Implemented a custom physics engine #316
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@ -0,0 +1,35 @@
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/****************************************************************************************
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* \file SHCapsuleVsCapsule.cpp
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* \author Diren D Bharwani, diren.dbharwani, 390002520
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* \brief Implementation for the Detecting Collisions between two capsules
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*
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* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
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* disclosure of this file or its contents without the prior written consent
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* of DigiPen Institute of Technology is prohibited.
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****************************************************************************************/
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#include <SHpch.h>
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// Primary Header
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#include "SHCollision.h"
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// Project Headers
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#include "Math/SHMathHelpers.h"
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namespace SHADE
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{
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/*-----------------------------------------------------------------------------------*/
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/* Public Member Functions Definitions */
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/*-----------------------------------------------------------------------------------*/
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bool SHCollision::CapsuleVsCapsule(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
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{
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return false;
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}
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bool SHCollision::CapsuleVsCapsule(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
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{
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return false;
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}
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} // namespace SHADE
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@ -0,0 +1,49 @@
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/****************************************************************************************
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* \file SHCapsuleVsConvex.cpp
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* \author Diren D Bharwani, diren.dbharwani, 390002520
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* \brief Implementation for the Detecting Collisions between a capsule and a convex
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* polyhedron.
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*
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* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
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* disclosure of this file or its contents without the prior written consent
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||||
* of DigiPen Institute of Technology is prohibited.
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****************************************************************************************/
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#include <SHpch.h>
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// Primary Header
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#include "SHCollision.h"
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// Project Headers
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#include "Math/SHMathHelpers.h"
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#include "Physics/Collision/CollisionShapes/SHBoxCollisionShape.h"
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// TODO
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namespace SHADE
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{
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/*-----------------------------------------------------------------------------------*/
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/* Public Member Functions Definitions */
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/*-----------------------------------------------------------------------------------*/
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bool SHCollision::CapsuleVsConvex(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
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{
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return false;
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}
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bool SHCollision::ConvexVsCapsule(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
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{
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return CapsuleVsConvex(B, A);
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}
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bool SHCollision::CapsuleVsConvex(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
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{
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return false;
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}
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bool SHCollision::ConvexVsCapsule(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
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{
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return CapsuleVsConvex(manifold, B, A);
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}
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} // namespace SHADE
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@ -35,18 +35,59 @@ namespace SHADE
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/* Spheres VS X */
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[[nodiscard]] static bool SphereVsSphere (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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[[nodiscard]] static bool SphereVsSphere (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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[[nodiscard]] static bool SphereVsSphere (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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[[nodiscard]] static bool SphereVsSphere (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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[[nodiscard]] static bool SphereVsCapsule (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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[[nodiscard]] static bool SphereVsCapsule (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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[[nodiscard]] static bool SphereVsConvex (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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[[nodiscard]] static bool SphereVsConvex (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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/* Capsule VS X */
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[[nodiscard]] static bool CapsuleVsSphere (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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[[nodiscard]] static bool CapsuleVsSphere (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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[[nodiscard]] static bool CapsuleVsCapsule (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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[[nodiscard]] static bool CapsuleVsCapsule (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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[[nodiscard]] static bool CapsuleVsConvex (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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[[nodiscard]] static bool CapsuleVsConvex (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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/* Polygon VS X */
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[[nodiscard]] static bool ConvexVsSphere (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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[[nodiscard]] static bool ConvexVsSphere (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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[[nodiscard]] static bool ConvexVsCapsule (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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[[nodiscard]] static bool ConvexVsCapsule (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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[[nodiscard]] static bool ConvexVsConvex (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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[[nodiscard]] static bool ConvexVsConvex (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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private:
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/*---------------------------------------------------------------------------------*/
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/* Member Functions */
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/*---------------------------------------------------------------------------------*/
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static bool isMinkowskiFace(const SHVec3& a, const SHVec3& b, const SHVec3& c, const SHVec3& d) noexcept;
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// TODO: buildMinkowskiFace, queryEdgeDirection, distanceBetweenTwoEdges,
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/*
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* TODO:
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* static FaceQuery queryFaceDirections (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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* static EdgeQuery queryEdgeDirections (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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* static bool buildMinkowskiFace (const SHHalfEdge& edgeA, const SHHalfEdge& edgeB) noexcept;
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* static float distanceBetweenEdges(const SHHalfEdge& edgeA, const SHHalfEdge& edgeB, SHCollisionShape& poly) noexcept;
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* static uint32_t clip
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*
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* ! References
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* https://ia801303.us.archive.org/30/items/GDC2013Gregorius/GDC2013-Gregorius.pdf
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* https://github.com/RandyGaul/qu3e/blob/master/src/collision/q3Collide.cpp
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*/
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};
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} // namespace SHADE
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@ -26,22 +26,20 @@ namespace SHADE
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const SHCollisionDispatcher::ManifoldCollide SHCollisionDispatcher::manifoldCollide[NUM_SHAPES][NUM_SHAPES]
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{
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// TODO
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// <SHAPE> vs Sphere / Box / Capsule
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{ SHCollision::SphereVsSphere, nullptr, nullptr } // Sphere
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, { nullptr, nullptr, nullptr } // Box
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, { nullptr, nullptr, nullptr } // Capsule
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{ SHCollision::SphereVsSphere, SHCollision::SphereVsConvex, SHCollision::SphereVsCapsule } // Sphere
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, { SHCollision::ConvexVsSphere, SHCollision::ConvexVsConvex, SHCollision::ConvexVsCapsule } // Box
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, { SHCollision::CapsuleVsSphere, SHCollision::CapsuleVsConvex, SHCollision::CapsuleVsCapsule } // Capsule
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};
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const SHCollisionDispatcher::TriggerCollide SHCollisionDispatcher::triggerCollide[NUM_SHAPES][NUM_SHAPES]
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{
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// TODO
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// <SHAPE> vs Sphere / Box / Capsule
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{ SHCollision::SphereVsSphere, nullptr, nullptr } // Sphere
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, { nullptr, nullptr, nullptr } // Box
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, { nullptr, nullptr, nullptr } // Capsule
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{ SHCollision::SphereVsSphere, SHCollision::SphereVsConvex, SHCollision::SphereVsCapsule } // Sphere
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, { SHCollision::ConvexVsSphere, SHCollision::ConvexVsConvex, SHCollision::ConvexVsCapsule } // Box
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, { SHCollision::CapsuleVsSphere, SHCollision::CapsuleVsConvex, SHCollision::CapsuleVsCapsule } // Capsule
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};
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const bool SHCollisionDispatcher::collisionTable[NUM_TYPES][NUM_TYPES]
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@ -0,0 +1,62 @@
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/****************************************************************************************
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* \file SHConvexVsConvex.cpp
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* \author Diren D Bharwani, diren.dbharwani, 390002520
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* \brief Implementation for the Detecting Collisions between two convex polyhedrons.
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*
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* \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.
|
||||
****************************************************************************************/
|
||||
|
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#include <SHpch.h>
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// Primary Header
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#include "SHCollision.h"
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// Project Headers
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#include "Math/SHMathHelpers.h"
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namespace SHADE
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{
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/*-----------------------------------------------------------------------------------*/
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/* Public Member Functions Definitions */
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/*-----------------------------------------------------------------------------------*/
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bool SHCollision::ConvexVsConvex(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
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{
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/*
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* TODO:
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*
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* 1. Query face directiosn of a to b. Exit early if separation found.
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* 2. query face directions of b to a. Exit early if separation found.
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* 3. Query edge directions of a & b. Exit early if separation found.
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*/
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return false;
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}
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bool SHCollision::ConvexVsConvex(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
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{
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/*
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* TODO:
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*
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* 1. Query face directions of a to b. Exit early if separation found.
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* 2. Query face directions of b to a. Exit early if separation found.
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* 3. Query edge directions of a & b. Exit early if separation found.
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*
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* (*)!! Apply weight to improve frame coherence of normal directions. DONT FORGET FLIP FLOP!
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* 4. From above, save the axis of minimum penetration (reference face)
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* 5. Find the most anti-parallel face on other shape (incident face)
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* 6. Clip incident face against side planes of reference face. (Sutherland-Hodgeman Clipping).
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* Keep all vertices below reference face.
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* 7. Reduce manifold to 4 contact points. We only need 4 contact points for a stable manifold.
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*
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* Remember to save IDs in queries.
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* During generation of incident face, store IDs of face.
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*
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*/
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return false;
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}
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} // namespace SHADE
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@ -0,0 +1,48 @@
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/****************************************************************************************
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* \file SHSphereVsCapsule.cpp
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* \author Diren D Bharwani, diren.dbharwani, 390002520
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* \brief Implementation for the Detecting Collisions between a sphere and a capsule.
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*
|
||||
* \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>
|
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|
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// Primary Header
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||||
#include "SHCollision.h"
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// Project Headers
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#include "Math/SHMathHelpers.h"
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#include "Physics/Collision/CollisionShapes/SHSphereCollisionShape.h"
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// TODO
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namespace SHADE
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||||
{
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||||
/*-----------------------------------------------------------------------------------*/
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/* Public Member Functions Definitions */
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/*-----------------------------------------------------------------------------------*/
|
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bool SHCollision::SphereVsCapsule(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
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{
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return false;
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}
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bool SHCollision::CapsuleVsSphere(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
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{
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return SphereVsCapsule(B, A);
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}
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bool SHCollision::SphereVsCapsule(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
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{
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return false;
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}
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bool SHCollision::CapsuleVsSphere(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
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{
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return SphereVsCapsule(manifold, B, A);
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}
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} // namespace SHADE
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|
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@ -0,0 +1,58 @@
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/****************************************************************************************
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||||
* \file SHSphereVsConvex.cpp
|
||||
* \author Diren D Bharwani, diren.dbharwani, 390002520
|
||||
* \brief Implementation for the Detecting Collisions between a sphere and a convex
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* polyhedron.
|
||||
*
|
||||
* \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 "SHCollision.h"
|
||||
|
||||
// Project Headers
|
||||
#include "Math/SHMathHelpers.h"
|
||||
#include "Physics/Collision/CollisionShapes/SHCollisionShape.h"
|
||||
#include "Physics/Collision/CollisionShapes/SHBoxCollisionShape.h"
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||||
|
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// When testing against convex polyhedrons, we do not care so much as whether it is a box
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// or something else. We only need the vertices to build half edge structures for use
|
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// with a gauss map. Regardless, we still cast it to the type just to get vertices
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// since spheres and capsules do not implement the same method.
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||||
|
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// I did consider having another base class that encapsulates methods that convex polyhedrons
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// would implement, but for the sake of my sanity, I won't do that.
|
||||
|
||||
// TODO
|
||||
|
||||
namespace SHADE
|
||||
{
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
/* Public Member Functions Definitions */
|
||||
/*-----------------------------------------------------------------------------------*/
|
||||
|
||||
bool SHCollision::SphereVsConvex(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
bool SHCollision::ConvexVsSphere(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
|
||||
{
|
||||
return SphereVsConvex(B, A);
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||||
}
|
||||
|
||||
bool SHCollision::SphereVsConvex(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
bool SHCollision::ConvexVsSphere(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
|
||||
{
|
||||
return SphereVsConvex(manifold, B, A);
|
||||
}
|
||||
|
||||
} // namespace SHADE
|
||||
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