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Implemented a custom physics engine #316

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direnbharwani merged 95 commits from SHPhysics into main 2023-01-23 15:55:45 +08:00
Conversation 0 Commits 95 Files Changed 144 +34 -34
8 changed files with 34 additions and 34 deletions
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2
SHADE_Engine/src/Physics/Collision/CollisionShapes/SHCollisionShape.h
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@ -131,7 +131,7 @@ namespace SHADE
virtual void ComputeTransforms () noexcept = 0; virtual void ComputeTransforms () noexcept = 0;
[[nodiscard]] virtual SHMatrix GetInertiaTensor (float mass) const noexcept = 0; [[nodiscard]] virtual SHMatrix GetInertiaTensor (float mass) const noexcept = 0;
[[nodiscard]] virtual SHMatrix ComputeWorldTransform () const noexcept = 0; [[nodiscard]] virtual SHMatrix ComputeWorldTransform () const noexcept = 0;
[[nodiscard]] virtual SHAABB ComputeAABB () const noexcept = 0; [[nodiscard]] virtual SHAABB ComputeAABB () const noexcept = 0;
protected: protected:
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/

4
SHADE_Engine/src/Physics/Collision/CollisionShapes/SHCollisionShapeLibrary.cpp
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@ -159,7 +159,7 @@ namespace SHADE
for (int i = 0; i < NUM_FACES; ++i) for (int i = 0; i < NUM_FACES; ++i)
{ {
SHHalfEdgeDS::Face newFace; SHHalfEdgeStructure::Face newFace;
newFace.normal = FACE_NORMALS[i]; newFace.normal = FACE_NORMALS[i];
for (int j = 0; j < NUM_VERTICES_PER_FACE; ++j) for (int j = 0; j < NUM_VERTICES_PER_FACE; ++j)
@ -168,7 +168,7 @@ namespace SHADE
boxHalfEdgeDS.AddFace(newFace); boxHalfEdgeDS.AddFace(newFace);
} }
boxHalfEdgeDS.BuildPolyhedron(); boxHalfEdgeDS.Build();
} }
} // namespace SHADE } // namespace SHADE

2
SHADE_Engine/src/Physics/Collision/CollisionShapes/SHCollisionShapeLibrary.h
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@ -92,7 +92,7 @@ namespace SHADE
/* Data Members */ /* Data Members */
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
SHHalfEdgeDS boxHalfEdgeDS; SHHalfEdgeStructure boxHalfEdgeDS;
Spheres spheres; Spheres spheres;
Boxes boxes; Boxes boxes;

2
SHADE_Engine/src/Physics/Collision/CollisionShapes/SHConvexPolyhedronCollisionShape.cpp
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@ -93,7 +93,7 @@ namespace SHADE
/* Getter Function Definitions */ /* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/
const SHHalfEdgeDS* SHConvexPolyhedronCollisionShape::GetHalfEdgeStructure() const noexcept const SHHalfEdgeStructure* SHConvexPolyhedronCollisionShape::GetHalfEdgeStructure() const noexcept
{ {
return halfEdgeStructure; return halfEdgeStructure;
} }

10
SHADE_Engine/src/Physics/Collision/CollisionShapes/SHConvexPolyhedronCollisionShape.h
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@ -12,7 +12,7 @@
// Project Headers // Project Headers
#include "SHCollisionShape.h" #include "SHCollisionShape.h"
#include "SHHalfEdgeDS.h" #include "SHHalfEdgeStructure.h"
namespace SHADE namespace SHADE
{ {
@ -57,16 +57,16 @@ namespace SHADE
/* Getter Functions */ /* Getter Functions */
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
[[nodiscard]] const SHHalfEdgeDS* GetHalfEdgeStructure () const noexcept; [[nodiscard]] const SHHalfEdgeStructure* GetHalfEdgeStructure () const noexcept;
[[nodiscard]] virtual SHVec3 GetVertex (int index) const = 0; [[nodiscard]] virtual SHVec3 GetVertex (int index) const = 0;
[[nodiscard]] virtual SHVec3 GetNormal (int faceIndex) const = 0; [[nodiscard]] virtual SHVec3 GetNormal (int faceIndex) const = 0;
protected: protected:
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
/* Data Members */ /* Data Members */
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
SHHalfEdgeDS* halfEdgeStructure; // Defines the polyhedron by it's half edges. SHHalfEdgeStructure* halfEdgeStructure; // Defines the polyhedron by it's half edges.
}; };
} // namespace SHADE } // namespace SHADE

34
SHADE_Engine/src/Physics/Collision/CollisionShapes/SHHalfEdgeDS.cpp → SHADE_Engine/src/Physics/Collision/CollisionShapes/SHHalfEdgeStructure.cpp
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@ -1,5 +1,5 @@
/**************************************************************************************** /****************************************************************************************
* \file SHHalfEdgeDS.cpp * \file SHHalfEdgeStructure.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520 * \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a half-edge data structure to represent polyhedra. * \brief Implementation for a half-edge data structure to represent polyhedra.
* *
@ -11,7 +11,7 @@
#include <SHpch.h> #include <SHpch.h>
// Primary Header // Primary Header
#include "SHHalfEdgeDS.h" #include "SHHalfEdgeStructure.h"
// Helper Macros // Helper Macros
@ -23,7 +23,7 @@ namespace SHADE
/* Constructors & Destructor Definitions */ /* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/
SHHalfEdgeDS::HalfEdge::HalfEdge() noexcept SHHalfEdgeStructure::HalfEdge::HalfEdge() noexcept
: tailVertexIndex { -1 } : tailVertexIndex { -1 }
, headVertexIndex { -1 } , headVertexIndex { -1 }
, edgeIndex { -1 } , edgeIndex { -1 }
@ -31,7 +31,7 @@ namespace SHADE
, faceIndex { -1 } , faceIndex { -1 }
{} {}
SHHalfEdgeDS::HalfEdge::HalfEdge(const HalfEdge& rhs) noexcept SHHalfEdgeStructure::HalfEdge::HalfEdge(const HalfEdge& rhs) noexcept
: tailVertexIndex { rhs.tailVertexIndex } : tailVertexIndex { rhs.tailVertexIndex }
, headVertexIndex { rhs.headVertexIndex } , headVertexIndex { rhs.headVertexIndex }
, edgeIndex { rhs.edgeIndex } , edgeIndex { rhs.edgeIndex }
@ -39,7 +39,7 @@ namespace SHADE
, faceIndex { rhs.faceIndex } , faceIndex { rhs.faceIndex }
{} {}
SHHalfEdgeDS::HalfEdge::HalfEdge(HalfEdge&& rhs) noexcept SHHalfEdgeStructure::HalfEdge::HalfEdge(HalfEdge&& rhs) noexcept
: tailVertexIndex { rhs.tailVertexIndex } : tailVertexIndex { rhs.tailVertexIndex }
, headVertexIndex { rhs.headVertexIndex } , headVertexIndex { rhs.headVertexIndex }
, edgeIndex { rhs.edgeIndex } , edgeIndex { rhs.edgeIndex }
@ -47,13 +47,13 @@ namespace SHADE
, faceIndex { rhs.faceIndex } , faceIndex { rhs.faceIndex }
{} {}
SHHalfEdgeDS::Face::Face(const Face& rhs) noexcept SHHalfEdgeStructure::Face::Face(const Face& rhs) noexcept
: normal { rhs.normal } : normal { rhs.normal }
{ {
std::ranges::copy(rhs.vertexIndices.begin(), rhs.vertexIndices.end(), std::back_inserter(vertexIndices)); std::ranges::copy(rhs.vertexIndices.begin(), rhs.vertexIndices.end(), std::back_inserter(vertexIndices));
} }
SHHalfEdgeDS::Face::Face(Face&& rhs) noexcept SHHalfEdgeStructure::Face::Face(Face&& rhs) noexcept
: normal { rhs.normal } : normal { rhs.normal }
{ {
std::ranges::copy(rhs.vertexIndices.begin(), rhs.vertexIndices.end(), std::back_inserter(vertexIndices)); std::ranges::copy(rhs.vertexIndices.begin(), rhs.vertexIndices.end(), std::back_inserter(vertexIndices));
@ -63,7 +63,7 @@ namespace SHADE
/* Operator Overload Definitions */ /* Operator Overload Definitions */
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/
SHHalfEdgeDS::HalfEdge& SHHalfEdgeDS::HalfEdge::operator=(const HalfEdge& rhs) noexcept SHHalfEdgeStructure::HalfEdge& SHHalfEdgeStructure::HalfEdge::operator=(const HalfEdge& rhs) noexcept
{ {
if (this == &rhs) if (this == &rhs)
return *this; return *this;
@ -77,7 +77,7 @@ namespace SHADE
return *this; return *this;
} }
SHHalfEdgeDS::HalfEdge& SHHalfEdgeDS::HalfEdge::operator=(HalfEdge&& rhs) noexcept SHHalfEdgeStructure::HalfEdge& SHHalfEdgeStructure::HalfEdge::operator=(HalfEdge&& rhs) noexcept
{ {
tailVertexIndex = rhs.tailVertexIndex; tailVertexIndex = rhs.tailVertexIndex;
headVertexIndex = rhs.headVertexIndex; headVertexIndex = rhs.headVertexIndex;
@ -88,7 +88,7 @@ namespace SHADE
return *this; return *this;
} }
SHHalfEdgeDS::Face& SHHalfEdgeDS::Face::operator=(const Face& rhs) noexcept SHHalfEdgeStructure::Face& SHHalfEdgeStructure::Face::operator=(const Face& rhs) noexcept
{ {
if (this == &rhs) if (this == &rhs)
return *this; return *this;
@ -101,7 +101,7 @@ namespace SHADE
return *this; return *this;
} }
SHHalfEdgeDS::Face& SHHalfEdgeDS::Face::operator=(Face&& rhs) noexcept SHHalfEdgeStructure::Face& SHHalfEdgeStructure::Face::operator=(Face&& rhs) noexcept
{ {
normal = rhs.normal; normal = rhs.normal;
@ -115,17 +115,17 @@ namespace SHADE
/* Getter Function Definitions */ /* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/
int32_t SHHalfEdgeDS::GetFaceCount() const noexcept int32_t SHHalfEdgeStructure::GetFaceCount() const noexcept
{ {
return static_cast<int32_t>(faces.size()); return static_cast<int32_t>(faces.size());
} }
int32_t SHHalfEdgeDS::GetHalfEdgeCount() const noexcept int32_t SHHalfEdgeStructure::GetHalfEdgeCount() const noexcept
{ {
return static_cast<int32_t>(halfEdges.size()); return static_cast<int32_t>(halfEdges.size());
} }
const SHHalfEdgeDS::Face& SHHalfEdgeDS::GetFace(int32_t index) const const SHHalfEdgeStructure::Face& SHHalfEdgeStructure::GetFace(int32_t index) const
{ {
if (index < 0 || index >= static_cast<int32_t>(faces.size())) if (index < 0 || index >= static_cast<int32_t>(faces.size()))
throw std::invalid_argument("Index out-of-range!"); throw std::invalid_argument("Index out-of-range!");
@ -133,7 +133,7 @@ namespace SHADE
return faces[index]; return faces[index];
} }
const SHHalfEdgeDS::HalfEdge& SHHalfEdgeDS::GetHalfEdge(int32_t index) const const SHHalfEdgeStructure::HalfEdge& SHHalfEdgeStructure::GetHalfEdge(int32_t index) const
{ {
if (index < 0 || index >= static_cast<int32_t>(halfEdges.size())) if (index < 0 || index >= static_cast<int32_t>(halfEdges.size()))
throw std::invalid_argument("Index out-of-range!"); throw std::invalid_argument("Index out-of-range!");
@ -145,12 +145,12 @@ namespace SHADE
/* Public Member Function Definitions */ /* Public Member Function Definitions */
/*-----------------------------------------------------------------------------------*/ /*-----------------------------------------------------------------------------------*/
void SHHalfEdgeDS::AddFace(const Face& face) void SHHalfEdgeStructure::AddFace(const Face& face)
{ {
faces.emplace_back(face); faces.emplace_back(face);
} }
void SHHalfEdgeDS::BuildPolyhedron() noexcept void SHHalfEdgeStructure::Build() noexcept
{ {
// We use the pair of vertex IDs on a half-edge to prevent duplicates // We use the pair of vertex IDs on a half-edge to prevent duplicates
std::unordered_map<uint64_t, HalfEdge> edgeMap; std::unordered_map<uint64_t, HalfEdge> edgeMap;

6
SHADE_Engine/src/Physics/Collision/CollisionShapes/SHHalfEdgeDS.h → SHADE_Engine/src/Physics/Collision/CollisionShapes/SHHalfEdgeStructure.h
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@ -1,5 +1,5 @@
/**************************************************************************************** /****************************************************************************************
* \file SHHalfEdgeDS.h * \file SHHalfEdgeStructure.h
* \author Diren D Bharwani, diren.dbharwani, 390002520 * \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a half-edge data structure to represent polyhedra. * \brief Interface for a half-edge data structure to represent polyhedra.
* *
@ -25,7 +25,7 @@ namespace SHADE
* @brief * @brief
* Encapsulates data for a convex polyhedron's geometry represented as faces & half edges. * Encapsulates data for a convex polyhedron's geometry represented as faces & half edges.
*/ */
class SH_API SHHalfEdgeDS class SH_API SHHalfEdgeStructure
{ {
public: public:
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/
@ -127,7 +127,7 @@ namespace SHADE
* Before this method is invoked, there must be some faces. * Before this method is invoked, there must be some faces.
* @return * @return
*/ */
void BuildPolyhedron() noexcept; void Build() noexcept;
private: private:
/*---------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------*/

8
SHADE_Engine/src/Physics/Collision/Narrowphase/SHSphereVsConvex.cpp
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@ -61,7 +61,7 @@ namespace SHADE
int32_t closestPointIndex = -1; int32_t closestPointIndex = -1;
float bestDistance = std::numeric_limits<float>::lowest(); float bestDistance = std::numeric_limits<float>::lowest();
const SHHalfEdgeDS* HALF_EDGE_STRUCTURE = CONVEX.GetHalfEdgeStructure(); const SHHalfEdgeStructure* HALF_EDGE_STRUCTURE = CONVEX.GetHalfEdgeStructure();
/* /*
* Test against each face. * Test against each face.
@ -72,7 +72,7 @@ namespace SHADE
*/ */
for (int32_t i = 0; i < HALF_EDGE_STRUCTURE->GetFaceCount(); ++i) for (int32_t i = 0; i < HALF_EDGE_STRUCTURE->GetFaceCount(); ++i)
{ {
const SHHalfEdgeDS::Face& FACE = HALF_EDGE_STRUCTURE->GetFace(i); const SHHalfEdgeStructure::Face& FACE = HALF_EDGE_STRUCTURE->GetFace(i);
// Build plane equation // Build plane equation
@ -128,8 +128,8 @@ namespace SHADE
* / / regionC * / / regionC
*/ */
const SHHalfEdgeDS::Face& FACE = HALF_EDGE_STRUCTURE->GetFace(closestFaceIndex); const SHHalfEdgeStructure::Face& FACE = HALF_EDGE_STRUCTURE->GetFace(closestFaceIndex);
const SHVec3& NORMAL = CONVEX.GetNormal(closestFaceIndex); const SHVec3& NORMAL = CONVEX.GetNormal(closestFaceIndex);
const int32_t NUM_VERTICES_ON_FACE = static_cast<int32_t>(FACE.vertexIndices.size()); const int32_t NUM_VERTICES_ON_FACE = static_cast<int32_t>(FACE.vertexIndices.size());