Merge pull request #274 from SHADE-DP/SP3-2-Physics

Fixed collision listener bug & incorrect transform forward. Added collision tags to raycasts.

SHADE_Application/src/Application/SBApplication.cpp

@@ -74,7 +74,9 @@ namespace Sandbox
     SHSystemManager::CreateSystem<SHScriptEngine>();
     SHSystemManager::CreateSystem<SHTransformSystem>();
     SHSystemManager::CreateSystem<SHPhysicsSystem>();
+#ifndef _PUBLISH
     SHSystemManager::CreateSystem<SHPhysicsDebugDrawSystem>();
+#endif
 
     SHSystemManager::CreateSystem<SHAudioSystem>();
     SHSystemManager::CreateSystem<SHCameraSystem>();
@@ -114,7 +116,9 @@ namespace Sandbox
     SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsFixedUpdate>();
     SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsPostUpdate>();
 
+#ifndef _PUBLISH
     SHSystemManager::RegisterRoutine<SHPhysicsDebugDrawSystem, SHPhysicsDebugDrawSystem::PhysicsDebugDrawRoutine>();
+#endif
 
     SHSystemManager::RegisterRoutine<SHTransformSystem, SHTransformSystem::TransformPostPhysicsUpdate>();
     SHSystemManager::RegisterRoutine<SHDebugDrawSystem, SHDebugDrawSystem::ProcessPointsRoutine>();
@@ -189,6 +193,13 @@ namespace Sandbox
       SHSystemManager::RunRoutines(false, SHFrameRateController::GetRawDeltaTime());
 #endif
       // TODO: Move into an Editor menu
+      static bool drawContacts = false;
+      if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::F9))
+      {
+        drawContacts = !drawContacts;
+        SHSystemManager::GetSystem<SHPhysicsDebugDrawSystem>()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::CONTACT_POINTS, drawContacts);
+        SHSystemManager::GetSystem<SHPhysicsDebugDrawSystem>()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::CONTACT_NORMALS, drawContacts);
+      }
       static bool drawColliders = false;
       if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::F10))
       {
@@ -201,13 +212,7 @@ namespace Sandbox
         drawRays = !drawRays;
         SHSystemManager::GetSystem<SHPhysicsDebugDrawSystem>()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::RAYCASTS, drawRays);
       }
-      static bool drawContacts = false;
+      
-      if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::F9))
-      {
-        drawContacts = !drawContacts;
-        SHSystemManager::GetSystem<SHPhysicsDebugDrawSystem>()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::CONTACT_POINTS, drawContacts);
-        SHSystemManager::GetSystem<SHPhysicsDebugDrawSystem>()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::CONTACT_NORMALS, drawContacts);
-      }
     }
     // Finish all graphics jobs first
     graphicsSystem->AwaitGraphicsExecution();

SHADE_Engine/src/Physics/Collision/SHCollisionListener.cpp

@@ -84,13 +84,26 @@ namespace SHADE
       {
         const SHCollisionInfo& C_INFO = *eventIter;
 
-        const bool CLEAR_EVENT      = C_INFO.GetCollisionState() == SHCollisionInfo::State::EXIT ||  C_INFO.GetCollisionState() == SHCollisionInfo::State::INVALID;
         const bool INVALID_ENTITY   = !SHEntityManager::IsValidEID(C_INFO.GetEntityA()) || !SHEntityManager::IsValidEID(C_INFO.GetEntityB());
-        const bool INACTIVE_OBJECT  = !SHSceneManager::CheckNodeAndComponentsActive<SHColliderComponent>(C_INFO.GetEntityA()) ||  !SHSceneManager::CheckNodeAndComponentsActive<SHColliderComponent>(C_INFO.GetEntityB());
+        if (INVALID_ENTITY)
-
+        {
-        if (CLEAR_EVENT || INVALID_ENTITY || INACTIVE_OBJECT)
           eventIter = container.erase(eventIter);
+          continue;
+        }
         else
+        {
+          const bool CLEAR_EVENT      = C_INFO.GetCollisionState() == SHCollisionInfo::State::EXIT ||  C_INFO.GetCollisionState() == SHCollisionInfo::State::INVALID;
+
+          const bool INACTIVE_OBJECT  = !SHSceneManager::CheckNodeAndComponentsActive<SHColliderComponent>(C_INFO.GetEntityA())
+                                    ||  !SHSceneManager::CheckNodeAndComponentsActive<SHColliderComponent>(C_INFO.GetEntityB());
+
+          if (CLEAR_EVENT || INACTIVE_OBJECT)
+          {
+            eventIter = container.erase(eventIter);
+            continue;
+          }
+        }
+
         ++eventIter;
       }
     };

SHADE_Engine/src/Physics/Collision/SHPhysicsRaycaster.cpp

@@ -63,7 +63,7 @@ namespace SHADE
     raycasts.clear();
   }
 
-  SHPhysicsRaycastResult SHPhysicsRaycaster::Raycast(const SHRay& ray, float distance) noexcept
+  SHPhysicsRaycastResult SHPhysicsRaycaster::Raycast(const SHRay& ray, float distance, const SHCollisionTag& collisionTag) noexcept
   {
     // Reset temp
     temp = SHPhysicsRaycastResult{};
@@ -78,13 +78,13 @@ namespace SHADE
     // If distance in infinity, cast to the default max distance of 2 km.
     if (distance == std::numeric_limits<float>::infinity())
     {
-      world->raycast(ray, this);
+      world->raycast(ray, this, collisionTag);
     }
     else
     {
       const SHVec3 END_POINT = ray.position + ray.direction * distance;
       const rp3d::Ray RP3D_RAY{ ray.position, END_POINT };
-      world->raycast(RP3D_RAY, this);
+      world->raycast(RP3D_RAY, this, collisionTag);
     }
 
     // If a hit was found, populate temp info for return.
@@ -98,7 +98,7 @@ namespace SHADE
     return temp;
   }
 
-  SHPhysicsRaycastResult SHPhysicsRaycaster::Linecast(const SHVec3& start, const SHVec3& end) noexcept
+  SHPhysicsRaycastResult SHPhysicsRaycaster::Linecast(const SHVec3& start, const SHVec3& end, const SHCollisionTag& collisionTag) noexcept
   {
     temp = SHPhysicsRaycastResult{};
     temp.distance = SHVec3::Distance(start, end);
@@ -110,7 +110,7 @@ namespace SHADE
     }
 
     const rp3d::Ray RP3D_RAY{ start, end };
-    world->raycast(RP3D_RAY, this);
+    world->raycast(RP3D_RAY, this, collisionTag);
 
     if (temp.hit)
     {

SHADE_Engine/src/Physics/Collision/SHPhysicsRaycaster.h

@@ -19,6 +19,7 @@
 #include "Physics/PhysicsObject/SHPhysicsObjectManager.h"
 #include "Physics/SHPhysicsWorld.h"
 #include "SH_API.h"
+#include "SHCollisionTags.h"
 #include "SHPhysicsRaycastResult.h"
 
 namespace SHADE
@@ -69,12 +70,14 @@ namespace SHADE
     (
       const SHRay&          ray
     , float                 distance = std::numeric_limits<float>::infinity()
+    , const SHCollisionTag& collisionTag = SHCollisionTag{}
     ) noexcept;
 
     SHPhysicsRaycastResult  Linecast
     (
       const SHVec3&         start
     , const SHVec3&         end
+    , const SHCollisionTag& collisionTag = SHCollisionTag{}
     ) noexcept;
 
     SHPhysicsRaycastResult  ColliderRaycast

SHADE_Engine/src/Physics/Interface/SHCollisionShape.cpp

@@ -206,7 +206,7 @@ namespace SHADE
     }
     
     // Set the half extents relative to world scale
-    const SHVec3 WORLD_EXTENTS = correctedHalfExtents * COLLIDER->GetScale() * 0.5f;
+    const SHVec3 WORLD_EXTENTS = correctedHalfExtents * COLLIDER->GetScale();
 
     if (type != Type::BOX)
     {

SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp

@@ -173,7 +173,11 @@ namespace SHADE
     }
 
     worldState.CreateWorld(factory);
+#ifdef _PUBLISH
+    worldState.world->setIsDebugRenderingEnabled(false);
+#else
     worldState.world->setIsDebugRenderingEnabled(true);
+#endif
 
     // Link Collision Listener & Raycaster
     collisionListener.BindToWorld(worldState.world);
@@ -254,14 +258,14 @@ namespace SHADE
     }
   }
 
-  SHPhysicsRaycastResult SHPhysicsSystem::Raycast(const SHRay& ray, float distance) noexcept
+  SHPhysicsRaycastResult SHPhysicsSystem::Raycast(const SHRay& ray, float distance, const SHCollisionTag& collisionTag) noexcept
   {
-    return raycaster.Raycast(ray, distance);
+    return raycaster.Raycast(ray, distance, collisionTag);
   }
 
-  SHPhysicsRaycastResult SHPhysicsSystem::Linecast(const SHVec3& start, const SHVec3& end) noexcept
+  SHPhysicsRaycastResult SHPhysicsSystem::Linecast(const SHVec3& start, const SHVec3& end, const SHCollisionTag& collisionTag) noexcept
   {
-    return raycaster.Linecast(start, end);
+    return raycaster.Linecast(start, end, collisionTag);
   }
 
   SHPhysicsRaycastResult SHPhysicsSystem::ColliderRaycast(EntityID eid, const SHRay& ray, float distance) noexcept
@@ -438,7 +442,11 @@ namespace SHADE
       return onPlayEvent->handle;
 
     worldState.CreateWorld(factory);
+#ifdef _PUBLISH
+    worldState.world->setIsDebugRenderingEnabled(false);
+#else
     worldState.world->setIsDebugRenderingEnabled(true);
+#endif
 
     // Link Collision Listener & Raycaster
     collisionListener.BindToWorld(worldState.world);

SHADE_Engine/src/Physics/System/SHPhysicsSystem.h

@@ -85,24 +85,28 @@ namespace SHADE
      * @brief Casts a ray into the world.
      * @param ray The ray to cast.
      * @param distance The distance to cast the ray. Defaults to infinity.
+     * @param collisionTag The collision tag to use for filtering the raycast.
      * @return The result of the raycast.
     */
     SHPhysicsRaycastResult  Raycast
     (
       const SHRay&          ray
     , float                 distance = std::numeric_limits<float>::infinity()
+    , const SHCollisionTag& collisionTag = SHCollisionTag{}
     ) noexcept;
 
     /**
      * @brief Casts a bounded ray into the world.
      * @param start The starting point of the ray.
      * @param end The end point of the ray.
+     * @param collisionTag The collision tag to use for filtering the bounded raycast.
      * @return The result of the raycast.
     */
     SHPhysicsRaycastResult  Linecast
     (
       const SHVec3& start
     , const SHVec3& end
+    , const SHCollisionTag& collisionTag = SHCollisionTag{}
     ) noexcept;
 
     /**

SHADE_Engine/src/Physics/System/SHPhysicsSystemRoutines.cpp

@@ -20,6 +20,7 @@
 #include "Scripting/SHScriptEngine.h"
 
 #include "Input/SHInputManager.h"
+#include "Physics/Collision/SHCollisionTagMatrix.h"
 
 /*-------------------------------------------------------------------------------------*/
 /* Local Functions                                                                     */
@@ -403,4 +404,13 @@ void testFunction()
         rb->AddForce(SHVec3::UnitX * forceModifier);
     }
   }
+
+  // Cast rays
+  auto* tag = SHCollisionTagMatrix::GetTag(1);
+  tag->SetLayerState(SHCollisionTag::Layer::_1, false);
+  tag->SetLayerState(SHCollisionTag::Layer::_2, true);
+
+  SHRay ray { SHVec3{3.0f, 3.5f, 0.0f}, -SHVec3::UnitX };
+  auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
+  physicsSystem->Raycast(ray, std::numeric_limits<float>::infinity(), *tag);
 }

SHADE_Managed/src/Components/Transform.cxx

@@ -107,7 +107,7 @@ namespace SHADE
 
   Vector3 Transform::Forward::get()
   {
-    const SHVec3 DIRECTION = SHVec3::Rotate(SHVec3::UnitZ, Convert::ToNative(GlobalRotation));
+    const SHVec3 DIRECTION = SHVec3::Rotate(-SHVec3::UnitZ, Convert::ToNative(GlobalRotation));
     return Convert::ToCLI(DIRECTION);
   }