SHADE_Engine/src/Graphics/MiddleEnd/Interface/SHDebugDrawSystem.cpp

@@ -207,6 +207,11 @@ namespace SHADE
     drawSphere(getMeshBatch(true, depthTested), matrix, color);
   }
 
+  void SHDebugDrawSystem::DrawWireCapsule(const SHVec3& position, const SHQuaternion& rotation, float height, float radius, const SHColour& color, bool depthTested)
+  {
+    drawWireCapsule(getLineBatch(depthTested), getMeshBatch(false, depthTested), position, rotation, height, radius, color);
+  }
+
   /*-----------------------------------------------------------------------------------*/
   /* Persistent Draw Functions                                                         */
   /*-----------------------------------------------------------------------------------*/
@@ -264,6 +269,12 @@ namespace SHADE
     markPersistentDrawsDirty();
   }
 
+  void SHDebugDrawSystem::DrawPersistentWireCapsule(const SHVec3& position, const SHQuaternion& rotation, float height, float radius, const SHColour& color, bool depthTested)
+  {
+    drawWireCapsule(getPersistentLineBatch(depthTested), getPersistentMeshBatch(false, depthTested), position, rotation, height, radius, color);
+    markPersistentDrawsDirty();
+  }
+
   void SHDebugDrawSystem::ClearPersistentDraws()
   {
     for (auto& batch : persistentLineBatches)
@@ -348,6 +359,53 @@ namespace SHADE
     );
   }
 
+  void SHDebugDrawSystem::drawWireCapsule(LinesBatch& lineBatch, MeshBatch& meshBatch, const SHVec3& position, const SHQuaternion& rotation, float height, float radius, const SHColour& color)
+  {
+    // Get local axis vectors
+    const SHVec3 LOCAL_UP      = SHVec3::Rotate(SHVec3::Up, rotation);
+    const SHVec3 LOCAL_RIGHT   = SHVec3::Rotate(SHVec3::Right, rotation);
+    const SHVec3 LOCAL_FORWARD = SHVec3::Rotate(SHVec3::Forward, rotation);
+    
+    // Rotate the circle
+    SHQuaternion circleOrientation = SHQuaternion::FromEuler(SHVec3(SHMath::DegreesToRadians(90.0), 0.0f, 0.0f)) * rotation;
+
+    // Compute top and bottom of the cylinder
+    const SHVec3 HALF_UP = LOCAL_UP * (height * 0.5f - radius);
+    const SHVec3 TOP_POS = position + HALF_UP;
+    const SHVec3 BOT_POS = position - HALF_UP;
+
+    // Render circles
+    const SHVec3 CIRCLE_SCALE = SHVec3(radius * 2.0f, radius * 2.0, radius * 2.0);
+    drawCircle(meshBatch, SHMatrix::Transform(TOP_POS, circleOrientation, CIRCLE_SCALE), color);
+    drawCircle(meshBatch, SHMatrix::Transform(BOT_POS, circleOrientation, CIRCLE_SCALE), color);
+
+    // Render connecting lines
+    drawLine(lineBatch, TOP_POS + LOCAL_RIGHT * radius, BOT_POS + LOCAL_RIGHT * radius, color);
+    drawLine(lineBatch, TOP_POS - LOCAL_RIGHT * radius, BOT_POS - LOCAL_RIGHT * radius, color);
+    drawLine(lineBatch, TOP_POS + LOCAL_FORWARD * radius, BOT_POS + LOCAL_FORWARD * radius, color);
+    drawLine(lineBatch, TOP_POS - LOCAL_FORWARD * radius, BOT_POS - LOCAL_FORWARD * radius, color);
+
+    // Render caps
+    const SHVec3 RADIUS_SCALE = SHVec3(radius * 2.0, radius * 2.0f, radius * 2.0);
+    const SHMatrix TOP_CAP_MAT = SHMatrix::Transform(TOP_POS, rotation, RADIUS_SCALE);
+    drawMesh
+    (
+      gfxSystem->GetMeshPrimitive(PrimitiveType::LineCapsuleCap), 
+      meshBatch, TOP_CAP_MAT, color
+    );
+    const SHMatrix BOT_CAP_MAT = SHMatrix::Transform
+    (
+      BOT_POS, 
+      SHQuaternion::FromEuler(SHVec3(SHMath::DegreesToRadians(180.0), 0.0f, 0.0f)) * rotation, 
+      RADIUS_SCALE
+    );
+    drawMesh
+    (
+      gfxSystem->GetMeshPrimitive(PrimitiveType::LineCapsuleCap), 
+      meshBatch, BOT_CAP_MAT, color
+    );
+  }
+
   /*-----------------------------------------------------------------------------------*/
   /* Helper Batch Functions - Lines                                                    */
   /*-----------------------------------------------------------------------------------*/

SHADE_Engine/src/Graphics/MiddleEnd/Interface/SHDebugDrawSystem.h

@@ -163,6 +163,17 @@ namespace SHADE
     /// <param name="color">Colour to draw with.</param>
     /// <param name="depthTested">Whether or not drawn object will be occluded.</param>
     void DrawSphere(const SHMatrix& matrix, const SHColour& color = SHColour::WHITE, bool depthTested = false);
+    /// <summary>
+    /// Draws the outline of a capsule.
+    /// </summary>
+    /// <param name="position">Position of the wireframe capsule.</param>
+    /// <param name="rotation">Rotation of the capsule.</param>
+    /// <param name="height">Height of the overall capsule.</param>
+    /// <param name="radius">Radius of the capsule.</param>
+    /// <param name="color"></param>
+    /// <param name="color">Colour to draw with.</param>
+    /// <param name="depthTested">Whether or not drawn object will be occluded.</param>
+    void DrawWireCapsule(const SHVec3& position, const SHQuaternion& rotation, float height, float radius, const SHColour& color = SHColour::WHITE, bool depthTested = false);
 
     /*---------------------------------------------------------------------------------*/
     /* Persistent Draw Functions                                                       */
@@ -269,6 +280,17 @@ namespace SHADE
     /// <param name="depthTested">Whether or not drawn object will be occluded.</param>
     void DrawPersistentSphere(const SHMatrix& matrix, const SHColour& color = SHColour::WHITE, bool depthTested = false);
     /// <summary>
+    /// Draws a persistent outline of a capsule.
+    /// </summary>
+    /// <param name="position">Position of the wireframe capsule.</param>
+    /// <param name="rotation">Rotation of the capsule.</param>
+    /// <param name="height">Height of the overall capsule.</param>
+    /// <param name="radius">Radius of the capsule.</param>
+    /// <param name="color"></param>
+    /// <param name="color">Colour to draw with.</param>
+    /// <param name="depthTested">Whether or not drawn object will be occluded.</param>
+    void DrawPersistentWireCapsule(const SHVec3& position, const SHQuaternion& rotation, float height, float radius, const SHColour& color = SHColour::WHITE, bool depthTested = false);
+    /// <summary>
     /// Clears any persistent drawn debug primitives.
     /// </summary>
     void ClearPersistentDraws();
@@ -386,6 +408,7 @@ namespace SHADE
     void drawCube(MeshBatch& batch, const SHMatrix& transformMatrix, const SHColour& color);
     void drawSphere(MeshBatch& batch, const SHMatrix& transformMatrix, const SHColour& color);
     void drawCircle(MeshBatch& batch, const SHMatrix& transformMatrix, const SHColour& color);
+    void drawWireCapsule(LinesBatch& lineBatch, MeshBatch& meshBatch, const SHVec3& position, const SHQuaternion& rotation, float height, float radius, const SHColour& color);
 
     /*---------------------------------------------------------------------------------*/
     /* Helper Batch Functions - Lines                                                  */

SHADE_Engine/src/Graphics/MiddleEnd/Interface/SHGraphicsSystem.cpp

@@ -419,6 +419,7 @@ namespace SHADE
     primitiveMeshes[static_cast<int>(PrimitiveType::Sphere)] = SHPrimitiveGenerator::Sphere(meshLibrary);
     primitiveMeshes[static_cast<int>(PrimitiveType::LineCube)] = SHPrimitiveGenerator::LineCube(meshLibrary);
     primitiveMeshes[static_cast<int>(PrimitiveType::LineCircle)] = SHPrimitiveGenerator::LineCircle(meshLibrary);
+    primitiveMeshes[static_cast<int>(PrimitiveType::LineCapsuleCap)] = SHPrimitiveGenerator::LineCapsuleCap(meshLibrary);
     BuildMeshBuffers();
 
     // Create default materials
@@ -819,6 +820,7 @@ namespace SHADE
       case PrimitiveType::Sphere:
       case PrimitiveType::LineCube:
       case PrimitiveType::LineCircle:
+      case PrimitiveType::LineCapsuleCap:
         return primitiveMeshes[static_cast<int>(type)];
       default:
         return {};

SHADE_Engine/src/Graphics/MiddleEnd/Interface/SHGraphicsSystem.h

@@ -72,9 +72,10 @@ namespace SHADE
     Cube,
     Sphere,
     LineCube,
-    LineCircle
+    LineCircle,
+    LineCapsuleCap
   };
-  static constexpr int MAX_PRIMITIVE_TYPES = 4;
+  static constexpr int MAX_PRIMITIVE_TYPES = 5;
   enum class DebugDrawPipelineType
   {
     LineNoDepthTest,

SHADE_Engine/src/Graphics/MiddleEnd/Meshes/SHPrimitiveGenerator.cpp

@@ -29,6 +29,7 @@ namespace SHADE
   SHMeshData SHPrimitiveGenerator::sphereMesh;
   SHMeshData SHPrimitiveGenerator::lineCubeMesh;
   SHMeshData SHPrimitiveGenerator::lineCircleMesh;
+  SHMeshData SHPrimitiveGenerator::lineCapsuleCapMesh;
 
   /*-----------------------------------------------------------------------------------*/
   /* Primitive Generation Functions                                                    */
@@ -392,6 +393,64 @@ namespace SHADE
     return addMeshDataTo(lineCircleMesh, gfxSystem);
   }
 
+  SHADE::SHMeshData SHPrimitiveGenerator::LineCapsuleCap() noexcept
+  {
+    SHMeshData mesh;
+
+    // Have multiple semi-circles for the cap
+    static constexpr int SPLITS = 36;
+    static constexpr float ANGLE_INCREMENTS = (std::numbers::pi_v<float> * 2.0f) / static_cast<float>(SPLITS);
+
+    /* X-Axis */
+    // Generate points of the circle
+    for (int i = 0; i <= SPLITS / 2; ++i)
+    {
+      const float ANGLE = ANGLE_INCREMENTS * i;
+      mesh.VertexPositions.emplace_back(cos(ANGLE) * 0.5f, sin(ANGLE) * 0.5f, 0.0f);
+    }
+
+    // Generate lines of the circle
+    for (int i = 1; i <= SPLITS / 2; ++i)
+    {
+      mesh.Indices.emplace_back(static_cast<uint32_t>(i - 1));
+      mesh.Indices.emplace_back(static_cast<uint32_t>(i));
+    }
+
+    /* Z-Axis */
+    // Generate points of the circle
+    for (int i = 0; i <= SPLITS / 2; ++i)
+    {
+      const float ANGLE = ANGLE_INCREMENTS * i;
+      mesh.VertexPositions.emplace_back(0.0f, sin(ANGLE) * 0.5f, cos(ANGLE) * 0.5f);
+    }
+
+    // Generate lines of the circle
+    for (int i = 2 + SPLITS / 2; i <= SPLITS + 1; ++i)
+    {
+      mesh.Indices.emplace_back(static_cast<uint32_t>(i - 1));
+      mesh.Indices.emplace_back(static_cast<uint32_t>(i));
+    }
+
+    mesh.VertexNormals.resize(mesh.VertexPositions.size());
+    mesh.VertexTangents.resize(mesh.VertexPositions.size());
+    mesh.VertexTexCoords.resize(mesh.VertexPositions.size());
+
+    return mesh;
+  }
+  Handle<SHADE::SHMesh> SHPrimitiveGenerator::LineCapsuleCap(SHMeshLibrary& meshLibrary) noexcept
+  {
+    if (lineCapsuleCapMesh.VertexPositions.empty())
+      lineCapsuleCapMesh = LineCapsuleCap();
+
+    return addMeshDataTo(lineCapsuleCapMesh, meshLibrary);
+  }
+  Handle<SHADE::SHMesh> SHPrimitiveGenerator::LineCapsuleCap(SHGraphicsSystem& gfxSystem) noexcept
+  {
+    if (lineCapsuleCapMesh.VertexPositions.empty())
+      lineCapsuleCapMesh = LineCapsuleCap();
+
+    return addMeshDataTo(lineCapsuleCapMesh, gfxSystem);
+  }
   /*-----------------------------------------------------------------------------------*/
   /* Helper Functions                                                                  */
   /*-----------------------------------------------------------------------------------*/

SHADE_Engine/src/Graphics/MiddleEnd/Meshes/SHPrimitiveGenerator.h

@@ -194,6 +194,46 @@ namespace SHADE
     */
     /***********************************************************************************/
     [[nodiscard]] static Handle<SHMesh> LineCircle(SHGraphicsSystem& gfxSystem) noexcept;
+    /***********************************************************************************/
+    /*!
+      \brief
+        Produces a cap of a wireframe capsule that is comprised only of lines and 
+        store the data in a SHMeshData object.
+
+      \return
+        SHMeshData object containing vertex data for the line circle.
+    */
+    /***********************************************************************************/
+    [[nodiscard]] static SHMeshData LineCapsuleCap() noexcept;
+    /***********************************************************************************/
+    /*!
+      \brief
+        Produces a cap of a wireframe capsule that is comprised only of lines and 
+        constructs a SHMesh using the SHGraphicsSystem provided.
+
+      \param meshLibrary
+        Reference to the SHMeshLibrary to produce and store a line circle mesh in.
+
+      \return
+        SHMesh object that points to the generated line circle mesh in the SHMeshLibrary.
+    */
+    /***********************************************************************************/
+    [[nodiscard]] static Handle<SHMesh> LineCapsuleCap(SHMeshLibrary& meshLibrary) noexcept;
+    /***********************************************************************************/
+    /*!
+      \brief
+        Produces a cap of a wireframe capsule that is comprised only of lines and 
+        constructs a SHMesh using the SHGraphicsSystem provided.
+
+      \param gfxSystem
+        Reference to the SHGraphicsSystem to produce and store a line circle mesh in. 
+
+      \return
+        SHMesh object that points to the generated line circle mesh in the 
+        SHGraphicsSystem.
+    */
+    /***********************************************************************************/
+    [[nodiscard]] static Handle<SHMesh> LineCapsuleCap(SHGraphicsSystem& gfxSystem) noexcept;
 
   private:
     /*---------------------------------------------------------------------------------*/
@@ -209,5 +249,6 @@ namespace SHADE
     static SHMeshData sphereMesh;
     static SHMeshData lineCubeMesh;
     static SHMeshData lineCircleMesh;
+    static SHMeshData lineCapsuleCapMesh;
   };
 }

SHADE_Engine/src/Tools/SHDebugDraw.cpp

@@ -128,6 +128,10 @@ namespace SHADE
     dbgDrawSys->DrawWireSphere(SHMatrix::Transform(center, SHQuaternion(), scale), color, depthTested);
   }
 
+  void SHDebugDraw::WireCapsule(const SHVec3& position, const SHQuaternion& rotation, float height, float radius, const SHColour& color, bool depthTested)
+  {
+    dbgDrawSys->DrawWireCapsule(position, rotation, height, radius, color, depthTested);
+  }
   /*-----------------------------------------------------------------------------------*/
   /* Persistent Draw Functions                                                         */
   /*-----------------------------------------------------------------------------------*/
@@ -216,6 +220,10 @@ namespace SHADE
     dbgDrawSys->DrawPersistentWireSphere(SHMatrix::Transform(center, SHQuaternion(), scale), color, depthTested);
   }
 
+  void SHDebugDraw::Persistent::WireCapsule(const SHVec3& position, const SHQuaternion& rotation, float height, float radius, const SHColour& color, bool depthTested)
+  {
+    dbgDrawSys->DrawPersistentWireCapsule(position, rotation, height, radius, color, depthTested);
+  }
   void SHDebugDraw::Persistent::ClearDraws()
   {
     dbgDrawSys->ClearPersistentDraws();

SHADE_Engine/src/Tools/SHDebugDraw.h

@@ -194,6 +194,18 @@ namespace SHADE
     /// <param name="color">Colour to draw with.</param>
     /// <param name="depthTested">Whether or not drawn object will be occluded.</param>
     static void WireSphere(const SHVec3& center, const SHVec3& scale, const SHVec4& color = SHColour::WHITE, bool depthTested = false);
+    /// <summary>
+    /// Draws the outline of a capsule.
+    /// This will remain drawn until ClearDraws() is called.
+    /// </summary>
+    /// <param name="position">Position of the wireframe capsule.</param>
+    /// <param name="rotation">Rotation of the capsule.</param>
+    /// <param name="height">Height of the overall capsule.</param>
+    /// <param name="radius">Radius of the capsule.</param>
+    /// <param name="color"></param>
+    /// <param name="color">Colour to draw with.</param>
+    /// <param name="depthTested">Whether or not drawn object will be occluded.</param>
+    void WireCapsule(const SHVec3& position, const SHQuaternion& rotation, float height, float radius, const SHColour& color = SHColour::WHITE, bool depthTested = false);
 
     /*---------------------------------------------------------------------------------*/
     /* Persistent Draw Function Class "Folder"                                         */
@@ -366,6 +378,18 @@ namespace SHADE
       /// <param name="depthTested">Whether or not drawn object will be occluded.</param>
       static void WireSphere(const SHVec3& center, const SHVec3& scale, const SHVec4& color = SHColour::WHITE, bool depthTested = false);
       /// <summary>
+      /// Draws the outline of a capsule.
+      /// This will remain drawn until ClearDraws() is called.
+      /// </summary>
+      /// <param name="position">Position of the wireframe capsule.</param>
+      /// <param name="rotation">Rotation of the capsule.</param>
+      /// <param name="height">Height of the overall capsule.</param>
+      /// <param name="radius">Radius of the capsule.</param>
+      /// <param name="color"></param>
+      /// <param name="color">Colour to draw with.</param>
+      /// <param name="depthTested">Whether or not drawn object will be occluded.</param>
+      void WireCapsule(const SHVec3& position, const SHQuaternion& rotation, float height, float radius, const SHColour& color = SHColour::WHITE, bool depthTested = false);
+      /// <summary>
       /// Clears any persistent drawn debug primitives.
       /// </summary>
       static void ClearDraws();