Re-implemented Collider Debug Drawing

Assets/Scenes/PhysicsSandbox.shade

@@ -26,6 +26,7 @@
       Freeze Rotation Z: false
       IsActive: true
     Collider Component:
+      DrawColliders: true
       Colliders:
         - Is Trigger: false
           Type: Sphere

SHADE_Application/src/Application/SBApplication.cpp

@@ -31,6 +31,7 @@
 #include "Input/SHInputManager.h"
 #include "Math/Transform/SHTransformSystem.h"
 #include "Physics/System/SHPhysicsSystem.h"
+#include "Physics/System/SHPhysicsDebugDrawSystem.h"
 #include "Scripting/SHScriptEngine.h"
 #include "UI/SHUISystem.h"
 
@@ -83,7 +84,6 @@ namespace Sandbox
 
     SHSystemManager::CreateSystem<SHGraphicsSystem>();
     SHGraphicsSystem* graphicsSystem = static_cast<SHGraphicsSystem*>(SHSystemManager::GetSystem<SHGraphicsSystem>());
-    SHPhysicsSystem* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
 
     // Link up SHDebugDraw
     SHSystemManager::CreateSystem<SHDebugDrawSystem>();
@@ -98,6 +98,8 @@ namespace Sandbox
       editor->SetSDLWindow(sdlWindow);
       editor->SetSHWindow(&window);
     }
+
+    SHSystemManager::CreateSystem<SHPhysicsDebugDrawSystem>();
 #endif
     
     // Create Routines
@@ -111,8 +113,9 @@ namespace Sandbox
     SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsPreUpdate>();
     SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsUpdate>();
     SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsPostUpdate>();
+
 #ifdef SHEDITOR
-    SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsDebugDraw>();
+    SHSystemManager::RegisterRoutine<SHPhysicsDebugDrawSystem, SHPhysicsDebugDrawSystem::PhysicsDebugDraw>();
 #endif
 
     SHSystemManager::RegisterRoutine<SHTransformSystem, SHTransformSystem::TransformPostPhysicsUpdate>();

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

@@ -322,8 +322,7 @@ namespace SHADE
     {
       DrawContextMenu(component);
 
-      auto* collider = component->GetCollider();
+      SHEditorWidgets::CheckBox("Draw Colliders", [component] { return component->GetDebugDrawState(); }, [component](bool value) { component->SetDebugDrawState(value); });
-      SHEditorWidgets::CheckBox("Draw Colliders", [collider] { return collider->GetDebugDrawState(); }, [collider](bool value) { collider->SetDebugDrawState(value); });
 
       auto* collisionShapes = component->GetCollisionShapes();
       int const size = collisionShapes ? static_cast<int>(collisionShapes->size()) : 0;

SHADE_Engine/src/Events/SHEventDefines.h

@@ -10,16 +10,18 @@ constexpr SHEventIdentifier SH_ENTITY_DESTROYED_EVENT         { 1 };
 constexpr SHEventIdentifier SH_ENTITY_CREATION_EVENT          { 2 };
 constexpr SHEventIdentifier	SH_COMPONENT_ADDED_EVENT          { 3 };
 constexpr SHEventIdentifier SH_COMPONENT_REMOVED_EVENT        { 4 };
-constexpr SHEventIdentifier SH_SCENEGRAPH_CHANGE_PARENT_EVENT { 5 };
+constexpr SHEventIdentifier SH_SCENE_INIT_PRE                 { 5 };
-constexpr SHEventIdentifier SH_SCENEGRAPH_ADD_CHILD_EVENT     { 6 };
+constexpr SHEventIdentifier SH_SCENE_INIT_POST                { 6 };
-constexpr SHEventIdentifier SH_SCENEGRAPH_REMOVE_CHILD_EVENT  { 7 };
+constexpr SHEventIdentifier SH_SCENE_EXIT_PRE                 { 7 };
-constexpr SHEventIdentifier SH_PHYSICS_COLLIDER_ADDED_EVENT   { 8 };
+constexpr SHEventIdentifier SH_SCENE_EXIT_POST                { 8 };
-constexpr SHEventIdentifier SH_PHYSICS_COLLIDER_REMOVED_EVENT { 9 };
+constexpr SHEventIdentifier SH_SCENEGRAPH_CHANGE_PARENT_EVENT { 9 };
-constexpr SHEventIdentifier SH_EDITOR_ON_PLAY_EVENT           { 10 };
+constexpr SHEventIdentifier SH_SCENEGRAPH_ADD_CHILD_EVENT     { 10 };
-constexpr SHEventIdentifier SH_EDITOR_ON_PAUSE_EVENT          { 11 };
+constexpr SHEventIdentifier SH_SCENEGRAPH_REMOVE_CHILD_EVENT  { 11 };
-constexpr SHEventIdentifier SH_EDITOR_ON_STOP_EVENT           { 12 };
+constexpr SHEventIdentifier SH_PHYSICS_COLLIDER_ADDED_EVENT   { 12 };
-constexpr SHEventIdentifier SH_SCENE_INIT_PRE                 { 13 };
+constexpr SHEventIdentifier SH_PHYSICS_COLLIDER_REMOVED_EVENT { 13 };
-constexpr SHEventIdentifier SH_SCENE_INIT_POST                { 14 }; 
+constexpr SHEventIdentifier SH_PHYSICS_COLLIDER_DRAW_EVENT    { 14 };
-constexpr SHEventIdentifier SH_SCENE_EXIT_PRE                 { 15 }; 
+constexpr SHEventIdentifier SH_EDITOR_ON_PLAY_EVENT           { 15 };
-constexpr SHEventIdentifier SH_SCENE_EXIT_POST                { 16 }; 
+constexpr SHEventIdentifier SH_EDITOR_ON_PAUSE_EVENT          { 16 };
+constexpr SHEventIdentifier SH_EDITOR_ON_STOP_EVENT           { 17 };
+
 

SHADE_Engine/src/Physics/Collision/SHCollider.cpp

@@ -14,7 +14,10 @@
 #include "SHCollider.h"
 
 // Project Headers
+#include "Events/SHEvent.h"
 #include "Math/SHMathHelpers.h"
+#include "Physics/SHPhysicsEvents.h"
+
 
 namespace SHADE
 {
@@ -25,9 +28,7 @@ namespace SHADE
   SHCollider::SHCollider(EntityID eid, const SHTransform& worldTransform) noexcept
   : entityID        { eid }
   , shapeIDCounter  { 0 }
-#ifdef SHEDITOR
   , debugDraw       { false }
-#endif
   , rigidBody       { nullptr }
   , shapeFactory    { nullptr }
   , transform       { worldTransform }
@@ -38,9 +39,7 @@ namespace SHADE
   SHCollider::SHCollider(const SHCollider& rhs) noexcept
   : entityID        { rhs.entityID }
   , shapeIDCounter  { rhs.shapeIDCounter }
-#ifdef SHEDITOR
   , debugDraw       { rhs.debugDraw }
-#endif
   , rigidBody       { rhs.rigidBody }
   , shapeFactory    { rhs.shapeFactory }
   , transform       { rhs.transform }
@@ -57,9 +56,7 @@ namespace SHADE
   SHCollider::SHCollider(SHCollider&& rhs) noexcept
   : entityID        { rhs.entityID }
   , shapeIDCounter  { rhs.shapeIDCounter }
-#ifdef SHEDITOR
   , debugDraw       { rhs.debugDraw }
-#endif
   , rigidBody       { rhs.rigidBody }
   , shapeFactory    { rhs.shapeFactory }
   , transform       { rhs.transform }
@@ -101,14 +98,11 @@ namespace SHADE
     }
 
     entityID      = rhs.entityID;
+    debugDraw     = rhs.debugDraw;
     rigidBody     = rhs.rigidBody;
     shapeFactory  = rhs.shapeFactory;
     transform     = rhs.transform;
 
-  #ifdef SHEDITOR
-    debugDraw     = rhs.debugDraw;
-  #endif
-
     copyShapes(rhs);
 
     return *this;
@@ -123,14 +117,11 @@ namespace SHADE
     }
 
     entityID      = rhs.entityID;
+    debugDraw     = rhs.debugDraw;
     rigidBody     = rhs.rigidBody;
     shapeFactory  = rhs.shapeFactory;
     transform     = rhs.transform;
 
-  #ifdef SHEDITOR
-    debugDraw     = rhs.debugDraw;
-  #endif
-
     copyShapes(rhs);
 
     return *this;
@@ -140,12 +131,10 @@ namespace SHADE
   /* Getter Function Definitions                                                       */
   /*-----------------------------------------------------------------------------------*/
 
-#ifdef SHEDITOR
   bool SHCollider::GetDebugDrawState() const noexcept
   {
     return debugDraw;
   }
-#endif
 
   const SHTransform& SHCollider::GetTransform() const noexcept
   {
@@ -186,12 +175,23 @@ namespace SHADE
   /* Setter Function Definitions                                                       */
   /*-----------------------------------------------------------------------------------*/
 
-#ifdef SHEDITOR
   void SHCollider::SetDebugDrawState(bool state) noexcept
   {
     debugDraw = state;
+
+  #ifdef SHEDITOR
+    
+    // Broadcast event for the Debug Draw system to catch
+    const SHColliderOnDebugDrawEvent EVENT_DATA
+    {
+      .entityID       = entityID
+    , .debugDrawState = debugDraw 
+    };
+
+    SHEventManager::BroadcastEvent<SHColliderOnDebugDrawEvent>(EVENT_DATA, SH_PHYSICS_COLLIDER_DRAW_EVENT);
+
+  #endif
   }
-#endif
 
   void SHCollider::SetRigidBody(SHRigidBody* rb) noexcept
   {
@@ -236,7 +236,7 @@ namespace SHADE
   {
     if (!shapeFactory)
     {
-      SHLOGV_ERROR("Shape factory is unlinked with Composite Collider {}. Unable to add new shape!", entityID)
+      SHLOGV_ERROR("Shape factory is unlinked with Collider {}. Unable to add new shape!", entityID)
       return -1;
     }
 
@@ -266,6 +266,17 @@ namespace SHADE
     sphere->rotationOffset = rotOffset;
 
     shapes.emplace_back(sphere);
+
+    // Broadcast Event for adding a shape
+    const SHPhysicsColliderAddedEvent EVENT_DATA
+    {
+      .entityID       = entityID
+    , .colliderType   = SHCollisionShape::Type::SPHERE
+    , .colliderIndex  = static_cast<int>(shapes.size())
+    };
+
+    SHEventManager::BroadcastEvent<SHPhysicsColliderAddedEvent>(EVENT_DATA, SH_PHYSICS_COLLIDER_ADDED_EVENT);
+
     return static_cast<int>(shapes.size());
   }
 
@@ -273,7 +284,7 @@ namespace SHADE
   {
     if (!shapeFactory)
     {
-      SHLOGV_ERROR("Shape factory is unlinked with Composite Collider {}. Unable to add remove shape!", entityID)
+      SHLOGV_ERROR("Shape factory is unlinked with Collider {}. Unable to add remove shape!", entityID)
       return;
     }
 
@@ -289,12 +300,22 @@ namespace SHADE
         break;
     }
 
+    const SHPhysicsColliderRemovedEvent EVENT_DATA
+    {
+      .entityID       = entityID
+    , .colliderType   = (*shapeIter)->GetType()
+    , .colliderIndex  = index
+    };
+
     shapeFactory->DestroyShape(*shapeIter);
     *shapeIter = nullptr;
 
     // Remove the shape from the container to prevent accessing a nullptr
     shapeIter = shapes.erase(shapeIter);
 
+    // Broadcast Event for removing a shape
+    SHEventManager::BroadcastEvent<SHPhysicsColliderRemovedEvent>(EVENT_DATA, SH_PHYSICS_COLLIDER_REMOVED_EVENT);
+
     SHLOG_INFO_D("Removing Collision Shape {} from Entity {}", index, entityID)
   }
 
@@ -386,6 +407,7 @@ namespace SHADE
     const SHMatrix      TRS        = SHMatrix::Rotate(FINAL_ROT) * SHMatrix::Translate(transform.position);
 
     const SHVec3        NEW_CENTER = SHVec3::Transform(sphere->positionOffset, TRS);
+
     sphere->SetCenter(NEW_CENTER);
   }
 

SHADE_Engine/src/Physics/Collision/SHCollider.h

@@ -78,9 +78,7 @@ namespace SHADE
     /* Getter Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
-  #ifdef SHEDITOR
     [[nodiscard]] bool                    GetDebugDrawState   ()  const noexcept;
-  #endif
 
     [[nodiscard]] const SHTransform&      GetTransform        ()  const noexcept;
     [[nodiscard]] const SHVec3&           GetPosition         ()  const noexcept;
@@ -94,9 +92,7 @@ namespace SHADE
     /* Setter Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
-  #ifdef SHEDITOR
     void SetDebugDrawState  (bool state)                          noexcept;
-  #endif
 
     void SetRigidBody       (SHRigidBody* rb)                     noexcept;
 
@@ -161,9 +157,7 @@ namespace SHADE
     EntityID                  entityID;
     uint32_t                  shapeIDCounter;  // This increments everytime a shape is added to differentiate shapes.
 
-  #ifdef SHEDITOR
     bool                      debugDraw;
-  #endif
 
     SHRigidBody*              rigidBody;
     SHCollisionShapeFactory*  shapeFactory;

SHADE_Engine/src/Physics/Dynamics/SHPhysicsWorld.cpp

@@ -136,6 +136,8 @@ namespace SHADE
       {
         rigidBody.collider->SetPosition(rigidBody.motionState.position);
         // TODO: Sync orientations
+
+        rigidBody.collider->RecomputeShapes();
       }
     }
 

SHADE_Engine/src/Physics/Interface/SHColliderComponent.cpp

@@ -54,7 +54,14 @@ namespace SHADE
     return collider->GetCollisionShape(index);
   }
 
+  bool SHColliderComponent::GetDebugDrawState() const noexcept
+  {
+    if (!collider)
+      return false;
 
+    return collider->GetDebugDrawState();
+  }
+  
   /*-----------------------------------------------------------------------------------*/
   /* Setter Function Definitions                                                       */
   /*-----------------------------------------------------------------------------------*/
@@ -64,6 +71,13 @@ namespace SHADE
     collider = c;
   }
 
+  void SHColliderComponent::SetDebugDrawState(bool state) noexcept
+  {
+    if (collider)
+      collider->SetDebugDrawState(state);
+  }
+
+
 } // namespace SHADE
 
 RTTR_REGISTRATION
@@ -71,5 +85,6 @@ RTTR_REGISTRATION
   using namespace rttr;
   using namespace SHADE;
 
-  registration::class_<SHColliderComponent>("Collider Component");
+  registration::class_<SHColliderComponent>("Collider Component")
-}
+    .property("Is Debug Drawing", &SHColliderComponent::GetDebugDrawState, &SHColliderComponent::SetDebugDrawState);
+} 

SHADE_Engine/src/Physics/Interface/SHColliderComponent.h

@@ -58,11 +58,19 @@ namespace SHADE
     [[nodiscard]] const SHCollider::CollisionShapes* const  GetCollisionShapes()          const noexcept;
     [[nodiscard]] SHCollisionShape* const                   GetCollisionShape (int index) const;
 
+    // Required for serialisation
+
+    [[nodiscard]] bool                                      GetDebugDrawState ()          const noexcept;
+
     /*---------------------------------------------------------------------------------*/
     /* Setter Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    void SetCollider(SHCollider* c) noexcept;
+    void SetCollider        (SHCollider* c) noexcept;
+
+    // Required for serialisation
+
+    void SetDebugDrawState  (bool state)    noexcept;
 
   private:
     /*---------------------------------------------------------------------------------*/

SHADE_Engine/src/Physics/SHPhysicsEvents.h

@@ -13,7 +13,6 @@
 // Project Headers
 #include "Collision/CollisionShapes/SHCollisionShape.h"
 
-
 namespace SHADE
 {
   /*-----------------------------------------------------------------------------------*/
@@ -28,9 +27,16 @@ namespace SHADE
   };
 
   struct SHPhysicsColliderRemovedEvent
+  {
+    EntityID                entityID;
+    SHCollisionShape::Type  colliderType;
+    int                     colliderIndex;
+  };
+
+  struct SHColliderOnDebugDrawEvent
   {
     EntityID  entityID;
-    int       colliderIndex;
+    bool      debugDrawState;
   };
 
 

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

@@ -1,7 +1,7 @@
 /****************************************************************************************
- * \file      SHPhysicsDebugDrawRoutine.cpp
+ * \file      SHPhysicsDebugDrawRutine.cpp
  * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for the Physics Debug-Draw Routine
+ * \brief     Implementation for the Physics Debut Draw Routine
  *
  * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
  *            disclosure of this file or its contents without the prior written consent
@@ -11,14 +11,13 @@
 #include <SHpch.h>
 
 // Primary Header
-#include "Physics/System/SHPhysicsSystem.h"
+#include "Physics/System/SHPhysicsDebugDrawSystem.h"
 
 // Project Headers
 #include "ECS_Base/Managers/SHSystemManager.h"
 #include "Graphics/MiddleEnd/Interface/SHDebugDrawSystem.h"
-
+#include "Math/Transform/SHTransformComponent.h"
-#include "Scripting/SHScriptEngine.h"
+#include "Physics/System/SHPhysicsSystem.h"
-
 
 namespace SHADE
 {
@@ -26,35 +25,64 @@ namespace SHADE
   /* Constructors & Destructor Definitions                                             */
   /*-----------------------------------------------------------------------------------*/
 
-  SHPhysicsSystem::PhysicsDebugDraw::PhysicsDebugDraw()
+  SHPhysicsDebugDrawSystem::PhysicsDebugDraw::PhysicsDebugDraw()
-  : SHSystemRoutine { "Physics Debug Draw", false }
+  : SHSystemRoutine { "Physics Debug-Draw", true }
   {}
 
   /*-----------------------------------------------------------------------------------*/
   /* Public Function Member Definitions                                                */
   /*-----------------------------------------------------------------------------------*/
 
-  void SHPhysicsSystem::PhysicsDebugDraw::Execute(double) noexcept
+  void SHPhysicsDebugDrawSystem::PhysicsDebugDraw::Execute(double) noexcept
   {
-    auto* physicsSystem = reinterpret_cast<SHPhysicsSystem*>(GetSystem());
+    auto* physicsDebugDrawSystem = reinterpret_cast<SHPhysicsDebugDrawSystem*>(GetSystem());
-    
+
-    // Get debug drawing system
+    if (!physicsDebugDrawSystem->GetFlagState(DebugDrawFlags::ACTIVE))
-    auto* debugDrawSystem = SHSystemManager::GetSystem<SHDebugDrawSystem>();
-    if (!debugDrawSystem)
-    {
-      SHLOG_ERROR("Debug draw system unavailable! Colliders cannot be drawn!")
       return;
+
+    auto* physicsSystem   = SHSystemManager::GetSystem<SHPhysicsSystem>();
+    auto* debugDrawSystem = SHSystemManager::GetSystem<SHDebugDrawSystem>();
+
+    const bool DRAW_COLLIDERS   = physicsDebugDrawSystem->GetFlagState(DebugDrawFlags::COLLIDERS);
+    const bool DRAW_CONTACTS    = physicsDebugDrawSystem->GetFlagState(DebugDrawFlags::CONTACTS);
+    const bool DRAW_RAYCASTS    = physicsDebugDrawSystem->GetFlagState(DebugDrawFlags::RAYCASTS);
+    const bool DRAW_BROADPHASE  = physicsDebugDrawSystem->GetFlagState(DebugDrawFlags::BROADPHASE);
+
+    // If draw all colliders is active, get all colliders from the dense set and draw.
+    // Else we check if any colliders have been flagged for drawing.
+    if (DRAW_COLLIDERS)
+    {
+      const auto& COLLIDER_COMPONENT_DENSE = SHComponentManager::GetDense<SHColliderComponent>();
+      for (const auto& COLLIDER_COMPONENT : COLLIDER_COMPONENT_DENSE)
+      {
+        const auto* COLLIDER = COLLIDER_COMPONENT.GetCollider();
+        drawCollider(debugDrawSystem, *COLLIDER);
+      }
+    }
+    else if (!physicsDebugDrawSystem->collidersToDraw.empty())
+    {
+      for (const auto EID : physicsDebugDrawSystem->collidersToDraw)
+      {
+        const auto* COLLIDER = SHComponentManager::GetComponent<SHColliderComponent>(EID)->GetCollider();
+        drawCollider(debugDrawSystem, *COLLIDER);
+      }
     }
 
-    //SHPhysicsDebugDraw& physicsDebugRenderer = physicsSystem->debugRenderer;
+    if (DRAW_CONTACTS)
+    {
+      // TODO
+    }
 
-    //if (!physicsDebugRenderer.GetDebugDrawState())
+    if (DRAW_RAYCASTS)
-    //  return;
+    {
+      // TODO
+      physicsDebugDrawSystem->raysToDraw.clear();
+    }
 
-    //// Draw colliders
+    if (DRAW_BROADPHASE)
-    //if (physicsDebugRenderer.GetDrawSpecificCollidersState())
+    {
-    //  physicsDebugRenderer.DrawSpecificColliders(debugDrawSystem);
+      // TODO
-    //else if (physicsDebugRenderer.GetDrawAllCollidersState())
+    }
-    //  physicsDebugRenderer.DrawAllColliders(debugDrawSystem);
   }
-}
+
+} // namespace SHADE

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

@@ -15,7 +15,6 @@
 
 // Project Headers
 #include "ECS_Base/Managers/SHSystemManager.h"
-#include "Graphics/MiddleEnd/Interface/SHDebugDrawSystem.h"
 #include "Math/Transform/SHTransformComponent.h"
 #include "Scripting/SHScriptEngine.h"
 

SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.cpp

@@ -0,0 +1,158 @@
+/****************************************************************************************
+ * \file      SHPhysicsDebugDrawSystem.cpp
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Implementation for the Physics Debug Draw System
+ *
+ * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
+ *            disclosure of this file or its contents without the prior written consent
+ *            of DigiPen Institute of Technology is prohibited.
+****************************************************************************************/
+
+#include <SHpch.h>
+
+// Primary Header
+#include "SHPhysicsDebugDrawSystem.h"
+
+// Project Header
+#include "ECS_Base/Managers/SHSystemManager.h"
+#include "Math/Transform/SHTransformComponent.h"
+#include "Physics/SHPhysicsEvents.h"
+#include "Tools/Utilities/SHUtilities.h"
+
+namespace SHADE
+{
+  const SHColour SHPhysicsDebugDrawSystem::DEBUG_DRAW_COLOURS[SHUtilities::ConvertEnum(Colours::COUNT)]
+  {
+    SHColour::GREEN   //  Colliders
+  , SHColour::PURPLE  //  Triggers
+  , SHColour::RED     //  Contacts
+  , SHColour::ORANGE  //  Raycasts
+  , SHColour::CYAN    //  Broadphase
+  };
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Constructors & Destructor Definitions                                             */
+  /*-----------------------------------------------------------------------------------*/
+
+  SHPhysicsDebugDrawSystem::SHPhysicsDebugDrawSystem() noexcept
+  : flags { 0 }
+  {
+    collidersToDraw.clear();
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Getter Function Definitions                                                       */
+  /*-----------------------------------------------------------------------------------*/
+
+  bool SHPhysicsDebugDrawSystem::GetFlagState(DebugDrawFlags flag) const noexcept
+  {
+    const uint8_t ENUM_VALUE = SHUtilities::ConvertEnum(flag);
+    return flags & ENUM_VALUE;
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Setter Function Definitions                                                       */
+  /*-----------------------------------------------------------------------------------*/
+
+  void SHPhysicsDebugDrawSystem::SetFlagState(DebugDrawFlags flag, bool state) noexcept
+  {
+    const uint8_t ENUM_VALUE = SHUtilities::ConvertEnum(flag);
+    state ? flags |= ENUM_VALUE : flags &= ~ENUM_VALUE;
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Public Function Member Definitions                                                */
+  /*-----------------------------------------------------------------------------------*/
+
+  void SHPhysicsDebugDrawSystem::Init()
+  {
+    SystemFamily::GetID<SHPhysicsDebugDrawSystem>();
+
+    // Register collider draw event
+    const std::shared_ptr EVENT_RECEIVER      = std::make_shared<SHEventReceiverSpec<SHPhysicsDebugDrawSystem>>(this, &SHPhysicsDebugDrawSystem::onColliderDraw);
+    const ReceiverPtr     EVENT_RECEIVER_PTR  = std::dynamic_pointer_cast<SHEventReceiver>(EVENT_RECEIVER);
+
+    SHEventManager::SubscribeTo(SH_PHYSICS_COLLIDER_DRAW_EVENT, EVENT_RECEIVER_PTR);
+  }
+
+  void SHPhysicsDebugDrawSystem::Exit()
+  {
+    
+  }
+
+  void SHPhysicsDebugDrawSystem::AddRaycast(const SHRay& ray, const SHPhysicsRaycastResult& result) noexcept
+  {
+    
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Private Function Member Definitions                                               */
+  /*-----------------------------------------------------------------------------------*/
+
+  SHEventHandle SHPhysicsDebugDrawSystem::onColliderDraw(SHEventPtr onColliderDrawEvent)
+  {
+    const auto& EVENT_DATA = reinterpret_cast<const SHEventSpec<SHColliderOnDebugDrawEvent>*>(onColliderDrawEvent.get())->data;
+
+    if (EVENT_DATA->debugDrawState)
+    {
+      if (collidersToDraw.empty())
+        SetFlagState(DebugDrawFlags::ACTIVE, true);
+
+      collidersToDraw.emplace(EVENT_DATA->entityID);
+    }
+    else
+    {
+      collidersToDraw.erase(EVENT_DATA->entityID);
+
+      if (collidersToDraw.empty())
+        SetFlagState(DebugDrawFlags::ACTIVE, false);
+    }
+
+    return onColliderDrawEvent.get()->handle;
+  }
+
+  void SHPhysicsDebugDrawSystem::drawCollider(SHDebugDrawSystem* debugDrawSystem, const SHCollider& collider) noexcept
+  {
+    for (const auto* SHAPE : collider.GetCollisionShapes())
+    {
+      switch (SHAPE->GetType())
+      {
+        case SHCollisionShape::Type::SPHERE:
+        {
+          const SHSphereCollisionShape* SPHERE = dynamic_cast<const SHSphereCollisionShape*>(SHAPE);
+          drawSphere(debugDrawSystem, *SPHERE);
+
+          break;
+        }
+        case SHCollisionShape::Type::BOX:
+        {
+          break;
+        }
+        case SHCollisionShape::Type::CAPSULE:
+        {
+          break;
+        }
+        default: break;
+      }
+    }
+  }
+
+  void SHPhysicsDebugDrawSystem::drawSphere(SHDebugDrawSystem* debugDrawSystem, const SHSphereCollisionShape& sphere) noexcept
+  {
+    const SHColour& DRAW_COLOUR = DEBUG_DRAW_COLOURS[SHUtilities::ConvertEnum(sphere.IsTrigger() ? Colours::TRIGGER : Colours::COLLIDER)];
+    debugDrawSystem->DrawSphere(DRAW_COLOUR, sphere.GetCenter(), sphere.GetWorldRadius());
+  }
+
+  void SHPhysicsDebugDrawSystem::drawContact(SHDebugDrawSystem* debugDrawSystem, const DebugDrawInfo::Contact& contactInfo) noexcept
+  {
+    static const SHColour& DRAW_COLOUR = DEBUG_DRAW_COLOURS[SHUtilities::ConvertEnum(Colours::CONTACT)];
+  }
+
+  void SHPhysicsDebugDrawSystem::drawRaycast(SHDebugDrawSystem* debugDrawSystem, const DebugDrawInfo::Raycast& raycastInfo) noexcept
+  {
+    static const SHColour& DRAW_COLOUR = DEBUG_DRAW_COLOURS[SHUtilities::ConvertEnum(Colours::RAYCAST)];
+  }
+
+  
+
+} // namespace SHADE

SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.h

@@ -0,0 +1,150 @@
+/****************************************************************************************
+ * \file      SHPhysicsDebugDrawSystem.h
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Interface for the Physics Debug Draw System
+ *
+ * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
+ *            disclosure of this file or its contents without the prior written consent
+ *            of DigiPen Institute of Technology is prohibited.
+****************************************************************************************/
+
+#pragma once
+
+#include <unordered_set>
+
+// Project Headers
+#include "ECS_Base/Entity/SHEntity.h"
+#include "ECS_Base/System/SHSystem.h"
+#include "ECS_Base/System/SHSystemRoutine.h"
+#include "Events/SHEvent.h"
+#include "Graphics/MiddleEnd/Interface/SHDebugDrawSystem.h"
+#include "Physics/Collision/SHCollider.h"
+#include "Physics/Collision/SHPhysicsRaycastResult.h"
+#include "Physics/Collision/CollisionShapes/SHSphereCollisionShape.h"
+
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Type Definitions                                                                  */
+  /*-----------------------------------------------------------------------------------*/
+
+  class SH_API SHPhysicsDebugDrawSystem final : public SHSystem
+  {
+  public:
+
+    enum class DebugDrawFlags : uint8_t
+    {
+      ACTIVE      = 0x0001
+    , COLLIDERS   = 0x0002
+    , CONTACTS    = 0x0004
+    , RAYCASTS    = 0x0008
+    , BROADPHASE  = 0x0010
+    };
+
+    /*---------------------------------------------------------------------------------*/
+    /* Constructors & Destructor                                                       */
+    /*---------------------------------------------------------------------------------*/
+
+    SHPhysicsDebugDrawSystem () noexcept;
+    ~SHPhysicsDebugDrawSystem() noexcept = default;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Getter Functions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    [[nodiscard]] bool GetFlagState (DebugDrawFlags flag) const noexcept;
+    /*---------------------------------------------------------------------------------*/
+    /* Setter Functions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    void SetFlagState (DebugDrawFlags flag, bool state) noexcept;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Member Functions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    void  Init      () override;
+    void  Exit      () override;
+
+    void AddRaycast (const SHRay& ray, const SHPhysicsRaycastResult& result) noexcept;
+
+    /*---------------------------------------------------------------------------------*/
+    /* System Routines                                                                 */
+    /*---------------------------------------------------------------------------------*/
+
+    /**
+     * @brief
+     * If the editor is enabled, this routine invokes debug drawing for colliders and collision information.
+    */
+    class SH_API PhysicsDebugDraw final : public SHSystemRoutine
+    {
+    public:
+      PhysicsDebugDraw();
+      void Execute(double dt) noexcept override;
+    };
+
+  private:
+    /*---------------------------------------------------------------------------------*/
+    /* Type Definitions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    union DebugDrawInfo
+    {
+      struct Contact
+      {
+        SHVec3 worldPos;
+        SHVec3 normal;
+      } contact;
+
+      struct Raycast
+      {
+        SHVec3 start;
+        SHVec3 end;
+      } raycast;
+    };
+
+    using Colliders = std::unordered_set<EntityID>;
+    using Raycasts  = std::vector<DebugDrawInfo>;
+    using Contacts  = std::vector<DebugDrawInfo>;
+
+    enum class Colours
+    {
+      COLLIDER
+    , TRIGGER
+    , CONTACT
+    , RAYCAST
+    , BROADPHASE
+
+    , COUNT
+    };
+
+    /*---------------------------------------------------------------------------------*/
+    /* Data Members                                                                    */
+    /*---------------------------------------------------------------------------------*/
+
+    static const SHColour DEBUG_DRAW_COLOURS[static_cast<int>(Colours::COUNT)];
+
+    // 0 0 0 drawBroadphase drawRaycasts drawContacts drawAllColliders debugDrawActive
+    uint8_t   flags;
+
+    Colliders collidersToDraw;
+    Raycasts  raysToDraw;
+    Contacts  contactToDraw;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Member Functions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    SHEventHandle onColliderDraw(SHEventPtr onColliderDrawEvent);
+
+    static void   drawCollider  (SHDebugDrawSystem* debugDrawSystem, const SHCollider& collider)                noexcept;
+    static void   drawSphere    (SHDebugDrawSystem* debugDrawSystem, const SHSphereCollisionShape& sphere)      noexcept;
+
+    static void   drawContact   (SHDebugDrawSystem* debugDrawSystem, const DebugDrawInfo::Contact& contactInfo) noexcept;
+    static void   drawRaycast   (SHDebugDrawSystem* debugDrawSystem, const DebugDrawInfo::Raycast& raycastInfo) noexcept;
+    
+  };
+
+  
+} // namespace SHADE

SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp

@@ -110,13 +110,12 @@ namespace SHADE
 
   void SHPhysicsSystem::Init()
   {
+    // TODO(Diren): Consider using a non-static collision tag matrix.
     // Initialise collision tags
     std::filesystem::path defaultCollisionTagNameFilePath { ASSET_ROOT };
     defaultCollisionTagNameFilePath.append("CollisionTags.SHConfig");
     SHCollisionTagMatrix::Init(defaultCollisionTagNameFilePath);
 
-    // Link Managers to system
-
     // Register Events
     for (int i = 0; i < NUM_EVENT_FUNCTIONS; ++i)
     {

SHADE_Engine/src/Physics/System/SHPhysicsSystem.h

@@ -27,6 +27,10 @@ namespace SHADE
   /* Type Definitions                                                                  */
   /*-----------------------------------------------------------------------------------*/
 
+  /**
+   * @brief
+   * Encapsulates a system for running and managing the physics simulation of the engine.
+  */
   class SH_API SHPhysicsSystem final  : public SHSystem
   {
   public:
@@ -41,23 +45,27 @@ namespace SHADE
     /* Getter Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    [[nodiscard]] double GetFixedUpdateRate()  const noexcept;
+    [[nodiscard]] double GetFixedUpdateRate()   const noexcept;
-    [[nodiscard]] double GetFixedDT()  const noexcept;
+    [[nodiscard]] double GetFixedDT()           const noexcept;
 
     /*---------------------------------------------------------------------------------*/
     /* Setter Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
     void  SetFixedUpdateRate(double fixedUpdateRate)  noexcept;
-    void  SetFixedDT(double fixedDt)          noexcept;
+    void  SetFixedDT(double fixedDt)                  noexcept;
 
     /*---------------------------------------------------------------------------------*/
-    /* Function Members                                                                */
+    /* Member Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
+    /**
+     * @brief
+     * - Initialises the static collision tag matrix.
+     * - Registers the system to catch specific events.
+    */
     void  Init() override;
     void  Exit() override;
-
     void  ForceUpdate();
 
     /*---------------------------------------------------------------------------------*/
@@ -104,21 +112,6 @@ namespace SHADE
       void Execute(double dt) noexcept override;
     };
 
-  #ifdef SHEDITOR
-    /**
-     * @brief
-     * If the editor is enabled, this routine invokes debug drawing for colliders.
-     * and collision information.
-    */
-    class SH_API PhysicsDebugDraw final : public SHSystemRoutine
-    {
-    public:
-      PhysicsDebugDraw();
-      void Execute(double dt) noexcept override;
-    };
-
-  #endif
-
   private:
     /*---------------------------------------------------------------------------------*/
     /* Type Definitions                                                                */

SHADE_Engine/src/Serialization/SHYAMLConverters.h

@@ -204,10 +204,15 @@ namespace YAML
   template<>
   struct convert<SHColliderComponent>
   {
+    static constexpr const char* DrawColliders = "DrawColliders";
     static constexpr const char* Colliders = "Colliders";
+
     static Node encode(SHColliderComponent& rhs)
     {
       Node node, collidersNode;
+
+      node[DrawColliders] = rhs.GetDebugDrawState();
+
       int const numColliders = static_cast<int>(rhs.GetCollisionShapes()->size());
       for (int i = 0; i < numColliders; ++i)
       {
@@ -221,6 +226,9 @@ namespace YAML
     }
     static bool decode(Node const& node, SHColliderComponent& rhs)
     {
+      if (node[DrawColliders].IsDefined())
+        rhs.SetDebugDrawState(node[DrawColliders].as<bool>());
+
       if (node[Colliders].IsDefined())
       {
         int numColliders{};