Added Collision and Trigger Events
This commit is contained in:
Diren D Bharwani
parent
ea516189d2
commit
b7abfde310
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@ -99,6 +99,16 @@ namespace SHADE
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return 0;
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}
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const SHPhysicsSystem::CollisionEvents& SHPhysicsSystem::GetCollisionInfo() const noexcept
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{
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return collisionInfo;
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}
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const SHPhysicsSystem::CollisionEvents& SHPhysicsSystem::GetTriggerInfo() const noexcept
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{
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return triggerInfo;
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}
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/*-----------------------------------------------------------------------------------*/
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/* Setter Function Definitions */
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/*-----------------------------------------------------------------------------------*/
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@ -187,6 +197,7 @@ namespace SHADE
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settings.defaultBounciness = 0.0f;
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world = factory.createPhysicsWorld(settings);
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world->setEventListener(this);
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// Set up solvers
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world->setContactsPositionCorrectionTechnique(rp3d::ContactsPositionCorrectionTechnique::SPLIT_IMPULSES);
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@ -316,7 +327,63 @@ namespace SHADE
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{
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system->SyncTransforms();
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// TODO(Diren): Handle trigger messages for scripting
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// TODO(Kah Wei): Take Collision & Trigger messages here
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system->ClearInvalidCollisions();
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}
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}
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void SHPhysicsSystem::onContact(const CallbackData& callbackData)
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{
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for (uint32_t i = 0; i < callbackData.getNbContactPairs(); ++i)
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{
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auto contactPair = callbackData.getContactPair(i);
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SHCollisionEvent newCollisionEvent = GenerateCollisionEvent(contactPair);
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// Find contact pair in container
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auto existingEvent = std::ranges::find_if(collisionInfo.begin(), collisionInfo.end(), [&](const SHCollisionEvent& e)
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{
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const bool ENTITY_MATCH = e.value[0] == newCollisionEvent.value[0];
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const bool COLLIDERS_MATCH = e.value[1] == newCollisionEvent.value[1];
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return ENTITY_MATCH && COLLIDERS_MATCH;
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});
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if (existingEvent == collisionInfo.end())
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{
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// Add new event
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collisionInfo.emplace_back(newCollisionEvent);
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}
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else
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{
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existingEvent->collisionState = newCollisionEvent.collisionState;
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}
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}
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}
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void SHPhysicsSystem::onTrigger(const rp3d::OverlapCallback::CallbackData& callbackData)
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{
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for (uint32_t i = 0; i < callbackData.getNbOverlappingPairs(); ++i)
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{
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auto contactPair = callbackData.getOverlappingPair(i);
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SHCollisionEvent newTriggerEvent = GenerateCollisionEvent(contactPair);
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// Find contact pair in container
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auto existingEvent = std::ranges::find_if(collisionInfo.begin(), collisionInfo.end(), [&](const SHCollisionEvent& e)
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{
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const bool ENTITY_MATCH = e.value[0] == newTriggerEvent.value[0];
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const bool COLLIDERS_MATCH = e.value[1] == newTriggerEvent.value[1];
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return ENTITY_MATCH && COLLIDERS_MATCH;
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});
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if (existingEvent == collisionInfo.end())
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{
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// Add new event
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triggerInfo.emplace_back(newTriggerEvent);
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}
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else
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{
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existingEvent->collisionState = newTriggerEvent.collisionState;
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}
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}
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}
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@ -468,6 +535,146 @@ namespace SHADE
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}
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}
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void SHPhysicsSystem::ClearInvalidCollisions() noexcept
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{
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for (auto collisionInfoIter = collisionInfo.begin(); collisionInfoIter != collisionInfo.end();)
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{
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if (collisionInfoIter->GetCollisionState() == SHCollisionEvent::State::EXIT
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|| collisionInfoIter->GetCollisionState() == SHCollisionEvent::State::INVALID)
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{
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collisionInfoIter = collisionInfo.erase(collisionInfoIter);
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}
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else
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{
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++collisionInfoIter;
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}
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}
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for (auto triggerInfoIter = triggerInfo.begin(); triggerInfoIter != triggerInfo.end();)
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{
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if (triggerInfoIter->GetCollisionState() == SHCollisionEvent::State::EXIT
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|| triggerInfoIter->GetCollisionState() == SHCollisionEvent::State::INVALID)
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{
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triggerInfoIter = triggerInfo.erase(triggerInfoIter);
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}
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else
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{
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++triggerInfoIter;
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}
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}
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}
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SHCollisionEvent SHPhysicsSystem::GenerateCollisionEvent(const rp3d::CollisionCallback::ContactPair& cp) noexcept
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{
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static const auto MATCH_COLLIDER = [](const SHPhysicsObject& physicsObject, const rp3d::Entity colliderID)->uint32_t
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{
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for (uint32_t i = 0; i < physicsObject.rp3dBody->getNbColliders(); ++i)
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{
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const auto* collider = physicsObject.rp3dBody->getCollider(i);
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if (collider->getEntity() == colliderID)
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return i;
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}
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return std::numeric_limits<uint32_t>::max();
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};
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SHCollisionEvent cInfo;
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// Update collision state
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cInfo.collisionState = static_cast<SHCollisionEvent::State>(cp.getEventType());
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// Match body and collider for collision event
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const rp3d::Entity body1 = cp.getBody1()->getEntity();
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const rp3d::Entity body2 = cp.getBody2()->getEntity();
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const rp3d::Entity collider1 = cp.getCollider1()->getEntity();
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const rp3d::Entity collider2 = cp.getCollider2()->getEntity();
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// Find and match both ids
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bool matched[2] = { false, false };
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for (auto& [entityID, physicsObject] : map)
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{
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// Match body 1
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if (matched[SHCollisionEvent::ENTITY_A] == false && physicsObject.rp3dBody->getEntity() == body1)
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{
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cInfo.ids[SHCollisionEvent::ENTITY_A] = entityID;
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cInfo.ids[SHCollisionEvent::COLLIDER_A] = MATCH_COLLIDER(physicsObject, collider1);
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matched[SHCollisionEvent::ENTITY_A] = true;
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}
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// Match body 2
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if (matched[SHCollisionEvent::ENTITY_B] == false && physicsObject.rp3dBody->getEntity() == body2)
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{
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cInfo.ids[SHCollisionEvent::ENTITY_B] = entityID;
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cInfo.ids[SHCollisionEvent::COLLIDER_B] = MATCH_COLLIDER(physicsObject, collider2);
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matched[SHCollisionEvent::ENTITY_B] = true;
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}
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if (matched[SHCollisionEvent::ENTITY_A] == true && matched[SHCollisionEvent::ENTITY_B] == true)
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return cInfo;
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}
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return cInfo;
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}
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SHCollisionEvent SHPhysicsSystem::GenerateCollisionEvent(const rp3d::OverlapCallback::OverlapPair& cp) noexcept
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{
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static const auto MATCH_COLLIDER = [](const SHPhysicsObject& physicsObject, const rp3d::Entity colliderID)->uint32_t
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{
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for (uint32_t i = 0; i < physicsObject.rp3dBody->getNbColliders(); ++i)
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{
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const auto* collider = physicsObject.rp3dBody->getCollider(i);
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if (collider->getEntity() == colliderID)
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return i;
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}
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return std::numeric_limits<uint32_t>::max();
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};
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SHCollisionEvent cInfo;
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// Match body and collider for collision event
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const rp3d::Entity body1 = cp.getBody1()->getEntity();
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const rp3d::Entity body2 = cp.getBody2()->getEntity();
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const rp3d::Entity collider1 = cp.getCollider1()->getEntity();
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const rp3d::Entity collider2 = cp.getCollider2()->getEntity();
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// Find and match both ids
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bool matched[2] = { false, false };
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for (auto& [entityID, physicsObject] : map)
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{
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// Match body 1
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if (matched[SHCollisionEvent::ENTITY_A] == false && physicsObject.rp3dBody->getEntity() == body1)
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{
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cInfo.ids[SHCollisionEvent::ENTITY_A] = entityID;
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cInfo.ids[SHCollisionEvent::COLLIDER_A] = MATCH_COLLIDER(physicsObject, collider1);
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matched[SHCollisionEvent::ENTITY_A] = true;
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}
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// Match body 2
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if (matched[SHCollisionEvent::ENTITY_B] == false && physicsObject.rp3dBody->getEntity() == body2)
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{
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cInfo.ids[SHCollisionEvent::ENTITY_B] = entityID;
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cInfo.ids[SHCollisionEvent::COLLIDER_B] = MATCH_COLLIDER(physicsObject, collider2);
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matched[SHCollisionEvent::ENTITY_B] = true;
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}
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if (matched[SHCollisionEvent::ENTITY_A] == true && matched[SHCollisionEvent::ENTITY_B] == true)
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return cInfo;
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}
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// Update collision state
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cInfo.collisionState = static_cast<SHCollisionEvent::State>(cp.getEventType());
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return cInfo;
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}
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SHEventHandle SHPhysicsSystem::AddPhysicsComponent(SHEventPtr addComponentEvent)
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{
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const auto& EVENT_DATA = reinterpret_cast<const SHEventSpec<SHComponentAddedEvent>*>(addComponentEvent.get());
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@ -23,7 +23,7 @@
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#include "Math/Transform/SHTransformComponent.h"
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#include "Scene/SHSceneGraph.h"
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#include "SHPhysicsObject.h"
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#include "SHPhysicsUtils.h"
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namespace SHADE
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@ -32,7 +32,8 @@ namespace SHADE
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/* Type Definitions */
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/*-----------------------------------------------------------------------------------*/
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class SH_API SHPhysicsSystem final : public SHSystem
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class SH_API SHPhysicsSystem final : public SHSystem
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, public rp3d::EventListener
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{
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public:
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/*---------------------------------------------------------------------------------*/
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@ -47,6 +48,8 @@ namespace SHADE
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bool sleepingEnabled;
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};
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using CollisionEvents = std::vector<SHCollisionEvent>;
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/*---------------------------------------------------------------------------------*/
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/* Constructors & Destructor */
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/*---------------------------------------------------------------------------------*/
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@ -57,13 +60,16 @@ namespace SHADE
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/* Getter Functions */
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/*---------------------------------------------------------------------------------*/
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[[nodiscard]] double GetFixedDT () const noexcept;
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[[nodiscard]] double GetFixedDT () const noexcept;
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[[nodiscard]] bool IsSleepingEnabled () const noexcept;
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[[nodiscard]] bool IsSleepingEnabled () const noexcept;
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[[nodiscard]] SHVec3 GetWorldGravity () const noexcept;
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[[nodiscard]] uint16_t GetNumberVelocityIterations () const noexcept;
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[[nodiscard]] uint16_t GetNumberPositionIterations () const noexcept;
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[[nodiscard]] SHVec3 GetWorldGravity () const noexcept;
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[[nodiscard]] uint16_t GetNumberVelocityIterations () const noexcept;
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[[nodiscard]] uint16_t GetNumberPositionIterations () const noexcept;
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[[nodiscard]] const CollisionEvents& GetCollisionInfo () const noexcept;
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[[nodiscard]] const CollisionEvents& GetTriggerInfo () const noexcept;
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/*---------------------------------------------------------------------------------*/
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@ -82,16 +88,14 @@ namespace SHADE
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/* Function Members */
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/*---------------------------------------------------------------------------------*/
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void Init () override;
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void Exit () override;
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void Init () override;
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void Exit () override;
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//void AddRigidBody (EntityID entityID) noexcept;
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//void AddCollider (EntityID entityID) noexcept;
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//void RemoveRigidBody (EntityID entityID) noexcept;
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//void RemoveCollider (EntityID entityID) noexcept;
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void AddCollisionShape (EntityID entityID, SHCollider* collider);
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void RemoveCollisionShape (EntityID entityID, int index);
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void AddCollisionShape (EntityID entityID, SHCollider* collider);
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void RemoveCollisionShape (EntityID entityID, int index);
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void onContact (const rp3d::CollisionCallback::CallbackData& callbackData) override;
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void onTrigger (const rp3d::OverlapCallback::CallbackData& callbackData) override;
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/*---------------------------------------------------------------------------------*/
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/* System Routines */
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@ -156,49 +160,40 @@ namespace SHADE
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/* Data Members */
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/*---------------------------------------------------------------------------------*/
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bool worldUpdated;
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bool worldUpdated;
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double interpolationFactor;
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double fixedDT;
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rp3d::PhysicsWorld* world;
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rp3d::PhysicsCommon factory;
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EntityObjectMap map;
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double interpolationFactor;
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double fixedDT;
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rp3d::PhysicsWorld* world;
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rp3d::PhysicsCommon factory;
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EntityObjectMap map;
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CollisionEvents collisionInfo;
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CollisionEvents triggerInfo;
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/*---------------------------------------------------------------------------------*/
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/* Function Members */
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/*---------------------------------------------------------------------------------*/
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SHPhysicsObject* EnsurePhysicsObject (EntityID entityID) noexcept;
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SHPhysicsObject* GetPhysicsObject (EntityID entityID) noexcept;
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void DestroyPhysicsObject (EntityID entityID) noexcept;
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SHPhysicsObject* EnsurePhysicsObject (EntityID entityID) noexcept;
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SHPhysicsObject* GetPhysicsObject (EntityID entityID) noexcept;
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void DestroyPhysicsObject (EntityID entityID) noexcept;
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void SyncActiveStates (SHPhysicsObject* physicsObject, bool componentActive) noexcept;
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void SyncRigidBodyComponents (std::vector<SHRigidBodyComponent>& denseArray) noexcept;
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void SyncColliderComponents (std::vector<SHColliderComponent>& denseArray) noexcept;
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void SyncTransforms () noexcept;
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void ClearInvalidCollisions () noexcept;
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SHCollisionEvent GenerateCollisionEvent (const rp3d::CollisionCallback::ContactPair& cp) noexcept;
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SHCollisionEvent GenerateCollisionEvent (const rp3d::OverlapCallback::OverlapPair& cp) noexcept;
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SHEventHandle AddPhysicsComponent (SHEventPtr addComponentEvent);
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SHEventHandle RemovePhysicsComponent (SHEventPtr removeComponentEvent);
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};
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/*-----------------------------------------------------------------------------------*/
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/* Event Data Definitions */
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/*-----------------------------------------------------------------------------------*/
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struct SHPhysicsColliderAddedEvent
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{
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EntityID entityID;
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SHCollider::Type colliderType;
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int colliderIndex;
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};
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struct SHPhysicsColliderRemovedEvent
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{
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EntityID entityID;
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int colliderIndex;
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};
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} // namespace SHADE
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@ -0,0 +1,93 @@
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/****************************************************************************************
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* \file SHPhysicsUtils.cpp
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* \author Diren D Bharwani, diren.dbharwani, 390002520
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* \brief Implementation for some Physics Utilities
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*
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* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
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* disclosure of this file or its contents without the prior written consent
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* of DigiPen Institute of Technology is prohibited.
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****************************************************************************************/
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#include <SHpch.h>
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// Primary Header
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#include "SHPhysicsUtils.h"
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namespace SHADE
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{
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/*-----------------------------------------------------------------------------------*/
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/* Constructors & Destructor Definitions */
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/*-----------------------------------------------------------------------------------*/
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SHCollisionEvent::SHCollisionEvent() noexcept
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: collisionState { State::INVALID }
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{
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ids[ENTITY_A] = MAX_EID;
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ids[ENTITY_B] = MAX_EID;
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ids[COLLIDER_A] = std::numeric_limits<uint32_t>::max();
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ids[COLLIDER_B] = std::numeric_limits<uint32_t>::max();
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}
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SHCollisionEvent::SHCollisionEvent(EntityID entityA, EntityID entityB) noexcept
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: collisionState { State::INVALID }
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{
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ids[ENTITY_A] = entityA;
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ids[ENTITY_B] = entityB;
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ids[COLLIDER_A] = std::numeric_limits<uint32_t>::max();
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ids[COLLIDER_B] = std::numeric_limits<uint32_t>::max();
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}
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/*-----------------------------------------------------------------------------------*/
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/* Operator Overload Definitions */
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/*-----------------------------------------------------------------------------------*/
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bool SHCollisionEvent::operator==(const SHCollisionEvent& rhs) const noexcept
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{
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return value[0] == rhs.value[0] && value[1] == rhs.value[1];
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}
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bool SHCollisionEvent::operator!=(const SHCollisionEvent& rhs) const noexcept
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{
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return value[0] != rhs.value[0] || value[1] != rhs.value[1];
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}
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/*-----------------------------------------------------------------------------------*/
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/* Getter Function Definitions */
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/*-----------------------------------------------------------------------------------*/
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EntityID SHCollisionEvent::GetEntityA() const noexcept
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{
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return ids[ENTITY_A];
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}
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EntityID SHCollisionEvent::GetEntityB() const noexcept
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{
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return ids[ENTITY_B];
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}
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const SHRigidBodyComponent* SHCollisionEvent::GetRigidBodyA() const noexcept
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{
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return SHComponentManager::GetComponent_s<SHRigidBodyComponent>(ids[ENTITY_A]);
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}
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const SHRigidBodyComponent* SHCollisionEvent::GetRigidBodyB() const noexcept
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{
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return SHComponentManager::GetComponent_s<SHRigidBodyComponent>(ids[ENTITY_B]);
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}
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const SHCollider* SHCollisionEvent::GetColliderA() const noexcept
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{
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return &SHComponentManager::GetComponent<SHColliderComponent>(ids[ENTITY_A])->GetCollider(ids[COLLIDER_A]);
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}
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const SHCollider* SHCollisionEvent::GetColliderB() const noexcept
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{
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return &SHComponentManager::GetComponent<SHColliderComponent>(ids[ENTITY_B])->GetCollider(ids[COLLIDER_B]);
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}
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SHCollisionEvent::State SHCollisionEvent::GetCollisionState() const noexcept
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{
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return collisionState;
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}
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} // namespace SHADE
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@ -0,0 +1,116 @@
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/****************************************************************************************
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* \file SHPhysicsUtils.h
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* \author Diren D Bharwani, diren.dbharwani, 390002520
|
||||
* \brief Interface for some Physics Utilities
|
||||
*
|
||||
* \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
|
||||
|
||||
// Project Headers
|
||||
#include "Components/SHColliderComponent.h"
|
||||
#include "Components/SHRigidBodyComponent.h"
|
||||
|
||||
|
||||
namespace SHADE
|
||||
{
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
/* Type Definitions */
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
|
||||
struct SHPhysicsColliderAddedEvent
|
||||
{
|
||||
EntityID entityID;
|
||||
SHCollider::Type colliderType;
|
||||
int colliderIndex;
|
||||
};
|
||||
|
||||
struct SHPhysicsColliderRemovedEvent
|
||||
{
|
||||
EntityID entityID;
|
||||
int colliderIndex;
|
||||
};
|
||||
|
||||
class SH_API SHCollisionEvent
|
||||
{
|
||||
private:
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Friends */
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
||||
friend class SHPhysicsSystem;
|
||||
|
||||
public:
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Type Definitions */
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
||||
enum class State
|
||||
{
|
||||
ENTER
|
||||
, STAY
|
||||
, EXIT
|
||||
|
||||
, TOTAL
|
||||
, INVALID = -1
|
||||
};
|
||||
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Constructors & Destructor */
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
||||
SHCollisionEvent () noexcept;
|
||||
SHCollisionEvent (EntityID entityA, EntityID entityB) noexcept;
|
||||
|
||||
|
||||
SHCollisionEvent (const SHCollisionEvent& rhs) = default;
|
||||
SHCollisionEvent (SHCollisionEvent&& rhs) = default;
|
||||
~SHCollisionEvent () = default;
|
||||
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Operator Overloads */
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
||||
bool operator== (const SHCollisionEvent& rhs) const noexcept;
|
||||
bool operator!= (const SHCollisionEvent& rhs) const noexcept;
|
||||
|
||||
SHCollisionEvent& operator= (const SHCollisionEvent& rhs) = default;
|
||||
SHCollisionEvent& operator= (SHCollisionEvent&& rhs) = default;
|
||||
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Getter Functions */
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
||||
[[nodiscard]] EntityID GetEntityA () const noexcept;
|
||||
[[nodiscard]] EntityID GetEntityB () const noexcept;
|
||||
[[nodiscard]] const SHRigidBodyComponent* GetRigidBodyA () const noexcept;
|
||||
[[nodiscard]] const SHRigidBodyComponent* GetRigidBodyB () const noexcept;
|
||||
[[nodiscard]] const SHCollider* GetColliderA () const noexcept;
|
||||
[[nodiscard]] const SHCollider* GetColliderB () const noexcept;
|
||||
[[nodiscard]] State GetCollisionState () const noexcept;
|
||||
|
||||
private:
|
||||
|
||||
static constexpr uint32_t ENTITY_A = 0;
|
||||
static constexpr uint32_t ENTITY_B = 1;
|
||||
static constexpr uint32_t COLLIDER_A = 2;
|
||||
static constexpr uint32_t COLLIDER_B = 3;
|
||||
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
/* Data Members */
|
||||
/*---------------------------------------------------------------------------------*/
|
||||
|
||||
union
|
||||
{
|
||||
uint64_t value[2]; // EntityValue, ColliderIndexValue
|
||||
uint32_t ids [4]; // EntityA, EntityB, ColliderIndexA, ColliderIndexB
|
||||
};
|
||||
|
||||
State collisionState;
|
||||
};
|
||||
|
||||
|
||||
} // namespace SHADE
|
||||
Loading…
Reference in New Issue