Merge pull request #271 from SHADE-DP/SP3-2-Physics

Fixed Physics Bugs

SHADE_Engine/src/Physics/Collision/SHCollisionListener.cpp

@@ -14,6 +14,7 @@
 #include "SHCollisionListener.h"
 
 // Project Headers
+#include "ECS_Base/Managers/SHEntityManager.h"
 #include "Physics/PhysicsObject/SHPhysicsObject.h"
 #include "Physics/System/SHPhysicsSystem.h"
 #include "Scene/SHSceneManager.h"
@@ -83,13 +84,11 @@ namespace SHADE
       {
         const SHCollisionInfo& C_INFO = *eventIter;
 
-        const bool CLEAR_EVENT =  C_INFO.GetCollisionState() == SHCollisionInfo::State::EXIT
+        const bool CLEAR_EVENT      = C_INFO.GetCollisionState() == SHCollisionInfo::State::EXIT ||  C_INFO.GetCollisionState() == SHCollisionInfo::State::INVALID;
-                              ||  C_INFO.GetCollisionState() == SHCollisionInfo::State::INVALID;
+        const bool INVALID_ENTITY   = !SHEntityManager::IsValidEID(C_INFO.GetEntityA()) || !SHEntityManager::IsValidEID(C_INFO.GetEntityB());
+        const bool INACTIVE_OBJECT  = !SHSceneManager::CheckNodeAndComponentsActive<SHColliderComponent>(C_INFO.GetEntityA()) ||  !SHSceneManager::CheckNodeAndComponentsActive<SHColliderComponent>(C_INFO.GetEntityB());
 
-        const bool INACTIVE_OBJECT =  !SHSceneManager::CheckNodeAndComponentsActive<SHColliderComponent>(C_INFO.GetEntityA())
+        if (CLEAR_EVENT || INVALID_ENTITY || INACTIVE_OBJECT)
-                                  ||  !SHSceneManager::CheckNodeAndComponentsActive<SHColliderComponent>(C_INFO.GetEntityB());
-
-        if (CLEAR_EVENT || INACTIVE_OBJECT)
           eventIter = container.erase(eventIter);
         else
           ++eventIter;

SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.cpp

@@ -380,6 +380,11 @@ namespace SHADE
     }
 
     auto* physicsObject = system->GetPhysicsObject(GetEID());
+    if (!physicsObject)
+    {
+      SHLOGV_ERROR("Unable to retrieve physics object of Entity {}", GetEID())
+      return;
+    }
     physicsObject->GetRigidBody()->setLinearVelocity(newLinearVelocity);
   }
 
@@ -394,6 +399,11 @@ namespace SHADE
     }
 
     auto* physicsObject = system->GetPhysicsObject(GetEID());
+    if (!physicsObject)
+    {
+      SHLOGV_ERROR("Unable to retrieve physics object of Entity {}", GetEID())
+      return;
+    }
     physicsObject->GetRigidBody()->setAngularVelocity(newAngularVelocity);
   }
 

SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp

@@ -148,7 +148,14 @@ namespace SHADE
         objectManager.AddRigidBody(EID);
 
       if (SHComponentManager::HasComponent<SHColliderComponent>(EID))
+      {
         objectManager.AddCollider(EID);
+
+        auto* COLLIDER = SHComponentManager::GetComponent<SHColliderComponent>(EID);
+        for (size_t i = 0; i < COLLIDER->GetCollisionShapes().size(); ++i)
+          objectManager.AddCollisionShape(EID, i);
+      }
+        
     };
 
     ////////////////////////////////
@@ -156,6 +163,8 @@ namespace SHADE
     // Destroy an existing world
     if (worldState.world != nullptr)
     {
+
+
       objectManager.RemoveAllObjects();
       objectManager.SetWorld(nullptr);
 

SHADE_Engine/src/Physics/System/SHPhysicsSystemInterface.cpp

@@ -55,7 +55,7 @@ namespace SHADE
     auto phySystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
     if (phySystem)
     {
-      return phySystem->GetFixedUpdateRate();
+      return 1.0 / phySystem->GetFixedUpdateRate();
     }
 
     SHLOGV_WARNING("Failed to get fixed delta time. 0.0 returned instead.");

SHADE_Engine/src/Physics/System/SHPhysicsSystemRoutines.cpp

@@ -140,9 +140,10 @@ namespace SHADE
     }
 
     const double FIXED_DT = physicsSystem->fixedDT;
-    //to be remove =======================================================
+    // HACK: Clamp DT here to prevent a ridiculous amount of updates. This limits updates from large dt to 2.
+    // HACK: This should be done by the FRC and not here for predictable behaviour.
+
     dt = std::clamp(dt, 0.0, 1.0 / 30.0);
-    //to be remove =======================================================
     accumulatedTime += dt;
 
     //testFunction();
@@ -394,13 +395,13 @@ void testFunction()
     if (rb)
     {
       if (SHInputManager::GetKey(SHInputManager::SH_KEYCODE::W))
-        rb->AddForce(-SHVec3::UnitZ * forceModifier);
+        rb->AddForce(SHVec3::UnitZ * forceModifier);
 
       if (SHInputManager::GetKey(SHInputManager::SH_KEYCODE::A))
         rb->AddForce(-SHVec3::UnitX * forceModifier);
 
       if (SHInputManager::GetKey(SHInputManager::SH_KEYCODE::S))
-        rb->AddForce(SHVec3::UnitZ * forceModifier);
+        rb->AddForce(-SHVec3::UnitZ * forceModifier);
 
       if (SHInputManager::GetKey(SHInputManager::SH_KEYCODE::D))
         rb->AddForce(SHVec3::UnitX * forceModifier);