AHHHHHH

Assets/Scenes/M2Scene.shade

@@ -56,177 +56,6 @@
           Density: 1
           Position Offset: {x: 0, y: 0, z: 0}
   Scripts: ~
-- EID: 2
-  Name: Player
-  IsActive: true
-  NumberOfChildren: 3
-  Components:
-    Transform Component:
-      Translate: {x: -3.06177855, y: -2, z: -5}
-      Rotate: {x: -0, y: 0, z: -0}
-      Scale: {x: 2, y: 2, z: 2}
-    Renderable Component:
-      Mesh: 149697411
-      Material: 126974645
-    RigidBody Component:
-      Type: Dynamic
-      Mass: 1
-      Drag: 0
-      Angular Drag: 0
-      Use Gravity: true
-      Interpolate: true
-      Freeze Position X: false
-      Freeze Position Y: false
-      Freeze Position Z: false
-      Freeze Rotation X: true
-      Freeze Rotation Y: true
-      Freeze Rotation Z: true
-    Collider Component:
-      Colliders:
-        - Is Trigger: false
-          Type: Box
-          Half Extents: {x: 1, y: 1, z: 1}
-          Friction: 0.400000006
-          Bounciness: 0
-          Density: 1
-          Position Offset: {x: 0, y: 0.5, z: 0}
-  Scripts: ~
-- EID: 3
-  Name: Default
-  IsActive: true
-  NumberOfChildren: 0
-  Components:
-    Transform Component:
-      Translate: {x: -0.0094268322, y: 0, z: 0}
-      Rotate: {x: -0, y: 0, z: -0}
-      Scale: {x: 1, y: 1, z: 1}
-  Scripts: ~
-- EID: 4
-  Name: Default
-  IsActive: true
-  NumberOfChildren: 0
-  Components:
-    Transform Component:
-      Translate: {x: 0, y: 0, z: 0}
-      Rotate: {x: 0, y: 0, z: 0}
-      Scale: {x: 1, y: 1, z: 1}
-  Scripts: ~
-- EID: 9
-  Name: Default
-  IsActive: true
-  NumberOfChildren: 0
-  Components:
-    Transform Component:
-      Translate: {x: 0, y: 0, z: 0}
-      Rotate: {x: 0, y: 0, z: 0}
-      Scale: {x: 1, y: 1, z: 1}
-    Renderable Component:
-      Mesh: 144838771
-      Material: 123745521
-  Scripts: ~
-- EID: 6
-  Name: AI
-  IsActive: true
-  NumberOfChildren: 0
-  Components:
-    Transform Component:
-      Translate: {x: -8, y: -2, z: 2.5}
-      Rotate: {x: 0, y: 0, z: 0}
-      Scale: {x: 1, y: 1, z: 1}
-    Renderable Component:
-      Mesh: 149697411
-      Material: 126974645
-    RigidBody Component:
-      Type: Dynamic
-      Mass: 1
-      Drag: 0
-      Angular Drag: 0
-      Use Gravity: true
-      Interpolate: false
-      Freeze Position X: false
-      Freeze Position Y: false
-      Freeze Position Z: false
-      Freeze Rotation X: true
-      Freeze Rotation Y: true
-      Freeze Rotation Z: true
-    Collider Component:
-      Colliders:
-        - Is Trigger: false
-          Type: Box
-          Half Extents: {x: 0.5, y: 0.5, z: 0.5}
-          Friction: 0.400000006
-          Bounciness: 0
-          Density: 1
-          Position Offset: {x: 0, y: 0.5, z: 0}
-  Scripts: ~
-- EID: 7
-  Name: Default
-  IsActive: true
-  NumberOfChildren: 0
-  Components:
-    Transform Component:
-      Translate: {x: 0, y: -16.8647861, z: -14.039052}
-      Rotate: {x: -0, y: 0, z: -0}
-      Scale: {x: 28.1434975, y: 28.1434975, z: 28.1434975}
-    Renderable Component:
-      Mesh: 149697411
-      Material: 126974645
-  Scripts: ~
-- EID: 8
-  Name: Default
-  IsActive: true
-  NumberOfChildren: 0
-  Components:
-    Light Component:
-      Position: {x: 0, y: 0, z: 0}
-      Type: Ambient
-      Direction: {x: 0, y: 0, z: 1}
-      Color: {x: 1, y: 1, z: 1, w: 1}
-      Layer: 4294967295
-      Strength: 0.25
-  Scripts: ~
-- EID: 5
-  Name: item
-  IsActive: true
-  NumberOfChildren: 0
-  Components:
-    Transform Component:
-      Translate: {x: 0, y: -2, z: -5}
-      Rotate: {x: 0, y: 0, z: 0}
-      Scale: {x: 2, y: 2, z: 2}
-    Renderable Component:
-      Mesh: 144838771
-      Material: 123745521
-    RigidBody Component:
-      Type: Dynamic
-      Mass: 1
-      Drag: 0
-      Angular Drag: 0
-      Use Gravity: true
-      Interpolate: false
-      Freeze Position X: false
-      Freeze Position Y: false
-      Freeze Position Z: false
-      Freeze Rotation X: true
-      Freeze Rotation Y: true
-      Freeze Rotation Z: true
-    Collider Component:
-      Colliders:
-        - Is Trigger: false
-          Type: Box
-          Half Extents: {x: 1, y: 1, z: 1}
-          Friction: 0.400000006
-          Bounciness: 0
-          Density: 1
-          Position Offset: {x: 0, y: 0.5, z: 0}
-        - Is Trigger: true
-          Type: Box
-          Half Extents: {x: 2, y: 2, z: 2}
-          Friction: 0.400000006
-          Bounciness: 0
-          Density: 1
-          Position Offset: {x: 0, y: 0.5, z: 0}
-  Scripts: ~
 - EID: 10
   Name: Default
   IsActive: true

SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.cpp

@@ -112,6 +112,9 @@ namespace SHADE
       default: break;
     }
 
+    rp3dBody->updateLocalCenterOfMassFromColliders();
+    rp3dBody->updateLocalInertiaTensorFromColliders();
+
     return index;
   }
 
@@ -134,9 +137,9 @@ namespace SHADE
     if (numColliders == 0)
       return;
 
-    while (numColliders >= 0)
+    while (numColliders - 1 >= 0)
     {
-      auto* collider = rp3dBody->getCollider(numColliders);
+      auto* collider = rp3dBody->getCollider(numColliders - 1);
       rp3dBody->removeCollider(collider);
 
       --numColliders;
@@ -300,9 +303,6 @@ namespace SHADE
     rp3d::BoxShape* newBox = factory->createBoxShape(BOX->GetWorldExtents());
 
     rp3dBody->addCollider(newBox, OFFSETS);
-
-    rp3dBody->updateLocalCenterOfMassFromColliders();
-    rp3dBody->updateLocalInertiaTensorFromColliders();
   }
 
   void SHPhysicsObject::syncBoxShape(int index, SHCollisionShape& boxShape) const noexcept
@@ -336,9 +336,6 @@ namespace SHADE
     rp3d::SphereShape* newSphere = factory->createSphereShape(SPHERE->GetWorldRadius());
 
     rp3dBody->addCollider(newSphere, OFFSETS);
-
-    rp3dBody->updateLocalCenterOfMassFromColliders();
-    rp3dBody->updateLocalInertiaTensorFromColliders();
   }
 
   void SHPhysicsObject::syncSphereShape(int index, SHCollisionShape& sphereShape) const noexcept

SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObjectManager.cpp

@@ -195,8 +195,29 @@ namespace SHADE
 
   SHPhysicsObject* SHPhysicsObjectManager::createPhysicsObject(EntityID eid) noexcept
   {
-    auto newObjIter = physicsObjects.emplace(eid, SHPhysicsObject{ eid, factory, world });
+    auto& newPhysicsObject = physicsObjects.emplace(eid, SHPhysicsObject{ eid, factory, world }).first->second;
-    return &(newObjIter.first->second);
+
+    // Force transforms to sync
+    const auto* TRANSFORM = SHComponentManager::GetComponent_s<SHTransformComponent>(eid);
+
+    SHVec3        worldPos = SHVec3::Zero;
+    SHQuaternion  worldRot = SHQuaternion::Identity;
+
+    if (!TRANSFORM)
+    {
+      SHLOGV_ERROR("Unable to sync transforms with Physics Object for Entity {}", eid);
+    }
+    else
+    {
+      worldPos = TRANSFORM->GetWorldPosition();
+      worldRot = TRANSFORM->GetWorldOrientation();
+    }
+
+    const rp3d::Transform RP3D_TRANSFORM{ worldPos, worldRot };
+    newPhysicsObject.GetRigidBody()->setTransform(RP3D_TRANSFORM);
+    newPhysicsObject.prevTransform = RP3D_TRANSFORM;
+
+    return &newPhysicsObject;
   }
 
   void SHPhysicsObjectManager::destroyPhysicsObject(EntityID eid) noexcept
@@ -230,6 +251,10 @@ namespace SHADE
       return;
     }
 
+    const int NUM_SHAPES = static_cast<int>(componentGroup.colliderComponent->GetCollisionShapes().size());
+    for (int i = 0; i < NUM_SHAPES; ++i)
+      physicsObject->AddCollisionShape(i);
+
     physicsObject->SyncColliders(*componentGroup.colliderComponent);
   }
 

SHADE_Engine/src/Physics/SHPhysicsWorld.h

@@ -38,8 +38,8 @@ namespace SHADE
       /*-------------------------------------------------------------------------------*/
 
       SHVec3    gravity                     = SHVec3{ 0.0f, -9.81f, 0.0f };
-      uint16_t  numVelocitySolverIterations = 8;
+      uint16_t  numVelocitySolverIterations = 15;
-      uint16_t  numPositionSolverIterations = 3;
+      uint16_t  numPositionSolverIterations = 8;
       bool      sleepingEnabled             = true;
     };
 

SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp

@@ -18,8 +18,12 @@
 #include "ECS_Base/Managers/SHEntityManager.h"
 #include "ECS_Base/Managers/SHSystemManager.h"
 #include "Editor/SHEditor.h"
-#include "Math/Transform/SHTransformComponent.h"
 #include "Physics/SHPhysicsEvents.h"
+#include "Scene/SHSceneManager.h"
+
+/*-------------------------------------------------------------------------------------*/
+/* Local Helper Functions                                                              */
+/*-------------------------------------------------------------------------------------*/
 
 namespace SHADE
 {
@@ -123,6 +127,8 @@ namespace SHADE
   }
 
   void SHPhysicsSystem::AddCollisionShape(EntityID eid, int shapeIndex)
+  {
+    static const auto ADD_SHAPE = [&]
     {
       objectManager.AddCollisionShape(eid, shapeIndex);
 
@@ -134,9 +140,24 @@ namespace SHADE
       };
 
       SHEventManager::BroadcastEvent<SHPhysicsColliderAddedEvent>(COLLIDER_ADDED_EVENT_DATA, SH_PHYSICS_COLLIDER_ADDED_EVENT);
+    };
+
+  #ifdef SHEDITOR
+
+    auto* editor = SHSystemManager::GetSystem<SHEditor>();
+    if (editor && editor->editorState != SHEditor::State::STOP)
+      ADD_SHAPE();
+    
+  #else
+
+    ADD_SHAPE();
+
+  #endif
   }
 
   void SHPhysicsSystem::RemoveCollisionShape(EntityID eid, int shapeIndex)
+  {
+    static const auto REMOVE_SHAPE = [&]
     {
       objectManager.RemoveCollisionShape(eid, shapeIndex);
 
@@ -147,6 +168,19 @@ namespace SHADE
       };
 
       SHEventManager::BroadcastEvent<SHPhysicsColliderRemovedEvent>(COLLIDER_REMOVED_EVENT_DATA, SH_PHYSICS_COLLIDER_REMOVED_EVENT);
+    };
+
+  #ifdef SHEDITOR
+
+    auto* editor = SHSystemManager::GetSystem<SHEditor>();
+    if (editor && editor->editorState != SHEditor::State::STOP)
+      REMOVE_SHAPE();
+    
+  #else
+
+    REMOVE_SHAPE();
+
+  #endif
   }
 
   void SHPhysicsSystem::AddForce(EntityID eid, const SHVec3& force) noexcept
@@ -210,18 +244,17 @@ namespace SHADE
 
       // We only add tell the physics object manager to add a component if the scene is played
 
-    #ifdef _PUBLISH
+    #ifdef SHEDITOR
-
-      ADDED_ID == RIGID_BODY_ID ? objectManager.AddRigidBody(EID) : objectManager.AddCollider(EID);
-
-    #elif SHEDITOR
 
       auto* editor = SHSystemManager::GetSystem<SHEditor>();
-      if (editor)
+
-      {
+      if (editor && editor->editorState != SHEditor::State::STOP)
-        if (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
     }
@@ -244,11 +277,7 @@ namespace SHADE
 
       // We only add tell the physics object manager to remove a component if the scene is played
 
-    #ifdef _PUBLISH
+    #ifdef SHEDITOR
-
-      REMOVED_ID == RIGID_BODY_ID ? objectManager.RemoveRigidBody(EID) : objectManager.RemoveCollider(EID);
-
-    #elif SHEDITOR
 
       auto* editor = SHSystemManager::GetSystem<SHEditor>();
       if (editor)
@@ -257,6 +286,10 @@ namespace SHADE
           REMOVED_ID == RIGID_BODY_ID ? objectManager.RemoveRigidBody(EID) : objectManager.RemoveCollider(EID);
       }
 
+    #else
+
+      REMOVED_ID == RIGID_BODY_ID ? objectManager.RemoveRigidBody(EID) : objectManager.RemoveCollider(EID);
+
     #endif
       
     }
@@ -266,6 +299,19 @@ namespace SHADE
 
   SHEventHandle SHPhysicsSystem::onPlay(SHEventPtr onPlayEvent)
   {
+    static const auto BUILD_PHYSICS_OBJECT = [&](SHSceneNode* node)
+    {
+      const EntityID EID = node->GetEntityID();
+
+      if (SHComponentManager::HasComponent<SHRigidBodyComponent>(EID))
+        objectManager.AddRigidBody(EID);
+
+      if (SHComponentManager::HasComponent<SHColliderComponent>(EID))
+        objectManager.AddCollider(EID);
+    };
+
+    ////////////////////////////////
+
     // Create physics world
     worldState.CreateWorld(factory);
 
@@ -275,14 +321,8 @@ namespace SHADE
     // Link with object manager & create all physics objects
     objectManager.SetWorld(worldState.world);
 
-    const auto& RIGIDBODY_DENSE = SHComponentManager::GetDense<SHRigidBodyComponent>();
+    const auto& SCENE_GRAPH = SHSceneManager::GetCurrentSceneGraph();
-    const auto& COLLIDER_DENSE  = SHComponentManager::GetDense<SHColliderComponent>();
+    SCENE_GRAPH.Traverse(BUILD_PHYSICS_OBJECT);
-
-    for (auto& rigidBodyComponent : RIGIDBODY_DENSE)
-      objectManager.AddRigidBody(rigidBodyComponent.GetEID());
-
-    for (auto& colliderComponent : COLLIDER_DENSE)
-      objectManager.AddCollider(colliderComponent.GetEID());
 
     return onPlayEvent->handle;
   }
@@ -300,7 +340,6 @@ namespace SHADE
     // Destroy the world
     worldState.DestroyWorld(factory);
 
-
     return onStopEvent->handle;
   }