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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 +320 -174
12 changed files with 320 additions and 174 deletions
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Showing only changes of commit 6f55f202b9 - Show all commits

2
Assets/Scenes/PhysicsSandbox.shade
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@ -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

21
SHADE_Engine/src/Math/Geometry/SHAABB.cpp
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@ -26,13 +26,11 @@ 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;
Extents = hE;
}
@ -43,16 +41,12 @@ namespace SHADE
if (this == &rhs)
return;
type = Type::AABB;
Center = rhs.Center;
Extents = rhs.Extents;
}
SHAABB::SHAABB(SHAABB&& rhs) noexcept
{
type = Type::AABB;
Center = rhs.Center;
Extents = rhs.Extents;
}
@ -63,11 +57,7 @@ namespace SHADE
SHAABB& SHAABB::operator=(const SHAABB& rhs) noexcept
{
if (rhs.type != Type::AABB)
{
SHLOG_WARNING("Cannot assign a non-bounding box to a bounding box!")
}
else if (this != &rhs)
if (this != &rhs)
{
Center = rhs.Center;
Extents = rhs.Extents;
@ -77,16 +67,9 @@ namespace SHADE
}
SHAABB& SHAABB::operator=(SHAABB&& rhs) noexcept
{
if (rhs.type != Type::AABB)
{
SHLOG_WARNING("Cannot assign a non-bounding box to a bounding box!")
}
else
{
Center = rhs.Center;
Extents = rhs.Extents;
}
return *this;
}

9
SHADE_Engine/src/Math/Geometry/SHAABB.h
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@ -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 Axis-Aligned Bounding Box.
*/
class SH_API SHAABB : public SHShape,
private DirectX::BoundingBox
{
@ -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 */
/*---------------------------------------------------------------------------------*/
/**

21
SHADE_Engine/src/Math/Geometry/SHBox.cpp
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@ -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)
{
SHLOG_WARNING("Cannot assign a non-bounding box to a bounding box!")
}
else if (this != &rhs)
if (this != &rhs)
{
Center = rhs.Center;
Extents = rhs.Extents;
@ -82,17 +72,10 @@ namespace SHADE
}
SHBox& SHBox::operator=(SHBox&& rhs) noexcept
{
if (rhs.type != Type::BOX)
{
SHLOG_WARNING("Cannot assign a non-bounding box to a bounding box!")
}
else
{
Center = rhs.Center;
Extents = rhs.Extents;
Orientation = rhs.Orientation;
}
return *this;
}

9
SHADE_Engine/src/Math/Geometry/SHBox.h
View File

@ -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 */
/*---------------------------------------------------------------------------------*/
/**

141
SHADE_Engine/src/Math/Geometry/SHPlane.cpp Normal file
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@ -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

121
SHADE_Engine/src/Math/Geometry/SHPlane.h Normal file
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@ -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

35
SHADE_Engine/src/Math/Geometry/SHShape.cpp
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@ -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

47
SHADE_Engine/src/Math/Geometry/SHShape.h
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@ -11,71 +11,32 @@
#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;
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 */
/*---------------------------------------------------------------------------------*/
[[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

24
SHADE_Engine/src/Math/Geometry/SHSphere.cpp
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@ -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;
}
@ -42,16 +40,12 @@ namespace SHADE
if (this == &rhs)
return;
type = Type::SPHERE;
Center = rhs.Center;
Radius = rhs.Radius;
}
SHSphere::SHSphere(SHSphere&& rhs) noexcept
{
type = Type::SPHERE;
Center = rhs.Center;
Radius = rhs.Radius;
}
@ -62,11 +56,7 @@ namespace SHADE
SHSphere& SHSphere::operator=(const SHSphere& rhs) noexcept
{
if (rhs.type != Type::SPHERE)
{
SHLOG_WARNING("Cannot assign a non-sphere to a sphere!")
}
else if (this != &rhs)
if (this != &rhs)
{
Center = rhs.Center;
Radius = rhs.Radius;
@ -77,15 +67,9 @@ namespace SHADE
SHSphere& SHSphere::operator=(SHSphere&& rhs) noexcept
{
if (rhs.type != Type::SPHERE)
{
SHLOG_WARNING("Cannot assign a non-sphere to a sphere!")
}
else
{
Center = rhs.Center;
Radius = rhs.Radius;
}
return *this;
}

11
SHADE_Engine/src/Math/Geometry/SHSphere.h
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@ -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 */
/*---------------------------------------------------------------------------------*/
/**

9
SHADE_Engine/src/Physics/Collision/Narrowphase/SHSphereVsConvex.cpp
View File

@ -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
const SHVec3 POINT = polyhedron.GetVertex(FACE.vertexIndices[0].index); // use the first vertex to build a plane
const SHVec3& NORMAL = polyhedron.GetNormal(i);
const float D = -SHVec3::Dot(NORMAL, POINT);
// Use first vertex to build the plane
const SHPlane FACE_PLANE { polyhedron.GetVertex(FACE.vertexIndices[0].index), polyhedron.GetNormal(i) };
// 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.