SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.cpp

@@ -16,6 +16,7 @@
 // Project Headers
 #include "ECS_Base/Managers/SHSystemManager.h"
 #include "ECS_Base/Managers/SHComponentManager.h"
+#include "Scene/SHSceneManager.h"
 
 
 namespace SHADE
@@ -148,6 +149,10 @@ namespace SHADE
 
   void SHPhysicsObject::SyncRigidBody(SHRigidBodyComponent& component) const noexcept
   {
+    // This state is synced in the pre-update routine
+    if (!rp3dBody->isActive())
+      return;
+
     if (component.dirtyFlags == 0)
       return;
 
@@ -267,6 +272,10 @@ namespace SHADE
 
   void SHPhysicsObject::SyncColliders(SHColliderComponent& component) const noexcept
   {
+    // This state is synced in the pre-update routine
+    if (!rp3dBody->isActive())
+      return;
+
     int index = 0;
     for (auto& collisionShape : component.collisionShapes)
     {

SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObjectManager.cpp

@@ -167,6 +167,7 @@ namespace SHADE
       if (!COMPONENT_GROUP.rigidBodyComponent && !COMPONENT_GROUP.colliderComponent)
       {
         destroyPhysicsObject(COMMAND.eid);
+        wakeAllObjects();
         continue;
       }
 
@@ -176,6 +177,10 @@ namespace SHADE
         physicsObject = createPhysicsObject(COMMAND.eid);
 
       componentFunc[SHUtilities::ConvertEnum(COMMAND.command)][SHUtilities::ConvertEnum(COMMAND.component)](COMMAND, physicsObject, COMPONENT_GROUP);
+
+      // If any removal was done, wake all objects
+      if (COMMAND.command == QueueCommand::Command::REMOVE)
+        wakeAllObjects();
     }
   }
 
@@ -297,5 +302,11 @@ namespace SHADE
     physicsObject->RemoveCollisionShape(command.shapeIndex);
   }
 
+  void SHPhysicsObjectManager::wakeAllObjects() noexcept
+  {
+    for (auto& physicsObject : physicsObjects | std::views::values)
+      physicsObject.GetRigidBody()->setIsSleeping(false);
+  }
+
   
 } // namespace SHADE

SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObjectManager.h

@@ -165,6 +165,8 @@ namespace SHADE
     SHPhysicsObject*  createPhysicsObject   (EntityID eid) noexcept;
     void              destroyPhysicsObject  (EntityID eid) noexcept;
 
+    void              wakeAllObjects        () noexcept;
+
     static void       addRigidBody          (const QueueCommand& command, SHPhysicsObject* physicsObject, const PhysicsComponentGroup& componentGroup);
     static void       addCollider           (const QueueCommand& command, SHPhysicsObject* physicsObject, const PhysicsComponentGroup& componentGroup);
     static void       removeRigidBody       (const QueueCommand& command, SHPhysicsObject* physicsObject, const PhysicsComponentGroup& componentGroup);
@@ -172,6 +174,8 @@ namespace SHADE
 
     static void       addCollisionShape     (const QueueCommand& command, SHPhysicsObject* physicsObject, const PhysicsComponentGroup& componentGroup);
     static void       removeCollisionShape  (const QueueCommand& command, SHPhysicsObject* physicsObject, const PhysicsComponentGroup& componentGroup);
+
+    
   };
   
 } // namespace SHADE

SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp

@@ -20,6 +20,7 @@
 #include "Editor/SHEditor.h"
 #include "Physics/SHPhysicsEvents.h"
 #include "Scene/SHSceneManager.h"
+#include "Scripting/SHScriptEngine.h"
 
 /*-------------------------------------------------------------------------------------*/
 /* Local Helper Functions                                                              */
@@ -34,16 +35,16 @@ namespace SHADE
   SHPhysicsSystem::SHPhysicsSystem()
   : worldUpdated        { false }
   , interpolationFactor { 0.0 }
-  , fixedDT             { 60.0 }
+  , fixedDT             { DEFAULT_FIXED_STEP }
   {}
 
   /*-----------------------------------------------------------------------------------*/
   /* Getter Function Definitions                                                       */
   /*-----------------------------------------------------------------------------------*/
 
-  double SHPhysicsSystem::GetFixedDT() const noexcept
+  double SHPhysicsSystem::GetFixedUpdateRate() const noexcept
   {
-    return fixedDT;
+    return 1.0 / fixedDT;
   }
 
   const SHPhysicsWorldState::WorldSettings& SHPhysicsSystem::GetWorldSettings() const noexcept
@@ -76,9 +77,9 @@ namespace SHADE
   /* Setter Function Definitions                                                       */
   /*-----------------------------------------------------------------------------------*/
 
-  void SHPhysicsSystem::SetFixedDT(double fixedUpdateRate) noexcept
+  void SHPhysicsSystem::SetFixedUpdateRate(double fixedUpdateRate) noexcept
   {
-    fixedDT = fixedUpdateRate;
+    fixedDT = 1.0 / fixedUpdateRate;
   }
 
   void SHPhysicsSystem::SetWorldSettings(const SHPhysicsWorldState::WorldSettings& settings) noexcept
@@ -126,6 +127,45 @@ namespace SHADE
     worldState.DestroyWorld(factory);
   }
 
+  void SHPhysicsSystem::ForceUpdate()
+  {
+    if (!worldState.world)
+    {
+      SHLOGV_ERROR("Unable to force update without a Physics world!")
+      return;
+    }
+
+    auto* scriptingSystem = SHSystemManager::GetSystem<SHScriptEngine>();
+    if (scriptingSystem == nullptr)
+    {
+        SHLOGV_ERROR("Unable to invoke FixedUpdate() on scripts due to missing SHScriptEngine!");
+    }
+
+    // Force the physics world to update once
+    if (scriptingSystem != nullptr)
+        scriptingSystem->ExecuteFixedUpdates();
+
+    worldState.world->update(static_cast<rp3d::decimal>(fixedDT));
+
+    // Sync transforms. No interpolation applied here
+    for (auto& [entityID, physicsObject] : objectManager.physicsObjects)
+    {
+      auto* transformComponent = SHComponentManager::GetComponent_s<SHTransformComponent>(entityID);
+      auto* rigidBodyComponent = SHComponentManager::GetComponent_s<SHRigidBodyComponent>(entityID);
+      auto* colliderComponent = SHComponentManager::GetComponent_s<SHColliderComponent>(entityID);
+
+      postUpdateSyncTransforms
+      (
+        physicsObject
+      , transformComponent
+      , rigidBodyComponent
+      , colliderComponent
+      , 1.0   // We use 1.0 here to avoid any interpolation
+      );
+    }
+  }
+
+
   void SHPhysicsSystem::AddCollisionShape(EntityID eid, int shapeIndex)
   {
     static const auto ADD_SHAPE = [&](EntityID entityID, int index)
@@ -339,5 +379,92 @@ namespace SHADE
     return onStopEvent->handle;
   }
 
+  void SHPhysicsSystem::preUpdateSyncTransform
+  (
+    SHPhysicsObject&      physicsObject
+  , SHTransformComponent* transformComponent
+  , SHRigidBodyComponent* rigidBodyComponent
+  , SHColliderComponent*  colliderComponent
+  ) noexcept
+  {
+    if (!transformComponent)
+      return;
+
+    const SHVec3&       WORLD_POS = transformComponent->GetWorldPosition();
+    const SHQuaternion& WORLD_ROT = transformComponent->GetWorldOrientation();
+    const SHVec3&       WORLD_SCL = transformComponent->GetWorldScale();
+
+    const rp3d::Transform RP3D_TRANSFORM { WORLD_POS, WORLD_ROT };
+    physicsObject.GetRigidBody()->setTransform(RP3D_TRANSFORM);
+
+    if (rigidBodyComponent)
+    {
+      rigidBodyComponent->position    = WORLD_POS;
+      rigidBodyComponent->orientation = WORLD_ROT;
+    }
+
+    if (colliderComponent)
+    {
+      colliderComponent->position     = WORLD_POS;
+      colliderComponent->orientation  = WORLD_ROT;
+      colliderComponent->scale        = WORLD_SCL;
+
+      colliderComponent->RecomputeCollisionShapes();
+    }
+  }
+
+  void SHPhysicsSystem::postUpdateSyncTransforms
+  (
+    SHPhysicsObject&      physicsObject 
+  , SHTransformComponent* transformComponent
+  , SHRigidBodyComponent* rigidBodyComponent
+  , SHColliderComponent*  colliderComponent
+  , double                interpolationFactor
+  ) noexcept
+  {
+    const rp3d::Transform& CURRENT_TF = physicsObject.rp3dBody->getTransform();
+    auto  renderPos = CURRENT_TF.getPosition();
+    auto  renderRot = CURRENT_TF.getOrientation();
+
+    // Cache transforms
+    physicsObject.prevTransform = CURRENT_TF;
+
+    // Sync with rigid bodies
+    if (rigidBodyComponent)
+    {
+      // Skip static bodies
+      if (rigidBodyComponent->GetType() == SHRigidBodyComponent::Type::STATIC)
+        return;
+
+      // Check if transform should be interpolated
+      if (rigidBodyComponent->IsInterpolating())
+      {
+        // Interpolate transforms between current and predicted next transform
+
+        const rp3d::Transform PREV_TF         = physicsObject.prevTransform;
+        const rp3d::Transform INTERPOLATED_TF = rp3d::Transform::interpolateTransforms(PREV_TF, CURRENT_TF, static_cast<rp3d::decimal>(interpolationFactor));
+
+        renderPos = INTERPOLATED_TF.getPosition();
+        renderRot = INTERPOLATED_TF.getOrientation();
+      }
+
+      rigidBodyComponent->position     = CURRENT_TF.getPosition();
+      rigidBodyComponent->orientation  = CURRENT_TF.getOrientation();
+    }
+
+    // Sync with colliders
+    if (colliderComponent)
+    {
+      colliderComponent->position     = CURRENT_TF.getPosition();
+      colliderComponent->orientation  = CURRENT_TF.getOrientation();
+    }
+
+    // Set transform for rendering
+    if (transformComponent)
+    {
+      transformComponent->SetWorldPosition(renderPos);
+      transformComponent->SetWorldOrientation(renderRot);
+    }
+  }
 
 } // namespace SHADE

SHADE_Engine/src/Physics/System/SHPhysicsSystem.h

@@ -55,7 +55,7 @@ namespace SHADE
     /* Getter Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    [[nodiscard]] double                                                GetFixedDT          ()  const noexcept;
+    [[nodiscard]] double                                                GetFixedUpdateRate  ()  const noexcept;
     [[nodiscard]] const SHPhysicsWorldState::WorldSettings&             GetWorldSettings    ()  const noexcept;
 
     [[nodiscard]] const std::vector<SHCollisionInfo>&                   GetAllCollisionInfo ()  const noexcept;
@@ -67,8 +67,8 @@ namespace SHADE
     /* Setter Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    void  SetFixedDT        (double fixedUpdateRate)                              noexcept;
+    void  SetFixedUpdateRate  (double fixedUpdateRate)                              noexcept;
-    void  SetWorldSettings  (const SHPhysicsWorldState::WorldSettings& settings)  noexcept;
+    void  SetWorldSettings    (const SHPhysicsWorldState::WorldSettings& settings)  noexcept;
 
     /*---------------------------------------------------------------------------------*/
     /* Function Members                                                                */
@@ -77,6 +77,8 @@ namespace SHADE
     void  Init                  () override;
     void  Exit                  () override;
 
+    void  ForceUpdate           ();
+
     // Specific Handling for Collision Shapes as they are not under the Component System
 
     void  AddCollisionShape     (EntityID eid, int shapeIndex);
@@ -121,14 +123,6 @@ namespace SHADE
       /*-------------------------------------------------------------------------------*/
 
       static void syncOnPlay(EntityID eid, SHPhysicsObject& physicsObject) noexcept;
-
-      static void preUpdateSyncTransform
-      (
-        SHPhysicsObject&      physicsObject 
-      , SHTransformComponent& transformComponent
-      , SHRigidBodyComponent* rigidBodyComponent
-      , SHColliderComponent*  colliderComponent
-      ) noexcept;
     };
 
     class SH_API PhysicsFixedUpdate final : public SHFixedSystemRoutine
@@ -161,20 +155,6 @@ namespace SHADE
       /*-------------------------------------------------------------------------------*/
 
       void Execute(double dt) noexcept override;
-
-    private:
-      /*-------------------------------------------------------------------------------*/
-      /* Function Members                                                              */
-      /*-------------------------------------------------------------------------------*/
-
-      static void postUpdateSyncTransforms
-      (
-        SHPhysicsObject&      physicsObject 
-      , SHTransformComponent& transformComponent
-      , SHRigidBodyComponent* rigidBodyComponent
-      , SHColliderComponent*  colliderComponent
-      , double                interpolationFactor
-      ) noexcept;
     };
 
   private:
@@ -208,5 +188,24 @@ namespace SHADE
     SHEventHandle     onPlay                  (SHEventPtr onPlayEvent);
     SHEventHandle     onStop                  (SHEventPtr onStopEvent);
 
+    
+
+    static void preUpdateSyncTransform
+    (
+      SHPhysicsObject&      physicsObject 
+    , SHTransformComponent* transformComponent
+    , SHRigidBodyComponent* rigidBodyComponent
+    , SHColliderComponent*  colliderComponent
+    ) noexcept;
+
+    static void postUpdateSyncTransforms
+    (
+      SHPhysicsObject&      physicsObject 
+    , SHTransformComponent* transformComponent
+    , SHRigidBodyComponent* rigidBodyComponent
+    , SHColliderComponent*  colliderComponent
+    , double                interpolationFactor
+    ) noexcept;
+
   };
 } // namespace SHADE

SHADE_Engine/src/Physics/System/SHPhysicsSystemInterface.cpp

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

SHADE_Engine/src/Physics/System/SHPhysicsSystemRoutines.cpp

@@ -125,18 +125,18 @@ namespace SHADE
         SHLOGV_ERROR("Unable to invoke FixedUpdate() on scripts due to missing SHScriptEngine!");
     }
 
-    fixedTimeStep = 1.0 / physicsSystem->fixedDT;
+    const double FIXED_DT = physicsSystem->fixedDT;
     accumulatedTime += dt;
 
     int count = 0;
-    while (accumulatedTime > fixedTimeStep)
+    while (accumulatedTime > FIXED_DT)
     {
       if (scriptingSystem != nullptr)
         scriptingSystem->ExecuteFixedUpdates();
       
-      physicsSystem->worldState.world->update(static_cast<rp3d::decimal>(fixedTimeStep));
+      physicsSystem->worldState.world->update(static_cast<rp3d::decimal>(FIXED_DT));
 
-      accumulatedTime -= fixedTimeStep;
+      accumulatedTime -= FIXED_DT;
       ++count;
     }
 
@@ -165,17 +165,14 @@ namespace SHADE
         auto* rigidBodyComponent  = SHComponentManager::GetComponent_s<SHRigidBodyComponent>(entityID);
         auto* colliderComponent   = SHComponentManager::GetComponent_s<SHColliderComponent>(entityID);
 
-        if (transformComponent)
+        postUpdateSyncTransforms
-        {
+        (
-          postUpdateSyncTransforms
+          physicsObject
-          (
+        , transformComponent
-            physicsObject
+        , rigidBodyComponent
-          , *transformComponent
+        , colliderComponent
-          , rigidBodyComponent
+        , physicsSystem->interpolationFactor
-          , colliderComponent
+        );
-          , physicsSystem->interpolationFactor
-          );
-        }
       }
 
       // Collision & Trigger messages
@@ -203,7 +200,7 @@ namespace SHADE
       preUpdateSyncTransform
       (
         physicsObject
-      , *transformComponent
+      , transformComponent
       , rigidBodyComponent
       , colliderComponent
       );
@@ -217,99 +214,4 @@ namespace SHADE
     if (colliderComponent)
       physicsObject.SyncColliders(*colliderComponent);
   }
-
-  void SHPhysicsSystem::PhysicsPreUpdate::preUpdateSyncTransform
-  (
-    SHPhysicsObject&      physicsObject
-  , SHTransformComponent& transformComponent
-  , SHRigidBodyComponent* rigidBodyComponent
-  , SHColliderComponent*  colliderComponent
-  ) noexcept
-  {
-    const SHVec3&       WORLD_POS = transformComponent.GetWorldPosition();
-    const SHQuaternion& WORLD_ROT = transformComponent.GetWorldOrientation();
-    const SHVec3&       WORLD_SCL = transformComponent.GetWorldScale();
-
-    const rp3d::Transform RP3D_TRANSFORM { WORLD_POS, WORLD_ROT };
-    physicsObject.GetRigidBody()->setTransform(RP3D_TRANSFORM);
-
-    if (rigidBodyComponent)
-    {
-      rigidBodyComponent->position    = WORLD_POS;
-      rigidBodyComponent->orientation = WORLD_ROT;
-    }
-
-    if (colliderComponent)
-    {
-      colliderComponent->position     = WORLD_POS;
-      colliderComponent->orientation  = WORLD_ROT;
-      colliderComponent->scale        = WORLD_SCL;
-
-      colliderComponent->RecomputeCollisionShapes();
-    }
-  }
-
-  void SHPhysicsSystem::PhysicsPostUpdate::postUpdateSyncTransforms
-  (
-    SHPhysicsObject&      physicsObject 
-  , SHTransformComponent& transformComponent
-  , SHRigidBodyComponent* rigidBodyComponent
-  , SHColliderComponent*  colliderComponent
-  , double                interpolationFactor
-  ) noexcept
-  {
-    rp3d::Vector3     rp3dPos;
-    rp3d::Quaternion  rp3dRot;
-
-    const rp3d::Transform CURRENT_TF = physicsObject.rp3dBody->getTransform();
-
-    // Check if transform should be interpolated
-      
-    if (rigidBodyComponent)
-    {
-      // Skip static bodies
-      if (rigidBodyComponent->GetType() == SHRigidBodyComponent::Type::STATIC)
-        return;
-
-      if (rigidBodyComponent->IsInterpolating())
-      {
-        // Interpolate transforms between current and predicted next transform
-
-        const rp3d::Transform PREV_TF         = physicsObject.prevTransform;
-        const rp3d::Transform INTERPOLATED_TF = rp3d::Transform::interpolateTransforms(PREV_TF, CURRENT_TF, static_cast<rp3d::decimal>(interpolationFactor));
-
-        rp3dPos = INTERPOLATED_TF.getPosition();
-        rp3dRot = INTERPOLATED_TF.getOrientation();
-      }
-      else
-      {
-        rp3dPos = CURRENT_TF.getPosition();
-        rp3dRot = CURRENT_TF.getOrientation();
-      }
-
-      rigidBodyComponent->position     = CURRENT_TF.getPosition();
-      rigidBodyComponent->orientation  = CURRENT_TF.getOrientation();
-
-      if (colliderComponent)
-      {
-        // Sync with colliders
-
-        colliderComponent->position     = CURRENT_TF.getPosition();
-        colliderComponent->orientation  = CURRENT_TF.getOrientation();
-      }
-    }
-    else
-    {
-      rp3dPos = CURRENT_TF.getPosition();
-      rp3dRot = CURRENT_TF.getOrientation();
-    }
-
-    // Convert RP3D Transform to SHADE
-    transformComponent.SetWorldPosition(rp3dPos);
-    transformComponent.SetWorldOrientation(rp3dRot);
-
-    // Cache transforms
-    physicsObject.prevTransform = CURRENT_TF;
-  }
-
 } // namespace SHADE