Assets/Scenes/PhysicsSandbox.shade

@@ -66,7 +66,7 @@
   NumberOfChildren: 0
   Components:
     Transform Component:
-      Translate: {x: -1.96328545, y: 7, z: 0.743723333}
+      Translate: {x: -1.45715916, y: 7, z: 0.319963396}
       Rotate: {x: -0, y: 0, z: -0}
       Scale: {x: 1, y: 1, z: 1}
       IsActive: true

SHADE_Engine/src/Math/Geometry/SHAABB.cpp

@@ -26,14 +26,12 @@ namespace SHADE
 
   SHAABB::SHAABB() noexcept
   {
-    type = Type::AABB;
+    Extents = SHVec3::One * 0.5f;
   }
 
   SHAABB::SHAABB(const SHVec3& c, const SHVec3& hE) noexcept
   {
-    type = Type::AABB;
+    Center  = c;
-
-    Center = c;
     Extents = hE;
   }
 
@@ -43,18 +41,14 @@ namespace SHADE
     if (this == &rhs)
       return;
 
-    type = Type::AABB;
+    Center  = rhs.Center;
-
+    Extents = rhs.Extents;
-    Center          = rhs.Center;
-    Extents         = rhs.Extents;
   }
 
   SHAABB::SHAABB(SHAABB&& rhs) noexcept
   {
-    type = Type::AABB;
+    Center  = rhs.Center;
-
+    Extents = rhs.Extents;
-    Center          = rhs.Center;
-    Extents         = rhs.Extents;
   }
 
   /*-----------------------------------------------------------------------------------*/
@@ -63,14 +57,10 @@ namespace SHADE
 
   SHAABB& SHAABB::operator=(const SHAABB& rhs) noexcept
   {
-    if (rhs.type != Type::AABB)
+    if (this != &rhs)
     {
-      SHLOG_WARNING("Cannot assign a non-bounding box to a bounding box!")
+      Center  = rhs.Center;
-    }
+      Extents = rhs.Extents;
-    else if (this != &rhs)
-    {
-      Center          = rhs.Center;
-      Extents         = rhs.Extents;
     }
 
     return *this;
@@ -78,15 +68,8 @@ namespace SHADE
 
   SHAABB& SHAABB::operator=(SHAABB&& rhs) noexcept
   {
-    if (rhs.type != Type::AABB)
+    Center  = rhs.Center;
-    {
+    Extents = rhs.Extents;
-      SHLOG_WARNING("Cannot assign a non-bounding box to a bounding box!")
-    }
-    else
-    {
-      Center          = rhs.Center;
-      Extents         = rhs.Extents;
-    }
 
     return *this;
   }

SHADE_Engine/src/Math/Geometry/SHAABB.h

@@ -14,7 +14,6 @@
 
 // Project Headers
 #include "SHShape.h"
-#include "SH_API.h"
 
 namespace SHADE
 {
@@ -22,7 +21,11 @@ namespace SHADE
   /* Type Definitions                                                                  */
   /*-----------------------------------------------------------------------------------*/
 
-  class SH_API SHAABB :  public SHShape,
+  /**
+   * @brief
+   * Encapsulates a 3D Axis-Aligned Bounding Box.
+  */
+  class SH_API SHAABB : public SHShape,
                         private DirectX::BoundingBox
   {
   public:
@@ -71,7 +74,7 @@ namespace SHADE
     void  SetMinMax   (const SHVec3& min, const SHVec3& max)  noexcept;
 
     /*---------------------------------------------------------------------------------*/
-    /* Function Members                                                                */
+    /* Member Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
     /**
@@ -118,7 +121,7 @@ namespace SHADE
     [[nodiscard]] float SurfaceArea () const noexcept;
 
     /*---------------------------------------------------------------------------------*/
-    /* Static Function Members                                                         */
+    /* Static Member Functions                                                         */
     /*---------------------------------------------------------------------------------*/
 
     /**

SHADE_Engine/src/Math/Geometry/SHBox.cpp

@@ -27,13 +27,11 @@ namespace SHADE
 
   SHBox::SHBox() noexcept
   {
-    type = Type::BOX;
+    Extents = SHVec3::One * 0.5f;
   }
 
   SHBox::SHBox(const SHVec3& c, const SHVec3& hE, const SHQuaternion& o) noexcept
   {
-    type = Type::BOX;
-
     Center = c;
     Extents = hE;
     Orientation = o;
@@ -45,8 +43,6 @@ namespace SHADE
     if (this == &rhs)
       return;
 
-    type = Type::BOX;
-
     Center      = rhs.Center;
     Extents     = rhs.Extents;
     Orientation = rhs.Orientation;
@@ -54,8 +50,6 @@ namespace SHADE
 
   SHBox::SHBox(SHBox&& rhs) noexcept
   {
-    type = Type::BOX;
-
     Center      = rhs.Center;
     Extents     = rhs.Extents;
     Orientation = rhs.Orientation;
@@ -67,11 +61,7 @@ namespace SHADE
 
   SHBox& SHBox::operator=(const SHBox& rhs) noexcept
   {
-    if (rhs.type != Type::BOX)
+    if (this != &rhs)
-    {
-      SHLOG_WARNING("Cannot assign a non-bounding box to a bounding box!")
-    }
-    else if (this != &rhs)
     {
       Center      = rhs.Center;
       Extents     = rhs.Extents;
@@ -83,16 +73,9 @@ namespace SHADE
 
   SHBox& SHBox::operator=(SHBox&& rhs) noexcept
   {
-    if (rhs.type != Type::BOX)
+    Center      = rhs.Center;
-    {
+    Extents     = rhs.Extents;
-      SHLOG_WARNING("Cannot assign a non-bounding box to a bounding box!")
+    Orientation = rhs.Orientation;
-    }
-    else
-    {
-      Center      = rhs.Center;
-      Extents     = rhs.Extents;
-      Orientation = rhs.Orientation;
-    }
 
     return *this;
   }

SHADE_Engine/src/Math/Geometry/SHBox.h

@@ -14,7 +14,6 @@
 
 // Project Headers
 #include "SHShape.h"
-#include "SH_API.h"
 
 namespace SHADE
 {
@@ -22,6 +21,10 @@ namespace SHADE
   /* Type Definitions                                                                  */
   /*-----------------------------------------------------------------------------------*/
 
+  /**
+   * @brief
+   * Encapsulates a 3D-oriented bounding box.
+  */
   class SH_API SHBox :  public SHShape,
                         public DirectX::BoundingOrientedBox
   {
@@ -57,7 +60,7 @@ namespace SHADE
     [[nodiscard]] std::vector<SHVec3> GetVertices     ()  const noexcept;
 
     /*---------------------------------------------------------------------------------*/
-    /* Function Members                                                                */
+    /* Member Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
     /**
@@ -104,7 +107,7 @@ namespace SHADE
     [[nodiscard]] float SurfaceArea () const noexcept;
 
     /*---------------------------------------------------------------------------------*/
-    /* Static Function Members                                                         */
+    /* Static Member Functions                                                         */
     /*---------------------------------------------------------------------------------*/
 
     /**

SHADE_Engine/src/Math/Geometry/SHPlane.cpp

@@ -0,0 +1,141 @@
+/****************************************************************************************
+ * \file      SHPlane.cpp
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Implementation for a plane.
+ *
+ * \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>
+
+#include <DirectXMath.h>
+
+// Primary Header
+#include "SHPlane.h"
+
+#include "Input/SHInputManager.h"
+#include "Math/SHMathHelpers.h"
+
+using namespace DirectX;
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Constructors & Destructor Definitions                                             */
+  /*-----------------------------------------------------------------------------------*/
+
+  SHPlane::SHPlane() noexcept
+  : planeEquation { SHVec3::One }
+  {
+    planeEquation.w = 0.0f;
+  }
+
+  SHPlane::SHPlane(const SHVec3& point, const SHVec3& normal) noexcept
+  {
+    XMStoreFloat4(&planeEquation, XMPlaneFromPointNormal(point, normal));
+  }
+
+  SHPlane::SHPlane(float a, float b, float c, float d) noexcept
+  : planeEquation { a, b, c, d }
+  {}
+
+  SHPlane::SHPlane(const SHVec3& normal, float distance) noexcept
+  : planeEquation { normal }
+  {
+    planeEquation.w = distance;
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Operator Overload Definitions                                                     */
+  /*-----------------------------------------------------------------------------------*/
+
+  bool SHPlane::operator==(const SHPlane& rhs) const noexcept
+  {
+    return XMPlaneEqual(planeEquation, rhs.planeEquation);
+  }
+
+  bool SHPlane::operator!=(const SHPlane& rhs) const noexcept
+  {
+    return XMPlaneNotEqual(planeEquation, rhs.planeEquation);
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Getter Function Definitions                                                       */
+  /*-----------------------------------------------------------------------------------*/
+
+  SHVec3 SHPlane::GetNormal() const noexcept
+  {
+    return SHVec3{ planeEquation.x, planeEquation.y, planeEquation.z };
+  }
+
+  float SHPlane::GetDistance() const noexcept
+  {
+    return planeEquation.w;
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Setter Function Definitions                                                       */
+  /*-----------------------------------------------------------------------------------*/
+
+  void SHPlane::SetNormal(const SHVec3& normal) noexcept
+  {
+    planeEquation.x = normal.x;
+    planeEquation.y = normal.y;
+    planeEquation.z = normal.z;
+  }
+
+  void SHPlane::SetDistance(float distance) noexcept
+  {
+    planeEquation.w = distance;
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Public Function Member Definitions                                                */
+  /*-----------------------------------------------------------------------------------*/
+
+  bool SHPlane::TestPoint(const SHVec3& point) const noexcept
+  {
+    const float DISTANCE = SignedDistance(point);
+    return SHMath::CompareFloat(DISTANCE, 0.0f);
+  }
+
+  SHRaycastResult SHPlane::Raycast(const SHRay& ray) const noexcept
+  {
+    SHRaycastResult result;
+
+    const SHVec3 N = GetNormal();
+
+    // Check if ray is parallel to plane
+    const float N_DOT_D = N.Dot(ray.direction);
+    if (SHMath::CompareFloat(N_DOT_D, 0.0f))
+    {
+      result.hit = false;
+      return result;
+    }
+
+    const float DIST = (planeEquation.w - N.Dot(ray.position)) / N_DOT_D;
+    if (DIST < 0.0f || !SHMath::CompareFloat(DIST, 0.0f))
+    {
+      result.hit = false;
+      return result;
+    }
+
+    result.hit      = true;
+    result.distance = DIST;
+    result.position = ray.position + ray.direction * DIST;
+    result.angle    = SHVec3::Angle(ray.position, result.position);
+
+    // The normal is either the plane's normal or the reverse if the ray came from below
+    result.normal   = N_DOT_D < 0.0f ? -N : N;
+
+    return result;
+  }
+
+  float SHPlane::SignedDistance(const SHVec3& point) const noexcept
+  {
+    return XMVectorGetX(XMPlaneDotCoord(planeEquation, point));
+  }
+
+} // namespace SHADE

SHADE_Engine/src/Math/Geometry/SHPlane.h

@@ -0,0 +1,121 @@
+/****************************************************************************************
+ * \file      SHPlane.h
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Interface for a plane.
+ *
+ * \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 "SHShape.h"
+#include "Math/Vector/SHVec4.h"
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Type Definitions                                                                  */
+  /*-----------------------------------------------------------------------------------*/
+
+  /**
+   * @brief
+   * Encapsulates a 3D plane in point-normal form.
+  */
+  class SH_API SHPlane : public SHShape
+  {
+  public:
+    /*---------------------------------------------------------------------------------*/
+    /* Constructors & Destructor                                                       */
+    /*---------------------------------------------------------------------------------*/
+
+    ~SHPlane  ()                    override = default;
+    SHPlane   (const SHPlane& rhs)  noexcept = default;
+    SHPlane   (SHPlane&& rhs)       noexcept = default;
+
+    SHPlane   ()                                          noexcept;
+    SHPlane   (const SHVec3& point, const SHVec3& normal) noexcept;
+    SHPlane   (float a, float b, float c, float d)        noexcept;
+    SHPlane   (const SHVec3& normal, float distance)      noexcept;
+    
+
+    /*---------------------------------------------------------------------------------*/
+    /* Operator Overloads                                                              */
+    /*---------------------------------------------------------------------------------*/
+
+    SHPlane& operator=  (const SHPlane& rhs)  noexcept = default;
+    SHPlane& operator=  (SHPlane&& rhs)       noexcept = default;
+
+    bool operator==     (const SHPlane& rhs)  const noexcept;
+    bool operator!=     (const SHPlane& rhs)  const noexcept;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Getter Functions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    [[nodiscard]] SHVec3  GetNormal   ()  const noexcept;
+    [[nodiscard]] float   GetDistance ()  const noexcept;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Setter Functions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    void SetNormal    (const SHVec3& normal)  noexcept;
+    void SetDistance  (float distance)        noexcept;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Member Functions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    /**
+     * @brief
+     * Checks if a point is on the plane.
+     * @param point
+     * The point to check.
+     * @return
+     * True if the point is on the plane.
+    */
+    [[nodiscard]] bool TestPoint (const SHVec3& point) const noexcept override;
+
+    /**
+     * @brief
+     * Casts a ray against the plane.
+     * @param ray
+     * The ray to cast.
+     * @return
+     * The result of the raycast. <br/>
+     * See the corresponding header for the contents of the raycast result object.
+     */
+    [[nodiscard]] SHRaycastResult Raycast (const SHRay& ray) const noexcept override;
+
+    /**
+     * @brief
+     * Gets the signed distance from a point to the plane.
+     * @param point
+     * The point to check.
+     * @return
+     * The signed distance of the point to a plane. <br/>
+     * If the signed distance is negative, the point is behind the plane. <br/>
+     * If the signed distance is zero, the point is on the plane. <br/>
+     * If the signed distance is positive, the point is in front of the plane. <br/>
+    */
+    [[nodiscard]] float SignedDistance (const SHVec3& point) const noexcept;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Static Member Functions                                                         */
+    /*---------------------------------------------------------------------------------*/
+
+    /*
+     * TODO:
+     * Transform plane
+     * Intersection Tests
+     */
+
+  private:
+
+    SHVec4 planeEquation;
+  }; 
+
+} // namespace SHADE

SHADE_Engine/src/Math/Geometry/SHShape.cpp

@@ -1,35 +0,0 @@
-/****************************************************************************************
- * \file      SHShape.cpp
- * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Implementation for a shape.
- *
- * \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 "SHShape.h"
-
-namespace SHADE
-{
-  /*-----------------------------------------------------------------------------------*/
-  /* Constructors & Destructor Definitions                                             */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHShape::SHShape()
-  : type { Type::NONE }
-  {}
-
-  /*-----------------------------------------------------------------------------------*/
-  /* Getter Function Definitions                                                       */
-  /*-----------------------------------------------------------------------------------*/
-
-  SHShape::Type SHShape::GetType() const noexcept
-  {
-    return type;
-  }
-
-} // namespace SHADE

SHADE_Engine/src/Math/Geometry/SHShape.h

@@ -11,58 +11,26 @@
 #pragma once
 
 // Project Headers
-#include "SH_API.h"
 #include "Math/SHRay.h"
 
-
 namespace SHADE
 {
   /*-----------------------------------------------------------------------------------*/
   /* Type Definitions                                                                  */
   /*-----------------------------------------------------------------------------------*/
 
+  /**
+   * @brief
+   * Encapsulates a base class for any shape.
+  */
   class SH_API SHShape
   {
   public:
-    /*---------------------------------------------------------------------------------*/
-    /* Type Definitions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    enum class Type
-    {
-      SPHERE
-    , AABB
-    , BOX
-
-    , COUNT
-    , NONE    =  -1
-    };
-
-    /*---------------------------------------------------------------------------------*/
-    /* Data Members                                                                    */
-    /*---------------------------------------------------------------------------------*/
-
-    bool isIntersecting;
-
     /*---------------------------------------------------------------------------------*/
     /* Constructors & Destructor                                                       */
     /*---------------------------------------------------------------------------------*/
 
-    virtual ~SHShape  ()                = default;
+    virtual ~SHShape  () = default;
-
-    SHShape           (const SHShape&)  = default;
-    SHShape           (SHShape&&)       = default;
-
-    SHShape& operator=(const SHShape&)  = default;
-    SHShape& operator=(SHShape&&)       = default;
-
-    SHShape();
-
-    /*---------------------------------------------------------------------------------*/
-    /* Getter Functions                                                                */
-    /*---------------------------------------------------------------------------------*/
-
-    [[nodiscard]] Type          GetType   () const noexcept;
 
     /*---------------------------------------------------------------------------------*/
     /* Function Members                                                                */
@@ -70,12 +38,5 @@ namespace SHADE
 
     [[nodiscard]] virtual bool            TestPoint (const SHVec3& point) const noexcept = 0;
     [[nodiscard]] virtual SHRaycastResult Raycast   (const SHRay& ray)    const noexcept = 0;
-
-  protected:
-    /*---------------------------------------------------------------------------------*/
-    /* Data Members                                                                    */
-    /*---------------------------------------------------------------------------------*/
-
-    Type    type;
   };
 } // namespace SHADE

SHADE_Engine/src/Math/Geometry/SHSphere.cpp

@@ -1,5 +1,5 @@
 /****************************************************************************************
- * \file      SHBoundingSphere.cpp
+ * \file      SHSphere.cpp
  * \author    Diren D Bharwani, diren.dbharwani, 390002520
  * \brief     Implementation for a Bounding Sphere
  *
@@ -26,13 +26,11 @@ namespace SHADE
 
   SHSphere::SHSphere() noexcept
   {
-    type = Type::SPHERE;
+    Radius = 0.5f;
   }
 
   SHSphere::SHSphere(const SHVec3& center, float radius) noexcept
   {
-    type = Type::SPHERE;
-
     Center = center;
     Radius = radius;
   }
@@ -42,18 +40,14 @@ namespace SHADE
     if (this == &rhs)
       return;
 
-    type = Type::SPHERE;
+    Center  = rhs.Center;
-
+    Radius  = rhs.Radius;
-    Center          = rhs.Center;
-    Radius          = rhs.Radius;
   }
 
   SHSphere::SHSphere(SHSphere&& rhs) noexcept
   {
-    type = Type::SPHERE;
+    Center  = rhs.Center;
-
+    Radius  = rhs.Radius;
-    Center          = rhs.Center;
-    Radius          = rhs.Radius;
   }
 
   /*-----------------------------------------------------------------------------------*/
@@ -62,14 +56,10 @@ namespace SHADE
 
   SHSphere& SHSphere::operator=(const SHSphere& rhs) noexcept
   {
-    if (rhs.type != Type::SPHERE)
+    if (this != &rhs)
     {
-      SHLOG_WARNING("Cannot assign a non-sphere to a sphere!")
+      Center  = rhs.Center;
-    }
+      Radius  = rhs.Radius;
-    else if (this != &rhs)
-    {
-      Center          = rhs.Center;
-      Radius          = rhs.Radius;
     }
 
     return *this;
@@ -77,15 +67,9 @@ namespace SHADE
 
   SHSphere& SHSphere::operator=(SHSphere&& rhs) noexcept
   {
-    if (rhs.type != Type::SPHERE)
+    
-    {
+    Center  = rhs.Center;
-      SHLOG_WARNING("Cannot assign a non-sphere to a sphere!")
+    Radius  = rhs.Radius;
-    }
-    else
-    {
-      Center          = rhs.Center;
-      Radius          = rhs.Radius;
-    }
 
     return *this;
   }

SHADE_Engine/src/Math/Geometry/SHSphere.h

@@ -1,5 +1,5 @@
 /****************************************************************************************
- * \file      SHBoundingSphere.h
+ * \file      SHSphere.h
  * \author    Diren D Bharwani, diren.dbharwani, 390002520
  * \brief     Interface for a Bounding Sphere.
  *
@@ -14,7 +14,6 @@
 
 // Project Headers
 #include "SHShape.h"
-#include "SH_API.h"
 
 namespace SHADE
 {
@@ -22,6 +21,10 @@ namespace SHADE
   /* Type Definitions                                                                  */
   /*-----------------------------------------------------------------------------------*/
 
+  /**
+   * @brief
+   * Encapsulates a 3D Sphere.
+  */
   class SH_API SHSphere : public SHShape,
                           public DirectX::BoundingSphere
   {
@@ -45,7 +48,7 @@ namespace SHADE
     SHSphere& operator=  (SHSphere&& rhs)       noexcept;
 
     /*---------------------------------------------------------------------------------*/
-    /* Function Members                                                                */
+    /* Member Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
     /**
@@ -93,7 +96,7 @@ namespace SHADE
 
 
     /*---------------------------------------------------------------------------------*/
-    /* Static Function Members                                                         */
+    /* Static Member Functions                                                         */
     /*---------------------------------------------------------------------------------*/
 
     /**

SHADE_Engine/src/Physics/Collision/Narrowphase/SHSphereVsConvex.cpp

@@ -15,6 +15,7 @@
 #include "SHCollision.h"
 
 // Project Headers
+#include "Math/Geometry/SHPlane.h"
 #include "Math/SHMathHelpers.h"
 #include "Physics/Collision/CollisionShapes/SHCollisionShape.h"
 #include "Physics/Collision/CollisionShapes/SHBoxCollisionShape.h"
@@ -203,13 +204,11 @@ namespace SHADE
       const SHHalfEdgeStructure::Face& FACE = polyhedron.GetFace(i);
 
       // Build plane equation
-
+      // Use first vertex to build the plane
-      const SHVec3  POINT   = polyhedron.GetVertex(FACE.vertexIndices[0].index);  // use the first vertex to build a plane
+      const SHPlane FACE_PLANE { polyhedron.GetVertex(FACE.vertexIndices[0].index), polyhedron.GetNormal(i) };
-      const SHVec3& NORMAL  = polyhedron.GetNormal(i);
-      const float   D       = -SHVec3::Dot(NORMAL, POINT);
 
       // Find signed distance of center to plane
-      const float SIGNED_DIST = SHVec3::Dot(NORMAL, CENTER) + D;
+      const float SIGNED_DIST = FACE_PLANE.SignedDistance(CENTER);
 
       // Early out:
       // If face is facing away from center, signed dist is negative.