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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 +15 -13
3 changed files with 15 additions and 13 deletions
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Showing only changes of commit 2bd90e7c14 - Show all commits

5
SHADE_Engine/src/Physics/System/Routines/SHPhysicsPreUpdateRoutine.cpp
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@ -36,12 +36,13 @@ namespace SHADE
auto* physicsSystem = reinterpret_cast<SHPhysicsSystem*>(GetSystem()); auto* physicsSystem = reinterpret_cast<SHPhysicsSystem*>(GetSystem());
// Get all physics objects & sync transforms // Get all physics objects & sync transforms
for (auto& [entityID, physicsObject] : physicsSystem->physicsObjectManager.GetPhysicsObjects()) auto& physicsObjects = physicsSystem->physicsObjectManager.GetPhysicsObjects();
for (auto& [entityID, physicsObject] : physicsObjects)
{ {
const auto* TRANSFORM_COMPONENT = SHComponentManager::GetComponent_s<SHTransformComponent>(entityID); const auto* TRANSFORM_COMPONENT = SHComponentManager::GetComponent_s<SHTransformComponent>(entityID);
if (!TRANSFORM_COMPONENT || !TRANSFORM_COMPONENT->HasChanged()) if (!TRANSFORM_COMPONENT || !TRANSFORM_COMPONENT->HasChanged())
return; continue;
const SHVec3& WORLD_POS = TRANSFORM_COMPONENT->GetWorldPosition(); const SHVec3& WORLD_POS = TRANSFORM_COMPONENT->GetWorldPosition();
const SHQuaternion& WORLD_ROT = TRANSFORM_COMPONENT->GetWorldOrientation(); const SHQuaternion& WORLD_ROT = TRANSFORM_COMPONENT->GetWorldOrientation();

19
SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.cpp
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@ -93,6 +93,7 @@ namespace SHADE
{ {
const auto& EVENT_DATA = reinterpret_cast<const SHEventSpec<SHColliderOnDebugDrawEvent>*>(onColliderDrawEvent.get())->data; const auto& EVENT_DATA = reinterpret_cast<const SHEventSpec<SHColliderOnDebugDrawEvent>*>(onColliderDrawEvent.get())->data;
// Add to the container to draw all colliders
if (EVENT_DATA->debugDrawState) if (EVENT_DATA->debugDrawState)
{ {
if (collidersToDraw.empty()) if (collidersToDraw.empty())
@ -115,15 +116,23 @@ namespace SHADE
{ {
for (const auto* SHAPE : collider.GetCollisionShapes()) for (const auto* SHAPE : collider.GetCollisionShapes())
{ {
const SHColour& DRAW_COLOUR = DEBUG_DRAW_COLOURS[SHUtilities::ConvertEnum(SHAPE->IsTrigger() ? Colours::TRIGGER : Colours::COLLIDER)];
switch (SHAPE->GetType()) switch (SHAPE->GetType())
{ {
case SHCollisionShape::Type::SPHERE: case SHCollisionShape::Type::SPHERE:
{ {
const SHSphereCollisionShape* SPHERE = dynamic_cast<const SHSphereCollisionShape*>(SHAPE); const SHSphereCollisionShape* SPHERE = dynamic_cast<const SHSphereCollisionShape*>(SHAPE);
// Compute rotation of sphere // Compute transforms of sphere
const SHVec3 POSITION = SPHERE->GetCenter(); // Position offset is already computed here
const SHVec3 ROTATION = collider.GetOrientation().ToEuler() + SPHERE->GetRotationOffset(); const SHVec3 ROTATION = collider.GetOrientation().ToEuler() + SPHERE->GetRotationOffset();
drawSphere(debugDrawSystem, *SPHERE, ROTATION); const SHVec3 SCALE { SPHERE->GetWorldRadius() };
// Compute TRS for the sphere
const SHMatrix TRS = SHMatrix::Transform(POSITION, ROTATION, SCALE);
debugDrawSystem->DrawWireSphere(TRS, DRAW_COLOUR, true);
break; break;
} }
@ -140,12 +149,6 @@ namespace SHADE
} }
} }
void SHPhysicsDebugDrawSystem::drawSphere(SHDebugDrawSystem* debugDrawSystem, const SHSphereCollisionShape& sphere, const SHVec3& rotation) noexcept
{
const SHColour& DRAW_COLOUR = DEBUG_DRAW_COLOURS[SHUtilities::ConvertEnum(sphere.IsTrigger() ? Colours::TRIGGER : Colours::COLLIDER)];
debugDrawSystem->DrawSphere(DRAW_COLOUR, sphere.GetCenter(), rotation, sphere.GetWorldRadius());
}
void SHPhysicsDebugDrawSystem::drawContact(SHDebugDrawSystem* debugDrawSystem, const DebugDrawInfo::Contact& contactInfo) noexcept void SHPhysicsDebugDrawSystem::drawContact(SHDebugDrawSystem* debugDrawSystem, const DebugDrawInfo::Contact& contactInfo) noexcept
{ {
static const SHColour& DRAW_COLOUR = DEBUG_DRAW_COLOURS[SHUtilities::ConvertEnum(Colours::CONTACT)]; static const SHColour& DRAW_COLOUR = DEBUG_DRAW_COLOURS[SHUtilities::ConvertEnum(Colours::CONTACT)];

4
SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.h
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@ -138,9 +138,7 @@ namespace SHADE
SHEventHandle onColliderDraw(SHEventPtr onColliderDrawEvent); SHEventHandle onColliderDraw(SHEventPtr onColliderDrawEvent);
static void drawCollider (SHDebugDrawSystem* debugDrawSystem, const SHCollider& collider) noexcept; static void drawCollider (SHDebugDrawSystem* debugDrawSystem, const SHCollider& collider) noexcept;
static void drawSphere (SHDebugDrawSystem* debugDrawSystem, const SHSphereCollisionShape& sphere, const SHVec3& rotation) noexcept;
static void drawContact (SHDebugDrawSystem* debugDrawSystem, const DebugDrawInfo::Contact& contactInfo) noexcept; static void drawContact (SHDebugDrawSystem* debugDrawSystem, const DebugDrawInfo::Contact& contactInfo) noexcept;
static void drawRaycast (SHDebugDrawSystem* debugDrawSystem, const DebugDrawInfo::Raycast& raycastInfo) noexcept; static void drawRaycast (SHDebugDrawSystem* debugDrawSystem, const DebugDrawInfo::Raycast& raycastInfo) noexcept;