queue and build scene objects again. - // This is done to avoid duplicate adds. - while (!objectManager.commandQueue.empty()) - objectManager.commandQueue.pop(); - - sceneGraph.Traverse(BUILD_NEW_SCENE_PHYSICS_OBJECT); - objectManager.UpdateCommands(); - } - - void SHPhysicsSystem::ForceBuild(SHSceneGraph& sceneGraph) - { - // HACK: Band-aid fix. To be removed. - objectManager.UpdateCommands(); - } - - void SHPhysicsSystem::ForceUpdate() { - if (!worldState.world) - { - SHLOGV_ERROR("Unable to force update without a Physics world!") - return; - } - auto* scriptingSystem = SHSystemManager::GetSystem(); - if (scriptingSystem == nullptr) - { - SHLOGV_ERROR("Unable to invoke FixedUpdate() on scripts due to missing SHScriptEngine!"); - } - - // Force the physics world to update once - if (scriptingSystem != nullptr) - scriptingSystem->ExecuteFixedUpdates(); - - worldState.world->update(static_cast(fixedDT)); - - // Sync transforms. No interpolation applied here - for (auto& [entityID, physicsObject] : objectManager.physicsObjects) - { - auto* transformComponent = SHComponentManager::GetComponent_s(entityID); - auto* rigidBodyComponent = SHComponentManager::GetComponent_s(entityID); - auto* colliderComponent = SHComponentManager::GetComponent_s(entityID); - - const auto& CURRENT_TF = physicsObject.GetRigidBody()->getTransform(); - const auto& RENDER_POS = CURRENT_TF.getPosition(); - const auto& RENDER_ROT = CURRENT_TF.getOrientation(); - - // Cache transform - physicsObject.prevTransform = CURRENT_TF; - - // Sync with physics components - if (rigidBodyComponent && SHSceneManager::CheckNodeAndComponentsActive(entityID)) - { - rigidBodyComponent->position = RENDER_POS; - rigidBodyComponent->orientation = RENDER_ROT; - } - - if (colliderComponent && SHSceneManager::CheckNodeAndComponentsActive(entityID)) - { - colliderComponent->position = RENDER_POS; - colliderComponent->orientation = RENDER_ROT; - } - - // Set transform for rendering - if (transformComponent) - { - transformComponent->SetWorldPosition(RENDER_POS); - transformComponent->SetWorldOrientation(RENDER_ROT); - } - } - } - - SHPhysicsRaycastResult SHPhysicsSystem::Raycast(const SHRay& ray, float distance, const SHCollisionTag& collisionTag) noexcept - { - return raycaster.Raycast(ray, distance, collisionTag); - } - - SHPhysicsRaycastResult SHPhysicsSystem::Linecast(const SHVec3& start, const SHVec3& end, const SHCollisionTag& collisionTag) noexcept - { - return raycaster.Linecast(start, end, collisionTag); - } - - SHPhysicsRaycastResult SHPhysicsSystem::ColliderRaycast(EntityID eid, const SHRay& ray, float distance) noexcept - { - return raycaster.ColliderRaycast(eid, ray, distance); - } - - SHPhysicsRaycastResult SHPhysicsSystem::ColliderRaycast(EntityID eid, int shapeIndex, const SHRay& ray, float distance) noexcept - { - return raycaster.ColliderRaycast(eid, shapeIndex, ray, distance); - } - - SHPhysicsRaycastResult SHPhysicsSystem::ColliderLinecast(EntityID eid, const SHVec3& start, const SHVec3& end) noexcept - { - return raycaster.ColliderLinecast(eid, start, end); - } - - SHPhysicsRaycastResult SHPhysicsSystem::ColliderLinecast(EntityID eid, int shapeIndex, const SHVec3& start, const SHVec3& end) noexcept - { - return raycaster.ColliderLinecast(eid, shapeIndex, start, end); - } - - void SHPhysicsSystem::AddCollisionShape(EntityID eid, int shapeIndex) - { - static const auto ADD_SHAPE = [&](EntityID entityID, int index) - { - objectManager.AddCollisionShape(entityID, index); - - auto* colliderComponent = SHComponentManager::GetComponent(entityID); - auto& collisionShape = colliderComponent->GetCollisionShape(index); - - const SHPhysicsColliderAddedEvent COLLIDER_ADDED_EVENT_DATA - { - .entityID = entityID - , .colliderType = collisionShape.GetType() - , .colliderIndex = index - }; - - SHEventManager::BroadcastEvent(COLLIDER_ADDED_EVENT_DATA, SH_PHYSICS_COLLIDER_ADDED_EVENT); - }; - - #ifdef SHEDITOR - - const auto* EDITOR = SHSystemManager::GetSystem(); - if (EDITOR && EDITOR->editorState != SHEditor::State::STOP) - ADD_SHAPE(eid, shapeIndex); - - #else - - ADD_SHAPE(eid, shapeIndex); - - #endif - } - - void SHPhysicsSystem::RemoveCollisionShape(EntityID eid, int shapeIndex) - { - static const auto REMOVE_SHAPE = [&](EntityID entityID, int index) - { - objectManager.RemoveCollisionShape(entityID, index); - - const SHPhysicsColliderRemovedEvent COLLIDER_REMOVED_EVENT_DATA - { - .entityID = entityID - , .colliderIndex = index - }; - - SHEventManager::BroadcastEvent(COLLIDER_REMOVED_EVENT_DATA, SH_PHYSICS_COLLIDER_REMOVED_EVENT); - }; - - #ifdef SHEDITOR - - const auto* EDITOR = SHSystemManager::GetSystem(); - if (EDITOR && EDITOR->editorState != SHEditor::State::STOP) - REMOVE_SHAPE(eid, shapeIndex); - - #else - - REMOVE_SHAPE(eid, shapeIndex); - - #endif } /*-----------------------------------------------------------------------------------*/ /* Private Function Member Definitions */ /*-----------------------------------------------------------------------------------*/ - SHEventHandle SHPhysicsSystem::addPhysicsComponent(SHEventPtr addComponentEvent) noexcept - { - const auto& EVENT_DATA = reinterpret_cast*>(addComponentEvent.get()); - - static const auto RIGID_BODY_ID = ComponentFamily::GetID(); - static const auto COLLIDER_ID = ComponentFamily::GetID(); - - const auto ADDED_ID = EVENT_DATA->data->addedComponentType; - const bool IS_PHYSICS_COMPONENT = ADDED_ID == RIGID_BODY_ID || ADDED_ID == COLLIDER_ID; - if (IS_PHYSICS_COMPONENT) - { - const EntityID EID = EVENT_DATA->data->eid; - - // We only add tell the physics object manager to add a component if the scene is played - - #ifdef SHEDITOR - - const auto* EDITOR = SHSystemManager::GetSystem(); - - if (EDITOR && EDITOR->editorState != SHEditor::State::STOP) - ADDED_ID == RIGID_BODY_ID ? objectManager.AddRigidBody(EID) : objectManager.AddCollider(EID); - - #else - - ADDED_ID == RIGID_BODY_ID ? objectManager.AddRigidBody(EID) : objectManager.AddCollider(EID); - - #endif - } - - return EVENT_DATA->handle; - } - - SHEventHandle SHPhysicsSystem::removePhysicsComponent(SHEventPtr removeComponentEvent) noexcept - { - const auto& EVENT_DATA = reinterpret_cast*>(removeComponentEvent.get()); - - static const auto RIGID_BODY_ID = ComponentFamily::GetID(); - static const auto COLLIDER_ID = ComponentFamily::GetID(); - - const auto REMOVED_ID = EVENT_DATA->data->removedComponentType; - const bool IS_PHYSICS_COMPONENT = REMOVED_ID == RIGID_BODY_ID || REMOVED_ID == COLLIDER_ID; - if (IS_PHYSICS_COMPONENT) - { - const EntityID EID = EVENT_DATA->data->eid; - - // We only add tell the physics object manager to remove a component if the scene is played - - #ifdef SHEDITOR - - const auto* EDITOR = SHSystemManager::GetSystem(); - - if (EDITOR && EDITOR->editorState != SHEditor::State::STOP) - REMOVED_ID == RIGID_BODY_ID ? objectManager.RemoveRigidBody(EID) : objectManager.RemoveCollider(EID); - - #else - - REMOVED_ID == RIGID_BODY_ID ? objectManager.RemoveRigidBody(EID) : objectManager.RemoveCollider(EID); - - #endif - } - - return EVENT_DATA->handle; - } - - SHEventHandle SHPhysicsSystem::onPlay(SHEventPtr onPlayEvent) - { - static const auto BUILD_PHYSICS_OBJECT = [&](SHSceneNode* node) - { - const EntityID EID = node->GetEntityID(); - - if (SHComponentManager::HasComponent(EID)) - objectManager.AddRigidBody(EID); - - if (SHComponentManager::HasComponent(EID)) - { - objectManager.AddCollider(EID); - - auto* COLLIDER = SHComponentManager::GetComponent(EID); - for (size_t i = 0; i < COLLIDER->GetCollisionShapes().size(); ++i) - objectManager.AddCollisionShape(EID, i); - } - }; - - //////////////////////////////// - - // Create physics world - if (worldState.world != nullptr) - return onPlayEvent->handle; - - worldState.CreateWorld(factory); -#ifdef _PUBLISH - worldState.world->setIsDebugRenderingEnabled(false); -#else - worldState.world->setIsDebugRenderingEnabled(true); -#endif - - // Link Collision Listener & Raycaster - collisionListener.BindToWorld(worldState.world); - raycaster.BindToWorld(worldState.world); - - // Link with object manager & create all physics objects - objectManager.SetWorld(worldState.world); - - // Build scene - SHSceneManager::GetCurrentSceneGraph().Traverse(BUILD_PHYSICS_OBJECT); - objectManager.UpdateCommands(); - - return onPlayEvent->handle; - } - - SHEventHandle SHPhysicsSystem::onStop(SHEventPtr onStopEvent) - { - // Remove all physics objects - objectManager.RemoveAllObjects(); - objectManager.SetWorld(nullptr); - - // Clear all collision info - // Collision listener is automatically unbound when world is destroyed - collisionListener.ClearContainers(); - raycaster.ClearFrame(); - - // Destroy the world - worldState.DestroyWorld(factory); - - return onStopEvent->handle; - } } // namespace SHADE \ No newline at end of file diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h index 99db493e..3fe05c09 100644 --- a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h +++ b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h @@ -10,22 +10,13 @@ #pragma once -#include -#include - -// External Dependencies -#include - // Project Headers #include "ECS_Base/System/SHSystemRoutine.h" #include "ECS_Base/System/SHFixedSystemRoutine.h" #include "Math/Transform/SHTransformComponent.h" -#include "Physics/Collision/SHCollisionListener.h" -#include "Physics/Collision/SHPhysicsRaycaster.h" #include "Physics/Interface/SHRigidBodyComponent.h" #include "Physics/Interface/SHColliderComponent.h" -#include "Physics/PhysicsObject/SHPhysicsObjectManager.h" #include "Physics/SHPhysicsWorld.h" #include "Scene/SHSceneGraph.h" @@ -55,14 +46,9 @@ namespace SHADE /* Getter Functions */ /*---------------------------------------------------------------------------------*/ - [[nodiscard]] double GetFixedUpdateRate () const noexcept; - [[nodiscard]] const SHPhysicsWorldState::WorldSettings& GetWorldSettings () const noexcept; + [[nodiscard]] double GetFixedUpdateRate () const noexcept; + [[nodiscard]] const SHPhysicsWorldState::WorldSettings& GetWorldSettings () const noexcept; - [[nodiscard]] const std::vector& GetAllCollisionInfo () const noexcept; - [[nodiscard]] const std::vector& GetAllTriggerInfo () const noexcept; - - [[nodiscard]] const SHPhysicsObject* GetPhysicsObject (EntityID eid) noexcept; - [[nodiscard]] const SHPhysicsObjectManager::PhysicsObjectEntityMap& GetPhysicsObjects () const noexcept; /*---------------------------------------------------------------------------------*/ /* Setter Functions */ /*---------------------------------------------------------------------------------*/ @@ -77,105 +63,8 @@ namespace SHADE void Init () override; void Exit () override; - void BuildScene (SHSceneGraph& sceneGraph); - void ForceBuild (SHSceneGraph& sceneGraph); void ForceUpdate (); - /** - * @brief Casts a ray into the world. - * @param ray The ray to cast. - * @param distance The distance to cast the ray. Defaults to infinity. - * @param collisionTag The collision tag to use for filtering the raycast. - * @return The result of the raycast. - */ - SHPhysicsRaycastResult Raycast - ( - const SHRay& ray - , float distance = std::numeric_limits::infinity() - , const SHCollisionTag& collisionTag = SHCollisionTag{} - ) noexcept; - - /** - * @brief Casts a bounded ray into the world. - * @param start The starting point of the ray. - * @param end The end point of the ray. - * @param collisionTag The collision tag to use for filtering the bounded raycast. - * @return The result of the raycast. - */ - SHPhysicsRaycastResult Linecast - ( - const SHVec3& start - , const SHVec3& end - , const SHCollisionTag& collisionTag = SHCollisionTag{} - ) noexcept; - - /** - * @brief Casts a ray at a body with colliders. - * @param eid The entity to cast to. - * @param ray The ray to cast. - * @param distance The distance to cast the ray. Defaults to infinity. - * @return The result of the raycast. - */ - SHPhysicsRaycastResult ColliderRaycast - ( - EntityID eid - , const SHRay& ray - , float distance = std::numeric_limits::infinity() - ) noexcept; - - /** - * @brief Casts a ray at a collider. - * @param eid The entity to cast to. - * @param shapeIndex The index of the collision shape. - * @param ray The ray to cast. - * @param distance The distance to cast the ray. Defaults to infinity. - * @return The result of the raycast. - */ - SHPhysicsRaycastResult ColliderRaycast - ( - EntityID eid - , int shapeIndex - , const SHRay& ray - , float distance = std::numeric_limits::infinity() - ) noexcept; - - /** - * @brief Casts a bounded ray at a body with colliders. - * @param eid - * @param start - * @param end - * @return The result of the raycast. - */ - SHPhysicsRaycastResult ColliderLinecast - ( - EntityID eid - , const SHVec3& start - , const SHVec3& end - ) noexcept; - - /** - * @brief - * @param eid - * @param shapeIndex - * @param start - * @param end - * @return The result of the raycast. - */ - SHPhysicsRaycastResult ColliderLinecast - ( - EntityID eid - , int shapeIndex - , const SHVec3& start - , const SHVec3& end - ) noexcept; - - // Specific Handling for Collision Shapes as they are not under the Component System. - // This is done as events need to be sent out. - // TODO(Diren): Consider using a static method through the ColliderComponent. - - void AddCollisionShape (EntityID eid, int shapeIndex); - void RemoveCollisionShape (EntityID eid, int shapeIndex); - /*---------------------------------------------------------------------------------*/ /* System Routines */ /*---------------------------------------------------------------------------------*/ @@ -200,17 +89,6 @@ namespace SHADE /* Function Members */ /*-------------------------------------------------------------------------------*/ - void syncRigidBodyActive (EntityID eid, SHPhysicsObject& physicsObject) const noexcept; - void syncColliderActive (EntityID eid, SHPhysicsObject& physicsObject) const noexcept; - static void syncOnPlay (EntityID eid, SHPhysicsObject& physicsObject) noexcept; - - static void preUpdateSyncTransform - ( - SHPhysicsObject& physicsObject - , SHTransformComponent* transformComponent - , SHRigidBodyComponent* rigidBodyComponent - , SHColliderComponent* colliderComponent - ) noexcept; }; class SH_API PhysicsFixedUpdate final : public SHFixedSystemRoutine @@ -250,14 +128,6 @@ namespace SHADE /* Function Members */ /*-------------------------------------------------------------------------------*/ - static void postUpdateSyncTransforms - ( - SHPhysicsObject& physicsObject - , SHTransformComponent* transformComponent - , SHRigidBodyComponent* rigidBodyComponent - , SHColliderComponent* colliderComponent - , double interpolationFactor - ) noexcept; }; private: @@ -271,26 +141,9 @@ namespace SHADE double interpolationFactor; double fixedDT; - // rp3d - - rp3d::PhysicsCommon factory; - - // Interface objects - - SHPhysicsWorldState worldState; - SHPhysicsObjectManager objectManager; - SHCollisionListener collisionListener; - SHPhysicsRaycaster raycaster; - /*---------------------------------------------------------------------------------*/ /* Function Members */ /*---------------------------------------------------------------------------------*/ - SHEventHandle addPhysicsComponent (SHEventPtr addComponentEvent) noexcept; - SHEventHandle removePhysicsComponent (SHEventPtr removeComponentEvent) noexcept; - - SHEventHandle onPlay (SHEventPtr onPlayEvent); - SHEventHandle onStop (SHEventPtr onStopEvent); - SHEventHandle buildScene (SHEventPtr onSceneChangeEvent); }; } // namespace SHADE \ No newline at end of file diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsSystemInterface.cpp b/SHADE_Engine/src/Physics/System/SHPhysicsSystemInterface.cpp index 1fb11274..06f1b464 100644 --- a/SHADE_Engine/src/Physics/System/SHPhysicsSystemInterface.cpp +++ b/SHADE_Engine/src/Physics/System/SHPhysicsSystemInterface.cpp @@ -27,26 +27,26 @@ namespace SHADE { static std::vector emptyVec; - auto phySystem = SHSystemManager::GetSystem(); - if (phySystem) - { - return phySystem->GetAllCollisionInfo(); - } + //auto phySystem = SHSystemManager::GetSystem(); + //if (phySystem) + //{ + // return phySystem->GetAllCollisionInfo(); + //} - SHLOGV_WARNING("Failed to get collision events. Empty vector returned instead."); + //SHLOGV_WARNING("Failed to get collision events. Empty vector returned instead."); return emptyVec; } const std::vector& SHPhysicsSystemInterface::GetTriggerInfo() noexcept { static std::vector emptyVec; - auto phySystem = SHSystemManager::GetSystem(); - if (phySystem) - { - return phySystem->GetAllTriggerInfo(); - } + //auto phySystem = SHSystemManager::GetSystem(); + //if (phySystem) + //{ + // return phySystem->GetAllTriggerInfo(); + //} - SHLOGV_WARNING("Failed to get trigger events. Empty vector returned instead."); + //SHLOGV_WARNING("Failed to get trigger events. Empty vector returned instead."); return emptyVec; } @@ -61,76 +61,4 @@ namespace SHADE SHLOGV_WARNING("Failed to get fixed delta time. 0.0 returned instead."); return 0.0; } - - SHPhysicsRaycastResult SHPhysicsSystemInterface::Raycast(const SHRay& ray, float distance) noexcept - { - auto* physicsSystem = SHSystemManager::GetSystem(); - if (physicsSystem) - { - return physicsSystem->Raycast(ray, distance); - } - - SHLOGV_WARNING("Failed to get the physics system. No ray was casted."); - return SHPhysicsRaycastResult{}; - } - - SHPhysicsRaycastResult SHPhysicsSystemInterface::Linecast(const SHVec3& start, const SHVec3& end) noexcept - { - auto* physicsSystem = SHSystemManager::GetSystem(); - if (physicsSystem) - { - return physicsSystem->Linecast(start, end); - } - - SHLOGV_WARNING("Failed to get the physics system. No ray was casted."); - return SHPhysicsRaycastResult{}; - } - - SHPhysicsRaycastResult SHPhysicsSystemInterface::ColliderRaycast(EntityID eid, const SHRay& ray, float distance) noexcept - { - auto* physicsSystem = SHSystemManager::GetSystem(); - if (physicsSystem) - { - return physicsSystem->ColliderRaycast(eid, ray, distance); - } - - SHLOGV_WARNING("Failed to get the physics system. No ray was casted."); - return SHPhysicsRaycastResult{}; - } - - SHPhysicsRaycastResult SHPhysicsSystemInterface::ColliderRaycast(EntityID eid, int shapeIndex, const SHRay& ray, float distance) noexcept - { - auto* physicsSystem = SHSystemManager::GetSystem(); - if (physicsSystem) - { - return physicsSystem->ColliderRaycast(eid, shapeIndex, ray, distance); - } - - SHLOGV_WARNING("Failed to get the physics system. No ray was casted."); - return SHPhysicsRaycastResult{}; - } - - SHPhysicsRaycastResult SHPhysicsSystemInterface::ColliderLinecast(EntityID eid, const SHVec3& start, const SHVec3& end) noexcept - { - auto* physicsSystem = SHSystemManager::GetSystem(); - if (physicsSystem) - { - return physicsSystem->ColliderLinecast(eid, start, end); - } - - SHLOGV_WARNING("Failed to get the physics system. No ray was casted."); - return SHPhysicsRaycastResult{}; - } - - SHPhysicsRaycastResult SHPhysicsSystemInterface::ColliderLinecast(EntityID eid, int shapeIndex, const SHVec3& start, const SHVec3& end) noexcept - { - auto* physicsSystem = SHSystemManager::GetSystem(); - if (physicsSystem) - { - return physicsSystem->ColliderLinecast(eid, shapeIndex, start, end); - } - - SHLOGV_WARNING("Failed to get the physics system. No ray was casted."); - return SHPhysicsRaycastResult{}; - } } diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsSystemInterface.h b/SHADE_Engine/src/Physics/System/SHPhysicsSystemInterface.h index 0065aee3..0664f367 100644 --- a/SHADE_Engine/src/Physics/System/SHPhysicsSystemInterface.h +++ b/SHADE_Engine/src/Physics/System/SHPhysicsSystemInterface.h @@ -16,6 +16,7 @@ of DigiPen Institute of Technology is prohibited. // Project Headers #include "ECS_Base/Entity/SHEntity.h" +#include "Physics/Collision/SHCollisionInfo.h" namespace SHADE @@ -24,7 +25,6 @@ namespace SHADE /* Forward Declarations */ /*-----------------------------------------------------------------------------------*/ - class SHCollisionInfo; class SHVec3; struct SHRay; struct SHPhysicsRaycastResult; @@ -52,12 +52,5 @@ namespace SHADE [[nodiscard]] static const std::vector& GetCollisionInfo() noexcept; [[nodiscard]] static const std::vector& GetTriggerInfo () noexcept; [[nodiscard]] static double GetFixedDT () noexcept; - - [[nodiscard]] static SHPhysicsRaycastResult Raycast (const SHRay& ray, float distance = std::numeric_limits::infinity()) noexcept; - [[nodiscard]] static SHPhysicsRaycastResult Linecast (const SHVec3& start, const SHVec3& end) noexcept; - [[nodiscard]] static SHPhysicsRaycastResult ColliderRaycast (EntityID eid, const SHRay& ray, float distance = std::numeric_limits::infinity()) noexcept; - [[nodiscard]] static SHPhysicsRaycastResult ColliderRaycast (EntityID eid, int shapeIndex, const SHRay& ray, float distance = std::numeric_limits::infinity()) noexcept; - [[nodiscard]] static SHPhysicsRaycastResult ColliderLinecast (EntityID eid, const SHVec3& start, const SHVec3& end) noexcept; - [[nodiscard]] static SHPhysicsRaycastResult ColliderLinecast (EntityID eid, int shapeIndex, const SHVec3& start, const SHVec3& end) noexcept; }; } diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsSystemRoutines.cpp b/SHADE_Engine/src/Physics/System/SHPhysicsSystemRoutines.cpp index a5ca957a..0029a8e7 100644 --- a/SHADE_Engine/src/Physics/System/SHPhysicsSystemRoutines.cpp +++ b/SHADE_Engine/src/Physics/System/SHPhysicsSystemRoutines.cpp @@ -55,85 +55,12 @@ namespace SHADE void SHPhysicsSystem::PhysicsPreUpdate::Execute(double) noexcept { auto* physicsSystem = reinterpret_cast(GetSystem()); - - #ifdef SHEDITOR - - // Only Sync on Play. - // Otherwise, Components are only holding data until the world is built on play. - const auto* EDITOR = SHSystemManager::GetSystem(); - if (EDITOR && EDITOR->editorState != SHEditor::State::STOP) - { - physicsSystem->objectManager.UpdateCommands(); - - for (auto& [entityID, physicsObject] : physicsSystem->objectManager.physicsObjects) - { - // Ensure a valid physics Object - if (physicsObject.rp3dBody == nullptr) - continue; - - // Sync active states between SHADE & RP3D - syncRigidBodyActive(entityID, physicsObject); - syncColliderActive(entityID, physicsObject); - - syncOnPlay(entityID, physicsObject); - } - } - else - { - auto& rigidBodyDense = SHComponentManager::GetDense(); - auto& colliderDense = SHComponentManager::GetDense(); - - for (auto& rigidBodyComponent : rigidBodyDense) - { - const auto* TRANSFORM = SHComponentManager::GetComponent_s(rigidBodyComponent.GetEID()); - - if (TRANSFORM && TRANSFORM->HasChanged()) - { - rigidBodyComponent.position = TRANSFORM->GetWorldPosition(); - rigidBodyComponent.orientation = TRANSFORM->GetWorldOrientation(); - } - } - - for (auto& colliderComponent : colliderDense) - { - const auto* TRANSFORM = SHComponentManager::GetComponent_s(colliderComponent.GetEID()); - - if (TRANSFORM && TRANSFORM->HasChanged()) - { - colliderComponent.position = TRANSFORM->GetWorldPosition(); - colliderComponent.orientation = TRANSFORM->GetWorldOrientation(); - colliderComponent.scale = TRANSFORM->GetWorldScale(); - - colliderComponent.RecomputeCollisionShapes(); - } - } - } - - #else - - // Always sync Rigid Body & Collider Components with Physics Objects - // Do not check for an editor here - - physicsSystem->objectManager.UpdateCommands(); - - for (auto& [entityID, physicsObject] : physicsSystem->objectManager.physicsObjects) - { - // Ensure a valid physics Object - if (physicsObject.rp3dBody == nullptr) - continue; - - syncRigidBodyActive(entityID, physicsObject); - syncColliderActive(entityID, physicsObject); - - syncOnPlay(entityID, physicsObject); - } - - #endif } void SHPhysicsSystem::PhysicsFixedUpdate::Execute(double dt) noexcept { auto* physicsSystem = reinterpret_cast(GetSystem()); + auto* scriptingSystem = SHSystemManager::GetSystem(); if (scriptingSystem == nullptr) { @@ -141,20 +68,16 @@ namespace SHADE } const double FIXED_DT = physicsSystem->fixedDT; - // HACK: Clamp DT here to prevent a ridiculous amount of updates. This limits updates from large dt to 2. - // HACK: This should be done by the FRC and not here for predictable behaviour. accumulatedTime += dt; - //testFunction(); - int count = 0; while (accumulatedTime > FIXED_DT) { if (scriptingSystem != nullptr) scriptingSystem->ExecuteFixedUpdates(); - physicsSystem->worldState.world->update(static_cast(FIXED_DT)); + // TODO: Update World accumulatedTime -= FIXED_DT; ++count; @@ -177,236 +100,16 @@ namespace SHADE } // Interpolate transforms for rendering - if (physicsSystem->worldUpdated) - { - for (auto& [entityID, physicsObject] : physicsSystem->objectManager.physicsObjects) - { - auto* transformComponent = SHComponentManager::GetComponent_s(entityID); - auto* rigidBodyComponent = SHComponentManager::GetComponent_s(entityID); - auto* colliderComponent = SHComponentManager::GetComponent_s(entityID); - postUpdateSyncTransforms - ( - physicsObject - , transformComponent - , rigidBodyComponent - , colliderComponent - , physicsSystem->interpolationFactor - ); - } + // Collision & Trigger messages + if (scriptingSystem != nullptr) + scriptingSystem->ExecuteCollisionFunctions(); - // Collision & Trigger messages - if (scriptingSystem != nullptr) - scriptingSystem->ExecuteCollisionFunctions(); - - // Since this function never runs when editor in not in play, execute the function anyway - physicsSystem->collisionListener.CleanContainers(); - } } /*-----------------------------------------------------------------------------------*/ /* Private Function Member Definitions */ /*-----------------------------------------------------------------------------------*/ - - void SHPhysicsSystem::PhysicsPreUpdate::syncRigidBodyActive(EntityID eid, SHPhysicsObject& physicsObject) const noexcept - { - if (!SHComponentManager::HasComponent(eid)) - return; - - const bool IS_ACTIVE_IN_SCENE = SHSceneManager::CheckNodeAndComponentsActive(eid); - const bool IS_RP3D_BODY_ACTIVE = physicsObject.GetRigidBody()->isActive(); - - if (IS_ACTIVE_IN_SCENE != IS_RP3D_BODY_ACTIVE) - physicsObject.GetRigidBody()->setIsActive(IS_ACTIVE_IN_SCENE); - } - - void SHPhysicsSystem::PhysicsPreUpdate::syncColliderActive(EntityID eid, SHPhysicsObject& physicsObject) const noexcept - { - const auto* COLLIDER = SHComponentManager::GetComponent_s(eid); - if (!COLLIDER) - return; - - const bool IS_ACTIVE_IN_SCENE = SHSceneManager::CheckNodeAndComponentsActive(eid); - const bool IS_RP3D_COLLIDER_ACTIVE = physicsObject.collidersActive; - - if (IS_ACTIVE_IN_SCENE != IS_RP3D_COLLIDER_ACTIVE) - { - // HACK: If active state turned off, remove all collision shapes. If turned on, add them back. - auto* physicsSystem = reinterpret_cast(GetSystem()); - - const int NUM_SHAPES = static_cast(COLLIDER->GetCollisionShapes().size()); - if (IS_ACTIVE_IN_SCENE) - { - for (int i = 0; i < NUM_SHAPES; ++i) - physicsSystem->objectManager.AddCollisionShape(eid, i); - } - else - { - for (int i = NUM_SHAPES - 1; i >= 0; --i) - physicsSystem->objectManager.RemoveCollisionShape(eid, i); - } - - physicsObject.collidersActive = IS_ACTIVE_IN_SCENE; - } - } - - void SHPhysicsSystem::PhysicsPreUpdate::syncOnPlay(EntityID eid, SHPhysicsObject& physicsObject) noexcept - { - auto* transformComponent = SHComponentManager::GetComponent_s(eid); - auto* rigidBodyComponent = SHComponentManager::GetComponent_s(eid); - auto* colliderComponent = SHComponentManager::GetComponent_s(eid); - - // Sync transforms & physics components transforms - if (transformComponent && transformComponent->HasChanged()) - { - physicsObject.GetRigidBody()->setIsSleeping(false); - - preUpdateSyncTransform - ( - physicsObject - , transformComponent - , rigidBodyComponent - , colliderComponent - ); - } - - // Sync Rigid Bodies - if (rigidBodyComponent) - physicsObject.SyncRigidBody(*rigidBodyComponent); - - // Sync Colliders - if (colliderComponent) - physicsObject.SyncColliders(*colliderComponent); - } - - void SHPhysicsSystem::PhysicsPreUpdate::preUpdateSyncTransform - ( - SHPhysicsObject& physicsObject - , SHTransformComponent* transformComponent - , SHRigidBodyComponent* rigidBodyComponent - , SHColliderComponent* colliderComponent - ) noexcept - { - if (!transformComponent) - return; - - const SHVec3& WORLD_POS = transformComponent->GetWorldPosition(); - const SHQuaternion& WORLD_ROT = transformComponent->GetWorldOrientation(); - const SHVec3& WORLD_SCL = transformComponent->GetWorldScale(); - - const rp3d::Transform RP3D_TRANSFORM { WORLD_POS, WORLD_ROT }; - physicsObject.GetRigidBody()->setTransform(RP3D_TRANSFORM); - physicsObject.prevTransform = RP3D_TRANSFORM; - - if (rigidBodyComponent && SHSceneManager::CheckNodeAndComponentsActive(physicsObject.entityID)) - { - rigidBodyComponent->position = WORLD_POS; - rigidBodyComponent->orientation = WORLD_ROT; - } - - if (colliderComponent && SHSceneManager::CheckNodeAndComponentsActive(physicsObject.entityID)) - { - colliderComponent->position = WORLD_POS; - colliderComponent->orientation = WORLD_ROT; - colliderComponent->scale = WORLD_SCL; - - colliderComponent->RecomputeCollisionShapes(); - } - } - - void SHPhysicsSystem::PhysicsPostUpdate::postUpdateSyncTransforms - ( - SHPhysicsObject& physicsObject - , SHTransformComponent* transformComponent - , SHRigidBodyComponent* rigidBodyComponent - , SHColliderComponent* colliderComponent - , double interpolationFactor - ) noexcept - { - const rp3d::Transform& CURRENT_TF = physicsObject.GetRigidBody()->getTransform(); - auto renderPos = CURRENT_TF.getPosition(); - auto renderRot = CURRENT_TF.getOrientation(); - - // Cache transforms - if (physicsObject.GetRigidBody()->isActive()) - physicsObject.prevTransform = CURRENT_TF; - - // Sync with rigid bodies - if (rigidBodyComponent && SHSceneManager::CheckNodeAndComponentsActive(physicsObject.entityID)) - { - // Skip static bodies - if (rigidBodyComponent->GetType() == SHRigidBodyComponent::Type::STATIC) - return; - - // Check if transform should be interpolated - if (rigidBodyComponent->IsInterpolating()) - { - // Interpolate transforms between current and predicted next transform - - const rp3d::Transform PREV_TF = physicsObject.prevTransform; - const rp3d::Transform INTERPOLATED_TF = rp3d::Transform::interpolateTransforms(PREV_TF, CURRENT_TF, static_cast(interpolationFactor)); - - renderPos = INTERPOLATED_TF.getPosition(); - renderRot = INTERPOLATED_TF.getOrientation(); - } - - rigidBodyComponent->position = CURRENT_TF.getPosition(); - rigidBodyComponent->orientation = CURRENT_TF.getOrientation(); - - // Sync with colliders - if (colliderComponent && SHSceneManager::CheckNodeAndComponentsActive(physicsObject.entityID)) - { - // Skip colliders without rigidbody components. If any transform was updated, it was done in pre-update. - - colliderComponent->position = CURRENT_TF.getPosition(); - colliderComponent->orientation = CURRENT_TF.getOrientation(); - } - - // Set transform for rendering - if (transformComponent) - { - transformComponent->SetWorldPosition(renderPos); - transformComponent->SetWorldOrientation(renderRot); - } - } - } } // namespace SHADE -///////////////////////////////////////////////////////////////////////////////////////// -void testFunction() -{ - using namespace SHADE; - - // Test movement - const float forceModifier = 25.0f; - EntityID eid = 65538; - - if (SHEntityManager::IsValidEID(eid)) - { - auto* rb = SHComponentManager::GetComponent_s(eid); - if (rb) - { - if (SHInputManager::GetKey(SHInputManager::SH_KEYCODE::W)) - rb->AddForce(SHVec3::UnitZ * forceModifier); - - if (SHInputManager::GetKey(SHInputManager::SH_KEYCODE::A)) - rb->AddForce(-SHVec3::UnitX * forceModifier); - - if (SHInputManager::GetKey(SHInputManager::SH_KEYCODE::S)) - rb->AddForce(-SHVec3::UnitZ * forceModifier); - - if (SHInputManager::GetKey(SHInputManager::SH_KEYCODE::D)) - rb->AddForce(SHVec3::UnitX * forceModifier); - } - } - - // Cast rays - auto* tag = SHCollisionTagMatrix::GetTag(1); - tag->SetLayerState(SHCollisionTag::Layer::_1, false); - tag->SetLayerState(SHCollisionTag::Layer::_2, true); - - SHRay ray { SHVec3{3.0f, 3.5f, 0.0f}, -SHVec3::UnitX }; - auto* physicsSystem = SHSystemManager::GetSystem(); - physicsSystem->Raycast(ray, std::numeric_limits::infinity(), *tag); -} diff --git a/SHADE_Managed/src/Components/Collider.cxx b/SHADE_Managed/src/Components/Collider.cxx index b5f1444f..414e79b7 100644 --- a/SHADE_Managed/src/Components/Collider.cxx +++ b/SHADE_Managed/src/Components/Collider.cxx @@ -19,7 +19,7 @@ of DigiPen Institute of Technology is prohibited. namespace SHADE { - /*---------------------------------------------------------------------------------*/ + /*---------------------------------------------------------------------------------*/ /* CollisionShape - Constructors */ /*---------------------------------------------------------------------------------*/ CollisionShape::CollisionShape(int arrayIdx, Entity attachedEntity) diff --git a/SHADE_Managed/src/Physics/Physics.cxx b/SHADE_Managed/src/Physics/Physics.cxx index 9e2c1413..fc54f527 100644 --- a/SHADE_Managed/src/Physics/Physics.cxx +++ b/SHADE_Managed/src/Physics/Physics.cxx @@ -43,47 +43,47 @@ namespace SHADE RaycastHit Physics::Raycast(Ray ray) { - return Convert::ToCLI(SHPhysicsSystemInterface::Raycast(Convert::ToNative(ray))); + return RaycastHit{}; } RaycastHit Physics::Raycast(Ray ray, float distance) { - return Convert::ToCLI(SHPhysicsSystemInterface::Raycast(Convert::ToNative(ray), distance)); + return RaycastHit{}; } RaycastHit Physics::Linecast(Vector3 start, Vector3 end) { - return Convert::ToCLI(SHPhysicsSystemInterface::Linecast(Convert::ToNative(start), Convert::ToNative(end))); + return RaycastHit{}; } RaycastHit Physics::ColliderRaycast(GameObject object, Ray ray) { - return Convert::ToCLI(SHPhysicsSystemInterface::ColliderRaycast(object.EntityId, Convert::ToNative(ray))); + return RaycastHit{}; } RaycastHit Physics::ColliderRaycast(GameObject object, Ray ray, float distance) { - return Convert::ToCLI(SHPhysicsSystemInterface::ColliderRaycast(object.EntityId, Convert::ToNative(ray), distance)); + return RaycastHit{}; } RaycastHit Physics::ColliderRaycast(GameObject object, int shapeIndex, Ray ray) { - return Convert::ToCLI(SHPhysicsSystemInterface::ColliderRaycast(object.EntityId, shapeIndex, Convert::ToNative(ray))); + return RaycastHit{}; } RaycastHit Physics::ColliderRaycast(GameObject object, int shapeIndex, Ray ray, float distance) { - return Convert::ToCLI(SHPhysicsSystemInterface::ColliderRaycast(object.EntityId, shapeIndex, Convert::ToNative(ray), distance)); + return RaycastHit{}; } RaycastHit Physics::ColliderLineCast(GameObject object, Vector3 start, Vector3 end) { - return Convert::ToCLI(SHPhysicsSystemInterface::ColliderLinecast(object.EntityId, Convert::ToNative(start), Convert::ToNative(end))); + return RaycastHit{}; } RaycastHit Physics::ColliderLineCast(GameObject object, int shapeIndex, Vector3 start, Vector3 end) { - return Convert::ToCLI(SHPhysicsSystemInterface::ColliderLinecast(object.EntityId, shapeIndex, Convert::ToNative(start), Convert::ToNative(end))); + return RaycastHit{}; } /*-----------------------------------------------------------------------------------*/ diff --git a/SHADE_Managed/src/Utility/Convert.cxx b/SHADE_Managed/src/Utility/Convert.cxx index 590a3cf0..1d277274 100644 --- a/SHADE_Managed/src/Utility/Convert.cxx +++ b/SHADE_Managed/src/Utility/Convert.cxx @@ -103,38 +103,6 @@ namespace SHADE /* Physics Conversions */ /*---------------------------------------------------------------------------------*/ - SHPhysicsRaycastResult Convert::ToNative(RaycastHit cli) - { - // This function shouldn't be used anyway, so we leave the entityHit empty. - - SHPhysicsRaycastResult native; - - native.hit = cli.Hit; - native.position = ToNative(cli.Position); - native.normal = ToNative(cli.Normal); - native.distance = cli.Distance; - native.shapeIndex = cli.CollisionShapeIndex; - - return native; - } - - RaycastHit Convert::ToCLI(const SHPhysicsRaycastResult& native) - { - RaycastHit cli; - - cli.Hit = native.hit; - cli.Position = ToCLI(native.position); - cli.Normal = ToCLI(native.normal); - cli.Distance = native.distance; - cli.CollisionShapeIndex = native.shapeIndex; - - cli.Other = SHEntityManager::IsValidEID(native.entityHit) - ? GameObject(native.entityHit) - : System::Nullable(); - - return cli; - } - /*---------------------------------------------------------------------------------*/ /* Handle Conversions */ /*---------------------------------------------------------------------------------*/ diff --git a/SHADE_Managed/src/Utility/Convert.hxx b/SHADE_Managed/src/Utility/Convert.hxx index fb373c51..6fa4d935 100644 --- a/SHADE_Managed/src/Utility/Convert.hxx +++ b/SHADE_Managed/src/Utility/Convert.hxx @@ -141,20 +141,6 @@ namespace SHADE /* Physics Conversions */ /*-----------------------------------------------------------------------------*/ - /// - /// Converts from a managed RaycastHit to a native SHPhysicsRaycastResult - /// - /// The managed RaycastHit to convert from. - /// Native copy of a managed RaycastHit. - static SHPhysicsRaycastResult ToNative(RaycastHit cli); - - /// - /// Converts from native SHPhysicsRaycastResult to a managed RaycastHit. - /// - /// The native SHPhysicsRaycastResult to convert from. - /// Managed copy of a native SHPhysicsRaycastResult. - static RaycastHit ToCLI(const SHPhysicsRaycastResult& native); - /*-----------------------------------------------------------------------------*/ /* Handle Conversions */ /*-----------------------------------------------------------------------------*/