Merge branch 'main' into PlayerController

SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp

@@ -274,6 +274,7 @@ namespace SHADE
     // Invert the inertia
     for (size_t i = 0; i < SHVec3::SIZE; ++i)
       localInvInertia[i] = 1.0f / localInvInertia[i];
+
     
 
     // Build raycast layer from colliders. If none exist....then this never stops simulating technically.
@@ -297,16 +298,17 @@ namespace SHADE
     raycastInfo.continuous  = false;
     raycastInfo.layers      = raycastLayers;
 
-    bool terminate = true;
+    bool  terminate         = true;
+    int   iterationCounter  = simInfo.maxSteps;
     do
     {
       raycastInfo.distance      = linearVelocity.Length();
       raycastInfo.ray.position  = bodyPosition;
       raycastInfo.ray.direction = SHVec3::Normalise(linearVelocity);
 
-      terminate = !Raycast(raycastInfo).empty();
+      terminate = !Raycast(raycastInfo).empty() || iterationCounter == 0;
       if (terminate)
-        break;
+        return;
 
       // Compute world space data
       const SHMatrix R  = SHMatrix::Rotate(bodyOrientation);
@@ -348,7 +350,7 @@ namespace SHADE
       const SHQuaternion QV = SHQuaternion{ angularVelocity.x * simInfo.timeStep, angularVelocity.y * simInfo.timeStep, angularVelocity.z * simInfo.timeStep, 0.0f } * 0.5f;
 
       bodyPosition    += linearVelocity * simInfo.timeStep;
-      bodyOrientation += bodyOrientation * QV;
+      bodyOrientation += bodyOrientation * QV * SHQuaternion::FromEuler(ANGULAR_LOCK);
       bodyOrientation = SHQuaternion::Normalise(bodyOrientation);
 
       // Clear forces after the first frame
@@ -362,6 +364,8 @@ namespace SHADE
 
       positions.emplace_back(bodyPosition);
 
+      --iterationCounter;
+
     } while (true);
   }
 

SHADE_Engine/src/Physics/System/SHPhysicsSystem.h

@@ -50,19 +50,39 @@ namespace SHADE
 
     /**
      * @brief
-     * Used to simulate the motion of a rigid body until it hits something.
+     * Used to simulate the motion of a rigid body, ignoring collision detection and response.
+     * @param bodyEID
+     * The EntityID of the Rigid Body to simulate.
+     * @param force
+     * The force applied onto the Rigid Body.
+     * @param forceOffset
+     * The position to apply the force onto the body relative to it's local Center of Mass.
+     * @param torque
+     * The torque to apply onto the Rigid Body.
+     * @param continuousForce
+     * If the force should be applied every step throughout the simulation. Defaults to false. <br/>
+     * True : The force indicated is added to the body every step, therefore it has constant acceleration.
+     * False: The force is applied only in the first step, therefore it has constant speed.
+     * @param timeStep
+     * The timestep for each step of the simulation. Defaults to 0.016s (The default Fixed DT)
+     * @param maxSteps
+     * The number of steps to run the simulation for. Defaults to -1.
+     * < 0 : Runs until the object may hit something. Hit detection is done through raycasting.
+     * = 0 : Runs only the current step and checks if it may hit something.
+     * > 0 : Runs for the given number of steps or until it may hit something.
     */
     struct SimulateBodyInfo
     {
-      EntityID  bodyEID               = MAX_EID;
+      EntityID  bodyEID         = MAX_EID;
 
-      SHVec3    force                 = SHVec3::Zero;
+      SHVec3    force           = SHVec3::Zero;
-      SHVec3    forceOffset           = SHVec3::Zero;
+      SHVec3    forceOffset     = SHVec3::Zero;
-      SHVec3    torque                = SHVec3::Zero;
+      SHVec3    torque          = SHVec3::Zero;
 
       // Whether or not to clear the force after the first iteration
-      bool      continuousForce       = false;
+      bool      continuousForce = false;
-      float     timeStep              = static_cast<float>(SHPhysicsConstants::DEFAULT_FIXED_DT);
+      float     timeStep        = static_cast<float>(SHPhysicsConstants::DEFAULT_FIXED_DT);
+      int       maxSteps        = -1;
     };