Added extensive Vector3 Rotation methods in Managed code & Debug draw is always available (temporarily). #273

Merged
direnbharwani merged 3 commits from SP3-2-Physics into main 2022-11-24 12:25:48 +08:00
6 changed files with 85 additions and 44 deletions

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@ -120,21 +120,25 @@ namespace SHADE
}
rp3d::DebugRenderer* rp3dRenderer = nullptr;
#ifdef SHEDITOR
const auto* EDITOR = SHSystemManager::GetSystem<SHEditor>();
if (EDITOR && EDITOR->editorState != SHEditor::State::STOP)
{
if (system->physicsSystem->worldState.world)
rp3dRenderer = &system->physicsSystem->worldState.world->getDebugRenderer();
rp3dRenderer->setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_POINT, false);
rp3dRenderer->setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_NORMAL, false);
}
#endif
for (int i = 0; i < SHUtilities::ConvertEnum(DebugDrawFlags::NUM_FLAGS); ++i)
{
const bool DRAW = (system->debugDrawFlags & (1U << i)) > 0;
if (DRAW)
{
drawFunctions[i](debugDrawSystem, rp3dRenderer);
}
else
{
if (rp3dRenderer && (i == 3 || i == 4))
{
rp3dRenderer->setIsDebugItemDisplayed(reactphysics3d::DebugRenderer::DebugItem::CONTACT_POINT, false);
rp3dRenderer->setIsDebugItemDisplayed(reactphysics3d::DebugRenderer::DebugItem::CONTACT_NORMAL, false);
}
}
}
// Automatically clear the container of raycasts despite debug drawing state
@ -180,6 +184,7 @@ namespace SHADE
void SHPhysicsDebugDrawSystem::drawContactPoints(SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept
{
#ifdef SHEDITOR
const auto* EDITOR = SHSystemManager::GetSystem<SHEditor>();
if (EDITOR && EDITOR->editorState != SHEditor::State::STOP)
{
@ -192,6 +197,18 @@ namespace SHADE
for (int i = 0; i < NUM_TRIS; ++i)
debugRenderer->DrawTri(SHColour::RED, TRI_ARRAY[i].point1, TRI_ARRAY[i].point2, TRI_ARRAY[i].point3);
}
#else
rp3dRenderer->setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_POINT, true);
const int NUM_TRIS = static_cast<int>(rp3dRenderer->getNbTriangles());
if (NUM_TRIS == 0)
return;
const auto& TRI_ARRAY = rp3dRenderer->getTrianglesArray();
for (int i = 0; i < NUM_TRIS; ++i)
debugRenderer->DrawTri(SHColour::RED, TRI_ARRAY[i].point1, TRI_ARRAY[i].point2, TRI_ARRAY[i].point3);
#endif
}
@ -210,6 +227,18 @@ namespace SHADE
for (int i = 0; i < NUM_LINES; ++i)
debugRenderer->DrawLine(SHColour::RED, LINE_ARRAY[i].point1, LINE_ARRAY[i].point2);
}
#else
rp3dRenderer->setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_NORMAL, true);
const int NUM_LINES = static_cast<int>(rp3dRenderer->getNbLines());
if (NUM_LINES == 0)
return;
const auto& LINE_ARRAY = rp3dRenderer->getLinesArray();
for (int i = 0; i < NUM_LINES; ++i)
debugRenderer->DrawLine(SHColour::RED, LINE_ARRAY[i].point1, LINE_ARRAY[i].point2);
#endif
}

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@ -163,8 +163,6 @@ namespace SHADE
// Destroy an existing world
if (worldState.world != nullptr)
{
objectManager.RemoveAllObjects();
objectManager.SetWorld(nullptr);
@ -174,12 +172,8 @@ namespace SHADE
worldState.DestroyWorld(factory);
}
worldState.CreateWorld(factory);
#ifdef _PUBLISH
worldState.world->setIsDebugRenderingEnabled(false);
#else
worldState.world->setIsDebugRenderingEnabled(true);
#endif
worldState.CreateWorld(factory);
worldState.world->setIsDebugRenderingEnabled(true);
// Link Collision Listener & Raycaster
collisionListener.BindToWorld(worldState.world);
@ -444,11 +438,7 @@ namespace SHADE
return onPlayEvent->handle;
worldState.CreateWorld(factory);
#ifdef _PUBLISH
worldState.world->setIsDebugRenderingEnabled(false);
#else
worldState.world->setIsDebugRenderingEnabled(true);
#endif
// Link Collision Listener & Raycaster
collisionListener.BindToWorld(worldState.world);

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@ -334,10 +334,6 @@ namespace SHADE
if (physicsObject.GetRigidBody()->isActive())
physicsObject.prevTransform = CURRENT_TF;
// Skip sleeping objects
if (physicsObject.GetRigidBody()->isSleeping())
return;
// Sync with rigid bodies
if (rigidBodyComponent && SHSceneManager::CheckNodeAndComponentsActive<SHRigidBodyComponent>(physicsObject.entityID))
{
@ -369,7 +365,7 @@ namespace SHADE
colliderComponent->orientation = CURRENT_TF.getOrientation();
}
// Set transform for rendering
// Set transform for rendering
if (transformComponent)
{
transformComponent->SetWorldPosition(renderPos);

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@ -21,6 +21,9 @@ of DigiPen Institute of Technology is prohibited.
#include <algorithm>
// Project Headers
#include "Math.hxx"
#include "Quaternion.hxx"
#include "Math/Vector/SHVec3.h"
#include "Utility/Convert.hxx"
namespace SHADE
{
@ -148,21 +151,21 @@ namespace SHADE
{
return vec - (Project(vec, normal.GetNormalised()) * 2.0f);
}
Vector3 Vector3::RotateRadians(Vector3 vec, float radians)
Vector3 Vector3::RotateX(Vector3 vec, float radians)
{
const float SINE = sin(radians);
const float COSINE = cos(radians);
return Vector3
(
vec.x * COSINE - vec.y * SINE,
vec.x * SINE + vec.y * COSINE,
vec.z
);
return Convert::ToCLI(SHVec3::RotateX(Convert::ToNative(vec), radians));
}
Vector3 Vector3::RotateDegrees(Vector3 vec, float degrees)
Vector3 Vector3::RotateY(Vector3 vec, float radians)
{
return RotateRadians(vec, Math::DegreesToRadians(degrees));
return Convert::ToCLI(SHVec3::RotateY(Convert::ToNative(vec), radians));
}
Vector3 Vector3::RotateZ(Vector3 vec, float radians)
{
return Convert::ToCLI(SHVec3::RotateZ(Convert::ToNative(vec), radians));
}
Vector3 Vector3::Rotate(Vector3 vec, Vector3 axis, float radians)
{
return Convert::ToCLI(SHVec3::Rotate(Convert::ToNative(vec), Convert::ToNative(axis), radians));
}
Vector3 Vector3::Min(Vector3 lhs, Vector3 rhs)
{

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@ -19,6 +19,8 @@ of DigiPen Institute of Technology is prohibited.
// Project Includes
#include "Vector2.hxx"
value struct Quaternion;
namespace SHADE
{
///<summary>
@ -266,7 +268,7 @@ namespace SHADE
/// <returns>The Vector3 that represents vec reflected across normal.</returns>
static Vector3 Reflect(Vector3 vec, Vector3 normal);
/// <summary>
/// Rotates a Vector3 on the Z-axis by a specified angle in an anti-clockwise
/// Rotates a Vector3 about the X-axis by a specified angle in an anti-clockwise
/// direction.
/// </summary>
/// <param name="vec">A Vector3 to rotate.</param>
@ -274,17 +276,37 @@ namespace SHADE
/// Angle to rotate the vector by in an anti-clockwise direction in radians.
/// </param>
/// <returns>The Vector3 that represents the rotated vector.</returns>
static Vector3 RotateRadians(Vector3 vec, float radians);
static Vector3 RotateX(Vector3 vec, float radians);
/// <summary>
/// Rotates a Vector3 on the Z-axis by a specified angle in an anti-clockwise
/// Rotates a Vector3 about the Y-axis by a specified angle in an anti-clockwise
/// direction.
/// </summary>
/// <param name="vec">A Vector3 to rotate.</param>
/// <param name="degrees">
/// Angle to rotate the vector by in an anti-clockwise direction in degrees.
/// <param name="radians">
/// Angle to rotate the vector by in an anti-clockwise direction in radians.
/// </param>
/// <returns>The Vector3 that represents the rotated vector.</returns>
static Vector3 RotateDegrees(Vector3 vec, float degrees);
static Vector3 RotateY(Vector3 vec, float radians);
/// <summary>
/// Rotates a Vector3 about the Z-axis by a specified angle in an anti-clockwise
/// direction.
/// </summary>
/// <param name="vec">A Vector3 to rotate.</param>
/// <param name="radians">
/// Angle to rotate the vector by in an anti-clockwise direction in radians.
/// </param>
/// <returns>The Vector3 that represents the rotated vector.</returns>
static Vector3 RotateZ(Vector3 vec, float radians);
/// <summary>
/// Rotates a Vector3 about an arbitrary axis by a specified angle in an anti-clockwise
/// direction.
/// </summary>
/// <param name="vec">A Vector3 to rotate.</param>
/// <param name="radians">
/// Angle to rotate the vector by in an anti-clockwise direction in radians.
/// </param>
/// <returns>The Vector3 that represents the rotated vector.</returns>
static Vector3 Rotate(Vector3 vec, Vector3 axis, float radians);
/// <summary>
/// Computes and returns a Vector3 that is made from the smallest components of
/// the two specified Vector3s.

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@ -25,7 +25,6 @@ of DigiPen Institute of Technology is prohibited.
// Project Includes
#include "Engine/Entity.hxx"
#include "Math/Vector2.hxx"
#include "Math/Vector3.hxx"
#include "Math/Quaternion.hxx"
#include "Math/Ray.hxx"
#include "Physics/RaycastHit.hxx"
@ -34,6 +33,8 @@ of DigiPen Institute of Technology is prohibited.
#include "Graphics/Color.hxx"
#include "Physics/Collision/SHPhysicsRaycastResult.h"
value struct Vector3;
namespace SHADE
{
/// <summary>