Merge branch 'SP3-2-Physics' into PlayerControllerWIthNewPhysics

Assets/Scenes/SS_Playground.shade

@@ -150,8 +150,8 @@
       IsActive: true
     RigidBody Component:
       Type: Dynamic
-      Auto Mass: false
       Mass: 1
+      Auto Mass: false
       Drag: 0.00999999978
       Angular Drag: 0.00999999978
       Use Gravity: true
@@ -190,8 +190,8 @@
       IsActive: true
     RigidBody Component:
       Type: Dynamic
-      Auto Mass: false
       Mass: 1
+      Auto Mass: false
       Drag: 0.00999999978
       Angular Drag: 0.00999999978
       Use Gravity: true
@@ -230,8 +230,8 @@
       IsActive: true
     RigidBody Component:
       Type: Dynamic
-      Auto Mass: false
       Mass: 1
+      Auto Mass: false
       Drag: 0.00999999978
       Angular Drag: 0.00999999978
       Use Gravity: true
@@ -270,8 +270,8 @@
       IsActive: true
     RigidBody Component:
       Type: Dynamic
-      Auto Mass: false
       Mass: 1
+      Auto Mass: false
       Drag: 0.00999999978
       Angular Drag: 0.00999999978
       Use Gravity: true
@@ -290,7 +290,7 @@
         - Is Trigger: false
           Collision Tag: 0
           Type: Box
-          Half Extents: {x: 1, y: 1, z: 1}
+          Half Extents: {x: 1, y: 2, z: 1}
           Friction: 0.400000006
           Bounciness: 0
           Density: 1

SHADE_Engine/src/Math/SHMathHelpers.h

@@ -105,6 +105,12 @@ namespace SHADE
     template <IsFloatingPoint T = float>
     [[nodiscard]] static bool CompareFloat (T lhs, T rhs, T absTolerance = EPSILON, T relTolerance = EPSILON);
 
+    template <IsArithmetic T>
+    [[nodiscard]] static bool IsInfinity  (T value);
+
+    template <IsArithmetic T>
+    [[nodiscard]] static bool IsNaN       (T value);
+
   private:
     /*---------------------------------------------------------------------------------*/
     /* Static Data Members                                                             */

SHADE_Engine/src/Math/SHMathHelpers.hpp

@@ -126,4 +126,21 @@ namespace SHADE
     return std::fabs(lhs - rhs) <= Max(absTolerance, RTOL);
   }
 
+  template <IsArithmetic T>
+  bool SHMath::IsInfinity(T value)
+  {
+    const float MAX_VALUE = std::numeric_limits<T>::max();
+    const float MIN_VALUE = std::numeric_limits<T>::min();
+
+    return !(MIN_VALUE <= value && value <= MAX_VALUE);
+  }
+
+  template <IsArithmetic T>
+  bool SHMath::IsNaN(T value)
+  {
+    return value != value;
+  }
+
+
+
 } // namespace SHADE

SHADE_Engine/src/Physics/Collision/Narrowphase/SHConvexVsConvex.cpp

@@ -67,8 +67,8 @@ namespace SHADE
 
   bool SHCollision::ConvexVsConvex(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
   {
-    static constexpr float ABSOLUTE_TOLERANCE = 0.0005f;
+    static constexpr float ABSOLUTE_TOLERANCE = 0.01f;
-    static constexpr float RELATIVE_TOLERANCE = 1.002f;
+    static constexpr float RELATIVE_TOLERANCE = 0.95f;
 
     const SHConvexPolyhedron& POLY_A = reinterpret_cast<const SHConvexPolyhedron&>(A);
     const SHConvexPolyhedron& POLY_B = reinterpret_cast<const SHConvexPolyhedron&>(B);
@@ -130,7 +130,7 @@ namespace SHADE
     const SHConvexPolyhedron* incidentPoly  = nullptr;
 
     SHCollisionUtils::FaceQuery minFaceQuery;
-    if (FACE_QUERY_A.bestDistance > FACE_QUERY_B.bestDistance * RELATIVE_TOLERANCE + ABSOLUTE_TOLERANCE)
+    if (FACE_QUERY_A.bestDistance + ABSOLUTE_TOLERANCE > FACE_QUERY_B.bestDistance * RELATIVE_TOLERANCE)
     {
       minFaceQuery  = FACE_QUERY_A;
       referencePoly = &POLY_A;
@@ -157,7 +157,7 @@ namespace SHADE
 
     // If an edge pair contains the closest distance,vwe ignore any face queries and find the closest points on
     // each edge and use that as the contact point.
-    if (EDGE_QUERY.bestDistance * RELATIVE_TOLERANCE + ABSOLUTE_TOLERANCE > minFaceQuery.bestDistance + ABSOLUTE_TOLERANCE)
+    if (EDGE_QUERY.bestDistance * RELATIVE_TOLERANCE > minFaceQuery.bestDistance + ABSOLUTE_TOLERANCE)
     {
       const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_A = POLY_A.GetHalfEdge(EDGE_QUERY.halfEdgeA);
       const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_B = POLY_B.GetHalfEdge(EDGE_QUERY.halfEdgeB);

SHADE_Engine/src/Physics/Collision/SHCollider.cpp

@@ -326,6 +326,17 @@ namespace SHADE
       shape->Update();
   }
 
+  void SHCollider::UpdateBroadphase() noexcept
+  {
+    flags |= MOVED_FLAG;
+  }
+
+  void SHCollider::UpdateBody() noexcept
+  {
+    if (rigidBody)
+      rigidBody->ComputeMassData();
+  }
+
   /*-----------------------------------------------------------------------------------*/
   /* Private Member Function Definitions                                               */
   /*-----------------------------------------------------------------------------------*/

SHADE_Engine/src/Physics/Collision/SHCollider.h

@@ -149,6 +149,18 @@ namespace SHADE
     */
     void Update () noexcept;
 
+    /**
+     * @brief
+     * Updates the broadphase proxy of this collider.
+    */
+    void UpdateBroadphase() noexcept;
+
+    /**
+     * @brief 
+     * Recomputes the mass of the body if one exists. 
+    */
+    void UpdateBody() noexcept;
+
   protected:
     /*---------------------------------------------------------------------------------*/
     /* Data Members                                                                    */

SHADE_Engine/src/Physics/Collision/Shapes/SHBox.cpp

@@ -207,9 +207,11 @@ namespace SHADE
     // Recompute Relative radius
     relativeExtents = 2.0f * Extents / scale;
 
-    // Hack: Indicate that the collider needs to update the broadphase proxy
     if (collider)
-      collider->SetScale(collider->GetScale());
+    {
+      collider->UpdateBroadphase();
+      collider->UpdateBody();
+    }
   }
 
   void SHBox::SetRelativeExtents(const SHVec3& newRelativeExtents) noexcept
@@ -219,9 +221,11 @@ namespace SHADE
     // Recompute world radius
     Extents = relativeExtents * scale * 0.5f;
 
-    // Hack: Indicate that the collider needs to update the broadphase proxy
     if (collider)
-      collider->SetScale(collider->GetScale());
+    {
+      collider->UpdateBroadphase();
+      collider->UpdateBody();
+    }
   }
 
   void SHBox::SetScale(const SHVec3& newScale) noexcept
@@ -231,9 +235,11 @@ namespace SHADE
     // Recompute world radius
     Extents = relativeExtents * scale * 0.5f;
 
-    // Hack: Indicate that the collider needs to update the broadphase proxy
     if (collider)
-      collider->SetScale(collider->GetScale());
+    {
+      collider->UpdateBroadphase();
+      collider->UpdateBody();
+    }
   }
 
   /*-----------------------------------------------------------------------------------*/

SHADE_Engine/src/Physics/Collision/Shapes/SHSphere.cpp

@@ -168,9 +168,11 @@ namespace SHADE
     // Recompute Relative radius
     relativeRadius = 2.0f * Radius / scale;
 
-    // Hack: Indicate that the collider needs to update the broadphase proxy
     if (collider)
-      collider->SetScale(collider->GetScale());
+    {
+      collider->UpdateBroadphase();
+      collider->UpdateBody();
+    }
   }
 
   void SHSphere::SetRelativeRadius(float newRelativeRadius) noexcept
@@ -180,9 +182,11 @@ namespace SHADE
     // Recompute world radius
     Radius = relativeRadius * scale * 0.5f;
 
-    // Hack: Indicate that the collider needs to update the broadphase proxy
     if (collider)
-      collider->SetScale(collider->GetScale());
+    {
+      collider->UpdateBroadphase();
+      collider->UpdateBody();
+    }
   }
 
   void SHSphere::SetScale(float maxScale) noexcept
@@ -192,9 +196,11 @@ namespace SHADE
     // Recompute world radius
     Radius = relativeRadius * scale * 0.5f;
 
-    // Hack: Indicate that the collider needs to update the broadphase proxy
     if (collider)
-      collider->SetScale(collider->GetScale());
+    {
+      collider->UpdateBroadphase();
+      collider->UpdateBody();
+    }
   }
 
   /*-----------------------------------------------------------------------------------*/

SHADE_Engine/src/Physics/Dynamics/SHContactSolver.cpp

@@ -18,14 +18,6 @@
 #include "Physics/SHPhysicsConstants.h"
 #include "Physics/Collision/Narrowphase/SHCollisionUtils.h"
 
-bool IsInfinity(float value)
-{
-  const float MAX_VAL = std::numeric_limits<float>::max();
-  const float MIN_VAL = -MAX_VAL;
- 
-  return !(MIN_VAL <= value && value <= MAX_VAL);
-} 
-
 namespace SHADE
 {
   /*-----------------------------------------------------------------------------------*/
@@ -227,7 +219,7 @@ namespace SHADE
           errorBias = -SHPHYSICS_BAUMGARTE * INV_DT * std::max(0.0f, contact.penetration - SHPHYSICS_LINEAR_SLOP);
 
         // TODO: This should never occur. Move this check into the ConvexVSConvex to find the error.
-        if (IsInfinity(errorBias))
+        if (SHMath::IsInfinity(errorBias))
           errorBias = 0.0f;
 
         // Warm starting

SHADE_Engine/src/Physics/Dynamics/SHRigidBody.cpp

@@ -40,8 +40,6 @@ namespace SHADE
     flags |= 1U << 0;   // Body is active
     flags |= 1U << 2;   // Sleeping is enabled
     flags |= 1U << 3;   // Gravity is enabled
-
-    // TODO: Compute inertia if body is dynamic
   }
 
   SHRigidBody::SHRigidBody(const SHRigidBody& rhs) noexcept

SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.cpp

@@ -360,8 +360,8 @@ RTTR_REGISTRATION
 
   registration::class_<SHRigidBodyComponent>("RigidBody Component")
     .property("Type"              , &SHRigidBodyComponent::GetType            , &SHRigidBodyComponent::SetType              )
-    .property("Auto Mass"         , &SHRigidBodyComponent::GetAutoMass        , &SHRigidBodyComponent::SetAutoMass          )
     .property("Mass"              , &SHRigidBodyComponent::GetMass            , &SHRigidBodyComponent::SetMass              )
+    .property("Auto Mass"         , &SHRigidBodyComponent::GetAutoMass        , &SHRigidBodyComponent::SetAutoMass          )
     .property("Drag"              , &SHRigidBodyComponent::GetDrag            , &SHRigidBodyComponent::SetDrag              )
     .property("Angular Drag"      , &SHRigidBodyComponent::GetAngularDrag     , &SHRigidBodyComponent::SetAngularDrag       )
     .property("Use Gravity"       , &SHRigidBodyComponent::IsGravityEnabled   , &SHRigidBodyComponent::SetIsGravityEnabled  )