xiaoqi
/
SHADE_Y3
1
0
Fork 0
Code Issues 12 Pull Requests Packages Projects Releases 9 Wiki Activity

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

This commit is contained in:
Diren D Bharwani 2023-03-03 23:47:39 +08:00
parent 446db133d2
commit 6200e3f533
8 changed files with 77 additions and 84 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

44
Assets/Scenes/PhysicsTest.shade
View File

@ -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

54
SHADE_Engine/src/Physics/Dynamics/SHContactManager.cpp
View File

@ -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& 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;
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
{

6
SHADE_Engine/src/Physics/Dynamics/SHContactManager.h
View File

@ -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

7
SHADE_Engine/src/Physics/Dynamics/SHPhysicsWorld.cpp
View File

@ -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
*/

26
SHADE_Engine/src/Physics/System/Routines/SHPhysicsDebugDrawRoutine.cpp
View File

@ -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
}
}
if (DRAW_RAYCASTS)
{
const SHColour& RAY_COLOUR = physicsDebugDrawSystem->DEBUG_DRAW_COLOURS[SHUtilities::ConvertEnum(Colours::RAYCAST)];
#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)
debugDrawSystem->DrawLine(hit.start, hit.end, RAY_COLOUR, true);
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

6
SHADE_Engine/src/Physics/System/Routines/SHPhysicsPostUpdateRoutine.cpp
View File

@ -35,7 +35,7 @@ namespace SHADE
void SHPhysicsSystem::PhysicsPostUpdate::Execute(double) noexcept
{
auto* physicsSystem = reinterpret_cast<SHPhysicsSystem*>(GetSystem());
auto* physicsSystem = reinterpret_cast<SHPhysicsSystem*>(GetSystem());
auto* scriptingSystem = SHSystemManager::GetSystem<SHScriptEngine>();
if (scriptingSystem == nullptr)
@ -93,10 +93,6 @@ namespace SHADE
*/
}
}
// Collision & Trigger messages
if (scriptingSystem != nullptr)
scriptingSystem->ExecuteCollisionFunctions();
}
} // namespace SHADE

13
SHADE_Engine/src/Physics/System/Routines/SHPhysicsUpdateRoutine.cpp
View File

@ -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;
}

5
SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp
View File

@ -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;