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FIxed debug draw for offset colliders

This commit is contained in:
Diren D Bharwani 2022-11-17 12:58:01 +08:00
parent 360c55fa2b
commit b3fbfce56f
4 changed files with 62 additions and 36 deletions
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2
SHADE_Engine/src/Math/Geometry/SHBox.cpp
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@ -1,5 +1,5 @@
/**************************************************************************************** /****************************************************************************************
* \file SHBoundingBox.cpp * \file SHBox.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520 * \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a 3-Dimensional Axis Aligned Bounding Box * \brief Implementation for a 3-Dimensional Axis Aligned Bounding Box
* *

14
SHADE_Engine/src/Math/Geometry/SHBox.h
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@ -1,5 +1,5 @@
/**************************************************************************************** /****************************************************************************************
* \file SHBoundingBox.h * \file SHBox.h
* \author Diren D Bharwani, diren.dbharwani, 390002520 * \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a 3-Dimensional Axis Aligned Bounding Box * \brief Interface for a 3-Dimensional Axis Aligned Bounding Box
* *
@ -79,17 +79,17 @@ namespace SHADE
[[nodiscard]] bool TestPoint (const SHVec3& point) noexcept override; [[nodiscard]] bool TestPoint (const SHVec3& point) noexcept override;
[[nodiscard]] bool Raycast (const SHRay& ray, float& distance) noexcept override; [[nodiscard]] bool Raycast (const SHRay& ray, float& distance) noexcept override;
[[nodiscard]] bool Contains (const SHBox& rhs) const noexcept; [[nodiscard]] bool Contains (const SHBox& rhs) const noexcept;
[[nodiscard]] float Volume () const noexcept; [[nodiscard]] float Volume () const noexcept;
[[nodiscard]] float SurfaceArea () const noexcept; [[nodiscard]] float SurfaceArea () const noexcept;
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
/* Static Function Members */ /* Static Function Members */
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
[[nodiscard]] static SHBox Combine (const SHBox& lhs, const SHBox& rhs) noexcept; [[nodiscard]] static SHBox Combine (const SHBox& lhs, const SHBox& rhs) noexcept;
[[nodiscard]] static bool Intersect (const SHBox& lhs, const SHBox& rhs) noexcept; [[nodiscard]] static bool Intersect (const SHBox& lhs, const SHBox& rhs) noexcept;
[[nodiscard]] static SHBox BuildFromBoxes (const SHBox* boxes, size_t numBoxes) noexcept; [[nodiscard]] static SHBox BuildFromBoxes (const SHBox* boxes, size_t numBoxes) noexcept;
[[nodiscard]] static SHBox 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: private:

57
SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.cpp
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@ -24,7 +24,7 @@ namespace SHADE
/* Static Data Member Definitions */ /* Static Data Member Definitions */
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/
const SHPhysicsDebugDrawSystem::DebugDrawFunction SHPhysicsDebugDrawSystem::drawFunctions[SHPhysicsDebugDrawSystem::NUM_FLAGS] = const SHPhysicsDebugDrawSystem::DebugDrawFunction SHPhysicsDebugDrawSystem::drawFunctions[NUM_FLAGS] =
{ {
SHPhysicsDebugDrawSystem::drawColliders SHPhysicsDebugDrawSystem::drawColliders
, SHPhysicsDebugDrawSystem::drawColliderAABBs , SHPhysicsDebugDrawSystem::drawColliderAABBs
@ -33,6 +33,8 @@ namespace SHADE
, SHPhysicsDebugDrawSystem::drawContactNormals , SHPhysicsDebugDrawSystem::drawContactNormals
}; };
SHVec3 SHPhysicsDebugDrawSystem::boxVertices[NUM_BOX_VERTICES];
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */ /* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/
@ -42,7 +44,7 @@ namespace SHADE
, physicsSystem { nullptr } , physicsSystem { nullptr }
, rp3dDebugRenderer { nullptr } , rp3dDebugRenderer { nullptr }
{ {
debugColours[SHUtilities::ConvertEnum(DebugDrawFlags::COLLIDER)] = debugColours[SHUtilities::ConvertEnum(DebugDrawFlags::COLLIDER)] = SHColour::GREEN;
debugColours[SHUtilities::ConvertEnum(DebugDrawFlags::COLLIDER_AABB)] = SHColour::YELLOW; debugColours[SHUtilities::ConvertEnum(DebugDrawFlags::COLLIDER_AABB)] = SHColour::YELLOW;
debugColours[SHUtilities::ConvertEnum(DebugDrawFlags::BROAD_PHASE_AABB)] = SHColour::CYAN; debugColours[SHUtilities::ConvertEnum(DebugDrawFlags::BROAD_PHASE_AABB)] = SHColour::CYAN;
debugColours[SHUtilities::ConvertEnum(DebugDrawFlags::CONTACT_POINTS)] = SHColour::RED; debugColours[SHUtilities::ConvertEnum(DebugDrawFlags::CONTACT_POINTS)] = SHColour::RED;
@ -95,6 +97,9 @@ namespace SHADE
SHASSERT(physicsSystem == nullptr, "Non-existent physics system attached to the physics debug draw system!") SHASSERT(physicsSystem == nullptr, "Non-existent physics system attached to the physics debug draw system!")
physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>(); physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
// Generate shapes
generateBox();
} }
void SHPhysicsDebugDrawSystem::Exit() void SHPhysicsDebugDrawSystem::Exit()
@ -159,21 +164,20 @@ namespace SHADE
} }
void SHPhysicsDebugDrawSystem::generateBox() noexcept
{
boxVertices[0] = { 0.5f, 0.5f, -0.5f }; // TOP_RIGHT_BACK
boxVertices[1] = { -0.5f, 0.5f, -0.5f }; // TOP_LEFT_BACK
boxVertices[2] = { 0.5f, -0.5f, -0.5f }; // BTM_RIGHT_BACK
boxVertices[3] = { -0.5f, -0.5f, -0.5f }; // BTM_LEFT_BACK
boxVertices[4] = { 0.5f, 0.5f, 0.5f }; // TOP_RIGHT_FRONT
boxVertices[5] = { -0.5f, 0.5f, 0.5f }; // TOP_LEFT_FRONT
boxVertices[6] = { 0.5f, -0.5f, 0.5f }; // BTM_RIGHT_FRONT
boxVertices[7] = { -0.5f, -0.5f, 0.5f }; // BTM_LEFT_FRONT
}
void SHPhysicsDebugDrawSystem::debugDrawBox(const SHColliderComponent& colliderComponent, const SHCollisionShape& collisionShape) noexcept void SHPhysicsDebugDrawSystem::debugDrawBox(const SHColliderComponent& colliderComponent, const SHCollisionShape& collisionShape) noexcept
{ {
static constexpr uint32_t NUM_BOX_VERTICES = 8;
static const SHVec3 boxVertices[NUM_BOX_VERTICES]
{
{ 0.5f, 0.5f, -0.5f } // TOP_RIGHT_BACK
, { -0.5f, 0.5f, -0.5f } // TOP_LEFT_BACK
, { 0.5f, -0.5f, -0.5f } // BTM_RIGHT_BACK
, { -0.5f, -0.5f, -0.5f } // BTM_LEFT_BACK
, { 0.5f, 0.5f, 0.5f } // TOP_RIGHT_FRONT
, { -0.5f, 0.5f, 0.5f } // TOP_LEFT_FRONT
, { 0.5f, -0.5f, 0.5f } // BTM_RIGHT_FRONT
, { -0.5f, -0.5f, 0.5f } // BTM_LEFT_FRONT
};
auto* debugDrawSystem = SHSystemManager::GetSystem<SHDebugDrawSystem>(); auto* debugDrawSystem = SHSystemManager::GetSystem<SHDebugDrawSystem>();
if (debugDrawSystem == nullptr) if (debugDrawSystem == nullptr)
{ {
@ -184,10 +188,16 @@ namespace SHADE
auto* BOX = reinterpret_cast<const SHBox*>(collisionShape.GetShape()); auto* BOX = reinterpret_cast<const SHBox*>(collisionShape.GetShape());
// Calculate final position & orientation // Calculate final position & orientation
const SHVec3 FINAL_POS = colliderComponent.GetPosition() + collisionShape.GetPositionOffset(); const SHVec3 COLLIDER_POS = colliderComponent.GetPosition();
const SHQuaternion FINAL_ROT = colliderComponent.GetOrientation() * SHQuaternion::FromEuler(collisionShape.GetRotationOffset()); const SHVec3 BOX_POS = collisionShape.GetPositionOffset();
const SHQuaternion COLLIDER_ROT = colliderComponent.GetOrientation();
const SHQuaternion BOX_ROT = SHQuaternion::FromEuler(collisionShape.GetRotationOffset());
const SHMatrix BOX_TRS = SHMatrix::Scale(BOX->GetWorldExtents() * 2.0f) * SHMatrix::Rotate(FINAL_ROT) * SHMatrix::Translate(FINAL_POS);
const SHMatrix COLLIDER_TR = SHMatrix::Rotate(COLLIDER_ROT) * SHMatrix::Translate(COLLIDER_POS);
const SHMatrix BOX_TRS = SHMatrix::Scale(BOX->GetWorldExtents() * 2.0f) * SHMatrix::Rotate(BOX_ROT) * SHMatrix::Translate(BOX_POS);
const SHMatrix FINAL_TRS = BOX_TRS * COLLIDER_TR;
const SHColour COLLIDER_COLOUR = collisionShape.IsTrigger() ? SHColour::PURPLE : SHColour::GREEN; const SHColour COLLIDER_COLOUR = collisionShape.IsTrigger() ? SHColour::PURPLE : SHColour::GREEN;
@ -197,8 +207,8 @@ namespace SHADE
const uint32_t IDX1 = i; const uint32_t IDX1 = i;
const uint32_t IDX2 = i + NUM_BOX_VERTICES / 2; const uint32_t IDX2 = i + NUM_BOX_VERTICES / 2;
transformedVertices[IDX1] = SHVec3::Transform(boxVertices[IDX1], BOX_TRS); transformedVertices[IDX1] = SHVec3::Transform(boxVertices[IDX1], FINAL_TRS);
transformedVertices[IDX2] = SHVec3::Transform(boxVertices[IDX2], BOX_TRS); transformedVertices[IDX2] = SHVec3::Transform(boxVertices[IDX2], FINAL_TRS);
// Draw 4 line to connect the quads // Draw 4 line to connect the quads
debugDrawSystem->DrawLine(COLLIDER_COLOUR, transformedVertices[IDX1], transformedVertices[IDX2]); debugDrawSystem->DrawLine(COLLIDER_COLOUR, transformedVertices[IDX1], transformedVertices[IDX2]);
@ -207,6 +217,7 @@ namespace SHADE
// A, B, C, D // A, B, C, D
std::array backQuad { transformedVertices[0], transformedVertices[1], transformedVertices[3], transformedVertices[2] }; std::array backQuad { transformedVertices[0], transformedVertices[1], transformedVertices[3], transformedVertices[2] };
debugDrawSystem->DrawPoly(COLLIDER_COLOUR, backQuad.begin(), backQuad.end()); debugDrawSystem->DrawPoly(COLLIDER_COLOUR, backQuad.begin(), backQuad.end());
// E, F, G, H // E, F, G, H
std::array frontQuad { transformedVertices[4], transformedVertices[5], transformedVertices[7], transformedVertices[6] }; std::array frontQuad { transformedVertices[4], transformedVertices[5], transformedVertices[7], transformedVertices[6] };
debugDrawSystem->DrawPoly(COLLIDER_COLOUR, frontQuad.begin(), frontQuad.end()); debugDrawSystem->DrawPoly(COLLIDER_COLOUR, frontQuad.begin(), frontQuad.end());
@ -226,8 +237,10 @@ namespace SHADE
const SHColour COLLIDER_COLOUR = collisionShape.IsTrigger() ? SHColour::PURPLE : SHColour::GREEN; const SHColour COLLIDER_COLOUR = collisionShape.IsTrigger() ? SHColour::PURPLE : SHColour::GREEN;
// Calculate final position & orientation // Calculate final position & orientation
const SHVec3 FINAL_POS = colliderComponent.GetPosition() + collisionShape.GetPositionOffset(); const SHQuaternion FINAL_ROT = colliderComponent.GetOrientation() * SHQuaternion::FromEuler(collisionShape.GetRotationOffset());
debugDrawSystem->DrawSphere(COLLIDER_COLOUR, FINAL_POS, SPHERE->GetWorldRadius()); const SHMatrix TR = SHMatrix::Rotate(FINAL_ROT) * SHMatrix::Translate(colliderComponent.GetPosition());
debugDrawSystem->DrawSphere(COLLIDER_COLOUR, SHVec3::Transform(collisionShape.GetPositionOffset(), TR), SPHERE->GetWorldRadius());
} }
} // namespace SHADE } // namespace SHADE

25
SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.h
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@ -97,25 +97,38 @@ namespace SHADE
/* Data Members */ /* Data Members */
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
static constexpr int NUM_FLAGS = SHUtilities::ConvertEnum(DebugDrawFlags::NUM_FLAGS); static constexpr int NUM_FLAGS = SHUtilities::ConvertEnum(DebugDrawFlags::NUM_FLAGS);
static const DebugDrawFunction drawFunctions[NUM_FLAGS]; static const DebugDrawFunction drawFunctions[NUM_FLAGS];
uint8_t debugDrawFlags; // SHAPES INFO
SHPhysicsSystem* physicsSystem;
rp3d::DebugRenderer* rp3dDebugRenderer; static constexpr size_t NUM_BOX_VERTICES = 8;
SHColour debugColours[NUM_FLAGS]; static SHVec3 boxVertices[NUM_BOX_VERTICES];
uint8_t debugDrawFlags;
SHPhysicsSystem* physicsSystem;
rp3d::DebugRenderer* rp3dDebugRenderer;
SHColour debugColours[NUM_FLAGS];
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
/* Function Members */ /* Function Members */
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
// Generic Draw Functions
static void drawColliders (rp3d::DebugRenderer* debugRenderer) noexcept; static void drawColliders (rp3d::DebugRenderer* debugRenderer) noexcept;
static void drawColliderAABBs (rp3d::DebugRenderer* debugRenderer) noexcept; static void drawColliderAABBs (rp3d::DebugRenderer* debugRenderer) noexcept;
static void drawBroadPhaseAABBs (rp3d::DebugRenderer* debugRenderer) noexcept; static void drawBroadPhaseAABBs (rp3d::DebugRenderer* debugRenderer) noexcept;
static void drawContactPoints (rp3d::DebugRenderer* debugRenderer) noexcept; static void drawContactPoints (rp3d::DebugRenderer* debugRenderer) noexcept;
static void drawContactNormals (rp3d::DebugRenderer* debugRenderer) noexcept; static void drawContactNormals (rp3d::DebugRenderer* debugRenderer) noexcept;
// Shape Generation Functions
static void generateBox () noexcept;
// Shape Draw Functions
static void debugDrawBox (const SHColliderComponent& colliderComponent, const SHCollisionShape& collisionShape) noexcept; static void debugDrawBox (const SHColliderComponent& colliderComponent, const SHCollisionShape& collisionShape) noexcept;
static void debugDrawSphere (const SHColliderComponent& colliderComponent, const SHCollisionShape& collisionShape) noexcept; static void debugDrawSphere (const SHColliderComponent& colliderComponent, const SHCollisionShape& collisionShape) noexcept;
}; };