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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
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35
SHADE_Engine/src/Physics/Collision/Narrowphase/SHCapsuleVsCapsule.cpp Normal file
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/****************************************************************************************
* \file SHCapsuleVsCapsule.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for the Detecting Collisions between two capsules
*
* \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"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Public Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
bool SHCollision::CapsuleVsCapsule(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
{
return false;
}
bool SHCollision::CapsuleVsCapsule(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
{
return false;
}
} // namespace SHADE

49
SHADE_Engine/src/Physics/Collision/Narrowphase/SHCapsuleVsConvex.cpp Normal file
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/****************************************************************************************
* \file SHCapsuleVsConvex.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for the Detecting Collisions between a capsule and a convex
* 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/SHBoxCollisionShape.h"
// TODO
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Public Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
bool SHCollision::CapsuleVsConvex(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
{
return false;
}
bool SHCollision::ConvexVsCapsule(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
{
return CapsuleVsConvex(B, A);
}
bool SHCollision::CapsuleVsConvex(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
{
return false;
}
bool SHCollision::ConvexVsCapsule(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
{
return CapsuleVsConvex(manifold, B, A);
}
} // namespace SHADE

41
SHADE_Engine/src/Physics/Collision/Narrowphase/SHCollision.h
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@ -38,15 +38,56 @@ namespace SHADE
[[nodiscard]] static bool SphereVsSphere (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
[[nodiscard]] static bool SphereVsSphere (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
[[nodiscard]] static bool SphereVsCapsule (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
[[nodiscard]] static bool SphereVsCapsule (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
[[nodiscard]] static bool SphereVsConvex (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
[[nodiscard]] static bool SphereVsConvex (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
/* Capsule VS X */
[[nodiscard]] static bool CapsuleVsSphere (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
[[nodiscard]] static bool CapsuleVsSphere (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
[[nodiscard]] static bool CapsuleVsCapsule (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
[[nodiscard]] static bool CapsuleVsCapsule (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
[[nodiscard]] static bool CapsuleVsConvex (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
[[nodiscard]] static bool CapsuleVsConvex (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
/* Polygon VS X */
[[nodiscard]] static bool ConvexVsSphere (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
[[nodiscard]] static bool ConvexVsSphere (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
[[nodiscard]] static bool ConvexVsCapsule (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
[[nodiscard]] static bool ConvexVsCapsule (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
[[nodiscard]] static bool ConvexVsConvex (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
[[nodiscard]] static bool ConvexVsConvex (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
private:
/*---------------------------------------------------------------------------------*/
/* Member Functions */
/*---------------------------------------------------------------------------------*/
static bool isMinkowskiFace(const SHVec3& a, const SHVec3& b, const SHVec3& c, const SHVec3& d) noexcept;
// TODO: buildMinkowskiFace, queryEdgeDirection, distanceBetweenTwoEdges,
/*
* TODO:
* static FaceQuery queryFaceDirections (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
* static EdgeQuery queryEdgeDirections (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
* static bool buildMinkowskiFace (const SHHalfEdge& edgeA, const SHHalfEdge& edgeB) noexcept;
* static float distanceBetweenEdges(const SHHalfEdge& edgeA, const SHHalfEdge& edgeB, SHCollisionShape& poly) noexcept;
* static uint32_t clip
*
* ! References
* https://ia801303.us.archive.org/30/items/GDC2013Gregorius/GDC2013-Gregorius.pdf
* https://github.com/RandyGaul/qu3e/blob/master/src/collision/q3Collide.cpp
*/
};
} // namespace SHADE

14
SHADE_Engine/src/Physics/Collision/Narrowphase/SHCollisionDispatch.cpp
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@ -26,22 +26,20 @@ namespace SHADE
const SHCollisionDispatcher::ManifoldCollide SHCollisionDispatcher::manifoldCollide[NUM_SHAPES][NUM_SHAPES]
{
// TODO
// <SHAPE> vs Sphere / Box / Capsule
{ SHCollision::SphereVsSphere, nullptr, nullptr } // Sphere
, { nullptr, nullptr, nullptr } // Box
, { nullptr, nullptr, nullptr } // Capsule
{ SHCollision::SphereVsSphere, SHCollision::SphereVsConvex, SHCollision::SphereVsCapsule } // Sphere
, { SHCollision::ConvexVsSphere, SHCollision::ConvexVsConvex, SHCollision::ConvexVsCapsule } // Box
, { SHCollision::CapsuleVsSphere, SHCollision::CapsuleVsConvex, SHCollision::CapsuleVsCapsule } // Capsule
};
const SHCollisionDispatcher::TriggerCollide SHCollisionDispatcher::triggerCollide[NUM_SHAPES][NUM_SHAPES]
{
// TODO
// <SHAPE> vs Sphere / Box / Capsule
{ SHCollision::SphereVsSphere, nullptr, nullptr } // Sphere
, { nullptr, nullptr, nullptr } // Box
, { nullptr, nullptr, nullptr } // Capsule
{ SHCollision::SphereVsSphere, SHCollision::SphereVsConvex, SHCollision::SphereVsCapsule } // Sphere
, { SHCollision::ConvexVsSphere, SHCollision::ConvexVsConvex, SHCollision::ConvexVsCapsule } // Box
, { SHCollision::CapsuleVsSphere, SHCollision::CapsuleVsConvex, SHCollision::CapsuleVsCapsule } // Capsule
};
const bool SHCollisionDispatcher::collisionTable[NUM_TYPES][NUM_TYPES]

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SHADE_Engine/src/Physics/Collision/Narrowphase/SHConvexVsConvex.cpp Normal file
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/****************************************************************************************
* \file SHConvexVsConvex.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for the Detecting Collisions between two convex polyhedrons.
*
* \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"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Public Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
bool SHCollision::ConvexVsConvex(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
{
/*
* TODO:
*
* 1. Query face directiosn of a to b. Exit early if separation found.
* 2. query face directions of b to a. Exit early if separation found.
* 3. Query edge directions of a & b. Exit early if separation found.
*/
return false;
}
bool SHCollision::ConvexVsConvex(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
{
/*
* TODO:
*
* 1. Query face directions of a to b. Exit early if separation found.
* 2. Query face directions of b to a. Exit early if separation found.
* 3. Query edge directions of a & b. Exit early if separation found.
*
* (*)!! Apply weight to improve frame coherence of normal directions. DONT FORGET FLIP FLOP!
* 4. From above, save the axis of minimum penetration (reference face)
* 5. Find the most anti-parallel face on other shape (incident face)
* 6. Clip incident face against side planes of reference face. (Sutherland-Hodgeman Clipping).
* Keep all vertices below reference face.
* 7. Reduce manifold to 4 contact points. We only need 4 contact points for a stable manifold.
*
* Remember to save IDs in queries.
* During generation of incident face, store IDs of face.
*
*/
return false;
}
} // namespace SHADE

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SHADE_Engine/src/Physics/Collision/Narrowphase/SHSphereVsCapsule.cpp Normal file
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/****************************************************************************************
* \file SHSphereVsCapsule.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for the Detecting Collisions between a sphere and a capsule.
*
* \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/SHSphereCollisionShape.h"
// TODO
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Public Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
bool SHCollision::SphereVsCapsule(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
{
return false;
}
bool SHCollision::CapsuleVsSphere(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
{
return SphereVsCapsule(B, A);
}
bool SHCollision::SphereVsCapsule(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
{
return false;
}
bool SHCollision::CapsuleVsSphere(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
{
return SphereVsCapsule(manifold, B, A);
}
} // namespace SHADE

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SHADE_Engine/src/Physics/Collision/Narrowphase/SHSphereVsConvex.cpp Normal file
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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
* 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"
// When testing against convex polyhedrons, we do not care so much as whether it is a box
// or something else. We only need the vertices to build half edge structures for use
// with a gauss map. Regardless, we still cast it to the type just to get vertices
// since spheres and capsules do not implement the same method.
// I did consider having another base class that encapsulates methods that convex polyhedrons
// 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);
}
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