Moved debug draw state to colliders. Synced collider positions with rigid bodies

Assets/Scenes/PhysicsSandbox.shade

@@ -25,6 +25,17 @@
       Freeze Rotation Y: false
       Freeze Rotation Z: false
       IsActive: true
+    Collider Component:
+      Colliders:
+        - Is Trigger: false
+          Type: Sphere
+          Radius: 1
+          Friction: 0.400000006
+          Bounciness: 0
+          Density: 1
+          Position Offset: {x: 0, y: 0, z: 0}
+          Rotation Offset: {x: 0, y: 0, z: 0}
+      IsActive: true
   Scripts: ~
 - EID: 1
   Name: Default

SHADE_Application/src/Application/SBApplication.cpp

@@ -111,6 +111,9 @@ namespace Sandbox
     SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsPreUpdate>();
     SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsUpdate>();
     SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsPostUpdate>();
+#ifdef SHEDITOR
+    SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsDebugDraw>();
+#endif
 
     SHSystemManager::RegisterRoutine<SHTransformSystem, SHTransformSystem::TransformPostPhysicsUpdate>();
     SHSystemManager::RegisterRoutine<SHDebugDrawSystem, SHDebugDrawSystem::ProcessPointsRoutine>();

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

@@ -322,18 +322,21 @@ namespace SHADE
     {
       DrawContextMenu(component);
 
-      auto* colliders = component->GetCollisionShapes();
+      auto* collider = component->GetCollider();
-      int const size = colliders ? static_cast<int>(colliders->size()) : 0;
+      SHEditorWidgets::CheckBox("Draw Colliders", [collider] { return collider->GetDebugDrawState(); }, [collider](bool value) { collider->SetDebugDrawState(value); });
-      ImGui::BeginChild("Collision Shapes", { 0.0f,  colliders->empty() ? 1.0f : 250.0f }, true);
+
+      auto* collisionShapes = component->GetCollisionShapes();
+      int const size = collisionShapes ? static_cast<int>(collisionShapes->size()) : 0;
+      ImGui::BeginChild("Collision Shapes", { 0.0f,  collisionShapes->empty() ? 1.0f : 250.0f }, true);
       std::optional<int> colliderToDelete{ std::nullopt };
       for (int i{}; i < size; ++i)
       {
         ImGui::PushID(i);
-        SHCollisionShape* collider = component->GetCollisionShape(i);
+        SHCollisionShape* shape = component->GetCollisionShape(i);
         auto cursorPos = ImGui::GetCursorPos();
 
         //collider->IsTrigger
-        if (collider->GetType() == SHCollisionShape::Type::BOX)
+        if (shape->GetType() == SHCollisionShape::Type::BOX)
         {
           //SHEditorWidgets::BeginPanel(std::format("{} Box #{}", ICON_FA_CUBE, i).data(), { ImGui::GetContentRegionAvail().x, ImGui::GetContentRegionAvail().y });
           //
@@ -344,42 +347,42 @@ namespace SHADE
           //  [BOX] { return BOX->GetRelativeExtents(); },
           //  [collider](SHVec3 const& vec) { collider->SetBoundingBox(vec); });
         }
-        else if (collider->GetType() == SHCollisionShape::Type::SPHERE)
+        else if (shape->GetType() == SHCollisionShape::Type::SPHERE)
         {
           SHEditorWidgets::BeginPanel(std::format("{} Sphere #{}", ICON_MD_CIRCLE, i).data(), { ImGui::GetContentRegionAvail().x, ImGui::GetContentRegionAvail().y });
-          auto* SPHERE = reinterpret_cast<SHSphereCollisionShape*>(collider);
+          auto* SPHERE = reinterpret_cast<SHSphereCollisionShape*>(shape);
           SHEditorWidgets::DragFloat
           (
             "Radius",
             [SPHERE] { return SPHERE->GetRelativeRadius(); },
             [SPHERE](float const& value) { SPHERE->SetRelativeRadius(value); });
         }
-        else if (collider->GetType() == SHCollisionShape::Type::CAPSULE)
+        else if (shape->GetType() == SHCollisionShape::Type::CAPSULE)
         {
 
         }
 
         {
-          SHEditorWidgets::CheckBox("Is Trigger", [collider] { return collider->IsTrigger(); }, [collider](bool value) { collider->SetIsTrigger(value); });
+          SHEditorWidgets::CheckBox("Is Trigger", [shape] { return shape->IsTrigger(); }, [shape](bool value) { shape->SetIsTrigger(value); });
 
           if(ImGui::CollapsingHeader("Physics Material"))
           {
-            SHEditorWidgets::DragFloat("Friction", [collider] { return collider->GetFriction(); }, [collider](float value) { collider->SetFriction(value); }, "Friction", 0.05f, 0.0f, 1.0f);
+            SHEditorWidgets::DragFloat("Friction", [shape] { return shape->GetFriction(); }, [shape](float value) { shape->SetFriction(value); }, "Friction", 0.05f, 0.0f, 1.0f);
-            SHEditorWidgets::DragFloat("Bounciness", [collider] { return collider->GetBounciness(); }, [collider](float value) { collider->SetBounciness(value); }, "Bounciness", 0.05f, 0.0f, 1.0f);
+            SHEditorWidgets::DragFloat("Bounciness", [shape] { return shape->GetBounciness(); }, [shape](float value) { shape->SetBounciness(value); }, "Bounciness", 0.05f, 0.0f, 1.0f);
-            SHEditorWidgets::DragFloat("Mass Density", [collider] { return collider->GetDensity(); }, [collider](float value) { collider->SetDensity(value); }, "Mass Density", 0.1f, 0.0f);
+            SHEditorWidgets::DragFloat("Mass Density", [shape] { return shape->GetDensity(); }, [shape](float value) { shape->SetDensity(value); }, "Mass Density", 0.1f, 0.0f);
           }
 
           SHEditorWidgets::BeginPanel("Offsets",{ ImGui::GetContentRegionAvail().x, 30.0f });
-          SHEditorWidgets::DragVec3("Position", { "X", "Y", "Z" }, [&collider] {return collider->GetPositionOffset(); }, [&collider](SHVec3 const& vec) {collider->SetPositionOffset(vec); });
+          SHEditorWidgets::DragVec3("Position", { "X", "Y", "Z" }, [&shape] {return shape->GetPositionOffset(); }, [&shape](SHVec3 const& vec) {shape->SetPositionOffset(vec); });
           SHEditorWidgets::DragVec3("Rotation", { "X", "Y", "Z" }, 
-          [&collider]
+          [&shape]
           {
-            auto offset = collider->GetRotationOffset();
+            auto offset = shape->GetRotationOffset();
             return offset;
           }, 
-          [&collider](SHVec3 const& vec)
+          [&shape](SHVec3 const& vec)
           {
-            collider->SetRotationOffset(vec);
+            shape->SetRotationOffset(vec);
           }, true);
           SHEditorWidgets::EndPanel();
         }

SHADE_Engine/src/Physics/Collision/CollisionShapes/SHCollisionShape.cpp

@@ -14,7 +14,7 @@
 #include "SHCollisionShape.h"
 
 // Project Headers
-#include "Physics/Collision/SHCollisionTagMatrix.h"
+#include "Physics/Collision/CollisionTags/SHCollisionTagMatrix.h"
 #include "Reflection/SHReflectionMetadata.h"
 #include "Tools/Utilities/SHUtilities.h"
 
@@ -95,14 +95,6 @@ namespace SHADE
     return flags & FLAG_VALUE;
   }
 
-  bool SHCollisionShape::GetDebugDrawState() const noexcept
-  {
-    static constexpr int FLAG_POS = 6;
-    static constexpr uint8_t FLAG_VALUE = 1U << FLAG_POS;
-
-    return flags & FLAG_VALUE;
-  }
-
   const SHCollisionTag& SHCollisionShape::GetCollisionTag() const noexcept
   {
     return *collisionTag;
@@ -150,14 +142,6 @@ namespace SHADE
     isTrigger ? flags |= FLAG_VALUE : flags &= ~FLAG_VALUE;
   }
 
-  void SHCollisionShape::SetDebugDrawState(bool isDebugDrawing) noexcept
-  {
-    static constexpr int FLAG_POS = 6;
-    static constexpr uint8_t FLAG_VALUE = 1U << FLAG_POS;
-
-    isDebugDrawing ? flags |= FLAG_VALUE : flags &= ~FLAG_VALUE;
-  }
-
   void SHCollisionShape::SetCollisionTag(SHCollisionTag* newCollisionTag) noexcept
   {
     collisionTag = newCollisionTag;

SHADE_Engine/src/Physics/Collision/CollisionShapes/SHCollisionShape.h

@@ -16,7 +16,7 @@
 #include "ECS_Base/Entity/SHEntity.h"
 #include "Math/Geometry/SHShape.h"
 #include "Math/SHQuaternion.h"
-#include "Physics/Collision/SHCollisionTags.h"
+#include "Physics/Collision/CollisionTags/SHCollisionTags.h"
 #include "Physics/Collision/SHPhysicsMaterial.h"
 #include "SHCollisionShapeID.h"
 
@@ -44,8 +44,8 @@ namespace SHADE
 
     enum class Type
     {
-      BOX
+      SPHERE
-    , SPHERE
+    , BOX
     , CAPSULE
 
     , COUNT
@@ -91,8 +91,6 @@ namespace SHADE
     [[nodiscard]] Type                      GetType           ()  const noexcept;
     [[nodiscard]] bool                      IsTrigger         ()  const noexcept;
     [[nodiscard]] bool                      IsColliding       ()  const noexcept;
-    [[nodiscard]] bool                      GetDebugDrawState ()  const noexcept;
-    
 
     [[nodiscard]] const SHCollisionTag&     GetCollisionTag   ()  const noexcept;
 
@@ -110,7 +108,6 @@ namespace SHADE
 
     // Flags
     void    SetIsTrigger        (bool isTrigger)                        noexcept;
-    void    SetDebugDrawState   (bool isDebugDrawing)                   noexcept;
 
     void    SetCollisionTag     (SHCollisionTag* newCollisionTag)       noexcept;
 
@@ -126,7 +123,7 @@ namespace SHADE
     SHVec3              positionOffset;
     SHVec3              rotationOffset;
 
-    uint8_t             flags;          // 0 debugDraw wasColliding isColliding trigger capsule sphere box
+    uint8_t             flags;          // 0 0 wasColliding isColliding trigger capsule sphere box
     SHCollisionTag*     collisionTag;
 
     RTTR_ENABLE()

SHADE_Engine/src/Physics/Collision/SHCollider.cpp

@@ -25,14 +25,22 @@ 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 }
-  {}
+  {
+
+  }
 
   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 }
@@ -49,6 +57,9 @@ 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 }
@@ -94,6 +105,10 @@ namespace SHADE
     shapeFactory  = rhs.shapeFactory;
     transform     = rhs.transform;
 
+  #ifdef SHEDITOR
+    debugDraw     = rhs.debugDraw;
+  #endif
+
     copyShapes(rhs);
 
     return *this;
@@ -112,6 +127,10 @@ namespace SHADE
     shapeFactory  = rhs.shapeFactory;
     transform     = rhs.transform;
 
+  #ifdef SHEDITOR
+    debugDraw     = rhs.debugDraw;
+  #endif
+
     copyShapes(rhs);
 
     return *this;
@@ -121,6 +140,13 @@ namespace SHADE
   /* Getter Function Definitions                                                       */
   /*-----------------------------------------------------------------------------------*/
 
+#ifdef SHEDITOR
+  bool SHCollider::GetDebugDrawState() const noexcept
+  {
+    return debugDraw;
+  }
+#endif
+
   const SHTransform& SHCollider::GetTransform() const noexcept
   {
     return transform;
@@ -160,6 +186,13 @@ namespace SHADE
   /* Setter Function Definitions                                                       */
   /*-----------------------------------------------------------------------------------*/
 
+#ifdef SHEDITOR
+  void SHCollider::SetDebugDrawState(bool state) noexcept
+  {
+    debugDraw = state;
+  }
+#endif
+
   void SHCollider::SetRigidBody(SHRigidBody* rb) noexcept
   {
     rigidBody = rb;
@@ -190,7 +223,6 @@ namespace SHADE
     shapeFactory = factory;
   }
 
-
   /*-----------------------------------------------------------------------------------*/
   /* Public Member Function Definitions                                                */
   /*-----------------------------------------------------------------------------------*/
@@ -266,9 +298,28 @@ namespace SHADE
     SHLOG_INFO_D("Removing Collision Shape {} from Entity {}", index, entityID)
   }
 
-  void SHCollider::RecomputeShapes() const noexcept
+  void SHCollider::RecomputeShapes() noexcept
   {
-    
+    for (auto* shape : shapes)
+    {
+      switch (shape->GetType())
+      {
+        case SHCollisionShape::Type::SPHERE:
+        {
+          recomputeSphere(dynamic_cast<SHSphereCollisionShape*>(shape));
+          break;
+        }
+        case SHCollisionShape::Type::BOX:
+        {
+          break;
+        }
+        case SHCollisionShape::Type::CAPSULE:
+        {
+          break;
+        }
+        default: break;
+      }
+    }
   }
 
   /*-----------------------------------------------------------------------------------*/
@@ -324,4 +375,19 @@ namespace SHADE
     ++shapeIDCounter;
   }
 
+  void SHCollider::recomputeSphere(SHSphereCollisionShape* sphere) noexcept
+  {
+    // Recompute world radius
+    const float SPHERE_SCALE = std::fabs(SHMath::Max({ transform.scale.x, transform.scale.y, transform.scale.z }));
+    sphere->SetScale(SPHERE_SCALE);
+
+    // Recompute center
+    const SHQuaternion  FINAL_ROT  = transform.orientation * SHQuaternion::FromEuler(sphere->rotationOffset);
+    const SHMatrix      TRS        = SHMatrix::Rotate(FINAL_ROT) * SHMatrix::Translate(transform.position);
+
+    const SHVec3        NEW_CENTER = SHVec3::Transform(sphere->positionOffset, TRS);
+    sphere->SetCenter(NEW_CENTER);
+  }
+
+
 } // namespace SHADE

SHADE_Engine/src/Physics/Collision/SHCollider.h

@@ -78,6 +78,10 @@ namespace SHADE
     /* Getter Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
+  #ifdef SHEDITOR
+    [[nodiscard]] bool                    GetDebugDrawState   ()  const noexcept;
+  #endif
+
     [[nodiscard]] const SHTransform&      GetTransform        ()  const noexcept;
     [[nodiscard]] const SHVec3&           GetPosition         ()  const noexcept;
     [[nodiscard]] const SHQuaternion&     GetOrientation      ()  const noexcept;
@@ -90,6 +94,10 @@ namespace SHADE
     /* Setter Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
+  #ifdef SHEDITOR
+    void SetDebugDrawState  (bool state)                          noexcept;
+  #endif
+
     void SetRigidBody       (SHRigidBody* rb)                     noexcept;
 
     void SetTransform       (const SHTransform& newTransform)     noexcept;
@@ -125,6 +133,7 @@ namespace SHADE
      * The index of the newly added shape.
     */
     int   AddSphereCollisionShape (float relativeRadius, const SHVec3& posOffset = SHVec3::Zero, const SHVec3& rotOffset = SHVec3::Zero);
+
     // TODO: Add Box & Capsule
 
     /**
@@ -142,7 +151,7 @@ namespace SHADE
      * @brief
      * Recomputes the transforms for all shapes in this composite collider.
     */
-    void  RecomputeShapes         () const noexcept;
+    void  RecomputeShapes         () noexcept;
 
   protected:
     /*---------------------------------------------------------------------------------*/
@@ -152,6 +161,10 @@ 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;
 
@@ -165,6 +178,8 @@ namespace SHADE
 
     void copyShapes       (const SHCollider& rhsCollider);
     void copyShape        (const SHCollisionShape* rhsShape);
+
+    void recomputeSphere  (SHSphereCollisionShape* sphere) noexcept;
   };
 
 } // namespace SHADE

SHADE_Engine/src/Physics/Dynamics/SHPhysicsWorld.cpp

@@ -122,15 +122,20 @@ namespace SHADE
     {
       rigidBody.linearVelocity = SHVec3::Zero;
     }
-    else // Dynamic & Kinematic bodies
+    // Dynamic & Kinematic bodies
-    {
     // Both dynamic and kinematic can sleep when their velocities are under the thresholds.
-      if (!rigidBody.IsSleeping())
+    else if (!rigidBody.IsSleeping())
     {
       ENFORCE_CONSTRAINED_VELOCITIES(rigidBody);
 
       rigidBody.motionState.IntegratePosition(rigidBody.linearVelocity, dt);
       // TODO: Integrate orientations
+
+      // Sync with collider transforms if a collider is present
+      if (rigidBody.collider)
+      {
+        rigidBody.collider->SetPosition(rigidBody.motionState.position);
+        // TODO: Sync orientations
       }
     }
 

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

@@ -0,0 +1,60 @@
+/****************************************************************************************
+ * \file      SHPhysicsDebugDrawRoutine.cpp
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Implementation for the Physics Debug-Draw Routine
+ *
+ * \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 "Physics/System/SHPhysicsSystem.h"
+
+// Project Headers
+#include "ECS_Base/Managers/SHSystemManager.h"
+#include "Graphics/MiddleEnd/Interface/SHDebugDrawSystem.h"
+
+#include "Scripting/SHScriptEngine.h"
+
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Constructors & Destructor Definitions                                             */
+  /*-----------------------------------------------------------------------------------*/
+
+  SHPhysicsSystem::PhysicsDebugDraw::PhysicsDebugDraw()
+  : SHSystemRoutine { "Physics Debug Draw", false }
+  {}
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Public Function Member Definitions                                                */
+  /*-----------------------------------------------------------------------------------*/
+
+  void SHPhysicsSystem::PhysicsDebugDraw::Execute(double) noexcept
+  {
+    auto* physicsSystem = reinterpret_cast<SHPhysicsSystem*>(GetSystem());
+    
+    // Get debug drawing system
+    auto* debugDrawSystem = SHSystemManager::GetSystem<SHDebugDrawSystem>();
+    if (!debugDrawSystem)
+    {
+      SHLOG_ERROR("Debug draw system unavailable! Colliders cannot be drawn!")
+      return;
+    }
+
+    //SHPhysicsDebugDraw& physicsDebugRenderer = physicsSystem->debugRenderer;
+
+    //if (!physicsDebugRenderer.GetDebugDrawState())
+    //  return;
+
+    //// Draw colliders
+    //if (physicsDebugRenderer.GetDrawSpecificCollidersState())
+    //  physicsDebugRenderer.DrawSpecificColliders(debugDrawSystem);
+    //else if (physicsDebugRenderer.GetDrawAllCollidersState())
+    //  physicsDebugRenderer.DrawAllColliders(debugDrawSystem);
+  }
+}

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

@@ -15,6 +15,7 @@
 
 // Project Headers
 #include "ECS_Base/Managers/SHSystemManager.h"
+#include "Graphics/MiddleEnd/Interface/SHDebugDrawSystem.h"
 #include "Math/Transform/SHTransformComponent.h"
 #include "Scripting/SHScriptEngine.h"
 
@@ -77,4 +78,5 @@ namespace SHADE
     if (scriptingSystem != nullptr)
       scriptingSystem->ExecuteCollisionFunctions();
   }
-}
+
+} // namespace SHADE

SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp

@@ -19,7 +19,7 @@
 #include "ECS_Base/Managers/SHEntityManager.h"
 #include "ECS_Base/Managers/SHSystemManager.h"
 #include "Editor/SHEditor.h"
-#include "Physics/Collision/SHCollisionTagMatrix.h"
+#include "Physics/Collision/CollisionTags/SHCollisionTagMatrix.h"
 #include "Physics/Interface/SHColliderComponent.h"
 
 namespace SHADE

SHADE_Engine/src/Physics/System/SHPhysicsSystem.h

@@ -21,7 +21,6 @@
 #include "Physics/Interface/SHRigidBodyComponent.h"
 #include "Physics/Interface/SHColliderComponent.h"
 
-
 namespace SHADE
 {
   /*-----------------------------------------------------------------------------------*/
@@ -95,7 +94,8 @@ namespace SHADE
     /**
      * @brief
      * The physics update that runs after the simulation. This sets the rendering
-     * transforms and sends messages to scripting system for collision & trigger events.
+     * transforms and sends messages to scripting system for collision & trigger events.  <br/>
+     * 
     */
     class SH_API PhysicsPostUpdate final : public SHSystemRoutine
     {
@@ -104,6 +104,21 @@ 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                                                                */
@@ -125,7 +140,6 @@ namespace SHADE
     EventFunctionPair       eventFunctions[NUM_EVENT_FUNCTIONS];
 
     // System data
-
     bool                    worldUpdated;
     double                  interpolationFactor;
     double                  fixedDT;
@@ -133,7 +147,6 @@ namespace SHADE
     // Sub-systems / managers
 
     SHPhysicsWorld*         physicsWorld;
-
     SHPhysicsObjectManager  physicsObjectManager;
 
     /*---------------------------------------------------------------------------------*/