SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.cpp

@@ -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
   }
 

SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp

@@ -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);

SHADE_Engine/src/Physics/System/SHPhysicsSystemRoutines.cpp

@@ -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);

SHADE_Managed/src/Math/Vector3.cxx

@@ -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)
     {

SHADE_Managed/src/Math/Vector3.hxx

@@ -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.

SHADE_Managed/src/Utility/Convert.hxx

@@ -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>