Merge branch 'main' into SP3-4-Editor

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,27 @@
+---
+name: Bug report
+about: Report a bug that should be fixed
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Go to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Additional context**
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest a feature for the project
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

Assets/Scenes/M2Scene.shade

@@ -223,9 +223,4 @@
           Bounciness: 0
           Density: 1
           Position Offset: {x: 0, y: 0.5, z: 0}
-  Scripts:
+  Scripts: ~
-    - Type: Item
-      currCategory: 0
-    - Type: PickAndThrow
-      throwForce: [100, 200, 100]
-      item: 51000

SHADE_Engine/src/Assets/SHAssetManager.cpp

@@ -560,6 +560,34 @@ namespace SHADE
       assetCollection.emplace(newAsset.id, newAsset);
       SHAssetMetaHandler::WriteMetaData(newAsset);
 
+      return newAsset.id;
+    }
+    else if (ext == SCENE_EXTENSION)
+    {
+      SHAsset newAsset{
+        path.stem().string(),
+        GenerateAssetID(AssetType::SCENE),
+        AssetType::SCENE,
+        path,
+        false
+      };
+      assetCollection.emplace(newAsset.id, newAsset);
+      SHAssetMetaHandler::WriteMetaData(newAsset);
+
+      return newAsset.id;
+    }
+    else if (ext == FONT_EXTENSION)
+    {
+      SHAsset newAsset{
+        path.stem().string(),
+        GenerateAssetID(AssetType::FONT),
+        AssetType::FONT,
+        path,
+        false
+      };
+      assetCollection.emplace(newAsset.id, newAsset);
+      SHAssetMetaHandler::WriteMetaData(newAsset);
+
       return newAsset.id;
     }
   }
@@ -571,8 +599,11 @@ namespace SHADE
 
     for (auto& file : toGenNew)
     {
-      auto newID{ GenerateNewMeta(file->path).value() };
+      auto newID{ GenerateNewMeta(file->path) };
-      file->assetMeta = &assetCollection[newID];
+      if (newID.has_value())
+      {
+      file->assetMeta = &assetCollection[newID.value()];
+      }
     }
 
     for (auto& asset : std::ranges::views::values(assetCollection))

SHADE_Engine/src/Editor/EditorWindow/Inspector/SHEditorComponentView.hpp

@@ -223,7 +223,7 @@ namespace SHADE
   {
     if (!component)
       return;
-
+    ImGui::PushID(component);
     const auto componentType = rttr::type::get(*component);
     SHEditorWidgets::CheckBox("##IsActive", [component]() {return component->isActive; }, [component](bool const& active) {component->isActive = active; }, "Is Component Active");
     ImGui::SameLine();
@@ -246,7 +246,7 @@ namespace SHADE
         if (collider->GetType() == SHCollisionShape::Type::BOX)
         {
           SHEditorWidgets::BeginPanel(std::format("{} Box #{}", ICON_FA_CUBE, i).data(), { ImGui::GetContentRegionAvail().x, ImGui::GetContentRegionAvail().y });
-          const auto* BOX = reinterpret_cast<const SHBoundingBox*>(collider->GetShape());
+          const auto* BOX = reinterpret_cast<const SHBox*>(collider->GetShape());
           SHEditorWidgets::DragVec3
           (
             "Half Extents", { "X", "Y", "Z" },
@@ -256,7 +256,7 @@ namespace SHADE
         else if (collider->GetType() == SHCollisionShape::Type::SPHERE)
         {
           SHEditorWidgets::BeginPanel(std::format("{} Sphere #{}", ICON_MD_CIRCLE, i).data(), { ImGui::GetContentRegionAvail().x, ImGui::GetContentRegionAvail().y });
-          const auto* SPHERE = reinterpret_cast<const SHBoundingSphere*>(collider->GetShape());
+          const auto* SPHERE = reinterpret_cast<const SHSphere*>(collider->GetShape());
           SHEditorWidgets::DragFloat
           (
             "Radius",
@@ -322,6 +322,7 @@ namespace SHADE
       }
     }
     else DrawContextMenu(component);
+    ImGui::PopID();
   }
 
   template<>

SHADE_Engine/src/Graphics/MiddleEnd/Interface/SHRenderable.cpp

@@ -34,8 +34,11 @@ namespace SHADE
   void SHRenderable::OnDestroy()
   {
     // Remove from SuperBatch
-    Handle<SHSuperBatch> superBatch = sharedMaterial->GetBaseMaterial()->GetPipeline()->GetPipelineState().GetSubpass()->GetSuperBatch();
+    if (sharedMaterial)
-	superBatch->Remove(this);
+    {
+      Handle<SHSuperBatch> superBatch = sharedMaterial->GetBaseMaterial()->GetPipeline()->GetPipelineState().GetSubpass()->GetSuperBatch();
+      superBatch->Remove(this);
+    }
 
     // Free resources
     if (material)

SHADE_Engine/src/Math/Geometry/SHBox.cpp

@@ -11,7 +11,7 @@
 #include <SHpch.h>
 
 // Primary Header
-#include "SHBoundingBox.h"
+#include "SHBox.h"
 // Project Headers
 #include "Math/SHMathHelpers.h"
 #include "Math/SHRay.h"
@@ -24,13 +24,13 @@ namespace SHADE
   /* Constructors & Destructor Definitions                                             */
   /*-----------------------------------------------------------------------------------*/
 
-  SHBoundingBox::SHBoundingBox() noexcept
+  SHBox::SHBox() noexcept
   : RelativeExtents { SHVec3::One }
   {
     type = Type::BOX;
   }
 
-  SHBoundingBox::SHBoundingBox(const SHVec3& c, const SHVec3& hE) noexcept
+  SHBox::SHBox(const SHVec3& c, const SHVec3& hE) noexcept
   : RelativeExtents { SHVec3::One }
   {
     type = Type::BOX;
@@ -40,7 +40,7 @@ namespace SHADE
   }
 
 
-  SHBoundingBox::SHBoundingBox(const SHBoundingBox& rhs) noexcept
+  SHBox::SHBox(const SHBox& rhs) noexcept
   {
     if (this == &rhs)
       return;
@@ -52,7 +52,7 @@ namespace SHADE
     RelativeExtents = rhs.RelativeExtents;
   }
 
-  SHBoundingBox::SHBoundingBox(SHBoundingBox&& rhs) noexcept
+  SHBox::SHBox(SHBox&& rhs) noexcept
   {
     type = Type::BOX;
 
@@ -65,7 +65,7 @@ namespace SHADE
   /* Operator Overload Definitions                                                     */
   /*-----------------------------------------------------------------------------------*/
 
-  SHBoundingBox& SHBoundingBox::operator=(const SHBoundingBox& rhs) noexcept
+  SHBox& SHBox::operator=(const SHBox& rhs) noexcept
   {
     if (rhs.type != Type::BOX)
     {
@@ -81,7 +81,7 @@ namespace SHADE
     return *this;
   }
 
-  SHBoundingBox& SHBoundingBox::operator=(SHBoundingBox&& rhs) noexcept
+  SHBox& SHBox::operator=(SHBox&& rhs) noexcept
   {
     if (rhs.type != Type::BOX)
     {
@@ -101,27 +101,27 @@ namespace SHADE
   /* Getter Function Definitions                                                       */
   /*-----------------------------------------------------------------------------------*/
 
-  SHVec3 SHBoundingBox::GetCenter() const noexcept
+  SHVec3 SHBox::GetCenter() const noexcept
   {
     return Center;
   }
 
-  SHVec3 SHBoundingBox::GetWorldExtents() const noexcept
+  SHVec3 SHBox::GetWorldExtents() const noexcept
   {
     return Extents;
   }
 
-  const SHVec3& SHBoundingBox::GetRelativeExtents() const noexcept
+  const SHVec3& SHBox::GetRelativeExtents() const noexcept
   {
     return RelativeExtents;
   }
 
-  SHVec3 SHBoundingBox::GetMin() const noexcept
+  SHVec3 SHBox::GetMin() const noexcept
   {
     return SHVec3{ Center.x - Extents.x, Center.y - Extents.y, Center.z - Extents.z };
   }
 
-  SHVec3 SHBoundingBox::GetMax() const noexcept
+  SHVec3 SHBox::GetMax() const noexcept
   {
     return SHVec3{ Center.x + Extents.x, Center.y + Extents.y, Center.z + Extents.z };
   }
@@ -130,22 +130,22 @@ namespace SHADE
   /* Setter Function Definitions                                                       */
   /*-----------------------------------------------------------------------------------*/
 
-  void SHBoundingBox::SetCenter(const SHVec3& newCenter) noexcept
+  void SHBox::SetCenter(const SHVec3& newCenter) noexcept
   {
     Center = newCenter;
   }
 
-  void SHBoundingBox::SetWorldExtents(const SHVec3& newWorldExtents) noexcept
+  void SHBox::SetWorldExtents(const SHVec3& newWorldExtents) noexcept
   {
     Extents = newWorldExtents;
   }
 
-  void SHBoundingBox::SetRelativeExtents(const SHVec3& newRelativeExtents) noexcept
+  void SHBox::SetRelativeExtents(const SHVec3& newRelativeExtents) noexcept
   {
     RelativeExtents = newRelativeExtents;
   }
 
-  void SHBoundingBox::SetMin(const SHVec3& min) noexcept
+  void SHBox::SetMin(const SHVec3& min) noexcept
   {
     const SHVec3 MAX = GetMax();
 
@@ -153,7 +153,7 @@ namespace SHADE
     Extents = SHVec3::Abs((MAX - min) * 0.5f);
   }
 
-  void SHBoundingBox::SetMax(const SHVec3& max) noexcept
+  void SHBox::SetMax(const SHVec3& max) noexcept
   {
     const SHVec3 MIN = GetMin();
 
@@ -161,13 +161,13 @@ namespace SHADE
     Extents = SHVec3::Abs((max - MIN) * 0.5f);
   }
 
-  void SHBoundingBox::SetMinMax(const SHVec3& min, const SHVec3& max) noexcept
+  void SHBox::SetMinMax(const SHVec3& min, const SHVec3& max) noexcept
   {
     Center  = SHVec3::Lerp(min, max, 0.5f);
     Extents = SHVec3::Abs((max - min) * 0.5f);
   }
 
-  std::vector<SHVec3> SHBoundingBox::GetVertices() const noexcept
+  std::vector<SHVec3> SHBox::GetVertices() const noexcept
   {
     std::vector<SHVec3> vertices{ 8 };
     GetCorners(vertices.data());
@@ -178,27 +178,27 @@ namespace SHADE
   /* Public Function Member Definitions                                                */
   /*-----------------------------------------------------------------------------------*/
 
-  bool SHBoundingBox::TestPoint(const SHVec3& point) noexcept
+  bool SHBox::TestPoint(const SHVec3& point) noexcept
   {
     return BoundingBox::Contains(point);
   }
 
-  bool SHBoundingBox::Raycast(const SHRay& ray, float& distance) noexcept
+  bool SHBox::Raycast(const SHRay& ray, float& distance) noexcept
   {
     return BoundingBox::Intersects(ray.position, ray.direction, distance);
   }
 
-  bool SHBoundingBox::Contains(const SHBoundingBox& rhs) const noexcept
+  bool SHBox::Contains(const SHBox& rhs) const noexcept
   {
     return BoundingBox::Contains(rhs);
   }
 
-  float SHBoundingBox::Volume() const noexcept
+  float SHBox::Volume() const noexcept
   {
     return 8.0f * (Extents.x * Extents.y * Extents.z);
   }
 
-  float SHBoundingBox::SurfaceArea() const noexcept
+  float SHBox::SurfaceArea() const noexcept
   {
     return 8.0f * ((Extents.x * Extents.y) 
       + (Extents.x * Extents.z) 
@@ -209,21 +209,21 @@ namespace SHADE
   /* Static Function Member Definitions                                                */
   /*-----------------------------------------------------------------------------------*/
 
-  SHBoundingBox SHBoundingBox::Combine(const SHBoundingBox& lhs, const SHBoundingBox& rhs) noexcept
+  SHBox SHBox::Combine(const SHBox& lhs, const SHBox& rhs) noexcept
   {
-    SHBoundingBox result;
+    SHBox result;
     CreateMerged(result, lhs, rhs);
     return result;
   }
 
-  bool SHBoundingBox::Intersect(const SHBoundingBox& lhs, const SHBoundingBox& rhs) noexcept
+  bool SHBox::Intersect(const SHBox& lhs, const SHBox& rhs) noexcept
   {
     return lhs.Intersects(rhs);
   }
 
-  SHBoundingBox SHBoundingBox::BuildFromBoxes(const SHBoundingBox* boxes, size_t numBoxes) noexcept
+  SHBox SHBox::BuildFromBoxes(const SHBox* boxes, size_t numBoxes) noexcept
   {
-    SHBoundingBox result;
+    SHBox result;
 
     for (size_t i = 1; i < numBoxes; ++i)
       CreateMerged(result, boxes[i - 1], boxes[i]);
@@ -231,9 +231,9 @@ namespace SHADE
     return result;
   }
 
-  SHBoundingBox SHBoundingBox::BuildFromVertices(const SHVec3* vertices, size_t numVertices, size_t stride) noexcept
+  SHBox SHBox::BuildFromVertices(const SHVec3* vertices, size_t numVertices, size_t stride) noexcept
   {
-    SHBoundingBox result;
+    SHBox result;
     CreateFromPoints(result, numVertices, vertices, stride);
     return result;
   }

SHADE_Engine/src/Math/Geometry/SHBox.h

@@ -22,8 +22,8 @@ namespace SHADE
   /* Type Definitions                                                                  */
   /*-----------------------------------------------------------------------------------*/
 
-  class SH_API SHBoundingBox :  public SHShape,
+  class SH_API SHBox :  public SHShape,
-                                private DirectX::BoundingBox
+                        private DirectX::BoundingBox
   {
   public:
     /*---------------------------------------------------------------------------------*/
@@ -36,19 +36,19 @@ namespace SHADE
     /* Constructors & Destructor                                                       */
     /*---------------------------------------------------------------------------------*/
 
-    ~SHBoundingBox  () override = default;
+    ~SHBox  () override = default;
 
-    SHBoundingBox   ()                                                noexcept;
+    SHBox   ()                                                noexcept;
-    SHBoundingBox   (const SHVec3& center, const SHVec3& halfExtents) noexcept;
+    SHBox   (const SHVec3& center, const SHVec3& halfExtents) noexcept;
-    SHBoundingBox   (const SHBoundingBox& rhs)                        noexcept;
+    SHBox   (const SHBox& rhs)                        noexcept;
-    SHBoundingBox   (SHBoundingBox&& rhs)                             noexcept;
+    SHBox   (SHBox&& rhs)                             noexcept;
 
     /*---------------------------------------------------------------------------------*/
     /* Operator Overloads                                                              */
     /*---------------------------------------------------------------------------------*/
 
-    SHBoundingBox& operator=  (const SHBoundingBox& rhs)  noexcept;
+    SHBox& operator=  (const SHBox& rhs)  noexcept;
-    SHBoundingBox& operator=  (SHBoundingBox&& rhs)       noexcept;
+    SHBox& operator=  (SHBox&& rhs)       noexcept;
 
     /*---------------------------------------------------------------------------------*/
     /* Getter Functions                                                                */
@@ -79,7 +79,7 @@ namespace SHADE
     [[nodiscard]] bool    TestPoint   (const SHVec3& point)               noexcept override;
     [[nodiscard]] bool    Raycast     (const SHRay& ray, float& distance) noexcept override;
 
-    [[nodiscard]] bool    Contains    (const SHBoundingBox& rhs)          const noexcept;
+    [[nodiscard]] bool    Contains    (const SHBox& rhs)          const noexcept;
     [[nodiscard]] float   Volume      ()                                  const noexcept;
     [[nodiscard]] float   SurfaceArea ()                                  const noexcept;
 
@@ -87,10 +87,10 @@ namespace SHADE
     /* Static Function Members                                                         */
     /*---------------------------------------------------------------------------------*/
 
-    [[nodiscard]] static SHBoundingBox  Combine           (const SHBoundingBox& lhs, const SHBoundingBox& rhs)            noexcept;
+    [[nodiscard]] static SHBox  Combine           (const SHBox& lhs, const SHBox& rhs)            noexcept;
-    [[nodiscard]] static bool           Intersect         (const SHBoundingBox& lhs, const SHBoundingBox& rhs)            noexcept;
+    [[nodiscard]] static bool           Intersect         (const SHBox& lhs, const SHBox& rhs)            noexcept;
-    [[nodiscard]] static SHBoundingBox  BuildFromBoxes    (const SHBoundingBox* boxes, size_t numBoxes)                   noexcept;
+    [[nodiscard]] static SHBox  BuildFromBoxes    (const SHBox* boxes, size_t numBoxes)                   noexcept;
-    [[nodiscard]] static SHBoundingBox  BuildFromVertices (const SHVec3* vertices, size_t numVertices, size_t stride = 0) noexcept;
+    [[nodiscard]] static SHBox  BuildFromVertices (const SHVec3* vertices, size_t numVertices, size_t stride = 0) noexcept;
 
   private:
     /*---------------------------------------------------------------------------------*/

SHADE_Engine/src/Math/Geometry/SHSphere.cpp

@@ -11,7 +11,7 @@
 #include <SHpch.h>
 
 // Primary Header
-#include "SHBoundingSphere.h"
+#include "SHSphere.h"
 // Project Headers
 #include "Math/SHMathHelpers.h"
 #include "Math/SHRay.h"
@@ -24,13 +24,13 @@ namespace SHADE
   /* Constructors & Destructor Definitions                                             */
   /*-----------------------------------------------------------------------------------*/
 
-  SHBoundingSphere::SHBoundingSphere() noexcept
+  SHSphere::SHSphere() noexcept
   : RelativeRadius { 1.0f }
   {
     type = Type::SPHERE;
   }
 
-  SHBoundingSphere::SHBoundingSphere(const SHVec3& center, float radius) noexcept
+  SHSphere::SHSphere(const SHVec3& center, float radius) noexcept
   : RelativeRadius { 1.0f }
   {
     type = Type::SPHERE;
@@ -39,7 +39,7 @@ namespace SHADE
     Radius = radius;
   }
 
-  SHBoundingSphere::SHBoundingSphere(const SHBoundingSphere& rhs) noexcept
+  SHSphere::SHSphere(const SHSphere& rhs) noexcept
   {
     if (this == &rhs)
       return;
@@ -51,7 +51,7 @@ namespace SHADE
     RelativeRadius  = rhs.RelativeRadius;
   }
 
-  SHBoundingSphere::SHBoundingSphere(SHBoundingSphere&& rhs) noexcept
+  SHSphere::SHSphere(SHSphere&& rhs) noexcept
   {
     type = Type::SPHERE;
 
@@ -64,7 +64,7 @@ namespace SHADE
   /* Operator Overload Definitions                                                     */
   /*-----------------------------------------------------------------------------------*/
 
-  SHBoundingSphere& SHBoundingSphere::operator=(const SHBoundingSphere& rhs) noexcept
+  SHSphere& SHSphere::operator=(const SHSphere& rhs) noexcept
   {
     if (rhs.type != Type::SPHERE)
     {
@@ -80,7 +80,7 @@ namespace SHADE
     return *this;
   }
 
-  SHBoundingSphere& SHBoundingSphere::operator=(SHBoundingSphere&& rhs) noexcept
+  SHSphere& SHSphere::operator=(SHSphere&& rhs) noexcept
   {
     if (rhs.type != Type::SPHERE)
     {
@@ -100,17 +100,17 @@ namespace SHADE
   /* Getter Function Definitions                                                       */
   /*-----------------------------------------------------------------------------------*/
 
-  SHVec3 SHBoundingSphere::GetCenter() const noexcept
+  SHVec3 SHSphere::GetCenter() const noexcept
   {
     return Center;
   }
 
-  float SHBoundingSphere::GetWorldRadius() const noexcept
+  float SHSphere::GetWorldRadius() const noexcept
   {
     return Radius;
   }
 
-  float SHBoundingSphere::GetRelativeRadius() const noexcept
+  float SHSphere::GetRelativeRadius() const noexcept
   {
     return RelativeRadius;
   }
@@ -119,17 +119,17 @@ namespace SHADE
   /* Setter Function Definitions                                                       */
   /*-----------------------------------------------------------------------------------*/
 
-  void SHBoundingSphere::SetCenter(const SHVec3& center) noexcept
+  void SHSphere::SetCenter(const SHVec3& center) noexcept
   {
     Center = center;
   }
 
-  void SHBoundingSphere::SetWorldRadius(float newWorldRadius) noexcept
+  void SHSphere::SetWorldRadius(float newWorldRadius) noexcept
   {
     Radius = newWorldRadius;
   }
 
-  void SHBoundingSphere::SetRelativeRadius(float newRelativeRadius) noexcept
+  void SHSphere::SetRelativeRadius(float newRelativeRadius) noexcept
   {
     RelativeRadius = newRelativeRadius;
   }
@@ -138,27 +138,27 @@ namespace SHADE
   /* Public Function Member Definitions                                                */
   /*-----------------------------------------------------------------------------------*/
 
-  bool SHBoundingSphere::TestPoint(const SHVec3& point) noexcept
+  bool SHSphere::TestPoint(const SHVec3& point) noexcept
   {
     return BoundingSphere::Contains(point);
   }
 
-  bool SHBoundingSphere::Raycast(const SHRay& ray, float& distance) noexcept
+  bool SHSphere::Raycast(const SHRay& ray, float& distance) noexcept
   {
     return Intersects(ray.position, ray.direction, distance);
   }
 
-  bool SHBoundingSphere::Contains(const SHBoundingSphere& rhs) const noexcept
+  bool SHSphere::Contains(const SHSphere& rhs) const noexcept
   {
     return BoundingSphere::Contains(rhs);
   }
 
-  float SHBoundingSphere::Volume() const noexcept
+  float SHSphere::Volume() const noexcept
   {
     return (4.0f / 3.0f) * SHMath::PI * (Radius * Radius * Radius);
   }
 
-  float SHBoundingSphere::SurfaceArea() const noexcept
+  float SHSphere::SurfaceArea() const noexcept
   {
     return 4.0f * SHMath::PI * (Radius * Radius);
   }
@@ -167,21 +167,21 @@ namespace SHADE
   /* Static Function Member Definitions                                                */
   /*-----------------------------------------------------------------------------------*/
 
-  SHBoundingSphere SHBoundingSphere::Combine(const SHBoundingSphere& lhs, const SHBoundingSphere& rhs) noexcept
+  SHSphere SHSphere::Combine(const SHSphere& lhs, const SHSphere& rhs) noexcept
   {
-    SHBoundingSphere result;
+    SHSphere result;
     CreateMerged(result, lhs, rhs);
     return result;
   }
 
-  bool SHBoundingSphere::Intersect(const SHBoundingSphere& lhs, const SHBoundingSphere& rhs) noexcept
+  bool SHSphere::Intersect(const SHSphere& lhs, const SHSphere& rhs) noexcept
   {
     return lhs.Intersects(rhs);
   }
 
-  SHBoundingSphere SHBoundingSphere::BuildFromSpheres(const SHBoundingSphere* spheres, size_t numSpheres) noexcept
+  SHSphere SHSphere::BuildFromSpheres(const SHSphere* spheres, size_t numSpheres) noexcept
   {
-    SHBoundingSphere result;
+    SHSphere result;
 
     for (size_t i = 1; i < numSpheres; ++i)
       CreateMerged(result, spheres[i - 1], spheres[i]);
@@ -189,9 +189,9 @@ namespace SHADE
     return result;
   }
 
-  SHBoundingSphere SHBoundingSphere::BuildFromVertices(const SHVec3* vertices, size_t numVertices, size_t stride) noexcept
+  SHSphere SHSphere::BuildFromVertices(const SHVec3* vertices, size_t numVertices, size_t stride) noexcept
   {
-    SHBoundingSphere result;
+    SHSphere result;
     CreateFromPoints(result, numVertices, vertices, stride);
     return result;
   }

SHADE_Engine/src/Math/Geometry/SHSphere.h

@@ -22,27 +22,27 @@ namespace SHADE
   /* Type Definitions                                                                  */
   /*-----------------------------------------------------------------------------------*/
 
-  class SH_API SHBoundingSphere : public SHShape,
+  class SH_API SHSphere : public SHShape,
-                                  private DirectX::BoundingSphere
+                          private DirectX::BoundingSphere
   {
   public:
     /*---------------------------------------------------------------------------------*/
     /* Constructors & Destructor                                                       */
     /*---------------------------------------------------------------------------------*/
 
-    SHBoundingSphere  ()                                    noexcept;
+    SHSphere  ()                                    noexcept;
-    SHBoundingSphere  (const SHVec3& center, float radius)  noexcept;
+    SHSphere  (const SHVec3& center, float radius)  noexcept;
-    SHBoundingSphere  (const SHBoundingSphere& rhs)         noexcept;
+    SHSphere  (const SHSphere& rhs)         noexcept;
-    SHBoundingSphere  (SHBoundingSphere&& rhs)              noexcept;
+    SHSphere  (SHSphere&& rhs)              noexcept;
 
-    ~SHBoundingSphere () override = default;
+    ~SHSphere () override = default;
 
     /*---------------------------------------------------------------------------------*/
     /* Operator Overloads                                                              */
     /*---------------------------------------------------------------------------------*/
 
-    SHBoundingSphere& operator=  (const SHBoundingSphere& rhs)  noexcept;
+    SHSphere& operator=  (const SHSphere& rhs)  noexcept;
-    SHBoundingSphere& operator=  (SHBoundingSphere&& rhs)       noexcept;
+    SHSphere& operator=  (SHSphere&& rhs)       noexcept;
 
     /*---------------------------------------------------------------------------------*/
     /* Getter Functions                                                                */
@@ -67,7 +67,7 @@ namespace SHADE
     [[nodiscard]] bool    TestPoint   (const SHVec3& point)               noexcept override;
     [[nodiscard]] bool    Raycast     (const SHRay& ray, float& distance) noexcept override;
 
-    [[nodiscard]] bool    Contains    (const SHBoundingSphere& rhs)       const noexcept;
+    [[nodiscard]] bool    Contains    (const SHSphere& rhs)       const noexcept;
     [[nodiscard]] float   Volume      ()                                  const noexcept;
     [[nodiscard]] float   SurfaceArea ()                                  const noexcept;
 
@@ -76,10 +76,10 @@ namespace SHADE
     /* Static Function Members                                                         */
     /*---------------------------------------------------------------------------------*/
 
-    [[nodiscard]] static SHBoundingSphere Combine           (const SHBoundingSphere& lhs, const SHBoundingSphere& rhs)      noexcept;
+    [[nodiscard]] static SHSphere Combine           (const SHSphere& lhs, const SHSphere& rhs)      noexcept;
-    [[nodiscard]] static bool             Intersect         (const SHBoundingSphere& lhs, const SHBoundingSphere& rhs)      noexcept;
+    [[nodiscard]] static bool             Intersect         (const SHSphere& lhs, const SHSphere& rhs)      noexcept;
-    [[nodiscard]] static SHBoundingSphere BuildFromSpheres  (const SHBoundingSphere* spheres, size_t numSpheres)            noexcept;
+    [[nodiscard]] static SHSphere BuildFromSpheres  (const SHSphere* spheres, size_t numSpheres)            noexcept;
-    [[nodiscard]] static SHBoundingSphere BuildFromVertices (const SHVec3* vertices, size_t numVertices, size_t stride = 0) noexcept;
+    [[nodiscard]] static SHSphere BuildFromVertices (const SHVec3* vertices, size_t numVertices, size_t stride = 0) noexcept;
 
   private:
     /*---------------------------------------------------------------------------------*/

SHADE_Engine/src/Physics/Interface/SHColliderComponent.cpp

@@ -95,7 +95,7 @@ namespace SHADE
       {
         case SHCollisionShape::Type::BOX:
         {
-          auto* box = reinterpret_cast<SHBoundingBox*>(collisionShape.shape);
+          auto* box = reinterpret_cast<SHBox*>(collisionShape.shape);
           const SHVec3& RELATIVE_EXTENTS = box->GetRelativeExtents();
 
           // Recompute world extents based on new scale and fixed relative extents
@@ -106,7 +106,7 @@ namespace SHADE
         }
         case SHCollisionShape::Type::SPHERE:
         {
-          auto* sphere = reinterpret_cast<SHBoundingSphere*>(collisionShape.shape);
+          auto* sphere = reinterpret_cast<SHSphere*>(collisionShape.shape);
           const float RELATIVE_RADIUS = sphere->GetRelativeRadius();
 
           // Recompute world radius based on new scale and fixed radius

SHADE_Engine/src/Physics/Interface/SHColliderComponent.h

@@ -14,8 +14,8 @@
 
 // Project Headers
 #include "ECS_Base/Components/SHComponent.h"
-#include "Math/Geometry/SHBoundingBox.h"
+#include "Math/Geometry/SHBox.h"
-#include "Math/Geometry/SHBoundingSphere.h"
+#include "Math/Geometry/SHSphere.h"
 #include "SHCollisionShape.h"
 
 //namespace SHADE

SHADE_Engine/src/Physics/Interface/SHCollisionShape.cpp

@@ -13,8 +13,8 @@
 // Primary Header
 #include "SHCollisionShape.h"
 // Project Headers
-#include "Math/Geometry/SHBoundingBox.h"
+#include "Math/Geometry/SHBox.h"
-#include "Math/Geometry/SHBoundingSphere.h"
+#include "Math/Geometry/SHSphere.h"
 #include "Math/SHMathHelpers.h"
 #include "Reflection/SHReflectionMetadata.h"
 #include "SHColliderComponent.h"
@@ -37,12 +37,12 @@ namespace SHADE
     {
       case Type::BOX: 
       {
-        shape = new SHBoundingBox{ SHVec3::Zero, SHVec3::One };
+        shape = new SHBox{ SHVec3::Zero, SHVec3::One };
         break;
       }
       case Type::SPHERE:
       {
-        shape = new SHBoundingSphere{ SHVec3::Zero, 0.5f };
+        shape = new SHSphere{ SHVec3::Zero, 0.5f };
         break;
       }
       default: break;
@@ -177,30 +177,48 @@ namespace SHADE
   {
     dirty = true;
 
-    const auto* colliderComponent = SHComponentManager::GetComponent<SHColliderComponent>(entityID);
+    const auto* COLLIDER = SHComponentManager::GetComponent<SHColliderComponent>(entityID);
+    auto* box = reinterpret_cast<SHBox*>(shape);
+
+    SHVec3 correctedHalfExtents = halfExtents;
+
+    // Get current relative halfExtents for error checking. 0 is ignored
+    const SHVec3& CURRENT_RELATIVE_EXTENTS = box->GetRelativeExtents();
+    for (size_t i = 0; i < SHVec3::SIZE; ++i)
+    {
+      if (SHMath::CompareFloat(halfExtents[i], 0.0f))
+        correctedHalfExtents[i] = CURRENT_RELATIVE_EXTENTS[i];
+    }
+    
     // Set the half extents relative to world scale
-    const SHVec3 WORLD_EXTENTS = halfExtents * colliderComponent->GetScale() * 0.5f;
+    const SHVec3 WORLD_EXTENTS = correctedHalfExtents * COLLIDER->GetScale() * 0.5f;
 
     if (type != Type::BOX)
     {
       type = Type::BOX;
 
       delete shape;
-      shape = new SHBoundingBox{ positionOffset, WORLD_EXTENTS };
+      shape = new SHBox{ positionOffset, WORLD_EXTENTS };
     }
 
-    auto* box = reinterpret_cast<SHBoundingBox*>(shape);
     box->SetWorldExtents(WORLD_EXTENTS);
-    box->SetRelativeExtents(halfExtents);
+    box->SetRelativeExtents(correctedHalfExtents);
   }
 
   void SHCollisionShape::SetBoundingSphere(float radius)
   {
     dirty = true;
 
-    const auto* colliderComponent = SHComponentManager::GetComponent<SHColliderComponent>(entityID);
+    auto* sphere = reinterpret_cast<SHSphere*>(shape);
+    const auto* COLLIDER = SHComponentManager::GetComponent<SHColliderComponent>(entityID);
+
+    // Get current relative halfExtents for error checking. 0 is ignored
+    const float CURRENT_RELATIVE_RADIUS = sphere->GetRelativeRadius();
+    if (SHMath::CompareFloat(radius, 0.0f))
+      radius = CURRENT_RELATIVE_RADIUS;
+
     // Set the radius relative to world scale
-    const SHVec3 WORLD_SCALE  = colliderComponent->GetScale();
+    const SHVec3 WORLD_SCALE  = COLLIDER->GetScale();
     const float MAX_SCALE     = SHMath::Max({ WORLD_SCALE.x, WORLD_SCALE.y, WORLD_SCALE.z });
     const float WORLD_RADIUS  = radius * MAX_SCALE * 0.5f;
 
@@ -209,11 +227,11 @@ namespace SHADE
       type = Type::SPHERE;
 
       delete shape;
-      shape = new SHBoundingSphere{ positionOffset, WORLD_RADIUS };
+      shape = new SHSphere{ positionOffset, WORLD_RADIUS };
     }
 
-    auto* sphere = reinterpret_cast<SHBoundingSphere*>(shape);
     sphere->SetWorldRadius(WORLD_RADIUS);
+    sphere->SetRelativeRadius(radius);
   }
 
   void SHCollisionShape::SetIsTrigger(bool trigger) noexcept
@@ -255,12 +273,12 @@ namespace SHADE
     {
       case Type::BOX:
       {
-        reinterpret_cast<SHBoundingBox*>(shape)->SetCenter(positionOffset);
+        reinterpret_cast<SHBox*>(shape)->SetCenter(positionOffset);
         break;
       }
       case Type::SPHERE:
       {
-        reinterpret_cast<SHBoundingSphere*>(shape)->SetCenter(positionOffset);
+        reinterpret_cast<SHSphere*>(shape)->SetCenter(positionOffset);
         break;
       }
       default: break;
@@ -283,16 +301,16 @@ namespace SHADE
     {
       case Type::BOX: 
       {
-        const auto* RHS_BOX = reinterpret_cast<const SHBoundingBox*>(rhs);
+        const auto* RHS_BOX = reinterpret_cast<const SHBox*>(rhs);
 
-        shape = new SHBoundingBox{ positionOffset, RHS_BOX->GetWorldExtents() };
+        shape = new SHBox{ positionOffset, RHS_BOX->GetWorldExtents() };
         break;
       }
       case Type::SPHERE:
       {
-        const  auto* RHS_SPHERE = reinterpret_cast<const SHBoundingSphere*>(rhs);
+        const  auto* RHS_SPHERE = reinterpret_cast<const SHSphere*>(rhs);
 
-        shape = new SHBoundingSphere{ positionOffset, RHS_SPHERE->GetWorldRadius() };
+        shape = new SHSphere{ positionOffset, RHS_SPHERE->GetWorldRadius() };
         break;
       }
       default: break;

SHADE_Engine/src/Physics/Interface/SHPhysicsMaterial.cpp

@@ -44,7 +44,7 @@ namespace SHADE
         && SHMath::CompareFloat(density, rhs.density);
   }
 
-  bool  SHPhysicsMaterial::operator!=(const SHPhysicsMaterial& rhs) const noexcept
+  bool SHPhysicsMaterial::operator!=(const SHPhysicsMaterial& rhs) const noexcept
   {
     return !SHMath::CompareFloat(friction, rhs.friction)
         || !SHMath::CompareFloat(bounciness, rhs.bounciness)

SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.cpp

@@ -302,6 +302,9 @@ namespace SHADE
   {
     static constexpr int FLAG_POS = 9;
 
+    if (newMass < 0.0f)
+      return;
+
     if (type != Type::DYNAMIC)
     {
       SHLOG_WARNING("Cannot set mass of a non-dynamic object {}", GetEID())
@@ -385,42 +388,62 @@ namespace SHADE
 
   void SHRigidBodyComponent::AddForce(const SHVec3& force) const noexcept
   {
-    system->AddForce(GetEID(), force);
+    if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject)
+      physicsObject->GetRigidBody()->applyWorldForceAtCenterOfMass(force);
   }
 
   void SHRigidBodyComponent::AddForceAtLocalPos(const SHVec3& force, const SHVec3& localPos) const noexcept
   {
-    system->AddForceAtLocalPos(GetEID(), force, localPos);
+    if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject)
+      physicsObject->GetRigidBody()->applyWorldForceAtLocalPosition(force, localPos);
   }
 
   void SHRigidBodyComponent::AddForceAtWorldPos(const SHVec3& force, const SHVec3& worldPos) const noexcept
   {
-    system->AddForceAtWorldPos(GetEID(), force, worldPos);
+    if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject)
+      physicsObject->GetRigidBody()->applyWorldForceAtWorldPosition(force, worldPos);
   }
 
   void SHRigidBodyComponent::AddRelativeForce(const SHVec3& relativeForce) const noexcept
   {
-    system->AddRelativeForce(GetEID(), relativeForce);
+    if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject)
+      physicsObject->GetRigidBody()->applyLocalForceAtCenterOfMass(relativeForce);
   }
 
   void SHRigidBodyComponent::AddRelativeForceAtLocalPos(const SHVec3& relativeForce, const SHVec3& localPos) const noexcept
   {
-    system->AddRelativeForceAtLocalPos(GetEID(), relativeForce, localPos);
+    if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject)
+      physicsObject->GetRigidBody()->applyLocalForceAtLocalPosition(relativeForce, localPos);
   }
 
   void SHRigidBodyComponent::AddRelativeForceAtWorldPos(const SHVec3& relativeForce, const SHVec3& worldPos) const noexcept
   {
-    system->AddRelativeForceAtWorldPos(GetEID(), relativeForce, worldPos);
+    if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject)
+      physicsObject->GetRigidBody()->applyLocalForceAtWorldPosition(relativeForce, worldPos);
   }
 
   void SHRigidBodyComponent::AddTorque(const SHVec3& torque) const noexcept
   {
-    system->AddTorque(GetEID(), torque);
+    if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject)
+      physicsObject->GetRigidBody()->applyWorldTorque(torque);
   }
 
   void SHRigidBodyComponent::AddRelativeTorque(const SHVec3& relativeTorque) const noexcept
   {
-    system->AddRelativeTorque(GetEID(), relativeTorque);
+    if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject)
+      physicsObject->GetRigidBody()->applyLocalTorque(relativeTorque);
+  }
+
+  void SHRigidBodyComponent::ClearForces() const noexcept
+  {
+    if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject)
+      physicsObject->GetRigidBody()->resetForce();
+  }
+
+  void SHRigidBodyComponent::ClearTorque() const noexcept
+  {
+    if (auto* physicsObject = system->GetPhysicsObject(GetEID()); physicsObject)
+      physicsObject->GetRigidBody()->resetTorque();
   }
 
 } // namespace SHADE

SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.h

@@ -125,14 +125,15 @@ namespace SHADE
     void  AddForce                    (const SHVec3& force)                                 const noexcept;
     void  AddForceAtLocalPos          (const SHVec3& force, const SHVec3& localPos)         const noexcept;
     void  AddForceAtWorldPos          (const SHVec3& force, const SHVec3& worldPos)         const noexcept;
-
     void  AddRelativeForce            (const SHVec3& relativeForce)                         const noexcept;
     void  AddRelativeForceAtLocalPos  (const SHVec3& relativeForce, const SHVec3& localPos) const noexcept;
     void  AddRelativeForceAtWorldPos  (const SHVec3& relativeForce, const SHVec3& worldPos) const noexcept;
-
     void  AddTorque                   (const SHVec3& torque)                                const noexcept;
     void  AddRelativeTorque           (const SHVec3& relativeTorque)                        const noexcept;
 
+    void  ClearForces                 () const noexcept;
+    void  ClearTorque                 () const noexcept;
+
   private:
     /*---------------------------------------------------------------------------------*/
     /* Data Members                                                                    */

SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.cpp

@@ -16,6 +16,7 @@
 // Project Headers
 #include "ECS_Base/Managers/SHSystemManager.h"
 #include "ECS_Base/Managers/SHComponentManager.h"
+#include "Scene/SHSceneManager.h"
 
 
 namespace SHADE
@@ -25,10 +26,11 @@ namespace SHADE
   /*-----------------------------------------------------------------------------------*/
 
   SHPhysicsObject::SHPhysicsObject(EntityID eid, rp3d::PhysicsCommon* physicsFactory, rp3d::PhysicsWorld* physicsWorld) noexcept
-  : entityID    { eid }
+  : entityID        { eid }
-  , factory     { physicsFactory }
+  , collidersActive { true }
-  , world       { physicsWorld }
+  , factory         { physicsFactory }
-  , rp3dBody    { nullptr }
+  , world           { physicsWorld }
+  , rp3dBody        { nullptr }
   {
     // Implicitly create a static body.
 
@@ -148,6 +150,10 @@ namespace SHADE
 
   void SHPhysicsObject::SyncRigidBody(SHRigidBodyComponent& component) const noexcept
   {
+    // This state is synced in the pre-update routine
+    if (!rp3dBody->isActive())
+      return;
+
     if (component.dirtyFlags == 0)
       return;
 
@@ -267,23 +273,28 @@ namespace SHADE
 
   void SHPhysicsObject::SyncColliders(SHColliderComponent& component) const noexcept
   {
-    int index = 0;
+    // This state is synced in the pre-update routine
-    for (auto& collisionShape : component.collisionShapes)
+    if (!rp3dBody->isActive())
+      return;
+
+    const int NUM_SHAPES = static_cast<int>(component.collisionShapes.size());
+    for (int i = 0; i < NUM_SHAPES; ++i)
     {
+      auto& collisionShape = component.collisionShapes[i];
+
       if (!collisionShape.dirty)
         continue;
 
       switch (collisionShape.GetType())
       {
-        case SHCollisionShape::Type::BOX:     syncBoxShape(index, collisionShape);    break;
+        case SHCollisionShape::Type::BOX:     syncBoxShape(i, collisionShape);    break;
-        case SHCollisionShape::Type::SPHERE:  syncSphereShape(index, collisionShape); break;
+        case SHCollisionShape::Type::SPHERE:  syncSphereShape(i, collisionShape); break;
         default: break;
       }
 
-      // TODO(Diren): Update Material
+      syncMaterial(i, collisionShape);
 
       collisionShape.dirty = false;
-      ++index;
     }
   }
 
@@ -291,6 +302,14 @@ namespace SHADE
   /* Private Function Member Definitions                                               */
   /*-----------------------------------------------------------------------------------*/
 
+  void SHPhysicsObject::syncMaterial(int colliderIndex, SHCollisionShape& collisionShape) const noexcept
+  {
+    auto& rp3dMaterial = rp3dBody->getCollider(colliderIndex)->getMaterial();
+    rp3dMaterial.setFrictionCoefficient(collisionShape.GetFriction());
+    rp3dMaterial.setBounciness(collisionShape.GetBounciness());
+    rp3dMaterial.setMassDensity(collisionShape.GetDensity());
+  }
+
   void SHPhysicsObject::addBoxShape(SHCollisionShape& boxShape) const noexcept
   {
     const rp3d::Transform OFFSETS
@@ -299,7 +318,7 @@ namespace SHADE
     , boxShape.GetRotationOffset()
     };
 
-    const auto* BOX = reinterpret_cast<const SHBoundingBox*>(boxShape.GetShape());
+    const auto* BOX = reinterpret_cast<const SHBox*>(boxShape.GetShape());
     rp3d::BoxShape* newBox = factory->createBoxShape(BOX->GetWorldExtents());
 
     rp3dBody->addCollider(newBox, OFFSETS);
@@ -307,7 +326,7 @@ namespace SHADE
 
   void SHPhysicsObject::syncBoxShape(int index, SHCollisionShape& boxShape) const noexcept
   {
-    const auto* BOX = reinterpret_cast<const SHBoundingBox*>(boxShape.GetShape());
+    const auto* BOX = reinterpret_cast<const SHBox*>(boxShape.GetShape());
 
     auto* rp3dCollider = rp3dBody->getCollider(index);
     auto* rp3dBox = reinterpret_cast<rp3d::BoxShape*>(rp3dCollider->getCollisionShape());
@@ -332,7 +351,7 @@ namespace SHADE
     , sphereShape.GetRotationOffset()
     };
 
-    const auto* SPHERE = reinterpret_cast<const SHBoundingSphere*>(sphereShape.GetShape());
+    const auto* SPHERE = reinterpret_cast<const SHSphere*>(sphereShape.GetShape());
     rp3d::SphereShape* newSphere = factory->createSphereShape(SPHERE->GetWorldRadius());
 
     rp3dBody->addCollider(newSphere, OFFSETS);
@@ -340,7 +359,7 @@ namespace SHADE
 
   void SHPhysicsObject::syncSphereShape(int index, SHCollisionShape& sphereShape) const noexcept
   {
-    const auto* SPHERE = reinterpret_cast<const SHBoundingSphere*>(sphereShape.GetShape());
+    const auto* SPHERE = reinterpret_cast<const SHSphere*>(sphereShape.GetShape());
 
     auto* rp3dCollider = rp3dBody->getCollider(index);
     auto* rp3dSphere = reinterpret_cast<rp3d::SphereShape*>(rp3dCollider->getCollisionShape());

SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.h

@@ -84,17 +84,20 @@ namespace SHADE
     /*---------------------------------------------------------------------------------*/
 
     EntityID              entityID;
+    bool                  collidersActive;  // Only used to sync with SHADE components
 
     rp3d::PhysicsCommon*  factory;
     rp3d::PhysicsWorld*   world;
 
     rp3d::RigidBody*      rp3dBody;
-    rp3d::Transform       prevTransform;  // Cached transform for interpolation
+    rp3d::Transform       prevTransform;    // Cached transform for interpolation
 
     /*---------------------------------------------------------------------------------*/
     /* Function Members                                                                */
     /*---------------------------------------------------------------------------------*/
 
+    void syncMaterial     (int colliderIndex, SHCollisionShape& collisionShape) const noexcept;
+
     // Box Shapes
 
     void addBoxShape      (SHCollisionShape& boxShape) const noexcept;

SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObjectManager.cpp

@@ -167,6 +167,7 @@ namespace SHADE
       if (!COMPONENT_GROUP.rigidBodyComponent && !COMPONENT_GROUP.colliderComponent)
       {
         destroyPhysicsObject(COMMAND.eid);
+        wakeAllObjects();
         continue;
       }
 
@@ -176,6 +177,10 @@ namespace SHADE
         physicsObject = createPhysicsObject(COMMAND.eid);
 
       componentFunc[SHUtilities::ConvertEnum(COMMAND.command)][SHUtilities::ConvertEnum(COMMAND.component)](COMMAND, physicsObject, COMPONENT_GROUP);
+
+      // If any removal was done, wake all objects
+      if (COMMAND.command == QueueCommand::Command::REMOVE)
+        wakeAllObjects();
     }
   }
 
@@ -297,5 +302,11 @@ namespace SHADE
     physicsObject->RemoveCollisionShape(command.shapeIndex);
   }
 
+  void SHPhysicsObjectManager::wakeAllObjects() noexcept
+  {
+    for (auto& physicsObject : physicsObjects | std::views::values)
+      physicsObject.GetRigidBody()->setIsSleeping(false);
+  }
+
   
 } // namespace SHADE

SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObjectManager.h

@@ -165,6 +165,8 @@ namespace SHADE
     SHPhysicsObject*  createPhysicsObject   (EntityID eid) noexcept;
     void              destroyPhysicsObject  (EntityID eid) noexcept;
 
+    void              wakeAllObjects        () noexcept;
+
     static void       addRigidBody          (const QueueCommand& command, SHPhysicsObject* physicsObject, const PhysicsComponentGroup& componentGroup);
     static void       addCollider           (const QueueCommand& command, SHPhysicsObject* physicsObject, const PhysicsComponentGroup& componentGroup);
     static void       removeRigidBody       (const QueueCommand& command, SHPhysicsObject* physicsObject, const PhysicsComponentGroup& componentGroup);
@@ -172,6 +174,8 @@ namespace SHADE
 
     static void       addCollisionShape     (const QueueCommand& command, SHPhysicsObject* physicsObject, const PhysicsComponentGroup& componentGroup);
     static void       removeCollisionShape  (const QueueCommand& command, SHPhysicsObject* physicsObject, const PhysicsComponentGroup& componentGroup);
+
+    
   };
   
 } // namespace SHADE

SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.cpp

@@ -16,6 +16,7 @@
 // Project Headers
 #include "ECS_Base/Managers/SHSystemManager.h"
 #include "Graphics/MiddleEnd/Interface/SHDebugDrawSystem.h"
+#include "Scene/SHSceneManager.h"
 
 namespace SHADE
 {
@@ -122,6 +123,10 @@ namespace SHADE
     const auto& COLLIDER_SET = SHComponentManager::GetDense<SHColliderComponent>();
     for (const auto& COLLIDER : COLLIDER_SET)
     {
+      // Skip inactive colliders
+      if (!SHSceneManager::CheckNodeAndComponentsActive<SHColliderComponent>(COLLIDER.GetEID()))
+        continue;
+
       for (auto& collisionShape : COLLIDER.GetCollisionShapes())
       {
         switch (collisionShape.GetType())
@@ -176,7 +181,7 @@ namespace SHADE
       return;
     }
 
-    auto* BOX = reinterpret_cast<const SHBoundingBox*>(collisionShape.GetShape());
+    auto* BOX = reinterpret_cast<const SHBox*>(collisionShape.GetShape());
 
     // Calculate final position & orientation
     const SHVec3        FINAL_POS = colliderComponent.GetPosition() + collisionShape.GetPositionOffset();
@@ -216,7 +221,7 @@ namespace SHADE
       return;
     }
 
-    auto* SPHERE = reinterpret_cast<const SHBoundingSphere*>(collisionShape.GetShape());
+    auto* SPHERE = reinterpret_cast<const SHSphere*>(collisionShape.GetShape());
 
     const SHColour COLLIDER_COLOUR = collisionShape.IsTrigger() ? SHColour::PURPLE : SHColour::GREEN;
 

SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp

@@ -20,6 +20,7 @@
 #include "Editor/SHEditor.h"
 #include "Physics/SHPhysicsEvents.h"
 #include "Scene/SHSceneManager.h"
+#include "Scripting/SHScriptEngine.h"
 
 /*-------------------------------------------------------------------------------------*/
 /* Local Helper Functions                                                              */
@@ -34,16 +35,16 @@ namespace SHADE
   SHPhysicsSystem::SHPhysicsSystem()
   : worldUpdated        { false }
   , interpolationFactor { 0.0 }
-  , fixedDT             { 60.0 }
+  , fixedDT             { DEFAULT_FIXED_STEP }
   {}
 
   /*-----------------------------------------------------------------------------------*/
   /* Getter Function Definitions                                                       */
   /*-----------------------------------------------------------------------------------*/
 
-  double SHPhysicsSystem::GetFixedDT() const noexcept
+  double SHPhysicsSystem::GetFixedUpdateRate() const noexcept
   {
-    return fixedDT;
+    return 1.0 / fixedDT;
   }
 
   const SHPhysicsWorldState::WorldSettings& SHPhysicsSystem::GetWorldSettings() const noexcept
@@ -61,7 +62,7 @@ namespace SHADE
     return collisionListener.GetTriggerInfoContainer();
   }
 
-  const SHPhysicsObject* const SHPhysicsSystem::GetPhysicsObject(EntityID eid) noexcept
+  const SHPhysicsObject* SHPhysicsSystem::GetPhysicsObject(EntityID eid) noexcept
   {
     return objectManager.GetPhysicsObject(eid);
   }
@@ -76,9 +77,9 @@ namespace SHADE
   /* Setter Function Definitions                                                       */
   /*-----------------------------------------------------------------------------------*/
 
-  void SHPhysicsSystem::SetFixedDT(double fixedUpdateRate) noexcept
+  void SHPhysicsSystem::SetFixedUpdateRate(double fixedUpdateRate) noexcept
   {
-    fixedDT = fixedUpdateRate;
+    fixedDT = 1.0 / fixedUpdateRate;
   }
 
   void SHPhysicsSystem::SetWorldSettings(const SHPhysicsWorldState::WorldSettings& settings) noexcept
@@ -126,6 +127,45 @@ namespace SHADE
     worldState.DestroyWorld(factory);
   }
 
+  void SHPhysicsSystem::ForceUpdate()
+  {
+    if (!worldState.world)
+    {
+      SHLOGV_ERROR("Unable to force update without a Physics world!")
+      return;
+    }
+
+    auto* scriptingSystem = SHSystemManager::GetSystem<SHScriptEngine>();
+    if (scriptingSystem == nullptr)
+    {
+        SHLOGV_ERROR("Unable to invoke FixedUpdate() on scripts due to missing SHScriptEngine!");
+    }
+
+    // Force the physics world to update once
+    if (scriptingSystem != nullptr)
+        scriptingSystem->ExecuteFixedUpdates();
+
+    worldState.world->update(static_cast<rp3d::decimal>(fixedDT));
+
+    // Sync transforms. No interpolation applied here
+    for (auto& [entityID, physicsObject] : objectManager.physicsObjects)
+    {
+      auto* transformComponent = SHComponentManager::GetComponent_s<SHTransformComponent>(entityID);
+      auto* rigidBodyComponent = SHComponentManager::GetComponent_s<SHRigidBodyComponent>(entityID);
+      auto* colliderComponent = SHComponentManager::GetComponent_s<SHColliderComponent>(entityID);
+
+      postUpdateSyncTransforms
+      (
+        physicsObject
+      , transformComponent
+      , rigidBodyComponent
+      , colliderComponent
+      , 1.0   // We use 1.0 here to avoid any interpolation
+      );
+    }
+  }
+
+
   void SHPhysicsSystem::AddCollisionShape(EntityID eid, int shapeIndex)
   {
     static const auto ADD_SHAPE = [&](EntityID entityID, int index)
@@ -183,48 +223,6 @@ namespace SHADE
   #endif
   }
 
-  void SHPhysicsSystem::AddForce(EntityID eid, const SHVec3& force) noexcept
-  {
-    auto* physicsObject = objectManager.GetPhysicsObject(eid);
-
-  }
-
-  void SHPhysicsSystem::AddForceAtLocalPos(EntityID eid, const SHVec3& force, const SHVec3& localPos) noexcept
-  {
-    auto* physicsObject = objectManager.GetPhysicsObject(eid);
-  }
-
-  void SHPhysicsSystem::AddForceAtWorldPos(EntityID eid, const SHVec3& force, const SHVec3& worldPos) noexcept
-  {
-    auto* physicsObject = objectManager.GetPhysicsObject(eid);
-  }
-
-  void SHPhysicsSystem::AddRelativeForce(EntityID eid, const SHVec3& relativeForce) noexcept
-  {
-    auto* physicsObject = objectManager.GetPhysicsObject(eid);
-  }
-
-  void SHPhysicsSystem::AddRelativeForceAtLocalPos(EntityID eid, const SHVec3& relativeForce, const SHVec3& localPos) noexcept
-  {
-    auto* physicsObject = objectManager.GetPhysicsObject(eid);
-  }
-
-
-  void SHPhysicsSystem::AddRelativeForceAtWorldPos(EntityID eid, const SHVec3& relativeForce, const SHVec3& worldPos) noexcept
-  {
-    auto* physicsObject = objectManager.GetPhysicsObject(eid);
-  }
-
-  void SHPhysicsSystem::AddTorque(EntityID eid, const SHVec3& torque) noexcept
-  {
-    auto* physicsObject = objectManager.GetPhysicsObject(eid);
-  }
-  
-  void SHPhysicsSystem::AddRelativeTorque(EntityID eid, const SHVec3& relativeTorque) noexcept
-  {
-    auto* physicsObject = objectManager.GetPhysicsObject(eid);
-  }
-
   /*-----------------------------------------------------------------------------------*/
   /* Private Function Member Definitions                                               */
   /*-----------------------------------------------------------------------------------*/
@@ -339,5 +337,93 @@ namespace SHADE
     return onStopEvent->handle;
   }
 
+  void SHPhysicsSystem::preUpdateSyncTransform
+  (
+    SHPhysicsObject&      physicsObject
+  , SHTransformComponent* transformComponent
+  , SHRigidBodyComponent* rigidBodyComponent
+  , SHColliderComponent*  colliderComponent
+  ) noexcept
+  {
+    if (!transformComponent)
+      return;
+
+    const SHVec3&       WORLD_POS = transformComponent->GetWorldPosition();
+    const SHQuaternion& WORLD_ROT = transformComponent->GetWorldOrientation();
+    const SHVec3&       WORLD_SCL = transformComponent->GetWorldScale();
+
+    const rp3d::Transform RP3D_TRANSFORM { WORLD_POS, WORLD_ROT };
+    physicsObject.GetRigidBody()->setTransform(RP3D_TRANSFORM);
+
+    if (rigidBodyComponent && SHSceneManager::CheckNodeAndComponentsActive<SHRigidBodyComponent>(physicsObject.entityID))
+    {
+      rigidBodyComponent->position    = WORLD_POS;
+      rigidBodyComponent->orientation = WORLD_ROT;
+    }
+
+    if (colliderComponent && SHSceneManager::CheckNodeAndComponentsActive<SHColliderComponent>(physicsObject.entityID))
+    {
+      colliderComponent->position     = WORLD_POS;
+      colliderComponent->orientation  = WORLD_ROT;
+      colliderComponent->scale        = WORLD_SCL;
+
+      colliderComponent->RecomputeCollisionShapes();
+    }
+  }
+
+  void SHPhysicsSystem::postUpdateSyncTransforms
+  (
+    SHPhysicsObject&      physicsObject 
+  , SHTransformComponent* transformComponent
+  , SHRigidBodyComponent* rigidBodyComponent
+  , SHColliderComponent*  colliderComponent
+  , double                interpolationFactor
+  ) noexcept
+  {
+    const rp3d::Transform& CURRENT_TF = physicsObject.GetRigidBody()->getTransform();
+    auto  renderPos = CURRENT_TF.getPosition();
+    auto  renderRot = CURRENT_TF.getOrientation();
+
+    // Cache transforms
+    if (physicsObject.GetRigidBody()->isActive())
+      physicsObject.prevTransform = CURRENT_TF;
+
+    // Sync with rigid bodies
+    if (rigidBodyComponent && SHSceneManager::CheckNodeAndComponentsActive<SHRigidBodyComponent>(physicsObject.entityID))
+    {
+      // Skip static bodies
+      if (rigidBodyComponent->GetType() == SHRigidBodyComponent::Type::STATIC)
+        return;
+
+      // Check if transform should be interpolated
+      if (rigidBodyComponent->IsInterpolating())
+      {
+        // Interpolate transforms between current and predicted next transform
+
+        const rp3d::Transform PREV_TF         = physicsObject.prevTransform;
+        const rp3d::Transform INTERPOLATED_TF = rp3d::Transform::interpolateTransforms(PREV_TF, CURRENT_TF, static_cast<rp3d::decimal>(interpolationFactor));
+
+        renderPos = INTERPOLATED_TF.getPosition();
+        renderRot = INTERPOLATED_TF.getOrientation();
+      }
+
+      rigidBodyComponent->position     = CURRENT_TF.getPosition();
+      rigidBodyComponent->orientation  = CURRENT_TF.getOrientation();
+    }
+
+    // Sync with colliders
+    if (colliderComponent && SHSceneManager::CheckNodeAndComponentsActive<SHColliderComponent>(physicsObject.entityID))
+    {
+      colliderComponent->position     = CURRENT_TF.getPosition();
+      colliderComponent->orientation  = CURRENT_TF.getOrientation();
+    }
+
+    // Set transform for rendering
+    if (transformComponent)
+    {
+      transformComponent->SetWorldPosition(renderPos);
+      transformComponent->SetWorldOrientation(renderRot);
+    }
+  }
 
 } // namespace SHADE

SHADE_Engine/src/Physics/System/SHPhysicsSystem.h

@@ -55,20 +55,20 @@ namespace SHADE
     /* Getter Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    [[nodiscard]] double                                                GetFixedDT          ()  const noexcept;
+    [[nodiscard]] double                                                GetFixedUpdateRate  ()  const noexcept;
     [[nodiscard]] const SHPhysicsWorldState::WorldSettings&             GetWorldSettings    ()  const noexcept;
 
     [[nodiscard]] const std::vector<SHCollisionInfo>&                   GetAllCollisionInfo ()  const noexcept;
     [[nodiscard]] const std::vector<SHCollisionInfo>&                   GetAllTriggerInfo   ()  const noexcept;
 
-    [[nodiscard]] const SHPhysicsObject* const                          GetPhysicsObject    (EntityID eid) noexcept;
+    [[nodiscard]] const SHPhysicsObject*                                GetPhysicsObject    (EntityID eid) noexcept;
     [[nodiscard]] const SHPhysicsObjectManager::PhysicsObjectEntityMap& GetPhysicsObjects   ()  const noexcept;
     /*---------------------------------------------------------------------------------*/
     /* Setter Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    void  SetFixedDT        (double fixedUpdateRate)                              noexcept;
+    void  SetFixedUpdateRate  (double fixedUpdateRate)                              noexcept;
-    void  SetWorldSettings  (const SHPhysicsWorldState::WorldSettings& settings)  noexcept;
+    void  SetWorldSettings    (const SHPhysicsWorldState::WorldSettings& settings)  noexcept;
 
     /*---------------------------------------------------------------------------------*/
     /* Function Members                                                                */
@@ -77,25 +77,15 @@ namespace SHADE
     void  Init                  () override;
     void  Exit                  () override;
 
-    // Specific Handling for Collision Shapes as they are not under the Component System
+    void  ForceUpdate           ();
+
+    // Specific Handling for Collision Shapes as they are not under the Component System.
+    // This is done as events need to be sent out.
+    // TODO(Diren): Consider using a static method through the ColliderComponent.
 
     void  AddCollisionShape     (EntityID eid, int shapeIndex);
     void  RemoveCollisionShape  (EntityID eid, int shapeIndex);
 
-    // Forces are applied from components here. These functions should only be invoked during play (through scripts)
-    // Thus there is no need to check for an editor.
-
-    void  AddForce                    (EntityID eid, const SHVec3& force)                                 noexcept;
-    void  AddForceAtLocalPos          (EntityID eid, const SHVec3& force, const SHVec3& localPos)         noexcept;
-    void  AddForceAtWorldPos          (EntityID eid, const SHVec3& force, const SHVec3& worldPos)         noexcept;
-
-    void  AddRelativeForce            (EntityID eid, const SHVec3& relativeForce)                         noexcept;
-    void  AddRelativeForceAtLocalPos  (EntityID eid, const SHVec3& relativeForce, const SHVec3& localPos) noexcept;
-    void  AddRelativeForceAtWorldPos  (EntityID eid, const SHVec3& relativeForce, const SHVec3& worldPos) noexcept;
-
-    void  AddTorque                   (EntityID eid, const SHVec3& torque)                                noexcept;
-    void  AddRelativeTorque           (EntityID eid, const SHVec3& relativeTorque)                        noexcept;
-
     /*---------------------------------------------------------------------------------*/
     /* System Routines                                                                 */
     /*---------------------------------------------------------------------------------*/
@@ -120,15 +110,9 @@ namespace SHADE
       /* Function Members                                                              */
       /*-------------------------------------------------------------------------------*/
 
-      static void syncOnPlay(EntityID eid, SHPhysicsObject& physicsObject) noexcept;
+      void        syncRigidBodyActive (EntityID eid, SHPhysicsObject& physicsObject)  const noexcept;
-
+      void        syncColliderActive  (EntityID eid, SHPhysicsObject& physicsObject)  const noexcept;
-      static void preUpdateSyncTransform
+      static void syncOnPlay          (EntityID eid, SHPhysicsObject& physicsObject)  noexcept;
-      (
-        SHPhysicsObject&      physicsObject 
-      , SHTransformComponent& transformComponent
-      , SHRigidBodyComponent* rigidBodyComponent
-      , SHColliderComponent*  colliderComponent
-      ) noexcept;
     };
 
     class SH_API PhysicsFixedUpdate final : public SHFixedSystemRoutine
@@ -161,20 +145,6 @@ namespace SHADE
       /*-------------------------------------------------------------------------------*/
 
       void Execute(double dt) noexcept override;
-
-    private:
-      /*-------------------------------------------------------------------------------*/
-      /* Function Members                                                              */
-      /*-------------------------------------------------------------------------------*/
-
-      static void postUpdateSyncTransforms
-      (
-        SHPhysicsObject&      physicsObject 
-      , SHTransformComponent& transformComponent
-      , SHRigidBodyComponent* rigidBodyComponent
-      , SHColliderComponent*  colliderComponent
-      , double                interpolationFactor
-      ) noexcept;
     };
 
   private:
@@ -208,5 +178,24 @@ namespace SHADE
     SHEventHandle     onPlay                  (SHEventPtr onPlayEvent);
     SHEventHandle     onStop                  (SHEventPtr onStopEvent);
 
+    
+
+    static void preUpdateSyncTransform
+    (
+      SHPhysicsObject&      physicsObject 
+    , SHTransformComponent* transformComponent
+    , SHRigidBodyComponent* rigidBodyComponent
+    , SHColliderComponent*  colliderComponent
+    ) noexcept;
+
+    static void postUpdateSyncTransforms
+    (
+      SHPhysicsObject&      physicsObject 
+    , SHTransformComponent* transformComponent
+    , SHRigidBodyComponent* rigidBodyComponent
+    , SHColliderComponent*  colliderComponent
+    , double                interpolationFactor
+    ) noexcept;
+
   };
 } // namespace SHADE

SHADE_Engine/src/Physics/System/SHPhysicsSystemInterface.cpp

@@ -55,7 +55,7 @@ namespace SHADE
     auto phySystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
     if (phySystem)
     {
-      return phySystem->GetFixedDT();
+      return phySystem->GetFixedUpdateRate();
     }
 
     SHLOG_WARNING("[SHPhysicsSystemInterface] Failed to get fixed delta time. 0.0 returned instead.");

SHADE_Engine/src/Physics/System/SHPhysicsSystemRoutines.cpp

@@ -13,10 +13,14 @@
 // Primary Header
 #include "SHPhysicsSystem.h"
 // Project Headers
+#include "ECS_Base/Managers/SHEntityManager.h"
 #include "ECS_Base/Managers/SHSystemManager.h"
 #include "Editor/SHEditor.h"
+#include "Scene/SHSceneManager.h"
 #include "Scripting/SHScriptEngine.h"
 
+#include "Input/SHInputManager.h"
+
 namespace SHADE
 {
   /*-----------------------------------------------------------------------------------*/
@@ -43,65 +47,13 @@ namespace SHADE
   {
     auto* physicsSystem  = reinterpret_cast<SHPhysicsSystem*>(GetSystem());
 
-    #ifdef  SHEDITOR
+  #ifdef  SHEDITOR
-
-      auto* editor = SHSystemManager::GetSystem<SHEditor>();
-
-      // Only Sync on Play.
-      // Otherwise, Components are only holding data until the world is built on play.
-
-      if (editor)
-      {
-        if (editor->editorState != SHEditor::State::STOP)
-        {
-          physicsSystem->objectManager.UpdateCommands();
-
-          for (auto& [entityID, physicsObject] : physicsSystem->objectManager.physicsObjects)
-          {
-            // Ensure a valid physics Object
-            if (physicsObject.rp3dBody == nullptr)
-              continue;
-
-            syncOnPlay(entityID, physicsObject);
-          }
-        }
-        else
-        {
-          auto& rigidBodyDense  = SHComponentManager::GetDense<SHRigidBodyComponent>();
-          auto& colliderDense   = SHComponentManager::GetDense<SHColliderComponent>();
-
-          for (auto& rigidBodyComponent : rigidBodyDense)
-          {
-            const auto* TRANSFORM = SHComponentManager::GetComponent_s<SHTransformComponent>(rigidBodyComponent.GetEID());
-
-            if (TRANSFORM && TRANSFORM->HasChanged())
-            {
-              rigidBodyComponent.position     = TRANSFORM->GetWorldPosition();
-              rigidBodyComponent.orientation  = TRANSFORM->GetWorldOrientation();
-            }
-          }
-
-          for (auto& colliderComponent : colliderDense)
-          {
-            const auto* TRANSFORM = SHComponentManager::GetComponent_s<SHTransformComponent>(colliderComponent.GetEID());
-
-            if (TRANSFORM && TRANSFORM->HasChanged())
-            {
-              colliderComponent.position    = TRANSFORM->GetWorldPosition();
-              colliderComponent.orientation = TRANSFORM->GetWorldOrientation();
-              colliderComponent.scale       = TRANSFORM->GetWorldScale();
-
-              colliderComponent.RecomputeCollisionShapes();
-            }
-          }
-        }
-      }
-
-    #else
-
-      // Always sync Rigid Body & Collider Components with Physics Objects
-      // Do not check for an editor here
 
+    // Only Sync on Play.
+    // Otherwise, Components are only holding data until the world is built on play.
+    const auto* EDITOR = SHSystemManager::GetSystem<SHEditor>();
+    if (EDITOR && EDITOR->editorState != SHEditor::State::STOP)
+    {
       physicsSystem->objectManager.UpdateCommands();
 
       for (auto& [entityID, physicsObject] : physicsSystem->objectManager.physicsObjects)
@@ -110,10 +62,64 @@ namespace SHADE
         if (physicsObject.rp3dBody == nullptr)
           continue;
 
+        // Sync active states between SHADE & RP3D
+        syncRigidBodyActive(entityID, physicsObject);
+        syncColliderActive(entityID, physicsObject);
+
         syncOnPlay(entityID, physicsObject);
       }
+    }
+    else
+    {
+      auto& rigidBodyDense  = SHComponentManager::GetDense<SHRigidBodyComponent>();
+      auto& colliderDense   = SHComponentManager::GetDense<SHColliderComponent>();
 
-    #endif
+      for (auto& rigidBodyComponent : rigidBodyDense)
+      {
+        const auto* TRANSFORM = SHComponentManager::GetComponent_s<SHTransformComponent>(rigidBodyComponent.GetEID());
+
+        if (TRANSFORM && TRANSFORM->HasChanged())
+        {
+          rigidBodyComponent.position     = TRANSFORM->GetWorldPosition();
+          rigidBodyComponent.orientation  = TRANSFORM->GetWorldOrientation();
+        }
+      }
+
+      for (auto& colliderComponent : colliderDense)
+      {
+        const auto* TRANSFORM = SHComponentManager::GetComponent_s<SHTransformComponent>(colliderComponent.GetEID());
+
+        if (TRANSFORM && TRANSFORM->HasChanged())
+        {
+          colliderComponent.position    = TRANSFORM->GetWorldPosition();
+          colliderComponent.orientation = TRANSFORM->GetWorldOrientation();
+          colliderComponent.scale       = TRANSFORM->GetWorldScale();
+
+          colliderComponent.RecomputeCollisionShapes();
+        }
+      }
+    }
+
+  #else
+
+    // Always sync Rigid Body & Collider Components with Physics Objects
+    // Do not check for an editor here
+
+    physicsSystem->objectManager.UpdateCommands();
+
+    for (auto& [entityID, physicsObject] : physicsSystem->objectManager.physicsObjects)
+    {
+      // Ensure a valid physics Object
+      if (physicsObject.rp3dBody == nullptr)
+        continue;
+
+      syncRigidBodyActive(entityID, physicsObject);
+      syncColliderActive(entityID, physicsObject);
+
+      syncOnPlay(entityID, physicsObject);
+    }
+
+  #endif
   }
 
   void SHPhysicsSystem::PhysicsFixedUpdate::Execute(double dt) noexcept
@@ -125,18 +131,18 @@ namespace SHADE
         SHLOGV_ERROR("Unable to invoke FixedUpdate() on scripts due to missing SHScriptEngine!");
     }
 
-    fixedTimeStep = 1.0 / physicsSystem->fixedDT;
+    const double FIXED_DT = physicsSystem->fixedDT;
     accumulatedTime += dt;
 
     int count = 0;
-    while (accumulatedTime > fixedTimeStep)
+    while (accumulatedTime > FIXED_DT)
     {
       if (scriptingSystem != nullptr)
         scriptingSystem->ExecuteFixedUpdates();
 
-      physicsSystem->worldState.world->update(static_cast<rp3d::decimal>(fixedTimeStep));
+      physicsSystem->worldState.world->update(static_cast<rp3d::decimal>(FIXED_DT));
 
-      accumulatedTime -= fixedTimeStep;
+      accumulatedTime -= FIXED_DT;
       ++count;
     }
 
@@ -165,17 +171,14 @@ namespace SHADE
         auto* rigidBodyComponent  = SHComponentManager::GetComponent_s<SHRigidBodyComponent>(entityID);
         auto* colliderComponent   = SHComponentManager::GetComponent_s<SHColliderComponent>(entityID);
 
-        if (transformComponent)
+        postUpdateSyncTransforms
-        {
+        (
-          postUpdateSyncTransforms
+          physicsObject
-          (
+        , transformComponent
-            physicsObject
+        , rigidBodyComponent
-          , *transformComponent
+        , colliderComponent
-          , rigidBodyComponent
+        , physicsSystem->interpolationFactor
-          , colliderComponent
+        );
-          , physicsSystem->interpolationFactor
-          );
-        }
       }
 
       // Collision & Trigger messages
@@ -191,6 +194,48 @@ namespace SHADE
   /* Private Function Member Definitions                                               */
   /*-----------------------------------------------------------------------------------*/
 
+  void SHPhysicsSystem::PhysicsPreUpdate::syncRigidBodyActive(EntityID eid, SHPhysicsObject& physicsObject) const noexcept
+  {
+    if (!SHComponentManager::HasComponent<SHRigidBodyComponent>(eid))
+      return;
+
+    const bool IS_ACTIVE_IN_SCENE   = SHSceneManager::CheckNodeAndComponentsActive<SHRigidBodyComponent>(eid);
+    const bool IS_RP3D_BODY_ACTIVE  = physicsObject.GetRigidBody()->isActive();
+
+    if (IS_ACTIVE_IN_SCENE != IS_RP3D_BODY_ACTIVE)
+      physicsObject.GetRigidBody()->setIsActive(IS_ACTIVE_IN_SCENE);
+  }
+
+  void SHPhysicsSystem::PhysicsPreUpdate::syncColliderActive(EntityID eid, SHPhysicsObject& physicsObject) const noexcept
+  {
+    const auto* COLLIDER = SHComponentManager::GetComponent_s<SHColliderComponent>(eid);
+    if (!COLLIDER)
+      return;
+
+    const bool IS_ACTIVE_IN_SCENE       = SHSceneManager::CheckNodeAndComponentsActive<SHColliderComponent>(eid);
+    const bool IS_RP3D_COLLIDER_ACTIVE  = physicsObject.collidersActive;
+
+    if (IS_ACTIVE_IN_SCENE != IS_RP3D_COLLIDER_ACTIVE)
+    {
+      // HACK: If active state turned off, remove all collision shapes. If turned on, add them back.
+      auto* physicsSystem = reinterpret_cast<SHPhysicsSystem*>(GetSystem());
+
+      const int NUM_SHAPES = static_cast<int>(COLLIDER->GetCollisionShapes().size());
+      if (IS_ACTIVE_IN_SCENE)
+      {
+        for (int i = 0; i < NUM_SHAPES; ++i)
+          physicsSystem->objectManager.AddCollisionShape(eid, i);
+      }
+      else
+      {
+        for (int i = NUM_SHAPES - 1; i >= 0; --i)
+          physicsSystem->objectManager.RemoveCollisionShape(eid, i);
+      }
+
+      physicsObject.collidersActive = IS_ACTIVE_IN_SCENE;
+    }
+  }
+
   void SHPhysicsSystem::PhysicsPreUpdate::syncOnPlay(EntityID eid, SHPhysicsObject& physicsObject) noexcept
   {
     auto* transformComponent  = SHComponentManager::GetComponent_s<SHTransformComponent>(eid);
@@ -203,7 +248,7 @@ namespace SHADE
       preUpdateSyncTransform
       (
         physicsObject
-      , *transformComponent
+      , transformComponent
       , rigidBodyComponent
       , colliderComponent
       );
@@ -217,99 +262,4 @@ namespace SHADE
     if (colliderComponent)
       physicsObject.SyncColliders(*colliderComponent);
   }
-
-  void SHPhysicsSystem::PhysicsPreUpdate::preUpdateSyncTransform
-  (
-    SHPhysicsObject&      physicsObject
-  , SHTransformComponent& transformComponent
-  , SHRigidBodyComponent* rigidBodyComponent
-  , SHColliderComponent*  colliderComponent
-  ) noexcept
-  {
-    const SHVec3&       WORLD_POS = transformComponent.GetWorldPosition();
-    const SHQuaternion& WORLD_ROT = transformComponent.GetWorldOrientation();
-    const SHVec3&       WORLD_SCL = transformComponent.GetWorldScale();
-
-    const rp3d::Transform RP3D_TRANSFORM { WORLD_POS, WORLD_ROT };
-    physicsObject.GetRigidBody()->setTransform(RP3D_TRANSFORM);
-
-    if (rigidBodyComponent)
-    {
-      rigidBodyComponent->position    = WORLD_POS;
-      rigidBodyComponent->orientation = WORLD_ROT;
-    }
-
-    if (colliderComponent)
-    {
-      colliderComponent->position     = WORLD_POS;
-      colliderComponent->orientation  = WORLD_ROT;
-      colliderComponent->scale        = WORLD_SCL;
-
-      colliderComponent->RecomputeCollisionShapes();
-    }
-  }
-
-  void SHPhysicsSystem::PhysicsPostUpdate::postUpdateSyncTransforms
-  (
-    SHPhysicsObject&      physicsObject 
-  , SHTransformComponent& transformComponent
-  , SHRigidBodyComponent* rigidBodyComponent
-  , SHColliderComponent*  colliderComponent
-  , double                interpolationFactor
-  ) noexcept
-  {
-    rp3d::Vector3     rp3dPos;
-    rp3d::Quaternion  rp3dRot;
-
-    const rp3d::Transform CURRENT_TF = physicsObject.rp3dBody->getTransform();
-
-    // Check if transform should be interpolated
-      
-    if (rigidBodyComponent)
-    {
-      // Skip static bodies
-      if (rigidBodyComponent->GetType() == SHRigidBodyComponent::Type::STATIC)
-        return;
-
-      if (rigidBodyComponent->IsInterpolating())
-      {
-        // Interpolate transforms between current and predicted next transform
-
-        const rp3d::Transform PREV_TF         = physicsObject.prevTransform;
-        const rp3d::Transform INTERPOLATED_TF = rp3d::Transform::interpolateTransforms(PREV_TF, CURRENT_TF, static_cast<rp3d::decimal>(interpolationFactor));
-
-        rp3dPos = INTERPOLATED_TF.getPosition();
-        rp3dRot = INTERPOLATED_TF.getOrientation();
-      }
-      else
-      {
-        rp3dPos = CURRENT_TF.getPosition();
-        rp3dRot = CURRENT_TF.getOrientation();
-      }
-
-      rigidBodyComponent->position     = CURRENT_TF.getPosition();
-      rigidBodyComponent->orientation  = CURRENT_TF.getOrientation();
-
-      if (colliderComponent)
-      {
-        // Sync with colliders
-
-        colliderComponent->position     = CURRENT_TF.getPosition();
-        colliderComponent->orientation  = CURRENT_TF.getOrientation();
-      }
-    }
-    else
-    {
-      rp3dPos = CURRENT_TF.getPosition();
-      rp3dRot = CURRENT_TF.getOrientation();
-    }
-
-    // Convert RP3D Transform to SHADE
-    transformComponent.SetWorldPosition(rp3dPos);
-    transformComponent.SetWorldOrientation(rp3dRot);
-
-    // Cache transforms
-    physicsObject.prevTransform = CURRENT_TF;
-  }
-
 } // namespace SHADE

SHADE_Engine/src/Serialization/SHYAMLConverters.h

@@ -1,8 +1,8 @@
 #pragma once
 #include "Graphics/MiddleEnd/Interface/SHRenderable.h"
 #include "Graphics/MiddleEnd/Materials/SHMaterialSpec.h"
-#include "Math/Geometry/SHBoundingBox.h"
+#include "Math/Geometry/SHBox.h"
-#include "Math/Geometry/SHBoundingSphere.h"
+#include "Math/Geometry/SHSphere.h"
 #include "Physics/Interface/SHCollisionShape.h"
 #include "Resource/SHResourceManager.h"
 #include "Math/Vector/SHVec2.h"
@@ -130,13 +130,13 @@ namespace YAML
       {
       case SHCollisionShape::Type::BOX:
       {
-        const auto* BOX = reinterpret_cast<const SHBoundingBox*>(rhs.GetShape());
+        const auto* BOX = reinterpret_cast<const SHBox*>(rhs.GetShape());
         node[HalfExtents] = BOX->GetRelativeExtents();
       }
       break;
       case SHCollisionShape::Type::SPHERE:
       {
-        const auto* SPHERE = reinterpret_cast<const SHBoundingSphere*>(rhs.GetShape());
+        const auto* SPHERE = reinterpret_cast<const SHSphere*>(rhs.GetShape());
         node[Radius] = SPHERE->GetRelativeRadius();
       }
       break;
@@ -288,7 +288,15 @@ namespace YAML
     {
       YAML::Node node;
       node[MESH_YAML_TAG.data()] = SHResourceManager::GetAssetID<SHMesh>(rhs.GetMesh()).value_or(0);
-      node[MAT_YAML_TAG.data()] = SHResourceManager::GetAssetID<SHMaterial>(rhs.GetMaterial()->GetBaseMaterial()).value_or(0);
+      auto mat = rhs.GetMaterial();
+      if (mat)
+      {
+        node[MAT_YAML_TAG.data()] = SHResourceManager::GetAssetID<SHMaterial>(rhs.GetMaterial()->GetBaseMaterial()).value_or(0);
+      }
+      else
+      {
+        node[MAT_YAML_TAG.data()] = 0;
+      }
       return node;
     }
     static bool decode(YAML::Node const& node, SHRenderable& rhs)

SHADE_Managed/src/Components/Collider.cxx

@@ -47,35 +47,35 @@ namespace SHADE
     /*---------------------------------------------------------------------------------*/
     Vector3 BoxCollider::Center::get()
     {
-        return Convert::ToCLI(getNativeBoundObject<SHBoundingBox>().GetCenter());
+        return Convert::ToCLI(getNativeBoundObject<SHBox>().GetCenter());
     }
     void BoxCollider::Center::set(Vector3 value)
     {
-        getNativeBoundObject<SHBoundingBox>().SetCenter(Convert::ToNative(value));
+        getNativeBoundObject<SHBox>().SetCenter(Convert::ToNative(value));
     }
     Vector3 BoxCollider::HalfExtents::get()
     {
-        return Convert::ToCLI(getNativeBoundObject<SHBoundingBox>().GetWorldExtents());
+        return Convert::ToCLI(getNativeBoundObject<SHBox>().GetWorldExtents());
     }
     void BoxCollider::HalfExtents::set(Vector3 value)
     {
-        getNativeBoundObject<SHBoundingBox>().SetWorldExtents(Convert::ToNative(value));
+        getNativeBoundObject<SHBox>().SetWorldExtents(Convert::ToNative(value));
     }
     Vector3 BoxCollider::Min::get()
     {
-        return Convert::ToCLI(getNativeBoundObject<SHBoundingBox>().GetMin());
+        return Convert::ToCLI(getNativeBoundObject<SHBox>().GetMin());
     }
     void BoxCollider::Min::set(Vector3 value)
     {
-        getNativeBoundObject<SHBoundingBox>().SetMin(Convert::ToNative(value));
+        getNativeBoundObject<SHBox>().SetMin(Convert::ToNative(value));
     }
     Vector3 BoxCollider::Max::get()
     {
-        return Convert::ToCLI(getNativeBoundObject<SHBoundingBox>().GetMax());
+        return Convert::ToCLI(getNativeBoundObject<SHBox>().GetMax());
     }
     void BoxCollider::Max::set(Vector3 value)
     {
-        getNativeBoundObject<SHBoundingBox>().SetMax(Convert::ToNative(value));
+        getNativeBoundObject<SHBox>().SetMax(Convert::ToNative(value));
     }
 
     /*---------------------------------------------------------------------------------*/
@@ -83,11 +83,11 @@ namespace SHADE
     /*---------------------------------------------------------------------------------*/
     bool BoxCollider::TestPoint(Vector3 point)
     {
-        return getNativeBoundObject<SHBoundingBox>().TestPoint(Convert::ToNative(point));
+        return getNativeBoundObject<SHBox>().TestPoint(Convert::ToNative(point));
     }
     bool BoxCollider::Raycast(Ray ray, float maxDistance)
     {
-        return getNativeBoundObject<SHBoundingBox>().Raycast(Convert::ToNative(ray), maxDistance);
+        return getNativeBoundObject<SHBox>().Raycast(Convert::ToNative(ray), maxDistance);
     }
 
     /*---------------------------------------------------------------------------------*/
@@ -95,19 +95,19 @@ namespace SHADE
     /*---------------------------------------------------------------------------------*/
     Vector3 SphereCollider::Center::get()
     {
-        return Convert::ToCLI(getNativeBoundObject<SHBoundingSphere>().GetCenter());
+        return Convert::ToCLI(getNativeBoundObject<SHSphere>().GetCenter());
     }
     void SphereCollider::Center::set(Vector3 value)
     {
-        getNativeBoundObject<SHBoundingSphere>().SetCenter(Convert::ToNative(value));
+        getNativeBoundObject<SHSphere>().SetCenter(Convert::ToNative(value));
     }
     float SphereCollider::Radius::get()
     {
-        return getNativeBoundObject<SHBoundingSphere>().GetWorldRadius();
+        return getNativeBoundObject<SHSphere>().GetWorldRadius();
     }
     void SphereCollider::Radius::set(float value)
     {
-        getNativeBoundObject<SHBoundingSphere>().SetWorldRadius(value);
+        getNativeBoundObject<SHSphere>().SetWorldRadius(value);
     }
 
     /*---------------------------------------------------------------------------------*/
@@ -115,11 +115,11 @@ namespace SHADE
     /*---------------------------------------------------------------------------------*/
     bool SphereCollider::TestPoint(Vector3 point)
     {
-        return getNativeBoundObject<SHBoundingBox>().TestPoint(Convert::ToNative(point));
+        return getNativeBoundObject<SHBox>().TestPoint(Convert::ToNative(point));
     }
     bool SphereCollider::Raycast(Ray ray, float maxDistance)
     {
-        return getNativeBoundObject<SHBoundingBox>().Raycast(Convert::ToNative(ray), maxDistance);
+        return getNativeBoundObject<SHBox>().Raycast(Convert::ToNative(ray), maxDistance);
     }
 
     /*---------------------------------------------------------------------------------*/

SHADE_Managed/src/Components/RigidBody.cxx

@@ -190,6 +190,16 @@ namespace SHADE
         GetNativeComponent()->AddRelativeForceAtWorldPos(Convert::ToNative(relativeForce), Convert::ToNative(worldPos));
     }
 
+    Vector3 RigidBody::GetForce()
+    {
+        return Convert::ToCLI(GetNativeComponent()->GetForce());
+    }
+
+    void RigidBody::ClearForces()
+    {
+        GetNativeComponent()->ClearForces();
+    }
+
     /*---------------------------------------------------------------------------------*/
     /* Torque Functions                                                                */
     /*---------------------------------------------------------------------------------*/
@@ -202,4 +212,15 @@ namespace SHADE
     {
         GetNativeComponent()->AddRelativeTorque(Convert::ToNative(relativeTorque));
     }
+
+    Vector3 RigidBody::GetTorque()
+    {
+        return Convert::ToCLI(GetNativeComponent()->GetTorque());
+    }
+
+    void RigidBody::ClearTorque()
+    {
+        GetNativeComponent()->ClearTorque();
+    }
+
 }

SHADE_Managed/src/Components/RigidBody.hxx

@@ -145,11 +145,17 @@ namespace SHADE
         void AddRelativeForceAtLocalPos(Vector3 relativeForce, Vector3 localPos);
         void AddRelativeForceAtWorldPos(Vector3 relativeForce, Vector3 worldPos);
 
+        Vector3 GetForce();
+        void ClearForces();
+
         /*-----------------------------------------------------------------------------*/
         /* Torque Functions                                                            */
         /*-----------------------------------------------------------------------------*/
         void AddTorque(Vector3 force);
         void AddRelativeTorque(Vector3 relativeForce);
+
+        Vector3 GetTorque();
+        void ClearTorque();
     };
   
 }

SHADE_Managed/src/Engine/ECS.cxx

@@ -27,6 +27,7 @@ of DigiPen Institute of Technology is prohibited.
 #include "Scene/SHSceneManager.h"
 #include "Scene/SHSceneGraph.h"
 #include "Tools/SHLog.h"
+#include "Graphics\MiddleEnd\Interface\SHRenderable.h"
 // Project Headers
 #include "Utility/Convert.hxx"
 #include "Utility/Debug.hxx"
@@ -36,6 +37,7 @@ of DigiPen Institute of Technology is prohibited.
 #include "Components/Camera.hxx"
 #include "Components/CameraArm.hxx"
 #include "Components/Light.hxx"
+#include "Components\Renderable.hxx"
 
 namespace SHADE
 {
@@ -166,6 +168,70 @@ namespace SHADE
         return T();
     }
 
+    generic<typename T>
+    System::Collections::Generic::IEnumerable<T>^ ECS::GetComponentsInChildren(EntityID entity)
+    {
+        System::Type^ componentType = T::typeid;
+
+        // Check if entity is correct
+        if (!SHEntityManager::IsValidEID(entity))
+        {
+            std::ostringstream oss;
+            oss << "[ECS] Attempted to retrieve Component \""
+                << Convert::ToNative(componentType->Name)
+                << "\" from invalid Entity.";
+            Debug::LogError(oss.str());
+            return nullptr;
+        }
+
+        // Search all elements via a iterative breadth first search
+        System::Collections::Generic::List<T>^ results;
+        System::Collections::Generic::Queue<Entity>^ searchSpace = gcnew System::Collections::Generic::Queue<Entity>();
+        // Start off with direct children
+        SHSceneNode* entityNode = SHSceneManager::GetCurrentSceneGraph().GetNode(entity);
+        if (entityNode == nullptr)
+        {
+            std::ostringstream oss;
+            oss << "[ScriptStore] Failed to retrieve SceneGraphNode of entity #" << entity << ". This should not happen!";
+            SHLog::Warning(oss.str());
+        }
+        for (const auto& child : entityNode->GetChildren())
+        {
+            searchSpace->Enqueue(child->GetEntityID());
+        }
+        // Continue with all subsequent children 
+        while (searchSpace->Count > 0)
+        {
+            // Check if this entity has the component we need
+            Entity curr = searchSpace->Dequeue();
+            T component = GetComponent<T>(curr);
+            if (component != nullptr)
+            {
+                // We only construct if we need to
+                if (results == nullptr)
+                    results = gcnew System::Collections::Generic::List<T>();
+                results->Add(component);
+            }
+
+            // Add children to the queue
+            SHSceneNode* sceneGraphNode = SHSceneManager::GetCurrentSceneGraph().GetNode(curr);
+            if (sceneGraphNode == nullptr)
+            {
+                std::ostringstream oss;
+                oss << "[ECS_CLI] Failed to retrieve SceneGraphNode of entity #" << entity << ". This should not happen!";
+                SHLog::Warning(oss.str());
+                continue;
+            }
+            for (const auto& child : sceneGraphNode->GetChildren())
+            {
+                searchSpace->Enqueue(child->GetEntityID());
+            }
+        }
+
+        // None here
+        return results;
+    }
+
     generic <typename T>
     T ECS::EnsureComponent(EntityID entity)
     {
@@ -249,6 +315,7 @@ namespace SHADE
     static ECS::ECS()
     {
         componentMap.Add(createComponentSet<SHTransformComponent, Transform>());
+        componentMap.Add(createComponentSet<SHRenderable, Renderable>());
         componentMap.Add(createComponentSet<SHColliderComponent, Collider>());
         componentMap.Add(createComponentSet<SHRigidBodyComponent, RigidBody>());
         componentMap.Add(createComponentSet<SHCameraComponent, Camera>());

SHADE_Managed/src/Engine/ECS.hxx

@@ -51,9 +51,9 @@ namespace SHADE
         /// specified Component.
         /// </returns>
         generic<typename T> where T : BaseComponent
-        static T GetComponent(EntityID entity);
+            static T GetComponent(EntityID entity);
         /// <summary>
-        /// Retrieves the first Component from the specified GameObjectt's children that
+        /// Retrieves the first Component from the specified GameObject's children that
         /// matches the specified type.
         /// </summary>
         /// <typeparam name="T">Type of the Component to get.</typeparam>
@@ -65,6 +65,20 @@ namespace SHADE
         generic<typename T> where T : BaseComponent
         static T GetComponentInChildren(EntityID entity);
         /// <summary>
+        /// Retrieves a list of Components from the specified GameObject's children that
+        /// matches the specified type.
+        /// This function performs allocations. If expecting only 1 component, use 
+        /// GetComponentInChildren() instead.
+        /// This does not search the specified entity.
+        /// </summary>
+        /// <typeparam name="T">Type of the Component to get.</typeparam>
+        /// <param name="entity"> Entity object to get the Component from. </param>
+        /// <returns>
+        /// Newly allocated List of components. Will be null if no components are found.
+        /// </returns>
+        generic<typename T> where T : BaseComponent
+        static System::Collections::Generic::IEnumerable<T>^ GetComponentsInChildren(EntityID entity);
+        /// <summary>
         /// Ensures a Component on the specified Entity.
         /// </summary>
         /// <typeparam name="T">Type of the Component to ensure.</typeparam>

SHADE_Managed/src/Engine/GameObject.cxx

@@ -170,6 +170,14 @@ namespace SHADE
         return ECS::GetComponentInChildren<T>(entity);
     }
 
+    generic<typename T> 
+    System::Collections::Generic::IEnumerable<T>^ GameObject::GetComponentsInChildren()
+    {
+        if (!valid)
+            throw gcnew System::NullReferenceException();
+        return ECS::GetComponentsInChildren<T>(entity);
+    }
+
     generic <typename T>
     T GameObject::EnsureComponent()
     {
@@ -212,6 +220,13 @@ namespace SHADE
             throw gcnew System::NullReferenceException();
         return ScriptStore::GetScriptInChildren<T>(entity);
     }
+    generic <typename T>
+    System::Collections::Generic::IEnumerable<T>^ GameObject::GetScriptsInChildren()
+    {
+        if (!valid)
+            throw gcnew System::NullReferenceException();
+        return ScriptStore::GetScriptsInChildren<T>(entity);
+    }
 
     generic <typename T>
     System::Collections::Generic::IEnumerable<T>^ GameObject::GetScripts()

SHADE_Managed/src/Engine/GameObject.hxx

@@ -153,6 +153,7 @@ namespace SHADE
         /// <summary>
         /// Retrieves the first Component from this GameObject's children that matches
         /// the specified type.
+        /// Unlike Unity, we do not search this GameObject, only the children.
         /// </summary>
         /// <typeparam name="T">Type of the Component to get.</typeparam>
         /// <returns>
@@ -162,6 +163,19 @@ namespace SHADE
         generic<typename T> where T : BaseComponent
         T GetComponentInChildren();
         /// <summary>
+        /// Retrieves a list of Components from this GameObject's children that matches 
+        /// the specified type.
+        /// This function performs allocations. If expecting only 1 component, use 
+        /// GetComponentInChildren() instead.
+        /// Unlike Unity, we do not search this GameObject, only the children.
+        /// </summary>
+        /// <typeparam name="T">Type of the Component to get.</typeparam>
+        /// <returns>
+        /// Newly allocated List of components. Will be null if no components are found.
+        /// </returns>
+        generic<typename T> where T : BaseComponent
+        System::Collections::Generic::IEnumerable<T>^ GetComponentsInChildren();
+        /// <summary>
         /// Ensures a Component on this GameObject.
         /// </summary>
         /// <typeparam name="T">Type of the Component to ensure.</typeparam>
@@ -201,12 +215,26 @@ namespace SHADE
         /// Retrieves a Script of the specified type from child GameObjects.
         /// If multiple Scripts of the same specified type are added on the same
         /// child GameObject, this will retrieve the first one added.
+        /// Unlike Unity, we do not search this GameObject, only the children.
         /// </summary>
         /// <typeparam name="T">Type of Script to retrieve.</typeparam>
         /// <returns>Reference to the Script to retrieve.</returns>
         generic<typename T> where T : ref class, Script
         T GetScriptInChildren();
         /// <summary>
+        /// Retrieves a list of Scripts from this GameObject's children that matches 
+        /// the specified type.
+        /// This function performs allocations. If expecting only 1 component, use 
+        /// GetComponentInChildren() instead.
+        /// Unlike Unity, we do not search this GameObject, only the children.
+        /// </summary>
+        /// <typeparam name="T">Type of the Component to get.</typeparam>
+        /// <returns>
+        /// Newly allocated List of components. Will be null if no components are found.
+        /// </returns>
+        generic<typename T> where T : ref class, Script
+        System::Collections::Generic::IEnumerable<T>^ GetScriptsInChildren();
+        /// <summary>
         /// Retrieves a immutable list of Scripts of the specified type from this
         /// GameObject.
         /// </summary>

SHADE_Managed/src/Scripts/Script.cxx

@@ -42,6 +42,12 @@ namespace SHADE
         return owner.GetComponentInChildren<T>();
     }
 
+    generic<typename T>
+    System::Collections::Generic::IEnumerable<T>^ Script::GetComponentsInChildren()
+    {
+        return owner.GetComponentsInChildren<T>();
+    }
+
     generic <typename T>
     T Script::EnsureComponent()
     {
@@ -72,6 +78,11 @@ namespace SHADE
     {
         return ScriptStore::GetScriptInChildren<T>(owner.GetEntity());
     }
+    generic <typename T>
+    System::Collections::Generic::IEnumerable<T>^ Script::GetScriptsInChildren()
+    {
+        return ScriptStore::GetScriptsInChildren<T>(owner.GetEntity());
+    }
 
     generic <typename T>
     System::Collections::Generic::IEnumerable<T>^ Script::GetScripts()

SHADE_Managed/src/Scripts/Script.hxx

@@ -69,6 +69,7 @@ namespace SHADE
         /// <summary>
         /// Retrieves the first Component from this GameObject's children that matches
         /// the specified type.
+        /// Unlike Unity, we do not search this GameObject, only the children.
         /// </summary>
         /// <typeparam name="T">
         /// Type of the Component to get. Must be derived from BaseComponent.
@@ -77,6 +78,19 @@ namespace SHADE
         generic<typename T> where T : BaseComponent
         T GetComponentInChildren();
         /// <summary>
+        /// Retrieves a list of Components from this GameObject's children that
+        /// matches the specified type.
+        /// This function performs allocations. If expecting only 1 component, use 
+        /// GetComponentInChildren() instead.
+        /// Unlike Unity, we do not search this GameObject, only the children.
+        /// </summary>
+        /// <typeparam name="T">Type of the Component to get.</typeparam>
+        /// <returns>
+        /// Newly allocated List of components. Will be null if no components are found.
+        /// </returns>
+        generic<typename T> where T : BaseComponent
+        System::Collections::Generic::IEnumerable<T>^ GetComponentsInChildren();
+        /// <summary>
         /// Ensures a Component on the GameObject that this Script belongs to.
         /// </summary>
         /// <typeparam name="T">
@@ -121,6 +135,7 @@ namespace SHADE
         /// <summary>
         /// Retrieves the first Script from this GameObject's children that matches the
         /// specified type.
+        /// Unlike Unity, we do not search this GameObject, only the children.
         /// </summary>
         /// <typeparam name="T">
         /// Type of script to get.
@@ -130,6 +145,19 @@ namespace SHADE
         generic<typename T> where T : ref class, Script
         T GetScriptInChildren();
         /// <summary>
+        /// Retrieves a list of Scripts from this GameObject's children that matches 
+        /// the specified type.
+        /// This function performs allocations. If expecting only 1 component, use 
+        /// GetComponentInChildren() instead.
+        /// Unlike Unity, we do not search this GameObject, only the children.
+        /// </summary>
+        /// <typeparam name="T">Type of the Component to get.</typeparam>
+        /// <returns>
+        /// Newly allocated List of components. Will be null if no components are found.
+        /// </returns>
+        generic<typename T> where T : ref class, Script
+        System::Collections::Generic::IEnumerable<T>^ GetScriptsInChildren();
+        /// <summary>
         /// Retrieves a immutable list of scripts from the specified Entity that
         /// matches the specified type.
         /// <br/>

SHADE_Managed/src/Scripts/ScriptStore.cxx

@@ -211,6 +211,70 @@ namespace SHADE
         return T();
     }
 
+    generic<typename T>
+    System::Collections::Generic::IEnumerable<T>^ ScriptStore::GetScriptsInChildren(Entity entity)
+    {
+        System::Type^ componentType = T::typeid;
+
+        // Check if entity is correct
+        if (!SHEntityManager::IsValidEID(entity))
+        {
+            std::ostringstream oss;
+            oss << "[ScriptStore] Attempted to retrieve Script \""
+                << Convert::ToNative(componentType->Name)
+                << "\" from invalid Entity.";
+            Debug::LogError(oss.str());
+            return nullptr;
+        }
+
+        // Search all elements via a iterative breadth first search
+        System::Collections::Generic::List<T>^ results;
+        System::Collections::Generic::Queue<Entity>^ searchSpace = gcnew System::Collections::Generic::Queue<Entity>();
+        // Start off with direct children
+        SHSceneNode* entityNode = SHSceneManager::GetCurrentSceneGraph().GetNode(entity);
+        if (entityNode == nullptr)
+        {
+            std::ostringstream oss;
+            oss << "[ScriptStore] Failed to retrieve SceneGraphNode of entity #" << entity << ". This should not happen!";
+            SHLog::Warning(oss.str());
+        }
+        for (const auto& child : entityNode->GetChildren())
+        {
+            searchSpace->Enqueue(child->GetEntityID());
+        }
+        // Continue with all subsequent children 
+        while (searchSpace->Count > 0)
+        {
+            // Check if this entity has the component we need
+            Entity curr = searchSpace->Dequeue();
+            T script = GetScript<T>(curr);
+            if (script != nullptr)
+            {
+                // We only construct if we need to
+                if (results == nullptr)
+                    results = gcnew System::Collections::Generic::List<T>();
+                results->Add(script);
+            }
+
+            // Add children to the queue
+            SHSceneNode* sceneGraphNode = SHSceneManager::GetCurrentSceneGraph().GetNode(curr);
+            if (sceneGraphNode == nullptr)
+            {
+                std::ostringstream oss;
+                oss << "[ScriptStore] Failed to retrieve SceneGraphNode of entity #" << entity << ". This should not happen!";
+                SHLog::Warning(oss.str());
+                continue;
+            }
+            for (const auto& child : sceneGraphNode->GetChildren())
+            {
+                searchSpace->Enqueue(child->GetEntityID());
+            }
+        }
+
+        // None here
+        return results;
+    }
+
     generic <typename T>
     System::Collections::Generic::IEnumerable<T>^ ScriptStore::GetScripts(Entity entity)
     {

SHADE_Managed/src/Scripts/ScriptStore.hxx

@@ -137,6 +137,29 @@ namespace SHADE
         generic<typename T> where T : ref class, Script
         static T GetScriptInChildren(Entity entity);
         /// <summary>
+        /// Retrieves the list of Scripts from the specified Entity and the Entity's 
+        /// children that matches the specified type.
+        /// This function performs allocations. If expecting only 1 component, use 
+        /// GetScriptInChildren() instead.
+        /// This does not search the specified entity.
+        /// </summary>
+        /// <typeparam name="T">
+        /// Type of script to get.
+        /// This needs to be a default constructable Script.
+        /// </typeparam>
+        /// <param name="entity">
+        /// The entity which the script to retrieve is attached.
+        /// </param>
+        /// <returns>
+        /// Reference to the script. This can be null if no script of the specified
+        /// type is attached.
+        /// </returns>
+        /// <exception cref="ArgumentException">
+        /// If the specified Entity is invalid.
+        /// </exception>
+        generic<typename T> where T : ref class, Script
+        static System::Collections::Generic::IEnumerable<T>^ GetScriptsInChildren(Entity entity);
+        /// <summary>
         /// Retrieves a immutable list of scripts from the specified Entity that
         /// matches the specified type.
         /// <br/>

SHADE_Managed/src/Serialisation/SerialisationUtilities.h++

@@ -28,7 +28,47 @@ namespace SHADE
     template<typename FieldType>
     bool SerialisationUtilities::fieldInsertYaml(System::Reflection::FieldInfo^ fieldInfo, System::Object^ object, YAML::Node& fieldNode)
     {
-        return varInsertYamlInternal<FieldType>(fieldInfo->GetValue(object), fieldNode);
+        // Handle null objects
+        System::Object^ fieldObject = fieldInfo->GetValue(object);
+        if (fieldObject == nullptr)
+        {
+            // Default construct if null
+            if (fieldInfo->FieldType == FieldType::typeid)
+            {
+                if constexpr (std::is_same_v<FieldType, System::Enum>)
+                {
+                    fieldNode = 0;
+                }
+                else if constexpr (std::is_same_v<FieldType, System::String>)
+                {
+                    fieldNode = "";
+                }
+                else if constexpr (std::is_same_v<FieldType, Vector2>)
+                {
+                    fieldNode.SetStyle(YAML::EmitterStyle::Flow);
+                    fieldNode.push_back(0.0f);
+                    fieldNode.push_back(0.0f);
+                }
+                else if constexpr (std::is_same_v<FieldType, Vector3>)
+                {
+                    fieldNode.SetStyle(YAML::EmitterStyle::Flow);
+                    fieldNode.push_back(0.0f);
+                    fieldNode.push_back(0.0f);
+                    fieldNode.push_back(0.0f);
+                }
+                else if constexpr (std::is_same_v<FieldType, GameObject>)
+                {
+                    fieldNode = MAX_EID;
+                }
+                else
+                {
+                    fieldNode = FieldType();
+                }
+                return true;
+            }
+            return false;
+        }
+        return varInsertYamlInternal<FieldType>(fieldObject, fieldNode);
     }
     template<typename FieldType>
     bool SerialisationUtilities::varInsertYamlInternal(System::Object^ object, YAML::Node& fieldNode)