Fixed bug where collision & trigger state were called more than once

Assets/Scenes/PhysicsTest.shade

@@ -38,10 +38,6 @@
           Rotation Offset: {x: 0, y: 0, z: 0}
       IsActive: true
   Scripts:
-    - Type: PhysicsTestObj
-      Enabled: true
-      forceAmount: 50
-      torqueAmount: 500
     - Type: CollisionTest
       Enabled: true
 - EID: 1
@@ -176,46 +172,6 @@
           Rotation Offset: {x: 0, y: 0, z: 0}
       IsActive: true
   Scripts: ~
-- EID: 7
-  Name: Default
-  IsActive: true
-  NumberOfChildren: 0
-  Components:
-    Transform Component:
-      Translate: {x: 0, y: 0, z: 3}
-      Rotate: {x: 0, y: 0, z: 0}
-      Scale: {x: 1, y: 1, z: 1}
-      IsActive: true
-    RigidBody Component:
-      Type: Dynamic
-      Auto Mass: false
-      Mass: 1
-      Drag: 0.00999999978
-      Angular Drag: 0.100000001
-      Use Gravity: true
-      Gravity Scale: 1
-      Interpolate: true
-      Sleeping Enabled: true
-      Freeze Position X: false
-      Freeze Position Y: false
-      Freeze Position Z: false
-      Freeze Rotation X: false
-      Freeze Rotation Y: false
-      Freeze Rotation Z: false
-      IsActive: true
-    Collider Component:
-      Colliders:
-        - Is Trigger: false
-          Collision Tag: 1
-          Type: Box
-          Half Extents: {x: 1, y: 1, z: 1}
-          Friction: 0.400000006
-          Bounciness: 0
-          Density: 1
-          Position Offset: {x: 0, y: 0, z: 0}
-          Rotation Offset: {x: 0, y: 0, z: 0}
-      IsActive: true
-  Scripts: ~
 - EID: 8
   Name: Target
   IsActive: true

SHADE_Engine/src/Physics/Dynamics/SHContactManager.cpp

@@ -76,8 +76,6 @@ namespace SHADE
         continue;
 
       const auto* SHAPE_A = manifold.shapeA;
-      const auto* SHAPE_B = manifold.shapeB;
-
       const SHCollisionUtils::ShapeTransform TF_A = { SHAPE_A->GetWorldCentroid(), SHAPE_A->GetWorldOrientation() };
 
       for (uint32_t i = 0; i < manifold.numContacts; ++i)
@@ -138,22 +136,41 @@ namespace SHADE
     removeInvalidObject(manifolds, eid, shapeIndex);
   }
 
+  void SHContactManager::RemoveExpiredContacts() noexcept
+  {
+    // Manifolds
+    for (auto manifoldsIter = manifolds.begin(); manifoldsIter != manifolds.end();)
+    {
+      const auto STATE = manifoldsIter->second.state;
+      if (STATE == SHCollisionState::INVALID || STATE == SHCollisionState::EXIT)
+        manifoldsIter = manifolds.erase(manifoldsIter);
+      else
+        ++manifoldsIter;
+    }
+
+    // Triggers
+    for (auto triggersIter = triggers.begin(); triggersIter != triggers.end();)
+    {
+      const auto STATE = triggersIter->second.state;
+      if (STATE == SHCollisionState::INVALID || STATE == SHCollisionState::EXIT)
+        triggersIter = triggers.erase(triggersIter);
+      else
+        ++triggersIter;
+    }
+  }
+
   void SHContactManager::Update() noexcept
   {
-    // Clear expired or invalid collisions. If not, test collision.
     for (auto manifoldPair = manifolds.begin(); manifoldPair != manifolds.end();)
     {
-      // Test collision of every manifold.
       SHManifold& manifold = manifoldPair->second;
       SHManifold  oldManifold = manifold;
 
       const bool IS_COLLIDING = SHCollisionDispatcher::Collide(manifold, *manifold.shapeA, *manifold.shapeB);
+      updateCollisionState(IS_COLLIDING, manifold.state);
 
-      auto& collisionState = manifold.state;
-      updateCollisionState(IS_COLLIDING, collisionState);
-
-      const bool IS_INVALID = collisionState == SHCollisionState::INVALID;
-      if (IS_INVALID)
+      // For any false positives
+      if (manifold.state == SHCollisionState::INVALID)
       {
         manifoldPair = manifolds.erase(manifoldPair);
         continue;
@@ -163,19 +180,16 @@ namespace SHADE
       ++manifoldPair;
     }
 
-    // Clear expired or invalid triggers, If not, test collision.
     for (auto triggerPair = triggers.begin(); triggerPair != triggers.end();)
     {
       // Test collision of every trigger.
       Trigger& trigger = triggerPair->second;
 
       const bool IS_COLLIDING = SHCollisionDispatcher::Collide(*trigger.A, *trigger.B);
+      updateCollisionState(IS_COLLIDING, trigger.state);
 
-      auto& collisionState = trigger.state;
-      updateCollisionState(IS_COLLIDING, collisionState);
-
-      const bool IS_INVALID = collisionState == SHCollisionState::INVALID;
-      if (IS_INVALID)
+      // For any false positives
+      if (trigger.state == SHCollisionState::INVALID)
         triggerPair = triggers.erase(triggerPair);
       else
         ++triggerPair;
@@ -238,7 +252,11 @@ namespace SHADE
     {
       // New states start at invalid. In the first frame of collision, move to enter.
       // If it already in enter, move to stay
-      state = state == SHCollisionState::INVALID ? SHCollisionState::ENTER : SHCollisionState::STAY;
+      if (state == SHCollisionState::ENTER)
+        state = SHCollisionState::STAY;
+
+      if (state == SHCollisionState::INVALID)
+        state = SHCollisionState::ENTER;
     }
     else
     {

SHADE_Engine/src/Physics/Dynamics/SHContactManager.h

@@ -79,6 +79,12 @@ namespace SHADE
     void RemoveInvalidatedManifold  (EntityID eid)                      noexcept;
     void RemoveInvalidatedManifold  (EntityID eid, uint32_t shapeIndex) noexcept;
 
+    /**
+     * @brief
+     * Removes any contact manifold or triggers that are in the exit or invalid state.
+    */
+    void RemoveExpiredContacts      () noexcept;
+
     /**
      * @brief
      * Removes any invalidated contacts and triggers, then performs narrowphase collision

SHADE_Engine/src/Physics/Dynamics/SHPhysicsWorld.cpp

@@ -86,13 +86,19 @@ namespace SHADE
 
   void SHPhysicsWorld::Step(float dt)
   {
+    
+
     /*
      * Detect Collisions
      */
 
+    contactManager.RemoveExpiredContacts();
+
     if (collisionSpace)
       collisionSpace->DetectCollisions();
 
+    // TODO: Build Islands
+
     /*
      * Integrate Forces
      */
@@ -106,7 +112,6 @@ namespace SHADE
       integrateForces(*rigidBody, dt);
     }
 
-
     /*
      * Resolve Contacts
      */

SHADE_Engine/src/Physics/System/Routines/SHPhysicsDebugDrawRoutine.cpp

@@ -15,6 +15,7 @@
 
 // Project Headers
 #include "ECS_Base/Managers/SHSystemManager.h"
+#include "Editor/SHEditor.h"
 #include "Graphics/MiddleEnd/Interface/SHDebugDrawSystem.h"
 #include "Math/Transform/SHTransformComponent.h"
 #include "Physics/System/SHPhysicsSystem.h"
@@ -36,7 +37,6 @@ namespace SHADE
 
   void SHPhysicsDebugDrawSystem::PhysicsDebugDraw::Execute(double) noexcept
   {
-#ifdef SHEDITOR
     auto* physicsDebugDrawSystem = reinterpret_cast<SHPhysicsDebugDrawSystem*>(GetSystem());
 
     if (!physicsDebugDrawSystem->IsDebugDrawActive())
@@ -86,17 +86,22 @@ namespace SHADE
       }
     }
 
+    #ifdef SHEDITOR
         if (DRAW_RAYCASTS)
         {
           const SHColour& RAY_COLOUR = physicsDebugDrawSystem->DEBUG_DRAW_COLOURS[SHUtilities::ConvertEnum(Colours::RAYCAST)];
 
-      const auto& RAYS = physicsSystem->raycastHits;
-      for (const auto& hit : RAYS)
+          auto& rays = physicsSystem->raycastHits;
+          for (const auto& hit : rays)
             debugDrawSystem->DrawLine(hit.start, hit.end, RAY_COLOUR, true);
 
-      // Clear rays for the physics system
-      physicsSystem->raycastHits.clear();
+          // Clear the raycast hit container only in play mode.
+          // No other raycasts are assumed to be done in pause or stop mode.
+          const auto EDITOR_STATE = SHSystemManager::GetSystem<SHEditor>()->editorState;
+          if (EDITOR_STATE == SHEditor::State::PLAY)
+            rays.clear();
         }
+    #endif
 
     if (DRAW_BROADPHASE)
     {
@@ -110,7 +115,6 @@ namespace SHADE
         debugDrawSystem->DrawWireCube(TRS, AABB_COLOUR);
       }
     }
-#endif
   }
 
 } // namespace SHADE

SHADE_Engine/src/Physics/System/Routines/SHPhysicsPostUpdateRoutine.cpp

@@ -93,10 +93,6 @@ namespace SHADE
          */
       }
     }
-
-    // Collision & Trigger messages
-    if (scriptingSystem != nullptr)
-      scriptingSystem->ExecuteCollisionFunctions();
   }
 
 } // namespace SHADE

SHADE_Engine/src/Physics/System/Routines/SHPhysicsUpdateRoutine.cpp

@@ -35,10 +35,10 @@ namespace SHADE
   {
     auto* physicsSystem = reinterpret_cast<SHPhysicsSystem*>(GetSystem());
 
-    auto* scriptEngine  = SHSystemManager::GetSystem<SHScriptEngine>();
-    if (!scriptEngine)
+    auto* scriptingSystem  = SHSystemManager::GetSystem<SHScriptEngine>();
+    if (!scriptingSystem)
     {
-      SHLOGV_ERROR("Unable to invoke FixedUpdate() on scripts due to missing ScriptEngine!")
+      SHLOGV_ERROR("Unable to invoke FixedUpdate() on scripts due to missing SHScriptEngine!")
     }
 
     const double FIXED_DT = physicsSystem->fixedDT;
@@ -47,12 +47,15 @@ namespace SHADE
     int count = 0;
     while (accumulatedTime > FIXED_DT)
     {
-      if (scriptEngine)
-        scriptEngine->ExecuteFixedUpdates();
+      if (scriptingSystem)
+        scriptingSystem->ExecuteFixedUpdates();
 
       if (physicsSystem->physicsWorld)
         physicsSystem->physicsWorld->Step(static_cast<float>(FIXED_DT));
 
+      if (scriptingSystem != nullptr)
+        scriptingSystem->ExecuteCollisionFunctions();
+
       accumulatedTime -= FIXED_DT;
       ++count;
     }

SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp

@@ -287,6 +287,11 @@ namespace SHADE
         collisionSpace->RemoveCollider(PHYSICS_OBJECT.collider);
     }
 
+    #ifdef SHEDITOR
+      // HACK: Editor stop always goes into scene exit
+      raycastHits.clear();
+    #endif
+
     delete collisionSpace;
     collisionSpace = nullptr;