Added stub functions for collision detection algorithms

SHADE_Engine/src/Physics/Collision/Narrowphase/SHCapsuleVsCapsule.cpp

@@ -0,0 +1,35 @@
+/****************************************************************************************
+ * \file      SHCapsuleVsCapsule.cpp
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Implementation for the Detecting Collisions between two capsules
+ *
+ * \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 "SHCollision.h"
+
+// Project Headers
+#include "Math/SHMathHelpers.h"
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Public Member Functions Definitions                                               */
+  /*-----------------------------------------------------------------------------------*/
+
+  bool SHCollision::CapsuleVsCapsule(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
+  {
+    return false;
+  }
+
+  bool SHCollision::CapsuleVsCapsule(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
+  {
+    return false;
+  }
+
+} // namespace SHADE

SHADE_Engine/src/Physics/Collision/Narrowphase/SHCapsuleVsConvex.cpp

@@ -0,0 +1,49 @@
+/****************************************************************************************
+ * \file      SHCapsuleVsConvex.cpp
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Implementation for the Detecting Collisions between a capsule and a convex
+ *            polyhedron.
+ *
+ * \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 "SHCollision.h"
+
+// Project Headers
+#include "Math/SHMathHelpers.h"
+#include "Physics/Collision/CollisionShapes/SHBoxCollisionShape.h"
+
+// TODO
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Public Member Functions Definitions                                               */
+  /*-----------------------------------------------------------------------------------*/
+
+  bool SHCollision::CapsuleVsConvex(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
+  {
+    return false;
+  }
+
+  bool SHCollision::ConvexVsCapsule(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
+  {
+    return CapsuleVsConvex(B, A);
+  }
+
+  bool SHCollision::CapsuleVsConvex(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
+  {
+    return false;
+  }
+
+  bool SHCollision::ConvexVsCapsule(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
+  {
+    return CapsuleVsConvex(manifold, B, A);
+  }
+
+} // namespace SHADE

SHADE_Engine/src/Physics/Collision/Narrowphase/SHCollision.h

@@ -38,15 +38,56 @@ namespace SHADE
     [[nodiscard]] static bool SphereVsSphere    (const SHCollisionShape& A, const SHCollisionShape& B)                        noexcept;
     [[nodiscard]] static bool SphereVsSphere    (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B)  noexcept;
 
+    [[nodiscard]] static bool SphereVsCapsule   (const SHCollisionShape& A, const SHCollisionShape& B)                        noexcept;
+    [[nodiscard]] static bool SphereVsCapsule   (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B)  noexcept;
+
+    [[nodiscard]] static bool SphereVsConvex    (const SHCollisionShape& A, const SHCollisionShape& B)                        noexcept;
+    [[nodiscard]] static bool SphereVsConvex    (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B)  noexcept;
 
     /* Capsule VS X */
 
+    [[nodiscard]] static bool CapsuleVsSphere   (const SHCollisionShape& A, const SHCollisionShape& B)                        noexcept;
+    [[nodiscard]] static bool CapsuleVsSphere   (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B)  noexcept;
+
+    [[nodiscard]] static bool CapsuleVsCapsule  (const SHCollisionShape& A, const SHCollisionShape& B)                        noexcept;
+    [[nodiscard]] static bool CapsuleVsCapsule  (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B)  noexcept;
+
+    [[nodiscard]] static bool CapsuleVsConvex   (const SHCollisionShape& A, const SHCollisionShape& B)                        noexcept;
+    [[nodiscard]] static bool CapsuleVsConvex   (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B)  noexcept;
+
     /* Polygon VS X */
 
+    [[nodiscard]] static bool ConvexVsSphere    (const SHCollisionShape& A, const SHCollisionShape& B)                        noexcept;
+    [[nodiscard]] static bool ConvexVsSphere    (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B)  noexcept;
+
+    [[nodiscard]] static bool ConvexVsCapsule   (const SHCollisionShape& A, const SHCollisionShape& B)                        noexcept;
+    [[nodiscard]] static bool ConvexVsCapsule   (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B)  noexcept;
+
+    [[nodiscard]] static bool ConvexVsConvex    (const SHCollisionShape& A, const SHCollisionShape& B)                        noexcept;
+    [[nodiscard]] static bool ConvexVsConvex    (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B)  noexcept;
+
   private:
     /*---------------------------------------------------------------------------------*/
     /* Member Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
+    static bool isMinkowskiFace(const SHVec3& a, const SHVec3& b, const SHVec3& c, const SHVec3& d) noexcept;
+
+    // TODO: buildMinkowskiFace, queryEdgeDirection, distanceBetweenTwoEdges,
+
+    /*
+     * TODO: 
+     * static FaceQuery queryFaceDirections (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
+     * static EdgeQuery queryEdgeDirections (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
+     * static bool      buildMinkowskiFace  (const SHHalfEdge& edgeA, const SHHalfEdge& edgeB) noexcept;
+     * static float     distanceBetweenEdges(const SHHalfEdge& edgeA, const SHHalfEdge& edgeB, SHCollisionShape& poly) noexcept;
+     * static uint32_t  clip                
+     *
+     * ! References
+     *  https://ia801303.us.archive.org/30/items/GDC2013Gregorius/GDC2013-Gregorius.pdf
+     *  https://github.com/RandyGaul/qu3e/blob/master/src/collision/q3Collide.cpp
+     */
+
+
   };
 } // namespace SHADE

SHADE_Engine/src/Physics/Collision/Narrowphase/SHCollisionDispatch.cpp

@@ -26,22 +26,20 @@ namespace SHADE
 
   const SHCollisionDispatcher::ManifoldCollide SHCollisionDispatcher::manifoldCollide[NUM_SHAPES][NUM_SHAPES]
   {
-    // TODO
     // <SHAPE> vs Sphere / Box / Capsule
 
-    { SHCollision::SphereVsSphere, nullptr, nullptr }  // Sphere
+    { SHCollision::SphereVsSphere,  SHCollision::SphereVsConvex,  SHCollision::SphereVsCapsule  }  // Sphere
-  , { nullptr, nullptr, nullptr }  // Box
+  , { SHCollision::ConvexVsSphere,  SHCollision::ConvexVsConvex,  SHCollision::ConvexVsCapsule  }  // Box
-  , { nullptr, nullptr, nullptr }  // Capsule
+  , { SHCollision::CapsuleVsSphere, SHCollision::CapsuleVsConvex, SHCollision::CapsuleVsCapsule }  // Capsule
   };
 
   const SHCollisionDispatcher::TriggerCollide SHCollisionDispatcher::triggerCollide[NUM_SHAPES][NUM_SHAPES]
   {
-    // TODO
     // <SHAPE> vs Sphere / Box / Capsule
 
-    { SHCollision::SphereVsSphere, nullptr, nullptr }  // Sphere
+    { SHCollision::SphereVsSphere,  SHCollision::SphereVsConvex,  SHCollision::SphereVsCapsule  }  // Sphere
-  , { nullptr, nullptr, nullptr }  // Box
+  , { SHCollision::ConvexVsSphere,  SHCollision::ConvexVsConvex,  SHCollision::ConvexVsCapsule  }  // Box
-  , { nullptr, nullptr, nullptr }  // Capsule
+  , { SHCollision::CapsuleVsSphere, SHCollision::CapsuleVsConvex, SHCollision::CapsuleVsCapsule }  // Capsule
   };
 
   const bool SHCollisionDispatcher::collisionTable[NUM_TYPES][NUM_TYPES]

SHADE_Engine/src/Physics/Collision/Narrowphase/SHConvexVsConvex.cpp

@@ -0,0 +1,62 @@
+/****************************************************************************************
+ * \file      SHConvexVsConvex.cpp
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Implementation for the Detecting Collisions between two convex polyhedrons.
+ *
+ * \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 "SHCollision.h"
+
+// Project Headers
+#include "Math/SHMathHelpers.h"
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Public Member Functions Definitions                                               */
+  /*-----------------------------------------------------------------------------------*/
+
+  bool SHCollision::ConvexVsConvex(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
+  {
+    /*
+     * TODO:
+     *
+     * 1. Query face directiosn of a to b. Exit early if separation found.
+     * 2. query face directions of b to a. Exit early if separation found.
+     * 3. Query edge directions of a & b. Exit early if separation found.
+     */
+
+    return false;
+  }
+
+  bool SHCollision::ConvexVsConvex(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
+  {
+    /*
+     * TODO:
+     *
+     * 1. Query face directions of a to b. Exit early if separation found.
+     * 2. Query face directions of b to a. Exit early if separation found.
+     * 3. Query edge directions of a & b. Exit early if separation found.
+     *
+     * (*)!! Apply weight to improve frame coherence of normal directions. DONT FORGET FLIP FLOP!
+     * 4. From above, save the axis of minimum penetration (reference face)
+     * 5. Find the most anti-parallel face on other shape (incident face)
+     * 6. Clip incident face against side planes of reference face. (Sutherland-Hodgeman Clipping).
+     *    Keep all vertices below reference face.
+     * 7. Reduce manifold to 4 contact points. We only need 4 contact points for a stable manifold.
+     *
+     * Remember to save IDs in queries.
+     * During generation of incident face, store IDs of face.
+     * 
+     */
+
+    return false;
+  }
+
+} // namespace SHADE

SHADE_Engine/src/Physics/Collision/Narrowphase/SHSphereVsCapsule.cpp

@@ -0,0 +1,48 @@
+/****************************************************************************************
+ * \file      SHSphereVsCapsule.cpp
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Implementation for the Detecting Collisions between a sphere and a capsule.
+ *
+ * \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 "SHCollision.h"
+
+// Project Headers
+#include "Math/SHMathHelpers.h"
+#include "Physics/Collision/CollisionShapes/SHSphereCollisionShape.h"
+
+// TODO
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Public Member Functions Definitions                                               */
+  /*-----------------------------------------------------------------------------------*/
+
+  bool SHCollision::SphereVsCapsule(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
+  {
+    return false;
+  }
+
+  bool SHCollision::CapsuleVsSphere(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
+  {
+    return SphereVsCapsule(B, A);
+  }
+
+  bool SHCollision::SphereVsCapsule(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
+  {
+    return false;
+  }
+
+  bool SHCollision::CapsuleVsSphere(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
+  {
+    return SphereVsCapsule(manifold, B, A);
+  }
+
+} // namespace SHADE

SHADE_Engine/src/Physics/Collision/Narrowphase/SHSphereVsConvex.cpp

@@ -0,0 +1,58 @@
+/****************************************************************************************
+ * \file      SHSphereVsConvex.cpp
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Implementation for the Detecting Collisions between a sphere and a convex
+ *            polyhedron.
+ *
+ * \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 "SHCollision.h"
+
+// Project Headers
+#include "Math/SHMathHelpers.h"
+#include "Physics/Collision/CollisionShapes/SHCollisionShape.h"
+#include "Physics/Collision/CollisionShapes/SHBoxCollisionShape.h"
+
+// When testing against convex polyhedrons, we do not care so much as whether it is a box
+// or something else. We only need the vertices to build half edge structures for use
+// with a gauss map. Regardless, we still cast it to the type just to get vertices
+// since spheres and capsules do not implement the same method.
+
+// I did consider having another base class that encapsulates methods that convex polyhedrons
+// would implement, but for the sake of my sanity, I won't do that.
+
+// TODO
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Public Member Functions Definitions                                               */
+  /*-----------------------------------------------------------------------------------*/
+
+  bool SHCollision::SphereVsConvex(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
+  {
+    return false;
+  }
+
+  bool SHCollision::ConvexVsSphere(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
+  {
+    return SphereVsConvex(B, A);
+  }
+
+  bool SHCollision::SphereVsConvex(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
+  {
+    return false;
+  }
+
+  bool SHCollision::ConvexVsSphere(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
+  {
+    return SphereVsConvex(manifold, B, A);
+  }
+
+} // namespace SHADE