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Implemented a custom physics engine #316

Merged
direnbharwani merged 95 commits from SHPhysics into main 2023-01-23 15:55:45 +08:00
Conversation 0 Commits 95 Files Changed 144 +693 -168
23 changed files with 693 additions and 168 deletions
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Showing only changes of commit 38b1c46d1f - Show all commits

21
Assets/Scenes/PhysicsSandbox.shade
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@ -9,10 +9,10 @@
Scale: {x: 1, y: 1, z: 1}
IsActive: true
RigidBody Component:
Type: Static
Type: Dynamic
Auto Mass: false
Mass: 1
Drag: 0
Drag: 1
Angular Drag: 0
Use Gravity: true
Gravity Scale: 1
@ -26,3 +26,20 @@
Freeze Rotation Z: false
IsActive: true
Scripts: ~
- EID: 1
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Camera Component:
Position: {x: 0, y: 2, z: 5}
Pitch: 0
Yaw: 0
Roll: 0
Width: 1920
Height: 1080
Near: 0.00999999978
Far: 10000
Perspective: true
IsActive: true
Scripts: ~

2
SHADE_Engine/src/ECS_Base/Managers/SHEntityManager.cpp
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@ -162,7 +162,7 @@ namespace SHADE
//SHSceneNode* parentNode = entityVec[eIndex]->GetSceneNode()->GetParent();
//SHSceneGraph::RemoveChild(parentNode,entityVec[eIndex].get());
//SHSceneGraph::removeChild(parentNode,entityVec[eIndex].get());
//TODO remove from parent and recursively delete child.

10
SHADE_Engine/src/Editor/EditorWindow/Inspector/SHEditorComponentView.hpp
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@ -252,12 +252,13 @@ namespace SHADE
if(rbType == SHRigidBodyComponent::Type::DYNAMIC) //Dynamic only fields
{
SHEditorWidgets::CheckBox("Use Gravity", [component]{return component->IsGravityEnabled();}, [component](bool const& value){component->SetIsGravityEnabled(value);}, "Gravity");
//SHEditorWidgets::DragFloat("Mass", [component] {return component->GetMass(); }, [component](float const& value) {component->SetMass(value); }, "Mass");
SHEditorWidgets::DragFloat("Gravity Scale", [component] { return component->GetGravityScale(); }, [component](float const& value) { component->SetGravityScale(value); }, "Gravity Scale", 0.1f, 0.0f);
SHEditorWidgets::DragFloat("Mass", [component] {return component->GetMass(); }, [component](float const& value) {component->SetMass(value); }, "Mass");
}
if (rbType == SHRigidBodyComponent::Type::DYNAMIC || rbType == SHRigidBodyComponent::Type::KINEMATIC) //Dynamic or Kinematic only fields
{
SHEditorWidgets::DragFloat("Drag", [component] {return component->GetDrag(); }, [component](float const& value) {component->SetDrag(value); }, "Drag");
SHEditorWidgets::DragFloat("Angular Drag", [component] {return component->GetAngularDrag(); }, [component](float const& value) {component->SetAngularDrag(value); }, "Angular Drag");
SHEditorWidgets::DragFloat("Drag", [component] {return component->GetDrag(); }, [component](float const& value) {component->SetDrag(value); }, "Drag", 0.1f, 0.0f);
SHEditorWidgets::DragFloat("Angular Drag", [component] {return component->GetAngularDrag(); }, [component](float const& value) {component->SetAngularDrag(value); }, "Angular Drag", 0.1f, 0.0f);
SHEditorWidgets::CheckBox("Interpolate", [component] {return component->IsInterpolating(); }, [component](bool const& value) {component->SetInterpolate(value); }, "Interpolate");
@ -284,8 +285,7 @@ namespace SHADE
//Debug Info (Read-Only)
if(ImGui::CollapsingHeader("Debug Information", ImGuiTreeNodeFlags_DefaultOpen))//Dynamic or Kinematic only fields
{
SHEditorWidgets::DragFloat("Mass", [component] { return component->GetMass(); }, [](float value){}, "Mass", 0.1f, 0.0f, std::numeric_limits<float>::infinity(), "%.3f", ImGuiSliderFlags_ReadOnly);
//SHEditorWidgets::DragVec3("Position", { "X", "Y", "Z" }, [component] {return component->GetPosition(); }, [](SHVec3 const& value) {}, false, "Position", 0.1f, "%.3f", 0.0f, 0.0f, ImGuiSliderFlags_ReadOnly);
SHEditorWidgets::DragVec3("Position", { "X", "Y", "Z" }, [component] {return component->GetPosition(); }, [](SHVec3 const& value) {}, false, "Position", 0.1f, "%.3f", 0.0f, 0.0f, ImGuiSliderFlags_ReadOnly);
//SHEditorWidgets::DragVec3("Rotation", { "X", "Y", "Z" }, [component] {return component->GetRotation(); }, [](SHVec3 const& value) {}, false, "Rotation", 0.1f, "%.3f", 0.0f, 0.0f, ImGuiSliderFlags_ReadOnly);
if (rbType == SHRigidBodyComponent::Type::DYNAMIC || rbType == SHRigidBodyComponent::Type::KINEMATIC) //Dynamic or Kinematic only fields
{

2
SHADE_Engine/src/Math/Transform/SHTransformSystem.cpp
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@ -246,8 +246,6 @@ namespace SHADE
tf.world.position = SHVec3::Transform(tf.local.position, localToWorld);
tf.world.scale = tf.local.scale * (parent ? parent->GetLocalScale() : SHVec3::One);
if (convertRotation)
{
tf.worldRotation = tf.localRotation + (parent ? parent->GetLocalRotation() : SHVec3::Zero);

100
SHADE_Engine/src/Physics/Dynamics/SHMotionState.cpp Normal file
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@ -0,0 +1,100 @@
/****************************************************************************************
* \file SHMotionState.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a Motion State.
*
* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
* disclosure of this file or its contents without the prior written consent
* of DigiPen Institute of Technology is prohibited.
****************************************************************************************/
#include <SHpch.h>
// Primary Header
#include "SHMotionState.h"
// Project Headers
#include "Math/SHMathHelpers.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
SHMotionState::SHMotionState() noexcept
: hasMoved { false }
{}
SHMotionState::SHMotionState(const SHMotionState& rhs) noexcept
: hasMoved { rhs.hasMoved }
, position { rhs.position }
, prevPosition { rhs.prevPosition }
{}
SHMotionState::SHMotionState(SHMotionState&& rhs) noexcept
: hasMoved { rhs.hasMoved }
, position { rhs.position }
, prevPosition { rhs.prevPosition }
{}
/*-----------------------------------------------------------------------------------*/
/* Operator Overload Definitions */
/*-----------------------------------------------------------------------------------*/
SHMotionState& SHMotionState::operator=(const SHMotionState& rhs) noexcept
{
if (this == &rhs)
return *this;
hasMoved = rhs.hasMoved;
position = rhs.position;
prevPosition = rhs.prevPosition;
return *this;
}
SHMotionState& SHMotionState::operator=(SHMotionState&& rhs) noexcept
{
hasMoved = rhs.hasMoved;
position = rhs.position;
prevPosition = rhs.prevPosition;
return *this;
}
SHMotionState::operator bool() const noexcept
{
return hasMoved;
}
/*-----------------------------------------------------------------------------------*/
/* Public Member Function Definition */
/*-----------------------------------------------------------------------------------*/
void SHMotionState::ForcePosition(const SHVec3& newPosition) noexcept
{
hasMoved = false;
prevPosition = newPosition;
position = newPosition;
}
void SHMotionState::IntegratePosition(const SHVec3& velocity, float dt) noexcept
{
// Velocities are 0 when objects are static or sleeping. We do not want to integrate them here.
// This call should never reach here.
hasMoved = true;
prevPosition = position;
position += velocity * dt;
}
SHVec3 SHMotionState::InterpolatePositions(float factor) const noexcept
{
return SHVec3::ClampedLerp(prevPosition, position, factor);
}
} // namespace SHADE

93
SHADE_Engine/src/Physics/Dynamics/SHMotionState.h Normal file
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@ -0,0 +1,93 @@
/****************************************************************************************
* \file SHMotionState.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a Motion State.
*
* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
* disclosure of this file or its contents without the prior written consent
* of DigiPen Institute of Technology is prohibited.
****************************************************************************************/
#pragma once
// Project Headers
#include "Math/Vector/SHVec3.h"
namespace SHADE
{
/*-------------------------------------------------------------------------------------*/
/* Type Definitions */
/*-------------------------------------------------------------------------------------*/
/**
* @brief
* Encapsulates the motion state of a rigid body in physics.
*/
struct SH_API SHMotionState
{
public:
/*-----------------------------------------------------------------------------------*/
/* Data Members */
/*-----------------------------------------------------------------------------------*/
bool hasMoved;
SHVec3 position;
SHVec3 prevPosition;
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*-----------------------------------------------------------------------------------*/
SHMotionState () noexcept;
SHMotionState (const SHMotionState& rhs) noexcept;
SHMotionState (SHMotionState&& rhs) noexcept;
~SHMotionState() = default;
/*-----------------------------------------------------------------------------------*/
/* Operator Overloads */
/*-----------------------------------------------------------------------------------*/
SHMotionState& operator= (const SHMotionState& rhs) noexcept;
SHMotionState& operator= (SHMotionState&& rhs) noexcept;
operator bool () const noexcept;
/*-----------------------------------------------------------------------------------*/
/* Function Members */
/*-----------------------------------------------------------------------------------*/
/**
* @brief
* Forcefully sets the position. Meant to be used when transform overrides the rigid body
* positions.
* @param newPosition
* The new position to set.
*/
void ForcePosition (const SHVec3& newPosition) noexcept;
/**
* @brief
* Integrates the positions using velocity with respect to time.
* @param velocity
* The velocity to integrate.
* @param dt
* The delta time to integrate with respect to.
*/
void IntegratePosition (const SHVec3& velocity, float dt) noexcept;
/**
* @brief
* Interpolates the position between the previous and the last using a given factor.
* @param factor
* The factor to interpolate by. Should be between 0 & 1.
* @returns
* The interpolated position meant for rendering.
*/
SHVec3 InterpolatePositions (float factor) const noexcept;
};
} // namespace SHADE

122
SHADE_Engine/src/Physics/Dynamics/SHPhysicsWorld.cpp Normal file
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@ -0,0 +1,122 @@
/****************************************************************************************
* \file SHPhysicsWorld.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a Physics World.
*
* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
* disclosure of this file or its contents without the prior written consent
* of DigiPen Institute of Technology is prohibited.
****************************************************************************************/
#include <SHpch.h>
// Primary Header
#include "SHPhysicsWorld.h"
// Project Headers
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
SHPhysicsWorld::SHPhysicsWorld(const WorldSettings& worldSettings) noexcept
: settings { worldSettings }
{
rigidBodies.clear();
SHLOG_INFO_D("Creating Physics World")
}
SHPhysicsWorld::~SHPhysicsWorld() noexcept
{
rigidBodies.clear();
}
/*-----------------------------------------------------------------------------------*/
/* Public Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
void SHPhysicsWorld::AddRigidBody(SHRigidBody* rigidBody) noexcept
{
const bool INSERTED = rigidBodies.emplace(rigidBody->entityID, rigidBody).second;
if (!INSERTED)
{
SHLOG_WARNING_D("Attempting to add duplicate rigid body {} to the Physics World!", rigidBody->entityID)
}
}
void SHPhysicsWorld::RemoveRigidBody(SHRigidBody* rigidBody) noexcept
{
rigidBodies.erase(rigidBody->entityID);
}
void SHPhysicsWorld::Step(float dt)
{
for (auto* rigidBody : rigidBodies | std::views::values)
integrateForces(*rigidBody, dt);
for (auto* rigidBody : rigidBodies | std::views::values)
integrateVelocities(*rigidBody, dt);
}
/*-----------------------------------------------------------------------------------*/
/* Private Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
void SHPhysicsWorld::integrateForces(SHRigidBody& rigidBody, float dt) const noexcept
{
if (rigidBody.bodyType != SHRigidBody::Type::DYNAMIC)
return;
// Integrate forces and gravity into linear velocity
const SHVec3 LINEAR_ACCELERATION = rigidBody.accumulatedForce * rigidBody.invMass;
const SHVec3 GRAVITATIONAL_ACCELERATION = rigidBody.IsGravityEnabled() ? settings.gravity * rigidBody.gravityScale : SHVec3::Zero;
rigidBody.linearVelocity += (LINEAR_ACCELERATION + GRAVITATIONAL_ACCELERATION) * dt;
// Apply drag (exponentially applied)
rigidBody.linearVelocity *= 1.0f / (1.0f + dt * rigidBody.linearDrag);
}
void SHPhysicsWorld::integrateVelocities(SHRigidBody& rigidBody, float dt) const noexcept
{
static const auto ENFORCE_CONSTRAINED_VELOCITIES = [](SHRigidBody& rigidBody)
{
// Enforce linear constraints
rigidBody.linearVelocity = SHVec3
{
rigidBody.GetFreezePositionX() ? 0.0f : rigidBody.linearVelocity.x
, rigidBody.GetFreezePositionY() ? 0.0f : rigidBody.linearVelocity.y
, rigidBody.GetFreezePositionZ() ? 0.0f : rigidBody.linearVelocity.z
};
// TODO: Enforce angular constraints
};
// Always reset movement flag
rigidBody.motionState.hasMoved = false;
// Set all velocities of static bodies to 0
if (rigidBody.bodyType == SHRigidBody::Type::STATIC)
{
rigidBody.linearVelocity = SHVec3::Zero;
}
else // Dynamic & Kinematic bodies
{
// Both dynamic and kinematic can sleep when their velocities are under the thresholds.
if (!rigidBody.IsSleeping())
{
ENFORCE_CONSTRAINED_VELOCITIES(rigidBody);
rigidBody.motionState.IntegratePosition(rigidBody.linearVelocity, dt);
// TODO: Integrate orientations
}
}
// Clear all forces
// We clear forces for static bodies as well for redundancy
rigidBody.ClearForces();
}
} // namespace SHADE

52
SHADE_Engine/src/Physics/SHPhysicsWorld.h → SHADE_Engine/src/Physics/Dynamics/SHPhysicsWorld.h
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@ -10,7 +10,10 @@
#pragma once
#include <unordered_map>
// Project Headers
#include "SHRigidBody.h"
#include "Math/SHMath.h"
#include "SH_API.h"
@ -20,7 +23,7 @@ namespace SHADE
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
struct SH_API SHPhysicsWorldState
class SH_API SHPhysicsWorld
{
public:
@ -41,22 +44,55 @@ namespace SHADE
bool sleepingEnabled = true;
};
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
WorldSettings settings;
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
SHPhysicsWorldState() noexcept;
SHPhysicsWorld (const WorldSettings& worldSettings = WorldSettings{}) noexcept;
~SHPhysicsWorld () noexcept;
SHPhysicsWorld (const SHPhysicsWorld&) = delete;
SHPhysicsWorld (SHPhysicsWorld&&) = delete;
/*---------------------------------------------------------------------------------*/
/* Operator Overloads */
/*---------------------------------------------------------------------------------*/
SHPhysicsWorld& operator=(const SHPhysicsWorld&) = delete;
SHPhysicsWorld& operator=(SHPhysicsWorld&&) = delete;
/*---------------------------------------------------------------------------------*/
/* Function Members */
/*---------------------------------------------------------------------------------*/
void AddRigidBody (SHRigidBody* rigidBody) noexcept;
void RemoveRigidBody (SHRigidBody* rigidBody) noexcept;
void Step (float dt);
private:
/*---------------------------------------------------------------------------------*/
/* Type Definitions */
/*---------------------------------------------------------------------------------*/
using RigidBodies = std::unordered_map<EntityID, SHRigidBody*>;
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
WorldSettings settings;
RigidBodies rigidBodies;
/*---------------------------------------------------------------------------------*/
/* Function Members */
/*---------------------------------------------------------------------------------*/
void integrateForces (SHRigidBody& rigidBody, float dt) const noexcept;
void integrateVelocities (SHRigidBody& rigidBody, float dt) const noexcept;
};

120
SHADE_Engine/src/Physics/Dynamics/SHRigidBody.cpp
View File

@ -26,7 +26,7 @@ namespace SHADE
: entityID { eid }
, bodyType { type }
, invMass { type == Type::DYNAMIC ? 1.0f : 0.0f }
, linearDrag { type != Type::STATIC ? 0.01f : 0.0f }
, linearDrag { 0.01f }
, gravityScale { 1.0f }
, flags { 0U }
{
@ -45,6 +45,7 @@ namespace SHADE
, linearDrag { rhs.linearDrag }
, gravityScale { rhs.gravityScale }
, flags { rhs.flags }
, motionState { rhs.motionState }
{
// All other properties are defaulted to 0 to not carry over any potential errors / invalid values.
}
@ -56,6 +57,7 @@ namespace SHADE
, linearDrag { rhs.linearDrag }
, gravityScale { rhs.gravityScale }
, flags { rhs.flags }
, motionState { std::move(rhs.motionState) }
{
// All other properties are defaulted to 0 to not carry over any potential errors / invalid values.
}
@ -70,28 +72,36 @@ namespace SHADE
if (this == &rhs)
return *this;
entityID = rhs.entityID;
bodyType = rhs.bodyType;
invMass = rhs.invMass;
linearDrag = rhs.linearDrag;
gravityScale = rhs.gravityScale;
flags = rhs.flags;
entityID = rhs.entityID;
bodyType = rhs.bodyType;
invMass = rhs.invMass;
linearDrag = rhs.linearDrag;
gravityScale = rhs.gravityScale;
flags = rhs.flags;
motionState = rhs.motionState;
// All other properties are defaulted to 0 to not carry over any potential errors / invalid values.
accumulatedForce = SHVec3::Zero;
linearVelocity = SHVec3::Zero;
angularVelocity = SHVec3::Zero;
return *this;
}
SHRigidBody& SHRigidBody::operator=(SHRigidBody&& rhs) noexcept
{
entityID = rhs.entityID;
bodyType = rhs.bodyType;
invMass = rhs.invMass;
linearDrag = rhs.linearDrag;
gravityScale = rhs.gravityScale;
flags = rhs.flags;
entityID = rhs.entityID;
bodyType = rhs.bodyType;
invMass = rhs.invMass;
linearDrag = rhs.linearDrag;
gravityScale = rhs.gravityScale;
flags = rhs.flags;
motionState = std::move(rhs.motionState);
// All other properties are defaulted to 0 to not carry over any potential errors / invalid values.
accumulatedForce = SHVec3::Zero;
linearVelocity = SHVec3::Zero;
angularVelocity = SHVec3::Zero;
return *this;
}
@ -105,118 +115,124 @@ namespace SHADE
return bodyType;
}
float SHRigidBody::GetMass() const noexcept
float SHRigidBody::GetMass() const noexcept
{
return 1.0f/ invMass;
}
float SHRigidBody::GetLinearDrag() const noexcept
float SHRigidBody::GetLinearDrag() const noexcept
{
return linearDrag;
}
float SHRigidBody::GetGravityScale() const noexcept
float SHRigidBody::GetGravityScale() const noexcept
{
return gravityScale;
}
const SHVec3& SHRigidBody::GetAccumulatedForce() const noexcept
const SHVec3& SHRigidBody::GetAccumulatedForce() const noexcept
{
return accumulatedForce;
}
const SHVec3& SHRigidBody::GetLinearVelocity() const noexcept
const SHVec3& SHRigidBody::GetLinearVelocity() const noexcept
{
return linearVelocity;
}
const SHVec3& SHRigidBody::GetAngularVelocity() const noexcept
const SHVec3& SHRigidBody::GetAngularVelocity() const noexcept
{
return angularVelocity;
}
// Flags
bool SHRigidBody::IsActive() const noexcept
bool SHRigidBody::IsActive() const noexcept
{
static constexpr unsigned int FLAG_POS = 0;
return flags & (1U << FLAG_POS);
}
bool SHRigidBody::IsSleeping() const noexcept
bool SHRigidBody::IsSleeping() const noexcept
{
static constexpr unsigned int FLAG_POS = 1;
return flags & (1U << FLAG_POS);
}
bool SHRigidBody::IsSleepingEnabled() const noexcept
bool SHRigidBody::IsSleepingEnabled() const noexcept
{
static constexpr unsigned int FLAG_POS = 2;
return flags & (1U << FLAG_POS);
}
bool SHRigidBody::IsGravityEnabled() const noexcept
bool SHRigidBody::IsGravityEnabled() const noexcept
{
static constexpr unsigned int FLAG_POS = 3;
return flags & (1U << FLAG_POS);
}
bool SHRigidBody::IsAutoMassEnabled() const noexcept
bool SHRigidBody::IsAutoMassEnabled() const noexcept
{
static constexpr unsigned int FLAG_POS = 4;
return flags & (1U << FLAG_POS);
}
bool SHRigidBody::GetFreezePositionX() const noexcept
bool SHRigidBody::GetFreezePositionX() const noexcept
{
static constexpr unsigned int FLAG_POS = 10;
return flags & (1U << FLAG_POS);
}
bool SHRigidBody::GetFreezePositionY() const noexcept
bool SHRigidBody::GetFreezePositionY() const noexcept
{
static constexpr unsigned int FLAG_POS = 11;
return flags & (1U << FLAG_POS);
}
bool SHRigidBody::GetFreezePositionZ() const noexcept
bool SHRigidBody::GetFreezePositionZ() const noexcept
{
static constexpr unsigned int FLAG_POS = 12;
return flags & (1U << FLAG_POS);
}
bool SHRigidBody::GetFreezeRotationX() const noexcept
bool SHRigidBody::GetFreezeRotationX() const noexcept
{
static constexpr unsigned int FLAG_POS = 13;
return flags & (1U << FLAG_POS);
}
bool SHRigidBody::GetFreezeRotationY() const noexcept
bool SHRigidBody::GetFreezeRotationY() const noexcept
{
static constexpr unsigned int FLAG_POS = 14;
return flags & (1U << FLAG_POS);
}
bool SHRigidBody::GetFreezeRotationZ() const noexcept
bool SHRigidBody::GetFreezeRotationZ() const noexcept
{
static constexpr unsigned int FLAG_POS = 15;
return flags & (1U << FLAG_POS);
}
SHMotionState& SHRigidBody::GetMotionState() noexcept
{
return motionState;
}
/*-----------------------------------------------------------------------------------*/
/* Setter Functions Definitions */
/*-----------------------------------------------------------------------------------*/
void SHRigidBody::SetType(Type newType) noexcept
void SHRigidBody::SetType(Type newType) noexcept
{
if (newType == bodyType)
return;
bodyType = newType;
invMass = newType == Type::DYNAMIC ? 1.0f : 0.0f;
bodyType = newType;
invMass = newType == Type::DYNAMIC ? 1.0f : 0.0f;
}
void SHRigidBody::SetMass(float newMass) noexcept
void SHRigidBody::SetMass(float newMass) noexcept
{
if (bodyType != Type::DYNAMIC)
{
@ -235,7 +251,7 @@ namespace SHADE
// TODO: Recompute inertia tensor
}
void SHRigidBody::SetLinearDrag(float newLinearDrag) noexcept
void SHRigidBody::SetLinearDrag(float newLinearDrag) noexcept
{
if (bodyType == Type::STATIC)
{
@ -252,17 +268,17 @@ namespace SHADE
linearDrag = newLinearDrag;
}
void SHRigidBody::SetGravityScale(float newGravityScale) noexcept
void SHRigidBody::SetGravityScale(float newGravityScale) noexcept
{
gravityScale = newGravityScale;
}
void SHRigidBody::SetLinearVelocity(const SHVec3& newLinearVelocity) noexcept
void SHRigidBody::SetLinearVelocity(const SHVec3& newLinearVelocity) noexcept
{
linearVelocity = newLinearVelocity;
}
void SHRigidBody::SetIsActive(bool isActive) noexcept
void SHRigidBody::SetIsActive(bool isActive) noexcept
{
static constexpr unsigned int FLAG_POS = 0;
static constexpr uint16_t VALUE = 1U << FLAG_POS;
@ -270,7 +286,7 @@ namespace SHADE
isActive ? flags |= VALUE : flags &= ~VALUE;
}
void SHRigidBody::SetIsSleeping(bool isSleeping) noexcept
void SHRigidBody::SetIsSleeping(bool isSleeping) noexcept
{
static constexpr unsigned int FLAG_POS = 1;
static constexpr uint16_t VALUE = 1U << FLAG_POS;
@ -278,7 +294,7 @@ namespace SHADE
isSleeping ? flags |= VALUE : flags &= ~VALUE;
}
void SHRigidBody::SetSleepingEnabled(bool enableSleeping) noexcept
void SHRigidBody::SetSleepingEnabled(bool enableSleeping) noexcept
{
static constexpr unsigned int FLAG_POS = 2;
static constexpr uint16_t VALUE = 1U << FLAG_POS;
@ -295,7 +311,7 @@ namespace SHADE
}
}
void SHRigidBody::SetGravityEnabled(bool enableGravity) noexcept
void SHRigidBody::SetGravityEnabled(bool enableGravity) noexcept
{
static constexpr unsigned int FLAG_POS = 3;
static constexpr uint16_t VALUE = 1U << FLAG_POS;
@ -303,7 +319,7 @@ namespace SHADE
enableGravity ? flags |= VALUE : flags &= ~VALUE;
}
void SHRigidBody::SetAutoMassEnabled(bool enableAutoMass) noexcept
void SHRigidBody::SetAutoMassEnabled(bool enableAutoMass) noexcept
{
static constexpr unsigned int FLAG_POS = 4;
static constexpr uint16_t VALUE = 1U << FLAG_POS;
@ -321,7 +337,7 @@ namespace SHADE
}
}
void SHRigidBody::SetFreezePositionX(bool freezePositionX) noexcept
void SHRigidBody::SetFreezePositionX(bool freezePositionX) noexcept
{
static constexpr unsigned int FLAG_POS = 10;
static constexpr uint16_t VALUE = 1U << FLAG_POS;
@ -338,7 +354,7 @@ namespace SHADE
}
}
void SHRigidBody::SetFreezePositionY(bool freezePositionY) noexcept
void SHRigidBody::SetFreezePositionY(bool freezePositionY) noexcept
{
static constexpr unsigned int FLAG_POS = 11;
static constexpr uint16_t VALUE = 1U << FLAG_POS;
@ -355,7 +371,7 @@ namespace SHADE
}
}
void SHRigidBody::SetFreezePositionZ(bool freezePositionZ) noexcept
void SHRigidBody::SetFreezePositionZ(bool freezePositionZ) noexcept
{
static constexpr unsigned int FLAG_POS = 12;
static constexpr uint16_t VALUE = 1U << FLAG_POS;
@ -372,7 +388,7 @@ namespace SHADE
}
}
void SHRigidBody::SetFreezeRotationX(bool freezeRotationX) noexcept
void SHRigidBody::SetFreezeRotationX(bool freezeRotationX) noexcept
{
static constexpr unsigned int FLAG_POS = 13;
static constexpr uint16_t VALUE = 1U << FLAG_POS;
@ -389,7 +405,7 @@ namespace SHADE
}
}
void SHRigidBody::SetFreezeRotationY(bool freezeRotationY) noexcept
void SHRigidBody::SetFreezeRotationY(bool freezeRotationY) noexcept
{
static constexpr unsigned int FLAG_POS = 14;
static constexpr uint16_t VALUE = 1U << FLAG_POS;
@ -406,7 +422,7 @@ namespace SHADE
}
}
void SHRigidBody::SetFreezeRotationZ(bool freezeRotationZ) noexcept
void SHRigidBody::SetFreezeRotationZ(bool freezeRotationZ) noexcept
{
static constexpr unsigned int FLAG_POS = 15;
static constexpr uint16_t VALUE = 1U << FLAG_POS;
@ -424,10 +440,10 @@ namespace SHADE
}
/*-----------------------------------------------------------------------------------*/
/* Member Function Definitions */
/* Public Member Function Definition */
/*-----------------------------------------------------------------------------------*/
void SHRigidBody::AddForce(const SHVec3& force, const SHVec3& pos) noexcept
void SHRigidBody::AddForce(const SHVec3& force, const SHVec3& pos) noexcept
{
if (bodyType != Type::DYNAMIC)
return;
@ -436,7 +452,7 @@ namespace SHADE
// Compute torque when force is offset
}
void SHRigidBody::AddImpulse(const SHVec3& impulse, const SHVec3& pos) noexcept
void SHRigidBody::AddImpulse(const SHVec3& impulse, const SHVec3& pos) noexcept
{
if (bodyType != Type::DYNAMIC)
return;
@ -444,7 +460,7 @@ namespace SHADE
linearVelocity += impulse * invMass;
}
void SHRigidBody::ClearForces() noexcept
void SHRigidBody::ClearForces() noexcept
{
accumulatedForce = SHVec3::Zero;
}

35
SHADE_Engine/src/Physics/Dynamics/SHRigidBody.h
View File

@ -13,7 +13,7 @@
// Project Headers
#include "ECS_Base/SHECSMacros.h"
#include "Math/Vector/SHVec3.h"
#include "SH_API.h"
#include "SHMotionState.h"
namespace SHADE
{
@ -27,6 +27,13 @@ namespace SHADE
*/
class SH_API SHRigidBody
{
private:
/*-----------------------------------------------------------------------------------*/
/* Friends */
/*-----------------------------------------------------------------------------------*/
friend class SHPhysicsWorld;
public:
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
@ -83,13 +90,16 @@ namespace SHADE
[[nodiscard]] bool GetFreezeRotationY () const noexcept;
[[nodiscard]] bool GetFreezeRotationZ () const noexcept;
[[nodiscard]] SHMotionState& GetMotionState () noexcept;
/*-----------------------------------------------------------------------------------*/
/* Setter Functions */
/*-----------------------------------------------------------------------------------*/
/**
* @brief
* Changing the type from non-Dynamic to Dynamic will set the default mass.
* Changing the type from non-Dynamic to Dynamic will set the default
* mass and drag values.
*/
void SetType (Type newType) noexcept;
@ -111,7 +121,6 @@ namespace SHADE
void SetGravityScale (float newGravityScale) noexcept;
void SetLinearVelocity (const SHVec3& newLinearVelocity) noexcept;
// Flags
@ -164,22 +173,24 @@ namespace SHADE
/*-----------------------------------------------------------------------------------*/
// The entityID here is only meant for linking with the actual component in the engine.
EntityID entityID;
EntityID entityID;
Type bodyType;
Type bodyType;
float invMass;
float linearDrag;
float invMass;
float linearDrag;
float gravityScale;
float gravityScale;
SHVec3 accumulatedForce;
SHVec3 accumulatedForce;
SHVec3 linearVelocity;
SHVec3 angularVelocity;
SHVec3 linearVelocity;
SHVec3 angularVelocity;
// aZ aY aX pZ pY pX 0 0 0 0 0 autoMass enableGravity enableSleeping sleeping active
uint16_t flags;
uint16_t flags;
SHMotionState motionState;
};
} // namespace SHADE

13
SHADE_Engine/src/Physics/Interface/PhysicsObject/SHPhysicsObject.cpp
View File

@ -44,9 +44,8 @@ namespace SHADE
delete rigidBody;
}
/*-----------------------------------------------------------------------------------*/
/* Operator Overload Definitions */
/* Operator Overload Definitions */
/*-----------------------------------------------------------------------------------*/
SHPhysicsObject& SHPhysicsObject::operator=(const SHPhysicsObject& rhs) noexcept
@ -71,4 +70,14 @@ namespace SHADE
return *this;
}
/*-----------------------------------------------------------------------------------*/
/* Public Member Function Definitions */
/*-----------------------------------------------------------------------------------*/
bool SHPhysicsObject::IsEmpty() const noexcept
{
return rigidBody == nullptr;
}
} // namespace SHADE

6
SHADE_Engine/src/Physics/Interface/PhysicsObject/SHPhysicsObject.h
View File

@ -48,5 +48,11 @@ namespace SHADE
SHPhysicsObject& operator=(const SHPhysicsObject& rhs) noexcept;
SHPhysicsObject& operator=(SHPhysicsObject&& rhs) noexcept;
/*-----------------------------------------------------------------------------------*/
/* Member Functions */
/*-----------------------------------------------------------------------------------*/
bool IsEmpty() const noexcept;
};
} // namespace SHADE

42
SHADE_Engine/src/Physics/Interface/PhysicsObject/SHPhysicsObjectManager.cpp
View File

@ -14,6 +14,7 @@
#include "SHPhysicsObjectManager.h"
// Project Headers
#include "Math/Transform/SHTransformComponent.h"
#include "Physics/Interface/SHColliderComponent.h"
#include "Physics/Interface/SHCollisionShape.h"
#include "Physics/Interface/RigidBodyComponent/SHRigidBodyComponent.h"
@ -21,16 +22,25 @@
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
SHPhysicsObjectManager::~SHPhysicsObjectManager() noexcept
{
RemoveAllObjects();
}
/*-----------------------------------------------------------------------------------*/
/* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/
SHPhysicsObjectManager::EntityObjectMap& SHPhysicsObjectManager::GetPhysicsObjects() noexcept
SHPhysicsObjectManager::EntityObjectMap& SHPhysicsObjectManager::GetPhysicsObjects() noexcept
{
return physicsObjects;
}
const SHPhysicsObject* SHPhysicsObjectManager::GetPhysicsObject(EntityID entityID) noexcept
const SHPhysicsObject* SHPhysicsObjectManager::GetPhysicsObject(EntityID entityID) noexcept
{
const auto PHYSICS_OBJECT_ITERATOR = physicsObjects.find(entityID);
if (PHYSICS_OBJECT_ITERATOR == physicsObjects.end())
@ -68,6 +78,17 @@ namespace SHADE
, static_cast<SHRigidBody::Type>(rigidBodyComponent->GetType())
};
SHMotionState& motionState = physicsObject->rigidBody->GetMotionState();
if (const auto* TRANSFORM_COMPONENT = SHComponentManager::GetComponent<SHTransformComponent>(entityID); TRANSFORM_COMPONENT)
{
motionState.ForcePosition(TRANSFORM_COMPONENT->GetWorldPosition());
}
else
{
motionState.ForcePosition(SHVec3::Zero);
}
// Link with the component
rigidBodyComponent->SetRigidBody(physicsObject->rigidBody);
@ -85,7 +106,7 @@ namespace SHADE
physicsObject->rigidBody = nullptr;
// Destroy empty physics objects
if (physicsObject->rigidBody == nullptr)
if (physicsObject->IsEmpty())
destroyPhysicsObject(entityID);
}
@ -101,7 +122,15 @@ namespace SHADE
void SHPhysicsObjectManager::RemoveCollider(EntityID entityID) noexcept
{
// Unlink with the component
const auto PHYSICS_OBJECT_ITERATOR = physicsObjects.find(entityID);
if (PHYSICS_OBJECT_ITERATOR != physicsObjects.end())
{
SHPhysicsObject* physicsObject = &PHYSICS_OBJECT_ITERATOR->second;
// Destroy empty physics objects
if (physicsObject->IsEmpty())
destroyPhysicsObject(entityID);
}
// TODO: Broadcast event
}
@ -120,6 +149,11 @@ namespace SHADE
// TODO: Broadcast event
}
void SHPhysicsObjectManager::RemoveAllObjects() noexcept
{
physicsObjects.clear();
}
/*-----------------------------------------------------------------------------------*/
/* Private Member Function Definitions */
/*-----------------------------------------------------------------------------------*/

10
SHADE_Engine/src/Physics/Interface/PhysicsObject/SHPhysicsObjectManager.h
View File

@ -40,7 +40,8 @@ namespace SHADE
/* Constructors & Destructor */
/*-----------------------------------------------------------------------------------*/
SHPhysicsObjectManager() noexcept = default;
SHPhysicsObjectManager () noexcept = default;
~SHPhysicsObjectManager () noexcept;
/*-----------------------------------------------------------------------------------*/
/* Getter Functions */
@ -107,6 +108,13 @@ namespace SHADE
*/
void RemoveCollisionShape (EntityID entityID, uint8_t shapeID) noexcept;
/**
* @brief
* Removes all physics object in the manager. This is only meant to be called when
* the world is being destroyed or the scene is being changed.
*/
void RemoveAllObjects () noexcept;
private:
/*-----------------------------------------------------------------------------------*/
/* Data Members */

9
SHADE_Engine/src/Physics/Interface/RigidBodyComponent/SHRigidBodyComponent.cpp
View File

@ -182,6 +182,15 @@ namespace SHADE
return SHVec3::Zero;
}
SHVec3 SHRigidBodyComponent::GetPosition() const noexcept
{
if (rigidBody)
return rigidBody->GetMotionState().position;
return SHVec3::Zero;
}
/*-----------------------------------------------------------------------------------*/
/* Setter Functions Definitions */
/*-----------------------------------------------------------------------------------*/

2
SHADE_Engine/src/Physics/Interface/RigidBodyComponent/SHRigidBodyComponent.h
View File

@ -97,6 +97,8 @@ namespace SHADE
[[nodiscard]] SHVec3 GetLinearVelocity () const noexcept;
[[nodiscard]] SHVec3 GetAngularVelocity () const noexcept;
[[nodiscard]] SHVec3 GetPosition () const noexcept;
/*---------------------------------------------------------------------------------*/
/* Setter Functions */
/*---------------------------------------------------------------------------------*/

27
SHADE_Engine/src/Physics/SHPhysicsWorld.cpp
View File

@ -1,27 +0,0 @@
/****************************************************************************************
* \file SHPhysicsWorld.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a Physics World.
*
* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
* disclosure of this file or its contents without the prior written consent
* of DigiPen Institute of Technology is prohibited.
****************************************************************************************/
#include <SHpch.h>
// Primary Header
#include "SHPhysicsWorld.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
/*-----------------------------------------------------------------------------------*/
/* Public Function Members Definitions */
/*-----------------------------------------------------------------------------------*/
} // namespace SHADE

43
SHADE_Engine/src/Physics/System/Routines/SHPhysicsPostUpdateRoutine.cpp
View File

@ -15,6 +15,7 @@
// Project Headers
#include "ECS_Base/Managers/SHSystemManager.h"
#include "Math/Transform/SHTransformComponent.h"
#include "Scripting/SHScriptEngine.h"
@ -39,24 +40,40 @@ namespace SHADE
if (scriptingSystem == nullptr)
{
SHLOGV_ERROR("Unable to invoke collision and trigger script events due to missing SHScriptEngine!");
SHLOGV_ERROR("Unable to invoke collision and trigger script events due to missing SHScriptEngine!");
}
// Interpolate transforms for rendering
const float FACTOR = static_cast<float>(physicsSystem->interpolationFactor);
// Interpolate transforms for rendering.
// Only rigid bodies can move due to physics, so we run through the rigid body component dense set.
const auto& RIGIDBODY_DENSE = SHComponentManager::GetDense<SHRigidBodyComponent>();
for (auto& rigidBodyComponent : RIGIDBODY_DENSE)
{
auto* transformComponent = SHComponentManager::GetComponent_s<SHTransformComponent>(rigidBodyComponent.GetEID());
if (!transformComponent)
continue;
if (!rigidBodyComponent.rigidBody)
continue;
if (const SHMotionState& MOTION_STATE = rigidBodyComponent.rigidBody->GetMotionState(); MOTION_STATE)
{
SHVec3 renderPosition = rigidBodyComponent.IsInterpolating()
? MOTION_STATE.InterpolatePositions(FACTOR)
: MOTION_STATE.position;
/*
* TODO: Test if the scene graph transforms abides by setting world position. Collisions will ignore the scene graph hierarchy.
*/
transformComponent->SetWorldPosition(renderPosition);
// TODO: SetOrientation
}
}
// Collision & Trigger messages
if (scriptingSystem != nullptr)
scriptingSystem->ExecuteCollisionFunctions();
}
/*-----------------------------------------------------------------------------------*/
/* Private Function Member Definitions */
/*-----------------------------------------------------------------------------------*/
void SHPhysicsSystem::PhysicsPostUpdate::syncTransforms(SHRigidBodyComponent* rbComponent) const noexcept
{
}
}

40
SHADE_Engine/src/Physics/System/Routines/SHPhysicsPreUpdateRoutine.cpp
View File

@ -36,27 +36,27 @@ namespace SHADE
auto* physicsSystem = reinterpret_cast<SHPhysicsSystem*>(GetSystem());
// Get all physics objects & sync transforms
for (auto& physicsObject : physicsSystem->physicsObjectManager.GetPhysicsObjects() | std::views::values)
syncTransforms(&physicsObject);
}
/*-----------------------------------------------------------------------------------*/
/* Private Function Member Definitions */
/*-----------------------------------------------------------------------------------*/
void SHPhysicsSystem::PhysicsPreUpdate::syncTransforms(SHPhysicsObject* physicsObject) const noexcept
{
const EntityID EID = physicsObject->entityID;
// Get relevant components: Transform, Rigidbody & Collider
const auto* TRANSFORM_COMPONENT = SHComponentManager::GetComponent_s<SHTransformComponent>(EID);
auto* rigidBodyComponent = SHComponentManager::GetComponent_s<SHRigidBodyComponent>(EID);
auto* colliderComponent = SHComponentManager::GetComponent_s<SHColliderComponent>(EID);
if (TRANSFORM_COMPONENT && TRANSFORM_COMPONENT->HasChanged())
for (auto& [entityID, physicsObject] : physicsSystem->physicsObjectManager.GetPhysicsObjects())
{
// Sync the objects transforms
const auto* TRANSFORM_COMPONENT = SHComponentManager::GetComponent_s<SHTransformComponent>(entityID);
// We assume that all engine components and physics object components have been successfully linked
if (TRANSFORM_COMPONENT && TRANSFORM_COMPONENT->HasChanged())
{
// Sync the objects transforms
const SHVec3 WORLD_POS = TRANSFORM_COMPONENT->GetWorldPosition();
if (physicsObject.rigidBody)
{
SHMotionState& motionState = physicsObject.rigidBody->GetMotionState();
motionState.ForcePosition(TRANSFORM_COMPONENT->GetWorldPosition());
// TODO: Force Orientation
}
}
// TODO: Sync Collider Transform with World Transform
}
}
}

4
SHADE_Engine/src/Physics/System/Routines/SHPhysicsUpdateRoutine.cpp
View File

@ -47,7 +47,11 @@ namespace SHADE
int count = 0;
while (accumulatedTime > FIXED_DT)
{
if (scriptEngine)
scriptEngine->ExecuteFixedUpdates();
if (physicsSystem->physicsWorld)
physicsSystem->physicsWorld->Step(static_cast<float>(FIXED_DT));
accumulatedTime -= FIXED_DT;
++count;

87
SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp
View File

@ -28,10 +28,11 @@ namespace SHADE
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
SHPhysicsSystem::SHPhysicsSystem()
SHPhysicsSystem::SHPhysicsSystem() noexcept
: worldUpdated { false }
, interpolationFactor { 0.0 }
, fixedDT { DEFAULT_FIXED_STEP }
, physicsWorld { nullptr }
{
// Add more events here to register them
@ -45,6 +46,11 @@ namespace SHADE
#endif
}
SHPhysicsSystem::~SHPhysicsSystem() noexcept
{
delete physicsWorld;
}
/*-----------------------------------------------------------------------------------*/
/* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/
@ -141,24 +147,66 @@ namespace SHADE
SHEventHandle SHPhysicsSystem::onSceneInit(SHEventPtr onSceneInitEvent)
{
/*
* TODO:
* If a world already exists, destroy it
* Recreate the world
* Recreate the world.
*
* If there is an editor and editor mode is already playing, link all entities with the world immediately.
*/
// Destroy an existing world if there is one.
//! This should almost never happen.
if (physicsWorld)
{
// Remove all references of physics objects from the world
for (const auto& PHYSICS_OBJECT : physicsObjectManager.GetPhysicsObjects() | std::views::values)
{
if (PHYSICS_OBJECT.rigidBody)
physicsWorld->RemoveRigidBody(PHYSICS_OBJECT.rigidBody);
}
delete physicsWorld;
physicsWorld = nullptr;
}
// Create the physics world
physicsWorld = new SHPhysicsWorld;
#ifdef SHEDITOR
// Link all entities with the world if editor is already playing.
// This is for handling scene changes while the editor is active.
const auto* EDITOR = SHSystemManager::GetSystem<SHEditor>();
if (EDITOR && EDITOR->editorState == SHEditor::State::PLAY)
{
for (const auto& PHYSICS_OBJECT : physicsObjectManager.GetPhysicsObjects() | std::views::values)
{
if (PHYSICS_OBJECT.rigidBody)
physicsWorld->AddRigidBody(PHYSICS_OBJECT.rigidBody);
}
}
#endif
return onSceneInitEvent.get()->handle;
}
SHEventHandle SHPhysicsSystem::onSceneExit(SHEventPtr onSceneExitEvent)
{
/*
* TODO:
* Destroy the physics world.
* Destroy all physics objects.
*/
for (const auto& PHYSICS_OBJECT : physicsObjectManager.GetPhysicsObjects() | std::views::values)
{
if (PHYSICS_OBJECT.rigidBody)
physicsWorld->RemoveRigidBody(PHYSICS_OBJECT.rigidBody);
}
delete physicsWorld;
physicsWorld = nullptr;
return onSceneExitEvent.get()->handle;
}
@ -181,8 +229,17 @@ namespace SHADE
// Link engine components with physics object component
if (IS_RIGID_BODY)
{
physicsObjectManager.AddRigidBody(EID);
if (physicsWorld)
{
auto* rigidBody = physicsObjectManager.GetPhysicsObject(EID)->rigidBody;
physicsWorld->AddRigidBody(rigidBody);
}
}
if (IS_COLLIDER)
physicsObjectManager.AddCollider(EID);
}
@ -209,7 +266,16 @@ namespace SHADE
// Link engine components with physics object component
if (IS_RIGID_BODY)
{
if (physicsWorld)
{
auto* rigidBody = physicsObjectManager.GetPhysicsObject(EID)->rigidBody;
physicsWorld->RemoveRigidBody(rigidBody);
}
physicsObjectManager.RemoveRigidBody(EID);
}
if (IS_COLLIDER)
physicsObjectManager.RemoveCollider(EID);
@ -222,10 +288,15 @@ namespace SHADE
SHEventHandle SHPhysicsSystem::onEditorPlay(SHEventPtr onEditorPlayEvent)
{
/*
* TODO:
* Link all entities with the world.
*/
// Add all physics components to the physics world
for (const auto& PHYSICS_OBJECT : physicsObjectManager.GetPhysicsObjects() | std::views::values)
{
// Add rigid body if it exists
if (PHYSICS_OBJECT.rigidBody)
physicsWorld->AddRigidBody(PHYSICS_OBJECT.rigidBody);
// TODO: Add Collider if it exists
}
return onEditorPlayEvent.get()->handle;
}

12
SHADE_Engine/src/Physics/System/SHPhysicsSystem.h
View File

@ -16,6 +16,7 @@
#include "ECS_Base/System/SHFixedSystemRoutine.h"
#include "Events/SHEvent.h"
#include "Physics/Dynamics/SHPhysicsWorld.h"
#include "Physics/Interface/PhysicsObject/SHPhysicsObjectManager.h"
#include "Physics/Interface/RigidBodyComponent/SHRigidBodyComponent.h"
#include "Physics/Interface/SHColliderComponent.h"
@ -34,7 +35,8 @@ namespace SHADE
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
SHPhysicsSystem();
SHPhysicsSystem () noexcept;
~SHPhysicsSystem() noexcept;
/*---------------------------------------------------------------------------------*/
/* Getter Functions */
@ -75,9 +77,6 @@ namespace SHADE
public:
PhysicsPreUpdate();
void Execute(double dt) noexcept override;
private:
void syncTransforms(SHPhysicsObject* physicsObject) const noexcept;
};
/**
@ -103,9 +102,6 @@ namespace SHADE
public:
PhysicsPostUpdate();
void Execute(double dt) noexcept override;
private:
void syncTransforms(SHRigidBodyComponent* rbComponent) const noexcept;
};
private:
@ -136,6 +132,8 @@ namespace SHADE
// Sub-systems / managers
SHPhysicsWorld* physicsWorld;
SHPhysicsObjectManager physicsObjectManager;
/*---------------------------------------------------------------------------------*/

7
SHADE_Engine/src/Physics/System/SHPhysicsSystemInterface.h
View File

@ -49,8 +49,9 @@ namespace SHADE
/* Static Usage Functions */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] static const std::vector<SHCollisionInfo>& GetCollisionInfo() noexcept;
[[nodiscard]] static const std::vector<SHCollisionInfo>& GetTriggerInfo () noexcept;
[[nodiscard]] static double GetFixedDT () noexcept;
[[nodiscard]] static const std::vector<SHCollisionInfo>& GetCollisionInfo () noexcept;
[[nodiscard]] static const std::vector<SHCollisionInfo>& GetTriggerInfo () noexcept;
[[nodiscard]] static double GetFixedDT () noexcept;
[[nodiscard]] static int GetFixedUpdateRate () noexcept;
};
}