Assets/Scenes/PhysicsSandbox.shade

@@ -4,7 +4,7 @@
   NumberOfChildren: 0
   Components:
     Transform Component:
-      Translate: {x: 0, y: 3, z: 0}
+      Translate: {x: 0.0700113177, y: 2.5, z: 0}
       Rotate: {x: -0, y: 0, z: -0}
       Scale: {x: 1, y: 1, z: 1}
       IsActive: true
@@ -19,14 +19,14 @@
       Interpolate: true
       Sleeping Enabled: true
       Freeze Position X: false
-      Freeze Position Y: true
+      Freeze Position Y: false
       Freeze Position Z: false
       Freeze Rotation X: false
       Freeze Rotation Y: false
       Freeze Rotation Z: false
       IsActive: true
     Collider Component:
-      DrawColliders: true
+      DrawColliders: false
       Colliders:
         - Is Trigger: false
           Type: Sphere
@@ -65,8 +65,8 @@
   NumberOfChildren: 0
   Components:
     Transform Component:
-      Translate: {x: 0, y: -2.5, z: 0}
+      Translate: {x: 0, y: 0, z: 0}
-      Rotate: {x: 0, y: 0, z: 0}
+      Rotate: {x: -0, y: 0, z: -0}
       Scale: {x: 1, y: 1, z: 1}
       IsActive: true
     RigidBody Component:
@@ -87,11 +87,11 @@
       Freeze Rotation Z: false
       IsActive: true
     Collider Component:
-      DrawColliders: true
+      DrawColliders: false
       Colliders:
         - Is Trigger: false
           Type: Sphere
-          Radius: 5
+          Radius: 2.5
           Friction: 0.400000006
           Bounciness: 0
           Density: 1
@@ -127,7 +127,7 @@
       Freeze Rotation Z: false
       IsActive: true
     Collider Component:
-      DrawColliders: true
+      DrawColliders: false
       Colliders:
         - Is Trigger: false
           Type: Sphere

SHADE_Application/src/Application/SBApplication.cpp

@@ -185,12 +185,6 @@ namespace Sandbox
 #endif
       SHSceneManager::SceneUpdate(0.016f);
 #ifdef SHEDITOR
-      static bool drawBP = false;
-      if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::RIGHT_CTRL))
-      {
-        drawBP = !drawBP;
-        SHSystemManager::GetSystem<SHPhysicsDebugDrawSystem>()->SetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::BROADPHASE, drawBP);
-      }
 
       SHSystemManager::RunRoutines(editor->editorState != SHEditor::State::PLAY, SHFrameRateController::GetRawDeltaTime());
       editor->PollPicking();

SHADE_Engine/src/Editor/EditorWindow/MenuBar/SHEditorMenuBar.cpp

@@ -25,6 +25,7 @@
 #include "Serialization/SHSerialization.h"
 #include "Serialization/Configurations/SHConfigurationManager.h"
 #include "Editor/EditorWindow/SHEditorWindowManager.h"
+#include "Physics/System/SHPhysicsDebugDrawSystem.h"
 
 const std::string LAYOUT_FOLDER_PATH{ std::string(ASSET_ROOT) + "/Editor/Layouts" };
 
@@ -202,6 +203,26 @@ namespace SHADE
           ImGui::EndMenu();
         }
 
+        if (ImGui::BeginMenu("Physics Settings"))
+        {
+          if (auto* physicsDebugDraw = SHSystemManager::GetSystem<SHPhysicsDebugDrawSystem>())
+          {
+            bool drawColliders = physicsDebugDraw->GetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::COLLIDERS);
+            if (ImGui::Checkbox("Draw Colliders", &drawColliders))
+              physicsDebugDraw->SetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::COLLIDERS, drawColliders);
+
+            bool drawContactPoints = physicsDebugDraw->GetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::CONTACTS);
+            if (ImGui::Checkbox("Draw Contact Points", &drawContactPoints))
+              physicsDebugDraw->SetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::CONTACTS, drawContactPoints);
+
+            bool drawBroadphase = physicsDebugDraw->GetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::BROADPHASE);
+            if (ImGui::Checkbox("Draw Broadphase", &drawBroadphase))
+              physicsDebugDraw->SetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::BROADPHASE, drawBroadphase);
+          }
+
+          ImGui::EndMenu();
+        }
+
         ImGui::EndMainMenuBar();
       }
 

SHADE_Engine/src/Physics/Dynamics/SHPhysicsWorld.cpp

@@ -35,6 +35,11 @@ namespace SHADE
   /* Getter Functions Definitions                                                      */
   /*-----------------------------------------------------------------------------------*/
 
+  const SHContactManager::ContactPoints& SHPhysicsWorld::GetContactPoints() const noexcept
+  {
+    return contactManager.GetContactPoints();
+  }
+
   const SHContactManager::TriggerEvents& SHPhysicsWorld::GetTriggerEvents() const noexcept
   {
     return contactManager.GetTriggerEvents();

SHADE_Engine/src/Physics/Dynamics/SHPhysicsWorld.h

@@ -72,6 +72,7 @@ namespace SHADE
     /* Getter Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
+    const SHContactManager::ContactPoints&    GetContactPoints    ()  const noexcept;
     const SHContactManager::TriggerEvents&    GetTriggerEvents    ()  const noexcept;
     const SHContactManager::CollisionEvents&  GetCollisionEvents  ()  const noexcept;
 

SHADE_Engine/src/Physics/System/Routines/SHPhysicsDebugDrawRoutine.cpp

@@ -38,7 +38,7 @@ namespace SHADE
   {
     auto* physicsDebugDrawSystem = reinterpret_cast<SHPhysicsDebugDrawSystem*>(GetSystem());
 
-    if (!physicsDebugDrawSystem->GetFlagState(DebugDrawFlags::ACTIVE))
+    if (!physicsDebugDrawSystem->IsDebugDrawActive())
       return;
 
     auto* debugDrawSystem = SHSystemManager::GetSystem<SHDebugDrawSystem>();
@@ -74,7 +74,14 @@ namespace SHADE
 
     if (DRAW_CONTACTS)
     {
-      // TODO
+      const SHColour& CONTACT_COLOUR = physicsDebugDrawSystem->DEBUG_DRAW_COLOURS[SHUtilities::ConvertEnum(Colours::CONTACT)];
+
+      const auto& CONTACT_POINTS = physicsSystem->physicsWorld->GetContactPoints();
+      for (auto& contactPoint : CONTACT_POINTS)
+      {
+        const SHMatrix TRS = SHMatrix::Transform(contactPoint, SHQuaternion::Identity, SHVec3{ 0.1f });
+        debugDrawSystem->DrawCube(TRS, CONTACT_COLOUR);
+      }
     }
 
     if (DRAW_RAYCASTS)

SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.cpp

@@ -44,6 +44,11 @@ namespace SHADE
   /* Getter Function Definitions                                                       */
   /*-----------------------------------------------------------------------------------*/
 
+  bool SHPhysicsDebugDrawSystem::IsDebugDrawActive() const noexcept
+  {
+    return flags & ACTIVE_FLAG;
+  }
+
   bool SHPhysicsDebugDrawSystem::GetFlagState(DebugDrawFlags flag) const noexcept
   {
     const uint8_t ENUM_VALUE = SHUtilities::ConvertEnum(flag);
@@ -58,6 +63,10 @@ namespace SHADE
   {
     const uint8_t ENUM_VALUE = SHUtilities::ConvertEnum(flag);
     state ? flags |= ENUM_VALUE : flags &= ~ENUM_VALUE;
+
+    // If no other debug drawing state is active, turn active off. Otherwise, we maintain
+    // the active state.
+    flags == ACTIVE_FLAG ? flags = 0 : flags |= ACTIVE_FLAG;
   }
 
   /*-----------------------------------------------------------------------------------*/
@@ -97,7 +106,7 @@ namespace SHADE
     if (EVENT_DATA->debugDrawState)
     {
       if (collidersToDraw.empty())
-        SetFlagState(DebugDrawFlags::ACTIVE, true);
+        flags |= ACTIVE_FLAG;
 
       collidersToDraw.emplace(EVENT_DATA->entityID);
     }
@@ -105,8 +114,9 @@ namespace SHADE
     {
       collidersToDraw.erase(EVENT_DATA->entityID);
 
-      if (collidersToDraw.empty())
+      // if no colliders queued for drawing and no other debug drawing is enabled, disable debug drawing
-        SetFlagState(DebugDrawFlags::ACTIVE, false);
+      if (collidersToDraw.empty() && flags == ACTIVE_FLAG)
+        flags = 0;
     }
 
     return onColliderDrawEvent.get()->handle;

SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.h

@@ -35,11 +35,10 @@ namespace SHADE
 
     enum class DebugDrawFlags : uint8_t
     {
-      ACTIVE      = 0x0001
+      COLLIDERS   = 0x02
-    , COLLIDERS   = 0x0002
+    , CONTACTS    = 0x04
-    , CONTACTS    = 0x0004
+    , RAYCASTS    = 0x08
-    , RAYCASTS    = 0x0008
+    , BROADPHASE  = 0x10
-    , BROADPHASE  = 0x0010
     };
 
     /*---------------------------------------------------------------------------------*/
@@ -53,7 +52,8 @@ namespace SHADE
     /* Getter Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    [[nodiscard]] bool GetFlagState (DebugDrawFlags flag) const noexcept;
+    [[nodiscard]] bool IsDebugDrawActive  ()                    const noexcept;
+    [[nodiscard]] bool GetFlagState       (DebugDrawFlags flag) const noexcept;
     /*---------------------------------------------------------------------------------*/
     /* Setter Functions                                                                */
     /*---------------------------------------------------------------------------------*/
@@ -64,10 +64,10 @@ namespace SHADE
     /* Member Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    void  Init      () override;
+    void  Init        () override;
-    void  Exit      () override;
+    void  Exit        () override;
 
-    void AddRaycast (const SHRay& ray, const SHPhysicsRaycastResult& result) noexcept;
+    void  AddRaycast  (const SHRay& ray, const SHPhysicsRaycastResult& result) noexcept;
 
     /*---------------------------------------------------------------------------------*/
     /* System Routines                                                                 */
@@ -123,6 +123,8 @@ namespace SHADE
     /* Data Members                                                                    */
     /*---------------------------------------------------------------------------------*/
 
+    static constexpr uint8_t ACTIVE_FLAG = 0x01;
+
     static const SHColour DEBUG_DRAW_COLOURS[static_cast<int>(Colours::COUNT)];
 
     // 0 0 0 drawBroadphase drawRaycasts drawContacts drawAllColliders debugDrawActive

SHADE_Engine/src/Physics/System/SHPhysicsSystem.h

@@ -52,8 +52,11 @@ namespace SHADE
     /* Getter Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    [[nodiscard]] double                GetFixedUpdateRate()  const noexcept;
+    [[nodiscard]] double                                GetFixedUpdateRate()  const noexcept;
-    [[nodiscard]] double                GetFixedDT        ()  const noexcept;
+    [[nodiscard]] double                                GetFixedDT        ()  const noexcept;
+
+    [[nodiscard]] const std::vector<SHTriggerEvent>&    GetTriggerInfo    ()  const noexcept;
+    [[nodiscard]] const std::vector<SHCollisionEvent>&  GetCollisionInfo  ()  const noexcept;
 
     /*---------------------------------------------------------------------------------*/
     /* Setter Functions                                                                */
@@ -62,9 +65,6 @@ namespace SHADE
     void  SetFixedUpdateRate(double fixedUpdateRate)  noexcept;
     void  SetFixedDT(double fixedDt)                  noexcept;
 
-    const std::vector<SHTriggerEvent>&    GetTriggerInfo   ()  const noexcept;
-    const std::vector<SHCollisionEvent>&  GetCollisionInfo ()  const noexcept;
-
     /*---------------------------------------------------------------------------------*/
     /* Member Functions                                                                */
     /*---------------------------------------------------------------------------------*/