Assets/Scenes/PhysicsSandbox.shade

@@ -131,6 +131,7 @@
       Colliders:
         - Is Trigger: false
           Type: Box
+          Half Extents: {x: 1, y: 1, z: 1}
           Friction: 0.400000006
           Bounciness: 0
           Density: 1

SHADE_Engine/src/Physics/Collision/CollisionShapes/SHBoxCollisionShape.cpp

@@ -18,6 +18,19 @@
 #include "Math/SHMatrix.h"
 #include "Physics/Collision/SHCollider.h"
 
+/*
+ * Local box vertices, faces & half-edges
+ *
+ * Vertices (Front/Back Face):
+ *
+ * 3/7 ----------  2/6
+ *     |        |
+ *     |        |
+ *     |        |
+ * 0/4 ----------  1/5
+ *
+ */
+
 namespace SHADE
 {
   /*-----------------------------------------------------------------------------------*/
@@ -29,6 +42,7 @@ namespace SHADE
   , SHBox             ()
   , relativeExtents   { SHVec3::One }
   , scale             { SHVec3::One }
+  , polyhedron        { nullptr }
   {}
 
   SHBoxCollisionShape::SHBoxCollisionShape(const SHBoxCollisionShape& rhs) noexcept
@@ -36,6 +50,7 @@ namespace SHADE
   , SHBox             (rhs.Center, rhs.Extents, rhs.Orientation)
   , relativeExtents   { rhs.relativeExtents }
   , scale             { rhs.scale }
+  , polyhedron        { rhs.polyhedron }
   {
 
     material        = rhs.material;
@@ -52,6 +67,7 @@ namespace SHADE
   , SHBox             (rhs.Center, rhs.Extents, rhs.Orientation)
   , relativeExtents   { rhs.relativeExtents }
   , scale             { rhs.scale }
+  , polyhedron        { rhs.polyhedron }
   {
 
     material        = rhs.material;
@@ -93,6 +109,7 @@ namespace SHADE
 
     relativeExtents = rhs.relativeExtents;
     scale           = rhs.scale;
+    polyhedron      = rhs.polyhedron;
 
     return *this;
   }
@@ -120,6 +137,7 @@ namespace SHADE
 
     relativeExtents = rhs.relativeExtents;
     scale           = rhs.scale;
+    polyhedron      = rhs.polyhedron;
 
     return *this;
   }

SHADE_Engine/src/Physics/Collision/CollisionShapes/SHBoxCollisionShape.h

@@ -13,6 +13,7 @@
 // Project Headers
 #include "Math/Geometry/SHBox.h"
 #include "SHCollisionShape.h"
+#include "SHConvexPolyhedron.h"
 
 namespace SHADE
 {
@@ -73,20 +74,20 @@ namespace SHADE
     /* Getter Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    [[nodiscard]] SHVec3        GetCenter           ()  const noexcept;
+    [[nodiscard]] SHVec3            GetCenter           ()  const noexcept;
-    [[nodiscard]] SHVec3        GetWorldExtents     ()  const noexcept;
+    [[nodiscard]] SHVec3            GetWorldExtents     ()  const noexcept;
-    [[nodiscard]] SHVec3        GetRelativeExtents  ()  const noexcept;
+    [[nodiscard]] SHVec3            GetRelativeExtents  ()  const noexcept;
-    [[nodiscard]] SHQuaternion  GetOrientation      ()  const noexcept;
+    [[nodiscard]] SHQuaternion      GetOrientation      ()  const noexcept;
 
     /*---------------------------------------------------------------------------------*/
     /* Setter Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    void SetCenter          (const SHVec3& newCenter)             noexcept;
+    void SetCenter          (const SHVec3& newCenter)               noexcept;
-    void SetWorldExtents    (const SHVec3& newWorldExtents)       noexcept;
+    void SetWorldExtents    (const SHVec3& newWorldExtents)         noexcept;
-    void SetRelativeExtents (const SHVec3& newRelativeExtents)    noexcept;
+    void SetRelativeExtents (const SHVec3& newRelativeExtents)      noexcept;
-    void SetOrientation     (const SHQuaternion& newOrientation)  noexcept;
+    void SetOrientation     (const SHQuaternion& newOrientation)    noexcept;
-    void SetScale           (const SHVec3& newScale)              noexcept;
+    void SetScale           (const SHVec3& newScale)                noexcept;
 
     /*---------------------------------------------------------------------------------*/
     /* Function Members                                                                */
@@ -150,8 +151,9 @@ namespace SHADE
     /* Data Members                                                                    */
     /*---------------------------------------------------------------------------------*/
 
-    SHVec3  relativeExtents;
+    SHVec3              relativeExtents;
-    SHVec3  scale;            // Intended to be passed in by the base collider.
+    SHVec3              scale;              // Intended to be passed in by the base collider.
+    SHConvexPolyhedron* polyhedron;         // Defines the polyhedron by it's half edges.
   };
 
 

SHADE_Engine/src/Physics/Collision/CollisionShapes/SHConvexPolyhedron.cpp

@@ -0,0 +1,216 @@
+/****************************************************************************************
+ * \file      SHConvexPolyhedron.cpps
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Implementation for a convex polyhedron structure.
+ *
+ * \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 "SHConvexPolyhedron.h"
+
+// Helper Macros
+
+#define BUILD_UINT64_FROM_UINT32S(a, b) (uint64_t)a << 32 | b
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Constructors & Destructor Definitions                                             */
+  /*-----------------------------------------------------------------------------------*/
+
+  SHConvexPolyhedron::HalfEdge::HalfEdge() noexcept
+  : tailVertexIndex { -1 }
+  , headVertexIndex { -1 }
+  , edgeIndex       { -1 }
+  , twinEdgeIndex   { -1 }
+  , faceIndex       { -1 }
+  {}
+
+  SHConvexPolyhedron::HalfEdge::HalfEdge(const HalfEdge& rhs) noexcept
+  : tailVertexIndex { rhs.tailVertexIndex }
+  , headVertexIndex { rhs.headVertexIndex }
+  , edgeIndex       { rhs.edgeIndex }
+  , twinEdgeIndex   { rhs.twinEdgeIndex }
+  , faceIndex       { rhs.faceIndex }
+  {}
+
+  SHConvexPolyhedron::HalfEdge::HalfEdge(HalfEdge&& rhs) noexcept
+  : tailVertexIndex { rhs.tailVertexIndex }
+  , headVertexIndex { rhs.headVertexIndex }
+  , edgeIndex       { rhs.edgeIndex }
+  , twinEdgeIndex   { rhs.twinEdgeIndex }
+  , faceIndex       { rhs.faceIndex }
+  {}
+
+  SHConvexPolyhedron::Face::Face(const Face& rhs) noexcept
+  : normal { rhs.normal }
+  {
+    std::ranges::copy(rhs.vertexIndices.begin(), rhs.vertexIndices.end(), std::back_inserter(vertexIndices));
+  }
+
+  SHConvexPolyhedron::Face::Face(Face&& rhs) noexcept
+  : normal { rhs.normal }
+  {
+    std::ranges::copy(rhs.vertexIndices.begin(), rhs.vertexIndices.end(), std::back_inserter(vertexIndices));
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Operator Overload Definitions                                                     */
+  /*-----------------------------------------------------------------------------------*/
+
+  SHConvexPolyhedron::HalfEdge& SHConvexPolyhedron::HalfEdge::operator=(const HalfEdge& rhs) noexcept
+  {
+    if (this == &rhs)
+      return *this;
+
+    tailVertexIndex = rhs.tailVertexIndex;
+    headVertexIndex = rhs.headVertexIndex;
+    edgeIndex       = rhs.edgeIndex ;
+    twinEdgeIndex   = rhs.twinEdgeIndex ;
+    faceIndex       = rhs.faceIndex ;
+
+    return *this;
+  }
+
+  SHConvexPolyhedron::HalfEdge& SHConvexPolyhedron::HalfEdge::operator=(HalfEdge&& rhs) noexcept
+  {
+    tailVertexIndex = rhs.tailVertexIndex;
+    headVertexIndex = rhs.headVertexIndex;
+    edgeIndex       = rhs.edgeIndex ;
+    twinEdgeIndex   = rhs.twinEdgeIndex ;
+    faceIndex       = rhs.faceIndex ;
+
+    return *this;
+  }
+
+  SHConvexPolyhedron::Face& SHConvexPolyhedron::Face::operator=(const Face& rhs) noexcept
+  {
+    if (this == &rhs)
+      return *this;
+
+    normal = rhs.normal;
+
+    vertexIndices.clear();
+    std::ranges::copy(rhs.vertexIndices.begin(), rhs.vertexIndices.end(), std::back_inserter(vertexIndices));
+
+    return *this;
+  }
+
+  SHConvexPolyhedron::Face& SHConvexPolyhedron::Face::operator=(Face&& rhs) noexcept
+  {
+    normal = rhs.normal;
+
+    vertexIndices.clear();
+    std::ranges::copy(rhs.vertexIndices.begin(), rhs.vertexIndices.end(), std::back_inserter(vertexIndices));
+
+    return *this;
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Getter Function Definitions                                                       */
+  /*-----------------------------------------------------------------------------------*/
+
+  int32_t SHConvexPolyhedron::GetFaceCount() const noexcept
+  {
+    return static_cast<int32_t>(faces.size());
+  }
+
+  int32_t SHConvexPolyhedron::GetHalfEdgeCount() const noexcept
+  {
+    return static_cast<int32_t>(halfEdges.size());
+  }
+
+  const SHConvexPolyhedron::Face& SHConvexPolyhedron::GetFace(int32_t index) const
+  {
+    if (index < 0 || index >= static_cast<int32_t>(faces.size()))
+      throw std::invalid_argument("Index out-of-range!");
+
+    return faces[index];
+  }
+
+  const SHConvexPolyhedron::HalfEdge& SHConvexPolyhedron::GetHalfEdge(int32_t index) const
+  {
+    if (index < 0 || index >= static_cast<int32_t>(halfEdges.size()))
+      throw std::invalid_argument("Index out-of-range!");
+
+    return halfEdges[index];
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Public Member Function Definitions                                                */
+  /*-----------------------------------------------------------------------------------*/
+
+  void SHConvexPolyhedron::AddFace(const Face& face)
+  {
+    faces.emplace_back(face);
+  }
+
+  void SHConvexPolyhedron::BuildPolyhedron() noexcept
+  {
+    // We use the pair of vertex IDs on a half-edge to prevent duplicates
+    std::unordered_map<uint64_t, HalfEdge> edgeMap;
+    edgeMap.clear();
+
+    if (faces.empty())
+    {
+      SHLOGV_CRITICAL("Unable to build convex polyhedron, no faces have been added!")
+      return;
+    }
+
+    // For each face, build half edges
+    for (size_t i = 0; i < faces.size(); ++i)
+    {
+      const Face& FACE = faces[i];
+
+      // Iterate through vertices and build half-edges
+      for (size_t j = 0; j < FACE.vertexIndices.size(); ++j)
+      {
+        const int32_t TAIL = FACE.vertexIndices[j];
+        const int32_t HEAD = (TAIL + 1) > FACE.vertexIndices.back() ? FACE.vertexIndices.front() : TAIL + 1;  // Wrap around
+
+        const uint64_t NEW_EDGE_ID   = BUILD_UINT64_FROM_UINT32S(TAIL, HEAD);
+        const uint64_t TWIN_EDGE_ID  = BUILD_UINT64_FROM_UINT32S(HEAD, TAIL);
+
+        // Check if the half-edge has already been inserted
+        auto newEdgeIter = edgeMap.find(NEW_EDGE_ID);
+        if (newEdgeIter == edgeMap.end())
+        {
+          // Reuse the iterator for mapping with the twin
+          newEdgeIter = edgeMap.emplace(NEW_EDGE_ID, HalfEdge{}).first;
+
+          HalfEdge& newHalfEdge = newEdgeIter->second;
+          newHalfEdge.tailVertexIndex = TAIL;
+          newHalfEdge.headVertexIndex = HEAD;
+          newHalfEdge.faceIndex       = static_cast<int32_t>(i);
+
+          // Set edge index of the newly inserted edge as the size of the map - 1
+          // Since it is an unordered map, it will just be at the back
+          newHalfEdge.edgeIndex       = static_cast<int32_t>(edgeMap.size()) - 1;
+        }
+
+        // Find twin edge if one exists
+        auto twinEdgeIter = edgeMap.find(TWIN_EDGE_ID);
+        if (twinEdgeIter != edgeMap.end())
+        {
+          // Set the twin index of both the edges
+          HalfEdge& newHalfEdge   = newEdgeIter->second;
+          HalfEdge& twinHalfEdge  = twinEdgeIter->second;
+
+          newHalfEdge.twinEdgeIndex   = twinHalfEdge.edgeIndex;
+          twinHalfEdge.twinEdgeIndex  = newHalfEdge.edgeIndex;
+        }
+      }
+    }
+
+    // Copy all half edges into the vector
+    // At this point, no duplicates should be in the map and all edges should be linked.
+    for (auto& halfEdge : edgeMap | std::views::values)
+      halfEdges.emplace_back(halfEdge);
+  }
+
+} // namespace SHADE

SHADE_Engine/src/Physics/Collision/CollisionShapes/SHConvexPolyhedron.h

@@ -0,0 +1,144 @@
+/****************************************************************************************
+ * \file      SHConvexPolyhedron.h
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Interface for a convex polyhedron structure.
+ *
+ * \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
+
+#include <vector>
+
+// Project Headers
+#include "Math/Vector/SHVec3.h"
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Type Definitions                                                                  */
+  /*-----------------------------------------------------------------------------------*/
+
+  /**
+   * @brief
+   * Encapsulates data for a convex polyhedron's geometry represented as faces & half edges.
+  */
+  class SH_API SHConvexPolyhedron
+  {
+  public:
+    /*---------------------------------------------------------------------------------*/
+    /* Type Definitions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    struct HalfEdge
+    {
+      /*-------------------------------------------------------------------------------*/
+      /* Data Members                                                                  */
+      /*-------------------------------------------------------------------------------*/
+
+      //Head and tail forms the edge. 
+      //Head <----- Tail
+      int32_t tailVertexIndex;
+
+      // Head is also tail of the next edge.
+      int32_t headVertexIndex;
+
+      int32_t edgeIndex;
+      // Other half of the edge on a different face.
+      // Important for extrapolating face normals.
+      int32_t twinEdgeIndex;
+
+      // Adjacent face of this edge.
+      int32_t faceIndex;
+
+      /*-------------------------------------------------------------------------------*/
+      /* Constructors & Destructor                                                     */
+      /*-------------------------------------------------------------------------------*/
+
+      HalfEdge  ()                    noexcept;
+      HalfEdge  (const HalfEdge& rhs) noexcept;
+      HalfEdge  (HalfEdge&& rhs)      noexcept;
+      ~HalfEdge ()                    noexcept = default;
+
+      /*-------------------------------------------------------------------------------*/
+      /* Operator Overloads                                                            */
+      /*-------------------------------------------------------------------------------*/
+
+      HalfEdge& operator= (const HalfEdge& rhs) noexcept;
+      HalfEdge& operator= (HalfEdge&& rhs)      noexcept;
+    };
+
+    struct Face
+    {
+    public:
+      /*-------------------------------------------------------------------------------*/
+      /* Data Members                                                                  */
+      /*-------------------------------------------------------------------------------*/
+
+      SHVec3                normal;
+      std::vector<int32_t>  vertexIndices;    // Must be in CCW order
+
+      /*-------------------------------------------------------------------------------*/
+      /* Constructors & Destructor                                                     */
+      /*-------------------------------------------------------------------------------*/
+
+      Face  ()                noexcept = default;
+      Face  (const Face& rhs) noexcept;
+      Face  (Face&& rhs)      noexcept;
+      ~Face ()                noexcept = default;
+
+      /*-------------------------------------------------------------------------------*/
+      /* Operator Overloads                                                            */
+      /*-------------------------------------------------------------------------------*/
+
+      Face& operator= (const Face& rhs) noexcept;
+      Face& operator= (Face&& rhs)      noexcept;
+    };
+
+    /*---------------------------------------------------------------------------------*/
+    /* Getter Functions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    [[nodiscard]] int32_t           GetFaceCount      () const noexcept;
+    [[nodiscard]] int32_t           GetHalfEdgeCount  () const noexcept;
+
+    [[nodiscard]] const Face&       GetFace           (int32_t index) const;
+    [[nodiscard]] const HalfEdge&   GetHalfEdge       (int32_t index) const;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Member Functions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    /**
+     * @brief
+     * Adds a face to the polyhedron. The face must be constructed outside the polyhedron.
+     * @param face
+     * The face to insert.
+    */
+    void AddFace (const Face& face);
+
+    /**
+     * @brief
+     * Builds the half-edges of the polyhedron using the faces. <br/>
+     * Before this method is invoked, there must be some faces.
+     * @return 
+    */
+    void BuildPolyhedron() noexcept;
+
+  private:
+    /*---------------------------------------------------------------------------------*/
+    /* Data Members                                                                    */
+    /*---------------------------------------------------------------------------------*/
+    
+    float radius = 0.2f;  // Default Radius is 2 cm
+
+    // Store the faces and half-edges
+
+    std::vector<Face>     faces;
+    std::vector<HalfEdge> halfEdges;
+
+  };
+
+} // namespace SHADE