Merge branch 'SP3-2-Physics' into PlayerControllerWIthNewPhysics

Assets/Scenes/PhysicsTest.shade

@@ -10,12 +10,9 @@
       IsActive: true
     RigidBody Component:
       Type: Dynamic
-      Auto Mass: false
-      Mass: 1
       Drag: 0.00999999978
       Angular Drag: 0.100000001
       Use Gravity: true
-      Gravity Scale: 1
       Interpolate: false
       Sleeping Enabled: true
       Freeze Position X: false
@@ -38,6 +35,10 @@
           Rotation Offset: {x: 0, y: 0, z: 0}
       IsActive: true
   Scripts:
+    - Type: PhysicsTestObj
+      Enabled: true
+      forceAmount: 50
+      torqueAmount: 500
     - Type: CollisionTest
       Enabled: true
 - EID: 1
@@ -74,10 +75,10 @@
       Yaw: 0
       Roll: 0
       Width: 1920
+      Height: 1080
       Near: 0.00999999978
       Far: 10000
       Perspective: true
-      FOV: 90
       IsActive: true
   Scripts: ~
 - EID: 65539
@@ -172,6 +173,43 @@
           Rotation Offset: {x: 0, y: 0, z: 0}
       IsActive: true
   Scripts: ~
+- EID: 7
+  Name: Default
+  IsActive: true
+  NumberOfChildren: 0
+  Components:
+    Transform Component:
+      Translate: {x: 0, y: 0, z: 3}
+      Rotate: {x: 0, y: 0, z: 0}
+      Scale: {x: 1, y: 1, z: 1}
+      IsActive: true
+    RigidBody Component:
+      Type: Dynamic
+      Drag: 0.00999999978
+      Angular Drag: 0.100000001
+      Use Gravity: true
+      Interpolate: true
+      Sleeping Enabled: true
+      Freeze Position X: false
+      Freeze Position Y: false
+      Freeze Position Z: false
+      Freeze Rotation X: false
+      Freeze Rotation Y: false
+      Freeze Rotation Z: false
+      IsActive: true
+    Collider Component:
+      Colliders:
+        - Is Trigger: false
+          Collision Tag: 1
+          Type: Box
+          Half Extents: {x: 1, y: 1, z: 1}
+          Friction: 0.400000006
+          Bounciness: 0
+          Density: 1
+          Position Offset: {x: 0, y: 0, z: 0}
+          Rotation Offset: {x: 0, y: 0, z: 0}
+      IsActive: true
+  Scripts: ~
 - EID: 8
   Name: Target
   IsActive: true

Assets/Scenes/SS_Playground.shade

@@ -4,7 +4,7 @@
   NumberOfChildren: 0
   Components:
     Camera Component:
-      Position: {x: 1, y: 5, z: 5}
+      Position: {x: 0, y: 2, z: 5}
       Pitch: 0
       Yaw: 0
       Roll: 0
@@ -28,9 +28,9 @@
     Collider Component:
       Colliders:
         - Is Trigger: false
-          Collision Tag: 6
+          Collision Tag: 0
-          Type: Sphere
+          Type: Box
-          Radius: 1
+          Half Extents: {x: 1, y: 1, z: 1}
           Friction: 0.400000006
           Bounciness: 0
           Density: 1
@@ -44,9 +44,9 @@
   NumberOfChildren: 0
   Components:
     Transform Component:
-      Translate: {x: 0, y: 5, z: 0}
+      Translate: {x: 0.141888797, y: 5, z: 0}
-      Rotate: {x: -0, y: 0.785398006, z: -0}
+      Rotate: {x: -0, y: 0, z: 0.490080774}
-      Scale: {x: 1, y: 1, z: 1}
+      Scale: {x: 0.999999702, y: 0.999999702, z: 1}
       IsActive: true
     RigidBody Component:
       Type: Dynamic
@@ -81,4 +81,27 @@
     - Type: PhysicsTestObj
       Enabled: true
       forceAmount: 50
-      torqueAmount: 25
+      torqueAmount: 25
+- EID: 2
+  Name: Default
+  IsActive: true
+  NumberOfChildren: 0
+  Components:
+    Transform Component:
+      Translate: {x: 0.34412086, y: 3.23541069, z: 0}
+      Rotate: {x: 0, y: 0, z: 0.490080804}
+      Scale: {x: 0.999999702, y: 0.999999702, z: 1}
+      IsActive: true
+    Collider Component:
+      Colliders:
+        - Is Trigger: false
+          Collision Tag: 0
+          Type: Sphere
+          Radius: 1
+          Friction: 0.400000006
+          Bounciness: 0
+          Density: 1
+          Position Offset: {x: 0, y: 0, z: 0}
+          Rotation Offset: {x: 0, y: 0, z: 0}
+      IsActive: false
+  Scripts: ~

Assets/Scripts/Gameplay/AIBehaviour/Implemented/Homeowner1.cs

@@ -1,4 +1,4 @@
-/*********************************************************************
+/*********************************************************************
  * \file   Homeowner1.cs
  * \author Ryan Wang Nian Jing
  * \brief  The implemented behaviour tree for the homeowner

Assets/Scripts/Gameplay/AIBehaviour/Implemented/LeafNodes/LeafAttack.cs

@@ -1,4 +1,4 @@
-/*********************************************************************
+/*********************************************************************
  * \file   LeafAttack.cs
  * \author Ryan Wang Nian Jing
  * \brief  Leaf node implementation for AI attacking the player

Assets/Scripts/Gameplay/Item/SC_Breakable.cs

@@ -1,4 +1,4 @@
-using SHADE;
+using SHADE;
 using SHADE_Scripting.Audio;
 using System;
 using System.Collections.Generic;

Assets/Scripts/Gameplay/Item/SC_Item.cs

@@ -1,4 +1,4 @@
-using SHADE;
+using SHADE;
 using SHADE_Scripting.Audio;
 using System;
 public class Item : Script

Assets/Scripts/Gameplay/SC_JumpPad.cs

@@ -1,4 +1,4 @@
-using SHADE;
+using SHADE;
 using SHADE_Scripting.Audio;
 using System;
 

Assets/Scripts/UI/SC_MultiplierTextFx.cs

@@ -1,4 +1,4 @@
-using SHADE;
+using SHADE;
 using System;
 using System.Collections.Generic;
 using System.Linq;

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

@@ -432,8 +432,6 @@ namespace SHADE
       // TODO: Handle differences between composite & hull collider
       if (ImGui::BeginMenu("Add Collider"))
       {
-        int newColl = -1;
-
         if (ImGui::Selectable("Box Collider"))
         {
           auto* compositeCollider = reinterpret_cast<SHCompositeCollider* const>(component->GetCollider());
@@ -448,7 +446,10 @@ namespace SHADE
         ImGui::EndMenu();
       }
     }
-    else DrawContextMenu(component);
+    else
+    {
+      DrawContextMenu(component);
+    }
     ImGui::PopID();
   }
 

SHADE_Engine/src/Physics/Collision/SHCollider.cpp

@@ -204,9 +204,9 @@ namespace SHADE
 
     for (auto* shape : shapes)
     {
-      if (PREV_STATE) // Previously inactive
+      if (!PREV_STATE) // Previously inactive
         broadphase->Insert(shape->id, shape->ComputeAABB());
-      else        // Previously active
+      else            // Previously active
         broadphase->Remove(shape->id);
     }
   }
@@ -300,7 +300,7 @@ namespace SHADE
     };
 
      // Remove from broadphase
-    if (broadphase)
+    if (IsActive() && broadphase)
       broadphase->Remove((*shape)->id);
 
     shapeLibrary->DestroyShape(*shape);

SHADE_Engine/src/Physics/Collision/SHCollisionSpace.cpp

@@ -49,11 +49,14 @@ namespace SHADE
       return;
     }
 
-    collider->broadphase = &broadphase;
+    if (collider->IsActive())
+    {
+      collider->broadphase = &broadphase;
 
-    // Add all existing shapes to the broadphase
+      // Attempt to add all existing shapes to the broadphase
-    for (const auto* shape : collider->shapes)
+      for (const auto* shape : collider->shapes)
-      broadphase.Insert(shape->id, shape->ComputeAABB());
+        broadphase.Insert(shape->id, shape->ComputeAABB());
+    }
   }
 
   void SHCollisionSpace::RemoveCollider(SHCollider* collider) noexcept
@@ -64,13 +67,17 @@ namespace SHADE
     if (NUM_SHAPES == 0)
       return;
 
-    for (uint32_t i = 0; i < NUM_SHAPES; ++i)
+    // If collider is inactive, skip removals since they were already removed
-      broadphase.Remove(collider->shapes[i]->id);
+    if (collider->IsActive())
-
-    if (contactManager)
     {
-      contactManager->RemoveInvalidatedTrigger(collider->entityID);
+      for (uint32_t i = 0; i < NUM_SHAPES; ++i)
-      contactManager->RemoveInvalidatedManifold(collider->entityID);
+        broadphase.Remove(collider->shapes[i]->id);
+
+      if (contactManager)
+      {
+        contactManager->RemoveInvalidatedTrigger(collider->entityID);
+        contactManager->RemoveInvalidatedManifold(collider->entityID);
+      }
     }
 
     /*

SHADE_Engine/src/Physics/Collision/SHCompositeCollider.cpp

@@ -100,7 +100,8 @@ namespace SHADE
 
     shapes.emplace_back(sphere);
 
-    if (broadphase)
+    // Only add shapes to the broadphase if the collider is active
+    if (IsActive() && broadphase)
       broadphase->Insert(NEW_SHAPE_ID, sphere->ComputeAABB());
 
     // Broadcast Event for adding a shape
@@ -153,7 +154,7 @@ namespace SHADE
 
     shapes.emplace_back(box);
 
-    if (broadphase)
+    if (IsActive() && broadphase)
       broadphase->Insert(NEW_SHAPE_ID, box->ComputeAABB());
 
     // Broadcast Event for adding a shape

SHADE_Engine/src/Physics/Dynamics/SHContactManager.cpp

@@ -252,22 +252,13 @@ namespace SHADE
     {
       // New states start at invalid. In the first frame of collision, move to enter.
       // If it already in enter, move to stay
-      if (state == SHCollisionState::ENTER)
+      state = state == SHCollisionState::INVALID ? SHCollisionState::ENTER : SHCollisionState::STAY;
-        state = SHCollisionState::STAY;
-
-      if (state == SHCollisionState::INVALID)
-        state = SHCollisionState::ENTER;
     }
     else
     {
       // If already exited and still not colliding, the collision has expired.
       // Invalid states are removed in the next frame
-      if (state == SHCollisionState::EXIT)
+      state = state == SHCollisionState::EXIT ? SHCollisionState::INVALID : SHCollisionState::EXIT;
-        state = SHCollisionState::INVALID;
-
-      // If previously colliding, move to exit.
-      if (state == SHCollisionState::ENTER || state == SHCollisionState::STAY)
-        state = SHCollisionState::EXIT;
     }
   }
 

SHADE_Engine/src/Physics/Dynamics/SHPhysicsWorld.cpp

@@ -86,8 +86,6 @@ namespace SHADE
 
   void SHPhysicsWorld::Step(float dt)
   {
-    
-
     /*
      * Detect Collisions
      */

SHADE_Engine/src/Physics/System/Routines/SHPhysicsDebugDrawRoutine.cpp

@@ -57,7 +57,8 @@ namespace SHADE
       for (const auto& COLLIDER_COMPONENT : COLLIDER_COMPONENT_DENSE)
       {
         const auto* COLLIDER = COLLIDER_COMPONENT.GetCollider();
-        drawCollider(debugDrawSystem, *COLLIDER);
+        if (COLLIDER->IsActive())
+          drawCollider(debugDrawSystem, *COLLIDER);
       }
     }
     else if (!physicsDebugDrawSystem->collidersToDraw.empty())
@@ -65,7 +66,8 @@ namespace SHADE
       for (const auto EID : physicsDebugDrawSystem->collidersToDraw)
       {
         const auto* COLLIDER = SHComponentManager::GetComponent<SHColliderComponent>(EID)->GetCollider();
-        drawCollider(debugDrawSystem, *COLLIDER);
+        if (COLLIDER->IsActive())
+          drawCollider(debugDrawSystem, *COLLIDER);
       }
     }
 

SHADE_Engine/src/Physics/System/Routines/SHPhysicsPostUpdateRoutine.cpp

@@ -87,10 +87,6 @@ namespace SHADE
           transformComponent->SetWorldPosition(MOTION_STATE.position);
           transformComponent->SetWorldOrientation(MOTION_STATE.orientation);
         }
-
-        /*
-         * TODO: Test if the scene graph transforms abides by setting world position. Collisions will ignore the scene graph hierarchy.
-         */
       }
     }
   }

SHADE_Engine/src/Physics/System/Routines/SHPhysicsPreUpdateRoutine.cpp

@@ -52,8 +52,19 @@ namespace SHADE
         const bool RIGIDBODY_ACTIVE = physicsObject.rigidBody->IsActive();
 
         if (IS_ACTIVE != RIGIDBODY_ACTIVE)
+        {
           physicsObject.rigidBody->SetIsActive(IS_ACTIVE);
 
+          // If previously active, we remove it from the world.
+          // If previously inactive, we add it back to the world.
+          // This removes the need to check for inactive objects in the world every frame to remove invalid contacts.
+
+          if (IS_ACTIVE)  // Previously inactive
+            physicsSystem->physicsWorld->AddRigidBody(physicsObject.rigidBody);
+          else            // Previously active
+            physicsSystem->physicsWorld->RemoveRigidBody(physicsObject.rigidBody);
+        }
+
         if (UPDATE_TRANSFORM)
         {
           const SHVec3&       WORLD_POS = TRANSFORM_COMPONENT->GetWorldPosition();
@@ -71,8 +82,19 @@ namespace SHADE
         const bool COLLIDER_ACTIVE  = physicsObject.collider->IsActive();
 
         if (IS_ACTIVE != COLLIDER_ACTIVE)
+        {
           physicsObject.collider->SetIsActive(IS_ACTIVE);
 
+          // If previously active, we remove it from the world.
+          // If previously inactive, we add it back to the world.
+          // This removes the need to check for inactive objects in the world every frame to remove invalid contacts.
+
+          if (IS_ACTIVE)  // Previously inactive
+            physicsSystem->collisionSpace->AddCollider(physicsObject.collider);
+          else            // Previously active
+            physicsSystem->collisionSpace->RemoveCollider(physicsObject.collider);
+        }
+
         if (UPDATE_TRANSFORM)
         {
           const SHVec3&       WORLD_POS = TRANSFORM_COMPONENT->GetWorldPosition();