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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 +5 -5
2 changed files with 5 additions and 5 deletions
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8
Assets/Scenes/PhysicsSandbox.shade
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@ -45,7 +45,7 @@
NumberOfChildren: 0 NumberOfChildren: 0
Components: Components:
Transform Component: Transform Component:
Translate: {x: 0, y: 7.5, z: 0} Translate: {x: 2, y: 7.5, z: 0}
Rotate: {x: -0, y: 0, z: 0.785398185} Rotate: {x: -0, y: 0, z: 0.785398185}
Scale: {x: 1, y: 1, z: 1} Scale: {x: 1, y: 1, z: 1}
IsActive: true IsActive: true
@ -60,7 +60,7 @@
Interpolate: true Interpolate: true
Sleeping Enabled: true Sleeping Enabled: true
Freeze Position X: false Freeze Position X: false
Freeze Position Y: false Freeze Position Y: true
Freeze Position Z: false Freeze Position Z: false
Freeze Rotation X: false Freeze Rotation X: false
Freeze Rotation Y: false Freeze Rotation Y: false
@ -182,8 +182,8 @@
NumberOfChildren: 0 NumberOfChildren: 0
Components: Components:
Transform Component: Transform Component:
Translate: {x: 0, y: 2, z: 3} Translate: {x: 0, y: 7, z: 0}
Rotate: {x: 0, y: 0.785398185, z: 0} Rotate: {x: 0, y: 0, z: 0.785398185}
Scale: {x: 0.999990404, y: 0.999994457, z: 0.999985337} Scale: {x: 0.999990404, y: 0.999994457, z: 0.999985337}
IsActive: true IsActive: true
RigidBody Component: RigidBody Component:

2
SHADE_Engine/src/Physics/Collision/Narrowphase/SHConvexVsConvex.cpp
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@ -364,7 +364,7 @@ namespace SHADE
const float DENOMINATOR = AV_DOT_VB - AV_DOT_VA * A2_OVER_A1; const float DENOMINATOR = AV_DOT_VB - AV_DOT_VA * A2_OVER_A1;
// We clamp it because the factor cannot be beyond [0,1] as it would be beyond the segment if it was so. // We clamp it because the factor cannot be beyond [0,1] as it would be beyond the segment if it was so.
const float R = std::clamp(NUMERATOR / DENOMINATOR, 0.0f, 1.0f); const float R = DENOMINATOR == 0.0f ? NUMERATOR : NUMERATOR / DENOMINATOR;
// Just take a point from A since it's A -> B // Just take a point from A since it's A -> B
return TAIL_A + R * VA; return TAIL_A + R * VA;