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Merge pull request #163 from SHADE-DP/SP3-2-Physics 

SP3-2 Integrated some Debug Draw, Added Trigger checkbox
NEW

Debug Draw can be toggled for colliders. Hardcoded to space for now in Application until I have a menu to toggle it. (Feel free to change or remove it).
Trigger Checkbox added to Collider Inspector View
This commit is contained in:
XiaoQiDigipen 2022-11-02 16:31:26 +08:00 committed by GitHub
parent 3175d4c3a4 27526dfd92
commit 8495175bd8
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GPG Key ID: 4AEE18F83AFDEB23
8 changed files with 223 additions and 29 deletions
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8
SHADE_Application/src/Application/SBApplication.cpp
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@ -94,6 +94,7 @@ namespace Sandbox
SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsPreUpdate>();
SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsFixedUpdate>();
SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsPostUpdate>();
SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsDebugDraw>();
SHSystemManager::RegisterRoutine<SHTransformSystem, SHTransformSystem::TransformPostPhysicsUpdate>();
SHSystemManager::RegisterRoutine<SHDebugDrawSystem, SHDebugDrawSystem::ProcessPointsRoutine>();
@ -148,6 +149,13 @@ namespace Sandbox
#endif
SHSystemManager::RunRoutines(editor->editorState != SHEditor::State::PLAY, 0.016f);
editor->PollPicking();
static bool drawColliders = false;
if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::SPACE))
{
drawColliders = !drawColliders;
SHSystemManager::GetSystem<SHPhysicsSystem>()->SetDrawColliders(drawColliders);
}
}
// Finish all graphics jobs first
graphicsSystem->AwaitGraphicsExecution();

6
SHADE_Engine/src/Editor/EditorWindow/Inspector/SHEditorComponentView.hpp
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@ -265,7 +265,7 @@ namespace SHADE
{
const SHVec3& TF_WORLD_SCALE = transformComponent->GetWorldScale();
const float MAX_SCALE = SHMath::Max({ TF_WORLD_SCALE.x, TF_WORLD_SCALE.y, TF_WORLD_SCALE.z });
return sphere->GetRadius() / MAX_SCALE;
return (sphere->GetRadius() / MAX_SCALE) * 2.0f;
},
[collider](float const& value) { collider->SetBoundingSphere(value); });
}
@ -273,6 +273,7 @@ namespace SHADE
{
}
{
SHEditorWidgets::BeginPanel("Offsets",{ ImGui::GetContentRegionAvail().x, 30.0f });
SHEditorWidgets::DragVec3("Position", { "X", "Y", "Z" }, [&collider] {return collider->GetPositionOffset(); }, [&collider](SHVec3 const& vec) {collider->SetPositionOffset(vec); });
@ -297,6 +298,9 @@ namespace SHADE
});
SHEditorWidgets::EndPanel();
}
SHEditorWidgets::CheckBox("Is Trigger", [collider] { return collider->IsTrigger(); }, [collider](bool value) { collider->SetIsTrigger(value); });
if (ImGui::Button(std::format("{} Remove Collider #{}", ICON_MD_REMOVE, i).data()))
{
colliderToDelete = i;

11
SHADE_Engine/src/Math/SHColour.cpp
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@ -118,6 +118,17 @@ namespace SHADE
}
{}
SHColour::SHColour(uint32_t rgba) noexcept
: XMFLOAT4 { 0.0f, 0.0f, 0.0f, 1.0f }
{
const SHColour32 TMP { ._32bitValue = rgba };
x = static_cast<float>(TMP._8bitValues[0]) / 255.0f;
y = static_cast<float>(TMP._8bitValues[1]) / 255.0f;
z = static_cast<float>(TMP._8bitValues[2]) / 255.0f;
w = static_cast<float>(TMP._8bitValues[3]) / 255.0f;
}
SHColour::SHColour(const SHVec3& rgb) noexcept
: XMFLOAT4 { rgb.x, rgb.y, rgb.z, 1.0f }
{}

7
SHADE_Engine/src/Math/SHColour.h
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@ -34,6 +34,12 @@ namespace SHADE
float v = 0.0f;
};
union SH_API SHColour32
{
uint32_t _32bitValue;
uint8_t _8bitValues[4];
};
class SH_API SHColour : public DirectX::XMFLOAT4
{
public:
@ -46,6 +52,7 @@ namespace SHADE
SHColour (float r, float g, float b, float a) noexcept;
SHColour (uint8_t r, uint8_t g, uint8_t b) noexcept;
SHColour (uint8_t r, uint8_t g, uint8_t b, uint8_t a) noexcept;
SHColour (uint32_t rgba) noexcept;
SHColour (const SHVec3& rgb) noexcept;
SHColour (const SHVec4& rgba) noexcept;

2
SHADE_Engine/src/Physics/SHCollider.cpp
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@ -212,7 +212,7 @@ namespace SHADE
const SHVec3 TF_WORLD_SCALE = transformComponent->GetWorldScale();
const float MAX_SCALE = SHMath::Max({ TF_WORLD_SCALE.x, TF_WORLD_SCALE.y, TF_WORLD_SCALE.z });
worldRadius *= MAX_SCALE;
worldRadius *= MAX_SCALE * 0.5f;
}
if (type == Type::SPHERE)

162
SHADE_Engine/src/Physics/SHPhysicsSystem.cpp
View File

@ -17,10 +17,12 @@
#include "ECS_Base/Managers/SHComponentManager.h"
#include "ECS_Base/Managers/SHEntityManager.h"
#include "ECS_Base/Managers/SHSystemManager.h"
#include "Graphics/MiddleEnd/Interface/SHDebugDrawSystem.h"
#include "Math/SHMathHelpers.h"
#include "Math/Transform/SHTransformComponent.h"
#include "Scene/SHSceneManager.h"
#include "Scripting/SHScriptEngine.h"
#include "Tools/SHUtilities.h"
namespace SHADE
{
@ -30,6 +32,7 @@ namespace SHADE
SHPhysicsSystem::SHPhysicsSystem()
: worldUpdated { false }
, debugDrawFlags { 0 }
, interpolationFactor { 0.0 }
, fixedDT { 60.0 }
, world { nullptr }
@ -47,6 +50,11 @@ namespace SHADE
: SHSystemRoutine { "Physics PostUpdate", false }
{}
SHPhysicsSystem::PhysicsDebugDraw::PhysicsDebugDraw()
: SHSystemRoutine { "Physics DebugDraw", true }
{}
/*-----------------------------------------------------------------------------------*/
/* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/
@ -99,6 +107,31 @@ namespace SHADE
return 0;
}
bool SHPhysicsSystem::GetDrawColliders() const noexcept
{
return debugDrawFlags & SHUtilities::ConvertEnum(DebugDrawFlags::COLLIDER);
}
bool SHPhysicsSystem::GetDrawColliderAABBs() const noexcept
{
return debugDrawFlags & SHUtilities::ConvertEnum(DebugDrawFlags::COLLIDER_AABB);
}
bool SHPhysicsSystem::GetDrawBroadPhase() const noexcept
{
return debugDrawFlags & SHUtilities::ConvertEnum(DebugDrawFlags::BROAD_PHASE_AABB);
}
bool SHPhysicsSystem::GetDrawContactPoints() const noexcept
{
return debugDrawFlags & SHUtilities::ConvertEnum(DebugDrawFlags::CONTACT_POINTS);
}
bool SHPhysicsSystem::GetDrawContactNormals() const noexcept
{
return debugDrawFlags & SHUtilities::ConvertEnum(DebugDrawFlags::CONTACT_NORMALS);
}
const SHPhysicsSystem::CollisionEvents& SHPhysicsSystem::GetCollisionInfo() const noexcept
{
return collisionInfo;
@ -181,6 +214,96 @@ namespace SHADE
}
}
void SHPhysicsSystem::SetDrawColliders(bool shouldDraw) noexcept
{
static constexpr auto FLAG_VALUE = SHUtilities::ConvertEnum(DebugDrawFlags::COLLIDER);
shouldDraw ? debugDrawFlags |= FLAG_VALUE : debugDrawFlags &= ~(FLAG_VALUE);
if (world == nullptr)
{
SHLOGV_WARNING("No physics world has been initialised!")
return;
}
world->getDebugRenderer().setIsDebugItemDisplayed
(
rp3d::DebugRenderer::DebugItem::COLLISION_SHAPE,
shouldDraw
);
}
void SHPhysicsSystem::SetDrawColliderAABBs(bool shouldDraw) noexcept
{
static constexpr auto FLAG_VALUE = SHUtilities::ConvertEnum(DebugDrawFlags::COLLIDER_AABB);
shouldDraw ? debugDrawFlags |= FLAG_VALUE : debugDrawFlags &= ~(FLAG_VALUE);
if (world == nullptr)
{
SHLOGV_WARNING("No physics world has been initialised!")
return;
}
world->getDebugRenderer().setIsDebugItemDisplayed
(
rp3d::DebugRenderer::DebugItem::COLLIDER_AABB,
shouldDraw
);
}
void SHPhysicsSystem::SetDrawBroadPhase(bool shouldDraw) noexcept
{
static constexpr auto FLAG_VALUE = SHUtilities::ConvertEnum(DebugDrawFlags::BROAD_PHASE_AABB);
shouldDraw ? debugDrawFlags |= FLAG_VALUE : debugDrawFlags &= ~(FLAG_VALUE);
if (world == nullptr)
{
SHLOGV_WARNING("No physics world has been initialised!")
return;
}
world->getDebugRenderer().setIsDebugItemDisplayed
(
rp3d::DebugRenderer::DebugItem::COLLIDER_BROADPHASE_AABB,
shouldDraw
);
}
void SHPhysicsSystem::SetDrawContactPoints(bool shouldDraw) noexcept
{
static constexpr auto FLAG_VALUE = SHUtilities::ConvertEnum(DebugDrawFlags::CONTACT_POINTS);
shouldDraw ? debugDrawFlags |= FLAG_VALUE : debugDrawFlags &= ~(FLAG_VALUE);
if (world == nullptr)
{
SHLOGV_WARNING("No physics world has been initialised!")
return;
}
world->getDebugRenderer().setIsDebugItemDisplayed
(
rp3d::DebugRenderer::DebugItem::CONTACT_POINT,
shouldDraw
);
}
void SHPhysicsSystem::SetDrawContactNormals(bool shouldDraw) noexcept
{
static constexpr auto FLAG_VALUE = SHUtilities::ConvertEnum(DebugDrawFlags::CONTACT_NORMALS);
shouldDraw ? debugDrawFlags |= FLAG_VALUE : debugDrawFlags &= ~(FLAG_VALUE);
if (world == nullptr)
{
SHLOGV_WARNING("No physics world has been initialised!")
return;
}
world->getDebugRenderer().setIsDebugItemDisplayed
(
rp3d::DebugRenderer::DebugItem::CONTACT_NORMAL,
shouldDraw
);
}
/*-----------------------------------------------------------------------------------*/
/* Public Function Member Definitions */
/*-----------------------------------------------------------------------------------*/
@ -198,6 +321,7 @@ namespace SHADE
world = factory.createPhysicsWorld(settings);
world->setEventListener(this);
world->setIsDebugRenderingEnabled(true);
// Set up solvers
world->setContactsPositionCorrectionTechnique(rp3d::ContactsPositionCorrectionTechnique::SPLIT_IMPULSES);
@ -323,7 +447,7 @@ namespace SHADE
auto* scriptingSystem = SHSystemManager::GetSystem<SHScriptEngine>();
if (scriptingSystem == nullptr)
{
SHLOGV_WARNING("Unable to invoke FixedUpdate() on scripts due to missing SHScriptEngine!");
SHLOGV_ERROR("Unable to invoke FixedUpdate() on scripts due to missing SHScriptEngine!");
}
fixedTimeStep = 1.0 / physicsSystem->fixedDT;
@ -353,7 +477,7 @@ namespace SHADE
auto* scriptingSystem = SHSystemManager::GetSystem<SHScriptEngine>();
if (scriptingSystem == nullptr)
{
SHLOGV_WARNING("Unable to invoke collision and trigger script events due to missing SHScriptEngine!");
SHLOGV_ERROR("Unable to invoke collision and trigger script events due to missing SHScriptEngine!");
}
// Interpolate transforms for rendering
@ -369,6 +493,40 @@ namespace SHADE
}
}
void SHPhysicsSystem::PhysicsDebugDraw::Execute(double) noexcept
{
const auto* PHYSICS_SYSTEM = reinterpret_cast<SHPhysicsSystem*>(GetSystem());
if (PHYSICS_SYSTEM->debugDrawFlags == 0)
return;
auto* debugDrawSystem = SHSystemManager::GetSystem<SHDebugDrawSystem>();
if (debugDrawSystem == nullptr)
{
SHLOGV_ERROR("Unable to debug draw physics objects due to missing SHDebugDrawSystem!");
return;
}
const auto& RP3D_DEBUG_RENDERER = PHYSICS_SYSTEM->world->getDebugRenderer();
const auto& LINES = RP3D_DEBUG_RENDERER.getLines();
const auto& TRIANGLES = RP3D_DEBUG_RENDERER.getTriangles();
// Draw all lines
for (uint32_t i = 0; i < RP3D_DEBUG_RENDERER.getNbLines(); ++i)
{
const auto& LINE = LINES[i];
debugDrawSystem->DrawLine(SHColour{ LINE.color1 }, LINE.point1, LINE.point2);
}
for (uint32_t i = 0; i < RP3D_DEBUG_RENDERER.getNbTriangles(); ++i)
{
const auto& TRIANGLE = TRIANGLES[i];
SHColour triColour{ TRIANGLE.color1 };
triColour.a() = 1.0f;
debugDrawSystem->DrawTri(triColour, TRIANGLE.point1, TRIANGLE.point2, TRIANGLE.point3);
}
}
void SHPhysicsSystem::onContact(const CallbackData& callbackData)
{
for (uint32_t i = 0; i < callbackData.getNbContactPairs(); ++i)

52
SHADE_Engine/src/Physics/SHPhysicsSystem.h
View File

@ -51,6 +51,15 @@ namespace SHADE
using CollisionEvents = std::vector<SHCollisionEvent>;
enum class DebugDrawFlags : uint8_t
{
COLLIDER = 1
, COLLIDER_AABB = 2
, BROAD_PHASE_AABB = 4
, CONTACT_POINTS = 8
, CONTACT_NORMALS = 16
};
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
@ -69,6 +78,12 @@ namespace SHADE
[[nodiscard]] uint16_t GetNumberVelocityIterations () const noexcept;
[[nodiscard]] uint16_t GetNumberPositionIterations () const noexcept;
[[nodiscard]] bool GetDrawColliders () const noexcept;
[[nodiscard]] bool GetDrawColliderAABBs () const noexcept;
[[nodiscard]] bool GetDrawBroadPhase () const noexcept;
[[nodiscard]] bool GetDrawContactPoints () const noexcept;
[[nodiscard]] bool GetDrawContactNormals () const noexcept;
[[nodiscard]] const CollisionEvents& GetCollisionInfo () const noexcept;
[[nodiscard]] const CollisionEvents& GetTriggerInfo () const noexcept;
@ -85,6 +100,13 @@ namespace SHADE
void SetWorldSettings (const WorldSettings& settings) const noexcept;
// TODO(Diren): Can the debug draw flags be done through an enum?
void SetDrawColliders (bool shouldDraw) noexcept;
void SetDrawColliderAABBs (bool shouldDraw) noexcept;
void SetDrawBroadPhase (bool shouldDraw) noexcept;
void SetDrawContactPoints (bool shouldDraw) noexcept;
void SetDrawContactNormals (bool shouldDraw) noexcept;
/*---------------------------------------------------------------------------------*/
/* Function Members */
/*---------------------------------------------------------------------------------*/
@ -105,48 +127,31 @@ namespace SHADE
class SH_API PhysicsPreUpdate final : public SHSystemRoutine
{
public:
/*-------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*-------------------------------------------------------------------------------*/
PhysicsPreUpdate();
/*-------------------------------------------------------------------------------*/
/* Function Members */
/*-------------------------------------------------------------------------------*/
void Execute(double dt) noexcept override;
};
class SH_API PhysicsFixedUpdate final : public SHFixedSystemRoutine
{
public:
/*-------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*-------------------------------------------------------------------------------*/
PhysicsFixedUpdate();
/*-------------------------------------------------------------------------------*/
/* Function Members */
/*-------------------------------------------------------------------------------*/
void Execute (double dt) noexcept override;
};
class SH_API PhysicsPostUpdate final : public SHSystemRoutine
{
public:
/*-------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*-------------------------------------------------------------------------------*/
PhysicsPostUpdate();
void Execute(double dt) noexcept override;
};
/*-------------------------------------------------------------------------------*/
/* Function Members */
/*-------------------------------------------------------------------------------*/
class SH_API PhysicsDebugDraw final : public SHSystemRoutine
{
public:
PhysicsDebugDraw();
void Execute(double dt) noexcept override;
};
@ -162,6 +167,7 @@ namespace SHADE
/*---------------------------------------------------------------------------------*/
bool worldUpdated;
uint8_t debugDrawFlags;
double interpolationFactor;
double fixedDT;

2
SHADE_Engine/src/Tools/SHUtilities.h
View File

@ -39,7 +39,7 @@ namespace SHADE
* @param[in] enumClassMember A member of the specified enum class.
* @returns The value of the enum class member in the output type.
*/
template <IsEnum InputType, IsIntegral OutputType = int>
template <IsEnum InputType, IsIntegral OutputType = std::underlying_type_t<InputType>>
static constexpr OutputType ConvertEnum(InputType enumClassMember) noexcept;
/**