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SP3-2 Fixed physics bugs and collider improvements #184

Merged
direnbharwani merged 5 commits from SP3-2-Physics into main 2022-11-08 21:50:08 +08:00
Conversation 0 Commits 5 Files Changed 21 +340 -296
21 changed files with 340 additions and 296 deletions
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45
Assets/Scenes/M2Scene.shade
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@ -50,7 +50,7 @@
Colliders: Colliders:
- Is Trigger: false - Is Trigger: false
Type: Box Type: Box
Half Extents: {x: 24.7399445, y: 0.25, z: 8.75} Half Extents: {x: 1, y: 1, z: 1}
Friction: 0.400000006 Friction: 0.400000006
Bounciness: 0 Bounciness: 0
Density: 1 Density: 1
@ -90,23 +90,7 @@
Bounciness: 0 Bounciness: 0
Density: 1 Density: 1
Position Offset: {x: 0, y: 0.5, z: 0} Position Offset: {x: 0, y: 0.5, z: 0}
Scripts: Scripts: ~
- Type: PlayerController
drag: 2
currentState: 0
maxMoveVel: 2
moveForce: 50
sprintMultiplier: 2
rotationFactorPerFrame: 1
maxJumpHeight: 4
maxJumpTime: 0.75
fallMultipler: 2
lightMultiper: 0.75
mediumMultiper: 0.5
heavyMultiper: 0.25
- Type: PickAndThrow
throwForce: [200, 300, 200]
item: 5
- EID: 3 - EID: 3
Name: Default Name: Default
IsActive: true IsActive: true
@ -126,12 +110,7 @@
Translate: {x: 0, y: 0, z: 0} Translate: {x: 0, y: 0, z: 0}
Rotate: {x: 0, y: 0, z: 0} Rotate: {x: 0, y: 0, z: 0}
Scale: {x: 1, y: 1, z: 1} Scale: {x: 1, y: 1, z: 1}
Scripts: Scripts: ~
- Type: SHADE_Scripting.ThirdPersonCamera
armLength: 2
turnSpeedPitch: 0.300000012
turnSpeedYaw: 0.5
pitchClamp: 45
- EID: 9 - EID: 9
Name: Default Name: Default
IsActive: true IsActive: true
@ -186,9 +165,7 @@
Bounciness: 0 Bounciness: 0
Density: 1 Density: 1
Position Offset: {x: 0, y: 0.5, z: 0} Position Offset: {x: 0, y: 0.5, z: 0}
Scripts: Scripts: ~
- Type: Item
currCategory: 0
- EID: 6 - EID: 6
Name: AI Name: AI
IsActive: true IsActive: true
@ -223,14 +200,7 @@
Bounciness: 0 Bounciness: 0
Density: 1 Density: 1
Position Offset: {x: 0, y: 0.5, z: 0} Position Offset: {x: 0, y: 0.5, z: 0}
Scripts: Scripts: ~
- Type: AIPrototype
movementForceMultiplier: 100
patrolSpeed: 0.400000006
chaseSpeed: 0.800000012
distanceToCapture: 1.20000005
distanceToStartChase: 2
distanceToEndChase: 2.5
- EID: 7 - EID: 7
Name: Default Name: Default
IsActive: true IsActive: true
@ -256,7 +226,4 @@
Color: {x: 1, y: 1, z: 1, w: 1} Color: {x: 1, y: 1, z: 1, w: 1}
Layer: 4294967295 Layer: 4294967295
Strength: 0.25 Strength: 0.25
Scripts: Scripts: ~
- Type: PickAndThrow
throwForce: [100, 200, 100]
item: 1

20
SHADE_Application/src/Scenes/SBTestScene.cpp
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@ -92,7 +92,7 @@ namespace Sandbox
floorRigidBody.SetType(SHRigidBodyComponent::Type::STATIC); floorRigidBody.SetType(SHRigidBodyComponent::Type::STATIC);
auto* floorBox = floorCollider.AddBoundingBox(); floorCollider.AddBoundingBox();
// Create blank entity with a script // Create blank entity with a script
//testObj = SHADE::SHEntityManager::CreateEntity<SHRenderable, SHTransformComponent>(); //testObj = SHADE::SHEntityManager::CreateEntity<SHRenderable, SHTransformComponent>();
@ -114,8 +114,8 @@ namespace Sandbox
racoonTransform.SetWorldPosition({ -3.0f, -2.0f, -5.0f }); racoonTransform.SetWorldPosition({ -3.0f, -2.0f, -5.0f });
racoonCollider.AddBoundingBox(); racoonCollider.AddBoundingBox();
racoonCollider.GetCollider(0).SetPositionOffset(SHVec3(0.0f,0.5f,0.0f)); racoonCollider.GetCollisionShape(0).SetPositionOffset(SHVec3(0.0f,0.5f,0.0f));
racoonCollider.GetCollider(0).SetBoundingBox(SHVec3(0.5f, 0.5f, 0.5f)); racoonCollider.GetCollisionShape(0).SetBoundingBox(SHVec3(0.5f, 0.5f, 0.5f));
auto racoonItemLocation = SHEntityManager::CreateEntity<SHTransformComponent>(); auto racoonItemLocation = SHEntityManager::CreateEntity<SHTransformComponent>();
auto& racoonItemLocationTransform = *SHComponentManager::GetComponent_s<SHTransformComponent>(racoonItemLocation); auto& racoonItemLocationTransform = *SHComponentManager::GetComponent_s<SHTransformComponent>(racoonItemLocation);
@ -140,13 +140,13 @@ namespace Sandbox
itemCollider.AddBoundingBox(); itemCollider.AddBoundingBox();
itemCollider.AddBoundingBox(SHVec3(2.0f,2.0f,2.0f)); itemCollider.AddBoundingBox(SHVec3(2.0f,2.0f,2.0f));
itemCollider.GetCollider(1).SetIsTrigger(true); itemCollider.GetCollisionShape(1).SetIsTrigger(true);
itemCollider.GetCollider(0).SetPositionOffset(SHVec3(0.0f, 0.5f, 0.0f)); itemCollider.GetCollisionShape(0).SetPositionOffset(SHVec3(0.0f, 0.5f, 0.0f));
itemCollider.GetCollider(0).SetBoundingBox(SHVec3(0.5f, 0.5f, 0.5f)); itemCollider.GetCollisionShape(0).SetBoundingBox(SHVec3(0.5f, 0.5f, 0.5f));
itemCollider.GetCollider(1).SetPositionOffset(SHVec3(0.0f, 0.5f, 0.0f)); itemCollider.GetCollisionShape(1).SetPositionOffset(SHVec3(0.0f, 0.5f, 0.0f));
itemCollider.GetCollider(1).SetBoundingBox(SHVec3(1.0f, 1.0f, 1.0f)); itemCollider.GetCollisionShape(1).SetBoundingBox(SHVec3(1.0f, 1.0f, 1.0f));
itemRigidBody.SetInterpolate(false); itemRigidBody.SetInterpolate(false);
itemRigidBody.SetFreezeRotationX(true); itemRigidBody.SetFreezeRotationX(true);
@ -168,8 +168,8 @@ namespace Sandbox
AITransform.SetWorldPosition({ -8.0f, -2.0f, 2.5f }); AITransform.SetWorldPosition({ -8.0f, -2.0f, 2.5f });
AICollider.AddBoundingBox(); AICollider.AddBoundingBox();
AICollider.GetCollider(0).SetPositionOffset(SHVec3(0.0f, 0.5f, 0.0f)); AICollider.GetCollisionShape(0).SetPositionOffset(SHVec3(0.0f, 0.5f, 0.0f));
AICollider.GetCollider(0).SetBoundingBox(SHVec3(0.5f, 0.5f, 0.5f)); AICollider.GetCollisionShape(0).SetBoundingBox(SHVec3(0.5f, 0.5f, 0.5f));
AIRigidBody.SetInterpolate(false); AIRigidBody.SetInterpolate(false);
AIRigidBody.SetFreezeRotationX(true); AIRigidBody.SetFreezeRotationX(true);

30
SHADE_Engine/src/Editor/EditorWindow/Inspector/SHEditorComponentView.hpp
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@ -224,9 +224,6 @@ namespace SHADE
if (!component) if (!component)
return; return;
// Get transform component for extrapolating relative sizes
auto* transformComponent = SHComponentManager::GetComponent_s<SHTransformComponent>(component->GetEID());
const auto componentType = rttr::type::get(*component); const auto componentType = rttr::type::get(*component);
SHEditorWidgets::CheckBox("##IsActive", [component]() {return component->isActive; }, [component](bool const& active) {component->isActive = active; }, "Is Component Active"); SHEditorWidgets::CheckBox("##IsActive", [component]() {return component->isActive; }, [component](bool const& active) {component->isActive = active; }, "Is Component Active");
ImGui::SameLine(); ImGui::SameLine();
@ -234,46 +231,39 @@ namespace SHADE
{ {
DrawContextMenu(component); DrawContextMenu(component);
auto& colliders = component->GetColliders(); auto& colliders = component->GetCollisionShapes();
int const size = static_cast<int>(colliders.size()); int const size = static_cast<int>(colliders.size());
ImGui::BeginChild("Colliders", { 0.0f, colliders.empty() ? 1.0f : 250.0f }, true); ImGui::BeginChild("Collision Shapes", { 0.0f, colliders.empty() ? 1.0f : 250.0f }, true);
std::optional<int> colliderToDelete{ std::nullopt }; std::optional<int> colliderToDelete{ std::nullopt };
for (int i{}; i < size; ++i) for (int i{}; i < size; ++i)
{ {
ImGui::PushID(i); ImGui::PushID(i);
SHCollider* collider = &component->GetCollider(i); SHCollisionShape* collider = &component->GetCollisionShape(i);
auto cursorPos = ImGui::GetCursorPos(); auto cursorPos = ImGui::GetCursorPos();
//collider->IsTrigger //collider->IsTrigger
if (collider->GetType() == SHCollider::Type::BOX) if (collider->GetType() == SHCollisionShape::Type::BOX)
{ {
SHEditorWidgets::BeginPanel(std::format("{} Box Collider #{}", ICON_FA_CUBE, i).data(), { ImGui::GetContentRegionAvail().x, ImGui::GetContentRegionAvail().y }); SHEditorWidgets::BeginPanel(std::format("{} Box #{}", ICON_FA_CUBE, i).data(), { ImGui::GetContentRegionAvail().x, ImGui::GetContentRegionAvail().y });
SHEditorWidgets::CheckBox("Is Trigger", [collider]() {return collider->IsTrigger(); }, [collider](bool const& value) {collider->SetIsTrigger(value); }, "Is Trigger");
auto box = reinterpret_cast<SHBoundingBox*>(collider->GetShape()); auto box = reinterpret_cast<SHBoundingBox*>(collider->GetShape());
SHEditorWidgets::DragVec3 SHEditorWidgets::DragVec3
( (
"Half Extents", { "X", "Y", "Z" }, "Half Extents", { "X", "Y", "Z" },
[box, transformComponent] { return (box->GetHalfExtents() * 2.0f) / transformComponent->GetWorldScale(); }, [box] { return box->GetRelativeExtents(); },
[collider](SHVec3 const& vec) { collider->SetBoundingBox(vec); }); [collider](SHVec3 const& vec) { collider->SetBoundingBox(vec); });
} }
else if (collider->GetType() == SHCollider::Type::SPHERE) else if (collider->GetType() == SHCollisionShape::Type::SPHERE)
{ {
SHEditorWidgets::BeginPanel(std::format("{} Sphere Collider #{}", ICON_MD_CIRCLE, i).data(), { ImGui::GetContentRegionAvail().x, ImGui::GetContentRegionAvail().y }); SHEditorWidgets::BeginPanel(std::format("{} Sphere #{}", ICON_MD_CIRCLE, i).data(), { ImGui::GetContentRegionAvail().x, ImGui::GetContentRegionAvail().y });
SHEditorWidgets::CheckBox("Is Trigger", [collider]() {return collider->IsTrigger(); }, [collider](bool const& value) {collider->SetIsTrigger(value); }, "Is Trigger");
auto sphere = reinterpret_cast<SHBoundingSphere*>(collider->GetShape()); auto sphere = reinterpret_cast<SHBoundingSphere*>(collider->GetShape());
SHEditorWidgets::DragFloat SHEditorWidgets::DragFloat
( (
"Radius", "Radius",
[sphere, transformComponent] [sphere] { return sphere->GetRelativeRadius(); },
{
const SHVec3& TF_WORLD_SCALE = transformComponent->GetWorldScale();
const float MAX_SCALE = SHMath::Max({ TF_WORLD_SCALE.x, TF_WORLD_SCALE.y, TF_WORLD_SCALE.z });
return (sphere->GetRadius() / MAX_SCALE) * 2.0f;
},
[collider](float const& value) { collider->SetBoundingSphere(value); }); [collider](float const& value) { collider->SetBoundingSphere(value); });
} }
else if (collider->GetType() == SHCollider::Type::CAPSULE) else if (collider->GetType() == SHCollisionShape::Type::CAPSULE)
{ {
} }

22
SHADE_Engine/src/Math/Geometry/SHBoundingBox.cpp
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@ -25,11 +25,13 @@ namespace SHADE
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/
SHBoundingBox::SHBoundingBox() noexcept SHBoundingBox::SHBoundingBox() noexcept
: RelativeExtents { SHVec3::One }
{ {
type = Type::BOX; type = Type::BOX;
} }
SHBoundingBox::SHBoundingBox(const SHVec3& c, const SHVec3& hE) noexcept SHBoundingBox::SHBoundingBox(const SHVec3& c, const SHVec3& hE) noexcept
: RelativeExtents { SHVec3::One }
{ {
type = Type::BOX; type = Type::BOX;
@ -47,6 +49,7 @@ namespace SHADE
Center = rhs.Center; Center = rhs.Center;
Extents = rhs.Extents; Extents = rhs.Extents;
RelativeExtents = rhs.RelativeExtents;
} }
SHBoundingBox::SHBoundingBox(SHBoundingBox&& rhs) noexcept SHBoundingBox::SHBoundingBox(SHBoundingBox&& rhs) noexcept
@ -55,6 +58,7 @@ namespace SHADE
Center = rhs.Center; Center = rhs.Center;
Extents = rhs.Extents; Extents = rhs.Extents;
RelativeExtents = rhs.RelativeExtents;
} }
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/
@ -71,6 +75,7 @@ namespace SHADE
{ {
Center = rhs.Center; Center = rhs.Center;
Extents = rhs.Extents; Extents = rhs.Extents;
RelativeExtents = rhs.RelativeExtents;
} }
return *this; return *this;
@ -86,6 +91,7 @@ namespace SHADE
{ {
Center = rhs.Center; Center = rhs.Center;
Extents = rhs.Extents; Extents = rhs.Extents;
RelativeExtents = rhs.RelativeExtents;
} }
return *this; return *this;
@ -100,11 +106,16 @@ namespace SHADE
return Center; return Center;
} }
SHVec3 SHBoundingBox::GetHalfExtents() const noexcept SHVec3 SHBoundingBox::GetWorldExtents() const noexcept
{ {
return Extents; return Extents;
} }
const SHVec3& SHBoundingBox::GetRelativeExtents() const noexcept
{
return RelativeExtents;
}
SHVec3 SHBoundingBox::GetMin() const noexcept SHVec3 SHBoundingBox::GetMin() const noexcept
{ {
return SHVec3{ Center.x - Extents.x, Center.y - Extents.y, Center.z - Extents.z }; return SHVec3{ Center.x - Extents.x, Center.y - Extents.y, Center.z - Extents.z };
@ -124,9 +135,14 @@ namespace SHADE
Center = newCenter; Center = newCenter;
} }
void SHBoundingBox::SetHalfExtents(const SHVec3& newHalfExtents) noexcept void SHBoundingBox::SetWorldExtents(const SHVec3& newWorldExtents) noexcept
{ {
Extents = newHalfExtents; Extents = newWorldExtents;
}
void SHBoundingBox::SetRelativeExtents(const SHVec3& newRelativeExtents) noexcept
{
RelativeExtents = newRelativeExtents;
} }
void SHBoundingBox::SetMin(const SHVec3& min) noexcept void SHBoundingBox::SetMin(const SHVec3& min) noexcept

13
SHADE_Engine/src/Math/Geometry/SHBoundingBox.h
View File

@ -55,7 +55,8 @@ namespace SHADE
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
[[nodiscard]] SHVec3 GetCenter () const noexcept; [[nodiscard]] SHVec3 GetCenter () const noexcept;
[[nodiscard]] SHVec3 GetHalfExtents() const noexcept; [[nodiscard]] SHVec3 GetWorldExtents () const noexcept;
[[nodiscard]] const SHVec3& GetRelativeExtents () const noexcept;
[[nodiscard]] SHVec3 GetMin () const noexcept; [[nodiscard]] SHVec3 GetMin () const noexcept;
[[nodiscard]] SHVec3 GetMax () const noexcept; [[nodiscard]] SHVec3 GetMax () const noexcept;
[[nodiscard]] std::vector<SHVec3> GetVertices () const noexcept; [[nodiscard]] std::vector<SHVec3> GetVertices () const noexcept;
@ -65,7 +66,8 @@ namespace SHADE
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
void SetCenter (const SHVec3& newCenter) noexcept; void SetCenter (const SHVec3& newCenter) noexcept;
void SetHalfExtents (const SHVec3& newHalfExtents) noexcept; void SetWorldExtents (const SHVec3& newWorldExtents) noexcept;
void SetRelativeExtents (const SHVec3& newRelativeExtents) noexcept;
void SetMin (const SHVec3& min) noexcept; void SetMin (const SHVec3& min) noexcept;
void SetMax (const SHVec3& max) noexcept; void SetMax (const SHVec3& max) noexcept;
void SetMinMax (const SHVec3& min, const SHVec3& max) noexcept; void SetMinMax (const SHVec3& min, const SHVec3& max) noexcept;
@ -89,6 +91,13 @@ namespace SHADE
[[nodiscard]] static bool Intersect (const SHBoundingBox& lhs, const SHBoundingBox& rhs) noexcept; [[nodiscard]] static bool Intersect (const SHBoundingBox& lhs, const SHBoundingBox& rhs) noexcept;
[[nodiscard]] static SHBoundingBox BuildFromBoxes (const SHBoundingBox* boxes, size_t numBoxes) noexcept; [[nodiscard]] static SHBoundingBox BuildFromBoxes (const SHBoundingBox* boxes, size_t numBoxes) noexcept;
[[nodiscard]] static SHBoundingBox BuildFromVertices (const SHVec3* vertices, size_t numVertices, size_t stride = 0) noexcept; [[nodiscard]] static SHBoundingBox BuildFromVertices (const SHVec3* vertices, size_t numVertices, size_t stride = 0) noexcept;
private:
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
SHVec3 RelativeExtents;
}; };

22
SHADE_Engine/src/Math/Geometry/SHBoundingSphere.cpp
View File

@ -25,11 +25,13 @@ namespace SHADE
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/
SHBoundingSphere::SHBoundingSphere() noexcept SHBoundingSphere::SHBoundingSphere() noexcept
: RelativeRadius { 1.0f }
{ {
type = Type::SPHERE; type = Type::SPHERE;
} }
SHBoundingSphere::SHBoundingSphere(const SHVec3& center, float radius) noexcept SHBoundingSphere::SHBoundingSphere(const SHVec3& center, float radius) noexcept
: RelativeRadius { 1.0f }
{ {
type = Type::SPHERE; type = Type::SPHERE;
@ -46,6 +48,7 @@ namespace SHADE
Center = rhs.Center; Center = rhs.Center;
Radius = rhs.Radius; Radius = rhs.Radius;
RelativeRadius = rhs.RelativeRadius;
} }
SHBoundingSphere::SHBoundingSphere(SHBoundingSphere&& rhs) noexcept SHBoundingSphere::SHBoundingSphere(SHBoundingSphere&& rhs) noexcept
@ -54,6 +57,7 @@ namespace SHADE
Center = rhs.Center; Center = rhs.Center;
Radius = rhs.Radius; Radius = rhs.Radius;
RelativeRadius = rhs.RelativeRadius;
} }
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/
@ -70,6 +74,7 @@ namespace SHADE
{ {
Center = rhs.Center; Center = rhs.Center;
Radius = rhs.Radius; Radius = rhs.Radius;
RelativeRadius = rhs.RelativeRadius;
} }
return *this; return *this;
@ -85,6 +90,7 @@ namespace SHADE
{ {
Center = rhs.Center; Center = rhs.Center;
Radius = rhs.Radius; Radius = rhs.Radius;
RelativeRadius = rhs.RelativeRadius;
} }
return *this; return *this;
@ -99,11 +105,16 @@ namespace SHADE
return Center; return Center;
} }
float SHBoundingSphere::GetRadius() const noexcept float SHBoundingSphere::GetWorldRadius() const noexcept
{ {
return Radius; return Radius;
} }
float SHBoundingSphere::GetRelativeRadius() const noexcept
{
return RelativeRadius;
}
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/
/* Setter Function Definitions */ /* Setter Function Definitions */
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/
@ -113,9 +124,14 @@ namespace SHADE
Center = center; Center = center;
} }
void SHBoundingSphere::SetRadius(float radius) noexcept void SHBoundingSphere::SetWorldRadius(float newWorldRadius) noexcept
{ {
Radius = radius; Radius = newWorldRadius;
}
void SHBoundingSphere::SetRelativeRadius(float newRelativeRadius) noexcept
{
RelativeRadius = newRelativeRadius;
} }
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/

13
SHADE_Engine/src/Math/Geometry/SHBoundingSphere.h
View File

@ -49,14 +49,16 @@ namespace SHADE
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
[[nodiscard]] SHVec3 GetCenter () const noexcept; [[nodiscard]] SHVec3 GetCenter () const noexcept;
[[nodiscard]] float GetRadius () const noexcept; [[nodiscard]] float GetWorldRadius () const noexcept;
[[nodiscard]] float GetRelativeRadius () const noexcept;
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
/* Setter Functions */ /* Setter Functions */
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
void SetCenter (const SHVec3& center) noexcept; void SetCenter (const SHVec3& center) noexcept;
void SetRadius (float radius) noexcept; void SetWorldRadius (float newWorldRadius) noexcept;
void SetRelativeRadius (float newRelativeRadius) noexcept;
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
/* Function Members */ /* Function Members */
@ -79,5 +81,12 @@ namespace SHADE
[[nodiscard]] static SHBoundingSphere BuildFromSpheres (const SHBoundingSphere* spheres, size_t numSpheres) noexcept; [[nodiscard]] static SHBoundingSphere BuildFromSpheres (const SHBoundingSphere* spheres, size_t numSpheres) noexcept;
[[nodiscard]] static SHBoundingSphere BuildFromVertices (const SHVec3* vertices, size_t numVertices, size_t stride = 0) noexcept; [[nodiscard]] static SHBoundingSphere BuildFromVertices (const SHVec3* vertices, size_t numVertices, size_t stride = 0) noexcept;
private:
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
float RelativeRadius;
}; };
} // namespace SHADE } // namespace SHADE

6
SHADE_Engine/src/Math/Transform/SHTransformSystem.cpp
View File

@ -231,12 +231,12 @@ namespace SHADE
tf.worldRotation = tf.localRotation + (parent ? parent->GetLocalRotation() : SHVec3::Zero); tf.worldRotation = tf.localRotation + (parent ? parent->GetLocalRotation() : SHVec3::Zero);
// Set the orientation // Set the orientation
// Wrap rotations between -360 and 360 and convert to radians // Wrap rotations between -720 and 720 and convert to radians
SHVec3 worldRotRad, localRotRad; SHVec3 worldRotRad, localRotRad;
for (size_t i = 0; i < SHVec3::SIZE; ++i) for (size_t i = 0; i < SHVec3::SIZE; ++i)
{ {
worldRotRad[i] = SHMath::Wrap(tf.worldRotation[i], -SHMath::TWO_PI, SHMath::TWO_PI); worldRotRad[i] = SHMath::Wrap(tf.worldRotation[i], -2.0f * SHMath::TWO_PI, 2.0f * SHMath::TWO_PI);
localRotRad[i] = SHMath::Wrap(tf.localRotation[i], -SHMath::TWO_PI, SHMath::TWO_PI); localRotRad[i] = SHMath::Wrap(tf.localRotation[i], -2.0f * SHMath::TWO_PI, 2.0f * SHMath::TWO_PI);
} }
tf.world.orientation = SHQuaternion::FromEuler(worldRotRad); tf.world.orientation = SHQuaternion::FromEuler(worldRotRad);

78
SHADE_Engine/src/Physics/Components/SHColliderComponent.cpp
View File

@ -48,17 +48,22 @@ namespace SHADE
return orientation.ToEuler(); return orientation.ToEuler();
} }
const SHColliderComponent::Colliders& SHColliderComponent::GetColliders() const noexcept const SHVec3& SHColliderComponent::GetScale() const noexcept
{ {
return colliders; return scale;
} }
SHCollider& SHColliderComponent::GetCollider(int index) const SHColliderComponent::CollisionShapes& SHColliderComponent::GetCollisionShapes() const noexcept
{ {
if (index < 0 || static_cast<size_t>(index) >= colliders.size()) return collisionShapes;
}
SHCollisionShape& SHColliderComponent::GetCollisionShape(int index)
{
if (index < 0 || static_cast<size_t>(index) >= collisionShapes.size())
throw std::invalid_argument("Out-of-range access!"); throw std::invalid_argument("Out-of-range access!");
return colliders[index]; return collisionShapes[index];
} }
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/
@ -75,39 +80,74 @@ namespace SHADE
} }
SHBoundingBox* SHColliderComponent::AddBoundingBox(const SHVec3& halfExtents, const SHVec3& posOffset) noexcept void SHColliderComponent::RecomputeCollisionShapes() noexcept
{
for (auto& collisionShape : collisionShapes)
{
switch (collisionShape.GetType())
{
case SHCollisionShape::Type::BOX:
{
auto* box = reinterpret_cast<SHBoundingBox*>(collisionShape.GetShape());
const SHVec3& RELATIVE_EXTENTS = box->GetRelativeExtents();
// Recompute world extents based on new scale and fixed relative extents
const SHVec3 WORLD_EXTENTS = RELATIVE_EXTENTS * (scale * 0.5f);
box->SetWorldExtents(WORLD_EXTENTS);
continue;
}
case SHCollisionShape::Type::SPHERE:
{
auto* sphere = reinterpret_cast<SHBoundingSphere*>(collisionShape.GetShape());
const float RELATIVE_RADIUS = sphere->GetRelativeRadius();
// Recompute world radius based on new scale and fixed radius
const float MAX_SCALE = SHMath::Max({ scale.x, scale.y, scale.z });
const float WORLD_RADIUS = RELATIVE_RADIUS * MAX_SCALE * 0.5f;
sphere->SetWorldRadius(WORLD_RADIUS);
continue;
}
default: continue;
}
}
}
int SHColliderComponent::AddBoundingBox(const SHVec3& halfExtents, const SHVec3& posOffset, const SHVec3& rotOffset) noexcept
{ {
if (!system) if (!system)
{ {
SHLOG_ERROR("Physics system does not exist, unable to add Box Collider!") SHLOG_ERROR("Physics system does not exist, unable to add Box Collider!")
return nullptr; return -1;
} }
static constexpr auto TYPE = SHCollider::Type::BOX; static constexpr auto TYPE = SHCollisionShape::Type::BOX;
auto& collider = colliders.emplace_back(SHCollider{ GetEID(), TYPE }); auto& collider = collisionShapes.emplace_back(SHCollisionShape{ GetEID(), TYPE });
collider.entityID = GetEID(); collider.entityID = GetEID();
collider.SetPositionOffset(posOffset); collider.SetPositionOffset(posOffset);
collider.SetRotationOffset(rotOffset);
collider.SetBoundingBox(halfExtents); collider.SetBoundingBox(halfExtents);
// Notify Physics System // Notify Physics System
system->AddCollisionShape(GetEID(), &collider); system->AddCollisionShape(GetEID(), &collider);
return reinterpret_cast<SHBoundingBox*>(collider.GetShape()); return static_cast<int>(collisionShapes.size()) - 1;
} }
SHBoundingSphere* SHColliderComponent::AddBoundingSphere(float radius, const SHVec3& posOffset) noexcept int SHColliderComponent::AddBoundingSphere(float radius, const SHVec3& posOffset) noexcept
{ {
if (!system) if (!system)
{ {
SHLOG_ERROR("Physics system does not exist, unable to add Sphere Collider!") SHLOG_ERROR("Physics system does not exist, unable to add Sphere Collider!")
return nullptr; return -1;
} }
static constexpr auto TYPE = SHCollider::Type::SPHERE; static constexpr auto TYPE = SHCollisionShape::Type::SPHERE;
auto& collider = colliders.emplace_back(SHCollider{ GetEID(), TYPE }); auto& collider = collisionShapes.emplace_back(SHCollisionShape{ GetEID(), TYPE });
collider.entityID = GetEID(); collider.entityID = GetEID();
collider.SetPositionOffset(posOffset); collider.SetPositionOffset(posOffset);
@ -116,17 +156,17 @@ namespace SHADE
// Notify Physics System // Notify Physics System
system->AddCollisionShape(GetEID(), &collider); system->AddCollisionShape(GetEID(), &collider);
return reinterpret_cast<SHBoundingSphere*>(collider.GetShape()); return static_cast<int>(collisionShapes.size()) - 1;
} }
void SHColliderComponent::RemoveCollider(int index) void SHColliderComponent::RemoveCollider(int index)
{ {
if (index < 0 || static_cast<size_t>(index) >= colliders.size()) if (index < 0 || static_cast<size_t>(index) >= collisionShapes.size())
throw std::invalid_argument("Out-of-range access!"); throw std::invalid_argument("Out-of-range access!");
int idx = 0; int idx = 0;
auto it = colliders.begin(); auto it = collisionShapes.begin();
for (; it != colliders.end(); ++it) for (; it != collisionShapes.end(); ++it)
{ {
if (idx == index) if (idx == index)
break; break;
@ -134,7 +174,7 @@ namespace SHADE
++idx; ++idx;
} }
it = colliders.erase(it); it = collisionShapes.erase(it);
// Notify Physics System // Notify Physics System
if (!system) if (!system)

18
SHADE_Engine/src/Physics/Components/SHColliderComponent.h
View File

@ -14,7 +14,7 @@
// Project Headers // Project Headers
#include "ECS_Base/Components/SHComponent.h" #include "ECS_Base/Components/SHComponent.h"
#include "Physics/SHCollider.h" #include "Physics/SHCollisionShape.h"
#include "Math/Geometry/SHBoundingBox.h" #include "Math/Geometry/SHBoundingBox.h"
#include "Math/Geometry/SHBoundingSphere.h" #include "Math/Geometry/SHBoundingSphere.h"
@ -43,7 +43,7 @@ namespace SHADE
/* Type Definitions */ /* Type Definitions */
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
using Colliders = std::vector<SHCollider>; using CollisionShapes = std::vector<SHCollisionShape>;
public: public:
@ -72,9 +72,10 @@ namespace SHADE
[[nodiscard]] const SHVec3& GetPosition () const noexcept; [[nodiscard]] const SHVec3& GetPosition () const noexcept;
[[nodiscard]] const SHQuaternion& GetOrientation () const noexcept; [[nodiscard]] const SHQuaternion& GetOrientation () const noexcept;
[[nodiscard]] SHVec3 GetRotation () const noexcept; [[nodiscard]] SHVec3 GetRotation () const noexcept;
[[nodiscard]] const SHVec3& GetScale () const noexcept;
[[nodiscard]] const Colliders& GetColliders () const noexcept; [[nodiscard]] const CollisionShapes& GetCollisionShapes() const noexcept;
[[nodiscard]] SHCollider& GetCollider (int index); [[nodiscard]] SHCollisionShape& GetCollisionShape (int index);
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
/* Function Members */ /* Function Members */
@ -83,10 +84,12 @@ namespace SHADE
void OnCreate () override; void OnCreate () override;
void OnDestroy () override; void OnDestroy () override;
void RecomputeCollisionShapes () noexcept;
void RemoveCollider (int index); void RemoveCollider (int index);
SHBoundingBox* AddBoundingBox (const SHVec3& halfExtents = SHVec3::One, const SHVec3& posOffset = SHVec3::Zero) noexcept; int AddBoundingBox (const SHVec3& halfExtents = SHVec3::One, const SHVec3& posOffset = SHVec3::Zero, const SHVec3& rotOffset = SHVec3::Zero) noexcept;
SHBoundingSphere* AddBoundingSphere (float radius = 1.0f, const SHVec3& posOffset = SHVec3::Zero) noexcept; int AddBoundingSphere (float radius = 1.0f, const SHVec3& posOffset = SHVec3::Zero) noexcept;
private: private:
@ -98,7 +101,8 @@ namespace SHADE
SHVec3 position; SHVec3 position;
SHQuaternion orientation; SHQuaternion orientation;
Colliders colliders; SHVec3 scale;
CollisionShapes collisionShapes;
RTTR_ENABLE() RTTR_ENABLE()
}; };

123
SHADE_Engine/src/Physics/SHCollider.cpp → SHADE_Engine/src/Physics/SHCollisionShape.cpp
View File

@ -11,12 +11,12 @@
#include <SHpch.h> #include <SHpch.h>
// Primary Header // Primary Header
#include "SHCollider.h" #include "SHCollisionShape.h"
// Project Headers // Project Headers
#include "Math/Geometry/SHBoundingBox.h" #include "Math/Geometry/SHBoundingBox.h"
#include "Math/Geometry/SHBoundingSphere.h" #include "Math/Geometry/SHBoundingSphere.h"
#include "Math/Transform/SHTransformComponent.h"
#include "Math/SHMathHelpers.h" #include "Math/SHMathHelpers.h"
#include "Physics/Components/SHColliderComponent.h"
#include "Reflection/SHReflectionMetadata.h" #include "Reflection/SHReflectionMetadata.h"
namespace SHADE namespace SHADE
@ -25,7 +25,7 @@ namespace SHADE
/* Constructors & Destructor Definitions */ /* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/
SHCollider::SHCollider(EntityID eid, Type colliderType, const SHPhysicsMaterial& physicsMaterial) SHCollisionShape::SHCollisionShape(EntityID eid, Type colliderType, const SHPhysicsMaterial& physicsMaterial)
: type { colliderType } : type { colliderType }
, entityID { eid } , entityID { eid }
, isTrigger { false } , isTrigger { false }
@ -49,7 +49,7 @@ namespace SHADE
} }
} }
SHCollider::SHCollider(const SHCollider& rhs) noexcept SHCollisionShape::SHCollisionShape(const SHCollisionShape& rhs) noexcept
: type { rhs.type} : type { rhs.type}
, entityID { rhs.entityID } , entityID { rhs.entityID }
, isTrigger { rhs.isTrigger } , isTrigger { rhs.isTrigger }
@ -61,7 +61,7 @@ namespace SHADE
CopyShape(rhs.shape); CopyShape(rhs.shape);
} }
SHCollider::SHCollider(SHCollider&& rhs) noexcept SHCollisionShape::SHCollisionShape(SHCollisionShape&& rhs) noexcept
: type { rhs.type} : type { rhs.type}
, entityID { rhs.entityID } , entityID { rhs.entityID }
, isTrigger { rhs.isTrigger } , isTrigger { rhs.isTrigger }
@ -73,7 +73,7 @@ namespace SHADE
CopyShape(rhs.shape); CopyShape(rhs.shape);
} }
SHCollider::~SHCollider() noexcept SHCollisionShape::~SHCollisionShape() noexcept
{ {
shape = nullptr; shape = nullptr;
} }
@ -82,7 +82,7 @@ namespace SHADE
/* Operator Overload Definitions */ /* Operator Overload Definitions */
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/
SHCollider& SHCollider::operator=(const SHCollider& rhs) noexcept SHCollisionShape& SHCollisionShape::operator=(const SHCollisionShape& rhs) noexcept
{ {
if (this == &rhs) if (this == &rhs)
return *this; return *this;
@ -100,7 +100,7 @@ namespace SHADE
return *this; return *this;
} }
SHCollider& SHCollider::operator=(SHCollider&& rhs) noexcept SHCollisionShape& SHCollisionShape::operator=(SHCollisionShape&& rhs) noexcept
{ {
type = rhs.type; type = rhs.type;
entityID = rhs.entityID; entityID = rhs.entityID;
@ -119,52 +119,52 @@ namespace SHADE
/* Getter Function Definitions */ /* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/
bool SHCollider::HasChanged() const noexcept bool SHCollisionShape::HasChanged() const noexcept
{ {
return dirty; return dirty;
} }
bool SHCollider::IsTrigger() const noexcept bool SHCollisionShape::IsTrigger() const noexcept
{ {
return isTrigger; return isTrigger;
} }
SHCollider::Type SHCollider::GetType() const noexcept SHCollisionShape::Type SHCollisionShape::GetType() const noexcept
{ {
return type; return type;
} }
float SHCollider::GetFriction() const noexcept float SHCollisionShape::GetFriction() const noexcept
{ {
return material.GetFriction(); return material.GetFriction();
} }
float SHCollider::GetBounciness() const noexcept float SHCollisionShape::GetBounciness() const noexcept
{ {
return material.GetBounciness(); return material.GetBounciness();
} }
float SHCollider::GetDensity() const noexcept float SHCollisionShape::GetDensity() const noexcept
{ {
return material.GetDensity(); return material.GetDensity();
} }
const SHPhysicsMaterial& SHCollider::GetMaterial() const noexcept const SHPhysicsMaterial& SHCollisionShape::GetMaterial() const noexcept
{ {
return material; return material;
} }
const SHVec3& SHCollider::GetPositionOffset() const noexcept const SHVec3& SHCollisionShape::GetPositionOffset() const noexcept
{ {
return positionOffset; return positionOffset;
} }
const SHVec3& SHCollider::GetRotationOffset() const noexcept const SHVec3& SHCollisionShape::GetRotationOffset() const noexcept
{ {
return rotationOffset; return rotationOffset;
} }
SHShape* SHCollider::GetShape() noexcept SHShape* SHCollisionShape::GetShape() noexcept
{ {
dirty = true; dirty = true;
return shape; return shape;
@ -174,93 +174,80 @@ namespace SHADE
/* Setter Function Definitions */ /* Setter Function Definitions */
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/
void SHCollider::SetBoundingBox(const SHVec3& halfExtents) void SHCollisionShape::SetBoundingBox(const SHVec3& halfExtents)
{ {
dirty = true; dirty = true;
// Set the half extents relative to transform const auto* colliderComponent = SHComponentManager::GetComponent<SHColliderComponent>(entityID);
SHVec3 worldHalfExtents = halfExtents; // Set the half extents relative to world scale
const SHVec3 WORLD_EXTENTS = halfExtents * colliderComponent->GetScale() * 0.5f;
const auto* transformComponent = SHComponentManager::GetComponent_s<SHTransformComponent>(entityID); if (type != Type::BOX)
if (transformComponent != nullptr)
worldHalfExtents *= (transformComponent->GetWorldScale() * 0.5f);
if (type == Type::BOX)
{
auto* box = reinterpret_cast<SHBoundingBox*>(shape);
box->SetHalfExtents(worldHalfExtents);
}
else
{ {
type = Type::BOX; type = Type::BOX;
delete shape; delete shape;
shape = new SHBoundingBox{ positionOffset, worldHalfExtents }; shape = new SHBoundingBox{ positionOffset, WORLD_EXTENTS };
}
} }
void SHCollider::SetBoundingSphere(float radius) auto* box = reinterpret_cast<SHBoundingBox*>(shape);
box->SetWorldExtents(WORLD_EXTENTS);
box->SetRelativeExtents(halfExtents);
}
void SHCollisionShape::SetBoundingSphere(float radius)
{ {
dirty = true; dirty = true;
// Set the radius relative to transform const auto* colliderComponent = SHComponentManager::GetComponent<SHColliderComponent>(entityID);
float worldRadius = radius; // Set the radius relative to world scale
const SHVec3 WORLD_SCALE = colliderComponent->GetScale();
const float MAX_SCALE = SHMath::Max({ WORLD_SCALE.x, WORLD_SCALE.y, WORLD_SCALE.z });
const float WORLD_RADIUS = radius * MAX_SCALE * 0.5f;
const auto* transformComponent = SHComponentManager::GetComponent_s<SHTransformComponent>(entityID); if (type != Type::SPHERE)
if (transformComponent != nullptr)
{
const SHVec3 TF_WORLD_SCALE = transformComponent->GetWorldScale();
const float MAX_SCALE = SHMath::Max({ TF_WORLD_SCALE.x, TF_WORLD_SCALE.y, TF_WORLD_SCALE.z });
worldRadius *= MAX_SCALE * 0.5f;
}
if (type == Type::SPHERE)
{
auto* sphere = reinterpret_cast<SHBoundingSphere*>(shape);
sphere->SetRadius(worldRadius);
}
else
{ {
type = Type::SPHERE; type = Type::SPHERE;
delete shape; delete shape;
shape = new SHBoundingSphere{ positionOffset, worldRadius }; shape = new SHBoundingSphere{ positionOffset, WORLD_RADIUS };
} }
auto* sphere = reinterpret_cast<SHBoundingSphere*>(shape);
sphere->SetWorldRadius(WORLD_RADIUS);
} }
void SHCollider::SetIsTrigger(bool trigger) noexcept void SHCollisionShape::SetIsTrigger(bool trigger) noexcept
{ {
dirty = true; dirty = true;
isTrigger = trigger; isTrigger = trigger;
} }
void SHCollider::SetFriction(float friction) noexcept void SHCollisionShape::SetFriction(float friction) noexcept
{ {
dirty = true; dirty = true;
material.SetFriction(friction); material.SetFriction(friction);
} }
void SHCollider::SetBounciness(float bounciness) noexcept void SHCollisionShape::SetBounciness(float bounciness) noexcept
{ {
dirty = true; dirty = true;
material.SetBounciness(bounciness); material.SetBounciness(bounciness);
} }
void SHCollider::SetDensity(float density) noexcept void SHCollisionShape::SetDensity(float density) noexcept
{ {
dirty = true; dirty = true;
material.SetDensity(density); material.SetDensity(density);
} }
void SHCollider::SetMaterial(const SHPhysicsMaterial& newMaterial) noexcept void SHCollisionShape::SetMaterial(const SHPhysicsMaterial& newMaterial) noexcept
{ {
dirty = true; dirty = true;
material = newMaterial; material = newMaterial;
} }
void SHCollider::SetPositionOffset(const SHVec3& posOffset) noexcept void SHCollisionShape::SetPositionOffset(const SHVec3& posOffset) noexcept
{ {
dirty = true; dirty = true;
positionOffset = posOffset; positionOffset = posOffset;
@ -281,7 +268,7 @@ namespace SHADE
} }
} }
void SHCollider::SetRotationOffset(const SHVec3& rotOffset) noexcept void SHCollisionShape::SetRotationOffset(const SHVec3& rotOffset) noexcept
{ {
dirty = true; dirty = true;
rotationOffset = rotOffset; rotationOffset = rotOffset;
@ -291,7 +278,7 @@ namespace SHADE
/* Private Function Member Definitions */ /* Private Function Member Definitions */
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/
void SHCollider::CopyShape(const SHShape* rhs) void SHCollisionShape::CopyShape(const SHShape* rhs)
{ {
switch (type) switch (type)
{ {
@ -299,14 +286,14 @@ namespace SHADE
{ {
const auto* RHS_BOX = reinterpret_cast<const SHBoundingBox*>(rhs); const auto* RHS_BOX = reinterpret_cast<const SHBoundingBox*>(rhs);
shape = new SHBoundingBox{ positionOffset, RHS_BOX->GetHalfExtents() }; shape = new SHBoundingBox{ positionOffset, RHS_BOX->GetWorldExtents() };
break; break;
} }
case Type::SPHERE: case Type::SPHERE:
{ {
const auto* RHS_SPHERE = reinterpret_cast<const SHBoundingSphere*>(rhs); const auto* RHS_SPHERE = reinterpret_cast<const SHBoundingSphere*>(rhs);
shape = new SHBoundingSphere{ positionOffset, RHS_SPHERE->GetRadius() }; shape = new SHBoundingSphere{ positionOffset, RHS_SPHERE->GetWorldRadius() };
break; break;
} }
default: break; default: break;
@ -320,14 +307,14 @@ RTTR_REGISTRATION
using namespace SHADE; using namespace SHADE;
using namespace rttr; using namespace rttr;
registration::enumeration<SHCollider::Type>("Collider Type") registration::enumeration<SHCollisionShape::Type>("Collider Type")
( (
value("Box", SHCollider::Type::BOX), value("Box", SHCollisionShape::Type::BOX),
value("Sphere", SHCollider::Type::SPHERE) value("Sphere", SHCollisionShape::Type::SPHERE)
// TODO(Diren): Add More Shapes // TODO(Diren): Add More Shapes
); );
registration::class_<SHCollider>("Collider") registration::class_<SHCollisionShape>("Collider")
.property("Position Offset", &SHCollider::GetPositionOffset, &SHCollider::SetPositionOffset) .property("Position Offset", &SHCollisionShape::GetPositionOffset, &SHCollisionShape::SetPositionOffset)
.property("Rotation Offset", &SHCollider::GetRotationOffset, &SHCollider::SetRotationOffset) (metadata(META::angleInRad, true)); .property("Rotation Offset", &SHCollisionShape::GetRotationOffset, &SHCollisionShape::SetRotationOffset) (metadata(META::angleInRad, true));
} }

14
SHADE_Engine/src/Physics/SHCollider.h → SHADE_Engine/src/Physics/SHCollisionShape.h
View File

@ -24,7 +24,7 @@ namespace SHADE
/* Type Definitions */ /* Type Definitions */
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/
class SH_API SHCollider class SH_API SHCollisionShape
{ {
private: private:
@ -51,18 +51,18 @@ namespace SHADE
/* Constructors & Destructor */ /* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
SHCollider (EntityID eid, Type colliderType = Type::BOX, const SHPhysicsMaterial& physicsMaterial = SHPhysicsMaterial::DEFAULT); SHCollisionShape (EntityID eid, Type colliderType = Type::BOX, const SHPhysicsMaterial& physicsMaterial = SHPhysicsMaterial::DEFAULT);
SHCollider (const SHCollider& rhs) noexcept; SHCollisionShape (const SHCollisionShape& rhs) noexcept;
SHCollider (SHCollider&& rhs) noexcept; SHCollisionShape (SHCollisionShape&& rhs) noexcept;
~SHCollider () noexcept; ~SHCollisionShape () noexcept;
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
/* Operator Overloads */ /* Operator Overloads */
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
SHCollider& operator=(const SHCollider& rhs) noexcept; SHCollisionShape& operator=(const SHCollisionShape& rhs) noexcept;
SHCollider& operator=(SHCollider&& rhs) noexcept; SHCollisionShape& operator=(SHCollisionShape&& rhs) noexcept;
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
/* Getter Functions */ /* Getter Functions */

20
SHADE_Engine/src/Physics/SHPhysicsObject.cpp
View File

@ -128,24 +128,24 @@ namespace SHADE
/* Public Function Member Definitions */ /* Public Function Member Definitions */
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/
int SHPhysicsObject::AddCollider(SHCollider* collider) int SHPhysicsObject::AddCollider(SHCollisionShape* collider)
{ {
const rp3d::Transform OFFSETS{ collider->GetPositionOffset(), collider->GetRotationOffset() }; const rp3d::Transform OFFSETS{ collider->GetPositionOffset(), collider->GetRotationOffset() };
switch (collider->GetType()) switch (collider->GetType())
{ {
case SHCollider::Type::BOX: case SHCollisionShape::Type::BOX:
{ {
const auto* box = reinterpret_cast<SHBoundingBox*>(collider->GetShape()); const auto* box = reinterpret_cast<SHBoundingBox*>(collider->GetShape());
rp3d::BoxShape* newBox = factory->createBoxShape(box->GetHalfExtents()); rp3d::BoxShape* newBox = factory->createBoxShape(box->GetWorldExtents());
rp3dBody->addCollider(newBox, OFFSETS); rp3dBody->addCollider(newBox, OFFSETS);
break; break;
} }
case SHCollider::Type::SPHERE: case SHCollisionShape::Type::SPHERE:
{ {
const auto* sphere = reinterpret_cast<SHBoundingSphere*>(collider->GetShape()); const auto* sphere = reinterpret_cast<SHBoundingSphere*>(collider->GetShape());
rp3d::SphereShape* newSphere = factory->createSphereShape(sphere->GetRadius()); rp3d::SphereShape* newSphere = factory->createSphereShape(sphere->GetWorldRadius());
rp3dBody->addCollider(newSphere, OFFSETS); rp3dBody->addCollider(newSphere, OFFSETS);
break; break;
@ -173,7 +173,7 @@ namespace SHADE
void SHPhysicsObject::SyncColliders(SHColliderComponent* c) const noexcept void SHPhysicsObject::SyncColliders(SHColliderComponent* c) const noexcept
{ {
int index = 0; int index = 0;
for (auto& collider : c->colliders) for (auto& collider : c->collisionShapes)
{ {
if (!collider.dirty) if (!collider.dirty)
continue; continue;
@ -188,21 +188,21 @@ namespace SHADE
switch (collider.GetType()) switch (collider.GetType())
{ {
case SHCollider::Type::BOX: case SHCollisionShape::Type::BOX:
{ {
const auto* box = reinterpret_cast<SHBoundingBox*>(collider.GetShape()); const auto* box = reinterpret_cast<SHBoundingBox*>(collider.GetShape());
auto* rp3dBoxShape = reinterpret_cast<rp3d::BoxShape*>(rp3dCollider->getCollisionShape()); auto* rp3dBoxShape = reinterpret_cast<rp3d::BoxShape*>(rp3dCollider->getCollisionShape());
rp3dBoxShape->setHalfExtents(box->GetHalfExtents()); rp3dBoxShape->setHalfExtents(box->GetWorldExtents());
break; break;
} }
case SHCollider::Type::SPHERE: case SHCollisionShape::Type::SPHERE:
{ {
const auto* sphere = reinterpret_cast<SHBoundingSphere*>(collider.GetShape()); const auto* sphere = reinterpret_cast<SHBoundingSphere*>(collider.GetShape());
auto* rp3dSphereShape = reinterpret_cast<rp3d::SphereShape*>(rp3dCollider->getCollisionShape()); auto* rp3dSphereShape = reinterpret_cast<rp3d::SphereShape*>(rp3dCollider->getCollisionShape());
rp3dSphereShape->setRadius(sphere->GetRadius()); rp3dSphereShape->setRadius(sphere->GetWorldRadius());
break; break;
} }

2
SHADE_Engine/src/Physics/SHPhysicsObject.h
View File

@ -69,7 +69,7 @@ namespace SHADE
/* Function Members */ /* Function Members */
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
int AddCollider (SHCollider* collider); int AddCollider (SHCollisionShape* collider);
void RemoveCollider (int index); void RemoveCollider (int index);
void SyncColliders (SHColliderComponent* c) const noexcept; void SyncColliders (SHColliderComponent* c) const noexcept;

20
SHADE_Engine/src/Physics/SHPhysicsSystem.cpp
View File

@ -348,7 +348,7 @@ namespace SHADE
factory.destroyPhysicsWorld(world); factory.destroyPhysicsWorld(world);
} }
void SHPhysicsSystem::AddCollisionShape(EntityID entityID, SHCollider* collider) void SHPhysicsSystem::AddCollisionShape(EntityID entityID, SHCollisionShape* collider)
{ {
auto* physicsObject = GetPhysicsObject(entityID); auto* physicsObject = GetPhysicsObject(entityID);
@ -395,6 +395,7 @@ namespace SHADE
{ {
const auto WORLD_POS = transformComponent->GetWorldPosition(); const auto WORLD_POS = transformComponent->GetWorldPosition();
const auto WORLD_ROT = transformComponent->GetWorldOrientation(); const auto WORLD_ROT = transformComponent->GetWorldOrientation();
const auto WORLD_SCL = transformComponent->GetWorldScale();
physicsObject.SetPosition(WORLD_POS); physicsObject.SetPosition(WORLD_POS);
physicsObject.SetOrientation(WORLD_ROT); physicsObject.SetOrientation(WORLD_ROT);
@ -411,6 +412,9 @@ namespace SHADE
{ {
colliderComponent->position = WORLD_POS; colliderComponent->position = WORLD_POS;
colliderComponent->orientation = WORLD_ROT; colliderComponent->orientation = WORLD_ROT;
colliderComponent->scale = WORLD_SCL;
colliderComponent->RecomputeCollisionShapes();
} }
} }
@ -605,7 +609,6 @@ namespace SHADE
if (rigidBodyComponent != nullptr) if (rigidBodyComponent != nullptr)
{ {
if (rigidBodyComponent->GetType() == SHRigidBodyComponent::Type::STATIC) if (rigidBodyComponent->GetType() == SHRigidBodyComponent::Type::STATIC)
continue; continue;
@ -658,8 +661,10 @@ namespace SHADE
{ {
const auto IT = std::ranges::find_if(container.begin(), container.end(), [&](const SHCollisionEvent& e) const auto IT = std::ranges::find_if(container.begin(), container.end(), [&](const SHCollisionEvent& e)
{ {
const bool ENTITY_MATCH = e.value[0] == collisionEvent.value[0]; const bool ENTITY_MATCH = (e.ids[0] == collisionEvent.ids[0] && e.ids[1] == collisionEvent.ids[1])
const bool COLLIDERS_MATCH = e.value[1] == collisionEvent.value[1]; || (e.ids[0] == collisionEvent.ids[1] && e.ids[1] == collisionEvent.ids[0]);
const bool COLLIDERS_MATCH = (e.ids[2] == collisionEvent.ids[2] && e.ids[3] == collisionEvent.ids[3])
|| (e.ids[2] == collisionEvent.ids[3] && e.ids[3] == collisionEvent.ids[2]);
return ENTITY_MATCH && COLLIDERS_MATCH; return ENTITY_MATCH && COLLIDERS_MATCH;
}); });
@ -734,7 +739,7 @@ namespace SHADE
// Add collision shapes back into the body // Add collision shapes back into the body
if (colliderComponent != nullptr) if (colliderComponent != nullptr)
{ {
for (auto& collider : colliderComponent->colliders) for (auto& collider : colliderComponent->collisionShapes)
physicsObject->AddCollider(&collider); physicsObject->AddCollider(&collider);
} }
} }
@ -745,6 +750,7 @@ namespace SHADE
colliderComponent->position = transformComponent->GetWorldPosition(); colliderComponent->position = transformComponent->GetWorldPosition();
colliderComponent->orientation = transformComponent->GetWorldOrientation(); colliderComponent->orientation = transformComponent->GetWorldOrientation();
colliderComponent->scale = transformComponent->GetWorldScale();
if (physicsObject->rp3dBody == nullptr) if (physicsObject->rp3dBody == nullptr)
{ {
@ -755,7 +761,7 @@ namespace SHADE
} }
// Add Collision Shapes // Add Collision Shapes
for (auto& collider : colliderComponent->colliders) for (auto& collider : colliderComponent->collisionShapes)
physicsObject->AddCollider(&collider); physicsObject->AddCollider(&collider);
} }
} }
@ -800,7 +806,7 @@ namespace SHADE
rp3d::Transform{ colliderComponent->position, colliderComponent->orientation } rp3d::Transform{ colliderComponent->position, colliderComponent->orientation }
); );
for (auto& collider : colliderComponent->colliders) for (auto& collider : colliderComponent->collisionShapes)
physicsObject->AddCollider(&collider); physicsObject->AddCollider(&collider);
} }
} }

2
SHADE_Engine/src/Physics/SHPhysicsSystem.h
View File

@ -114,7 +114,7 @@ namespace SHADE
void Init () override; void Init () override;
void Exit () override; void Exit () override;
void AddCollisionShape (EntityID entityID, SHCollider* collider); void AddCollisionShape (EntityID entityID, SHCollisionShape* collider);
void RemoveCollisionShape (EntityID entityID, int index); void RemoveCollisionShape (EntityID entityID, int index);
void onContact (const rp3d::CollisionCallback::CallbackData& callbackData) override; void onContact (const rp3d::CollisionCallback::CallbackData& callbackData) override;

8
SHADE_Engine/src/Physics/SHPhysicsUtils.cpp
View File

@ -75,14 +75,14 @@ namespace SHADE
return SHComponentManager::GetComponent_s<SHRigidBodyComponent>(ids[ENTITY_B]); return SHComponentManager::GetComponent_s<SHRigidBodyComponent>(ids[ENTITY_B]);
} }
const SHCollider* SHCollisionEvent::GetColliderA() const noexcept const SHCollisionShape* SHCollisionEvent::GetColliderA() const noexcept
{ {
return &SHComponentManager::GetComponent<SHColliderComponent>(ids[ENTITY_A])->GetCollider(ids[COLLIDER_A]); return &SHComponentManager::GetComponent<SHColliderComponent>(ids[ENTITY_A])->GetCollisionShape(ids[COLLIDER_A]);
} }
const SHCollider* SHCollisionEvent::GetColliderB() const noexcept const SHCollisionShape* SHCollisionEvent::GetColliderB() const noexcept
{ {
return &SHComponentManager::GetComponent<SHColliderComponent>(ids[ENTITY_B])->GetCollider(ids[COLLIDER_B]); return &SHComponentManager::GetComponent<SHColliderComponent>(ids[ENTITY_B])->GetCollisionShape(ids[COLLIDER_B]);
} }
SHCollisionEvent::State SHCollisionEvent::GetCollisionState() const noexcept SHCollisionEvent::State SHCollisionEvent::GetCollisionState() const noexcept

6
SHADE_Engine/src/Physics/SHPhysicsUtils.h
View File

@ -24,7 +24,7 @@ namespace SHADE
struct SHPhysicsColliderAddedEvent struct SHPhysicsColliderAddedEvent
{ {
EntityID entityID; EntityID entityID;
SHCollider::Type colliderType; SHCollisionShape::Type colliderType;
int colliderIndex; int colliderIndex;
}; };
@ -88,8 +88,8 @@ namespace SHADE
[[nodiscard]] EntityID GetEntityB () const noexcept; [[nodiscard]] EntityID GetEntityB () const noexcept;
[[nodiscard]] const SHRigidBodyComponent* GetRigidBodyA () const noexcept; [[nodiscard]] const SHRigidBodyComponent* GetRigidBodyA () const noexcept;
[[nodiscard]] const SHRigidBodyComponent* GetRigidBodyB () const noexcept; [[nodiscard]] const SHRigidBodyComponent* GetRigidBodyB () const noexcept;
[[nodiscard]] const SHCollider* GetColliderA () const noexcept; [[nodiscard]] const SHCollisionShape* GetColliderA () const noexcept;
[[nodiscard]] const SHCollider* GetColliderB () const noexcept; [[nodiscard]] const SHCollisionShape* GetColliderB () const noexcept;
[[nodiscard]] State GetCollisionState () const noexcept; [[nodiscard]] State GetCollisionState () const noexcept;
private: private:

52
SHADE_Engine/src/Serialization/SHYAMLConverters.h
View File

@ -3,7 +3,7 @@
#include "Graphics/MiddleEnd/Materials/SHMaterialSpec.h" #include "Graphics/MiddleEnd/Materials/SHMaterialSpec.h"
#include "Math/Geometry/SHBoundingBox.h" #include "Math/Geometry/SHBoundingBox.h"
#include "Math/Geometry/SHBoundingSphere.h" #include "Math/Geometry/SHBoundingSphere.h"
#include "Physics/SHCollider.h" #include "Physics/SHCollisionShape.h"
#include "Resource/SHResourceManager.h" #include "Resource/SHResourceManager.h"
#include "Math/Vector/SHVec2.h" #include "Math/Vector/SHVec2.h"
#include "Math/Vector/SHVec3.h" #include "Math/Vector/SHVec3.h"
@ -101,7 +101,7 @@ namespace YAML
}; };
template<> template<>
struct convert<SHCollider> struct convert<SHCollisionShape>
{ {
static constexpr const char* IsTrigger = "Is Trigger"; static constexpr const char* IsTrigger = "Is Trigger";
@ -114,33 +114,33 @@ namespace YAML
static constexpr const char* Density = "Density"; static constexpr const char* Density = "Density";
static constexpr const char* PositionOffset = "Position Offset"; static constexpr const char* PositionOffset = "Position Offset";
static Node encode(SHCollider& rhs) static Node encode(SHCollisionShape& rhs)
{ {
Node node; Node node;
node[IsTrigger] = rhs.IsTrigger(); node[IsTrigger] = rhs.IsTrigger();
rttr::type const shapeRttrType = rttr::type::get<SHCollider::Type>(); rttr::type const shapeRttrType = rttr::type::get<SHCollisionShape::Type>();
rttr::enumeration const enumAlign = shapeRttrType.get_enumeration(); rttr::enumeration const enumAlign = shapeRttrType.get_enumeration();
SHCollider::Type colliderType = rhs.GetType(); SHCollisionShape::Type colliderType = rhs.GetType();
node[Type] = enumAlign.value_to_name(colliderType).data(); node[Type] = enumAlign.value_to_name(colliderType).data();
switch (colliderType) switch (colliderType)
{ {
case SHCollider::Type::BOX: case SHCollisionShape::Type::BOX:
{ {
auto const bb = reinterpret_cast<SHBoundingBox*>(rhs.GetShape()); auto const bb = reinterpret_cast<SHBoundingBox*>(rhs.GetShape());
node[HalfExtents] = bb->GetHalfExtents(); node[HalfExtents] = bb->GetRelativeExtents();
} }
break; break;
case SHCollider::Type::SPHERE: case SHCollisionShape::Type::SPHERE:
{ {
auto const bs = reinterpret_cast<SHBoundingSphere*>(rhs.GetShape()); auto const bs = reinterpret_cast<SHBoundingSphere*>(rhs.GetShape());
node[Radius] = bs->GetRadius(); node[Radius] = bs->GetRelativeRadius();
} }
break; break;
case SHCollider::Type::CAPSULE: break; case SHCollisionShape::Type::CAPSULE: break;
default:; default:;
} }
@ -151,33 +151,33 @@ namespace YAML
return node; return node;
} }
static bool decode(Node const& node, SHCollider& rhs) static bool decode(Node const& node, SHCollisionShape& rhs)
{ {
if (node[IsTrigger].IsDefined()) if (node[IsTrigger].IsDefined())
rhs.SetIsTrigger(node[IsTrigger].as<bool>()); rhs.SetIsTrigger(node[IsTrigger].as<bool>());
if (!node[Type].IsDefined()) if (!node[Type].IsDefined())
return false; return false;
rttr::type const shapeRttrType = rttr::type::get<SHCollider::Type>(); rttr::type const shapeRttrType = rttr::type::get<SHCollisionShape::Type>();
rttr::enumeration const enumAlign = shapeRttrType.get_enumeration(); rttr::enumeration const enumAlign = shapeRttrType.get_enumeration();
bool ok; bool ok;
const SHCollider::Type colliderType = enumAlign.name_to_value(node[Type].as<std::string>()).convert<SHCollider::Type>(&ok); const SHCollisionShape::Type colliderType = enumAlign.name_to_value(node[Type].as<std::string>()).convert<SHCollisionShape::Type>(&ok);
if (!ok) if (!ok)
return false; return false;
switch (colliderType) switch (colliderType)
{ {
case SHCollider::Type::BOX: case SHCollisionShape::Type::BOX:
{ {
if (node[HalfExtents].IsDefined()) if (node[HalfExtents].IsDefined())
rhs.SetBoundingBox(node[HalfExtents].as<SHVec3>() * 2.0f); rhs.SetBoundingBox(node[HalfExtents].as<SHVec3>());
} }
break; break;
case SHCollider::Type::SPHERE: case SHCollisionShape::Type::SPHERE:
{ {
if (node[Radius].IsDefined()) if (node[Radius].IsDefined())
rhs.SetBoundingSphere(node[Radius].as<float>()); rhs.SetBoundingSphere(node[Radius].as<float>());
} }
break; break;
case SHCollider::Type::CAPSULE: break; case SHCollisionShape::Type::CAPSULE: break;
default:; default:;
} }
if (node[Friction].IsDefined()) if (node[Friction].IsDefined())
@ -200,12 +200,12 @@ namespace YAML
static Node encode(SHColliderComponent& rhs) static Node encode(SHColliderComponent& rhs)
{ {
Node node, collidersNode; Node node, collidersNode;
auto const& colliders = rhs.GetColliders(); auto const& colliders = rhs.GetCollisionShapes();
int const numColliders = static_cast<int>(colliders.size()); int const numColliders = static_cast<int>(colliders.size());
for (int i = 0; i < numColliders; ++i) for (int i = 0; i < numColliders; ++i)
{ {
auto& collider = rhs.GetCollider(i); auto& collider = rhs.GetCollisionShape(i);
Node colliderNode = convert<SHCollider>::encode(collider); Node colliderNode = convert<SHCollisionShape>::encode(collider);
if (colliderNode.IsDefined()) if (colliderNode.IsDefined())
collidersNode[i] = colliderNode; collidersNode[i] = colliderNode;
} }
@ -219,21 +219,21 @@ namespace YAML
int numColliders{}; int numColliders{};
for (auto const& colliderNode : node[Colliders]) for (auto const& colliderNode : node[Colliders])
{ {
rttr::type const shapeRttrType = rttr::type::get<SHCollider::Type>(); rttr::type const shapeRttrType = rttr::type::get<SHCollisionShape::Type>();
rttr::enumeration const enumAlign = shapeRttrType.get_enumeration(); rttr::enumeration const enumAlign = shapeRttrType.get_enumeration();
bool ok = false; bool ok = false;
const SHCollider::Type colliderType = enumAlign.name_to_value(colliderNode[convert<SHCollider>::Type].as<std::string>()).convert<SHCollider::Type>(&ok); const SHCollisionShape::Type colliderType = enumAlign.name_to_value(colliderNode[convert<SHCollisionShape>::Type].as<std::string>()).convert<SHCollisionShape::Type>(&ok);
if (!ok) if (!ok)
return false; return false;
switch (colliderType) switch (colliderType)
{ {
case SHCollider::Type::BOX: rhs.AddBoundingBox(); break; case SHCollisionShape::Type::BOX: rhs.AddBoundingBox(); break;
case SHCollider::Type::SPHERE: rhs.AddBoundingSphere(); break; case SHCollisionShape::Type::SPHERE: rhs.AddBoundingSphere(); break;
case SHCollider::Type::CAPSULE: break; case SHCollisionShape::Type::CAPSULE: break;
default:; default:;
} }
YAML::convert<SHCollider>::decode(colliderNode, rhs.GetCollider(numColliders++)); YAML::convert<SHCollisionShape>::decode(colliderNode, rhs.GetCollisionShape(numColliders++));
} }
} }
return true; return true;

18
SHADE_Managed/src/Components/Collider.cxx
View File

@ -55,11 +55,11 @@ namespace SHADE
} }
Vector3 BoxCollider::HalfExtents::get() Vector3 BoxCollider::HalfExtents::get()
{ {
return Convert::ToCLI(getNativeBoundObject<SHBoundingBox>().GetHalfExtents()); return Convert::ToCLI(getNativeBoundObject<SHBoundingBox>().GetWorldExtents());
} }
void BoxCollider::HalfExtents::set(Vector3 value) void BoxCollider::HalfExtents::set(Vector3 value)
{ {
getNativeBoundObject<SHBoundingBox>().SetHalfExtents(Convert::ToNative(value)); getNativeBoundObject<SHBoundingBox>().SetWorldExtents(Convert::ToNative(value));
} }
Vector3 BoxCollider::Min::get() Vector3 BoxCollider::Min::get()
{ {
@ -103,11 +103,11 @@ namespace SHADE
} }
float SphereCollider::Radius::get() float SphereCollider::Radius::get()
{ {
return getNativeBoundObject<SHBoundingSphere>().GetRadius(); return getNativeBoundObject<SHBoundingSphere>().GetWorldRadius();
} }
void SphereCollider::Radius::set(float value) void SphereCollider::Radius::set(float value)
{ {
getNativeBoundObject<SHBoundingSphere>().SetRadius(value); getNativeBoundObject<SHBoundingSphere>().SetWorldRadius(value);
} }
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
@ -150,7 +150,7 @@ namespace SHADE
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
int Collider::CollisionShapeCount::get() int Collider::CollisionShapeCount::get()
{ {
return static_cast<int>(GetNativeComponent()->GetColliders().size()); return static_cast<int>(GetNativeComponent()->GetCollisionShapes().size());
} }
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
@ -230,18 +230,18 @@ namespace SHADE
// Populate the list // Populate the list
int i = 0; int i = 0;
for (const auto& collider : GetNativeComponent()->GetColliders()) for (const auto& collider : GetNativeComponent()->GetCollisionShapes())
{ {
CollisionShape^ bound = nullptr; CollisionShape^ bound = nullptr;
switch (collider.GetType()) switch (collider.GetType())
{ {
case SHCollider::Type::BOX: case SHCollisionShape::Type::BOX:
bound = gcnew BoxCollider(i, Owner.GetEntity()); bound = gcnew BoxCollider(i, Owner.GetEntity());
break; break;
case SHCollider::Type::SPHERE: case SHCollisionShape::Type::SPHERE:
bound = gcnew SphereCollider(i, Owner.GetEntity()); bound = gcnew SphereCollider(i, Owner.GetEntity());
break; break;
case SHCollider::Type::CAPSULE: case SHCollisionShape::Type::CAPSULE:
// TODO // TODO
break; break;
default: default:

6
SHADE_Managed/src/Components/Collider.h++
View File

@ -27,11 +27,11 @@ namespace SHADE
try try
{ {
auto& bounds = collider->GetCollider(arrayIndex); auto& shape = collider->GetCollisionShape(arrayIndex);
if (bounds.GetType() != SHCollider::Type::BOX) if (shape.GetType() != SHCollisionShape::Type::BOX)
throw gcnew System::InvalidOperationException("Attempted to retrieve invalid ColliderBound."); throw gcnew System::InvalidOperationException("Attempted to retrieve invalid ColliderBound.");
return reinterpret_cast<CollisionShapeType&>(bounds); return reinterpret_cast<CollisionShapeType&>(shape);
} }
catch (std::invalid_argument&) catch (std::invalid_argument&)
{ {