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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 +12603 -5375
144 changed files with 12603 additions and 5375 deletions
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2
Assets/Application.SHConfig
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@ -1,4 +1,4 @@
Start in Fullscreen: false
Starting Scene ID: 87244611
Starting Scene ID: 97402985
Window Size: {x: 1920, y: 1080}
Window Title: SHADE Engine

32
Assets/CollisionTags.SHConfig
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@ -1,16 +1,16 @@
0 1
1 2
2 3
3 4
4 5
5 6
6 7
7 8
8 9
9 10
10 11
11 12
12 13
13 14
14 15
15 16
0 1 3
1 2 3
2 3 65535
3 4 65535
4 5 65535
5 6 65535
6 7 65535
7 8 65535
8 9 65535
9 10 65535
10 11 65535
11 12 65535
12 13 65535
13 14 65535
14 15 65535
15 16 65535

2
Assets/Editor/Editor.SHConfig
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@ -1,4 +1,4 @@
Start Maximized: true
Working Scene ID: 97161771
Working Scene ID: 97402985
Window Size: {x: 1920, y: 1080}
Style: 0

247
Assets/Scenes/PhysicsSandbox.shade Normal file
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@ -0,0 +1,247 @@
- EID: 0
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 2.72256827, y: 0.501797795, z: -0.0273017883}
Rotate: {x: 0, y: 0, z: 0.436332315}
Scale: {x: 4.61070776, y: 0.99999392, z: 0.999996722}
IsActive: true
Collider Component:
DrawColliders: false
Colliders:
- Is Trigger: false
Collision Tag: 1
Type: Box
Half Extents: {x: 1, y: 1, z: 1}
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 1
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Camera Component:
Position: {x: 0, y: 2, z: 10}
Pitch: 0
Yaw: 0
Roll: 0
Width: 1920
Height: 1080
Near: 0.00999999978
Far: 10000
Perspective: true
IsActive: true
Scripts: ~
- EID: 3
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 2, y: 7.5, z: 0}
Rotate: {x: -0, y: 0, z: 0.785398185}
Scale: {x: 1, y: 1, z: 1}
IsActive: true
RigidBody Component:
Type: Dynamic
Auto Mass: false
Mass: 0.52359879
Drag: 0.00999999978
Angular Drag: 0
Use Gravity: true
Gravity Scale: 1
Interpolate: true
Sleeping Enabled: true
Freeze Position X: false
Freeze Position Y: true
Freeze Position Z: false
Freeze Rotation X: false
Freeze Rotation Y: false
Freeze Rotation Z: false
IsActive: true
Collider Component:
DrawColliders: false
Colliders:
- Is Trigger: false
Collision Tag: 1
Type: Sphere
Radius: 1
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 2
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 0, y: 4, z: 0}
Rotate: {x: -0, y: 0, z: -0.436332315}
Scale: {x: 4.61071014, y: 0.999995887, z: 1}
IsActive: true
Collider Component:
DrawColliders: false
Colliders:
- Is Trigger: false
Collision Tag: 2
Type: Box
Half Extents: {x: 1, y: 1, z: 1}
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 4
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 0, y: -3, z: 0}
Rotate: {x: -0, y: 0, z: -0}
Scale: {x: 10, y: 3, z: 10}
IsActive: true
Collider Component:
DrawColliders: false
Colliders:
- Is Trigger: false
Collision Tag: 1
Type: Box
Half Extents: {x: 1, y: 1, z: 1}
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 5
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: -4.80025721, y: 3, z: 0}
Rotate: {x: -0, y: 0, z: 1.57079601}
Scale: {x: 9.99975109, y: 0.499992192, z: 10}
IsActive: true
Collider Component:
DrawColliders: false
Colliders:
- Is Trigger: false
Collision Tag: 1
Type: Box
Half Extents: {x: 1, y: 1, z: 1}
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 6
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 4.80000019, y: 3, z: 0}
Rotate: {x: -0, y: 0, z: 1.57079601}
Scale: {x: 9.99975109, y: 0.499992192, z: 10}
IsActive: true
Collider Component:
DrawColliders: false
Colliders:
- Is Trigger: false
Collision Tag: 1
Type: Box
Half Extents: {x: 1, y: 1, z: 1}
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~
- EID: 7
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 0, y: 7, z: 0}
Rotate: {x: 0, y: 0, z: 0.785398185}
Scale: {x: 0.999990404, y: 0.999994457, z: 0.999985337}
IsActive: true
RigidBody Component:
Type: Dynamic
Auto Mass: false
Mass: 1
Drag: 0.00999999978
Angular Drag: 0
Use Gravity: true
Gravity Scale: 1
Interpolate: true
Sleeping Enabled: true
Freeze Position X: false
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: false
Colliders:
- Is Trigger: false
Collision Tag: 1
Type: Box
Half Extents: {x: 1, y: 1, z: 1}
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts:
- Type: PhysicsTestObj
Enabled: true
forceAmount: 50
torqueAmount: 5
- EID: 8
Name: Default
IsActive: true
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 0, y: 0, z: 3}
Rotate: {x: -0, y: 0, z: -0}
Scale: {x: 1, y: 1, z: 1}
IsActive: true
Collider Component:
DrawColliders: false
Colliders:
- Is Trigger: false
Collision Tag: 1
Type: Box
Half Extents: {x: 1, y: 1, z: 1}
Friction: 0.400000006
Bounciness: 0
Density: 1
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
IsActive: true
Scripts: ~

3
Assets/Scenes/PhysicsSandbox.shade.shmeta Normal file
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@ -0,0 +1,3 @@
Name: PhysicsSandbox
ID: 97402985
Type: 5

2
Assets/Scripts/Gameplay/AIBehaviour/Implemented/LeafNodes/LeafSearch.cs
View File

@ -159,7 +159,7 @@ public partial class LeafSearch : BehaviourTreeNode
//Since transform position is often the raccoon's base and the ray needs to hit somewhere higher to be more reliable
Vector3 rayDestination = plrT.GlobalPosition + plrT.GlobalScale * playerCollider.PositionOffset;
Ray sightRay = new Ray(eyePosition, rayDestination - eyePosition);
RaycastHit sightRayHit = Physics.Raycast(sightRay);
RaycastHit sightRayHit = Physics.Raycast(sightRay, false)[0];
//As of November 2022, RaycastHit contains only the FIRST object hit by
//the ray in the Other GameObject data member
//Diren may likely add ALL objects hit by the ray over December

11
Assets/Scripts/Gameplay/Player/SC_PickAndThrow.cs
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@ -1,6 +1,7 @@
using SHADE;
using SHADE_Scripting;
using System;
using System.Collections.Generic;
using static PlayerController;
using static Item;
@ -203,9 +204,13 @@ public class PickAndThrow : Script
Vector3 playerRayPos = pc.tranform.GlobalPosition;
playerRayPos.y += 0.05f;
dirNor.Normalise();
RaycastHit ray1 = Physics.Raycast(new Ray(playerRayPos, Vector3.RotateY(dirNor, SHADE.Math.DegreesToRadians(22.5f))), rayDistance);
RaycastHit ray2 = Physics.Raycast(new Ray(playerRayPos, Vector3.RotateY(dirNor, SHADE.Math.DegreesToRadians(-22.5f))), rayDistance);
RaycastHit ray3 = Physics.Raycast(new Ray(playerRayPos, dirNor), rayDistance * 0.75f);
List<RaycastHit> rayList1 = Physics.Raycast(new Ray(playerRayPos, Vector3.RotateY(dirNor, SHADE.Math.DegreesToRadians(22.5f))), rayDistance, false);
List<RaycastHit> rayList2 = Physics.Raycast(new Ray(playerRayPos, Vector3.RotateY(dirNor, SHADE.Math.DegreesToRadians(-22.5f))), rayDistance, false);
List<RaycastHit> rayList3 = Physics.Raycast(new Ray(playerRayPos, dirNor), rayDistance * 0.75f, false);
RaycastHit ray1 = rayList1[0];
RaycastHit ray2 = rayList2[0];
RaycastHit ray3 = rayList3[0];
inRange = CheckForItem(ray1) || CheckForItem(ray2) || CheckForItem(ray3);
}
}

119
Assets/Scripts/Tests/PhysicsTestObj.cs Normal file
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@ -0,0 +1,119 @@
using SHADE;
using System;
using System.Collections.Generic;
using static Item;
public class PhysicsTestObj : Script
{
public RigidBody body { get; set; }
public Collider collider { get; set; }
// Movement input booleans
public enum Direction
{
UP,
DOWN,
FORWARD,
BACK,
LEFT,
RIGHT
};
internal bool[] move = new bool[6];
internal bool[] rotate = new bool[6];
internal Vector3[] moveVec = new Vector3[6]
{
Vector3.Up,
Vector3.Down,
Vector3.Back,
Vector3.Forward,
Vector3.Left,
Vector3.Right
};
internal Vector3[] rotateVec = new Vector3[6]
{
Vector3.Right,
Vector3.Left,
Vector3.Forward,
Vector3.Down,
Vector3.Up,
Vector3.Down
};
internal Input.KeyCode[] moveInputKeys = new Input.KeyCode[6]
{
Input.KeyCode.Space,
Input.KeyCode.LeftControl,
Input.KeyCode.W,
Input.KeyCode.S,
Input.KeyCode.A,
Input.KeyCode.D
};
internal Input.KeyCode[] rotateInputKeys = new Input.KeyCode[6]
{
Input.KeyCode.I,
Input.KeyCode.K,
Input.KeyCode.U,
Input.KeyCode.O,
Input.KeyCode.J,
Input.KeyCode.L
};
public float forceAmount = 50.0f;
public float torqueAmount = 500.0f;
protected override void awake()
{
body = GetComponent<RigidBody>();
collider = GetComponent<Collider>();
for (int i = 0; i < 6; ++i)
{
move[i] = false;
rotate[i] = false;
}
}
protected override void update()
{
Ray colliderRay = new Ray();
colliderRay.Direction = Vector3.Right;
Physics.ColliderRaycast(collider.Owner, colliderRay, false);
for (int i = 0; i < 6; ++i)
{
if (Input.GetKeyDown(moveInputKeys[i]))
move[i] = true;
if (Input.GetKeyDown(rotateInputKeys[i]))
rotate[i] = true;
}
}
protected override void fixedUpdate()
{
for (int i = 0; i < 6; ++i)
{
bool shouldMove = move[i];
bool shouldRotate = rotate[i];
if (shouldMove)
{
//Vector3 offset = new Vector3(0.25f, 0.0f, 0.0f);
//rb.AddForceAtLocalPos(moveVec[i] * forceAmount, offset);
body.AddForce(moveVec[i] * forceAmount);
move[i] = false;
}
if (shouldRotate)
{
body.AddTorque(rotateVec[i] * torqueAmount);
rotate[i] = false;
}
}
}
}

3
Assets/Scripts/Tests/PhysicsTestObj.cs.shmeta Normal file
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@ -0,0 +1,3 @@
Name: PhysicsTestObj
ID: 159293012
Type: 9

34
SHADE_Application/src/Application/SBApplication.cpp
View File

@ -77,9 +77,6 @@ namespace Sandbox
SHSystemManager::CreateSystem<SHScriptEngine>();
SHSystemManager::CreateSystem<SHTransformSystem>();
SHSystemManager::CreateSystem<SHPhysicsSystem>();
#ifndef _PUBLISH
SHSystemManager::CreateSystem<SHPhysicsDebugDrawSystem>();
#endif
SHSystemManager::CreateSystem<SHAudioSystem>();
SHSystemManager::CreateSystem<SHCameraSystem>();
@ -90,7 +87,6 @@ namespace Sandbox
SHSystemManager::CreateSystem<SHGraphicsSystem>();
SHGraphicsSystem* graphicsSystem = static_cast<SHGraphicsSystem*>(SHSystemManager::GetSystem<SHGraphicsSystem>());
SHPhysicsSystem* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
// Link up SHDebugDraw
SHSystemManager::CreateSystem<SHDebugDrawSystem>();
@ -105,6 +101,8 @@ namespace Sandbox
editor->SetSDLWindow(sdlWindow);
editor->SetSHWindow(&window);
}
SHSystemManager::CreateSystem<SHPhysicsDebugDrawSystem>();
#endif
// Create Routines
@ -116,11 +114,11 @@ namespace Sandbox
SHSystemManager::RegisterRoutine<SHTransformSystem, SHTransformSystem::TransformPostLogicUpdate>();
SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsPreUpdate>();
SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsFixedUpdate>();
SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsUpdate>();
SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsPostUpdate>();
#ifndef _PUBLISH
SHSystemManager::RegisterRoutine<SHPhysicsDebugDrawSystem, SHPhysicsDebugDrawSystem::PhysicsDebugDrawRoutine>();
#ifdef SHEDITOR
SHSystemManager::RegisterRoutine<SHPhysicsDebugDrawSystem, SHPhysicsDebugDrawSystem::PhysicsDebugDraw>();
#endif
SHSystemManager::RegisterRoutine<SHTransformSystem, SHTransformSystem::TransformPostPhysicsUpdate>();
@ -193,32 +191,12 @@ namespace Sandbox
#endif
SHSceneManager::SceneUpdate(0.016f);
#ifdef SHEDITOR
SHSystemManager::RunRoutines(editor->editorState != SHEditor::State::PLAY, SHFrameRateController::GetRawDeltaTime());
editor->PollPicking();
#else
SHSystemManager::RunRoutines(false, SHFrameRateController::GetRawDeltaTime());
#endif
// TODO: Move into an Editor menu
static bool drawContacts = false;
if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::F9))
{
drawContacts = !drawContacts;
SHSystemManager::GetSystem<SHPhysicsDebugDrawSystem>()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::CONTACT_POINTS, drawContacts);
SHSystemManager::GetSystem<SHPhysicsDebugDrawSystem>()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::CONTACT_NORMALS, drawContacts);
}
static bool drawColliders = false;
if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::F10))
{
drawColliders = !drawColliders;
SHSystemManager::GetSystem<SHPhysicsDebugDrawSystem>()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::COLLIDER, drawColliders);
}
static bool drawRays = false;
if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::F11))
{
drawRays = !drawRays;
SHSystemManager::GetSystem<SHPhysicsDebugDrawSystem>()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::RAYCASTS, drawRays);
}
}
// Finish all graphics jobs first
graphicsSystem->AwaitGraphicsExecution();

17
SHADE_Application/src/Scenes/SBMainScene.cpp
View File

@ -44,23 +44,6 @@ namespace Sandbox
{
sceneName = SHSerialization::DeserializeSceneFromFile(sceneAssetID);
auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
if (!physicsSystem)
{
SHLOGV_CRITICAL("Failed to get the physics system for building the scene!")
return;
}
#ifdef SHEDITOR
physicsSystem->ForceBuild(SHSceneManager::GetCurrentSceneGraph());
#else
physicsSystem->BuildScene(SHSceneManager::GetCurrentSceneGraph());
#endif
/*-----------------------------------------------------------------------*/
/* TESTING CODE */
/*-----------------------------------------------------------------------*/

28
SHADE_Application/src/Scenes/SBTestScene.cpp
View File

@ -92,7 +92,7 @@ namespace Sandbox
floorRigidBody.SetType(SHRigidBodyComponent::Type::STATIC);
floorCollider.AddBoundingBox();
//floorCollider.AddBoundingBox();
// Create blank entity with a script
//testObj = SHADE::SHEntityManager::CreateEntity<SHRenderable, SHTransformComponent>();
@ -113,9 +113,9 @@ namespace Sandbox
racoonTransform.SetWorldScale({ 2.0f, 2.0f, 2.0f });
racoonTransform.SetWorldPosition({ -3.0f, -2.0f, -5.0f });
racoonCollider.AddBoundingBox();
racoonCollider.GetCollisionShape(0).SetPositionOffset(SHVec3(0.0f,0.5f,0.0f));
racoonCollider.GetCollisionShape(0).SetBoundingBox(SHVec3(0.5f, 0.5f, 0.5f));
//racoonCollider.AddBoundingBox();
//racoonCollider.GetCollisionShape(0).SetPositionOffset(SHVec3(0.0f,0.5f,0.0f));
//racoonCollider.GetCollisionShape(0).SetBoundingBox(SHVec3(0.5f, 0.5f, 0.5f));
auto racoonItemLocation = SHEntityManager::CreateEntity<SHTransformComponent>();
auto& racoonItemLocationTransform = *SHComponentManager::GetComponent_s<SHTransformComponent>(racoonItemLocation);
@ -138,15 +138,15 @@ namespace Sandbox
itemTransform.SetWorldScale({ 2.0f, 2.0f, 2.0f });
itemTransform.SetWorldPosition({ 0.0f, -2.0f, -5.0f });
itemCollider.AddBoundingBox();
itemCollider.AddBoundingBox(SHVec3(2.0f,2.0f,2.0f));
itemCollider.GetCollisionShape(1).SetIsTrigger(true);
//itemCollider.AddBoundingBox();
//itemCollider.AddBoundingBox(SHVec3(2.0f,2.0f,2.0f));
//itemCollider.GetCollisionShape(1).SetIsTrigger(true);
itemCollider.GetCollisionShape(0).SetPositionOffset(SHVec3(0.0f, 0.5f, 0.0f));
itemCollider.GetCollisionShape(0).SetBoundingBox(SHVec3(0.5f, 0.5f, 0.5f));
//itemCollider.GetCollisionShape(0).SetPositionOffset(SHVec3(0.0f, 0.5f, 0.0f));
//itemCollider.GetCollisionShape(0).SetBoundingBox(SHVec3(0.5f, 0.5f, 0.5f));
itemCollider.GetCollisionShape(1).SetPositionOffset(SHVec3(0.0f, 0.5f, 0.0f));
itemCollider.GetCollisionShape(1).SetBoundingBox(SHVec3(1.0f, 1.0f, 1.0f));
//itemCollider.GetCollisionShape(1).SetPositionOffset(SHVec3(0.0f, 0.5f, 0.0f));
//itemCollider.GetCollisionShape(1).SetBoundingBox(SHVec3(1.0f, 1.0f, 1.0f));
itemRigidBody.SetInterpolate(false);
itemRigidBody.SetFreezeRotationX(true);
@ -167,9 +167,9 @@ namespace Sandbox
AITransform.SetWorldScale({ 2.0f, 2.0f, 2.0f });
AITransform.SetWorldPosition({ -8.0f, -2.0f, 2.5f });
AICollider.AddBoundingBox();
AICollider.GetCollisionShape(0).SetPositionOffset(SHVec3(0.0f, 0.5f, 0.0f));
AICollider.GetCollisionShape(0).SetBoundingBox(SHVec3(0.5f, 0.5f, 0.5f));
//AICollider.AddBoundingBox();
//AICollider.GetCollisionShape(0).SetPositionOffset(SHVec3(0.0f, 0.5f, 0.0f));
//AICollider.GetCollisionShape(0).SetBoundingBox(SHVec3(0.5f, 0.5f, 0.5f));
AIRigidBody.SetInterpolate(false);
AIRigidBody.SetFreezeRotationX(true);

2
SHADE_Engine/src/Camera/SHCameraArmComponent.h
View File

@ -10,7 +10,7 @@
namespace SHADE
{
class SHBox;
class SHAABB;
class SHRay;
class SH_API SHCameraArmComponent final: public SHComponent

30
SHADE_Engine/src/Camera/SHCameraSystem.cpp
View File

@ -10,7 +10,7 @@
#include "Scene/SHSceneManager.h"
#include "ECS_Base/Managers/SHSystemManager.h"
#include "Editor/SHEditor.h"
#include "Math/Geometry/SHBox.h"
#include "Math/Geometry/SHAABB.h"
#include "Math/SHRay.h"
#include "Physics/System/SHPhysicsSystem.h"
@ -186,20 +186,20 @@ namespace SHADE
//SHLOG_INFO("Ray position: {},{},{} direction:{},{},{}",pivot.ray.position.x, pivot.ray.position.y, pivot.ray.position.z,pivot.ray.direction.x, pivot.ray.direction.y, pivot.ray.direction.z)
auto result = physicsSystem->Raycast(pivot.ray );
if (result && result.distance < pivot.GetArmLength())
{
SHVec3 newOffset = SHVec3{ 0.0f,0.0f, result.distance * 0.8f };
newOffset = SHVec3::RotateX(newOffset, -(SHMath::DegreesToRadians(pivot.GetPitch())));
newOffset = SHVec3::RotateY(newOffset, (SHMath::DegreesToRadians(pivot.GetYaw())));
pivot.offset = newOffset;
//SHLOG_INFO("CAMERA COLLISION HIT, {}", result.distance);
}
else
{
//SHLOG_INFO("CAMERA COLLISION CANT HIT CAMERA");
}
//auto result = physicsSystem->Raycast(pivot.ray );
//if (result && result.distance < pivot.GetArmLength())
//{
//
// SHVec3 newOffset = SHVec3{ 0.0f,0.0f, result.distance * 0.8f };
// newOffset = SHVec3::RotateX(newOffset, -(SHMath::DegreesToRadians(pivot.GetPitch())));
// newOffset = SHVec3::RotateY(newOffset, (SHMath::DegreesToRadians(pivot.GetYaw())));
// pivot.offset = newOffset;
// //SHLOG_INFO("CAMERA COLLISION HIT, {}", result.distance);
//}
//else
//{
// //SHLOG_INFO("CAMERA COLLISION CANT HIT CAMERA");
//}

2
SHADE_Engine/src/ECS_Base/Managers/SHEntityManager.cpp
View File

@ -162,7 +162,7 @@ namespace SHADE
//SHSceneNode* parentNode = entityVec[eIndex]->GetSceneNode()->GetParent();
//SHSceneGraph::RemoveChild(parentNode,entityVec[eIndex].get());
//SHSceneGraph::removeChild(parentNode,entityVec[eIndex].get());
//TODO remove from parent and recursively delete child.

10
SHADE_Engine/src/Editor/EditorWindow/ColliderTagPanel/SHColliderTagPanel.cpp
View File

@ -1,7 +1,7 @@
#include "SHpch.h"
#include "SHColliderTagPanel.h"
#include "ECS_Base/Managers/SHSystemManager.h"
#include "Physics/Collision/SHCollisionTagMatrix.h"
#include "Physics/Collision/CollisionTags/SHCollisionTagMatrix.h"
#include "Editor/SHEditorWidgets.hpp"
namespace SHADE
@ -15,7 +15,7 @@ namespace SHADE
ImGui::TableNextRow();
ImGui::PushID("CollisionTagNames");
for (int i = SHCollisionTag::NUM_LAYERS; i >= 0; --i)
for (int i = SHCollisionTag::NUM_LAYERS; i >= 1; --i)
{
ImGui::TableNextColumn();
if(i == SHCollisionTag::NUM_LAYERS) continue;
@ -29,7 +29,7 @@ namespace SHADE
ImGui::PopID();
}
ImGui::PopID();
for (int i = 0; i < SHCollisionTag::NUM_LAYERS; ++i)
for (int i = 0; i < SHCollisionTag::NUM_LAYERS - 1; ++i)
{
std::string tagName = SHCollisionTagMatrix::GetTagName(i);
auto tag = SHCollisionTagMatrix::GetTag(i);
@ -53,8 +53,8 @@ namespace SHADE
tagName2 = std::to_string(idx);
ImGui::TableNextColumn();
//if(i == idx)
// continue;
if(i == idx)
continue;
std::string label = std::format("##{} vs {}", tagName, tagName2);
SHEditorWidgets::CheckBox(label, [tag, &idx]{return tag->GetLayerState(idx);}, [tag, i, idx](bool const& value){tag->SetLayerState(idx, value); SHCollisionTagMatrix::GetTag(idx)->SetLayerState(i, value);}, label.substr(2));
}

100
SHADE_Engine/src/Editor/EditorWindow/Inspector/SHEditorComponentView.hpp
View File

@ -18,10 +18,11 @@
#include "Physics/Interface/SHColliderComponent.h"
#include "Reflection/SHReflectionMetadata.h"
#include "Resource/SHResourceManager.h"
#include "Physics/Collision/SHCollisionTagMatrix.h"
#include "Serialization/SHSerializationHelper.hpp"
#include "Tools/Utilities/SHClipboardUtilities.h"
#include "SHInspectorCommands.h"
#include "Physics/Collision/SHCompositeCollider.h"
#include "Physics/Collision/CollisionTags/SHCollisionTagMatrix.h"
namespace SHADE
{
template<typename T>
@ -255,31 +256,34 @@ namespace SHADE
if(rbType == SHRigidBodyComponent::Type::DYNAMIC) //Dynamic only fields
{
SHEditorWidgets::CheckBox("Use Gravity", [component]{return component->IsGravityEnabled();}, [component](bool const& value){component->SetGravityEnabled(value);}, "Gravity");
//SHEditorWidgets::DragFloat("Mass", [component] {return component->GetMass(); }, [component](float const& value) {component->SetMass(value); }, "Mass");
SHEditorWidgets::CheckBox("Use Gravity", [component]{return component->IsGravityEnabled();}, [component](bool const& value){component->SetIsGravityEnabled(value);}, "Whether Gravity is enabled for this body");
SHEditorWidgets::DragFloat("Gravity Scale", [component] { return component->GetGravityScale(); }, [component](float const& value) { component->SetGravityScale(value); }, "Per-object Gravity Scale", 0.1f, 0.0f);
SHEditorWidgets::CheckBox("Auto Mass", [component]{return component->GetAutoMass();}, [component](bool const& value){component->SetAutoMass(value);}, "If mass should be automatically computed. Setting mass will turn this off.");
SHEditorWidgets::DragFloat("Mass", [component] {return component->GetMass(); }, [component](float const& value) {component->SetMass(value); }, "Mass");
}
if (rbType == SHRigidBodyComponent::Type::DYNAMIC || rbType == SHRigidBodyComponent::Type::KINEMATIC) //Dynamic or Kinematic only fields
{
SHEditorWidgets::DragFloat("Drag", [component] {return component->GetDrag(); }, [component](float const& value) {component->SetDrag(value); }, "Drag");
SHEditorWidgets::DragFloat("Angular Drag", [component] {return component->GetAngularDrag(); }, [component](float const& value) {component->SetAngularDrag(value); }, "Angular Drag");
SHEditorWidgets::DragFloat("Drag", [component] {return component->GetDrag(); }, [component](float const& value) {component->SetDrag(value); }, "Drag", 0.1f, 0.0f);
SHEditorWidgets::DragFloat("Angular Drag", [component] {return component->GetAngularDrag(); }, [component](float const& value) {component->SetAngularDrag(value); }, "Angular Drag", 0.1f, 0.0f);
SHEditorWidgets::CheckBox("Interpolate", [component] {return component->IsInterpolating(); }, [component](bool const& value) {component->SetInterpolate(value); }, "Interpolate");
SHEditorWidgets::CheckBox("Interpolate", [component] {return component->IsInterpolating(); }, [component](bool const& value) {component->SetInterpolate(value); }, "If the position between frames should be interpolated.");
SHEditorWidgets::BeginPanel(std::format("{} Constraints", ICON_FA_LOCK).data(), { ImGui::GetContentRegionAvail().x, ImGui::GetContentRegionAvail().y });
SHEditorWidgets::TextLabel("Freeze Position");
ImGui::PushID("FreezePos");
SHEditorWidgets::CheckBox("X", [component] {return component->GetFreezePositionX(); }, [component](bool const& value) {component->SetFreezePositionX(value); }, "Freeze Position - X"); ImGui::SameLine();
SHEditorWidgets::CheckBox("Y", [component] {return component->GetFreezePositionY(); }, [component](bool const& value) {component->SetFreezePositionY(value); }, "Freeze Position - Y"); ImGui::SameLine();
SHEditorWidgets::CheckBox("Z", [component] {return component->GetFreezePositionZ(); }, [component](bool const& value) {component->SetFreezePositionZ(value); }, "Freeze Position - Z");
SHEditorWidgets::CheckBox("X", [component] {return component->GetFreezePositionX(); }, [component](bool const& value) {component->SetFreezePositionX(value); }, "Stops any displacement along the X-axis."); ImGui::SameLine();
SHEditorWidgets::CheckBox("Y", [component] {return component->GetFreezePositionY(); }, [component](bool const& value) {component->SetFreezePositionY(value); }, "Stops any displacement along the Y-axis."); ImGui::SameLine();
SHEditorWidgets::CheckBox("Z", [component] {return component->GetFreezePositionZ(); }, [component](bool const& value) {component->SetFreezePositionZ(value); }, "Stops any displacement along the Z-axis.");
ImGui::PopID();
SHEditorWidgets::TextLabel("Freeze Rotation");
ImGui::PushID("FreezeRot");
SHEditorWidgets::CheckBox("X", [component] {return component->GetFreezeRotationX(); }, [component](bool const& value) {component->SetFreezeRotationX(value); }, "Freeze Rotation - X"); ImGui::SameLine();
SHEditorWidgets::CheckBox("Y", [component] {return component->GetFreezeRotationY(); }, [component](bool const& value) {component->SetFreezeRotationY(value); }, "Freeze Rotation - Y"); ImGui::SameLine();
SHEditorWidgets::CheckBox("Z", [component] {return component->GetFreezeRotationZ(); }, [component](bool const& value) {component->SetFreezeRotationZ(value); }, "Freeze Rotation - Z");
SHEditorWidgets::CheckBox("X", [component] {return component->GetFreezeRotationX(); }, [component](bool const& value) {component->SetFreezeRotationX(value); }, "Stops any rotation about the X-axis."); ImGui::SameLine();
SHEditorWidgets::CheckBox("Y", [component] {return component->GetFreezeRotationY(); }, [component](bool const& value) {component->SetFreezeRotationY(value); }, "Stops any rotation about the Y-axis."); ImGui::SameLine();
SHEditorWidgets::CheckBox("Z", [component] {return component->GetFreezeRotationZ(); }, [component](bool const& value) {component->SetFreezeRotationZ(value); }, "Stops any rotation about the Z-axis.");
ImGui::PopID();
SHEditorWidgets::EndPanel();
@ -288,9 +292,15 @@ namespace SHADE
//Debug Info (Read-Only)
if(ImGui::CollapsingHeader("Debug Information", ImGuiTreeNodeFlags_DefaultOpen))//Dynamic or Kinematic only fields
{
SHEditorWidgets::DragFloat("Mass", [component] { return component->GetMass(); }, [](float value){}, "Mass", 0.1f, 0.0f, std::numeric_limits<float>::infinity(), "%.3f", ImGuiSliderFlags_ReadOnly);
SHEditorWidgets::DragVec3("Position", { "X", "Y", "Z" }, [component] {return component->GetPosition(); }, [](SHVec3 const& value) {}, false, "Position", 0.1f, "%.3f", 0.0f, 0.0f, ImGuiSliderFlags_ReadOnly);
SHEditorWidgets::DragVec3("Rotation", { "X", "Y", "Z" }, [component] {return component->GetRotation(); }, [](SHVec3 const& value) {}, false, "Rotation", 0.1f, "%.3f", 0.0f, 0.0f, ImGuiSliderFlags_ReadOnly);
SHEditorWidgets::DragVec3("Rotation", { "X", "Y", "Z" }, [component]
{
// Convert it to degrees...
auto rot = component->GetRotation();
for (size_t i = 0; i < SHVec3::SIZE; ++i)
rot[i] = SHMath::RadiansToDegrees(rot[i]);
return rot;
}, [](SHVec3 const& value) {}, false, "Rotation", 0.1f, "%.3f", 0.0f, 0.0f, ImGuiSliderFlags_ReadOnly);
if (rbType == SHRigidBodyComponent::Type::DYNAMIC || rbType == SHRigidBodyComponent::Type::KINEMATIC) //Dynamic or Kinematic only fields
{
SHEditorWidgets::DragVec3("Velocity", { "X", "Y", "Z" }, [component] {return component->GetLinearVelocity(); }, [](SHVec3 const& value) {}, false, "Linear Velocity", 0.1f, "%.3f", 0.0f, 0.0f, ImGuiSliderFlags_ReadOnly);
@ -300,7 +310,7 @@ namespace SHADE
{
SHEditorWidgets::DragVec3("Force", { "X", "Y", "Z" }, [component] {return component->GetForce(); }, [](SHVec3 const& value) {}, false, "Force", 0.1f, "%.3f", 0.0f, 0.0f, ImGuiSliderFlags_ReadOnly);
SHEditorWidgets::DragVec3("Torque", { "X", "Y", "Z" }, [component] {return component->GetTorque(); }, [](SHVec3 const& value) {}, false, "Torque", 0.1f, "%.3f", 0.0f, 0.0f, ImGuiSliderFlags_ReadOnly);
SHEditorWidgets::CheckBox("Is Asleep", [component] {return component->GetIsSleeping(); }, [](bool value) {}, "If the Rigid Body is asleep");
SHEditorWidgets::CheckBox("Is Asleep", [component] {return component->IsSleeping(); }, [](bool value) {}, "If the Rigid Body is asleep");
}
}
@ -332,64 +342,67 @@ namespace SHADE
{
DrawContextMenu(component);
auto& colliders = component->GetCollisionShapes();
int const size = static_cast<int>(colliders.size());
ImGui::BeginChild("Collision Shapes", { 0.0f, colliders.empty() ? 1.0f : 250.0f }, true);
SHEditorWidgets::CheckBox("Draw Colliders", [component] { return component->GetDebugDrawState(); }, [component](bool value) { component->SetDebugDrawState(value); });
auto* collisionShapes = component->GetCollisionShapes();
int const size = collisionShapes ? static_cast<int>(collisionShapes->size()) : 0;
ImGui::BeginChild("Collision Shapes", { 0.0f, collisionShapes->empty() ? 1.0f : 250.0f }, true);
std::optional<int> colliderToDelete{ std::nullopt };
for (int i{}; i < size; ++i)
{
ImGui::PushID(i);
SHCollisionShape* collider = &component->GetCollisionShape(i);
SHCollisionShape* shape = component->GetCollisionShape(i);
auto cursorPos = ImGui::GetCursorPos();
if (collider->GetType() == SHCollisionShape::Type::BOX)
//collider->IsTrigger
if (shape->GetType() == SHCollisionShape::Type::BOX)
{
SHEditorWidgets::BeginPanel(std::format("{} Box #{}", ICON_FA_CUBE, i).data(), { ImGui::GetContentRegionAvail().x, ImGui::GetContentRegionAvail().y });
const auto* BOX = reinterpret_cast<const SHBox*>(collider->GetShape());
auto* box = reinterpret_cast<SHBox*>(shape);
SHEditorWidgets::DragVec3
(
"Half Extents", { "X", "Y", "Z" },
[BOX] { return BOX->GetRelativeExtents(); },
[collider](SHVec3 const& vec) { collider->SetBoundingBox(vec); });
[box] { return box->GetRelativeExtents(); },
[box](SHVec3 const& vec) { box->SetRelativeExtents(vec); });
}
else if (collider->GetType() == SHCollisionShape::Type::SPHERE)
else if (shape->GetType() == SHCollisionShape::Type::SPHERE)
{
SHEditorWidgets::BeginPanel(std::format("{} Sphere #{}", ICON_MD_CIRCLE, i).data(), { ImGui::GetContentRegionAvail().x, ImGui::GetContentRegionAvail().y });
const auto* SPHERE = reinterpret_cast<const SHSphere*>(collider->GetShape());
auto* sphere = reinterpret_cast<SHSphere*>(shape);
SHEditorWidgets::DragFloat
(
"Radius",
[SPHERE] { return SPHERE->GetRelativeRadius(); },
[collider](float const& value) { collider->SetBoundingSphere(value); });
[sphere] { return sphere->GetRelativeRadius(); },
[sphere](float const& value) { sphere->SetRelativeRadius(value); });
}
else if (collider->GetType() == SHCollisionShape::Type::CAPSULE)
else if (shape->GetType() == SHCollisionShape::Type::CAPSULE)
{
}
{
SHEditorWidgets::CheckBox("Is Trigger", [collider] { return collider->IsTrigger(); }, [collider](bool value) { collider->SetIsTrigger(value); });
SHEditorWidgets::ComboBox("Tag", collisionTagNames, [collider]{return SHCollisionTagMatrix::GetTagIndex(collider->GetCollisionTag().GetName());}, [collider](int const& value){collider->SetCollisionTag(SHCollisionTagMatrix::GetTag(value));});
SHEditorWidgets::CheckBox("Is Trigger", [shape] { return shape->IsTrigger(); }, [shape](bool value) { shape->SetIsTrigger(value); });
SHEditorWidgets::ComboBox("Tag", collisionTagNames, [shape]{return SHCollisionTagMatrix::GetTagIndex(shape->GetCollisionTag().GetName());}, [shape](int const& value){shape->SetCollisionTag(SHCollisionTagMatrix::GetTag(value));});
if(ImGui::CollapsingHeader("Physics Material"))
{
SHEditorWidgets::DragFloat("Friction", [collider] { return collider->GetFriction(); }, [collider](float value) { collider->SetFriction(value); }, "Friction", 0.05f, 0.0f, 1.0f);
SHEditorWidgets::DragFloat("Bounciness", [collider] { return collider->GetBounciness(); }, [collider](float value) { collider->SetBounciness(value); }, "Bounciness", 0.05f, 0.0f, 1.0f);
SHEditorWidgets::DragFloat("Mass Density", [collider] { return collider->GetDensity(); }, [collider](float value) { collider->SetDensity(value); }, "Mass Density", 0.1f, 0.0f);
SHEditorWidgets::DragFloat("Friction", [shape] { return shape->GetFriction(); }, [shape](float value) { shape->SetFriction(value); }, "Friction", 0.05f, 0.0f, 1.0f);
SHEditorWidgets::DragFloat("Bounciness", [shape] { return shape->GetBounciness(); }, [shape](float value) { shape->SetBounciness(value); }, "Bounciness", 0.05f, 0.0f, 1.0f);
SHEditorWidgets::DragFloat("Mass Density", [shape] { return shape->GetDensity(); }, [shape](float value) { shape->SetDensity(value); }, "Mass Density", 0.1f, 0.0f);
}
SHEditorWidgets::BeginPanel("Offsets",{ ImGui::GetContentRegionAvail().x, 30.0f });
SHEditorWidgets::DragVec3("Position", { "X", "Y", "Z" }, [&collider] {return collider->GetPositionOffset(); }, [&collider](SHVec3 const& vec) {collider->SetPositionOffset(vec); });
SHEditorWidgets::DragVec3("Position", { "X", "Y", "Z" }, [&shape] {return shape->GetPositionOffset(); }, [&shape](SHVec3 const& vec) {shape->SetPositionOffset(vec); });
SHEditorWidgets::DragVec3("Rotation", { "X", "Y", "Z" },
[&collider]
[&shape]
{
auto offset = collider->GetRotationOffset();
auto offset = shape->GetRotationOffset();
return offset;
},
[&collider](SHVec3 const& vec)
[&shape](SHVec3 const& vec)
{
collider->SetRotationOffset(vec);
shape->SetRotationOffset(vec);
}, true);
SHEditorWidgets::EndPanel();
}
@ -404,21 +417,24 @@ namespace SHADE
}
if (colliderToDelete.has_value())
{
component->RemoveCollider(colliderToDelete.value());
component->GetCollider()->RemoveCollisionShape(colliderToDelete.value());
}
ImGui::EndChild();
// TODO: Handle differences between composite & hull collider
if (ImGui::BeginMenu("Add Collider"))
{
int newColl = -1;
if (ImGui::Selectable("Box Collider"))
{
newColl = component->AddBoundingBox();
auto* compositeCollider = dynamic_cast<SHCompositeCollider* const>(component->GetCollider());
compositeCollider->AddBoxCollisionShape(SHVec3::One);
}
if (ImGui::Selectable("Sphere Collider"))
{
newColl = component->AddBoundingSphere();
auto* compositeCollider = dynamic_cast<SHCompositeCollider* const>(component->GetCollider());
compositeCollider->AddSphereCollisionShape(1.0f);
}
//No idea why this doesn't work

30
SHADE_Engine/src/Editor/EditorWindow/MenuBar/SHEditorMenuBar.cpp
View File

@ -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" };
@ -88,6 +89,7 @@ namespace SHADE
DrawThemeMenu();
DrawLayoutMenu();
DrawApplicationConfig();
DrawPhysicsSettings();
std::string const sceneName{std::format("Current Scene: {}",SHSceneManager::GetSceneName().data())};
auto const size = ImGui::CalcTextSize(sceneName.data());
@ -304,4 +306,32 @@ namespace SHADE
ImGui::EndMenu();
}
}
void SHEditorMenuBar::DrawPhysicsSettings() noexcept
{
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 drawRays = physicsDebugDraw->GetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::RAYCASTS);
if (ImGui::Checkbox("Draw Rays", &drawRays))
physicsDebugDraw->SetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::RAYCASTS, drawRays);
bool drawBroadphase = physicsDebugDraw->GetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::BROADPHASE);
if (ImGui::Checkbox("Draw Broadphase", &drawBroadphase))
physicsDebugDraw->SetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::BROADPHASE, drawBroadphase);
}
ImGui::EndMenu();
}
}
}//namespace SHADE

1
SHADE_Engine/src/Editor/EditorWindow/MenuBar/SHEditorMenuBar.h
View File

@ -25,6 +25,7 @@ namespace SHADE
void DrawThemeMenu() noexcept;
void DrawLayoutMenu() noexcept;
void DrawApplicationConfig() noexcept;
void DrawPhysicsSettings() noexcept;
float menuBarHeight = 20.0f;
std::vector<std::filesystem::path> layoutPaths;

2
SHADE_Engine/src/Events/SHEventDefines.h
View File

@ -24,4 +24,6 @@ constexpr SHEventIdentifier SH_SCENE_EXIT_PRE { 15 };
constexpr SHEventIdentifier SH_SCENE_EXIT_POST { 16 };
constexpr SHEventIdentifier SH_GRAPHICS_LIGHT_ENABLE_SHADOW_EVENT { 17 };
constexpr SHEventIdentifier SH_BUTTON_CLICK_EVENT { 18 };
constexpr SHEventIdentifier SH_PHYSICS_COLLIDER_DRAW_EVENT { 19 };

103
SHADE_Engine/src/Math/Geometry/SHBox.cpp → SHADE_Engine/src/Math/Geometry/SHAABB.cpp
View File

@ -1,5 +1,5 @@
/****************************************************************************************
* \file SHBox.cpp
* \file SHAABB.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a 3-Dimensional Axis Aligned Bounding Box
*
@ -11,7 +11,7 @@
#include <SHpch.h>
// Primary Header
#include "SHBox.h"
#include "SHAABB.h"
// Project Headers
#include "Math/SHMathHelpers.h"
#include "Math/SHRay.h"
@ -24,75 +24,52 @@ namespace SHADE
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
SHBox::SHBox() noexcept
: RelativeExtents { SHVec3::One }
SHAABB::SHAABB() noexcept
{
type = Type::BOX;
Extents = SHVec3::One * 0.5f;
}
SHBox::SHBox(const SHVec3& c, const SHVec3& hE) noexcept
: RelativeExtents { SHVec3::One }
SHAABB::SHAABB(const SHVec3& c, const SHVec3& hE) noexcept
{
type = Type::BOX;
Center = c;
Extents = hE;
}
SHBox::SHBox(const SHBox& rhs) noexcept
SHAABB::SHAABB(const SHAABB& rhs) noexcept
{
if (this == &rhs)
return;
type = Type::BOX;
Center = rhs.Center;
Extents = rhs.Extents;
RelativeExtents = rhs.RelativeExtents;
}
SHBox::SHBox(SHBox&& rhs) noexcept
SHAABB::SHAABB(SHAABB&& rhs) noexcept
{
type = Type::BOX;
Center = rhs.Center;
Extents = rhs.Extents;
RelativeExtents = rhs.RelativeExtents;
}
/*-----------------------------------------------------------------------------------*/
/* Operator Overload Definitions */
/*-----------------------------------------------------------------------------------*/
SHBox& SHBox::operator=(const SHBox& rhs) noexcept
SHAABB& SHAABB::operator=(const SHAABB& 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;
RelativeExtents = rhs.RelativeExtents;
}
return *this;
}
SHBox& SHBox::operator=(SHBox&& rhs) noexcept
{
if (rhs.type != Type::BOX)
{
SHLOG_WARNING("Cannot assign a non-bounding box to a bounding box!")
}
else
SHAABB& SHAABB::operator=(SHAABB&& rhs) noexcept
{
Center = rhs.Center;
Extents = rhs.Extents;
RelativeExtents = rhs.RelativeExtents;
}
return *this;
}
@ -101,27 +78,22 @@ namespace SHADE
/* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/
SHVec3 SHBox::GetCenter() const noexcept
SHVec3 SHAABB::GetCenter() const noexcept
{
return Center;
}
SHVec3 SHBox::GetWorldExtents() const noexcept
SHVec3 SHAABB::GetExtents() const noexcept
{
return Extents;
}
const SHVec3& SHBox::GetRelativeExtents() const noexcept
{
return RelativeExtents;
}
SHVec3 SHBox::GetMin() const noexcept
SHVec3 SHAABB::GetMin() const noexcept
{
return SHVec3{ Center.x - Extents.x, Center.y - Extents.y, Center.z - Extents.z };
}
SHVec3 SHBox::GetMax() const noexcept
SHVec3 SHAABB::GetMax() const noexcept
{
return SHVec3{ Center.x + Extents.x, Center.y + Extents.y, Center.z + Extents.z };
}
@ -130,22 +102,17 @@ namespace SHADE
/* Setter Function Definitions */
/*-----------------------------------------------------------------------------------*/
void SHBox::SetCenter(const SHVec3& newCenter) noexcept
void SHAABB::SetCenter(const SHVec3& newCenter) noexcept
{
Center = newCenter;
}
void SHBox::SetWorldExtents(const SHVec3& newWorldExtents) noexcept
void SHAABB::SetExtents(const SHVec3& newHalfExtents) noexcept
{
Extents = newWorldExtents;
Extents = newHalfExtents;
}
void SHBox::SetRelativeExtents(const SHVec3& newRelativeExtents) noexcept
{
RelativeExtents = newRelativeExtents;
}
void SHBox::SetMin(const SHVec3& min) noexcept
void SHAABB::SetMin(const SHVec3& min) noexcept
{
const SHVec3 MAX = GetMax();
@ -153,7 +120,7 @@ namespace SHADE
Extents = SHVec3::Abs((MAX - min) * 0.5f);
}
void SHBox::SetMax(const SHVec3& max) noexcept
void SHAABB::SetMax(const SHVec3& max) noexcept
{
const SHVec3 MIN = GetMin();
@ -161,13 +128,13 @@ namespace SHADE
Extents = SHVec3::Abs((max - MIN) * 0.5f);
}
void SHBox::SetMinMax(const SHVec3& min, const SHVec3& max) noexcept
void SHAABB::SetMinMax(const SHVec3& min, const SHVec3& max) noexcept
{
Center = SHVec3::Lerp(min, max, 0.5f);
Extents = SHVec3::Abs((max - min) * 0.5f);
}
std::vector<SHVec3> SHBox::GetVertices() const noexcept
std::vector<SHVec3> SHAABB::GetVertices() const noexcept
{
std::vector<SHVec3> vertices{ 8 };
GetCorners(vertices.data());
@ -178,12 +145,12 @@ namespace SHADE
/* Public Function Member Definitions */
/*-----------------------------------------------------------------------------------*/
bool SHBox::TestPoint(const SHVec3& point) const noexcept
bool SHAABB::TestPoint(const SHVec3& point) const noexcept
{
return BoundingBox::Contains(point);
}
SHRaycastResult SHBox::Raycast(const SHRay& ray) const noexcept
SHRaycastResult SHAABB::Raycast(const SHRay& ray) const noexcept
{
SHRaycastResult result;
@ -192,22 +159,24 @@ namespace SHADE
{
result.position = ray.position + ray.direction * result.distance;
result.angle = SHVec3::Angle(ray.position, result.position);
// TODO: Compute normal
}
return result;
}
bool SHBox::Contains(const SHBox& rhs) const noexcept
bool SHAABB::Contains(const SHAABB& rhs) const noexcept
{
return BoundingBox::Contains(rhs);
return BoundingBox::Contains(rhs) == CONTAINS;
}
float SHBox::Volume() const noexcept
float SHAABB::Volume() const noexcept
{
return 8.0f * (Extents.x * Extents.y * Extents.z);
}
float SHBox::SurfaceArea() const noexcept
float SHAABB::SurfaceArea() const noexcept
{
return 8.0f * ((Extents.x * Extents.y)
+ (Extents.x * Extents.z)
@ -218,21 +187,21 @@ namespace SHADE
/* Static Function Member Definitions */
/*-----------------------------------------------------------------------------------*/
SHBox SHBox::Combine(const SHBox& lhs, const SHBox& rhs) noexcept
SHAABB SHAABB::Combine(const SHAABB& lhs, const SHAABB& rhs) noexcept
{
SHBox result;
SHAABB result;
CreateMerged(result, lhs, rhs);
return result;
}
bool SHBox::Intersect(const SHBox& lhs, const SHBox& rhs) noexcept
bool SHAABB::Intersect(const SHAABB& lhs, const SHAABB& rhs) noexcept
{
return lhs.Intersects(rhs);
}
SHBox SHBox::BuildFromBoxes(const SHBox* boxes, size_t numBoxes) noexcept
SHAABB SHAABB::BuildFromBoxes(const SHAABB* boxes, size_t numBoxes) noexcept
{
SHBox result;
SHAABB result;
for (size_t i = 1; i < numBoxes; ++i)
CreateMerged(result, boxes[i - 1], boxes[i]);
@ -240,9 +209,9 @@ namespace SHADE
return result;
}
SHBox SHBox::BuildFromVertices(const SHVec3* vertices, size_t numVertices, size_t stride) noexcept
SHAABB SHAABB::BuildFromVertices(const SHVec3* vertices, size_t numVertices, size_t stride) noexcept
{
SHBox result;
SHAABB result;
CreateFromPoints(result, numVertices, vertices, stride);
return result;
}

173
SHADE_Engine/src/Math/Geometry/SHAABB.h Normal file
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@ -0,0 +1,173 @@
/****************************************************************************************
* \file SHAABB.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a 3-Dimensional Axis Aligned Bounding Box
*
* \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
#include <DirectXCollision.h>
// Project Headers
#include "Math/SHRay.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
/**
* @brief
* Encapsulates a 3D Axis-Aligned Bounding Box.
*/
class SH_API SHAABB : private DirectX::BoundingBox
{
public:
/*---------------------------------------------------------------------------------*/
/* Static Data Members */
/*---------------------------------------------------------------------------------*/
static constexpr size_t NUM_VERTICES = 8;
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
~SHAABB () noexcept = default;
SHAABB () noexcept;
SHAABB (const SHVec3& center, const SHVec3& halfExtents) noexcept;
SHAABB (const SHAABB& rhs) noexcept;
SHAABB (SHAABB&& rhs) noexcept;
/*---------------------------------------------------------------------------------*/
/* Operator Overloads */
/*---------------------------------------------------------------------------------*/
SHAABB& operator= (const SHAABB& rhs) noexcept;
SHAABB& operator= (SHAABB&& rhs) noexcept;
/*---------------------------------------------------------------------------------*/
/* Getter Functions */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] SHVec3 GetCenter () const noexcept;
[[nodiscard]] SHVec3 GetExtents () const noexcept;
[[nodiscard]] SHVec3 GetMin () const noexcept;
[[nodiscard]] SHVec3 GetMax () const noexcept;
[[nodiscard]] std::vector<SHVec3> GetVertices () const noexcept;
/*---------------------------------------------------------------------------------*/
/* Setter Functions */
/*---------------------------------------------------------------------------------*/
void SetCenter (const SHVec3& newCenter) noexcept;
void SetExtents (const SHVec3& newHalfExtents) noexcept;
void SetMin (const SHVec3& min) noexcept;
void SetMax (const SHVec3& max) noexcept;
void SetMinMax (const SHVec3& min, const SHVec3& max) noexcept;
/*---------------------------------------------------------------------------------*/
/* Member Functions */
/*---------------------------------------------------------------------------------*/
/**
* @brief
* Checks if a point is inside the aabb.
* @param point
* The point to check.
* @return
* True if the point is inside the aabb.
*/
[[nodiscard]] bool TestPoint (const SHVec3& point) const noexcept;
/**
* @brief
* Casts a ray against the aabb.
* @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;
/**
* @brief
* Checks if an entire other aabb is contained by this aabb.
* @param rhs
* The aabb to check.
* @return
* True if the other sphere is completely contained by this aabb.
*/
[[nodiscard]] bool Contains (const SHAABB& rhs) const noexcept;
/**
* @brief
* Calculates the volume of the aabb.
*/
[[nodiscard]] float Volume () const noexcept;
/**
* @brief
* Calculates the surface area of the aabb.
*/
[[nodiscard]] float SurfaceArea () const noexcept;
/*---------------------------------------------------------------------------------*/
/* Static Member Functions */
/*---------------------------------------------------------------------------------*/
/**
* @brief
* Combines two aabbs to form a larger aabb.
* If one aabb is completely contained by the other, the result is the larger aabb.
* @return
* The combined aabb.
*/
[[nodiscard]] static SHAABB Combine (const SHAABB& lhs, const SHAABB& rhs) noexcept;
/**
* @brief
* Checks if two aabbs are intersecting.
* @return
* True if they are intersecting.
*/
[[nodiscard]] static bool Intersect (const SHAABB& lhs, const SHAABB& rhs) noexcept;
/**
* @brief
* Builds a single aabb from multiple aabbs.
* @param spheres
* The set of aabbs to build from.
* @param numSpheres
* The number of aabbs in the set to build from.
* @return
* An aabb that contains all the spheres in the set.
*/
[[nodiscard]] static SHAABB BuildFromBoxes (const SHAABB* boxes, size_t numBoxes) noexcept;
/**
* @brief
* Builds a aabb from a set of vertices.
* @param vertices
* The vertices to build a aabb from.
* @param numVertices
* The number of vertices in the set to build from.
* @param stride
* The stride between each vertex, in the instance there is data in between each
* vertex that does not define the geometry of the object.
* @return
* An aabb that contains all the vertices in the set.
*/
[[nodiscard]] static SHAABB BuildFromVertices (const SHVec3* vertices, size_t numVertices, size_t stride = 0) noexcept;
};
} // namespace SHADE

105
SHADE_Engine/src/Math/Geometry/SHBox.h
View File

@ -1,105 +0,0 @@
/****************************************************************************************
* \file SHBox.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a 3-Dimensional Axis Aligned Bounding Box
*
* \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
#include <DirectXCollision.h>
// Project Headers
#include "SHShape.h"
#include "SH_API.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
class SH_API SHBox : public SHShape,
private DirectX::BoundingBox
{
public:
/*---------------------------------------------------------------------------------*/
/* Static Data Members */
/*---------------------------------------------------------------------------------*/
static constexpr size_t NUM_VERTICES = 8;
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
~SHBox () override = default;
SHBox () noexcept;
SHBox (const SHVec3& center, const SHVec3& halfExtents) noexcept;
SHBox (const SHBox& rhs) noexcept;
SHBox (SHBox&& rhs) noexcept;
/*---------------------------------------------------------------------------------*/
/* Operator Overloads */
/*---------------------------------------------------------------------------------*/
SHBox& operator= (const SHBox& rhs) noexcept;
SHBox& operator= (SHBox&& rhs) noexcept;
/*---------------------------------------------------------------------------------*/
/* Getter Functions */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] SHVec3 GetCenter () const noexcept;
[[nodiscard]] SHVec3 GetWorldExtents () const noexcept;
[[nodiscard]] const SHVec3& GetRelativeExtents () const noexcept;
[[nodiscard]] SHVec3 GetMin () const noexcept;
[[nodiscard]] SHVec3 GetMax () const noexcept;
[[nodiscard]] std::vector<SHVec3> GetVertices () const noexcept;
/*---------------------------------------------------------------------------------*/
/* Setter Functions */
/*---------------------------------------------------------------------------------*/
void SetCenter (const SHVec3& newCenter) noexcept;
void SetWorldExtents (const SHVec3& newWorldExtents) noexcept;
void SetRelativeExtents (const SHVec3& newRelativeExtents) noexcept;
void SetMin (const SHVec3& min) noexcept;
void SetMax (const SHVec3& max) noexcept;
void SetMinMax (const SHVec3& min, const SHVec3& max) noexcept;
/*---------------------------------------------------------------------------------*/
/* Function Members */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] bool TestPoint (const SHVec3& point) const noexcept override;
[[nodiscard]] SHRaycastResult Raycast(const SHRay& ray) const noexcept override;
[[nodiscard]] bool Contains (const SHBox& rhs) const noexcept;
[[nodiscard]] float Volume () const noexcept;
[[nodiscard]] float SurfaceArea () const noexcept;
/*---------------------------------------------------------------------------------*/
/* Static Function Members */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] static SHBox Combine (const SHBox& lhs, const SHBox& rhs) noexcept;
[[nodiscard]] static bool Intersect (const SHBox& lhs, const SHBox& rhs) noexcept;
[[nodiscard]] static SHBox BuildFromBoxes (const SHBox* boxes, size_t numBoxes) noexcept;
[[nodiscard]] static SHBox BuildFromVertices (const SHVec3* vertices, size_t numVertices, size_t stride = 0) noexcept;
private:
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
SHVec3 RelativeExtents;
};
} // namespace SHADE

141
SHADE_Engine/src/Math/Geometry/SHPlane.cpp Normal file
View File

@ -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
View File

@ -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 "Math/SHRay.h"
#include "Math/Vector/SHVec4.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
/**
* @brief
* Encapsulates a 3D plane in point-normal form.
*/
class SH_API SHPlane
{
public:
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
~SHPlane () noexcept = 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;
/**
* @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;
/**
* @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

208
SHADE_Engine/src/Math/Geometry/SHSphere.cpp
View File

@ -1,208 +0,0 @@
/****************************************************************************************
* \file SHBoundingSphere.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a Bounding Sphere
*
* \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 "SHSphere.h"
// Project Headers
#include "Math/SHMathHelpers.h"
#include "Math/SHRay.h"
using namespace DirectX;
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
SHSphere::SHSphere() noexcept
: RelativeRadius { 1.0f }
{
type = Type::SPHERE;
}
SHSphere::SHSphere(const SHVec3& center, float radius) noexcept
: RelativeRadius { 1.0f }
{
type = Type::SPHERE;
Center = center;
Radius = radius;
}
SHSphere::SHSphere(const SHSphere& rhs) noexcept
{
if (this == &rhs)
return;
type = Type::SPHERE;
Center = rhs.Center;
Radius = rhs.Radius;
RelativeRadius = rhs.RelativeRadius;
}
SHSphere::SHSphere(SHSphere&& rhs) noexcept
{
type = Type::SPHERE;
Center = rhs.Center;
Radius = rhs.Radius;
RelativeRadius = rhs.RelativeRadius;
}
/*-----------------------------------------------------------------------------------*/
/* Operator Overload Definitions */
/*-----------------------------------------------------------------------------------*/
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)
{
Center = rhs.Center;
Radius = rhs.Radius;
RelativeRadius = rhs.RelativeRadius;
}
return *this;
}
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;
RelativeRadius = rhs.RelativeRadius;
}
return *this;
}
/*-----------------------------------------------------------------------------------*/
/* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/
SHVec3 SHSphere::GetCenter() const noexcept
{
return Center;
}
float SHSphere::GetWorldRadius() const noexcept
{
return Radius;
}
float SHSphere::GetRelativeRadius() const noexcept
{
return RelativeRadius;
}
/*-----------------------------------------------------------------------------------*/
/* Setter Function Definitions */
/*-----------------------------------------------------------------------------------*/
void SHSphere::SetCenter(const SHVec3& center) noexcept
{
Center = center;
}
void SHSphere::SetWorldRadius(float newWorldRadius) noexcept
{
Radius = newWorldRadius;
}
void SHSphere::SetRelativeRadius(float newRelativeRadius) noexcept
{
RelativeRadius = newRelativeRadius;
}
/*-----------------------------------------------------------------------------------*/
/* Public Function Member Definitions */
/*-----------------------------------------------------------------------------------*/
bool SHSphere::TestPoint(const SHVec3& point) const noexcept
{
return BoundingSphere::Contains(point);
}
SHRaycastResult SHSphere::Raycast(const SHRay& ray) const noexcept
{
SHRaycastResult result;
result.hit = Intersects(ray.position, ray.direction, result.distance);
if (result.hit)
{
result.position = ray.position + ray.direction * result.distance;
result.angle = SHVec3::Angle(ray.position, result.position);
}
return result;
}
bool SHSphere::Contains(const SHSphere& rhs) const noexcept
{
return BoundingSphere::Contains(rhs);
}
float SHSphere::Volume() const noexcept
{
return (4.0f / 3.0f) * SHMath::PI * (Radius * Radius * Radius);
}
float SHSphere::SurfaceArea() const noexcept
{
return 4.0f * SHMath::PI * (Radius * Radius);
}
/*-----------------------------------------------------------------------------------*/
/* Static Function Member Definitions */
/*-----------------------------------------------------------------------------------*/
SHSphere SHSphere::Combine(const SHSphere& lhs, const SHSphere& rhs) noexcept
{
SHSphere result;
CreateMerged(result, lhs, rhs);
return result;
}
bool SHSphere::Intersect(const SHSphere& lhs, const SHSphere& rhs) noexcept
{
return lhs.Intersects(rhs);
}
SHSphere SHSphere::BuildFromSpheres(const SHSphere* spheres, size_t numSpheres) noexcept
{
SHSphere result;
for (size_t i = 1; i < numSpheres; ++i)
CreateMerged(result, spheres[i - 1], spheres[i]);
return result;
}
SHSphere SHSphere::BuildFromVertices(const SHVec3* vertices, size_t numVertices, size_t stride) noexcept
{
SHSphere result;
CreateFromPoints(result, numVertices, vertices, stride);
return result;
}
} // namespace SHADE

8
SHADE_Engine/src/Math/SHColour.cpp
View File

@ -260,6 +260,8 @@ namespace SHADE
case 1: return y;
case 2: return z;
case 3: return w;
// This will never hit
default: return x;
}
}
@ -274,6 +276,8 @@ namespace SHADE
case 1: return y;
case 2: return z;
case 3: return w;
// This will never hit
default: return x;
}
}
@ -288,6 +292,8 @@ namespace SHADE
case 1: return y;
case 2: return z;
case 3: return w;
// This will never hit
default: return x;
}
}
@ -302,6 +308,8 @@ namespace SHADE
case 1: return y;
case 2: return z;
case 3: return w;
// This will never hit
default: return x;
}
}

4
SHADE_Engine/src/Math/SHMathHelpers.h
View File

@ -46,7 +46,7 @@ namespace SHADE
/*---------------------------------------------------------------------------------*/
/** Standard Epsilon value for comparing Single-Precision Floating-Point values. */
static constexpr float EPSILON = 0.001f;
static constexpr float EPSILON = 0.0001f;
/** Single-Precision Floating-Point value of infinity */
static constexpr float INF = std::numeric_limits<float>::infinity();
@ -55,6 +55,8 @@ namespace SHADE
static constexpr float HALF_PI = PI * 0.5f;
static constexpr float TWO_PI = 2.0f * PI;
static constexpr float EULER_CONSTANT = std::numbers::egamma_v<float>;
/*---------------------------------------------------------------------------------*/
/* Static Function Members */
/*---------------------------------------------------------------------------------*/

8
SHADE_Engine/src/Math/SHMatrix.cpp
View File

@ -34,6 +34,14 @@ namespace SHADE
0.0f, 0.0f, 0.0f, 1.0f
};
const SHMatrix SHMatrix::Zero
{
SHVec4::Zero
, SHVec4::Zero
, SHVec4::Zero
, SHVec4::Zero
};
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/

1
SHADE_Engine/src/Math/SHMatrix.h
View File

@ -45,6 +45,7 @@ namespace SHADE
static constexpr size_t NUM_COLS = 4U;
static const SHMatrix Identity;
static const SHMatrix Zero;
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */

24
SHADE_Engine/src/Math/SHQuaternion.cpp
View File

@ -40,18 +40,12 @@ namespace SHADE
: XMFLOAT4( vec4.x, vec4.y, vec4.z, vec4.w )
{}
SHQuaternion::SHQuaternion(float _x, float _y, float _z, float _w) noexcept
: XMFLOAT4( _x, _y, _z, _w )
SHQuaternion::SHQuaternion(const XMFLOAT4& xmfloat4) noexcept
: XMFLOAT4( xmfloat4 )
{}
SHQuaternion::SHQuaternion(const reactphysics3d::Vector3& rp3dEuler) noexcept
: XMFLOAT4( 0.0f, 0.0f, 0.0f, 1.0f )
{
XMStoreFloat4(this, XMQuaternionRotationRollPitchYawFromVector(SHVec3 { rp3dEuler }));
}
SHQuaternion::SHQuaternion(const reactphysics3d::Quaternion& rp3dQuat) noexcept
: XMFLOAT4( rp3dQuat.x, rp3dQuat.y, rp3dQuat.z, rp3dQuat.w )
SHQuaternion::SHQuaternion(float _x, float _y, float _z, float _w) noexcept
: XMFLOAT4( _x, _y, _z, _w )
{}
/*-----------------------------------------------------------------------------------*/
@ -141,16 +135,6 @@ namespace SHADE
return XMQuaternionNotEqual(*this, rhs);
}
SHQuaternion::operator reactphysics3d::Quaternion() const noexcept
{
return reactphysics3d::Quaternion{ x, y, z, w };
}
SHQuaternion::operator reactphysics3d::Vector3() const noexcept
{
return reactphysics3d::Vector3{ ToEuler() };
}
SHQuaternion::operator XMVECTOR() const noexcept
{
return XMLoadFloat4(this);

9
SHADE_Engine/src/Math/SHQuaternion.h
View File

@ -11,7 +11,6 @@
#pragma once
#include <DirectXMath.h>
#include <reactphysics3d/mathematics/Quaternion.h>
#include <string>
@ -50,13 +49,9 @@ namespace SHADE
SHQuaternion () noexcept;
SHQuaternion (const SHVec4& vec4) noexcept;
SHQuaternion (const XMFLOAT4& xmfloat4) noexcept;
SHQuaternion (float x, float y, float z, float w) noexcept;
// Conversion from other math types
SHQuaternion (const reactphysics3d::Vector3& rp3dEuler) noexcept;
SHQuaternion (const reactphysics3d::Quaternion& rp3dQuat) noexcept;
/*---------------------------------------------------------------------------------*/
/* Operator Overloads */
/*---------------------------------------------------------------------------------*/
@ -82,8 +77,6 @@ namespace SHADE
// Conversion to other math types used by SHADE
operator reactphysics3d::Quaternion () const noexcept;
operator reactphysics3d::Vector3 () const noexcept;
operator DirectX::XMVECTOR () const noexcept;
/*---------------------------------------------------------------------------------*/

12
SHADE_Engine/src/Math/SHRay.cpp
View File

@ -30,12 +30,6 @@ namespace SHADE
, direction { dir }
{}
SHRay::SHRay(const reactphysics3d::Ray rp3dRay) noexcept
: position { rp3dRay.point1 }
, direction { SHVec3::Normalise(rp3dRay.point2 - rp3dRay.point1) }
{}
/*-----------------------------------------------------------------------------------*/
/* Operator Overload Definitions */
/*-----------------------------------------------------------------------------------*/
@ -62,12 +56,6 @@ namespace SHADE
return XMVector3NotEqual(LHS_POS, RHS_POS) || XMVector3NotEqual(LHS_DIR, RHS_DIR);
}
SHRay::operator reactphysics3d::Ray() const noexcept
{
// We use 2km. Temp solution.
return reactphysics3d::Ray{ position, position + (direction * MAX_RAYCAST_DIST) };
}
SHRaycastResult::operator bool() const noexcept
{
return hit;

6
SHADE_Engine/src/Math/SHRay.h
View File

@ -10,10 +10,7 @@
#pragma once
#include <reactphysics3d/mathematics/Ray.h>
// Project Headers
#include "SH_API.h"
#include "Vector/SHVec3.h"
namespace SHADE
@ -40,7 +37,6 @@ namespace SHADE
SHRay () noexcept;
SHRay (const SHVec3& pos, const SHVec3& dir) noexcept;
SHRay (const reactphysics3d::Ray rp3dRay) noexcept;
SHRay (const SHRay&) noexcept = default;
SHRay (SHRay&& ) noexcept = default;
@ -55,8 +51,6 @@ namespace SHADE
[[nodiscard]] bool operator==(const SHRay& rhs) const noexcept;
[[nodiscard]] bool operator!=(const SHRay& rhs) const noexcept;
operator reactphysics3d::Ray() const noexcept;
};
struct SH_API SHRaycastResult

2
SHADE_Engine/src/Math/Transform/SHTransformSystem.cpp
View File

@ -246,8 +246,6 @@ namespace SHADE
tf.world.position = SHVec3::Transform(tf.local.position, localToWorld);
tf.world.scale = tf.local.scale * (parent ? parent->GetLocalScale() : SHVec3::One);
if (convertRotation)
{
tf.worldRotation = tf.localRotation + (parent ? parent->GetLocalRotation() : SHVec3::Zero);

17
SHADE_Engine/src/Math/Vector/SHVec2.cpp
View File

@ -50,10 +50,6 @@ namespace SHADE
: XMFLOAT2( _x, _y )
{}
SHVec2::SHVec2(const reactphysics3d::Vector2& rp3dVec2) noexcept
: XMFLOAT2( rp3dVec2.x, rp3dVec2.y )
{}
/*-----------------------------------------------------------------------------------*/
/* Operator Overload Definitions */
/*-----------------------------------------------------------------------------------*/
@ -165,6 +161,8 @@ namespace SHADE
{
case 0: return x;
case 1: return y;
// This will never hit
default: return x;
}
}
@ -177,6 +175,8 @@ namespace SHADE
{
case 0: return x;
case 1: return y;
// This will never hit
default: return x;
}
}
@ -189,6 +189,8 @@ namespace SHADE
{
case 0: return x;
case 1: return y;
// This will never hit
default: return x;
}
}
@ -201,14 +203,11 @@ namespace SHADE
{
case 0: return x;
case 1: return y;
// This will never hit
default: return x;
}
}
SHVec2::operator reactphysics3d::Vector2() const noexcept
{
return reactphysics3d::Vector2{ x, y };
}
SHVec2 operator* (float lhs, const SHVec2& rhs) noexcept
{
SHVec2 result;

6
SHADE_Engine/src/Math/Vector/SHVec2.h
View File

@ -11,7 +11,6 @@
#pragma once
#include <DirectXMath.h>
#include <reactphysics3d/mathematics/Vector2.h>
#include <string>
#include <initializer_list>
@ -59,10 +58,6 @@ namespace SHADE
SHVec2 (float n) noexcept;
SHVec2 (float x, float y) noexcept;
// Conversion from other math types to SHADE
SHVec2 (const reactphysics3d::Vector2& rp3dVec2) noexcept;
/*---------------------------------------------------------------------------------*/
/* Operator Overloads */
/*---------------------------------------------------------------------------------*/
@ -73,7 +68,6 @@ namespace SHADE
// Conversion to other math types used by SHADE
operator DirectX::XMVECTOR () const noexcept;
operator reactphysics3d::Vector2 () const noexcept;
SHVec2& operator+= (const SHVec2& rhs) noexcept;
SHVec2& operator-= (const SHVec2& rhs) noexcept;

50
SHADE_Engine/src/Math/Vector/SHVec3.cpp
View File

@ -57,14 +57,6 @@ namespace SHADE
: XMFLOAT3( _x, _y, _z )
{}
SHVec3::SHVec3(const reactphysics3d::Vector3& rp3dVec3) noexcept
: XMFLOAT3( rp3dVec3.x, rp3dVec3.y, rp3dVec3.z )
{}
SHVec3::SHVec3(const reactphysics3d::Quaternion& rp3dVec3) noexcept
: XMFLOAT3( SHQuaternion{rp3dVec3}.ToEuler() )
{}
/*-----------------------------------------------------------------------------------*/
/* Operator Overload Definitions */
/*-----------------------------------------------------------------------------------*/
@ -179,6 +171,8 @@ namespace SHADE
case 0: return x;
case 1: return y;
case 2: return z;
// This will never hit
default: return x;
}
}
@ -192,6 +186,8 @@ namespace SHADE
case 0: return x;
case 1: return y;
case 2: return z;
// This will never hit
default: return x;
}
}
@ -205,6 +201,8 @@ namespace SHADE
case 0: return x;
case 1: return y;
case 2: return z;
// This will never hit
default: return x;
}
}
@ -218,19 +216,11 @@ namespace SHADE
case 0: return x;
case 1: return y;
case 2: return z;
// This will never hit
default: return x;
}
}
SHVec3::operator reactphysics3d::Vector3() const noexcept
{
return reactphysics3d::Vector3{ x, y , z };
}
SHVec3::operator reactphysics3d::Quaternion() const noexcept
{
return reactphysics3d::Quaternion::fromEulerAngles(x, y, z);
}
SHVec3 operator* (float lhs, const SHVec3& rhs) noexcept
{
SHVec3 result;
@ -382,6 +372,30 @@ namespace SHADE
return lhs.Cross(rhs);
}
SHMatrix SHVec3::OuterProduct(const SHVec3& lhs, const SHVec3& rhs) noexcept
{
/*
* Outer product is a matrix multiplication u * vT
* 3x1 * 1x3 = 3x3
*
* | u1 | | v1 v2 v3 | | u1v1 u1v2 u1v3 |
* | u2 | = | u2v1 u2v2 u2v3 |
* | u3 | | u3v1 u3v2 u3v3 |
*/
SHMatrix u = SHMatrix::Zero;
SHMatrix vT = SHMatrix::Zero;
for (int i = 0; i < SIZE; ++i)
{
u.m[0][i] = lhs[i];
vT.m[i][0] = rhs[i];
}
return u * vT;
}
SHVec3 SHVec3::Project(const SHVec3& v, const SHVec3& u) noexcept
{
SHVec3 result;

8
SHADE_Engine/src/Math/Vector/SHVec3.h
View File

@ -11,8 +11,6 @@
#pragma once
#include <DirectXMath.h>
#include <reactphysics3d/mathematics/Vector3.h>
#include <reactphysics3d/mathematics/Quaternion.h>
#include <string>
#include <initializer_list>
@ -69,9 +67,6 @@ namespace SHADE
// Conversion from other math types to SHADE
SHVec3 (const reactphysics3d::Vector3& rp3dVec3) noexcept;
SHVec3 (const reactphysics3d::Quaternion& rp3dVec3) noexcept;
/*---------------------------------------------------------------------------------*/
/* Operator Overloads */
/*---------------------------------------------------------------------------------*/
@ -81,8 +76,6 @@ namespace SHADE
// Conversion to other math types used by SHADE
operator reactphysics3d::Vector3 () const noexcept;
operator reactphysics3d::Quaternion () const noexcept;
operator DirectX::XMVECTOR () const noexcept;
SHVec3& operator+= (const SHVec3& rhs) noexcept;
@ -135,6 +128,7 @@ namespace SHADE
[[nodiscard]] static float Angle (const SHVec3& lhs, const SHVec3& rhs) noexcept;
[[nodiscard]] static float Dot (const SHVec3& lhs, const SHVec3& rhs) noexcept;
[[nodiscard]] static SHVec3 Cross (const SHVec3& lhs, const SHVec3& rhs) noexcept;
[[nodiscard]] static SHMatrix OuterProduct (const SHVec3& lhs, const SHVec3& rhs) noexcept;
[[nodiscard]] static SHVec3 Project (const SHVec3& v, const SHVec3& u) noexcept;
[[nodiscard]] static SHVec3 Reflect (const SHVec3& v, const SHVec3& normal) noexcept;
[[nodiscard]] static SHVec3 Rotate (const SHVec3& v, const SHVec3& axis, float angleInRad) noexcept;

8
SHADE_Engine/src/Math/Vector/SHVec4.cpp
View File

@ -164,6 +164,8 @@ namespace SHADE
case 1: return y;
case 2: return z;
case 3: return w;
// This will never hit
default: return x;
}
}
@ -178,6 +180,8 @@ namespace SHADE
case 1: return y;
case 2: return z;
case 3: return w;
// This will never hit
default: return x;
}
}
@ -192,6 +196,8 @@ namespace SHADE
case 1: return y;
case 2: return z;
case 3: return w;
// This will never hit
default: return x;
}
}
@ -206,6 +212,8 @@ namespace SHADE
case 1: return y;
case 2: return z;
case 3: return w;
// This will never hit
default: return x;
}
}

644
SHADE_Engine/src/Physics/Collision/Broadphase/SHDynamicAABBTree.cpp Normal file
View File

@ -0,0 +1,644 @@
/****************************************************************************************
* \file SHDynamicAABBTree.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a Dynamic AABB Tree for broadphase collision detection.
*
* \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 <stack>
// Primary Header
#include "SHDynamicAABBTree.h"
// Project Headers
#include "Math/SHMathHelpers.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
SHAABBTree::SHAABBTree() noexcept
: root { NULL_NODE }
, nodes { nullptr }
, nodeCount { 0 }
, capacity { 1024 }
, freeList { NULL_NODE }
{
// Build initial tree
nodes = new Node[1024];
addToFreeList(0);
}
SHAABBTree::~SHAABBTree() noexcept
{
delete[] nodes;
}
SHAABBTree::Node::Node() noexcept
: id { MAX_EID, std::numeric_limits<uint32_t>::max() }
, parent { NULL_NODE }
, left { NULL_NODE }
, right { NULL_NODE }
, height { NULL_NODE }
{}
SHAABBTree::Node::Node(const Node& rhs) noexcept
: AABB { rhs.AABB }
, id { rhs.id }
, next { rhs.next }
, left { rhs.left }
, right { rhs.right }
, height { rhs.height }
{}
SHAABBTree::Node::Node(Node&& rhs) noexcept
: AABB { rhs.AABB }
, id { rhs.id }
, next { rhs.next }
, left { rhs.left }
, right { rhs.right }
, height { rhs.height }
{}
/*-----------------------------------------------------------------------------------*/
/* Operator Overload Definitions */
/*-----------------------------------------------------------------------------------*/
SHAABBTree::Node& SHAABBTree::Node::operator=(const Node& rhs) noexcept
{
if (this == &rhs)
return *this;
AABB = rhs.AABB;
id = rhs.id;
parent = rhs.parent;
next = rhs.next;
left = rhs.left;
right = rhs.right;
height = rhs.height;
return *this;
}
SHAABBTree::Node& SHAABBTree::Node::operator=(Node&& rhs) noexcept
{
AABB = std::move(rhs.AABB);
id = std::move(rhs.id);
parent = rhs.parent;
next = rhs.next;
left = rhs.left;
right = rhs.right;
height = rhs.height;
return *this;
}
/*-----------------------------------------------------------------------------------*/
/* Getter Functions Definitions */
/*-----------------------------------------------------------------------------------*/
const std::vector<SHAABB>& SHAABBTree::GetAABBs() const noexcept
{
static AABBs aabbs;
static std::stack<int32_t> nodeIndices;
aabbs.clear();
nodeIndices.push(root);
while (!nodeIndices.empty())
{
// Pop the top node
const int INDEX = nodeIndices.top();
nodeIndices.pop();
// Skip null nodes
if (INDEX == NULL_NODE)
continue;
const Node& CURRENT_NODE = nodes[INDEX];
aabbs.emplace_back(CURRENT_NODE.AABB);
if (!isLeaf(INDEX))
{
nodeIndices.push(CURRENT_NODE.left);
nodeIndices.push(CURRENT_NODE.right);
}
}
return aabbs;
}
/*-----------------------------------------------------------------------------------*/
/* Public Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
void SHAABBTree::Insert(SHCollisionShapeID id, const SHAABB& AABB)
{
const int32_t NEW_INDEX = allocateNode();
if (!nodeMap.emplace(id, NEW_INDEX).second)
{
// Attempted to add a duplicate node
freeNode(NEW_INDEX);
return;
}
Node& newNode = nodes[NEW_INDEX];
newNode.AABB = AABB;
newNode.id = id;
newNode.height = 0;
// Fatten the AABB
const SHVec3 EXTENSION{ AABB_EXTENSION };
const SHVec3 newMin = newNode.AABB.GetMin() - EXTENSION;
const SHVec3 newMax = newNode.AABB.GetMax() + EXTENSION;
newNode.AABB.SetMin(newMin);
newNode.AABB.SetMax(newMax);
insertLeaf(NEW_INDEX);
}
void SHAABBTree::Update(SHCollisionShapeID id, const SHAABB& AABB)
{
// Get node index
const int32_t INDEX_TO_UPDATE = nodeMap[id];
Node& nodeToUpdate = nodes[INDEX_TO_UPDATE];
// If new AABB has not moved enough, skip.
if (nodeToUpdate.AABB.Contains(AABB))
return;
removeLeaf(INDEX_TO_UPDATE);
nodeToUpdate.AABB = AABB;
// Fatten the AABB
const SHVec3 EXTENSION{ AABB_EXTENSION };
const SHVec3 newMin = nodeToUpdate.AABB.GetMin() - EXTENSION;
const SHVec3 newMax = nodeToUpdate.AABB.GetMax() + EXTENSION;
nodeToUpdate.AABB.SetMin(newMin);
nodeToUpdate.AABB.SetMax(newMax);
insertLeaf(INDEX_TO_UPDATE);
}
void SHAABBTree::Remove(SHCollisionShapeID id) noexcept
{
// Get node index
const int32_t INDEX_TO_REMOVE = nodeMap[id];
removeLeaf(INDEX_TO_REMOVE);
freeNode(INDEX_TO_REMOVE);
nodeMap.erase(id);
}
const std::vector<SHCollisionShapeID>& SHAABBTree::Query(SHCollisionShapeID id, const SHAABB& AABB) const noexcept
{
static std::vector<SHCollisionShapeID> potentialCollisions;
static std::stack<int32_t> nodeIndices;
potentialCollisions.clear();
// We use this to ignore shapes on the same entity
const EntityID EID = id.GetEntityID();
nodeIndices.push(root);
while (!nodeIndices.empty())
{
const int32_t INDEX = nodeIndices.top();
nodeIndices.pop();
if (INDEX == NULL_NODE)
continue;
const Node& NODE = nodes[INDEX];
if (!SHAABB::Intersect(AABB, NODE.AABB))
continue;
// Avoid checking against shapes of the same composite collider (and itself)
if (isLeaf(INDEX) && NODE.id.GetEntityID() != EID)
{
potentialCollisions.emplace_back(NODE.id);
}
else
{
nodeIndices.push(NODE.left);
nodeIndices.push(NODE.right);
}
}
return potentialCollisions;
}
const std::vector<SHCollisionShapeID>& SHAABBTree::Query(const SHRay& ray, float distance) const noexcept
{
static std::vector<SHCollisionShapeID> potentialHits;
static std::stack<int32_t> nodeIndices;
potentialHits.clear();
nodeIndices.push(root);
while (!nodeIndices.empty())
{
const int32_t INDEX = nodeIndices.top();
nodeIndices.pop();
if (INDEX == NULL_NODE)
continue;
const Node& NODE = nodes[INDEX];
const auto& RESULT = NODE.AABB.Raycast(ray);
if (!RESULT || RESULT.distance > distance)
continue;
if (isLeaf(INDEX))
{
potentialHits.emplace_back(NODE.id);
}
else
{
// Non-leaf nodes need to be traversed further
nodeIndices.push(NODE.left);
nodeIndices.push(NODE.right);
}
}
return potentialHits;
}
/*-----------------------------------------------------------------------------------*/
/* Private Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
bool SHAABBTree::isLeaf(int32_t index) const noexcept
{
const Node& NODE = nodes[index];
return NODE.left == NULL_NODE && NODE.right == NULL_NODE;
}
int32_t SHAABBTree::allocateNode()
{
if (freeList == NULL_NODE)
{
// No more free nodes available, so we need to resize the tree for more nodes
capacity *= 2;
Node* newNodes = new Node[capacity];
// Copy all the nodes manually. I do this instead of memcpy to guarantee it copies properly.
for (int32_t i = 0; i < nodeCount; ++i)
{
newNodes[i].AABB = nodes[i].AABB;
newNodes[i].id = nodes[i].id;
newNodes[i].parent = nodes[i].parent;
newNodes[i].left = nodes[i].left;
newNodes[i].right = nodes[i].right;
newNodes[i].height = nodes[i].height;
}
delete[] nodes;
nodes = newNodes;
addToFreeList(nodeCount);
}
const int32_t FREE_NODE = freeList;
freeList = nodes[FREE_NODE].next;
// Set node to default
Node& newNode = nodes[FREE_NODE];
newNode.parent = NULL_NODE;
newNode.left = NULL_NODE;
newNode.right = NULL_NODE;
newNode.height = NULL_NODE;
++nodeCount;
return FREE_NODE;
}
void SHAABBTree::freeNode(int32_t index) noexcept
{
SHASSERT(index >= 0 && index < capacity, "Trying to free an invalid AABB Tree node!")
nodes[index].next = freeList;
nodes[index].height = NULL_NODE;
// Put it back on the free list
freeList = index;
--nodeCount;
}
void SHAABBTree::insertLeaf(int32_t index)
{
// If there is no root, the first insert must make the root
if (root == NULL_NODE)
{
root = index;
nodes[root].parent = NULL_NODE;
return;
}
// Find best sibling for new leaf
// Utilise Surface Area Heuristic
const SHAABB& LEAF_AABB = nodes[index].AABB;
uint32_t searchIndex = root;
while (!isLeaf(searchIndex))
{
const SHAABB COMBINED_AABB = SHAABB::Combine(LEAF_AABB, nodes[searchIndex].AABB);
const float COMBINED_AREA = COMBINED_AABB.SurfaceArea();
const float INHERITED_COST = 2.0f * (COMBINED_AREA - nodes[searchIndex].AABB.SurfaceArea());
const int32_t LEFT_INDEX = nodes[searchIndex].left;
const int32_t RIGHT_INDEX = nodes[searchIndex].right;
float leftCost = 0.0f;
float rightCost = 0.0f;
const float LEFT_COMBINED_AREA = SHAABB::Combine(LEAF_AABB, nodes[LEFT_INDEX].AABB).SurfaceArea();
const float RIGHT_COMBINED_AREA = SHAABB::Combine(LEAF_AABB, nodes[RIGHT_INDEX].AABB).SurfaceArea();
// Compute cost for descending into the left
if (isLeaf(LEFT_INDEX))
leftCost = LEFT_COMBINED_AREA + INHERITED_COST;
else
leftCost = LEFT_COMBINED_AREA - nodes[LEFT_INDEX].AABB.SurfaceArea() + INHERITED_COST;
// Compute cost for descending into the right
if (isLeaf(RIGHT_INDEX))
rightCost = RIGHT_COMBINED_AREA + INHERITED_COST;
else
rightCost = RIGHT_COMBINED_AREA - nodes[RIGHT_INDEX].AABB.SurfaceArea() + INHERITED_COST;
// Early out
const float BRANCH_COST = 2.0f * COMBINED_AREA;
if (BRANCH_COST < leftCost && BRANCH_COST < rightCost)
break;
// Traverse
searchIndex = leftCost < rightCost ? LEFT_INDEX : RIGHT_INDEX;
}
const int32_t BEST_SIBLING = searchIndex;
// Create a new parent for the leaf
const int32_t OLD_PARENT = nodes[BEST_SIBLING].parent;
const int32_t NEW_PARENT = allocateNode();
Node& newParent = nodes[NEW_PARENT];
newParent.parent = OLD_PARENT;
newParent.id = SHCollisionShapeID{ MAX_EID, std::numeric_limits<uint32_t>::max() };
newParent.AABB = SHAABB::Combine(LEAF_AABB, nodes[BEST_SIBLING].AABB);
newParent.height = nodes[BEST_SIBLING].height + 1;
newParent.left = BEST_SIBLING;
newParent.right = index;
nodes[BEST_SIBLING].parent = NEW_PARENT;
nodes[index].parent = NEW_PARENT;
// If sibling was the root
if (OLD_PARENT == NULL_NODE)
root = NEW_PARENT;
else
(nodes[OLD_PARENT].left == BEST_SIBLING ? nodes[OLD_PARENT].left : nodes[OLD_PARENT].right) = NEW_PARENT;
syncHierarchy(NEW_PARENT);
}
void SHAABBTree::removeLeaf(int32_t index)
{
if (index == root)
{
root = NULL_NODE;
return;
}
const int32_t PARENT = nodes[index].parent;
if (PARENT == NULL_NODE)
{
freeNode(index);
return;
}
const int32_t GRANDPARENT = nodes[PARENT].parent;
const int32_t SIBLING = nodes[PARENT].left == index ? nodes[PARENT].right : nodes[PARENT].left;
if (GRANDPARENT != NULL_NODE)
{
// Replace parent with sibling
(nodes[GRANDPARENT].left == PARENT ? nodes[GRANDPARENT].left : nodes[GRANDPARENT].right) = SIBLING;
nodes[SIBLING].parent = GRANDPARENT;
}
else
{
// Parent was root
root = SIBLING;
nodes[SIBLING].parent = NULL_NODE;
}
freeNode(PARENT);
syncHierarchy(GRANDPARENT);
}
void SHAABBTree::syncHierarchy(int32_t index)
{
while (index != NULL_NODE)
{
index = balance(index);
const int32_t LEFT_INDEX = nodes[index].left;
const Node& LEFT_NODE = nodes[LEFT_INDEX];
const int32_t RIGHT_INDEX = nodes[index].right;
const Node& RIGHT_NODE = nodes[RIGHT_INDEX];
nodes[index].height = 1 + SHMath::Max(LEFT_NODE.height, RIGHT_NODE.height);
nodes[index].AABB = SHAABB::Combine(LEFT_NODE.AABB, RIGHT_NODE.AABB);
// Sync up to the root
index = nodes[index].parent;
}
}
int32_t SHAABBTree::balance(int32_t index)
{
if (isLeaf(index) || nodes[index].height == 1)
return index;
Node& nodeA = nodes[index];
const int32_t LEFT = nodeA.left;
const int32_t RIGHT = nodeA.right;
const int32_t DIFF = nodes[RIGHT].height - nodes[LEFT].height;
if (DIFF > 1)
return rotateLeft(index);
if (DIFF < -1)
return rotateRight(index);
return index;
}
int32_t SHAABBTree::rotateLeft(int32_t index)
{
/****************************
A C
/ \ / \
B C --> A F/G
/ \ / \
F G B G/F
****************************/
// Promote C
Node& nodeA = nodes[index];
const int32_t B = nodeA.left;
const int32_t C = nodeA.right;
Node& nodeB = nodes[B];
Node& nodeC = nodes[C];
const int32_t F = nodeC.left;
const int32_t G = nodeC.right;
Node& nodeF = nodes[F];
Node& nodeG = nodes[G];
if (nodeA.parent != NULL_NODE)
(nodes[nodeA.parent].left == index ? nodes[nodeA.parent].left : nodes[nodeA.parent].right) = C;
else
root = C;
nodeC.left = index;
nodeC.parent = nodeA.parent;
nodeA.parent = C;
if (nodeF.height > nodeG.height)
{
nodeC.right = F;
nodeA.right = G;
nodeG.parent = index;
nodeA.AABB = SHAABB::Combine(nodeB.AABB, nodeG.AABB);
nodeC.AABB = SHAABB::Combine(nodeA.AABB, nodeF.AABB);
nodeA.height = 1 + SHMath::Max(nodeB.height, nodeG.height);
nodeC.height = 1 + SHMath::Max(nodeA.height, nodeF.height);
}
else
{
nodeC.right = G;
nodeA.right = F;
nodeF.parent = index;
nodeA.AABB = SHAABB::Combine(nodeB.AABB, nodeF.AABB);
nodeC.AABB = SHAABB::Combine(nodeA.AABB, nodeG.AABB);
nodeA.height = 1 + SHMath::Max(nodeB.height, nodeF.height);
nodeC.height = 1 + SHMath::Max(nodeA.height, nodeG.height);
}
return C;
}
int32_t SHAABBTree::rotateRight(int32_t index)
{
/*************************
A B
/ \ / \
B C --> D/E A
/ \ / \
D E E/D C
*************************/
// Promote B
Node& nodeA = nodes[index];
const int32_t B = nodeA.left;
const int32_t C = nodeA.right;
Node& nodeB = nodes[B];
Node& nodeC = nodes[C];
const int32_t D = nodeB.left;
const int32_t E = nodeB.right;
Node& nodeD = nodes[D];
Node& nodeE = nodes[E];
if (nodeA.parent != NULL_NODE)
(nodes[nodeA.parent].left == index ? nodes[nodeA.parent].left : nodes[nodeA.parent].right) = B;
else
root = B;
nodeB.right = index;
nodeB.parent = nodeA.parent;
nodeA.parent = B;
if (nodeD.height > nodeE.height)
{
nodeB.left = D;
nodeA.left = E;
nodeE.parent = index;
nodeA.AABB = SHAABB::Combine(nodeC.AABB, nodeE.AABB);
nodeB.AABB = SHAABB::Combine(nodeA.AABB, nodeD.AABB);
nodeA.height = 1 + SHMath::Max(nodeC.height, nodeE.height);
nodeB.height = 1 + SHMath::Max(nodeA.height, nodeD.height);
}
else
{
nodeB.left = E;
nodeA.left = D;
nodeD.parent = index;
nodeA.AABB = SHAABB::Combine(nodeC.AABB, nodeD.AABB);
nodeB.AABB = SHAABB::Combine(nodeA.AABB, nodeE.AABB);
nodeA.height = 1 + SHMath::Max(nodeC.height, nodeD.height);
nodeB.height = 1 + SHMath::Max(nodeA.height, nodeE.height);
}
return B;
}
void SHAABBTree::addToFreeList(int32_t index) noexcept
{
for (int32_t i = index; i < capacity; ++i)
{
nodes[i].next = i + 1;
nodes[i].height = NULL_NODE;
}
nodes[capacity - 1].next = NULL_NODE;
nodes[capacity - 1].height = NULL_NODE;
freeList = index;
}
} // namespace SHADE

156
SHADE_Engine/src/Physics/Collision/Broadphase/SHDynamicAABBTree.h Normal file
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@ -0,0 +1,156 @@
/****************************************************************************************
* \file SHDynamicAABBTree.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a Dynamic AABB Tree for broadphase collision detection.
*
* \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
#include <unordered_map>
// Project Headers
#include "Physics/Collision/Shapes/SHCollisionShape.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
/**
* @brief
* Encapsulates a dynamic AABB Tree for collision detection.
*/
class SH_API SHAABBTree
{
public:
/*---------------------------------------------------------------------------------*/
/* Type Definitions */
/*---------------------------------------------------------------------------------*/
using AABBs = std::vector<SHAABB>;
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
static constexpr int NULL_NODE = -1;
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
SHAABBTree () noexcept;
~SHAABBTree () noexcept;
SHAABBTree(const SHAABBTree& other) = delete;
SHAABBTree(SHAABBTree&& other) noexcept = delete;
/*---------------------------------------------------------------------------------*/
/* Operator Overloads */
/*---------------------------------------------------------------------------------*/
SHAABBTree& operator=(const SHAABBTree& other) = delete;
SHAABBTree& operator=(SHAABBTree&& other) noexcept = delete;
/*---------------------------------------------------------------------------------*/
/* Getter Functions */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] const AABBs& GetAABBs () const noexcept;
/*---------------------------------------------------------------------------------*/
/* Member Functions */
/*---------------------------------------------------------------------------------*/
void Insert (SHCollisionShapeID id, const SHAABB& AABB);
void Update (SHCollisionShapeID id, const SHAABB& AABB);
void Remove (SHCollisionShapeID id) noexcept;
[[nodiscard]] const std::vector<SHCollisionShapeID>& Query(SHCollisionShapeID id, const SHAABB& AABB) const noexcept;
[[nodiscard]] const std::vector<SHCollisionShapeID>& Query(const SHRay& ray, float distance) const noexcept;
private:
/*---------------------------------------------------------------------------------*/
/* Type Definitions */
/*---------------------------------------------------------------------------------*/
struct Node
{
public:
/*-------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*-------------------------------------------------------------------------------*/
Node () noexcept;
Node (const Node& rhs) noexcept;
Node (Node&& rhs) noexcept;
~Node () noexcept = default;
/*-------------------------------------------------------------------------------*/
/* Operator Overloads */
/*-------------------------------------------------------------------------------*/
Node& operator=(const Node& rhs) noexcept;
Node& operator=(Node&& rhs) noexcept;
/*-------------------------------------------------------------------------------*/
/* Data Members */
/*-------------------------------------------------------------------------------*/
SHAABB AABB;
SHCollisionShapeID id; // Used to lookup the collision shape & entity for culling against itself
union
{
int32_t parent;
int32_t next;
};
int32_t left;
int32_t right;
int32_t height; // Leaves have a height of 0. Free nodes have a height of -1
};
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
static constexpr float AABB_EXTENSION = 0.2f;
// For quick access
std::unordered_map<SHCollisionShapeID, int32_t, SHCollisionShapeIDHash> nodeMap;
int32_t root;
Node* nodes; // Dynamically allocated array of nodes. I use dynamic allocation as in the past, using a vector causes weird issues.
int32_t nodeCount;
int32_t capacity; // Used for resizing the tree.
int32_t freeList; // Stores the next available node on the free list.
/*---------------------------------------------------------------------------------*/
/* Member Functions */
/*---------------------------------------------------------------------------------*/
bool isLeaf (int32_t index) const noexcept;
int32_t allocateNode ();
void freeNode (int32_t index) noexcept;
void insertLeaf (int32_t index);
void removeLeaf (int32_t index);
void syncHierarchy (int32_t index);
int32_t balance (int32_t index);
int32_t rotateLeft (int32_t index);
int32_t rotateRight (int32_t index);
void addToFreeList (int32_t index) noexcept;
};
}

35
SHADE_Engine/src/Physics/Collision/SHCollisionTagMatrix.cpp → SHADE_Engine/src/Physics/Collision/CollisionTags/SHCollisionTagMatrix.cpp
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@ -14,6 +14,9 @@
// Primary Header
#include "SHCollisionTagMatrix.h"
// Project Headers
#include "Tools/Utilities/SHUtilities.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
@ -145,8 +148,9 @@ namespace SHADE
/**
* I HATE FILE IO
*
* Each line in the file should be "index<space>tag name".
* If the line fails to follow this format, use the default tag name (index + 1)
* Each line in the file should be "index<space>tag name<space>mask".
* If the line fails to follow this format, use the default tag name (index + 1) and default mask.
* If no mask was read, use a default mask.
*/
// Populate tag names with default
@ -187,18 +191,40 @@ namespace SHADE
{
SHLOG_ERROR
(
"Collision tag file line {} does not match the required format of 'index<space>tag name'. Default tag used for index {}"
"Collision tag file line {} does not match the required format of 'index<space>tag name<space>mask'. Default tag used for index {}"
, linesRead + 1
, tagIndex
)
// Use default
collisionTags[tagIndex].SetName(std::to_string(tagIndex + 1));
collisionTags[tagIndex].SetMask(SHUtilities::ConvertEnum(SHCollisionTag::Layer::ALL));
continue;
}
collisionTags[tagIndex].SetName(tagName);
// Next element is the mask value
std::string maskString;
ss >> maskString;
uint16_t mask = std::numeric_limits<uint16_t>::max();
if (maskString.empty())
{
SHLOG_ERROR
(
"Collision tag file line {} does not match the required format of 'index<space>tag name<space>mask'. Default mask used for index {}"
, linesRead + 1
, tagIndex
)
}
else
{
mask = static_cast<uint16_t>(std::stoi(maskString));
}
collisionTags[tagIndex].SetMask(mask);
ss.clear();
}
@ -215,8 +241,9 @@ namespace SHADE
return;
}
// Index Name Mask
for (int i = 0; i < SHCollisionTag::NUM_LAYERS; ++i)
collisionTagNamesFile << i << " " << collisionTags[i].GetName() << std::endl;
collisionTagNamesFile << i << " " << collisionTags[i].GetName() << " " << collisionTags[i].GetMask() << std::endl;
collisionTagNamesFile.close();
}

0
SHADE_Engine/src/Physics/Collision/SHCollisionTagMatrix.h → SHADE_Engine/src/Physics/Collision/CollisionTags/SHCollisionTagMatrix.h
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0
SHADE_Engine/src/Physics/Collision/SHCollisionTags.cpp → SHADE_Engine/src/Physics/Collision/CollisionTags/SHCollisionTags.cpp
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0
SHADE_Engine/src/Physics/Collision/SHCollisionTags.h → SHADE_Engine/src/Physics/Collision/CollisionTags/SHCollisionTags.h
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60
SHADE_Engine/src/Physics/Collision/Contacts/SHCollisionEvents.h Normal file
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@ -0,0 +1,60 @@
/****************************************************************************************
* \file SHCollisionKey.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for Collision Information for Collision & Triggers.
*
* \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 "SHCollisionKey.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
enum class SHCollisionState
{
ENTER
, STAY
, EXIT
, TOTAL
, INVALID = -1
};
/**
* @brief
* Encapsulates the event for an intersection between two collision shapes that do not
* have physical resolution.
*/
struct SH_API SHTriggerEvent
{
public:
SHCollisionKey info;
SHCollisionState state = SHCollisionState::INVALID;
};
/**
* @brief
* Encapsulates the event for an intersection between two collision shapes that do
* have physical resolution.
*/
struct SH_API SHCollisionEvent
{
public:
static constexpr int MAX_NUM_CONTACTS = 4;
SHCollisionKey info;
SHCollisionState state = SHCollisionState::INVALID;
SHVec3 normal;
SHVec3 contactPoints[MAX_NUM_CONTACTS];
};
} // namespace SHADE

166
SHADE_Engine/src/Physics/Collision/Contacts/SHCollisionKey.cpp Normal file
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@ -0,0 +1,166 @@
/****************************************************************************************
* \file SHCollisionInfo.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for Collision Info.
*
* \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 "SHCollisionKey.h"
// Project Headers
#include "Physics/Collision/SHCollider.h"
#include "Physics/Interface/SHColliderComponent.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
SHCollisionKey::SHCollisionKey() noexcept
{
ids[ENTITY_A] = MAX_EID;
ids[ENTITY_B] = MAX_EID;
ids[SHAPE_INDEX_A] = std::numeric_limits<uint32_t>::max();
ids[SHAPE_INDEX_B] = std::numeric_limits<uint32_t>::max();
}
SHCollisionKey::SHCollisionKey(const SHCollisionKey& rhs) noexcept
{
value[0] = rhs.value[0];
value[1] = rhs.value[1];
}
SHCollisionKey::SHCollisionKey(SHCollisionKey&& rhs) noexcept
{
value[0] = rhs.value[0];
value[1] = rhs.value[1];
}
/*-----------------------------------------------------------------------------------*/
/* Operator Overload Definitions */
/*-----------------------------------------------------------------------------------*/
SHCollisionKey& SHCollisionKey::operator=(const SHCollisionKey& rhs) noexcept
{
if (this == &rhs)
return *this;
value[0] = rhs.value[0];
value[1] = rhs.value[1];
return *this;
}
SHCollisionKey& SHCollisionKey::operator=(SHCollisionKey&& rhs) noexcept
{
value[0] = rhs.value[0];
value[1] = rhs.value[1];
return *this;
}
bool SHCollisionKey::operator==(const SHCollisionKey& rhs) const
{
// When checking for equal, check both ways.
// Exact Match (A, idxA, B, idxB)
const bool EXACT_MATCH = value[0] == rhs.value[0] && value[1] == rhs.value[1];
// Flipped Match: (B, idxB, A, idxA)
const bool FLIPPED_MATCH = value[0] == rhs.value[1] && value[1] == rhs.value[0];
return EXACT_MATCH || FLIPPED_MATCH;
}
/*-----------------------------------------------------------------------------------*/
/* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/
EntityID SHCollisionKey::GetEntityA() const noexcept
{
return ids[ENTITY_A];
}
EntityID SHCollisionKey::GetEntityB() const noexcept
{
return ids[ENTITY_B];
}
uint32_t SHCollisionKey::GetShapeIndexA() const noexcept
{
return ids[SHAPE_INDEX_A];
}
uint32_t SHCollisionKey::GetShapeIndexB() const noexcept
{
return ids[SHAPE_INDEX_B];
}
const SHRigidBodyComponent* SHCollisionKey::GetRigidBodyA() const noexcept
{
return SHComponentManager::GetComponent_s<SHRigidBodyComponent>(ids[ENTITY_A]);
}
const SHRigidBodyComponent* SHCollisionKey::GetRigidBodyB() const noexcept
{
return SHComponentManager::GetComponent_s<SHRigidBodyComponent>(ids[ENTITY_B]);
}
const SHCollisionShape* SHCollisionKey::GetCollisionShapeA() const noexcept
{
const auto* COLLIDER_COMPONENT = SHComponentManager::GetComponent<SHColliderComponent>(ids[ENTITY_A]);
return COLLIDER_COMPONENT->GetCollider()->GetCollisionShape(ids[SHAPE_INDEX_A]);
}
const SHCollisionShape* SHCollisionKey::GetCollisionShapeB() const noexcept
{
const auto* COLLIDER_COMPONENT = SHComponentManager::GetComponent<SHColliderComponent>(ids[ENTITY_B]);
return COLLIDER_COMPONENT->GetCollider()->GetCollisionShape(ids[SHAPE_INDEX_B]);
}
/*-----------------------------------------------------------------------------------*/
/* Setter Function Definitions */
/*-----------------------------------------------------------------------------------*/
void SHCollisionKey::SetEntityA(EntityID entityID) noexcept
{
ids[ENTITY_A] = entityID;
}
void SHCollisionKey::SetEntityB(EntityID entityID) noexcept
{
ids[ENTITY_B] = entityID;
}
void SHCollisionKey::SetCollisionShapeA(uint32_t shapeIndexA) noexcept
{
ids[SHAPE_INDEX_A] = shapeIndexA;
}
void SHCollisionKey::SetCollisionShapeB(uint32_t shapeIndexB) noexcept
{
ids[SHAPE_INDEX_B] = shapeIndexB;
}
/*-----------------------------------------------------------------------------------*/
/* Public Function Member Definitions */
/*-----------------------------------------------------------------------------------*/
std::size_t SHCollisionKeyHash::operator()(const SHCollisionKey& id) const
{
static constexpr int NUM_IDS = ARRAYSIZE(id.ids);
// Hashable is not a word. Sue me.
auto hashablePtr = reinterpret_cast<std::basic_string_view<char32_t>::const_pointer>(id.ids);
return std::hash<std::u32string_view>{}(std::u32string_view(hashablePtr, NUM_IDS));
}
} // namespace SHADE

120
SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.h → SHADE_Engine/src/Physics/Collision/Contacts/SHCollisionKey.h
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@ -1,7 +1,7 @@
/****************************************************************************************
* \file SHPhysicsObject.h
* \file SHCollisionID.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a Physics Object.
* \brief Interface for Collision Information for Collision & Triggers.
*
* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
* disclosure of this file or its contents without the prior written consent
@ -10,102 +10,108 @@
#pragma once
#include <reactphysics3d/reactphysics3d.h>
// Project Headers
#include "Math/Transform/SHTransformComponent.h"
#include "Physics/Interface/SHRigidBodyComponent.h"
#include "Physics/Interface/SHColliderComponent.h"
#include "Physics/Interface/SHRigidBodyComponent.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Forward Declarations */
/*-----------------------------------------------------------------------------------*/
struct SHCollisionKeyHash;
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
class SH_API SHPhysicsObject
/**
* @brief
* Encapsulates the information when two collision shapes intersect.
*/
class SH_API SHCollisionKey
{
private:
/*---------------------------------------------------------------------------------*/
/* Friends */
/*---------------------------------------------------------------------------------*/
friend class SHPhysicsSystem;
friend class SHPhysicsObjectManager;
friend struct SHCollisionKeyHash;
public:
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
SHPhysicsObject (EntityID eid, rp3d::PhysicsCommon* physicsFactory, rp3d::PhysicsWorld* physicsWorld) noexcept;
SHPhysicsObject (const SHPhysicsObject& rhs) noexcept = default;
SHPhysicsObject (SHPhysicsObject&& rhs) noexcept = default;
virtual ~SHPhysicsObject () noexcept;
SHCollisionKey () noexcept;
SHCollisionKey (const SHCollisionKey& rhs) noexcept;
SHCollisionKey (SHCollisionKey&& rhs) noexcept;
~SHCollisionKey () noexcept = default;
/*---------------------------------------------------------------------------------*/
/* Operator Overloads */
/*---------------------------------------------------------------------------------*/
SHPhysicsObject& operator=(const SHPhysicsObject& rhs) noexcept = default;
SHPhysicsObject& operator=(SHPhysicsObject&& rhs) noexcept = default;
SHCollisionKey& operator= (const SHCollisionKey& rhs) noexcept;
SHCollisionKey& operator= (SHCollisionKey&& rhs) noexcept;
bool operator==(const SHCollisionKey& rhs) const;
/*---------------------------------------------------------------------------------*/
/* Getter Functions */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] SHVec3 GetPosition () const noexcept;
[[nodiscard]] SHQuaternion GetOrientation () const noexcept;
[[nodiscard]] SHVec3 GetRotation () const noexcept;
[[nodiscard]] rp3d::CollisionBody* GetCollisionBody () const noexcept;
[[nodiscard]] rp3d::RigidBody* GetRigidBody () const noexcept;
[[nodiscard]] EntityID GetEntityA () const noexcept;
[[nodiscard]] EntityID GetEntityB () const noexcept;
[[nodiscard]] uint32_t GetShapeIndexA () const noexcept;
[[nodiscard]] uint32_t GetShapeIndexB () const noexcept;
[[nodiscard]] const SHRigidBodyComponent* GetRigidBodyA () const noexcept;
[[nodiscard]] const SHRigidBodyComponent* GetRigidBodyB () const noexcept;
[[nodiscard]] const SHCollisionShape* GetCollisionShapeA () const noexcept;
[[nodiscard]] const SHCollisionShape* GetCollisionShapeB () const noexcept;
/*---------------------------------------------------------------------------------*/
/* Setter Functions */
/*---------------------------------------------------------------------------------*/
void SetStaticBody () const noexcept;
/*---------------------------------------------------------------------------------*/
/* Function Members */
/*---------------------------------------------------------------------------------*/
int AddCollisionShape (int index);
void RemoveCollisionShape (int index);
void RemoveAllCollisionShapes () const noexcept;
void SyncRigidBody (SHRigidBodyComponent& component) const noexcept;
void SyncColliders (SHColliderComponent& component) const noexcept;
void SetEntityA (EntityID entityID) noexcept;
void SetEntityB (EntityID entityID) noexcept;
void SetCollisionShapeA (uint32_t shapeIndexA) noexcept;
void SetCollisionShapeB (uint32_t shapeIndexB) noexcept;
private:
static constexpr uint32_t ENTITY_A = 0;
static constexpr uint32_t SHAPE_INDEX_A = 1;
static constexpr uint32_t ENTITY_B = 2;
static constexpr uint32_t SHAPE_INDEX_B = 3;
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
EntityID entityID;
bool collidersActive; // Only used to sync with SHADE components
rp3d::PhysicsCommon* factory;
rp3d::PhysicsWorld* world;
rp3d::RigidBody* rp3dBody;
rp3d::Transform prevTransform; // Cached transform for interpolation
/*---------------------------------------------------------------------------------*/
/* Function Members */
/*---------------------------------------------------------------------------------*/
void syncColliderProperties (const SHCollisionShape& collisionShape, rp3d::Collider* rp3dCollider) const noexcept;
// Box Shapes
void addBoxShape (const SHCollisionShape& boxShape) const noexcept;
void syncBoxShape (int index, const SHCollisionShape& boxShape) const noexcept;
// Sphere Shapes
void addSphereShape (const SHCollisionShape& sphereShape) const noexcept;
void syncSphereShape (int index, const SHCollisionShape& sphereShape) const noexcept;
union
{
uint64_t value[2]; // EntityValue, ShapeIndexValue
uint32_t ids [4]; // EntityA, EntityB, ShapeIndexA, ShapeIndexB
};
};
/**
* @brief
* Encapsulates a functor to hash a CollisionKey
*/
struct SHCollisionKeyHash
{
public:
/*---------------------------------------------------------------------------------*/
/* Member Functions */
/*---------------------------------------------------------------------------------*/
std::size_t operator()(const SHCollisionKey& id) const;
};
} // namespace SHADE

72
SHADE_Engine/src/Physics/Collision/Contacts/SHContact.h Normal file
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@ -0,0 +1,72 @@
/****************************************************************************************
* \file SHManifold.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a Collision Manifold
*
* \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
// Primary Header
#include "Physics/Dynamics/SHRigidBody.h"
#include "Physics/Collision/Shapes/SHCollisionShape.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
/**
* @brief
* Encapsulates a value that represents the touching features of a contact.
*/
union SHContactFeatures
{
public:
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
struct
{
uint8_t inI; // Incoming Incident Edge
uint8_t outI; // Outgoing Incident Edge
uint8_t inR; // Incoming Reference Edge
uint8_t outR; // Outgoing Reference Edge
};
uint32_t key = std::numeric_limits<uint32_t>::max();
};
/**
* @brief
* Encapsulates a physical collision contact.
*/
struct SH_API SHContact
{
public:
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
static constexpr int NUM_TANGENTS = 2;
float penetration = 0.0f;
float bias = 0.0f; // Restitution + Baumguarte factor
float normalImpulse = 0.0f; // Accumulated normal impulse
float normalMass = 0.0f; // Effective mass along the normal
float tangentImpulse[NUM_TANGENTS] = { 0.0f }; // Accumulated tangent impulses
float tangentMass[NUM_TANGENTS] = { 0.0f }; // Effective masses along the tangents
SHVec3 position;
SHVec3 rA; // Vector from COM of A to the contact
SHVec3 rB; // Vector from COM of B to the contact
SHContactFeatures featurePair;
};
}
#pragma once

73
SHADE_Engine/src/Physics/Collision/Contacts/SHManifold.h Normal file
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@ -0,0 +1,73 @@
/****************************************************************************************
* \file SHManifold.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a Collision Manifold
*
* \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
// Primary Header
#include "Physics/Dynamics/SHRigidBody.h"
#include "Physics/Collision/Narrowphase/SHSATInfo.h"
#include "Physics/Collision/Shapes/SHCollisionShape.h"
#include "SHContact.h"
#include "SHCollisionEvents.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
struct SH_API SHManifold
{
public:
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
SHManifold (SHCollisionShape* a, SHCollisionShape* b) noexcept;
SHManifold (const SHManifold& rhs) noexcept;
SHManifold (SHManifold&& rhs) noexcept;
~SHManifold () noexcept = default;
/*---------------------------------------------------------------------------------*/
/* Operator Overloads */
/*---------------------------------------------------------------------------------*/
SHManifold& operator=(const SHManifold& rhs) noexcept;
SHManifold& operator=(SHManifold&& rhs) noexcept;
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
// We only need 4 contact points to build a stable manifold.
static constexpr int MAX_NUM_CONTACTS = 4;
SHCollisionShape* shapeA;
SHCollisionShape* shapeB;
SHRigidBody* bodyA = nullptr;
SHRigidBody* bodyB = nullptr;
uint32_t numContacts = 0;
SHCollisionState state = SHCollisionState::INVALID;
SHSATInfo cachedSATInfo;
SHVec3 normal;
SHVec3 tangents[SHContact::NUM_TANGENTS];
SHContact contacts[MAX_NUM_CONTACTS];
};
} // namespace SHADE
#include "SHManifold.hpp"

110
SHADE_Engine/src/Physics/Collision/Contacts/SHManifold.hpp Normal file
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@ -0,0 +1,110 @@
/****************************************************************************************
* \file SHManifold.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a Collision Manifold
*
* \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
// Primary Header
#include "SHManifold.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
inline SHManifold::SHManifold(SHCollisionShape* a, SHCollisionShape* b) noexcept
: shapeA { a }
, shapeB { b }
{
bodyA = shapeA->collider->rigidBody;
bodyB = shapeB->collider->rigidBody;
}
inline SHManifold::SHManifold(const SHManifold& rhs) noexcept
: shapeA { rhs.shapeA }
, shapeB { rhs.shapeB }
, bodyA { rhs.bodyA }
, bodyB { rhs.bodyB }
, numContacts { rhs.numContacts }
, state { rhs.state }
, cachedSATInfo { rhs.cachedSATInfo }
, normal { rhs.normal }
{
static constexpr size_t SIZE_OF_CONTACTS = sizeof(SHContact) * static_cast<size_t>(MAX_NUM_CONTACTS);
memcpy_s(contacts, SIZE_OF_CONTACTS, rhs.contacts, SIZE_OF_CONTACTS);
for (int i = 0; i < SHContact::NUM_TANGENTS; ++i)
tangents[i] = rhs.tangents[i];
}
inline SHManifold::SHManifold(SHManifold&& rhs) noexcept
: shapeA { rhs.shapeA }
, shapeB { rhs.shapeB }
, bodyA { rhs.bodyA }
, bodyB { rhs.bodyB }
, numContacts { rhs.numContacts }
, state { rhs.state }
, cachedSATInfo { rhs.cachedSATInfo }
, normal { rhs.normal }
{
static constexpr size_t SIZE_OF_CONTACTS = sizeof(SHContact) * static_cast<size_t>(MAX_NUM_CONTACTS);
memcpy_s(contacts, SIZE_OF_CONTACTS, rhs.contacts, SIZE_OF_CONTACTS);
for (int i = 0; i < SHContact::NUM_TANGENTS; ++i)
tangents[i] = rhs.tangents[i];
}
/*-----------------------------------------------------------------------------------*/
/* Operator Overload Definitions */
/*-----------------------------------------------------------------------------------*/
inline SHManifold& SHManifold::operator=(const SHManifold& rhs) noexcept
{
if (this == &rhs)
return *this;
shapeA = rhs.shapeA;
shapeB = rhs.shapeB;
bodyA = rhs.bodyA;
bodyB = rhs.bodyB;
numContacts = rhs.numContacts;
state = rhs.state;
cachedSATInfo = rhs.cachedSATInfo;
normal = rhs.normal;
static constexpr size_t SIZE_OF_CONTACTS = sizeof(SHContact) * static_cast<size_t>(MAX_NUM_CONTACTS);
memcpy_s(contacts, SIZE_OF_CONTACTS, rhs.contacts, SIZE_OF_CONTACTS);
for (int i = 0; i < SHContact::NUM_TANGENTS; ++i)
tangents[i] = rhs.tangents[i];
return *this;
}
inline SHManifold& SHManifold::operator=(SHManifold&& rhs) noexcept
{
shapeA = rhs.shapeA;
shapeB = rhs.shapeB;
bodyA = rhs.bodyA;
bodyB = rhs.bodyB;
numContacts = rhs.numContacts;
state = rhs.state;
cachedSATInfo = rhs.cachedSATInfo;
normal = rhs.normal;
static constexpr size_t SIZE_OF_CONTACTS = sizeof(SHContact) * static_cast<size_t>(MAX_NUM_CONTACTS);
memcpy_s(contacts, SIZE_OF_CONTACTS, rhs.contacts, SIZE_OF_CONTACTS);
for (int i = 0; i < SHContact::NUM_TANGENTS; ++i)
tangents[i] = rhs.tangents[i];
return *this;
}
} // namespace SHADE

28
SHADE_Engine/src/Math/Geometry/SHShape.cpp → SHADE_Engine/src/Physics/Collision/Narrowphase/SHCapsuleVsCapsule.cpp
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@ -1,7 +1,7 @@
/****************************************************************************************
* \file SHShape.cpp
* \file SHCapsuleVsCapsule.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a shape.
* \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
@ -11,25 +11,25 @@
#include <SHpch.h>
// Primary Header
#include "SHShape.h"
#include "SHCollision.h"
// Project Headers
#include "Math/SHMathHelpers.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/* Public Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
SHShape::SHShape()
: type { Type::NONE }
{}
/*-----------------------------------------------------------------------------------*/
/* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/
SHShape::Type SHShape::GetType() const noexcept
bool SHCollision::CapsuleVsCapsule(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
{
return type;
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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@ -0,0 +1,49 @@
/****************************************************************************************
* \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/Shapes/SHConvexPolyhedron.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

222
SHADE_Engine/src/Physics/Collision/Narrowphase/SHCollision.h Normal file
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@ -0,0 +1,222 @@
/****************************************************************************************
* \file SHCollision.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for the Detecting Collisions between two shapes
*
* \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 "Math/Geometry/SHPlane.h"
#include "Physics/Collision/Contacts/SHManifold.h"
#include "Physics/Collision/Contacts/SHCollisionKey.h"
#include "Physics/Collision/Shapes/SHHalfEdgeStructure.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
/**
* @brief
* Encapsulates static methods for testing for collision between two shapes.
*/
class SH_API SHCollision
{
public:
/*---------------------------------------------------------------------------------*/
/* Member Functions */
/*---------------------------------------------------------------------------------*/
/* Spheres VS X */
[[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:
/*---------------------------------------------------------------------------------*/
/* Type Definitions */
/*---------------------------------------------------------------------------------*/
struct FaceQuery
{
bool colliding = false; // Allows for early out
int32_t closestFace = -1;
float bestDistance = std::numeric_limits<float>::lowest();
};
struct EdgeQuery
{
int32_t halfEdgeA = -1;
int32_t halfEdgeB = -1;
int32_t axis = -1;
float bestDistance = std::numeric_limits<float>::lowest();
};
struct ClipVertex
{
SHVec3 position;
SHContactFeatures featurePair;
};
/*---------------------------------------------------------------------------------*/
/* Member Functions */
/*---------------------------------------------------------------------------------*/
// Sphere VS Convex
static FaceQuery findClosestFace
(
const SHSphere& sphere
, const SHConvexPolyhedron& polyhedron
) noexcept;
static int32_t findClosestPoint
(
const SHSphere& sphere
, const SHConvexPolyhedron& polyhedron
, int32_t faceIndex
) noexcept;
static int32_t findVoronoiRegion
(
const SHSphere& sphere
, const SHVec3& faceVertex
, const SHVec3& faceNormal
, const SHVec3& tangent1
, const SHVec3& tangent2
) noexcept;
// Capsule VS Convex
// TODO: Capsule VS Convex uses the same gauss map optimisation as convex vs convex
// Convex VS Convex
/*
* ! References
* https://ia801303.us.archive.org/30/items/GDC2013Gregorius/GDC2013-Gregorius.pdf
* https://github.com/RandyGaul/qu3e/blob/master/src/collision/q3Collide.cpp
*/
static FaceQuery queryFaceDirections
(
const SHConvexPolyhedron& A
, const SHConvexPolyhedron& B
) noexcept;
static EdgeQuery queryEdgeDirections
(
const SHConvexPolyhedron& A
, const SHConvexPolyhedron& B
) noexcept;
static bool buildMinkowskiFace
(
const SHConvexPolyhedron& A
, const SHConvexPolyhedron& B
, int32_t edgeA
, int32_t edgeB
) noexcept;
static bool isMinkowskiFace
(
const SHVec3& a
, const SHVec3& b
, const SHVec3& c
, const SHVec3& d
) noexcept;
static float distanceBetweenEdges
(
const SHConvexPolyhedron& A
, const SHConvexPolyhedron& B
, int32_t edgeA
, int32_t edgeB
) noexcept;
static SHVec3 findClosestPointBetweenEdges
(
const SHConvexPolyhedron& A
, const SHConvexPolyhedron& B
, int32_t edgeA
, int32_t edgeB
) noexcept;
static int32_t findIncidentFace
(
const SHConvexPolyhedron& poly
, const SHVec3& normal
) noexcept;
static bool findFaceContacts
(
SHManifold& manifold
, const SHConvexPolyhedron& incPoly
, int32_t incFace
, const SHConvexPolyhedron& refPoly
, int32_t refFace
, bool flip
) noexcept;
static std::vector<ClipVertex> clipPolygonWithPlane
(
const std::vector<ClipVertex>& in
, int32_t numIn
, const SHPlane& plane
, int32_t planeIdx
) noexcept;
static std::vector<int32_t> reduceContacts
(
const std::vector<SHContact>& in
, const SHVec3& faceNormal
) noexcept;
// Cached Convex VS Convex
static bool cachedConvexVSConvex
(
SHManifold& manifold
, const SHSATInfo& cachedInfo
, const SHConvexPolyhedron& A
, const SHConvexPolyhedron& B
) noexcept;
};
} // namespace SHADE

65
SHADE_Engine/src/Physics/Collision/Narrowphase/SHCollisionDispatch.cpp Normal file
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@ -0,0 +1,65 @@
/****************************************************************************************
* \file SHCollisionDispatch.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for the static Collision Dispatcher
*
* \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 "SHCollisionDispatch.h"
// Project Header
#include "SHCollision.h"
#include "Tools/Utilities/SHUtilities.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Static Data Member Definitions */
/*-----------------------------------------------------------------------------------*/
const SHCollisionDispatcher::ManifoldCollide SHCollisionDispatcher::manifoldCollide[NUM_SHAPES][NUM_SHAPES]
{
// <SHAPE> vs Sphere / Box / 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]
{
// <SHAPE> vs Sphere / Box / Capsule
{ SHCollision::SphereVsSphere, SHCollision::SphereVsConvex, SHCollision::SphereVsCapsule } // Sphere
, { SHCollision::ConvexVsSphere, SHCollision::ConvexVsConvex, SHCollision::ConvexVsCapsule } // Box
, { SHCollision::CapsuleVsSphere, SHCollision::CapsuleVsConvex, SHCollision::CapsuleVsCapsule } // Capsule
};
/*-----------------------------------------------------------------------------------*/
/* Public Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
bool SHCollisionDispatcher::Collide(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
{
const int TYPE_A = SHUtilities::ConvertEnum(A.GetType());
const int TYPE_B = SHUtilities::ConvertEnum(B.GetType());
return manifoldCollide[TYPE_A][TYPE_B](manifold, A, B);
}
bool SHCollisionDispatcher::Collide(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
{
const int TYPE_A = SHUtilities::ConvertEnum(A.GetType());
const int TYPE_B = SHUtilities::ConvertEnum(B.GetType());
return triggerCollide[TYPE_A][TYPE_B](A, B);
}
} // namespace SHADE

60
SHADE_Engine/src/Physics/SHPhysicsWorld.h → SHADE_Engine/src/Physics/Collision/Narrowphase/SHCollisionDispatch.h
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@ -1,7 +1,7 @@
/****************************************************************************************
* \file SHPhysicsWorld.h
* \file SHCollisionDispatch.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a Physics World.
* \brief Interface for the static Collision Dispatcher
*
* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
* disclosure of this file or its contents without the prior written consent
@ -10,11 +10,9 @@
#pragma once
#include <reactphysics3d/reactphysics3d.h>
// Project Headers
#include "Math/SHMath.h"
#include "SH_API.h"
#include "Physics/Collision/Contacts/SHManifold.h"
#include "Physics/Collision/Contacts/SHCollisionKey.h"
namespace SHADE
{
@ -22,52 +20,36 @@ namespace SHADE
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
struct SH_API SHPhysicsWorldState
/**
* @brief
* Encapsulates static methods for running narrow-phase collision detection.
*/
class SH_API SHCollisionDispatcher
{
public:
/*---------------------------------------------------------------------------------*/
/* Member Functions */
/*---------------------------------------------------------------------------------*/
static bool Collide (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
static bool Collide (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
private:
/*---------------------------------------------------------------------------------*/
/* Type Definitions */
/*---------------------------------------------------------------------------------*/
struct WorldSettings
{
public:
/*-------------------------------------------------------------------------------*/
/* Data Members */
/*-------------------------------------------------------------------------------*/
SHVec3 gravity = SHVec3{ 0.0f, -9.81f, 0.0f };
uint16_t numVelocitySolverIterations = 10;
uint16_t numPositionSolverIterations = 5;
bool sleepingEnabled = true;
};
using ManifoldCollide = bool(*)(SHManifold&, const SHCollisionShape& A, const SHCollisionShape& B);
using TriggerCollide = bool(*)(const SHCollisionShape& A, const SHCollisionShape& B);
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
rp3d::PhysicsWorld* world;
WorldSettings settings;
static constexpr int NUM_SHAPES = static_cast<int>(SHCollisionShape::Type::COUNT);
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
SHPhysicsWorldState() noexcept;
/*---------------------------------------------------------------------------------*/
/* Function Members */
/*---------------------------------------------------------------------------------*/
void CreateWorld (rp3d::PhysicsCommon& factory);
void DestroyWorld (rp3d::PhysicsCommon& factory);
/**
* @brief Applies the current settings to the physics world. The world must be created
* before this is called.
*/
void UpdateSettings () const noexcept;
static const ManifoldCollide manifoldCollide [NUM_SHAPES][NUM_SHAPES];
static const TriggerCollide triggerCollide [NUM_SHAPES][NUM_SHAPES];
};

822
SHADE_Engine/src/Physics/Collision/Narrowphase/SHConvexVsConvex.cpp Normal file
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@ -0,0 +1,822 @@
/****************************************************************************************
* \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"
#include "Math/Geometry/SHPlane.h"
#include "Physics/Collision/Shapes/SHConvexPolyhedron.h"
#include "Physics/SHPhysicsConstants.h"
#include "Tools/Utilities/SHUtilities.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Public Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
bool SHCollision::ConvexVsConvex(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
{
const SHConvexPolyhedron& POLY_A = dynamic_cast<const SHConvexPolyhedron&>(A);
const SHConvexPolyhedron& POLY_B = dynamic_cast<const SHConvexPolyhedron&>(B);
const FaceQuery FACE_QUERY_A = queryFaceDirections(POLY_A, POLY_B);
if (FACE_QUERY_A.bestDistance > 0.0f)
return false;
const FaceQuery FACE_QUERY_B = queryFaceDirections(POLY_B, POLY_A);
if (FACE_QUERY_B.bestDistance > 0.0f)
return false;
const EdgeQuery EDGE_QUERY = queryEdgeDirections(POLY_A, POLY_B);
if (EDGE_QUERY.bestDistance > 0.0f)
return false;
return true;
}
bool SHCollision::ConvexVsConvex(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
{
static constexpr float ABSOLUTE_TOLERANCE = 0.01f; // 0.0005
static constexpr float RELATIVE_TOLERANCE = 0.95f; // 1.0002
const SHConvexPolyhedron& POLY_A = dynamic_cast<const SHConvexPolyhedron&>(A);
const SHConvexPolyhedron& POLY_B = dynamic_cast<const SHConvexPolyhedron&>(B);
if (manifold.cachedSATInfo.type != SHSATInfo::Type::INVALID)
return cachedConvexVSConvex(manifold, manifold.cachedSATInfo, POLY_A, POLY_B);
SHSATInfo cachedInfo;
const FaceQuery FACE_QUERY_A = queryFaceDirections(POLY_A, POLY_B);
if (FACE_QUERY_A.bestDistance > 0.0f)
{
// cache the info
cachedInfo.type = SHSATInfo::Type::FACE;
cachedInfo.info.refPoly = SHSATInfo::ShapeID::A;
cachedInfo.info.refFace = FACE_QUERY_A.closestFace;
manifold.cachedSATInfo = cachedInfo;
return false;
}
const FaceQuery FACE_QUERY_B = queryFaceDirections(POLY_B, POLY_A);
if (FACE_QUERY_B.bestDistance > 0.0f)
{
// cache the info
cachedInfo.type = SHSATInfo::Type::FACE;
cachedInfo.info.refPoly = SHSATInfo::ShapeID::B;
cachedInfo.info.refFace = FACE_QUERY_B.closestFace;
manifold.cachedSATInfo = cachedInfo;
return false;
}
const EdgeQuery EDGE_QUERY = queryEdgeDirections(POLY_A, POLY_B);
if (EDGE_QUERY.bestDistance > 0.0f)
{
// cache the info
cachedInfo.type = SHSATInfo::Type::EDGE;
cachedInfo.info.edgeA = EDGE_QUERY.halfEdgeA;
cachedInfo.info.edgeB = EDGE_QUERY.halfEdgeB;
manifold.cachedSATInfo = cachedInfo;
return false;
}
// Apply weight to improve frame coherence of normal directions.
// We want a normal in the direction from A -> B, so we flip the normal if needed.
bool flipNormal = false;
const SHConvexPolyhedron* referencePoly = nullptr;
const SHConvexPolyhedron* incidentPoly = nullptr;
FaceQuery minFaceQuery;
if (FACE_QUERY_A.bestDistance + ABSOLUTE_TOLERANCE > FACE_QUERY_B.bestDistance * RELATIVE_TOLERANCE)
{
minFaceQuery = FACE_QUERY_A;
referencePoly = &POLY_A;
incidentPoly = &POLY_B;
flipNormal = false;
cachedInfo.type = SHSATInfo::Type::FACE;
cachedInfo.info.refPoly = SHSATInfo::ShapeID::A;
cachedInfo.info.refFace = minFaceQuery.closestFace;
}
else
{
minFaceQuery = FACE_QUERY_B;
referencePoly = &POLY_B;
incidentPoly = &POLY_A;
flipNormal = true;
cachedInfo.type = SHSATInfo::Type::FACE;
cachedInfo.info.refPoly = SHSATInfo::ShapeID::B;
cachedInfo.info.refFace = minFaceQuery.closestFace;
}
// If an edge pair contains the closest distance,vwe ignore any face queries and find the closest points on
// each edge and use that as the contact point.
if (EDGE_QUERY.bestDistance * RELATIVE_TOLERANCE > minFaceQuery.bestDistance + ABSOLUTE_TOLERANCE)
{
const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_A = POLY_A.GetHalfEdge(EDGE_QUERY.halfEdgeA);
const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_B = POLY_B.GetHalfEdge(EDGE_QUERY.halfEdgeB);
const SHVec3 HEAD_A = POLY_A.GetVertex(HALF_EDGE_A.headVertexIndex);
const SHVec3 TAIL_A = POLY_A.GetVertex(HALF_EDGE_A.tailVertexIndex);
const SHVec3 HEAD_B = POLY_B.GetVertex(HALF_EDGE_B.headVertexIndex);
const SHVec3 TAIL_B = POLY_B.GetVertex(HALF_EDGE_B.tailVertexIndex);
const SHVec3 VA = SHVec3::Normalise(HEAD_A - TAIL_A);
const SHVec3 VB = SHVec3::Normalise(HEAD_B - TAIL_B);
manifold.normal = SHVec3::Cross(VB, VA);
// Flip normal if need to ( A -> B)
if (SHVec3::Dot(manifold.normal, HEAD_A - A.GetWorldCentroid()) < 0.0f)
manifold.normal = -manifold.normal;
// In this scenario, we only have one contact
uint32_t numContacts = 0;
SHContact contact;
contact.featurePair.key = EDGE_QUERY.axis;
contact.position = findClosestPointBetweenEdges(POLY_A, POLY_B, EDGE_QUERY.halfEdgeA, EDGE_QUERY.halfEdgeB);
contact.penetration = -EDGE_QUERY.bestDistance;
manifold.contacts[numContacts++] = contact;
manifold.numContacts = numContacts;
// Cache the info
cachedInfo.type = SHSATInfo::Type::EDGE;
cachedInfo.info.edgeA = EDGE_QUERY.halfEdgeA;
cachedInfo.info.edgeB = EDGE_QUERY.halfEdgeB;
manifold.cachedSATInfo = cachedInfo;
return true;
}
const SHVec3 REFERENCE_NORMAL = referencePoly->GetNormal(minFaceQuery.closestFace);
const int32_t INCIDENT_FACE_IDX = findIncidentFace(*incidentPoly, REFERENCE_NORMAL);
manifold.cachedSATInfo = cachedInfo;
return findFaceContacts(manifold, *incidentPoly, INCIDENT_FACE_IDX, *referencePoly, minFaceQuery.closestFace, flipNormal);
}
/*-----------------------------------------------------------------------------------*/
/* Private Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
SHCollision::FaceQuery SHCollision::queryFaceDirections(const SHConvexPolyhedron& A, const SHConvexPolyhedron& B) noexcept
{
FaceQuery faceQuery;
const int32_t NUM_FACES = A.GetFaceCount();
for (const int32_t i : std::views::iota(0, NUM_FACES))
{
const SHHalfEdgeStructure::Face& FACE_A = A.GetFace(i);
const SHVec3 NORMAL_A = A.GetNormal(i);
// Smallest penetration is point closest to face normal
const SHVec3 SUPPORT_POINT = B.FindSupportPoint(-NORMAL_A);
const SHVec3 VERTEX_A = A.GetVertex(FACE_A.vertexIndices[0].index);
const SHPlane FACE_PLANE { VERTEX_A, NORMAL_A };
const float DISTANCE = FACE_PLANE.SignedDistance(SUPPORT_POINT);
if (DISTANCE > faceQuery.bestDistance)
{
faceQuery.bestDistance = DISTANCE;
faceQuery.closestFace = i;
}
}
return faceQuery;
}
SHCollision::EdgeQuery SHCollision::queryEdgeDirections(const SHConvexPolyhedron& A, const SHConvexPolyhedron& B) noexcept
{
EdgeQuery edgeQuery;
const int32_t EDGE_COUNT_A = A.GetHalfEdgeCount();
const int32_t EDGE_COUNT_B = B.GetHalfEdgeCount();
int32_t axis = -1;
for (int32_t i = 0; i < EDGE_COUNT_A; i += 2)
{
for (int32_t j = 0; j < EDGE_COUNT_B; j += 2)
{
const bool IS_MINKOWSKI_FACE = buildMinkowskiFace(A, B, i, j);
if (!IS_MINKOWSKI_FACE)
continue;
++axis;
const float SEPARATION = distanceBetweenEdges(A, B, i, j);
if (SEPARATION > edgeQuery.bestDistance)
{
edgeQuery.bestDistance = SEPARATION;
edgeQuery.halfEdgeA = i;
edgeQuery.halfEdgeB = j;
edgeQuery.axis = axis;
}
}
}
return edgeQuery;
}
bool SHCollision::buildMinkowskiFace(const SHConvexPolyhedron& A, const SHConvexPolyhedron& B, int32_t edgeA, int32_t edgeB) noexcept
{
// Get Half Edge from both polygons
const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_A = A.GetHalfEdge(edgeA);
const SHHalfEdgeStructure::HalfEdge& TWIN_EDGE_A = A.GetHalfEdge(HALF_EDGE_A.twinEdgeIndex);
const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_B = B.GetHalfEdge(edgeB);
const SHHalfEdgeStructure::HalfEdge& TWIN_EDGE_B = B.GetHalfEdge(HALF_EDGE_B.twinEdgeIndex);
// Get normals from face and twin edge face
const SHVec3 NA = A.GetNormal(HALF_EDGE_A.faceIndex);
const SHVec3 NB = A.GetNormal(TWIN_EDGE_A.faceIndex);
const SHVec3 NC = B.GetNormal(HALF_EDGE_B.faceIndex);
const SHVec3 ND = B.GetNormal(TWIN_EDGE_B.faceIndex);
return isMinkowskiFace(NA, NB, -NC, -ND);
}
bool SHCollision::isMinkowskiFace(const SHVec3& a, const SHVec3& b, const SHVec3& c, const SHVec3& d) noexcept
{
const SHVec3 BXA = SHVec3::Cross(b, a);
const SHVec3 DXC = SHVec3::Cross(d, c);
const float CBA = SHVec3::Dot(c, BXA);
const float DBA = SHVec3::Dot(d, BXA);
const float ADC = SHVec3::Dot(a, DXC);
const float BDC = SHVec3::Dot(b, DXC);
return CBA * DBA < 0.0f && ADC * BDC < 0.0f && CBA * BDC > 0.0f;
}
float SHCollision::distanceBetweenEdges(const SHConvexPolyhedron& A, const SHConvexPolyhedron& B, int32_t edgeA, int32_t edgeB) noexcept
{
const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_A = A.GetHalfEdge(edgeA);
const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_B = B.GetHalfEdge(edgeB);
const SHVec3 HEAD_A = A.GetVertex(HALF_EDGE_A.headVertexIndex);
const SHVec3 TAIL_A = A.GetVertex(HALF_EDGE_A.tailVertexIndex);
const SHVec3 HEAD_B = B.GetVertex(HALF_EDGE_B.headVertexIndex);
const SHVec3 TAIL_B = B.GetVertex(HALF_EDGE_B.tailVertexIndex);
const SHVec3 DIR_A = SHVec3::Normalise(HEAD_A - TAIL_A);
const SHVec3 DIR_B = SHVec3::Normalise(HEAD_B - TAIL_B);
// Check if the edges are parallel (abs dot product is 1)
const float DOT_BETWEEN_EDGES = std::fabs(SHVec3::Dot(DIR_A, DIR_B));
if (SHMath::CompareFloat(DOT_BETWEEN_EDGES, 1.0f))
return std::numeric_limits<float>::lowest();
SHVec3 normal = SHVec3::Cross(DIR_A, DIR_B);
// Flip normal if need to ( A -> B)
if (SHVec3::Dot(normal, HEAD_A - A.GetWorldCentroid()) < 0.0f)
normal = -normal;
return SHVec3::Dot(normal, HEAD_B - HEAD_A);
}
SHVec3 SHCollision::findClosestPointBetweenEdges(const SHConvexPolyhedron& A, const SHConvexPolyhedron& B, int32_t edgeA, int32_t edgeB) noexcept
{
/*
* The two edges can be parameterised in the form p + tv
*
* LA(r) = A + rVA
* LB(s) = B + sVB
*
* The vector between the closest points is the cross product of VA and VB.
* Since the cross product is orthogonal to VA and VB, we can generalise this as:
* (LB(s) - LA(r)) /dot VA = 0
* (LB(s) - LA(r)) /dot VB = 0
*
* Where LB(s) - LA(r) is the same vector as VB X VA.
*
*/
const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_A = A.GetHalfEdge(edgeA);
const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_B = B.GetHalfEdge(edgeB);
const SHVec3 HEAD_A = A.GetVertex(HALF_EDGE_A.headVertexIndex);
const SHVec3 TAIL_A = A.GetVertex(HALF_EDGE_A.tailVertexIndex);
const SHVec3 HEAD_B = B.GetVertex(HALF_EDGE_B.headVertexIndex);
const SHVec3 TAIL_B = B.GetVertex(HALF_EDGE_B.tailVertexIndex);
const SHVec3 VA = SHVec3::Normalise(HEAD_A - TAIL_A);
const SHVec3 VB = SHVec3::Normalise(HEAD_B - TAIL_B);
/*
* Find a1, a2, b1, b2, c1, c2 to solve the simultaneous equation
*
* C' = TAIL_B - TAIL_A
*
* a = VB /dot U
* b = -VA /dot U
* c = C' /dot U
*
* U is either VA or VB
*
* TODO: Check if segments degenerate into a point
*/
const SHVec3 C = TAIL_B - TAIL_A;
const float VB_DOT_VA = SHVec3::Dot(VB, VA); // a1
const float VB_DOT_VB = SHVec3::Dot(VB, VB); // a2
const float AV_DOT_VA = SHVec3::Dot(-VA, VA); // b1
const float AV_DOT_VB = SHVec3::Dot(-VA, VB); // b2
const float C_DOT_VA = SHVec3::Dot(C, VA); // c1
const float C_DOT_VB = SHVec3::Dot(C, VB); // c2
/*
* We only need to solve for R
* R = (c1a2 / a1 - c2) / ( b2 - a2b1/a1 )
*/
const float A2_OVER_A1 = VB_DOT_VA == 0.0f ? 0.0f : VB_DOT_VB / VB_DOT_VA;
const float NUMERATOR = C_DOT_VA * A2_OVER_A1 - C_DOT_VB;
const float DENOMINATOR = AV_DOT_VB - AV_DOT_VA * A2_OVER_A1;
// We clamp it because the factor cannot be beyond [0,1] as it would be beyond the segment if it was so.
const float R = DENOMINATOR == 0.0f ? NUMERATOR : NUMERATOR / DENOMINATOR;
// Just take a point from A since it's A -> B
return TAIL_A + R * VA;
}
int32_t SHCollision::findIncidentFace(const SHConvexPolyhedron& poly, const SHVec3& normal) noexcept
{
// Get the most anti-parallel face to the normal
int32_t bestFace = 0;
float bestProjection = std::numeric_limits<float>::max();
const int32_t NUM_FACES = poly.GetFaceCount();
for (const int32_t i : std::views::iota(0, NUM_FACES))
{
const SHVec3 INC_NORMAL = poly.GetNormal(i);
const float PROJECTION = SHVec3::Dot(INC_NORMAL, normal);
if (PROJECTION < bestProjection)
{
bestProjection = PROJECTION;
bestFace = i;
}
}
return bestFace;
}
bool SHCollision::findFaceContacts(SHManifold& manifold, const SHConvexPolyhedron& incPoly, int32_t incFace, const SHConvexPolyhedron& refPoly, int32_t refFace, bool flip) noexcept
{
const SHHalfEdgeStructure::Face& INCIDENT_FACE = incPoly.GetFace(incFace);
const SHHalfEdgeStructure::Face& REFERENCE_FACE = refPoly.GetFace(refFace);
const int32_t NUM_INCIDENT_VERTICES = static_cast<int32_t>(INCIDENT_FACE.vertexIndices.size());
const int32_t NUM_REFERENCE_VERTICES = static_cast<int32_t>(REFERENCE_FACE.vertexIndices.size());
// Build incoming vertices to clip
std::vector<ClipVertex> clipIn;
clipIn.resize(NUM_INCIDENT_VERTICES * 2, ClipVertex{});
int32_t numClipIn = 0;
for (int32_t i = 0; i < NUM_INCIDENT_VERTICES; ++i)
{
const int32_t prevI = i - 1 < 0 ? NUM_INCIDENT_VERTICES - 1 : i - 1;
const int32_t V_INDEX = INCIDENT_FACE.vertexIndices[i].index;
// The incoming id is the previous edge
// The outgoing id is the current edge (where this vertex is the tail of)
ClipVertex v;
v.position = incPoly.GetVertex(V_INDEX);
v.featurePair.inI = INCIDENT_FACE.vertexIndices[prevI].edgeIndex;
v.featurePair.outI = INCIDENT_FACE.vertexIndices[i].edgeIndex;
v.featurePair.inR = 0;
v.featurePair.outR = 0;
clipIn[numClipIn++] = v;
}
// Clip the vertices against the reference face side planes.
// Number of side planes == number of edges == number of vertices
const SHVec3 REF_NORMAL = refPoly.GetNormal(refFace);
for (int32_t i = 0; i < NUM_REFERENCE_VERTICES; ++i)
{
// Side plane can be built with the vertex on the edge and the plane's normal
// Plane normal = faceNormal X tangent (v2 - v1)
const int32_t V1_INDEX = REFERENCE_FACE.vertexIndices[i].index;
const int32_t V2_INDEX = REFERENCE_FACE.vertexIndices[(i + 1) % NUM_REFERENCE_VERTICES].index;
const SHVec3 V1 = refPoly.GetVertex(V1_INDEX);
const SHVec3 V2 = refPoly.GetVertex(V2_INDEX);
const SHVec3 TANGENT = SHVec3::Normalise(V2 - V1);
const SHPlane CLIP_PLANE { V1, SHVec3::Cross(REF_NORMAL, TANGENT) };
std::vector<ClipVertex> clipOut = clipPolygonWithPlane(clipIn, numClipIn, CLIP_PLANE, REFERENCE_FACE.vertexIndices[i].edgeIndex);
if (clipOut.empty())
return false;
// Replace the clip container's contents with the clipped points for the next clipping pass
const int32_t NUM_CLIPPED = static_cast<int32_t>(clipOut.size());
for (int32_t clippedIndex = 0; clippedIndex < NUM_CLIPPED; ++clippedIndex)
{
clipIn[clippedIndex].position = clipOut[clippedIndex].position;
clipIn[clippedIndex].featurePair.key = clipOut[clippedIndex].featurePair.key;
}
numClipIn = NUM_CLIPPED;
}
// From the final set of clipped points, only keep the points that are below the reference plane.
const SHPlane REFERENCE_PLANE{ refPoly.GetVertex(REFERENCE_FACE.vertexIndices.front().index), REF_NORMAL };
uint32_t numContacts = 0;
std::vector<SHContact> contacts;
for (int32_t i = 0; i < numClipIn; ++i)
{
const SHVec3 POS = clipIn[i].position;
const float DIST = REFERENCE_PLANE.SignedDistance(POS);
if (DIST <= 0.0f)
{
SHContact contact;
contact.position = POS;
contact.penetration = -DIST;
if (flip)
{
contact.featurePair.inI = clipIn[i].featurePair.inR;
contact.featurePair.inR = clipIn[i].featurePair.inI;
contact.featurePair.outI = clipIn[i].featurePair.outR;
contact.featurePair.outR = clipIn[i].featurePair.outI;
}
else
{
contact.featurePair.key = clipIn[i].featurePair.key;
}
contacts.emplace_back(contact);
++numContacts;
}
}
// Reduce contact manifold if more than 4 points
if (numContacts > 4)
{
const auto INDICES_TO_KEEP = reduceContacts(contacts, REF_NORMAL);
std::vector<SHContact> reducedContacts;
const int32_t NUM_REDUCED = static_cast<int32_t>(INDICES_TO_KEEP.size());
for (int32_t i = 0; i < NUM_REDUCED; ++i)
reducedContacts.emplace_back(contacts[INDICES_TO_KEEP[i]]);
contacts.clear();
// Copy contacts to main container
for (auto& contact : reducedContacts)
contacts.emplace_back(contact);
}
// Remove potential duplicate contact points
// No way about this being an n^2 loop
static constexpr float THRESHOLD = SHPHYSICS_SAME_CONTACT_DISTANCE * SHPHYSICS_SAME_CONTACT_DISTANCE;
for (auto i = contacts.begin(); i != contacts.end(); ++i)
{
for (auto j = i + 1; j != contacts.end();)
{
const float D2 = SHVec3::DistanceSquared(i->position, j->position);
if (D2 < THRESHOLD)
j = contacts.erase(j);
else
++j;
}
}
// Copy final contacts into the manifold
numContacts = static_cast<int32_t>(contacts.size());
for (int32_t i = 0; i < numContacts; ++i)
manifold.contacts[i] = contacts[i];
manifold.numContacts = numContacts;
manifold.normal = REF_NORMAL;
if (flip)
manifold.normal = -manifold.normal;
return true;
}
std::vector<SHCollision::ClipVertex> SHCollision::clipPolygonWithPlane(const std::vector<ClipVertex>& in, int32_t numIn, const SHPlane& plane, int32_t planeIdx) noexcept
{
std::vector<ClipVertex> out;
int32_t v1Index = numIn - 1;
int32_t v2Index = 0;
float v1Distance = plane.SignedDistance(in[v1Index].position);
float v2Distance = 0.0f;
for (int32_t i = 0; i < numIn; ++i)
{
v2Index = i;
const SHVec3 v1Pos = in[v1Index].position;
const SHVec3 v2Pos = in[v2Index].position;
v2Distance = plane.SignedDistance(v2Pos);
// v1 in front, v2 behind
// keep the intersection point
if (v1Distance >= 0.0f && v2Distance < 0.0f)
{
ClipVertex intersection;
// In case the edge is parallel, the intersection is just the start point
const bool IS_PARALLEL = SHMath::CompareFloat(SHVec3::Dot(v2Pos - v1Pos, plane.GetNormal()), 0.0f);
const float ALPHA = IS_PARALLEL ? 0.0f : v1Distance / SHVec3::Distance(v1Pos, v2Pos);
intersection.position = SHVec3::ClampedLerp(v1Pos, v2Pos, ALPHA);
intersection.featurePair.inI = in[v1Index].featurePair.outI;
intersection.featurePair.outI = 0;
intersection.featurePair.inR = 0;
intersection.featurePair.outR = planeIdx;
out.emplace_back(intersection);
}
// v1 behind, v2 in front
// keep intersection point & v2
if(v1Distance < 0.0f && v2Distance >= 0.0f)
{
ClipVertex intersection;
// In case the edge is parallel, the intersection is just the start point
const bool IS_PARALLEL = SHMath::CompareFloat(SHVec3::Dot(v2Pos - v1Pos, plane.GetNormal()), 0.0f);
const float ALPHA = IS_PARALLEL ? 0.0f : -v1Distance / SHVec3::Distance(v1Pos, v2Pos);
intersection.position = SHVec3::ClampedLerp(v1Pos, v2Pos, ALPHA);
intersection.featurePair.inI = 0;
intersection.featurePair.outI = in[v2Index].featurePair.inI;
intersection.featurePair.inR = planeIdx;
intersection.featurePair.outR = 0;
out.emplace_back(intersection);
out.emplace_back(in[v2Index]);
}
// both in front, keep v2
if (v1Distance >= 0.0f && v2Distance >= 0.0f)
{
out.emplace_back(in[v2Index]);
}
// v2 is the next v1
v1Index = v2Index;
v1Distance = v2Distance;
}
return out;
}
std::vector<int32_t> SHCollision::reduceContacts(const std::vector<SHContact>& in, const SHVec3& faceNormal) noexcept
{
std::vector<int32_t> indicesToKeep;
// Use a map to temporarily store and track the contacts we want
std::unordered_map<int, const SHContact*> contactMap;
const int32_t NUM_CONTACTS = static_cast<int32_t>(in.size());
for (int32_t i = 0; i < NUM_CONTACTS; ++i)
contactMap.emplace(i, &in[i]);
// Find the furthest point in a given direction
int32_t indexToKeep = -1;
float bestDistance = std::numeric_limits<float>::lowest();
for (const auto& [index, contact] : contactMap)
{
const float DIST = SHVec3::Dot(contact->position, SHVec3::One);
if (DIST > bestDistance)
{
bestDistance = DIST;
indexToKeep = index;
}
}
indicesToKeep.emplace_back(indexToKeep);
contactMap.erase(indexToKeep);
indexToKeep = -1;
bestDistance = std::numeric_limits<float>::lowest();
// Find point furthest away from the first index
const SHVec3& FIRST_POS = in[indicesToKeep.back()].position;
for (const auto& [index, contact] : contactMap)
{
const float DIST_SQUARED = SHVec3::DistanceSquared(FIRST_POS, contact->position);
if (DIST_SQUARED > bestDistance)
{
bestDistance = DIST_SQUARED;
indexToKeep = index;
}
}
indicesToKeep.emplace_back(indexToKeep);
contactMap.erase(indexToKeep);
indexToKeep = -1;
// We compute the triangle with the largest area.
// The area can be positive or negative depending on the winding order.
float maxArea = std::numeric_limits<float>::lowest();
float minArea = std::numeric_limits<float>::max();
int32_t maxAreaIndex = -1;
int32_t minAreaIndex = -1;
const SHVec3& SECOND_POS = in[indicesToKeep.back()].position;
for (const auto& [index, contact] : contactMap)
{
const SHVec3& POS = contact->position;
const SHVec3 TO_P1 = FIRST_POS - POS;
const SHVec3 TO_P2 = SECOND_POS - POS;
const float AREA = SHVec3::Dot(SHVec3::Cross(TO_P1, TO_P2), faceNormal) * 0.5f;
if (AREA > maxArea)
{
maxArea = AREA;
maxAreaIndex = index;
}
if (AREA < minArea)
{
minArea = AREA;
minAreaIndex = index;
}
}
// Compare which triangle creates the largest area
bool isAreaPositive = false;
if (maxArea > (-minArea))
{
isAreaPositive = true;
indexToKeep = maxAreaIndex;
}
else
{
isAreaPositive = false;
indexToKeep = minAreaIndex;
}
indicesToKeep.emplace_back(indexToKeep);
contactMap.erase(indexToKeep);
indexToKeep = -1;
// For the last point, we want the point which forms the largest area that is winded opposite to the first triangle
// The areas should be inverted: If area was -ve, we want a +ve. Otherwise, vice versa.
float bestArea = 0.0f;
const SHVec3& THIRD_POS = in[indicesToKeep.back()].position;
const SHVec3 ABC[3] = { FIRST_POS, SECOND_POS, THIRD_POS };
for (const auto& [index, contact] : contactMap)
{
const SHVec3& Q = contact->position;
for (int i = 0; i < 3; ++i)
{
const int P1 = i;
const int P2 = (i + 1) % 3;
const SHVec3 TO_P1 = ABC[P1] - Q;
const SHVec3 TO_P2 = ABC[P2] - Q;
const float AREA = SHVec3::Dot(SHVec3::Cross(TO_P1, TO_P2), faceNormal) * 0.5f;
if (isAreaPositive && AREA < bestArea)
{
bestArea = AREA;
indexToKeep = index;
}
if (!isAreaPositive && AREA > bestArea)
{
bestArea = AREA;
indexToKeep = index;
}
}
}
indicesToKeep.emplace_back(indexToKeep);
return indicesToKeep;
}
bool SHCollision::cachedConvexVSConvex(SHManifold& manifold, const SHSATInfo& cachedInfo, const SHConvexPolyhedron& A, const SHConvexPolyhedron& B) noexcept
{
if (cachedInfo.type == SHSATInfo::Type::FACE)
{
SHASSERT(cachedInfo.info.refPoly != SHSATInfo::ShapeID::INVALID, "Attempted to perform cached SAT with an invalid cached collision!")
// Assume the reference poly was A
const SHConvexPolyhedron* incPoly = &B;
const SHConvexPolyhedron* refPoly = &A;
bool flip = false;
// Swap if it was B
if (cachedInfo.info.refPoly == SHSATInfo::ShapeID::B)
{
refPoly = &B;
incPoly = &A;
flip = true;
}
const SHHalfEdgeStructure::Face& REF_FACE = refPoly->GetFace(cachedInfo.info.refFace);
const SHVec3 REF_NORMAL = refPoly->GetNormal(cachedInfo.info.refFace);
const SHVec3 SUPPORT_POINT = incPoly->FindSupportPoint(-REF_NORMAL);
const SHPlane REF_FACE_PLANE { refPoly->GetVertex(REF_FACE.vertexIndices[0].index), REF_NORMAL };
const float DISTANCE = REF_FACE_PLANE.SignedDistance(SUPPORT_POINT);
if (DISTANCE > 0.0f)
return false;
// Find the incident face
const int32_t INCIDENT_FACE_INDEX = findIncidentFace(*incPoly, REF_NORMAL);
return findFaceContacts(manifold, *incPoly, INCIDENT_FACE_INDEX, *refPoly, cachedInfo.info.refFace, flip);
}
if (cachedInfo.type == SHSATInfo::Type::EDGE)
{
const float DISTANCE = distanceBetweenEdges(A, B, cachedInfo.info.edgeA, cachedInfo.info.edgeB);
if (DISTANCE > 0.0f)
return false;
const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_A = A.GetHalfEdge(cachedInfo.info.edgeA);
const SHHalfEdgeStructure::HalfEdge& HALF_EDGE_B = B.GetHalfEdge(cachedInfo.info.edgeB);
const SHVec3 HEAD_A = A.GetVertex(HALF_EDGE_A.headVertexIndex);
const SHVec3 TAIL_A = A.GetVertex(HALF_EDGE_A.tailVertexIndex);
const SHVec3 HEAD_B = B.GetVertex(HALF_EDGE_B.headVertexIndex);
const SHVec3 TAIL_B = B.GetVertex(HALF_EDGE_B.tailVertexIndex);
const SHVec3 VA = SHVec3::Normalise(HEAD_A - TAIL_A);
const SHVec3 VB = SHVec3::Normalise(HEAD_B - TAIL_B);
manifold.normal = SHVec3::Cross(VB, VA);
// Flip normal if need to ( A -> B)
if (SHVec3::Dot(manifold.normal, HEAD_A - A.GetWorldCentroid()) < 0.0f)
manifold.normal = -manifold.normal;
// In this scenario, we only have one contact
uint32_t numContacts = 0;
SHContact contact;
// Take feature pair key from previous manifold
contact.featurePair.key = manifold.contacts[0].featurePair.key;
contact.position = findClosestPointBetweenEdges(A, B, cachedInfo.info.edgeA, cachedInfo.info.edgeB);
contact.penetration = -DISTANCE;
manifold.contacts[numContacts++] = contact;
manifold.numContacts = numContacts;
return true;
}
// Should never reach this.
return false;
}
} // namespace SHADE

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/****************************************************************************************
* \file SHSATInfo.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for storing information of collision detection between two
* convex shapes using SAT.
*
* \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
#include <numeric> // int32_t
namespace SHADE
{
/**
* @brief
* Primarily used to cached collision information between two convex polyhedrons for
* temporal coherence.
*/
struct SHSATInfo
{
public:
/*---------------------------------------------------------------------------------*/
/* Type Definitions */
/*---------------------------------------------------------------------------------*/
enum class ShapeID : int32_t
{
A = 0
, B = 1
, INVALID = -1
};
enum class Type
{
EDGE
, FACE
, INVALID = -1
};
union ContactInfo
{
struct // FaceContact
{
ShapeID refPoly;
int32_t refFace;
};
struct // Edge Contact
{
int32_t edgeA;
int32_t edgeB;
};
};
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
Type type;
ContactInfo info;
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
SHSATInfo () noexcept;
SHSATInfo (const SHSATInfo& rhs) noexcept;
SHSATInfo (SHSATInfo&& rhs) noexcept;
~SHSATInfo () noexcept = default;
/*---------------------------------------------------------------------------------*/
/* Operator Overloads */
/*---------------------------------------------------------------------------------*/
SHSATInfo& operator= (const SHSATInfo& rhs) noexcept;
SHSATInfo& operator= (SHSATInfo&& rhs) noexcept;
};
} // namespace SHADE
#include "SHSATInfo.hpp"

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/****************************************************************************************
* \file SHSATInfo.hpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation of inlined methods for cached SAT Info.
*
* \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
// Primary Header
#include "SHSATInfo.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*-----------------------------------------------------------------------------------*/
inline SHSATInfo::SHSATInfo() noexcept
: type { Type::INVALID }
, info {}
{
info.refPoly = ShapeID::INVALID;
info.refFace = -1;
}
inline SHSATInfo::SHSATInfo(const SHSATInfo& rhs) noexcept
: type { rhs.type }
, info {}
{
info.refPoly = rhs.info.refPoly;
info.refFace = rhs.info.refFace;
}
inline SHSATInfo::SHSATInfo(SHSATInfo&& rhs) noexcept
: type { rhs.type }
, info {}
{
info.refPoly = rhs.info.refPoly;
info.refFace = rhs.info.refFace;
}
/*---------------------------------------------------------------------------------- */
/* Operator Overloads */
/*---------------------------------------------------------------------------------- */
inline SHSATInfo& SHSATInfo::operator=(const SHSATInfo& rhs) noexcept
{
if (this == &rhs)
return *this;
type = rhs.type;
info.refPoly = rhs.info.refPoly;
info.refFace = rhs.info.refFace;
return *this;
}
inline SHSATInfo& SHSATInfo::operator=(SHSATInfo&& rhs) noexcept
{
type = rhs.type;
info.refPoly = rhs.info.refPoly;
info.refFace = rhs.info.refFace;
return *this;
}
}

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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/Shapes/SHSphere.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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/****************************************************************************************
* \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/Geometry/SHPlane.h"
#include "Math/SHMathHelpers.h"
#include "Physics/Collision/Shapes/SHSphere.h"
#include "Physics/Collision/Shapes/SHConvexPolyhedron.h"
#include "Physics/SHPhysicsConstants.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Public Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
bool SHCollision::SphereVsConvex(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
{
const SHSphere& SPHERE = dynamic_cast<const SHSphere&>(A);
const SHConvexPolyhedron& POLYHEDRON = dynamic_cast<const SHConvexPolyhedron&>(B);
const SHVec3 CENTER = SPHERE.Center;
const float RADIUS = SPHERE.GetWorldRadius();
// Find closest face
const FaceQuery FACE_QUERY = findClosestFace(SPHERE, POLYHEDRON);
if (!FACE_QUERY.colliding)
return false;
// If center of sphere is inside the polyhedron (below the face)
if (FACE_QUERY.bestDistance < SHMath::EPSILON)
return true;
// Find closest face of polygon to circle
const int32_t CLOSEST_POINT = findClosestPoint(SPHERE, POLYHEDRON, FACE_QUERY.closestFace);
const auto& FACE = POLYHEDRON.GetFace(FACE_QUERY.closestFace);
const SHVec3& FACE_NORMAL = POLYHEDRON.GetNormal(FACE_QUERY.closestFace);
const int32_t NUM_VERTICES = static_cast<int32_t>(FACE.vertexIndices.size());
// Get points and build tangents
const int32_t P2_INDEX = (CLOSEST_POINT + 1) % NUM_VERTICES;
const int32_t P3_INDEX = CLOSEST_POINT == 0 ? NUM_VERTICES - 1 : CLOSEST_POINT - 1;
const SHVec3 P1 = POLYHEDRON.GetVertex(FACE.vertexIndices[CLOSEST_POINT].index);
const SHVec3 P2 = POLYHEDRON.GetVertex(FACE.vertexIndices[P2_INDEX].index);
const SHVec3 P3 = POLYHEDRON.GetVertex(FACE.vertexIndices[P3_INDEX].index);
const SHVec3 TANGENT_1 = SHVec3::Normalise(P2 - P1);
const SHVec3 TANGENT_2 = SHVec3::Normalise(P3 - P1);
// Get the voronoi region it belongs in
const int32_t REGION = findVoronoiRegion(SPHERE, P1, FACE_NORMAL, TANGENT_1, TANGENT_2);
return REGION > 0;
}
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
{
// Convert to underlying types
// For the convex, we only need the convex polyhedron shape since the get vertex is pure virtual.
const SHSphere& SPHERE = dynamic_cast<const SHSphere&>(A);
const SHConvexPolyhedron& POLYHEDRON = dynamic_cast<const SHConvexPolyhedron&>(B);
const SHVec3 CENTER = SPHERE.Center;
const float RADIUS = SPHERE.GetWorldRadius();
const FaceQuery FACE_QUERY = findClosestFace(SPHERE, POLYHEDRON);
if (!FACE_QUERY.colliding)
return false;
uint32_t numContacts = 0;
const float PENETRATION = RADIUS - FACE_QUERY.bestDistance;
SHContact contact;
contact.featurePair.key = 0;
// Check if center is inside polyhedron (below the face)
if (FACE_QUERY.bestDistance < SHMath::EPSILON)
{
manifold.normal = -POLYHEDRON.GetNormal(FACE_QUERY.closestFace);
contact.penetration = PENETRATION;
contact.position = CENTER;
manifold.contacts[numContacts++] = contact;
manifold.numContacts = numContacts;
return true;
}
// Find closest face of polygon to circle
const int32_t CLOSEST_POINT = findClosestPoint(SPHERE, POLYHEDRON, FACE_QUERY.closestFace);
const auto& FACE = POLYHEDRON.GetFace(FACE_QUERY.closestFace);
const SHVec3& FACE_NORMAL = POLYHEDRON.GetNormal(FACE_QUERY.closestFace);
const int32_t NUM_VERTICES = static_cast<int32_t>(FACE.vertexIndices.size());
// Get points and build tangents
const int32_t P2_INDEX = (CLOSEST_POINT + 1) % NUM_VERTICES;
const int32_t P3_INDEX = CLOSEST_POINT == 0 ? NUM_VERTICES - 1 : CLOSEST_POINT - 1;
const SHVec3 P1 = POLYHEDRON.GetVertex(FACE.vertexIndices[CLOSEST_POINT].index);
const SHVec3 P2 = POLYHEDRON.GetVertex(FACE.vertexIndices[P2_INDEX].index);
const SHVec3 P3 = POLYHEDRON.GetVertex(FACE.vertexIndices[P3_INDEX].index);
const SHVec3 TANGENT_1 = SHVec3::Normalise(P2 - P1);
const SHVec3 TANGENT_2 = SHVec3::Normalise(P3 - P1);
// Get the voronoi region it belongs in
const int32_t REGION = findVoronoiRegion(SPHERE, P1, FACE_NORMAL, TANGENT_1, TANGENT_2);
if (REGION == 0)
return false;
// Create contact information based on region
const SHVec3 P1_TO_CENTER = CENTER - P1;
switch (REGION)
{
case 1: // Region A
case 2: // Region B
{
// Find closest point
const SHVec3& TANGENT = REGION == 1 ? TANGENT_1 : TANGENT_2;
const SHVec3 CP = P1 + TANGENT * SHVec3::Dot(P1_TO_CENTER, TANGENT);
const SHVec3 CP_TO_CENTER = CENTER - CP;
manifold.normal = -SHVec3::Normalise(CP_TO_CENTER);
contact.penetration = RADIUS - SHVec3::Dot(CP_TO_CENTER, -manifold.normal);
contact.position = CP;
break;
}
case 3: // Region C
{
manifold.normal = -SHVec3::Normalise(P1_TO_CENTER);
contact.penetration = RADIUS - P1_TO_CENTER.Length();
contact.position = P1;
break;
}
case 4: // Region D
{
manifold.normal = -FACE_NORMAL;
contact.penetration = PENETRATION;
contact.position = CENTER - FACE_NORMAL * RADIUS;
break;
}
default: return false; // Should never happen
}
manifold.contacts[numContacts++] = contact;
manifold.numContacts = numContacts;
return true;
}
bool SHCollision::ConvexVsSphere(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
{
if (SphereVsConvex(manifold, B, A))
{
manifold.normal = -manifold.normal;
return true;
};
return false;
}
/*-----------------------------------------------------------------------------------*/
/* Private Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
SHCollision::FaceQuery SHCollision::findClosestFace
(
const SHSphere& sphere
, const SHConvexPolyhedron& polyhedron
) noexcept
{
FaceQuery faceQuery;
const SHVec3 CENTER = sphere.Center;
const float RADIUS = sphere.GetWorldRadius();
/*
* Test against each face.
*
* 1. For each face, build a plane in point-normal form.
* 2. Find the signed distance from plane to center of sphere.
* 3. Save best distance and face.
*/
for (int32_t i = 0; i < polyhedron.GetFaceCount(); ++i)
{
const SHHalfEdgeStructure::Face& FACE = polyhedron.GetFace(i);
// Build plane equation
// 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 = FACE_PLANE.SignedDistance(CENTER);
// Early out:
// If face is facing away from center, signed dist is negative.
// Therefore signed distance is only positive when sphere is in front of the face.
if (SIGNED_DIST > RADIUS)
return faceQuery;
if (SIGNED_DIST > faceQuery.bestDistance)
{
faceQuery.bestDistance = SIGNED_DIST;
faceQuery.closestFace = i;
}
}
faceQuery.colliding = true;
return faceQuery;
}
int32_t SHCollision::findClosestPoint
(
const SHSphere& sphere
, const SHConvexPolyhedron& polyhedron
, int32_t faceIndex
) noexcept
{
// Find closest point on face
int32_t closestPointIndex = -1;
const SHVec3 CENTER = sphere.Center;
const SHHalfEdgeStructure::Face& FACE = polyhedron.GetFace(faceIndex);
const int32_t NUM_VERITICES = static_cast<int32_t>(FACE.vertexIndices.size());
float smallestDist = std::numeric_limits<float>::max();
for (int32_t i = 0; i < NUM_VERITICES; ++i)
{
const SHVec3 POINT = polyhedron.GetVertex(FACE.vertexIndices[i].index);
const float DIST = SHVec3::DistanceSquared(CENTER, POINT);
if (DIST < smallestDist)
{
smallestDist = DIST;
closestPointIndex = i;
}
}
return closestPointIndex;
}
int32_t SHCollision::findVoronoiRegion
(
const SHSphere& sphere
, const SHVec3& faceVertex
, const SHVec3& faceNormal
, const SHVec3& tangent1
, const SHVec3& tangent2
) noexcept
{
static constexpr int NUM_TANGENTS = 2;
// Check against voronoi regions of the face to determine the type of the intersection test
// We have 3 voronoi regions to check: 1 -> 2, 1 -> 3 and 1 -> center
// If none of these are true, the sphere is above the face but not separating
/*
* | 2
* _ _ _ _ _ _ | _ _ _
* / /
* | / regionD | / regionA
* |/ _ _ _ _ _|/ _ _ _
* 3/ regionB /1
* / / regionC
*
*/
const SHVec3 CENTER = sphere.Center;
const float RADIUS = sphere.GetWorldRadius();
const SHVec3 TANGENTS [NUM_TANGENTS] { tangent1, tangent2 };
const SHVec3 ADJACENT_NORMALS [NUM_TANGENTS] { SHVec3::Cross(tangent1, faceNormal), SHVec3::Cross(faceNormal, tangent2) };
const SHVec3 FACE_TO_CENTER = CENTER - faceVertex;
// To be inside either region A or B, 2 conditions must be satisfied
// 1. Same side as tangent
// 2. Same side as adjacent normal
// Check Region A & B
for (int i = 0; i < NUM_TANGENTS; ++i)
{
float projection = SHVec3::Dot(FACE_TO_CENTER, TANGENTS[i]);
if (projection >= 0.0f)
{
// Find closest point
const SHVec3 CLOSEST_POINT = faceVertex + projection * TANGENTS[i];
projection = SHVec3::Dot(FACE_TO_CENTER, ADJACENT_NORMALS[i]);
if (projection >= 0.0f)
{
if (projection > RADIUS)
return 0;
// Region 1 or 2 ( A or B)
return i + 1;
}
}
}
// Check Region C
// Face to vertex is in the opposite direction of any tangent.
const float PROJECTION = SHVec3::Dot(FACE_TO_CENTER, tangent1);
if (PROJECTION < 0)
{
const float DISTANCE_SQUARED = SHVec3::DistanceSquared(faceVertex, CENTER);
if (DISTANCE_SQUARED > RADIUS * RADIUS)
return 0;
return 3;
}
// Belongs in region D by default
return 4;
}
} // namespace SHADE

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/****************************************************************************************
* \file SHSphereVsSphere.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for the Detecting Collisions between two spheres
*
* \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/Shapes/SHSphere.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Public Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
bool SHCollision::SphereVsSphere(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
{
const SHSphere& SPHERE_A = dynamic_cast<const SHSphere&>(A);
const SHSphere& SPHERE_B = dynamic_cast<const SHSphere&>(B);
const SHVec3 CENTER_A = SPHERE_A.Center;
const float RADIUS_A = SPHERE_A.Radius;
const SHVec3 CENTER_B = SPHERE_B.Center;
const float RADIUS_B = SPHERE_B.Radius;
const SHVec3 A_TO_B = CENTER_B - CENTER_A;
const float DISTANCE_BETWEEN_CENTERS_SQUARED = A_TO_B.LengthSquared();
const float COMBINED_RADIUS = RADIUS_B + RADIUS_A;
const float COMBINED_RADIUS_SQUARED = COMBINED_RADIUS * COMBINED_RADIUS;
if (DISTANCE_BETWEEN_CENTERS_SQUARED > COMBINED_RADIUS_SQUARED)
return false;
}
bool SHCollision::SphereVsSphere(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
{
// Convert to underlying types
const SHSphere& SPHERE_A = dynamic_cast<const SHSphere&>(A);
const SHSphere& SPHERE_B = dynamic_cast<const SHSphere&>(B);
const SHVec3 CENTER_A = SPHERE_A.Center;
const float RADIUS_A = SPHERE_A.Radius;
const SHVec3 CENTER_B = SPHERE_B.Center;
const float RADIUS_B = SPHERE_B.Radius;
const SHVec3 A_TO_B = CENTER_B - CENTER_A;
const float DISTANCE_BETWEEN_CENTERS_SQUARED = A_TO_B.LengthSquared();
const float COMBINED_RADIUS = RADIUS_B + RADIUS_A;
const float COMBINED_RADIUS_SQUARED = COMBINED_RADIUS * COMBINED_RADIUS;
if (DISTANCE_BETWEEN_CENTERS_SQUARED > COMBINED_RADIUS_SQUARED)
return false;
// Only populate the manifold if there is a collision
uint32_t numContacts = 0;
SHContact contact;
contact.featurePair.key = 0;
if (SHMath::CompareFloat(DISTANCE_BETWEEN_CENTERS_SQUARED, 0.0f))
{
manifold.normal = SHVec3::UnitY;
contact.position = CENTER_A;
contact.penetration = RADIUS_B;
manifold.contacts[numContacts++] = contact;
}
else
{
manifold.normal = SHVec3::Normalise(A_TO_B);
contact.position = CENTER_B - manifold.normal * RADIUS_B;
contact.penetration = COMBINED_RADIUS - A_TO_B.Length();
manifold.contacts[numContacts++] = contact;
}
manifold.numContacts = numContacts;
return true;
}
} // namespace SHADE

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/****************************************************************************************
* \file SHCollider.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a Base Collider Class.
*
* \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 "SHCollider.h"
// Project Headers
#include "Broadphase/SHDynamicAABBTree.h"
#include "Events/SHEvent.h"
#include "Math/SHMathHelpers.h"
#include "Physics/SHPhysicsEvents.h"
#include "Physics/Dynamics/SHRigidBody.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
SHCollider::SHCollider(EntityID eid, const SHTransform& worldTransform) noexcept
: entityID { eid }
, flags { 0 }
, rigidBody { nullptr }
, shapeLibrary { nullptr }
, broadphase { nullptr }
, transform { worldTransform }
{
flags |= ACTIVE_FLAG;
flags |= MOVED_FLAG;
}
SHCollider::SHCollider(const SHCollider& rhs) noexcept
: entityID { rhs.entityID }
, flags { rhs.flags }
, rigidBody { rhs.rigidBody }
, shapeLibrary { rhs.shapeLibrary }
, broadphase { rhs.broadphase }
, transform { rhs.transform }
{}
SHCollider::SHCollider(SHCollider&& rhs) noexcept
: entityID { rhs.entityID }
, flags { rhs.flags }
, rigidBody { rhs.rigidBody }
, shapeLibrary { rhs.shapeLibrary }
, broadphase { rhs.broadphase }
, transform { rhs.transform }
{}
SHCollider::~SHCollider() noexcept
{
if (!shapeLibrary)
{
SHLOGV_ERROR("Shape factory is unlinked with Composite Collider {}. Unable to add destroy collider!", entityID)
return;
}
for (auto* shape : shapes)
shapeLibrary->DestroyShape(shape);
}
/*-----------------------------------------------------------------------------------*/
/* Operator Overload Definitions */
/*-----------------------------------------------------------------------------------*/
SHCollider& SHCollider::operator=(const SHCollider& rhs) noexcept
{
if (this == &rhs)
return *this;
if (!shapeLibrary)
{
SHLOGV_ERROR("Shape factory is unlinked with Collider {}. Unable to add copy shapes!", entityID)
return *this;
}
entityID = rhs.entityID;
flags = rhs.flags;
rigidBody = rhs.rigidBody;
shapeLibrary = rhs.shapeLibrary;
broadphase = rhs.broadphase;
transform = rhs.transform;
copyShapes(rhs);
return *this;
}
SHCollider& SHCollider::operator=(SHCollider&& rhs) noexcept
{
if (!shapeLibrary)
{
SHLOGV_ERROR("Shape factory is unlinked with Collider {}. Unable to add copy shapes!", entityID)
return *this;
}
entityID = rhs.entityID;
flags = rhs.flags;
rigidBody = rhs.rigidBody;
shapeLibrary = rhs.shapeLibrary;
broadphase = rhs.broadphase;
transform = rhs.transform;
copyShapes(rhs);
return *this;
}
/*-----------------------------------------------------------------------------------*/
/* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/
EntityID SHCollider::GetEntityID() const noexcept
{
return entityID;
}
SHCollider::Type SHCollider::GetType() const noexcept
{
if (flags & COMPOSITE_FLAG)
return Type::COMPOSITE;
if (flags & HULL_FLAG)
return Type::HULL;
return Type::INVALID;
}
bool SHCollider::IsActive() const noexcept
{
return flags & ACTIVE_FLAG;
}
bool SHCollider::GetDebugDrawState() const noexcept
{
return flags & DRAW_FLAG;
}
const SHTransform& SHCollider::GetTransform() const noexcept
{
return transform;
}
const SHVec3& SHCollider::GetPosition() const noexcept
{
return transform.position;
}
const SHQuaternion& SHCollider::GetOrientation() const noexcept
{
return transform.orientation;
}
const SHVec3& SHCollider::GetScale() const noexcept
{
return transform.scale;
}
const SHCollider::CollisionShapes& SHCollider::GetCollisionShapes() const noexcept
{
return shapes;
}
SHCollisionShape* SHCollider::GetCollisionShape(int index) const
{
const int NUM_SHAPES = static_cast<int>(shapes.size());
if (index < 0 || index >= NUM_SHAPES)
throw std::invalid_argument("Out-of-range index!");
return shapes[index];
}
/*-----------------------------------------------------------------------------------*/
/* Setter Function Definitions */
/*-----------------------------------------------------------------------------------*/
void SHCollider::SetType(Type type) noexcept
{
if (type == Type::COMPOSITE)
flags |= COMPOSITE_FLAG;
if (type == Type::HULL)
flags |= HULL_FLAG;
}
void SHCollider::SetIsActive(bool state) noexcept
{
const bool PREV_STATE = flags & ACTIVE_FLAG;
state ? flags |= ACTIVE_FLAG : flags &= ~(ACTIVE_FLAG);
if (!broadphase)
return;
for (auto* shape : shapes)
{
if (PREV_STATE) // Previously inactive
broadphase->Insert(shape->id, shape->ComputeAABB());
else // Previously active
broadphase->Remove(shape->id);
}
}
void SHCollider::SetDebugDrawState(bool state) noexcept
{
state ? flags |= DRAW_FLAG : flags &= ~(DRAW_FLAG);
#ifdef SHEDITOR
// Broadcast event for the Debug Draw system to catch
const SHColliderOnDebugDrawEvent EVENT_DATA
{
.entityID = entityID
, .debugDrawState = state
};
SHEventManager::BroadcastEvent<SHColliderOnDebugDrawEvent>(EVENT_DATA, SH_PHYSICS_COLLIDER_DRAW_EVENT);
#endif
}
void SHCollider::SetRigidBody(SHRigidBody* rb) noexcept
{
rigidBody = rb;
}
void SHCollider::SetTransform(const SHTransform& newTransform) noexcept
{
flags |= MOVED_FLAG;
transform = newTransform;
}
void SHCollider::SetPosition(const SHVec3& newPosition) noexcept
{
flags |= MOVED_FLAG;
transform.position = newPosition;
}
void SHCollider::SetOrientation(const SHQuaternion& newOrientation) noexcept
{
flags |= MOVED_FLAG;
transform.orientation = newOrientation;
}
void SHCollider::SetScale(const SHVec3& newScale) noexcept
{
flags |= MOVED_FLAG;
transform.scale = newScale;
}
void SHCollider::SetLibrary(SHCollisionShapeLibrary* factory) noexcept
{
shapeLibrary = factory;
}
/*-----------------------------------------------------------------------------------*/
/* Public Member Function Definitions */
/*-----------------------------------------------------------------------------------*/
const SHMatrix& SHCollider::ComputeTRS() noexcept
{
return transform.ComputeTRS();
}
void SHCollider::RemoveCollisionShape(int index)
{
if (!shapeLibrary)
{
SHLOGV_ERROR("Shape factory is unlinked with Collider {}. Unable to add remove shape!", entityID)
return;
}
const int NUM_SHAPES = static_cast<int>(shapes.size());
if (index < 0 || index >= NUM_SHAPES)
throw std::invalid_argument("Out-of-range index!");
auto shape = shapes.begin();
for (int i = 0; i < NUM_SHAPES; ++i, ++shape)
{
if (i == index)
break;
}
const SHPhysicsColliderRemovedEvent EVENT_DATA
{
.entityID = entityID
, .colliderType = (*shape)->GetType()
, .colliderIndex = index
};
// Remove from broadphase
if (broadphase)
broadphase->Remove((*shape)->id);
shapeLibrary->DestroyShape(*shape);
*shape = nullptr;
// Remove the shape from the container to prevent accessing a nullptr
shape = shapes.erase(shape);
// Broadcast Event for removing a shape
SHEventManager::BroadcastEvent<SHPhysicsColliderRemovedEvent>(EVENT_DATA, SH_PHYSICS_COLLIDER_REMOVED_EVENT);
if (rigidBody)
rigidBody->ComputeMassData();
SHLOG_INFO_D("Removing Collision Shape {} from Entity {}", index, entityID)
}
void SHCollider::Update() noexcept
{
for (auto* shape : shapes)
shape->Update();
}
/*-----------------------------------------------------------------------------------*/
/* Private Member Function Definitions */
/*-----------------------------------------------------------------------------------*/
void SHCollider::copyShapes(const SHCollider& rhsCollider)
{
for (const auto* shape : rhsCollider.shapes)
{
switch (shape->GetType())
{
case SHCollisionShape::Type::BOX:
{
const SHBox* RHS_BOX = dynamic_cast<const SHBox*>(shape);
const SHBoxCreateInfo BOX_CREATE_INFO
{
.Center = RHS_BOX->Center
, .Extents = RHS_BOX->Extents
, .RelativeExtents = RHS_BOX->relativeExtents
, .Orientation = RHS_BOX->Orientation
, .Scale = RHS_BOX->scale
};
const uint32_t NEW_INDEX = static_cast<uint32_t>(shapes.size());
const SHCollisionShapeID NEW_SHAPE_ID{ entityID, NEW_INDEX };
SHBox* box = shapeLibrary->CreateBox(NEW_SHAPE_ID, BOX_CREATE_INFO);
*box = *RHS_BOX;
shapes.emplace_back(box);
break;
}
case SHCollisionShape::Type::SPHERE:
{
const SHSphere* RHS_SPHERE = dynamic_cast<const SHSphere*>(shape);
const SHSphereCreateInfo SPHERE_CREATE_INFO
{
.Center = RHS_SPHERE->Center
, .Radius = RHS_SPHERE->Radius
, .RelativeRadius = RHS_SPHERE->relativeRadius
, .Scale = RHS_SPHERE->scale
};
const uint32_t NEW_INDEX = static_cast<uint32_t>(shapes.size());
const SHCollisionShapeID NEW_SHAPE_ID{ entityID, NEW_INDEX };
SHSphere* sphere = shapeLibrary->CreateSphere(NEW_SHAPE_ID, SPHERE_CREATE_INFO);
*sphere = *RHS_SPHERE;
shapes.emplace_back(sphere);
break;
}
case SHCollisionShape::Type::CAPSULE:
{
break;
}
default: break;
}
}
}
} // namespace SHADE

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/****************************************************************************************
* \file SHCollider.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a Base Collider Class.
*
* \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 "ECS_Base/Entity/SHEntity.h"
#include "Math/Transform/SHTransform.h"
#include "Physics/Collision/Shapes/SHCollisionShapeLibrary.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Forward Declarations */
/*-----------------------------------------------------------------------------------*/
class SHRigidBody;
class SHAABBTree;
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
/**
* @brief
* Base class for a collider.
* There are only two collider types supported by SHADE Engine: Composite & Hull
*/
class SH_API SHCollider
{
private:
/*---------------------------------------------------------------------------------*/
/* Friends */
/*---------------------------------------------------------------------------------*/
friend class SHCollisionSpace;
friend struct SHManifold;
public:
/*---------------------------------------------------------------------------------*/
/* Type Definitions */
/*---------------------------------------------------------------------------------*/
enum class Type
{
COMPOSITE
, HULL
, TOTAL
, INVALID = -1
};
using CollisionShapes = std::vector<SHCollisionShape*>;
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
/**
* @brief
* Constructor for a collider.
* @param eid
* The entity this collider belongs to.
* @param worldTransform
* The world transform for the collider. Defaults to the identity transform.
* This is particularly important for composite colliders for offsets & relative sizes.
* @return
*/
SHCollider (EntityID eid, const SHTransform& worldTransform = SHTransform::Identity) noexcept;
SHCollider (const SHCollider& rhs) noexcept;
SHCollider (SHCollider&& rhs) noexcept;
virtual ~SHCollider () noexcept;
/*---------------------------------------------------------------------------------*/
/* Operator Overloads */
/*---------------------------------------------------------------------------------*/
SHCollider& operator=(const SHCollider& rhs) noexcept;
SHCollider& operator=(SHCollider&& rhs) noexcept;
/*---------------------------------------------------------------------------------*/
/* Getter Functions */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] EntityID GetEntityID () const noexcept;
[[nodiscard]] Type GetType () const noexcept;
[[nodiscard]] bool IsActive () const noexcept;
[[nodiscard]] bool GetDebugDrawState () const noexcept;
[[nodiscard]] const SHTransform& GetTransform () const noexcept;
[[nodiscard]] const SHVec3& GetPosition () const noexcept;
[[nodiscard]] const SHQuaternion& GetOrientation () const noexcept;
[[nodiscard]] const SHVec3& GetScale () const noexcept;
[[nodiscard]] const CollisionShapes& GetCollisionShapes () const noexcept;
[[nodiscard]] SHCollisionShape* GetCollisionShape (int index) const;
/*---------------------------------------------------------------------------------*/
/* Setter Functions */
/*---------------------------------------------------------------------------------*/
void SetType (Type type) noexcept;
void SetIsActive (bool state) noexcept;
void SetDebugDrawState (bool state) noexcept;
void SetRigidBody (SHRigidBody* rb) noexcept;
void SetTransform (const SHTransform& newTransform) noexcept;
void SetPosition (const SHVec3& newPosition) noexcept;
void SetOrientation (const SHQuaternion& newOrientation) noexcept;
void SetScale (const SHVec3& newScale) noexcept;
void SetLibrary (SHCollisionShapeLibrary* factory) noexcept;
/*---------------------------------------------------------------------------------*/
/* Member Functions */
/*---------------------------------------------------------------------------------*/
/**
* @brief
* Computes the TRS for the collider's transform
* @return
* The computed TRS.
*/
const SHMatrix& ComputeTRS() noexcept;
/**
* @brief
* Removes a shape from the container. Removal reduces the size of the container.
* If removing all, perform removal from back to front.
* @param index
* The index of the shape to remove.
* @throws
* Invalid argument for out-of-range indices.
*/
void RemoveCollisionShape (int index);
/**
* @brief
* Recomputes the transforms for all shapes in this composite collider.
*/
void Update () noexcept;
protected:
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
static constexpr uint8_t COMPOSITE_FLAG = 1U << static_cast<uint8_t>(Type::COMPOSITE);
static constexpr uint8_t HULL_FLAG = 1U << static_cast<uint8_t>(Type::HULL);
static constexpr uint8_t ACTIVE_FLAG = 1U << 2;
static constexpr uint8_t DRAW_FLAG = 1U << 3;
static constexpr uint8_t MOVED_FLAG = 1U << 4;
EntityID entityID;
uint8_t flags; // 0 0 0 hasMoved debugDraw active hull composite
SHRigidBody* rigidBody;
SHCollisionShapeLibrary* shapeLibrary;
SHAABBTree* broadphase;
SHTransform transform;
CollisionShapes shapes;
/*---------------------------------------------------------------------------------*/
/* Member Functions */
/*---------------------------------------------------------------------------------*/
void copyShapes (const SHCollider& rhsCollider);
};
} // namespace SHADE

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SHADE_Engine/src/Physics/Collision/SHCollisionInfo.cpp
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/****************************************************************************************
* \file SHCollisionInfo.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for Collision Info.
*
* \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 "SHCollisionInfo.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
SHCollisionInfo::SHCollisionInfo() noexcept
: collisionState { State::INVALID }
{
ids[ENTITY_A] = MAX_EID;
ids[ENTITY_B] = MAX_EID;
ids[COLLIDER_A] = std::numeric_limits<uint32_t>::max();
ids[COLLIDER_B] = std::numeric_limits<uint32_t>::max();
}
SHCollisionInfo::SHCollisionInfo(EntityID entityA, EntityID entityB) noexcept
: collisionState { State::INVALID }
{
ids[ENTITY_A] = entityA;
ids[ENTITY_B] = entityB;
ids[COLLIDER_A] = std::numeric_limits<uint32_t>::max();
ids[COLLIDER_B] = std::numeric_limits<uint32_t>::max();
}
/*-----------------------------------------------------------------------------------*/
/* Operator Overload Definitions */
/*-----------------------------------------------------------------------------------*/
bool SHCollisionInfo::operator==(const SHCollisionInfo& rhs) const noexcept
{
return value[0] == rhs.value[0] && value[1] == rhs.value[1];
}
bool SHCollisionInfo::operator!=(const SHCollisionInfo& rhs) const noexcept
{
return value[0] != rhs.value[0] || value[1] != rhs.value[1];
}
/*-----------------------------------------------------------------------------------*/
/* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/
EntityID SHCollisionInfo::GetEntityA() const noexcept
{
return ids[ENTITY_A];
}
EntityID SHCollisionInfo::GetEntityB() const noexcept
{
return ids[ENTITY_B];
}
const SHRigidBodyComponent* SHCollisionInfo::GetRigidBodyA() const noexcept
{
return SHComponentManager::GetComponent_s<SHRigidBodyComponent>(ids[ENTITY_A]);
}
const SHRigidBodyComponent* SHCollisionInfo::GetRigidBodyB() const noexcept
{
return SHComponentManager::GetComponent_s<SHRigidBodyComponent>(ids[ENTITY_B]);
}
const SHCollisionShape* SHCollisionInfo::GetColliderA() const noexcept
{
return &SHComponentManager::GetComponent<SHColliderComponent>(ids[ENTITY_A])->GetCollisionShape(ids[COLLIDER_A]);
}
const SHCollisionShape* SHCollisionInfo::GetColliderB() const noexcept
{
return &SHComponentManager::GetComponent<SHColliderComponent>(ids[ENTITY_B])->GetCollisionShape(ids[COLLIDER_B]);
}
SHCollisionInfo::State SHCollisionInfo::GetCollisionState() const noexcept
{
return collisionState;
}
} // namespace SHADE

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SHADE_Engine/src/Physics/Collision/SHCollisionListener.cpp
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/****************************************************************************************
* \file SHCollisionListener.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a Collision Listener.
*
* \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 "SHCollisionListener.h"
// Project Headers
#include "ECS_Base/Managers/SHEntityManager.h"
#include "Physics/PhysicsObject/SHPhysicsObject.h"
#include "Physics/System/SHPhysicsSystem.h"
#include "Scene/SHSceneManager.h"
/*-------------------------------------------------------------------------------------*/
/* Local Helper Functions */
/*-------------------------------------------------------------------------------------*/
uint32_t matchColliders(const SHADE::SHPhysicsObject&physicsObject, const rp3d::Entity colliderID)
{
for (uint32_t i = 0; i < physicsObject.GetCollisionBody()->getNbColliders(); ++i)
{
const auto* collider = physicsObject.GetCollisionBody()->getCollider(i);
if (collider->getEntity() == colliderID)
return i;
}
return std::numeric_limits<uint32_t>::max();
}
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
SHCollisionListener::SHCollisionListener() noexcept
: system { nullptr }
{}
/*-----------------------------------------------------------------------------------*/
/* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/
const std::vector<SHCollisionInfo>& SHCollisionListener::GetCollisionInfoContainer() const noexcept
{
return collisionInfoContainer;
}
const std::vector<SHCollisionInfo>& SHCollisionListener::GetTriggerInfoContainer() const noexcept
{
return triggerInfoContainer;
}
/*-----------------------------------------------------------------------------------*/
/* Public Function Member Definitions */
/*-----------------------------------------------------------------------------------*/
void SHCollisionListener::BindToSystem(SHPhysicsSystem* physicsSystem) noexcept
{
system = physicsSystem;
}
void SHCollisionListener::BindToWorld(rp3d::PhysicsWorld* world) noexcept
{
if (!world)
return;
world->setEventListener(this);
}
void SHCollisionListener::CleanContainers() noexcept
{
static const auto CLEAR = [](std::vector<SHCollisionInfo>& container)
{
for (auto eventIter = container.begin(); eventIter != container.end();)
{
const SHCollisionInfo& C_INFO = *eventIter;
const bool INVALID_ENTITY = !SHEntityManager::IsValidEID(C_INFO.GetEntityA()) || !SHEntityManager::IsValidEID(C_INFO.GetEntityB());
if (INVALID_ENTITY)
{
eventIter = container.erase(eventIter);
continue;
}
else
{
const bool CLEAR_EVENT = C_INFO.GetCollisionState() == SHCollisionInfo::State::EXIT || C_INFO.GetCollisionState() == SHCollisionInfo::State::INVALID;
const bool INACTIVE_OBJECT = !SHSceneManager::CheckNodeAndComponentsActive<SHColliderComponent>(C_INFO.GetEntityA())
|| !SHSceneManager::CheckNodeAndComponentsActive<SHColliderComponent>(C_INFO.GetEntityB());
if (CLEAR_EVENT || INACTIVE_OBJECT)
{
eventIter = container.erase(eventIter);
continue;
}
}
++eventIter;
}
};
CLEAR(collisionInfoContainer);
CLEAR(triggerInfoContainer);
}
void SHCollisionListener::ClearContainers() noexcept
{
collisionInfoContainer.clear();
triggerInfoContainer.clear();
}
void SHCollisionListener::onContact(const rp3d::CollisionCallback::CallbackData& callbackData)
{
for (uint32_t i = 0; i < callbackData.getNbContactPairs(); ++i)
{
const auto CONTACT_PAIR = callbackData.getContactPair(i);
const SHCollisionInfo NEW_INFO = generateCollisionInfo(CONTACT_PAIR);
updateInfoContainers(NEW_INFO, collisionInfoContainer);
}
}
void SHCollisionListener::onTrigger(const rp3d::OverlapCallback::CallbackData& callbackData)
{
for (uint32_t i = 0; i < callbackData.getNbOverlappingPairs(); ++i)
{
const auto OVERLAP_PAIR = callbackData.getOverlappingPair(i);
const SHCollisionInfo NEW_INFO = generateTriggerInfo(OVERLAP_PAIR);
updateInfoContainers(NEW_INFO, triggerInfoContainer);
}
}
/*-----------------------------------------------------------------------------------*/
/* Private Function Member Definitions */
/*-----------------------------------------------------------------------------------*/
void SHCollisionListener::updateInfoContainers(const SHCollisionInfo& collisionEvent, std::vector<SHCollisionInfo>& container) noexcept
{
const auto IT = std::ranges::find_if(container.begin(), container.end(), [&](const SHCollisionInfo& info)
{
const bool ENTITY_MATCH = (info.ids[0] == collisionEvent.ids[0] && info.ids[1] == collisionEvent.ids[1])
|| (info.ids[0] == collisionEvent.ids[1] && info.ids[1] == collisionEvent.ids[0]);
const bool COLLIDERS_MATCH = (info.ids[2] == collisionEvent.ids[2] && info.ids[3] == collisionEvent.ids[3])
|| (info.ids[2] == collisionEvent.ids[3] && info.ids[3] == collisionEvent.ids[2]);
return ENTITY_MATCH && COLLIDERS_MATCH;
});
if (IT == container.end())
container.emplace_back(collisionEvent);
else
IT->collisionState = collisionEvent.collisionState;
}
SHCollisionInfo SHCollisionListener::generateCollisionInfo(const rp3d::CollisionCallback::ContactPair& cp) const noexcept
{
SHCollisionInfo cInfo;
// Update collision state
cInfo.collisionState = static_cast<SHCollisionInfo::State>(cp.getEventType());
// Match body and collider for collision event
const rp3d::Entity body1 = cp.getBody1()->getEntity();
const rp3d::Entity body2 = cp.getBody2()->getEntity();
const rp3d::Entity collider1 = cp.getCollider1()->getEntity();
const rp3d::Entity collider2 = cp.getCollider2()->getEntity();
// Find and match both ids
bool matched[2] = { false, false };
for (auto& [entityID, physicsObject] : system->GetPhysicsObjects())
{
// Match body 1
if (matched[SHCollisionInfo::ENTITY_A] == false && physicsObject.GetCollisionBody()->getEntity() == body1)
{
cInfo.ids[SHCollisionInfo::ENTITY_A] = entityID;
cInfo.ids[SHCollisionInfo::COLLIDER_A] = matchColliders(physicsObject, collider1);
matched[SHCollisionInfo::ENTITY_A] = true;
}
// Match body 2
if (matched[SHCollisionInfo::ENTITY_B] == false && physicsObject.GetCollisionBody()->getEntity() == body2)
{
cInfo.ids[SHCollisionInfo::ENTITY_B] = entityID;
cInfo.ids[SHCollisionInfo::COLLIDER_B] = matchColliders(physicsObject, collider2);
matched[SHCollisionInfo::ENTITY_B] = true;
}
if (matched[SHCollisionInfo::ENTITY_A] == true && matched[SHCollisionInfo::ENTITY_B] == true)
return cInfo;
}
return cInfo;
}
SHCollisionInfo SHCollisionListener::generateTriggerInfo(const rp3d::OverlapCallback::OverlapPair& cp) const noexcept
{
SHCollisionInfo cInfo;
// Update collision state
cInfo.collisionState = static_cast<SHCollisionInfo::State>(cp.getEventType());
// Match body and collider for collision event
const rp3d::Entity body1 = cp.getBody1()->getEntity();
const rp3d::Entity body2 = cp.getBody2()->getEntity();
const rp3d::Entity collider1 = cp.getCollider1()->getEntity();
const rp3d::Entity collider2 = cp.getCollider2()->getEntity();
// Find and match both ids
bool matched[2] = { false, false };
for (auto& [entityID, physicsObject] : system->GetPhysicsObjects())
{
// Match body 1
if (matched[SHCollisionInfo::ENTITY_A] == false && physicsObject.GetCollisionBody()->getEntity() == body1)
{
cInfo.ids[SHCollisionInfo::ENTITY_A] = entityID;
cInfo.ids[SHCollisionInfo::COLLIDER_A] = matchColliders(physicsObject, collider1);
matched[SHCollisionInfo::ENTITY_A] = true;
}
// Match body 2
if (matched[SHCollisionInfo::ENTITY_B] == false && physicsObject.GetCollisionBody()->getEntity() == body2)
{
cInfo.ids[SHCollisionInfo::ENTITY_B] = entityID;
cInfo.ids[SHCollisionInfo::COLLIDER_B] = matchColliders(physicsObject, collider2);
matched[SHCollisionInfo::ENTITY_B] = true;
}
if (matched[SHCollisionInfo::ENTITY_A] == true && matched[SHCollisionInfo::ENTITY_B] == true)
return cInfo;
}
return cInfo;
}
} // namespace SHADE

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/****************************************************************************************
* \file SHCollisionSpace.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a Collision Space that handles collision detetction.
*
* \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 "SHCollisionSpace.h"
#include "Narrowphase/SHCollisionDispatch.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Getter Functions Definitions */
/*-----------------------------------------------------------------------------------*/
const SHAABBTree::AABBs& SHCollisionSpace::GetBroadphaseAABBs() const noexcept
{
return broadphase.GetAABBs();
}
/*-----------------------------------------------------------------------------------*/
/* Setter Functions Definitions */
/*-----------------------------------------------------------------------------------*/
void SHCollisionSpace::SetContactManager(SHContactManager* _contactManager) noexcept
{
contactManager = _contactManager;
}
/*-----------------------------------------------------------------------------------*/
/* Public Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
void SHCollisionSpace::AddCollider(SHCollider* collider) noexcept
{
const bool INSERTED = colliders.emplace(collider->entityID, collider).second;
if (!INSERTED)
{
SHLOG_WARNING_D("Attempting to add duplicate collider {} to the Physics World!", collider->entityID)
return;
}
collider->broadphase = &broadphase;
// Add all existing shapes to the broadphase
for (const auto* shape : collider->shapes)
broadphase.Insert(shape->id, shape->ComputeAABB());
}
void SHCollisionSpace::RemoveCollider(SHCollider* collider) noexcept
{
colliders.erase(collider->entityID);
const uint32_t NUM_SHAPES = static_cast<uint32_t>(collider->shapes.size());
if (NUM_SHAPES == 0)
return;
for (uint32_t i = 0; i < NUM_SHAPES; ++i)
broadphase.Remove(collider->shapes[i]->id);
if (contactManager)
{
contactManager->RemoveInvalidatedTrigger(collider->entityID);
contactManager->RemoveInvalidatedManifold(collider->entityID);
}
/*
* TODO:
* Get collider's rigid body
* Run through the rigid body's contact graph and wake all of its non-static bodies that are asleep
*/
}
void SHCollisionSpace::UpdateBroadphase() noexcept
{
// Update any colliders that have moved
for (auto& collider : colliders | std::views::values)
{
const bool IS_ACTIVE = collider->IsActive();
const bool HAS_MOVED = collider->flags & SHCollider::MOVED_FLAG;
if (!IS_ACTIVE || !HAS_MOVED)
continue;
// Clear hasMoved flag here
collider->flags &= ~SHCollider::MOVED_FLAG;
// Update moved shapes in broadphase
for (auto* shape : collider->shapes)
broadphase.Update(shape->id, shape->ComputeAABB());
}
}
void SHCollisionSpace::DetectCollisions() noexcept
{
// TODO: Profile broad-phase and narrow-phase
/*
* Broad-phase
*/
// Broadphase Queries: Kinematic Triggers, Awake Dynamic Bodies & Dynamic Triggers
for (auto& collider : colliders | std::views::values)
{
// Colliders without bodies are considered to be static bodies
// This is specific to this engine because of Unity's stupid convention.
const bool IS_IMPLICIT_STATIC = !collider->rigidBody;
const bool IS_ACTIVE = collider->IsActive();
// Skip inactive colliders
if (!IS_ACTIVE || IS_IMPLICIT_STATIC)
continue;
const bool IS_EXPLICIT_STATIC = collider->rigidBody->GetType() == SHRigidBody::Type::STATIC;
if (IS_EXPLICIT_STATIC)
continue;
// All remaining are kinematic or dynamic
// Iterate through shapes: if kinematic / dynamic trigger, else if dynamic & awake
// Results are loaded into the narrowphase batch
broadphaseQuery(collider->rigidBody->GetType(), collider);
}
/*
* Narrow-phase
*/
// If no potential collisions, we can skip the entire narrow phase. No further updates necessary.
// All contact / trigger states persist in this step.
if (narrowphaseBatch.empty())
return;
// All narrowphase IDs are unique, there should be no duplicate collision checks.
// This applies both ways: A -> B and B -> A.
for (auto& [key, narrowphasePair] : narrowphaseBatch)
{
// Filter through tags before attempting narrow-phase
const uint16_t TAG_A = narrowphasePair.A->GetCollisionTag().GetMask();
const uint16_t TAG_B = narrowphasePair.B->GetCollisionTag().GetMask();
const bool MATCH_TAG = TAG_A & TAG_B;
if (!MATCH_TAG)
continue;
const bool IS_A_TRIGGER = narrowphasePair.A->IsTrigger();
const bool IS_B_TRIGGER = narrowphasePair.B->IsTrigger();
if (IS_A_TRIGGER || IS_B_TRIGGER)
collideTriggers(key, narrowphasePair);
else
collideManifolds(key, narrowphasePair);
}
// Clear every frame
narrowphaseBatch.clear();
// Test all collisions
if (contactManager)
contactManager->Update();
}
const SHCollisionSpace::RaycastResults& SHCollisionSpace::Raycast(const RaycastInfo& info) noexcept
{
static RaycastResults results;
results.clear();
const bool FILTER_COLLIDER = info.colliderEntityID.has_value();
// Cast ray into the broadphase scene
const auto& POTENTIAL_HITS = broadphase.Query(info.ray, info.distance);
if (POTENTIAL_HITS.empty())
return results;
// Iterate through all potential hits
const int NUM_HITS = static_cast<int>(POTENTIAL_HITS.size());
for (const int i : std::ranges::views::iota(0, NUM_HITS))
{
const auto HIT_ID = POTENTIAL_HITS[i];
const EntityID EID = HIT_ID.GetEntityID();
if (FILTER_COLLIDER && EID == info.colliderEntityID.value())
continue;
// Get shape
const uint32_t IDX = HIT_ID.GetShapeIndex();
const auto* SHAPE = colliders.find(EID)->second->GetCollisionShape(IDX);
// Filter the layers
const bool LAYER_MATCH = SHAPE->GetCollisionTag().GetMask() & info.layers;
if (!LAYER_MATCH)
continue;
// We cast to the underlying shape. THis is done because a convex hull will not have an inherited raycast method.
// Kinda awkward oversight...oops
SHRaycastResult baseResult;
switch (SHAPE->GetType())
{
case SHCollisionShape::Type::SPHERE:
{
baseResult = dynamic_cast<const SHSphere*>(SHAPE)->Raycast(info.ray);
break;
}
case SHCollisionShape::Type::BOX:
{
baseResult = dynamic_cast<const SHBox*>(SHAPE)->Raycast(info.ray);
break;
}
case SHCollisionShape::Type::CAPSULE:
{
// TODO
break;
}
default: continue; // Redundant case
}
if (!baseResult || baseResult.distance > info.distance)
continue;
// Copy to a physics raycast result
SHPhysicsRaycastResult result;
memcpy_s(&result, sizeof(SHRaycastResult), &baseResult, sizeof(SHRaycastResult));
result.entityHit = EID;
result.shapeIndex = IDX;
results.emplace_back(result);
}
return results;
}
/*-----------------------------------------------------------------------------------*/
/* Private Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
void SHCollisionSpace::broadphaseQuery(SHRigidBody::Type rigidBodyType, SHCollider* collider) noexcept
{
for (auto* shape : collider->shapes)
{
// For kinematic shapes, we only query triggers against everything else
if (rigidBodyType == SHRigidBody::Type::KINEMATIC && !shape->IsTrigger())
continue;
auto& potentialCollisions = broadphase.Query(shape->id, shape->ComputeAABB());
// Build narrow-phase pairs
auto* shapeA = shape;
const EntityID ID_A = shape->id.GetEntityID();
const uint32_t INDEX_A = shape->id.GetShapeIndex();
for (auto& id : potentialCollisions)
{
// Get corresponding shape
const EntityID ID_B = id.GetEntityID();
const uint32_t INDEX_B = id.GetShapeIndex();
auto* shapeB = colliders[ID_B]->GetCollisionShape(INDEX_B);
// Build collision ID
SHCollisionKey collisionKey;
collisionKey.SetEntityA(ID_A);
collisionKey.SetEntityB(ID_B);
collisionKey.SetCollisionShapeA(INDEX_A);
collisionKey.SetCollisionShapeB(INDEX_B);
// Check if it already exists. If it doesn't, put into batch.
// The overloaded equality operator ensures no duplicate collision tests are performed.
auto narrowphasePair = narrowphaseBatch.find(collisionKey);
if (narrowphasePair == narrowphaseBatch.end())
narrowphaseBatch.emplace(collisionKey, NarrowphasePair{ shapeA, shapeB });
}
}
}
void SHCollisionSpace::collideTriggers(const SHCollisionKey& key, NarrowphasePair& narrowphasePair) const noexcept
{
auto* A = narrowphasePair.A;
auto* B = narrowphasePair.B;
// Send to contact manager
if (contactManager)
contactManager->AddTrigger(key, A, B);
}
void SHCollisionSpace::collideManifolds(const SHCollisionKey& key, NarrowphasePair& narrowphasePair) const noexcept
{
auto* A = narrowphasePair.A;
auto* B = narrowphasePair.B;
// Send to contact manager
if (contactManager)
contactManager->AddManifold(key, A, B);
}
} // namespace SHADE

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/****************************************************************************************
* \file SHCollisionSpace.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a Collision Space that handles collision detetction.
* This is to separate the logic between dynamics and collision detection,
* but the collision space does send information to the contact manager
* for dynamic resolution and collision state reporting.
*
* \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
#include <optional>
// Project Headers
#include "Broadphase/SHDynamicAABBTree.h"
#include "Physics/Dynamics/SHContactManager.h"
#include "SHCollider.h"
#include "SHPhysicsRaycastResult.h"
#include "CollisionTags/SHCollisionTags.h"
#include "CollisionTags/SHCollisionTags.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
/**
* @brief
* Allows collision detection to be performed with the use of colliders & collision shapes.
* The space will generate manifold data for resolution when needed.
*/
class SH_API SHCollisionSpace
{
public:
/*---------------------------------------------------------------------------------*/
/* Type Definitions */
/*---------------------------------------------------------------------------------*/
/**
* @brief
* Contains information to cast a ray into the collision space.
* The collider entityID and shape index is optional.
*/
struct RaycastInfo
{
private:
/*-------------------------------------------------------------------------------*/
/* Friends */
/*-------------------------------------------------------------------------------*/
friend class SHCollisionSpace;
public:
/*-------------------------------------------------------------------------------*/
/* Data Members */
/*-------------------------------------------------------------------------------*/
bool continuous = false;
uint16_t layers = static_cast<uint16_t>(SHCollisionTag::Layer::ALL);
float distance = std::numeric_limits<float>::infinity();
SHRay ray;
/*-------------------------------------------------------------------------------*/
/* Setter Functions */
/*-------------------------------------------------------------------------------*/
/**
* @brief
* Sets the collider ID for the raycast. Setting this specifies that the ray
* should ignore this collider.
* @param eid
* The entity ID of the collider.
*/
void SetColliderID(EntityID eid) noexcept { colliderEntityID = eid; }
private:
/*-------------------------------------------------------------------------------*/
/* Data Members */
/*-------------------------------------------------------------------------------*/
std::optional<EntityID> colliderEntityID;
};
using RaycastResults = std::vector<SHPhysicsRaycastResult>;
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
SHCollisionSpace () noexcept = default;
~SHCollisionSpace () noexcept = default;
/*---------------------------------------------------------------------------------*/
/* Getter Functions */
/*---------------------------------------------------------------------------------*/
const SHAABBTree::AABBs& GetBroadphaseAABBs () const noexcept;
/*---------------------------------------------------------------------------------*/
/* Setter Functions */
/*---------------------------------------------------------------------------------*/
void SetContactManager(SHContactManager* contactManager) noexcept;
/*---------------------------------------------------------------------------------*/
/* Member Functions */
/*---------------------------------------------------------------------------------*/
/**
* @brief
* Adds a collider to the collision space for it to be tested for collision with
* other colliders.
* @param collider
* A collider to add. Duplicates will be ignored.
*/
void AddCollider (SHCollider* collider) noexcept;
/**
* @brief
* Removes a collider from the collision space. This will prevent any collisions
* being detected between it and other colliders unless manually tested.
* @param collider
* A collider to remove. If a reference to it doesn't exist, it will be ignored.
*/
void RemoveCollider (SHCollider* collider) noexcept;
/**
* @brief
* Invoke this method to update the broadphase of colliders that have been moved since
* the last frame.
*/
void UpdateBroadphase () noexcept;
/**
* @brief
* Detects collisions between all colliders. Results are sent to the attached contact
* manager for resolution.
*/
void DetectCollisions () noexcept;
/**
* @brief
* Casts a ray into the collision space.
* @param info
* Contains the information for the raycast.
* @return
* A container of the objects hit by the ray. If nothing was hit, the container
* will be empty.
*/
[[nodiscard]] const RaycastResults& Raycast(const RaycastInfo& info) noexcept;
private:
/*---------------------------------------------------------------------------------*/
/* Type Definitions */
/*---------------------------------------------------------------------------------*/
struct NarrowphasePair
{
SHCollisionShape* A = nullptr;
SHCollisionShape* B = nullptr;
};
using Colliders = std::unordered_map<EntityID, SHCollider*>;
using NarrowphaseBatch = std::unordered_map<SHCollisionKey, NarrowphasePair, SHCollisionKeyHash>;
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
SHContactManager* contactManager = nullptr;
Colliders colliders;
NarrowphaseBatch narrowphaseBatch;
SHAABBTree broadphase;
/*---------------------------------------------------------------------------------*/
/* Member Functions */
/*---------------------------------------------------------------------------------*/
// Broadphase helpers
void broadphaseQuery (SHRigidBody::Type rigidBodyType, SHCollider* collider) noexcept;
// Narrowphase helpers
void collideTriggers (const SHCollisionKey& key, NarrowphasePair& narrowphasePair) const noexcept;
void collideManifolds (const SHCollisionKey& key, NarrowphasePair& narrowphasePair) const noexcept;
};
} // namespace SHADE

176
SHADE_Engine/src/Physics/Collision/SHCompositeCollider.cpp Normal file
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@ -0,0 +1,176 @@
/****************************************************************************************
* \file SHCompositeCollider.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a Composite Collider Class.
*
* \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 "SHCompositeCollider.h"
// Project Headers
#include "Broadphase/SHDynamicAABBTree.h"
#include "Math/SHMathHelpers.h"
#include "Physics/SHPhysicsEvents.h"
#include "Physics/Dynamics/SHRigidBody.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
SHCompositeCollider::SHCompositeCollider(EntityID eid, const SHTransform& worldTransform) noexcept
: SHCollider( eid, worldTransform )
{
flags |= COMPOSITE_FLAG;
}
SHCompositeCollider::SHCompositeCollider(const SHCompositeCollider& rhs) noexcept
: SHCollider( rhs )
{}
SHCompositeCollider::SHCompositeCollider(SHCompositeCollider&& rhs) noexcept
: SHCollider( rhs )
{}
/*-----------------------------------------------------------------------------------*/
/* Operator Overload Definitions */
/*-----------------------------------------------------------------------------------*/
SHCompositeCollider& SHCompositeCollider::operator=(const SHCompositeCollider& rhs) noexcept
{
if (this == &rhs)
return *this;
SHCollider::operator=(rhs);
return *this;
}
SHCompositeCollider& SHCompositeCollider::operator=(SHCompositeCollider&& rhs) noexcept
{
SHCollider::operator=(rhs);
return *this;
}
/*-----------------------------------------------------------------------------------*/
/* Public Member Function Definitions */
/*-----------------------------------------------------------------------------------*/
int SHCompositeCollider::AddSphereCollisionShape(float relativeRadius, const SHVec3& posOffset, const SHVec3& rotOffset)
{
if (!shapeLibrary)
{
SHLOGV_ERROR("Shape factory is unlinked with Collider {}. Unable to add new shape!", entityID)
return -1;
}
// Compute world radius
const float SPHERE_SCALE = std::fabs(SHMath::Max({ transform.scale.x, transform.scale.y, transform.scale.z }));
// Compute center
const SHQuaternion FINAL_ROT = transform.orientation * SHQuaternion::FromEuler(rotOffset);
const SHMatrix TRS = SHMatrix::Rotate(FINAL_ROT) * SHMatrix::Translate(transform.position);
// Create Sphere
const SHSphereCreateInfo SPHERE_CREATE_INFO
{
.Center = SHVec3::Transform(posOffset, TRS)
, .Radius = relativeRadius * SPHERE_SCALE * 0.5f
, .RelativeRadius = relativeRadius
, .Scale = SPHERE_SCALE
};
const uint32_t NEW_INDEX = static_cast<uint32_t>(shapes.size());
const SHCollisionShapeID NEW_SHAPE_ID{ entityID, NEW_INDEX };
SHSphere* sphere = shapeLibrary->CreateSphere(NEW_SHAPE_ID, SPHERE_CREATE_INFO);
// Set offsets
sphere->collider = this;
sphere->SetPositionOffset(posOffset);
sphere->SetRotationOffset(rotOffset);
shapes.emplace_back(sphere);
if (broadphase)
broadphase->Insert(NEW_SHAPE_ID, sphere->ComputeAABB());
// Broadcast Event for adding a shape
const SHPhysicsColliderAddedEvent EVENT_DATA
{
.entityID = entityID
, .colliderType = SHCollisionShape::Type::SPHERE
, .colliderIndex = static_cast<int>(NEW_INDEX)
};
SHEventManager::BroadcastEvent<SHPhysicsColliderAddedEvent>(EVENT_DATA, SH_PHYSICS_COLLIDER_ADDED_EVENT);
if (rigidBody)
rigidBody->ComputeMassData();
return static_cast<int>(NEW_INDEX);
}
int SHCompositeCollider::AddBoxCollisionShape(const SHVec3& relativeExtents, const SHVec3& posOffset, const SHVec3& rotOffset)
{
if (!shapeLibrary)
{
SHLOGV_ERROR("Shape factory is unlinked with Collider {}. Unable to add new shape!", entityID)
return -1;
}
// Compute center
const SHQuaternion FINAL_ROT = transform.orientation * SHQuaternion::FromEuler(rotOffset);
const SHMatrix TRS = SHMatrix::Rotate(FINAL_ROT) * SHMatrix::Translate(transform.position);
// Create Sphere
const SHBoxCreateInfo BOX_CREATE_INFO
{
.Center = SHVec3::Transform(posOffset, TRS)
, .Extents = relativeExtents * SHVec3::Abs(transform.scale) * 0.5f
, .RelativeExtents = relativeExtents
, .Orientation = FINAL_ROT
, .Scale = SHVec3::Abs(transform.scale)
};
const uint32_t NEW_INDEX = static_cast<uint32_t>(shapes.size());
const SHCollisionShapeID NEW_SHAPE_ID{ entityID, NEW_INDEX };
SHBox* box = shapeLibrary->CreateBox(NEW_SHAPE_ID, BOX_CREATE_INFO);
// Set offsets
box->collider = this;
box->SetPositionOffset(posOffset);
box->SetRotationOffset(rotOffset);
shapes.emplace_back(box);
if (broadphase)
broadphase->Insert(NEW_SHAPE_ID, box->ComputeAABB());
// Broadcast Event for adding a shape
const SHPhysicsColliderAddedEvent EVENT_DATA
{
.entityID = entityID
, .colliderType = SHCollisionShape::Type::BOX
, .colliderIndex = static_cast<int>(NEW_INDEX)
};
SHEventManager::BroadcastEvent<SHPhysicsColliderAddedEvent>(EVENT_DATA, SH_PHYSICS_COLLIDER_ADDED_EVENT);
if (rigidBody)
rigidBody->ComputeMassData();
return static_cast<int>(NEW_INDEX);
}
} // namespace SHADE

80
SHADE_Engine/src/Physics/Collision/SHCompositeCollider.h Normal file
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@ -0,0 +1,80 @@
/****************************************************************************************
* \file SHCompositeCollider.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a Composite Collider Class.
*
* \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 "SHCollider.h"
namespace SHADE
{
/**
* @brief
* Encapsulates the behaviour of a collider with composited shapes. <br/>
* Contains no data members but methods to add multiple shapes.
*/
class SH_API SHCompositeCollider : public SHCollider
{
public:
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
SHCompositeCollider(EntityID eid, const SHTransform& worldTransform = SHTransform::Identity) noexcept;
SHCompositeCollider(const SHCompositeCollider& rhs) noexcept;
SHCompositeCollider(SHCompositeCollider&& rhs) noexcept;
~SHCompositeCollider () noexcept override = default;
/*---------------------------------------------------------------------------------*/
/* Operator Overloads */
/*---------------------------------------------------------------------------------*/
SHCompositeCollider& operator=(const SHCompositeCollider& rhs) noexcept;
SHCompositeCollider& operator=(SHCompositeCollider&& rhs) noexcept;
/*---------------------------------------------------------------------------------*/
/* Member Functions */
/*---------------------------------------------------------------------------------*/
/**
* @brief
* Adds a sphere collision shape.
* @param relativeRadius
* The relative radius is constructed with respect to the world scale. <br/>
* Radius = max(scale.x, scale.y, scale.z) * 0.5 * relativeRadius
* @param posOffset
* The position offset of the sphere from the center of the collider. Defaults to a Zero Vector.
* @param rotOffset
* The rotation offset of the sphere from the rotation of the collider. Defaults to a Zero Vector.
* @return
* The index of the newly added shape.
*/
int AddSphereCollisionShape (float relativeRadius, const SHVec3& posOffset = SHVec3::Zero, const SHVec3& rotOffset = SHVec3::Zero);
/**
* @brief
* Adds a box collision shape.
* @param relativeExtents
* The relative extents are constructed with respect to the world scale. <br/>
* Extents = scale * 0.5 * relativeExtents
* @param posOffset
* The position offset of the box from the center of the collider. Defaults to a Zero Vector.
* @param rotOffset
* The rotation offset of the box from the rotation of the collider. Defaults to a Zero Vector.
* @return
* The index of the newly added shape.
*/
int AddBoxCollisionShape (const SHVec3& relativeExtents, const SHVec3& posOffset = SHVec3::Zero, const SHVec3& rotOffset = SHVec3::Zero);
// TODO: Add Capsule
};
} // namespace SHADE

0
SHADE_Engine/src/Physics/Interface/SHPhysicsMaterial.cpp → SHADE_Engine/src/Physics/Collision/SHPhysicsMaterial.cpp
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4
SHADE_Engine/src/Physics/Interface/SHPhysicsMaterial.h → SHADE_Engine/src/Physics/Collision/SHPhysicsMaterial.h
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@ -19,6 +19,10 @@ namespace SHADE
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
/**
* @brief
* Encapsulates the data of a physics material for physics simulations.
*/
class SH_API SHPhysicsMaterial
{
public:

350
SHADE_Engine/src/Physics/Collision/SHPhysicsRaycaster.cpp
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@ -1,350 +0,0 @@
/****************************************************************************************
* \file SHPhysicsRaycaster.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a Physics Raycaster.
*
* \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 "SHPhysicsRaycaster.h"
/*
* TODO(DIREN):
* Once the physics engine has been rebuilt, this whole implementation should change
* and just call PhysicsWorld.Raycast etc.
*
* SHRaycastResult can be converted to a bool when necessary.
*/
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
SHPhysicsRaycaster::SHPhysicsRaycaster() noexcept
: world { nullptr }
{}
/*-----------------------------------------------------------------------------------*/
/* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/
const SHPhysicsRaycaster::RaycastPairs& SHPhysicsRaycaster::GetRaycasts() const noexcept
{
return raycasts;
}
/*-----------------------------------------------------------------------------------*/
/* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/
void SHPhysicsRaycaster::SetObjectManager(SHPhysicsObjectManager* physicsObjectManager) noexcept
{
objectManager = physicsObjectManager;
}
/*-----------------------------------------------------------------------------------*/
/* Public Function Member Definitions */
/*-----------------------------------------------------------------------------------*/
void SHPhysicsRaycaster::BindToWorld(rp3d::PhysicsWorld* physicsWorld) noexcept
{
world = physicsWorld;
}
void SHPhysicsRaycaster::ClearFrame() noexcept
{
raycasts.clear();
}
SHPhysicsRaycastResult SHPhysicsRaycaster::Raycast(const SHRay& ray, float distance, const SHCollisionTag& collisionTag) noexcept
{
// Reset temp
temp = SHPhysicsRaycastResult{};
temp.distance = distance;
if (!world)
{
SHLOG_ERROR("Physics world missing for raycasting!")
return temp;
}
// If distance in infinity, cast to the default max distance of 2 km.
if (distance == std::numeric_limits<float>::infinity())
{
world->raycast(ray, this, collisionTag);
}
else
{
const SHVec3 END_POINT = ray.position + ray.direction * distance;
const rp3d::Ray RP3D_RAY{ ray.position, END_POINT };
world->raycast(RP3D_RAY, this, collisionTag);
}
// If a hit was found, populate temp info for return.
if (temp.hit)
{
temp.distance = SHVec3::Distance(ray.position, temp.position);
temp.angle = SHVec3::Angle(ray.position, temp.position);
}
raycasts.emplace_back(ray, temp);
return temp;
}
SHPhysicsRaycastResult SHPhysicsRaycaster::Linecast(const SHVec3& start, const SHVec3& end, const SHCollisionTag& collisionTag) noexcept
{
temp = SHPhysicsRaycastResult{};
temp.distance = SHVec3::Distance(start, end);
if (!world)
{
SHLOG_ERROR("Physics world missing for raycasting!")
return temp;
}
const rp3d::Ray RP3D_RAY{ start, end };
world->raycast(RP3D_RAY, this, collisionTag);
if (temp.hit)
{
temp.distance = SHVec3::Distance(start, temp.position);
temp.angle = SHVec3::Angle(start, temp.position);
}
raycasts.emplace_back(RP3D_RAY, temp);
return temp;
}
SHPhysicsRaycastResult SHPhysicsRaycaster::ColliderRaycast(EntityID eid, const SHRay& ray, float distance) noexcept
{
SHPhysicsRaycastResult result;
result.distance = distance;
// Get a valid physics object with at least 1 collider.
const auto* PHYSICS_OBJECT = validateColliderRaycast(eid);
if (!PHYSICS_OBJECT)
return result;
auto* rp3dBody = PHYSICS_OBJECT->GetCollisionBody();
// Data to populate
rp3d::RaycastInfo rp3dRaycastInfo;
bool hit = false;
if (distance == std::numeric_limits<float>::infinity())
{
hit = rp3dBody->raycast(ray, rp3dRaycastInfo);
}
else
{
const SHVec3 END_POINT = ray.position + ray.direction * distance;
const rp3d::Ray RP3D_RAY{ ray.position, END_POINT };
hit = rp3dBody->raycast(RP3D_RAY, rp3dRaycastInfo);
}
if (hit)
{
result.hit = true;
result.position = rp3dRaycastInfo.worldPoint;
result.normal = rp3dRaycastInfo.worldPoint;
result.distance = SHVec3::Distance(ray.position, result.position);
result.angle = SHVec3::Angle(ray.position, result.position);
result.entityHit = eid;
result.shapeIndex = findColliderIndex(rp3dBody, rp3dRaycastInfo.collider->getEntity());
}
raycasts.emplace_back(ray, result);
return result;
}
SHPhysicsRaycastResult SHPhysicsRaycaster::ColliderRaycast(EntityID eid, int shapeIndex, const SHRay& ray, float distance) noexcept
{
SHPhysicsRaycastResult result;
result.distance = distance;
// Get a valid physics object with at least 1 collider.
const auto* PHYSICS_OBJECT = validateColliderRaycast(eid);
if (!PHYSICS_OBJECT)
return result;
// Boundary check for shape index
if (shapeIndex < 0 || shapeIndex >= static_cast<int>(PHYSICS_OBJECT->GetCollisionBody()->getNbColliders()))
{
SHLOGV_WARNING("Invalid collision shape index passed in")
return result;
}
auto* rp3dCollider = PHYSICS_OBJECT->GetCollisionBody()->getCollider(shapeIndex);
rp3d::RaycastInfo rp3dRaycastInfo;
bool hit = false;
if (distance == std::numeric_limits<float>::infinity())
{
hit = rp3dCollider->raycast(ray, rp3dRaycastInfo);
}
else
{
const SHVec3 END_POINT = ray.position + ray.direction * distance;
const rp3d::Ray RP3D_RAY{ ray.position, END_POINT };
hit = rp3dCollider->raycast(RP3D_RAY, rp3dRaycastInfo);
}
if (hit)
{
result.hit = true;
result.position = rp3dRaycastInfo.worldPoint;
result.normal = rp3dRaycastInfo.worldPoint;
result.distance = SHVec3::Distance(ray.position, result.position);
result.angle = SHVec3::Angle(ray.position, result.position);
result.entityHit = eid;
result.shapeIndex = shapeIndex;
}
raycasts.emplace_back(ray, result);
return result;
}
SHPhysicsRaycastResult SHPhysicsRaycaster::ColliderLinecast(EntityID eid, const SHVec3& start, const SHVec3& end) noexcept
{
SHPhysicsRaycastResult result;
result.distance = SHVec3::Distance(start, end);
const auto* PHYSICS_OBJECT = validateColliderRaycast(eid);
if (!PHYSICS_OBJECT)
return result;
auto* rp3dBody = PHYSICS_OBJECT->GetCollisionBody();
rp3d::RaycastInfo rp3dRaycastInfo;
const rp3d::Ray RP3D_RAY{ start, end };
if (rp3dBody->raycast(RP3D_RAY, rp3dRaycastInfo))
{
result.hit = true;
result.position = rp3dRaycastInfo.worldPoint;
result.normal = rp3dRaycastInfo.worldPoint;
result.distance = SHVec3::Distance(start, result.position);
result.angle = SHVec3::Angle(end, result.position);
result.entityHit = eid;
result.shapeIndex = findColliderIndex(rp3dBody, rp3dRaycastInfo.collider->getEntity());
}
raycasts.emplace_back(RP3D_RAY, result);
return result;
}
SHPhysicsRaycastResult SHPhysicsRaycaster::ColliderLinecast(EntityID eid, int shapeIndex, const SHVec3& start, const SHVec3& end) noexcept
{
SHPhysicsRaycastResult result;
result.distance = SHVec3::Distance(start, end);
const auto* PHYSICS_OBJECT = validateColliderRaycast(eid);
if (!PHYSICS_OBJECT)
return result;
if (shapeIndex < 0 || shapeIndex >= static_cast<int>(PHYSICS_OBJECT->GetCollisionBody()->getNbColliders()))
{
SHLOGV_WARNING("Invalid collision shape index passed in")
return result;
}
auto* rp3dCollider = PHYSICS_OBJECT->GetCollisionBody()->getCollider(shapeIndex);
rp3d::RaycastInfo rp3dRaycastInfo;
const rp3d::Ray RP3D_RAY{ start, end };
if (rp3dCollider->raycast(RP3D_RAY, rp3dRaycastInfo))
{
result.hit = true;
result.position = rp3dRaycastInfo.worldPoint;
result.normal = rp3dRaycastInfo.worldPoint;
result.distance = SHVec3::Distance(start, result.position);
result.angle = SHVec3::Angle(end, result.position);
result.entityHit = eid;
result.shapeIndex = shapeIndex;
}
raycasts.emplace_back(RP3D_RAY, result);
return result;
}
rp3d::decimal SHPhysicsRaycaster::notifyRaycastHit(const rp3d::RaycastInfo& raycastInfo)
{
temp.hit = true;
temp.position = raycastInfo.worldPoint;
temp.normal = raycastInfo.worldNormal;
if (!objectManager)
{
SHLOGV_ERROR("No physics object manager linked with raycaster to match bodies")
return 0.0f;
}
// Compare body IDs to find the matching physics object
const auto HIT_BODY_EID = raycastInfo.body->getEntity();
for (const auto& [entityID, physicsObject] : objectManager->GetPhysicsObjects())
{
const auto RP3D_BODY = physicsObject.GetCollisionBody();
// Match rp3d bodies
if (RP3D_BODY->getEntity() != HIT_BODY_EID)
continue;
temp.entityHit = entityID;
// Find collider index
if (const int INDEX = findColliderIndex(RP3D_BODY, raycastInfo.collider->getEntity()); INDEX > -1)
{
temp.shapeIndex = INDEX;
break;
}
}
return 0.0f;
}
/*-----------------------------------------------------------------------------------*/
/* Private Function Member Definitions */
/*-----------------------------------------------------------------------------------*/
SHPhysicsObject* SHPhysicsRaycaster::validateColliderRaycast(EntityID eid) noexcept
{
if (!objectManager)
{
SHLOGV_ERROR("No physics object manager linked with raycaster to match bodies")
return nullptr;
}
auto* physicsObject = objectManager->GetPhysicsObject(eid);
if (!physicsObject || physicsObject->GetCollisionBody()->getNbColliders() == 0)
{
SHLOGV_WARNING("Cannot cast ray at an entity without colliders!")
return nullptr;
}
return physicsObject;
}
int SHPhysicsRaycaster::findColliderIndex(const rp3d::CollisionBody* rp3dBody, rp3d::Entity rp3dColliderEID) noexcept
{
const int NUM_COLLISION_SHAPES = static_cast<int>(rp3dBody->getNbColliders());
for (int i = 0; i < NUM_COLLISION_SHAPES; ++i)
{
const auto COLLIDER_EID = rp3dBody->getCollider(i)->getEntity();
if (COLLIDER_EID == rp3dColliderEID)
return i;
}
return -1;
}
} // namespace SHADE

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SHADE_Engine/src/Physics/Collision/SHPhysicsRaycaster.h
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@ -1,134 +0,0 @@
/****************************************************************************************
* \file SHPhysicsRaycaster.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a Physics Raycaster.
*
* \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
#include <vector>
#include <reactphysics3d/reactphysics3d.h>
// Project Headers
#include "Math/SHRay.h"
#include "Physics/PhysicsObject/SHPhysicsObjectManager.h"
#include "Physics/SHPhysicsWorld.h"
#include "SH_API.h"
#include "SHCollisionTags.h"
#include "SHPhysicsRaycastResult.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
class SH_API SHPhysicsRaycaster : public reactphysics3d::RaycastCallback
{
private:
/*---------------------------------------------------------------------------------*/
/* Type Definitions */
/*---------------------------------------------------------------------------------*/
using RaycastPair = std::pair<SHRay, SHPhysicsRaycastResult>;
using RaycastPairs = std::vector<RaycastPair>;
public:
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
SHPhysicsRaycaster() noexcept;
/*---------------------------------------------------------------------------------*/
/* Getter Functions */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] const RaycastPairs& GetRaycasts() const noexcept;
/*---------------------------------------------------------------------------------*/
/* Setter Functions */
/*---------------------------------------------------------------------------------*/
void SetObjectManager(SHPhysicsObjectManager* physicsObjectManager) noexcept;
/*---------------------------------------------------------------------------------*/
/* Function Members */
/*---------------------------------------------------------------------------------*/
void BindToWorld (rp3d::PhysicsWorld* physicsWorld) noexcept;
void ClearFrame () noexcept;
// TODO(Diren): Filtering, return all shades ray hits
SHPhysicsRaycastResult Raycast
(
const SHRay& ray
, float distance = std::numeric_limits<float>::infinity()
, const SHCollisionTag& collisionTag = SHCollisionTag{}
) noexcept;
SHPhysicsRaycastResult Linecast
(
const SHVec3& start
, const SHVec3& end
, const SHCollisionTag& collisionTag = SHCollisionTag{}
) noexcept;
SHPhysicsRaycastResult ColliderRaycast
(
EntityID eid
, const SHRay& ray
, float distance = std::numeric_limits<float>::infinity()
) noexcept;
SHPhysicsRaycastResult ColliderRaycast
(
EntityID eid
, int shapeIndex
, const SHRay& ray
, float distance = std::numeric_limits<float>::infinity()
) noexcept;
SHPhysicsRaycastResult ColliderLinecast
(
EntityID eid
, const SHVec3& start
, const SHVec3& end
) noexcept;
SHPhysicsRaycastResult ColliderLinecast
(
EntityID eid
, int shapeIndex
, const SHVec3& start
, const SHVec3& end
) noexcept;
rp3d::decimal notifyRaycastHit(const rp3d::RaycastInfo& raycastInfo) override;
private:
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
rp3d::PhysicsWorld* world;
SHPhysicsObjectManager* objectManager; // For
SHPhysicsRaycastResult temp; // Holds the temporary result after casting into the world
RaycastPairs raycasts; // Used for debug drawing
/*---------------------------------------------------------------------------------*/
/* Function Members */
/*---------------------------------------------------------------------------------*/
SHPhysicsObject* validateColliderRaycast (EntityID eid) noexcept;
static int findColliderIndex (const rp3d::CollisionBody* rp3dBody, rp3d::Entity rp3dColliderEID) noexcept;
};
} // namespace SHADE

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/****************************************************************************************
* \file SHBoxCollisionShape.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a Box Collision 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 "SHBox.h"
// Project Headers
#include "Math/SHMathHelpers.h"
#include "Math/SHMatrix.h"
#include "Physics/Collision/SHCollider.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
SHBox::SHBox(SHCollisionShapeID id) noexcept
: SHConvexPolyhedron (id, Type::BOX)
, relativeExtents { SHVec3::One }
, scale { SHVec3::One }
{
Extents = SHVec3::One * 0.5f;
}
SHBox::SHBox(const SHBox& rhs) noexcept
: SHConvexPolyhedron ( rhs )
, relativeExtents { rhs.relativeExtents }
, scale { rhs.scale }
{
Center = rhs.Center;
Extents = rhs.Extents;
Orientation = rhs.Orientation;
}
SHBox::SHBox(SHBox&& rhs) noexcept
: SHConvexPolyhedron ( rhs )
, relativeExtents { rhs.relativeExtents }
, scale { rhs.scale }
{
Center = rhs.Center;
Extents = rhs.Extents;
Orientation = rhs.Orientation;
}
/*-----------------------------------------------------------------------------------*/
/* Operator Overload Definitions */
/*-----------------------------------------------------------------------------------*/
SHBox& SHBox::operator=(const SHBox& rhs) noexcept
{
if (this == &rhs)
return *this;
// Collision Shape Properties
SHConvexPolyhedron::operator=(rhs);
// Box Properties
Center = rhs.Center;
Extents = rhs.Extents;
Orientation = rhs.Orientation;
// Local Properties
relativeExtents = rhs.relativeExtents;
scale = rhs.scale;
return *this;
}
SHBox& SHBox::operator=(SHBox&& rhs) noexcept
{
// Collision Shape Properties
SHConvexPolyhedron::operator=(rhs);
// Box Properties
Center = rhs.Center;
Extents = rhs.Extents;
Orientation = rhs.Orientation;
// Local Properties
relativeExtents = rhs.relativeExtents;
scale = rhs.scale;
return *this;
}
/*-----------------------------------------------------------------------------------*/
/* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/
SHVec3 SHBox::GetWorldExtents() const noexcept
{
return Extents;
}
SHVec3 SHBox::GetRelativeExtents() const noexcept
{
return relativeExtents;
}
SHVec3 SHBox::GetVertex(int index) const
{
if (index < 0 || index >= NUM_VERTICES)
throw std::invalid_argument("Index out-of-range!");
SHVec3 vertices[NUM_VERTICES];
GetCorners(vertices);
return vertices[index];
}
SHVec3 SHBox::GetNormal(int faceIndex) const
{
// Get local normal
const SHVec3& LOCAL_NORMAL = halfEdgeStructure->GetFace(faceIndex).normal;
// Rotate normal into world space
return SHVec3::Rotate(LOCAL_NORMAL, Orientation);
}
SHVec3 SHBox::GetWorldCentroid() const noexcept
{
return Center;
}
SHVec3 SHBox::GetRelativeCentroid() const noexcept
{
if (collider)
return SHVec3{ Center } - collider->GetPosition();
return Center;
}
SHVec3 SHBox::GetLocalCentroid() const noexcept
{
return SHVec3::Zero;
}
SHQuaternion SHBox::GetWorldOrientation() const noexcept
{
return Orientation;
}
SHQuaternion SHBox::GetRelativeOrientation() const noexcept
{
return transform.orientation;
}
float SHBox::GetVolume() const noexcept
{
return 8.0f * (Extents.x * Extents.y * Extents.z);
}
float SHBox::GetSurfaceArea() const noexcept
{
return 8.0f * (Extents.x * Extents.y
+ Extents.x * Extents.z
+ Extents.y * Extents.z);
}
SHMatrix SHBox::GetInertiaTensor(float mass) const noexcept
{
static constexpr float ONE_OVER_TWELVE = (1.0f / 12.0f);
const float WIDTH = 2.0f * Extents.x;
const float HEIGHT = 2.0f * Extents.y;
const float DEPTH = 2.0f * Extents.z;
const float WIDTH_SQUARED = WIDTH * WIDTH;
const float HEIGHT_SQUARED = HEIGHT * HEIGHT;
const float DEPTH_SQUARED = DEPTH * DEPTH;
const float H2_PLUS_D2 = HEIGHT_SQUARED + DEPTH_SQUARED;
const float W2_PLUS_H2 = WIDTH_SQUARED + HEIGHT_SQUARED;
const float W2_PLUS_D2 = WIDTH_SQUARED + DEPTH_SQUARED;
SHMatrix result;
result.m[0][0] = ONE_OVER_TWELVE * mass * H2_PLUS_D2;
result.m[1][1] = ONE_OVER_TWELVE * mass * W2_PLUS_H2;
result.m[2][2] = ONE_OVER_TWELVE * mass * W2_PLUS_D2;
return result;
}
/*-----------------------------------------------------------------------------------*/
/* Setter Function Definitions */
/*-----------------------------------------------------------------------------------*/
void SHBox::SetWorldExtents(const SHVec3& newWorldExtents) noexcept
{
Extents = newWorldExtents;
// Recompute Relative radius
relativeExtents = 2.0f * Extents / scale;
}
void SHBox::SetRelativeExtents(const SHVec3& newRelativeExtents) noexcept
{
relativeExtents = newRelativeExtents;
// Recompute world radius
Extents = relativeExtents * scale * 0.5f;
}
void SHBox::SetScale(const SHVec3& newScale) noexcept
{
scale = SHVec3::Abs(newScale);
// Recompute world radius
Extents = relativeExtents * scale * 0.5f;
}
/*-----------------------------------------------------------------------------------*/
/* Public Member Function Definitions */
/*-----------------------------------------------------------------------------------*/
void SHBox::Update() noexcept
{
const SHTransform& PARENT_TRANSFORM = collider->GetTransform();
SetScale(PARENT_TRANSFORM.scale);
// Recompute center
const SHQuaternion FINAL_ROT = PARENT_TRANSFORM.orientation * transform.orientation;
const SHMatrix TRS = SHMatrix::Rotate(FINAL_ROT) * SHMatrix::Translate(PARENT_TRANSFORM.position);
Orientation = FINAL_ROT;
Center = SHVec3::Transform(transform.position, TRS);
}
bool SHBox::TestPoint(const SHVec3& point) const noexcept
{
return Contains(point);
}
SHRaycastResult SHBox::Raycast(const SHRay& ray) const noexcept
{
SHRaycastResult result;
result.hit = Intersects(ray.position, ray.direction, result.distance);
if (result.hit)
{
result.position = ray.position + ray.direction * result.distance;
result.angle = SHVec3::Angle(ray.position, result.position);
// TODO: Compute Normal: Test which face the position belongs in. The normal is that face's normal.
}
return result;
}
SHMatrix SHBox::GetTRS() const noexcept
{
const SHQuaternion ROTATION = collider ? collider->GetTransform().orientation * transform.orientation : Orientation;
const SHVec3 SCALE = SHVec3{ Extents } *2.0f;
return SHMatrix::Transform(Center, ROTATION, SCALE);
}
SHAABB SHBox::ComputeAABB() const noexcept
{
SHVec3 min{ std::numeric_limits<float>::max() };
SHVec3 max{ std::numeric_limits<float>::lowest() };
SHVec3 vertices[NUM_VERTICES];
GetCorners(vertices);
for (auto& vertex : vertices)
{
min = SHVec3::Min({ vertex, min });
max = SHVec3::Max({ vertex, max });
}
const SHVec3 HALF_EXTENTS = (max - min) * 0.5f;
const SHVec3 CENTROID = min + HALF_EXTENTS;
return SHAABB{ CENTROID, HALF_EXTENTS };
}
SHVec3 SHBox::FindSupportPoint(const SHVec3& direction) const noexcept
{
float bestDistance = std::numeric_limits<float>::lowest();
SHVec3 vertices[NUM_VERTICES];
GetCorners(vertices);
// No reason to put the center really..
SHVec3 bestPoint = Center;
for (auto& vertex : vertices)
{
const float PROJECTION = SHVec3::Dot(vertex, direction);
if (PROJECTION > bestDistance)
{
bestDistance = PROJECTION;
bestPoint = vertex;
}
}
return bestPoint;
}
} // namespace SHADE

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/****************************************************************************************
* \file SHBox.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a Box Collision 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.
****************************************************************************************/
#pragma once
#include <DirectXCollision.h>
// Project Headers
#include "SHConvexPolyhedron.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
/**
* @brief
* Encapsulates the information to create a box.
*/
struct SHBoxCreateInfo
{
public:
SHVec3 Center = SHVec3::Zero;
SHVec3 Extents = SHVec3::One * 0.5f;
SHVec3 RelativeExtents = SHVec3::One;
SHQuaternion Orientation = SHQuaternion::Identity;
SHVec3 Scale = SHVec3::One;
};
/**
* @brief
* Encapsulate a Box Shape used for Physics Simulations.
*/
class SH_API SHBox final : public SHConvexPolyhedron
, private DirectX::BoundingOrientedBox
{
private:
/*---------------------------------------------------------------------------------*/
/* Friends */
/*---------------------------------------------------------------------------------*/
friend class SHCollider;
friend class SHCompositeCollider;
friend class SHCollision;
friend class SHCollisionShapeLibrary;
public:
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
static constexpr int NUM_VERTICES = 8;
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
SHBox (SHCollisionShapeID id) noexcept;
SHBox (const SHBox& rhs) noexcept;
SHBox (SHBox&& rhs) noexcept;
~SHBox () override = default;
/*---------------------------------------------------------------------------------*/
/* Operator Overloads */
/*---------------------------------------------------------------------------------*/
SHBox& operator= (const SHBox& rhs) noexcept;
SHBox& operator= (SHBox&& rhs) noexcept;
/*---------------------------------------------------------------------------------*/
/* Getter Functions */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] SHVec3 GetWorldExtents () const noexcept;
[[nodiscard]] SHVec3 GetRelativeExtents () const noexcept;
// Overriden Methods
[[nodiscard]] SHVec3 GetVertex (int index) const override;
[[nodiscard]] SHVec3 GetNormal (int faceIndex) const override;
[[nodiscard]] SHVec3 GetWorldCentroid () const noexcept override;
[[nodiscard]] SHVec3 GetRelativeCentroid () const noexcept override;
[[nodiscard]] SHVec3 GetLocalCentroid () const noexcept override;
[[nodiscard]] SHQuaternion GetWorldOrientation () const noexcept override;
[[nodiscard]] SHQuaternion GetRelativeOrientation () const noexcept override;
[[nodiscard]] float GetVolume () const noexcept override;
[[nodiscard]] float GetSurfaceArea () const noexcept override;
[[nodiscard]] SHMatrix GetInertiaTensor (float mass) const noexcept override;
/*---------------------------------------------------------------------------------*/
/* Setter Functions */
/*---------------------------------------------------------------------------------*/
void SetWorldExtents (const SHVec3& newWorldExtents) noexcept;
void SetRelativeExtents (const SHVec3& newRelativeExtents) noexcept;
void SetScale (const SHVec3& newScale) noexcept;
/*---------------------------------------------------------------------------------*/
/* Function Members */
/*---------------------------------------------------------------------------------*/
void Update () noexcept override;
[[nodiscard]] bool TestPoint (const SHVec3& point) const noexcept override;
[[nodiscard]] SHRaycastResult Raycast (const SHRay& ray) const noexcept override;
[[nodiscard]] SHMatrix GetTRS () const noexcept override;
[[nodiscard]] SHAABB ComputeAABB () const noexcept override;
[[nodiscard]] SHVec3 FindSupportPoint (const SHVec3& direction) const noexcept override;
private:
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
SHVec3 relativeExtents;
SHVec3 scale;
};
} // namespace SHADE

188
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/****************************************************************************************
* \file SHCollider.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a Collider.
*
* \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 "SHCollisionShape.h"
// Project Headers
#include "Physics/Collision/SHCollider.h"
#include "Physics/Collision/CollisionTags/SHCollisionTagMatrix.h"
#include "Reflection/SHReflectionMetadata.h"
#include "Tools/Utilities/SHUtilities.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
SHCollisionShape::SHCollisionShape(SHCollisionShapeID id, Type colliderType)
: id { id }
, flags { 0 }
, collider { nullptr }
, collisionTag { SHCollisionTagMatrix::GetTag(0) }
{
flags |= 1U << SHUtilities::ConvertEnum(colliderType);
}
/*-----------------------------------------------------------------------------------*/
/* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/
EntityID SHCollisionShape::GetEntityID() const noexcept
{
return id.GetEntityID();
}
uint32_t SHCollisionShape::GetIndex() const noexcept
{
return id.GetShapeIndex();
}
float SHCollisionShape::GetFriction() const noexcept
{
return material.GetFriction();
}
float SHCollisionShape::GetBounciness() const noexcept
{
return material.GetBounciness();
}
float SHCollisionShape::GetDensity() const noexcept
{
return material.GetDensity();
}
const SHPhysicsMaterial& SHCollisionShape::GetMaterial() const noexcept
{
return material;
}
const SHVec3& SHCollisionShape::GetPositionOffset() const noexcept
{
return transform.position;
}
const SHVec3& SHCollisionShape::GetRotationOffset() const noexcept
{
return rotationOffset;
}
SHCollisionShape::Type SHCollisionShape::GetType() const noexcept
{
for (int i = 0; i < SHUtilities::ConvertEnum(Type::COUNT); ++i)
{
const uint8_t FLAG_VALUE = 1U << SHUtilities::ConvertEnum(static_cast<Type>(i));
if (flags & FLAG_VALUE)
return static_cast<Type>(i);
}
return Type::INVALID;
}
bool SHCollisionShape::IsTrigger() const noexcept
{
static constexpr int FLAG_POS = 3;
static constexpr uint8_t FLAG_VALUE = 1U << FLAG_POS;
return flags & FLAG_VALUE;
}
bool SHCollisionShape::IsColliding() const noexcept
{
static constexpr int FLAG_POS = 4;
static constexpr uint8_t FLAG_VALUE = 1U << FLAG_POS;
return flags & FLAG_VALUE;
}
const SHCollisionTag& SHCollisionShape::GetCollisionTag() const noexcept
{
return *collisionTag;
}
/*-----------------------------------------------------------------------------------*/
/* Setter Function Definitions */
/*-----------------------------------------------------------------------------------*/
void SHCollisionShape::SetCollisionTag(SHCollisionTag* newCollisionTag) noexcept
{
collisionTag = newCollisionTag;
}
void SHCollisionShape::SetFriction(float friction) noexcept
{
material.SetFriction(friction);
}
void SHCollisionShape::SetBounciness(float bounciness) noexcept
{
material.SetBounciness(bounciness);
}
void SHCollisionShape::SetDensity(float density) noexcept
{
material.SetDensity(density);
}
void SHCollisionShape::SetMaterial(const SHPhysicsMaterial& newMaterial) noexcept
{
material = newMaterial;
}
void SHCollisionShape::SetPositionOffset(const SHVec3& posOffset) noexcept
{
transform.position = posOffset;
Update();
}
void SHCollisionShape::SetRotationOffset(const SHVec3& rotOffset) noexcept
{
rotationOffset = rotOffset;
transform.orientation = SHQuaternion::FromEuler(rotationOffset);
Update();
}
void SHCollisionShape::SetIsTrigger(bool isTrigger) noexcept
{
static constexpr int FLAG_POS = 3;
static constexpr uint8_t FLAG_VALUE = 1U << FLAG_POS;
isTrigger ? flags |= FLAG_VALUE : flags &= ~FLAG_VALUE;
}
} // namespace SHADE
RTTR_REGISTRATION
{
using namespace SHADE;
using namespace rttr;
registration::enumeration<SHCollisionShape::Type>("Collider Type")
(
value("Box", SHCollisionShape::Type::BOX),
value("Sphere", SHCollisionShape::Type::SPHERE)
// TODO(Diren): Add More Shapes
);
registration::class_<SHCollisionShape>("Collider")
.property("IsTrigger" , &SHCollisionShape::IsTrigger , &SHCollisionShape::SetIsTrigger )
.property("Friction" , &SHCollisionShape::GetFriction , &SHCollisionShape::SetFriction )
.property("Bounciness" , &SHCollisionShape::GetBounciness , &SHCollisionShape::SetBounciness )
.property("Density" , &SHCollisionShape::GetDensity , &SHCollisionShape::SetDensity )
.property("Position Offset" , &SHCollisionShape::GetPositionOffset, &SHCollisionShape::SetPositionOffset)
.property("Rotation Offset" , &SHCollisionShape::GetRotationOffset, &SHCollisionShape::SetRotationOffset) (metadata(META::angleInRad, true));
}

210
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/****************************************************************************************
* \file SHCollisionShape.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a Base CollisionShape Class.
*
* \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
#include <rttr/registration>
// Project Headers
#include "ECS_Base/Entity/SHEntity.h"
#include "Physics/Collision/CollisionTags/SHCollisionTags.h"
#include "Physics/Collision/SHPhysicsMaterial.h"
#include "SHCollisionShapeID.h"
#include "Math/Geometry/SHAABB.h"
#include "Math/Transform/SHTransform.h"
#include "Physics/Collision/SHPhysicsRaycastResult.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Forward Declarations */
/*-----------------------------------------------------------------------------------*/
class SHRigidBody;
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
class SH_API SHCollisionShape
{
private:
/*---------------------------------------------------------------------------------*/
/* Friends */
/*---------------------------------------------------------------------------------*/
friend class SHCollider;
friend class SHCompositeCollider;
friend class SHColliderComponent;
friend class SHCollisionShapeLibrary;
friend class SHCollisionSpace;
friend struct SHManifold;
public:
/*---------------------------------------------------------------------------------*/
/* Type Definitions */
/*---------------------------------------------------------------------------------*/
enum class Type
{
SPHERE
, BOX
, CAPSULE
, CONVEX_HULL
, COUNT
, INVALID = -1
};
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
SHCollisionShape (SHCollisionShapeID id, Type colliderType = Type::SPHERE);
SHCollisionShape (const SHCollisionShape& rhs) noexcept = default;
SHCollisionShape (SHCollisionShape&& rhs) noexcept = default;
virtual ~SHCollisionShape () noexcept = default;
/*---------------------------------------------------------------------------------*/
/* Operator Overloads */
/*---------------------------------------------------------------------------------*/
SHCollisionShape& operator=(const SHCollisionShape& rhs) noexcept = default;
SHCollisionShape& operator=(SHCollisionShape&& rhs) noexcept = default;
/*---------------------------------------------------------------------------------*/
/* Getter Functions */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] EntityID GetEntityID () const noexcept;
[[nodiscard]] uint32_t GetIndex () const noexcept;
// Material Properties
// TODO: Remove individual setters once instanced materials are supported
[[nodiscard]] float GetFriction () const noexcept;
[[nodiscard]] float GetBounciness () const noexcept;
[[nodiscard]] float GetDensity () const noexcept;
[[nodiscard]] const SHPhysicsMaterial& GetMaterial () const noexcept;
// Offsets
[[nodiscard]] const SHVec3& GetPositionOffset () const noexcept;
[[nodiscard]] const SHVec3& GetRotationOffset () const noexcept;
// Flags
[[nodiscard]] Type GetType () const noexcept;
[[nodiscard]] bool IsTrigger () const noexcept;
[[nodiscard]] bool IsColliding () const noexcept;
[[nodiscard]] const SHCollisionTag& GetCollisionTag () const noexcept;
// Virtual methods
[[nodiscard]] virtual SHVec3 GetWorldCentroid () const noexcept = 0;
[[nodiscard]] virtual SHVec3 GetRelativeCentroid () const noexcept = 0;
[[nodiscard]] virtual SHVec3 GetLocalCentroid () const noexcept = 0;
[[nodiscard]] virtual SHQuaternion GetWorldOrientation () const noexcept = 0;
[[nodiscard]] virtual SHQuaternion GetRelativeOrientation () const noexcept = 0;
[[nodiscard]] virtual float GetVolume () const noexcept = 0;
[[nodiscard]] virtual float GetSurfaceArea () const noexcept = 0;
[[nodiscard]] virtual SHMatrix GetInertiaTensor (float mass) const noexcept = 0;
/*---------------------------------------------------------------------------------*/
/* Setter Functions */
/*---------------------------------------------------------------------------------*/
void SetCollisionTag (SHCollisionTag* newCollisionTag) noexcept;
void SetFriction (float friction) noexcept;
void SetBounciness (float bounciness) noexcept;
void SetDensity (float density) noexcept;
void SetMaterial (const SHPhysicsMaterial& newMaterial) noexcept;
void SetPositionOffset (const SHVec3& posOffset) noexcept;
void SetRotationOffset (const SHVec3& rotOffset) noexcept;
// Flags
// Forces rigidbody to recompute mass if one exists
void SetIsTrigger (bool isTrigger) noexcept;
/*---------------------------------------------------------------------------------*/
/* Member Functions */
/*---------------------------------------------------------------------------------*/
/**
* @brief
* Computes the transform of the shape.
*/
virtual void Update () noexcept = 0;
/**
* @brief
* Tests if a point is inside this shape.
* @param point
* The point to test against the shape.
* @return
* True if the point is inside the shape. False otherwise.
*/
[[nodiscard]] virtual bool TestPoint (const SHVec3& point) const noexcept = 0;
/**
* @brief
* Casts a ray at this shape.
* @param ray
* The ray to cast at the shape.
* @return
* The result of the ray cast. See the corresponding struct for it's contents.
*/
[[nodiscard]] virtual SHRaycastResult Raycast (const SHRay& ray) const noexcept = 0;
/**
* @brief
* Computes the TRS matrix for rendering the shape.
* @return
* The model-to-world matrix for rendering the shape.
*/
[[nodiscard]] virtual SHMatrix GetTRS () const noexcept = 0;
/**
* @brief
* Computes a tight-fitting AABB around this shape.
* @return
* An AABB.
*/
[[nodiscard]] virtual SHAABB ComputeAABB () const noexcept = 0;
protected:
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
SHCollisionShapeID id;
SHCollider* collider; // The collider it belongs to.
SHCollisionTag* collisionTag;
SHPhysicsMaterial material; // TODO: Change to pointer once instancing is supported
SHTransform transform; // Stores the local position and rotation.
// Needed for conversion to euler angles
SHVec3 rotationOffset;
uint8_t flags; // 0 0 0 trigger convexHull capsule sphere box
RTTR_ENABLE()
};
} // namespace SHADE

97
SHADE_Engine/src/Physics/Collision/SHCollisionInfo.h → SHADE_Engine/src/Physics/Collision/Shapes/SHCollisionShapeID.h
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@ -1,7 +1,7 @@
/****************************************************************************************
* \file SHCollisionInfo.h
* \file SHCollisionShapeKey.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for Collision Information for Collision & Triggers.
* \brief Interface for a Collison Shape ID Class and it's hashing function
*
* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
* disclosure of this file or its contents without the prior written consent
@ -11,92 +11,95 @@
#pragma once
// Project Headers
#include "Physics/Interface/SHColliderComponent.h"
#include "Physics/Interface/SHRigidBodyComponent.h"
#include "ECS_Base/Entity/SHEntity.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Forward Declarations */
/*-----------------------------------------------------------------------------------*/
struct SHCollisionShapeIDHash;
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
class SH_API SHCollisionInfo
/**
* @brief
* Encapsulates an identifier for a collision shape.
*/
union SHCollisionShapeID
{
private:
/*---------------------------------------------------------------------------------*/
/* Friends */
/*---------------------------------------------------------------------------------*/
friend class SHCollisionListener;
friend struct SHCollisionShapeIDHash;
public:
/*---------------------------------------------------------------------------------*/
/* Type Definitions */
/*---------------------------------------------------------------------------------*/
enum class State
{
ENTER
, STAY
, EXIT
, TOTAL
, INVALID = -1
};
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
SHCollisionInfo () noexcept;
SHCollisionInfo (EntityID entityA, EntityID entityB) noexcept;
SHCollisionShapeID (EntityID eid, uint32_t shapeID) noexcept;
SHCollisionShapeID (const SHCollisionShapeID& rhs) noexcept;
SHCollisionShapeID (SHCollisionShapeID&& rhs) noexcept;
SHCollisionInfo (const SHCollisionInfo& rhs) = default;
SHCollisionInfo (SHCollisionInfo&& rhs) = default;
~SHCollisionInfo () = default;
~SHCollisionShapeID () noexcept = default;
/*---------------------------------------------------------------------------------*/
/* Operator Overloads */
/*---------------------------------------------------------------------------------*/
bool operator== (const SHCollisionInfo& rhs) const noexcept;
bool operator!= (const SHCollisionInfo& rhs) const noexcept;
SHCollisionShapeID& operator=(const SHCollisionShapeID& rhs) noexcept;
SHCollisionShapeID& operator=(SHCollisionShapeID&& rhs) noexcept;
SHCollisionInfo& operator= (const SHCollisionInfo& rhs) = default;
SHCollisionInfo& operator= (SHCollisionInfo&& rhs) = default;
bool operator==(const SHCollisionShapeID& rhs) const;
/*---------------------------------------------------------------------------------*/
/* Getter Functions */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] EntityID GetEntityA () const noexcept;
[[nodiscard]] EntityID GetEntityB () const noexcept;
[[nodiscard]] const SHRigidBodyComponent* GetRigidBodyA () const noexcept;
[[nodiscard]] const SHRigidBodyComponent* GetRigidBodyB () const noexcept;
[[nodiscard]] const SHCollisionShape* GetColliderA () const noexcept;
[[nodiscard]] const SHCollisionShape* GetColliderB () const noexcept;
[[nodiscard]] State GetCollisionState () const noexcept;
[[nodiscard]] EntityID GetEntityID () const noexcept;
[[nodiscard]] uint32_t GetShapeIndex () const noexcept;
private:
/*---------------------------------------------------------------------------------*/
/* Type Definitions */
/*---------------------------------------------------------------------------------*/
struct IDs
{
public:
EntityID entityID = MAX_EID;
uint32_t shapeIndex = std::numeric_limits<uint32_t>::max();
};
static constexpr uint32_t ENTITY_A = 0;
static constexpr uint32_t ENTITY_B = 1;
static constexpr uint32_t COLLIDER_A = 2;
static constexpr uint32_t COLLIDER_B = 3;
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
union
{
uint64_t value[2]; // EntityValue, ColliderIndexValue
uint32_t ids [4]; // EntityA, EntityB, ColliderIndexA, ColliderIndexB
uint64_t value;
IDs ids;
};
State collisionState;
/**
* @brief
* Encapsulates a functor to hash a CollisionShapeID
*/
struct SHCollisionShapeIDHash
{
public:
/*---------------------------------------------------------------------------------*/
/* Member Functions */
/*---------------------------------------------------------------------------------*/
std::size_t operator()(const SHCollisionShapeID& id) const;
};
} // namespace SHADE
#include "SHCollisionShapeID.hpp"

80
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/****************************************************************************************
* \file SHCollisionShapeKey.hpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Inlined Implementations for a Collison Shape ID Class and
* it's hashing function.
*
* \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
// Primary Header
#include "SHCollisionShapeID.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
inline SHCollisionShapeID::SHCollisionShapeID(EntityID eid, uint32_t shapeID) noexcept
: ids { eid, shapeID }
{}
inline SHCollisionShapeID::SHCollisionShapeID(const SHCollisionShapeID& rhs) noexcept
: ids { rhs.ids.entityID, rhs.ids.shapeIndex }
{}
inline SHCollisionShapeID::SHCollisionShapeID(SHCollisionShapeID&& rhs) noexcept
: ids { rhs.ids.entityID, rhs.ids.shapeIndex }
{}
/*-----------------------------------------------------------------------------------*/
/* Operator Overload Definitions */
/*-----------------------------------------------------------------------------------*/
inline SHCollisionShapeID& SHCollisionShapeID::operator=(const SHCollisionShapeID& rhs) noexcept
{
if (this == &rhs)
return *this;
value = rhs.value;
return *this;
}
inline SHCollisionShapeID& SHCollisionShapeID::operator=(SHCollisionShapeID&& rhs) noexcept
{
value = rhs.value;
return *this;
}
inline bool SHCollisionShapeID::operator==(const SHCollisionShapeID& rhs) const
{
return value == rhs.value;
}
inline std::size_t SHCollisionShapeIDHash::operator()(const SHCollisionShapeID& id) const
{
return std::hash<uint64_t>{}(id.value);
}
/*-----------------------------------------------------------------------------------*/
/* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/
inline EntityID SHCollisionShapeID::GetEntityID() const noexcept
{
return ids.entityID;
}
inline uint32_t SHCollisionShapeID::GetShapeIndex() const noexcept
{
return ids.shapeIndex;
}
}

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/****************************************************************************************
* \file SHCollisionShapeLibrary.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a Collison Shape Factory Class.
*
* \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 "SHCollisionShapeLibrary.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
SHCollisionShapeLibrary::SHCollisionShapeLibrary() noexcept
{
createBoxPolyhedron();
}
SHCollisionShapeLibrary::~SHCollisionShapeLibrary() noexcept
{
// Free all shapes in each container
for (auto* sphereCollisionShape : spheres | std::views::values)
DestroyShape(sphereCollisionShape);
// Free all shapes in each container
for (auto* boxCollisionShape : boxes | std::views::values)
DestroyShape(boxCollisionShape);
}
/*-----------------------------------------------------------------------------------*/
/* Public Member Function Definitions */
/*-----------------------------------------------------------------------------------*/
SHSphere* SHCollisionShapeLibrary::CreateSphere(SHCollisionShapeID id, const SHSphereCreateInfo& createInfo)
{
const auto RESULT = spheres.emplace(id, new SHSphere{ id });
if (RESULT.second)
{
SHSphere* sphere = RESULT.first->second;
sphere->Center = createInfo.Center;
sphere->Radius = createInfo.Radius;
sphere->relativeRadius = createInfo.RelativeRadius;
sphere->scale = createInfo.Scale;
return sphere;
}
return spheres.find(id)->second;
}
SHBox* SHCollisionShapeLibrary::CreateBox(SHCollisionShapeID id, const SHBoxCreateInfo& createInfo)
{
const auto RESULT = boxes.emplace(id, new SHBox{ id });
if (RESULT.second)
{
SHBox* box = RESULT.first->second;
box->Center = createInfo.Center;
box->Extents = createInfo.Extents;
box->relativeExtents = createInfo.RelativeExtents;
box->Orientation = createInfo.Orientation;
box->scale = createInfo.Scale;
// Set halfEdge data structure for the box
box->halfEdgeStructure = &boxHalfEdgeStructure;
return box;
}
return boxes.find(id)->second;
}
void SHCollisionShapeLibrary::DestroyShape(SHCollisionShape* shape)
{
switch (shape->GetType())
{
case SHCollisionShape::Type::BOX:
{
break;
}
case SHCollisionShape::Type::SPHERE:
{
SHSphere* sphere = spheres.find(shape->id)->second;
spheres.erase(shape->id);
delete sphere;
sphere = nullptr;
break;
}
case SHCollisionShape::Type::CAPSULE:
{
break;
}
default: break;
}
}
/*-----------------------------------------------------------------------------------*/
/* Private Member Function Definitions */
/*-----------------------------------------------------------------------------------*/
void SHCollisionShapeLibrary::createBoxPolyhedron() noexcept
{
static constexpr int NUM_VERTICES_PER_FACE = 4;
static constexpr int NUM_FACES = 6;
/*
* Vertices (Front/Back Face):
*
* 3/7 ---------- 2/6
* | |
* | |
* | |
* 0/4 ---------- 1/5
*
* Faces:
*
* Front: 0 (0,1,2,3) Normal: -Z
* Right: 1 (1,5,6,2) Normal: X
* Back: 2 (5,4,7,6) Normal: Z
* Left: 3 (4,0,3,7) Normal: -X
* Top: 4 (3,2,6,7) Normal: Y
* Bottom: 5 (4,5,1,0) Normal: -Y
*
*/
// Create face data
const SHVec3 FACE_NORMALS[NUM_FACES]
{
-SHVec3::UnitZ
, SHVec3::UnitX
, SHVec3::UnitZ
, -SHVec3::UnitX
, SHVec3::UnitY
, -SHVec3::UnitY
};
const int32_t FACE_VERTICES[NUM_FACES][NUM_VERTICES_PER_FACE]
{
{ 0, 1, 2, 3 }
, { 5, 6, 2, 1 }
, { 5, 4, 7, 6 }
, { 0, 3, 7, 4 }
, { 2, 6, 7, 3 }
, { 5, 1, 0, 4 }
};
for (int i = 0; i < NUM_FACES; ++i)
{
SHHalfEdgeStructure::Face newFace;
newFace.normal = FACE_NORMALS[i];
for (int j = 0; j < NUM_VERTICES_PER_FACE; ++j)
newFace.vertexIndices.emplace_back(FACE_VERTICES[i][j]);
boxHalfEdgeStructure.AddFace(newFace);
}
boxHalfEdgeStructure.Build();
}
} // namespace SHADE

98
SHADE_Engine/src/Physics/Collision/SHCollisionListener.h → SHADE_Engine/src/Physics/Collision/Shapes/SHCollisionShapeLibrary.h
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@ -1,7 +1,7 @@
/****************************************************************************************
* \file SHCollisionListener.h
* \file SHCollisionShapeLibrary.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a Collision Listener.
* \brief Interface for a Collison Shape Library.
*
* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
* disclosure of this file or its contents without the prior written consent
@ -10,71 +10,99 @@
#pragma once
// External Dependencies
#include <reactphysics3d/reactphysics3d.h>
#include <unordered_map>
// Project Headers
#include "SH_API.h"
#include "SHCollisionInfo.h"
// Project Header
#include "SHSphere.h"
#include "SHBox.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Forward Declarations */
/*-----------------------------------------------------------------------------------*/
class SHPhysicsSystem;
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
class SH_API SHCollisionListener final : public rp3d::EventListener
/**
* @brief
* Encapsulates a class for Creating, Storing and Destroying Collision Shapes. <br/>
* All memory for collision shapes are stored in this factory class. <br/>
*/
class SH_API SHCollisionShapeLibrary final
{
public:
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
SHCollisionListener() noexcept;
/*---------------------------------------------------------------------------------*/
/* Getter Functions */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] const std::vector<SHCollisionInfo>& GetCollisionInfoContainer () const noexcept;
[[nodiscard]] const std::vector<SHCollisionInfo>& GetTriggerInfoContainer () const noexcept;
SHCollisionShapeLibrary () noexcept;
~SHCollisionShapeLibrary () noexcept;
/*---------------------------------------------------------------------------------*/
/* Function Members */
/*---------------------------------------------------------------------------------*/
void BindToSystem (SHPhysicsSystem* physicsSystem) noexcept;
void BindToWorld (rp3d::PhysicsWorld* world) noexcept;
void CleanContainers () noexcept;
void ClearContainers () noexcept;
/**
* @brief
* Creates a sphere collision shape.
* @param id
* The ID of the shape.
* @param createInfo
* The info to create the sphere with.
* @return
* A new sphere collision shape.
*/
SHSphere* CreateSphere (SHCollisionShapeID id, const SHSphereCreateInfo& createInfo);
void onContact (const rp3d::CollisionCallback::CallbackData& callbackData) override;
void onTrigger (const rp3d::OverlapCallback::CallbackData& callbackData) override;
/**
* @brief
* Creates a box collision shape.
* @param id
* The ID of the shape.
* @param createInfo
* The info to create the box with.
* @return
* A new box collision shape.
*/
SHBox* CreateBox (SHCollisionShapeID id, const SHBoxCreateInfo& createInfo);
/**
* @brief
* Destroys a collision shape.
* * @param eid
* The entity the shape belongs to.
* @param shapeID
* The ID of the shape.
* @param shape
* The shape to destroy.
*/
void DestroyShape (SHCollisionShape* shape);
private:
/*---------------------------------------------------------------------------------*/
/* Type Definitions */
/*---------------------------------------------------------------------------------*/
// We use unordered maps for fast lookup when deleting.
// Since we are not instancing shapes (yet?), I'd rather not iterate through an entire vector to find the shape.
using Spheres = std::unordered_map<SHCollisionShapeID, SHSphere*, SHCollisionShapeIDHash>;
using Boxes = std::unordered_map<SHCollisionShapeID, SHBox*, SHCollisionShapeIDHash>;
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
SHPhysicsSystem* system;
std::vector<SHCollisionInfo> collisionInfoContainer;
std::vector<SHCollisionInfo> triggerInfoContainer;
SHHalfEdgeStructure boxHalfEdgeStructure;
Spheres spheres;
Boxes boxes;
// TODO: Add capsules and hulls
/*---------------------------------------------------------------------------------*/
/* Function Members */
/*---------------------------------------------------------------------------------*/
static void updateInfoContainers (const SHCollisionInfo& collisionEvent, std::vector<SHCollisionInfo>& container) noexcept;
SHCollisionInfo generateCollisionInfo (const rp3d::CollisionCallback::ContactPair& cp) const noexcept;
SHCollisionInfo generateTriggerInfo (const rp3d::OverlapCallback::OverlapPair& cp) const noexcept;
void createBoxPolyhedron() noexcept;
};
} // namespace SHADE

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/****************************************************************************************
* \file SHConvexPolyhedronCollisionShape.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a convex polyhedron collision 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 "SHConvexPolyhedron.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
SHConvexPolyhedron::SHConvexPolyhedron(SHCollisionShapeID id,Type polyhedronType) noexcept
: SHCollisionShape (id, polyhedronType)
, halfEdgeStructure { nullptr }
{}
SHConvexPolyhedron::SHConvexPolyhedron(const SHConvexPolyhedron& rhs) noexcept
: SHCollisionShape ( rhs )
, halfEdgeStructure { rhs.halfEdgeStructure }
{}
SHConvexPolyhedron::SHConvexPolyhedron(SHConvexPolyhedron&& rhs) noexcept
: SHCollisionShape ( rhs )
, halfEdgeStructure { rhs.halfEdgeStructure }
{}
/*-----------------------------------------------------------------------------------*/
/* Operator Overload Definitions */
/*-----------------------------------------------------------------------------------*/
SHConvexPolyhedron& SHConvexPolyhedron::operator=(const SHConvexPolyhedron& rhs) noexcept
{
if (this == &rhs)
return *this;
SHCollisionShape::operator=(rhs);
// Local Properties
halfEdgeStructure = rhs.halfEdgeStructure;
return *this;
}
SHConvexPolyhedron& SHConvexPolyhedron::operator=(SHConvexPolyhedron&& rhs) noexcept
{
SHCollisionShape::operator=(rhs);
// Local Properties
halfEdgeStructure = rhs.halfEdgeStructure;
return *this;
}
/*-----------------------------------------------------------------------------------*/
/* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/
const SHHalfEdgeStructure* SHConvexPolyhedron::GetHalfEdgeStructure() const noexcept
{
return halfEdgeStructure;
}
int32_t SHConvexPolyhedron::GetFaceCount() const noexcept
{
return halfEdgeStructure->GetFaceCount();
}
int32_t SHConvexPolyhedron::GetHalfEdgeCount() const noexcept
{
return halfEdgeStructure->GetHalfEdgeCount();
}
const SHHalfEdgeStructure::Face& SHConvexPolyhedron::GetFace(int index) const
{
// Assume it has already been initialised
return halfEdgeStructure->GetFace(index);
}
const SHHalfEdgeStructure::HalfEdge& SHConvexPolyhedron::GetHalfEdge(int index) const
{
// Assume it has already been initialised
return halfEdgeStructure->GetHalfEdge(index);
}
} // namespace SHADE

93
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/****************************************************************************************
* \file SHConvexPolyhedronCollisionShape.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a convex polyhedron collision 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.
****************************************************************************************/
#pragma once
// Project Headers
#include "SHCollisionShape.h"
#include "SHHalfEdgeStructure.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
/**
* @brief
* Encapsulates a convex polyhedron shape used for Physics Simulations..
*/
class SH_API SHConvexPolyhedron : public SHCollisionShape
{
private:
/*---------------------------------------------------------------------------------*/
/* Friends */
/*---------------------------------------------------------------------------------*/
friend class SHCollider;
friend class SHCollision;
friend class SHCollisionShapeLibrary;
public:
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
SHConvexPolyhedron (SHCollisionShapeID id, Type polyhedronType) noexcept;
SHConvexPolyhedron (const SHConvexPolyhedron& rhs) noexcept;
SHConvexPolyhedron (SHConvexPolyhedron&& rhs) noexcept;
~SHConvexPolyhedron () override = default;
/*---------------------------------------------------------------------------------*/
/* Operator Overloads */
/*---------------------------------------------------------------------------------*/
SHConvexPolyhedron& operator=(const SHConvexPolyhedron& rhs) noexcept;
SHConvexPolyhedron& operator=(SHConvexPolyhedron&& rhs) noexcept;
/*---------------------------------------------------------------------------------*/
/* Getter Functions */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] const SHHalfEdgeStructure* GetHalfEdgeStructure () const noexcept;
[[nodiscard]] int32_t GetFaceCount () const noexcept;
[[nodiscard]] const SHHalfEdgeStructure::Face& GetFace (int index) const;
[[nodiscard]] int32_t GetHalfEdgeCount () const noexcept;
[[nodiscard]] const SHHalfEdgeStructure::HalfEdge& GetHalfEdge (int index) const;
// Virtual Methods
[[nodiscard]] virtual SHVec3 GetVertex (int index) const = 0;
[[nodiscard]] virtual SHVec3 GetNormal (int faceIndex) const = 0;
/*---------------------------------------------------------------------------------*/
/* Member Functions */
/*---------------------------------------------------------------------------------*/
/**
* @brief
* Finds the most extreme point on the polygon in a given direction.
* @param direction
* The direction to find the support point in.
* @return
* The most extreme vertex in the given direction.
*/
[[nodiscard]] virtual SHVec3 FindSupportPoint (const SHVec3& direction) const noexcept = 0;
protected:
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
SHHalfEdgeStructure* halfEdgeStructure; // Defines the polyhedron by it's half edges.
};
} // namespace SHADE

182
SHADE_Engine/src/Physics/Collision/Shapes/SHHalfEdgeStructure.cpp Normal file
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/****************************************************************************************
* \file SHHalfEdgeStructure.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a half-edge data structure to represent polyhedra.
*
* \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 "SHHalfEdgeStructure.h"
// Helper Macros
#define BUILD_UINT64_FROM_UINT32S(a, b) (uint64_t)a << 32 | b
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
SHHalfEdgeStructure::Face::Face(const Face& rhs) noexcept
: normal { rhs.normal }
{
std::ranges::copy(rhs.vertexIndices.begin(), rhs.vertexIndices.end(), std::back_inserter(vertexIndices));
}
SHHalfEdgeStructure::Face::Face(Face&& rhs) noexcept
: normal { rhs.normal }
{
std::ranges::copy(rhs.vertexIndices.begin(), rhs.vertexIndices.end(), std::back_inserter(vertexIndices));
}
/*-----------------------------------------------------------------------------------*/
/* Operator Overload Definitions */
/*-----------------------------------------------------------------------------------*/
SHHalfEdgeStructure::Face& SHHalfEdgeStructure::Face::operator=(const Face& rhs) noexcept
{
if (this == &rhs)
return *this;
normal = rhs.normal;
vertexIndices.clear();
std::ranges::copy(rhs.vertexIndices.begin(), rhs.vertexIndices.end(), std::back_inserter(vertexIndices));
return *this;
}
SHHalfEdgeStructure::Face& SHHalfEdgeStructure::Face::operator=(Face&& rhs) noexcept
{
normal = rhs.normal;
vertexIndices.clear();
std::ranges::copy(rhs.vertexIndices.begin(), rhs.vertexIndices.end(), std::back_inserter(vertexIndices));
return *this;
}
/*-----------------------------------------------------------------------------------*/
/* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/
int32_t SHHalfEdgeStructure::GetFaceCount() const noexcept
{
return static_cast<int32_t>(faces.size());
}
int32_t SHHalfEdgeStructure::GetHalfEdgeCount() const noexcept
{
return static_cast<int32_t>(halfEdges.size());
}
const SHHalfEdgeStructure::Face& SHHalfEdgeStructure::GetFace(int32_t index) const
{
if (index < 0 || index >= static_cast<int32_t>(faces.size()))
throw std::invalid_argument("Index out-of-range!");
return faces[index];
}
const SHHalfEdgeStructure::HalfEdge& SHHalfEdgeStructure::GetHalfEdge(int32_t index) const
{
if (index < 0 || index >= static_cast<int32_t>(halfEdges.size()))
throw std::invalid_argument("Index out-of-range!");
return halfEdges[index];
}
/*-----------------------------------------------------------------------------------*/
/* Public Member Function Definitions */
/*-----------------------------------------------------------------------------------*/
void SHHalfEdgeStructure::AddFace(const Face& face)
{
faces.emplace_back(face);
}
void SHHalfEdgeStructure::Build() noexcept
{
// We use the pair of vertex IDs on a half-edge to prevent duplicates
std::unordered_map<uint64_t, HalfEdge> edgeMap;
edgeMap.clear();
if (faces.empty())
{
SHLOGV_CRITICAL("Unable to build convex polyhedron, no faces have been added!")
return;
}
// For each face, build half edges
for (size_t i = 0; i < faces.size(); ++i)
{
Face& face = faces[i];
if (face.vertexIndices.empty())
{
SHLOGV_CRITICAL("Unable to build convex polyhedron, no vertices have been added to face {}!", i)
return;
}
// Iterate through vertices and build half-edges
for (size_t j = 0; j < face.vertexIndices.size(); ++j)
{
const int32_t TAIL = face.vertexIndices[j].index;
const int32_t HEAD = face.vertexIndices[(j + 1) % face.vertexIndices.size()].index;
const uint64_t NEW_EDGE_ID = BUILD_UINT64_FROM_UINT32S(TAIL, HEAD);
const uint64_t TWIN_EDGE_ID = BUILD_UINT64_FROM_UINT32S(HEAD, TAIL);
// Check if the half-edge has already been inserted
auto newEdgeIter = edgeMap.find(NEW_EDGE_ID);
if (newEdgeIter == edgeMap.end())
{
// Reuse the iterator for mapping with the twin
newEdgeIter = edgeMap.emplace(NEW_EDGE_ID, HalfEdge{}).first;
HalfEdge& newHalfEdge = newEdgeIter->second;
newHalfEdge.tailVertexIndex = TAIL;
newHalfEdge.headVertexIndex = HEAD;
newHalfEdge.faceIndex = static_cast<int32_t>(i);
// Set edge index of the newly inserted edge as the size of the map - 1
// Since it is an unordered map, it will just be at the back
newHalfEdge.edgeIndex = static_cast<int32_t>(edgeMap.size()) - 1;
// Map vertex to this edge index
face.vertexIndices[j].edgeIndex = newHalfEdge.edgeIndex;
}
// Find twin edge if one exists
auto twinEdgeIter = edgeMap.find(TWIN_EDGE_ID);
if (twinEdgeIter != edgeMap.end())
{
// Set the twin index of both the edges
HalfEdge& newHalfEdge = newEdgeIter->second;
HalfEdge& twinHalfEdge = twinEdgeIter->second;
newHalfEdge.twinEdgeIndex = twinHalfEdge.edgeIndex;
twinHalfEdge.twinEdgeIndex = newHalfEdge.edgeIndex;
}
}
}
// Copy all half edges into the vector
// At this point, no duplicates should be in the map and all edges should be linked.
for (auto& halfEdge : edgeMap | std::views::values)
halfEdges.emplace_back(halfEdge);
// Sort based on edge indices
std::ranges::sort(halfEdges.begin(), halfEdges.end(), [](const HalfEdge& lhs, const HalfEdge& rhs)
{
return lhs.edgeIndex < rhs.edgeIndex;
});
}
} // namespace SHADE

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/****************************************************************************************
* \file SHHalfEdgeStructure.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a half-edge data structure to represent polyhedra.
*
* \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
#include <vector>
// Project Headers
#include "Math/Vector/SHVec3.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
/**
* @brief
* Encapsulates data for a convex polyhedron's geometry represented as faces & half edges.
*/
class SH_API SHHalfEdgeStructure
{
public:
/*---------------------------------------------------------------------------------*/
/* Type Definitions */
/*---------------------------------------------------------------------------------*/
/**
* @brief
* Encapsulates the data half edge of a face on a polyhedron.
*/
struct HalfEdge
{
/*-------------------------------------------------------------------------------*/
/* Data Members */
/*-------------------------------------------------------------------------------*/
//Head and tail forms the edge.
//Head <----- Tail
int32_t tailVertexIndex = -1;
// Head is also tail of the next edge.
int32_t headVertexIndex = -1;
int32_t edgeIndex = -1;
// Other half of the edge on a different face.
// Important for extrapolating face normals.
int32_t twinEdgeIndex = -1;
// Adjacent face of this edge.
int32_t faceIndex = -1;
};
struct Vertex
{
public:
/*-------------------------------------------------------------------------------*/
/* Data Members */
/*-------------------------------------------------------------------------------*/
int32_t index = -1;
int32_t edgeIndex = -1; // the half-edge that this vertex is a tail of.
};
/**
* @brief
* Encapsulates the data of a face on a polyhedron.
*/
struct Face
{
public:
/*-------------------------------------------------------------------------------*/
/* Data Members */
/*-------------------------------------------------------------------------------*/
SHVec3 normal;
std::vector<Vertex> vertexIndices; // Must be in CCW order
/*-------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*-------------------------------------------------------------------------------*/
Face () noexcept = default;
Face (const Face& rhs) noexcept;
Face (Face&& rhs) noexcept;
~Face () noexcept = default;
/*-------------------------------------------------------------------------------*/
/* Operator Overloads */
/*-------------------------------------------------------------------------------*/
Face& operator= (const Face& rhs) noexcept;
Face& operator= (Face&& rhs) noexcept;
};
/*---------------------------------------------------------------------------------*/
/* Getter Functions */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] int32_t GetFaceCount () const noexcept;
[[nodiscard]] int32_t GetHalfEdgeCount () const noexcept;
[[nodiscard]] const Face& GetFace (int32_t index) const;
[[nodiscard]] const HalfEdge& GetHalfEdge (int32_t index) const;
/*---------------------------------------------------------------------------------*/
/* Member Functions */
/*---------------------------------------------------------------------------------*/
/**
* @brief
* Adds a face to the polyhedron. The face must be constructed outside the polyhedron.
* @param face
* The face to insert.
*/
void AddFace (const Face& face);
/**
* @brief
* Builds the half-edges of the polyhedron using the faces. <br/>
* Before this method is invoked, there must be some faces.
* @return
*/
void Build() noexcept;
private:
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
std::vector<Face> faces;
std::vector<HalfEdge> halfEdges;
};
} // namespace SHADE

240
SHADE_Engine/src/Physics/Collision/Shapes/SHSphere.cpp Normal file
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@ -0,0 +1,240 @@
/****************************************************************************************
* \file SHSphereCollisionShape.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a Sphere Collision 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 "SHSphere.h"
// Project Headers
#include "Math/SHMathHelpers.h"
#include "Math/SHMatrix.h"
#include "Physics/Collision/SHCollider.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
SHSphere::SHSphere(SHCollisionShapeID id) noexcept
: SHCollisionShape (id, Type::SPHERE)
, relativeRadius { 1.0f }
, scale { 1.0f }
{
Radius = 0.5f;
}
SHSphere::SHSphere(const SHSphere& rhs) noexcept
: SHCollisionShape ( rhs )
, relativeRadius { rhs.relativeRadius }
, scale { rhs.scale }
{
Center = rhs.Center;
Radius = rhs.Radius;
}
SHSphere::SHSphere(SHSphere&& rhs) noexcept
: SHCollisionShape ( rhs )
, relativeRadius { rhs.relativeRadius }
, scale { rhs.scale }
{
Center = rhs.Center;
Radius = rhs.Radius;
}
/*-----------------------------------------------------------------------------------*/
/* Operator Overload Definitions */
/*-----------------------------------------------------------------------------------*/
SHSphere& SHSphere::operator=(const SHSphere& rhs) noexcept
{
if (this == &rhs)
return *this;
SHCollisionShape::operator=(rhs);
// Sphere Properties
Center = rhs.Center;
Radius = rhs.Radius;
// Local Properties
relativeRadius = rhs.relativeRadius;
scale = rhs.scale;
return *this;
}
SHSphere& SHSphere::operator=(SHSphere&& rhs) noexcept
{
SHCollisionShape::operator=(rhs);
// Sphere Properties
Center = rhs.Center;
Radius = rhs.Radius;
// Local Properties
relativeRadius = rhs.relativeRadius;
scale = rhs.scale;
return *this;
}
/*-----------------------------------------------------------------------------------*/
/* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/
float SHSphere::GetWorldRadius() const noexcept
{
return Radius;
}
float SHSphere::GetRelativeRadius() const noexcept
{
return relativeRadius;
}
SHVec3 SHSphere::GetWorldCentroid() const noexcept
{
return Center;
}
SHVec3 SHSphere::GetRelativeCentroid() const noexcept
{
if (collider)
return SHVec3{ Center } - collider->GetPosition();
return Center;
}
SHVec3 SHSphere::GetLocalCentroid() const noexcept
{
return SHVec3::Zero;
}
SHQuaternion SHSphere::GetWorldOrientation() const noexcept
{
if (collider)
return collider->GetOrientation() * transform.orientation;
return transform.orientation;
}
SHQuaternion SHSphere::GetRelativeOrientation() const noexcept
{
return transform.orientation;
}
float SHSphere::GetVolume() const noexcept
{
return (4.0f / 3.0f) * SHMath::PI * (Radius * Radius * Radius);
}
float SHSphere::GetSurfaceArea() const noexcept
{
return 4.0f * SHMath::PI * (Radius * Radius);
}
SHMatrix SHSphere::GetInertiaTensor(float mass) const noexcept
{
static constexpr float TWO_OVER_FIVE = 2.0f / 5.0f;
const float DIAGONAL = TWO_OVER_FIVE * mass * (Radius * Radius);
SHMatrix result;
result.m[0][0] = result.m[1][1] = result.m[2][2] = DIAGONAL;
return result;
}
/*-----------------------------------------------------------------------------------*/
/* Setter Function Definitions */
/*-----------------------------------------------------------------------------------*/
void SHSphere::SetWorldRadius(float newWorldRadius) noexcept
{
Radius = newWorldRadius;
// Recompute Relative radius
relativeRadius = 2.0f * Radius / scale;
}
void SHSphere::SetRelativeRadius(float newRelativeRadius) noexcept
{
relativeRadius = newRelativeRadius;
// Recompute world radius
Radius = relativeRadius * scale * 0.5f;
}
void SHSphere::SetScale(float maxScale) noexcept
{
scale = std::fabs(maxScale);
// Recompute world radius
Radius = relativeRadius * scale * 0.5f;
}
/*-----------------------------------------------------------------------------------*/
/* Public Member Function Definitions */
/*-----------------------------------------------------------------------------------*/
void SHSphere::Update() noexcept
{
const SHTransform& PARENT_TRANSFORM = collider->GetTransform();
const float SPHERE_SCALE = std::fabs(SHMath::Max({ PARENT_TRANSFORM.scale.x, PARENT_TRANSFORM.scale.y, PARENT_TRANSFORM.scale.z }));
SetScale(SPHERE_SCALE);
// Recompute center
const SHQuaternion FINAL_ROT = PARENT_TRANSFORM.orientation * transform.orientation;
const SHMatrix TRS = SHMatrix::Rotate(FINAL_ROT) * SHMatrix::Translate(PARENT_TRANSFORM.position);
Center = SHVec3::Transform(transform.position, TRS);
}
bool SHSphere::TestPoint(const SHVec3& point) const noexcept
{
return Contains(point);
}
SHRaycastResult SHSphere::Raycast(const SHRay& ray) const noexcept
{
SHRaycastResult result;
result.hit = Intersects(ray.position, ray.direction, result.distance);
if (result.hit)
{
result.position = ray.position + ray.direction * result.distance;
result.angle = SHVec3::Angle(ray.position, result.position);
result.normal = SHVec3::Normalise(result.position - Center);
}
return result;
}
SHMatrix SHSphere::GetTRS() const noexcept
{
const SHQuaternion ROTATION = collider ? collider->GetTransform().orientation * transform.orientation : transform.orientation;
const SHVec3 SCALE { Radius };
return SHMatrix::Transform(Center, ROTATION, SCALE);
}
SHAABB SHSphere::ComputeAABB() const noexcept
{
return SHAABB{ Center, SHVec3{ Radius } };
}
} // namespace SHADE

77
SHADE_Engine/src/Math/Geometry/SHSphere.h → SHADE_Engine/src/Physics/Collision/Shapes/SHSphere.h
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@ -1,7 +1,7 @@
/****************************************************************************************
* \file SHBoundingSphere.h
* \file SHSphereCollisionShape.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a Bounding Sphere.
* \brief Interface for a Sphere Collision Shape.
*
* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
* disclosure of this file or its contents without the prior written consent
@ -13,8 +13,7 @@
#include <DirectXCollision.h>
// Project Headers
#include "SHShape.h"
#include "SH_API.h"
#include "SHCollisionShape.h"
namespace SHADE
{
@ -22,16 +21,42 @@ namespace SHADE
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
class SH_API SHSphere : public SHShape,
private DirectX::BoundingSphere
/**
* @brief
* Encapsulates the information to create a sphere.
*/
struct SHSphereCreateInfo
{
public:
SHVec3 Center = SHVec3::Zero;
float Radius = 1.0f;
float RelativeRadius = 1.0f;
float Scale = 1.0f;
};
/**
* @brief
* Encapsulate a Sphere Shape used for Physics Simulations.
*/
class SH_API SHSphere final : public SHCollisionShape
, private DirectX::BoundingSphere
{
private:
/*---------------------------------------------------------------------------------*/
/* Friends */
/*---------------------------------------------------------------------------------*/
friend class SHCollider;
friend class SHCompositeCollider;
friend class SHCollision;
friend class SHCollisionShapeLibrary;
public:
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
SHSphere () noexcept;
SHSphere (const SHVec3& center, float radius) noexcept;
SHSphere (SHCollisionShapeID id) noexcept;
SHSphere (const SHSphere& rhs) noexcept;
SHSphere (SHSphere&& rhs) noexcept;
@ -48,45 +73,43 @@ namespace SHADE
/* Getter Functions */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] SHVec3 GetCenter () const noexcept;
[[nodiscard]] float GetWorldRadius () const noexcept;
[[nodiscard]] float GetRelativeRadius () const noexcept;
[[nodiscard]] SHVec3 GetWorldCentroid () const noexcept override;
[[nodiscard]] SHVec3 GetRelativeCentroid () const noexcept override;
[[nodiscard]] SHVec3 GetLocalCentroid () const noexcept override;
[[nodiscard]] SHQuaternion GetWorldOrientation () const noexcept override;
[[nodiscard]] SHQuaternion GetRelativeOrientation () const noexcept override;
[[nodiscard]] float GetVolume () const noexcept override;
[[nodiscard]] float GetSurfaceArea () const noexcept override;
[[nodiscard]] SHMatrix GetInertiaTensor (float mass) const noexcept override;
/*---------------------------------------------------------------------------------*/
/* Setter Functions */
/*---------------------------------------------------------------------------------*/
void SetCenter (const SHVec3& center) noexcept;
void SetWorldRadius (float newWorldRadius) noexcept;
void SetRelativeRadius (float newRelativeRadius) noexcept;
void SetScale (float maxScale) noexcept;
/*---------------------------------------------------------------------------------*/
/* Function Members */
/*---------------------------------------------------------------------------------*/
void Update () noexcept override;
[[nodiscard]] bool TestPoint (const SHVec3& point) const noexcept override;
[[nodiscard]] SHRaycastResult Raycast(const SHRay& ray) const noexcept override;
[[nodiscard]] bool Contains (const SHSphere& rhs) const noexcept;
[[nodiscard]] float Volume () const noexcept;
[[nodiscard]] float SurfaceArea () const noexcept;
/*---------------------------------------------------------------------------------*/
/* Static Function Members */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] static SHSphere Combine (const SHSphere& lhs, const SHSphere& rhs) noexcept;
[[nodiscard]] static bool Intersect (const SHSphere& lhs, const SHSphere& rhs) noexcept;
[[nodiscard]] static SHSphere BuildFromSpheres (const SHSphere* spheres, size_t numSpheres) noexcept;
[[nodiscard]] static SHSphere BuildFromVertices (const SHVec3* vertices, size_t numVertices, size_t stride = 0) noexcept;
[[nodiscard]] SHRaycastResult Raycast (const SHRay& ray) const noexcept override;
[[nodiscard]] SHMatrix GetTRS () const noexcept override;
[[nodiscard]] SHAABB ComputeAABB () const noexcept override;
private:
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
float RelativeRadius;
float relativeRadius;
float scale;
};
} // namespace SHADE

56
SHADE_Engine/src/Physics/Dynamics/Constraints/SHContactConstraint.h Normal file
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@ -0,0 +1,56 @@
/****************************************************************************************
* \file SHContactConstraint.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a Contact Constraint.
*
* \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 "Physics/Collision/Contacts/SHManifold.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
struct SH_API SHContactConstraint
{
public:
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
// Use the entity IDs to map resolved constraints back to the bodies
SHCollisionKey key;
// Material Data
float friction = 0.0f;
float restitution = 0.0f;
// Mass Data
float invMassA = 0.0f;
float invMassB = 0.0f;
SHMatrix invInertiaA;
SHMatrix invInertiaB;
SHVec3 centerOfMassA;
SHVec3 centerOfMassB;
// Collision Data
SHVec3 normal;
SHVec3 tangents[SHContact::NUM_TANGENTS];
SHContact contacts[SHManifold::MAX_NUM_CONTACTS];
uint32_t numContacts = 0;
};
} // namespace SHADE

63
SHADE_Engine/src/Physics/Dynamics/Constraints/SHVelocityState.h Normal file
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@ -0,0 +1,63 @@
/****************************************************************************************
* \file SHVelocityState.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a Velocity State for constraint solving.
*
* \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 "Physics/Dynamics/SHRigidBody.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
struct SH_API SHVelocityState
{
public:
SHVec3 LinearVelocity;
SHVec3 AngularVelocity;
SHVec3 LinearLockFactor;
SHVec3 AngularLockFactor;
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
SHVelocityState (const SHRigidBody* rigidBody) noexcept
: LinearVelocity { SHVec3::Zero }
, AngularVelocity { SHVec3::Zero }
, LinearLockFactor { SHVec3::Zero }
, AngularLockFactor { SHVec3::Zero }
{
if (rigidBody)
{
LinearVelocity = rigidBody->GetLinearVelocity();
AngularVelocity = rigidBody->GetAngularVelocity();
LinearLockFactor = SHVec3
{
rigidBody->GetFreezePositionX() ? 0.0f : 1.0f
, rigidBody->GetFreezePositionY() ? 0.0f : 1.0f
, rigidBody->GetFreezePositionZ() ? 0.0f : 1.0f
};
AngularLockFactor = SHVec3
{
rigidBody->GetFreezeRotationX() ? 0.0f : 1.0f
, rigidBody->GetFreezeRotationY() ? 0.0f : 1.0f
, rigidBody->GetFreezeRotationZ() ? 0.0f : 1.0f
};
}
}
};
} // namespace SHADE

297
SHADE_Engine/src/Physics/Dynamics/SHContactManager.cpp Normal file
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@ -0,0 +1,297 @@
/****************************************************************************************
* \file SHContactManager.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a Contact Manager that stores collision information and
* resolves contact constraints.
*
* \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 "SHContactManager.h"
// Project Headers
#include "Math/SHMathHelpers.h"
#include "Physics/Collision/Narrowphase/SHCollisionDispatch.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Getter Functions Definitions */
/*-----------------------------------------------------------------------------------*/
const SHContactManager::TriggerEvents& SHContactManager::GetTriggerEvents() const noexcept
{
static TriggerEvents triggerEvents;
triggerEvents.clear();
for (auto& [id, trigger] : triggers)
triggerEvents.emplace_back(SHTriggerEvent{ id, trigger.state });
return triggerEvents;
}
const SHContactManager::CollisionEvents& SHContactManager::GetCollisionEvents() const noexcept
{
static CollisionEvents collisionEvents;
collisionEvents.clear();
for (auto& [id, manifold] : manifolds)
{
SHCollisionEvent collisionEvent
{
.info = id
, .state = manifold.state
, .normal = manifold.normal
};
for (uint32_t i = 0; i < manifold.numContacts; ++i)
collisionEvent.contactPoints[i] = manifold.contacts[i].position;
collisionEvents.emplace_back(collisionEvent);
}
return collisionEvents;
}
const SHContactManager::ContactPoints& SHContactManager::GetContactPoints() const noexcept
{
static ContactPoints contactPoints;
contactPoints.clear();
for (auto& manifold : manifolds | std::views::values)
{
// Skip exit state manifolds
if (manifold.state == SHCollisionState::EXIT)
continue;
for (uint32_t i = 0; i < manifold.numContacts; ++i)
{
const ContactInfo INFO
{
.position = manifold.contacts[i].position
, .normal = manifold.normal
};
contactPoints.emplace_back(INFO);
}
}
return contactPoints;
}
/*-----------------------------------------------------------------------------------*/
/* Public Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
void SHContactManager::AddTrigger(const SHCollisionKey& key, SHCollisionShape* A, SHCollisionShape* B) noexcept
{
// If id not found, emplace new trigger.
auto trigger = triggers.find(key);
if (trigger == triggers.end())
triggers.emplace(key, Trigger{ A, B, SHCollisionState::INVALID });
}
void SHContactManager::AddManifold(const SHCollisionKey& key, SHCollisionShape* A, SHCollisionShape* B) noexcept
{
// If id not found, emplace new manifold
auto manifold = manifolds.find(key);
if (manifold == manifolds.end())
manifolds.emplace(key, SHManifold{ A, B });
}
void SHContactManager::RemoveInvalidatedTrigger(EntityID eid) noexcept
{
removeInvalidObject(triggers, eid);
}
void SHContactManager::RemoveInvalidatedTrigger(EntityID eid, uint32_t shapeIndex) noexcept
{
removeInvalidObject(triggers, eid, shapeIndex);
}
void SHContactManager::RemoveInvalidatedManifold(EntityID eid) noexcept
{
removeInvalidObject(manifolds, eid);
}
void SHContactManager::RemoveInvalidatedManifold(EntityID eid, uint32_t shapeIndex) noexcept
{
removeInvalidObject(manifolds, eid, shapeIndex);
}
void SHContactManager::Update() noexcept
{
// Clear expired or invalid collisions. If not, test collision.
for (auto manifoldPair = manifolds.begin(); manifoldPair != manifolds.end();)
{
// Test collision of every manifold.
SHManifold& manifold = manifoldPair->second;
SHManifold oldManifold = manifold;
const bool IS_COLLIDING = SHCollisionDispatcher::Collide(manifold, *manifold.shapeA, *manifold.shapeB);
auto& collisionState = manifold.state;
updateCollisionState(IS_COLLIDING, collisionState);
const bool IS_INVALID = collisionState == SHCollisionState::INVALID;
if (IS_INVALID)
{
manifoldPair = manifolds.erase(manifoldPair);
continue;
}
updateManifold(manifold, oldManifold);
++manifoldPair;
}
// Clear expired or invalid triggers, If not, test collision.
for (auto triggerPair = triggers.begin(); triggerPair != triggers.end();)
{
// Test collision of every trigger.
Trigger& oldTrigger = triggerPair->second;
Trigger newTrigger = oldTrigger;
const bool IS_COLLIDING = SHCollisionDispatcher::Collide(*newTrigger.A, *newTrigger.B);
auto& collisionState = newTrigger.state;
updateCollisionState(IS_COLLIDING, collisionState);
const bool IS_INVALID = collisionState == SHCollisionState::INVALID;
if (IS_INVALID)
triggerPair = triggers.erase(triggerPair);
else
++triggerPair;
}
}
void SHContactManager::SolveCollisions(int numIterations, float dt) noexcept
{
static constexpr int SIZE_CONTACTS = sizeof(SHContact) * SHManifold::MAX_NUM_CONTACTS;
// Build constraints
for (auto& [key, manifold] : manifolds)
contactSolver.AddContact(key, manifold);
// Solve contacts
contactSolver.SolveContacts(numIterations, dt);
// Map impulses back to manifolds
const auto& CONTACT_CONSTRAINTS = contactSolver.GetContantConstraints();
const auto& VELOCITY_STATES = contactSolver.GetVelocities();
for (auto& [key, contactConstraint] : CONTACT_CONSTRAINTS)
{
SHManifold& manifold = manifolds.find(key)->second;
for (uint32_t i = 0; i < contactConstraint.numContacts; ++i)
manifold.contacts[i] = contactConstraint.contacts[i];
// Assign velocities back to the bodies
SHRigidBody* bodyA = manifold.bodyA;
SHRigidBody* bodyB = manifold.bodyB;
const auto& STATE_A = VELOCITY_STATES.find(key.GetEntityA())->second;
const auto& STATE_B = VELOCITY_STATES.find(key.GetEntityB())->second;
if (bodyA)
{
bodyA->SetLinearVelocity(STATE_A.LinearVelocity);
bodyA->SetAngularVelocity(STATE_A.AngularVelocity);
}
if (bodyB)
{
bodyB->SetLinearVelocity(STATE_B.LinearVelocity);
bodyB->SetAngularVelocity(STATE_B.AngularVelocity);
}
}
contactSolver.Reset();
}
/*-----------------------------------------------------------------------------------*/
/* Private Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
void SHContactManager::updateCollisionState(bool isColliding, SHCollisionState& state) noexcept
{
if (isColliding)
{
// New states start at invalid. In the first frame of collision, move to enter.
// If it already in enter, move to stay
state = state == SHCollisionState::INVALID ? SHCollisionState::ENTER : SHCollisionState::STAY;
}
else
{
// If already exited and still not colliding, the collision has expired.
// Invalid states are removed in the next frame
if (state == SHCollisionState::EXIT)
state = SHCollisionState::INVALID;
// If previously colliding, move to exit.
if (state == SHCollisionState::ENTER || state == SHCollisionState::STAY)
state = SHCollisionState::EXIT;
}
}
void SHContactManager::updateManifold(SHManifold& manifold, const SHManifold& oldManifold) noexcept
{
static const float SQRT_ONE_THIRD = std::sqrtf(1.0f / 3.0f);
// Early out since exiting a collision does not require an update beyond updating the state
if (manifold.state == SHCollisionState::EXIT)
return;
const SHVec3& NORMAL = manifold.normal;
SHVec3& tangent0 = manifold.tangents[0];
SHVec3& tangent1 = manifold.tangents[1];
const SHVec3& OLD_TANGENT_0 = oldManifold.tangents[0];
const SHVec3& OLD_TANGENT_1 = oldManifold.tangents[1];
// Compute tangents
if (std::fabs(NORMAL.x) >= SQRT_ONE_THIRD)
tangent0 = SHVec3{ NORMAL.y, -NORMAL.x, 0.0f };
else
tangent0 = SHVec3{ 0.0f, NORMAL.z, -NORMAL.y };
tangent0 = SHVec3::Normalise(tangent0);
tangent1 = SHVec3::Cross(NORMAL, tangent0);
// Accumulate impulses
for (uint32_t i = 0; i < manifold.numContacts; ++i)
{
SHContact& contact = manifold.contacts[i];
// Reset impulses
contact.normalImpulse = 0.0f;
contact.tangentImpulse[0] = contact.tangentImpulse[1] = 0.0f;
for (uint32_t j = 0; j < oldManifold.numContacts; ++j)
{
const SHContact& OLD_CONTACT = oldManifold.contacts[j];
if (OLD_CONTACT.featurePair.key == contact.featurePair.key)
{
// If contact features persists, re-project old solution
contact.normalImpulse = OLD_CONTACT.normalImpulse;
const SHVec3 FRICTION_FORCE = OLD_TANGENT_0 * OLD_CONTACT.tangentImpulse[0] + OLD_TANGENT_1 * OLD_CONTACT.tangentImpulse[1];
contact.tangentImpulse[0] = SHVec3::Dot(FRICTION_FORCE, tangent0);
contact.tangentImpulse[1] = SHVec3::Dot(FRICTION_FORCE, tangent1);
break;
}
}
}
}
} // namespace SHADE

140
SHADE_Engine/src/Physics/Dynamics/SHContactManager.h Normal file
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@ -0,0 +1,140 @@
/****************************************************************************************
* \file SHContactManager.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a Contact Manager that stores collision information.
*
* \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
#include <unordered_map>
// Project Headers
#include "Physics/Collision/Contacts/SHCollisionEvents.h"
#include "Physics/Collision/Contacts/SHCollisionKey.h"
#include "Physics/Collision/Contacts/SHManifold.h"
#include "SHContactSolver.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
/**
* @brief
* Encapsulates a class that stores collision information.
*/
class SH_API SHContactManager
{
private:
/*---------------------------------------------------------------------------------*/
/* Friends */
/*---------------------------------------------------------------------------------*/
friend class SHPhysicsWorld;
public:
/*---------------------------------------------------------------------------------*/
/* Type Definitions */
/*---------------------------------------------------------------------------------*/
struct ContactInfo
{
SHVec3 position;
SHVec3 normal;
};
using TriggerEvents = std::vector<SHTriggerEvent>;
using CollisionEvents = std::vector<SHCollisionEvent>;
using ContactPoints = std::vector<ContactInfo>;
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
SHContactManager () noexcept = default;
~SHContactManager () noexcept = default;
/*---------------------------------------------------------------------------------*/
/* Getter Functions */
/*---------------------------------------------------------------------------------*/
const TriggerEvents& GetTriggerEvents () const noexcept;
const CollisionEvents& GetCollisionEvents () const noexcept;
const ContactPoints& GetContactPoints () const noexcept;
/*---------------------------------------------------------------------------------*/
/* Member Functions */
/*---------------------------------------------------------------------------------*/
void AddTrigger (const SHCollisionKey& key, SHCollisionShape* A, SHCollisionShape* B) noexcept;
void AddManifold (const SHCollisionKey& key, SHCollisionShape* A, SHCollisionShape* B) noexcept;
void RemoveInvalidatedTrigger (EntityID eid) noexcept;
void RemoveInvalidatedTrigger (EntityID eid, uint32_t shapeIndex) noexcept;
void RemoveInvalidatedManifold (EntityID eid) noexcept;
void RemoveInvalidatedManifold (EntityID eid, uint32_t shapeIndex) noexcept;
/**
* @brief
* Removes any invalidated contacts and triggers, then performs narrowphase collision
* detection on existing triggers and manifolds.
*/
void Update () noexcept;
/**
* @brief
* Builds contact constraints and solves them. Results are stored in the corresponding
* manifolds abiding by the sequential impulse method.
*/
void SolveCollisions (int numIterations, float dt) noexcept;
private:
/*---------------------------------------------------------------------------------*/
/* Type Definitions */
/*---------------------------------------------------------------------------------*/
struct Trigger
{
SHCollisionShape* A = nullptr;
SHCollisionShape* B = nullptr;
SHCollisionState state = SHCollisionState::INVALID;
};
using Manifolds = std::unordered_map<SHCollisionKey, SHManifold, SHCollisionKeyHash>;
using Triggers = std::unordered_map<SHCollisionKey, Trigger, SHCollisionKeyHash>;
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
Manifolds manifolds;
Triggers triggers;
SHContactSolver contactSolver;
/*---------------------------------------------------------------------------------*/
/* Member Functions */
/*---------------------------------------------------------------------------------*/
static void updateCollisionState (bool isColliding, SHCollisionState& state) noexcept;
static void updateManifold (SHManifold& manifold, const SHManifold& oldManifold) noexcept;
// Removal Helpers
template <typename T>
static void removeInvalidObject (std::unordered_map<SHCollisionKey, T, SHCollisionKeyHash>& container, EntityID eid) noexcept;
template <typename T>
static void removeInvalidObject (std::unordered_map<SHCollisionKey, T, SHCollisionKeyHash>& container, EntityID eid, uint32_t shapeIndex) noexcept;
};
} // namespace SHADE
#include "SHContactManager.hpp"

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@ -0,0 +1,61 @@
/****************************************************************************************
* \file SHContactManager.hpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for templated methods of the Contact Manager.
*
* \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
// Primary Header
#include "SHContactManager.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Private Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
template <typename T>
void SHContactManager::removeInvalidObject(std::unordered_map<SHCollisionKey, T, SHCollisionKeyHash>& container, EntityID eid) noexcept
{
if (container.empty())
return;
for (auto invalidated = container.begin(); invalidated != container.end();)
{
const auto& ID = invalidated->first;
const bool MATCHES_A = ID.GetEntityA() == eid;
const bool MATCHES_B = ID.GetEntityB() == eid;
if (MATCHES_A || MATCHES_B)
invalidated = container.erase(invalidated);
else
++invalidated;
}
}
template <typename T>
void SHContactManager::removeInvalidObject(std::unordered_map<SHCollisionKey, T, SHCollisionKeyHash>& container, EntityID eid, uint32_t shapeIndex) noexcept
{
if (container.empty())
return;
for (auto invalidated = container.begin(); invalidated != container.end();)
{
const auto& ID = invalidated->first;
const bool MATCHES_A = ID.GetEntityA() == eid && ID.GetShapeIndexA() == shapeIndex;
const bool MATCHES_B = ID.GetEntityB() == eid && ID.GetShapeIndexB() == shapeIndex;
if (MATCHES_A || MATCHES_B)
invalidated = container.erase(invalidated);
else
++invalidated;
}
}
} // namespace SHADE

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@ -0,0 +1,332 @@
/****************************************************************************************
* \file SHContactSolver.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a Contact Solver.
*
* \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 "SHContactSolver.h"
// Project Headers
#include "Math/SHMathHelpers.h"
#include "Physics/SHPhysicsConstants.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Getter Functions Definitions */
/*-----------------------------------------------------------------------------------*/
const SHContactSolver::VelocityStates& SHContactSolver::GetVelocities() const noexcept
{
return velocityStates;
}
const SHContactSolver::ContactConstraints& SHContactSolver::GetContantConstraints() const noexcept
{
return contactConstraints;
}
/*-----------------------------------------------------------------------------------*/
/* Public Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
void SHContactSolver::AddContact(const SHCollisionKey& key, const SHManifold& manifold) noexcept
{
SHContactConstraint& newConstraint = contactConstraints.emplace(key, SHContactConstraint{}).first->second;
const auto* SHAPE_A = manifold.shapeA;
const auto* SHAPE_B = manifold.shapeB;
const auto* BODY_A = manifold.bodyA;
const auto* BODY_B = manifold.bodyB;
// Add velocities if it doesn't already exist
velocityStates.emplace(key.GetEntityA(), SHVelocityState{ BODY_A });
velocityStates.emplace(key.GetEntityB(), SHVelocityState{ BODY_B });
// Mix friction & restitution
const float FRICTION_A = SHAPE_A->GetFriction();
const float RESTITUTION_A = SHAPE_A->GetBounciness();
const float FRICTION_B = SHAPE_B->GetFriction();
const float RESTITUTION_B = SHAPE_B->GetBounciness();
newConstraint.friction = std::sqrtf(FRICTION_A * FRICTION_B);
newConstraint.restitution = std::max(RESTITUTION_A, RESTITUTION_B);
// Mass data
// Account for implicity-static bodies
if (BODY_A)
{
newConstraint.invMassA = BODY_A->invMass;
newConstraint.centerOfMassA = BODY_A->worldCentroid;
newConstraint.invInertiaA = BODY_A->worldInvInertia;
}
else
{
newConstraint.invMassA = 0.0f;
newConstraint.centerOfMassA = SHVec3::Zero;
// Matrix needs to maintain its homogenous structure
newConstraint.invInertiaA = SHMatrix::Zero;
newConstraint.invInertiaA.m[3][3] = 1.0f;
}
if (BODY_B)
{
newConstraint.invMassB = BODY_B->invMass;
newConstraint.centerOfMassB = BODY_B->worldCentroid;
newConstraint.invInertiaB = BODY_B->worldInvInertia;
}
else
{
newConstraint.invMassB = 0.0f;
newConstraint.centerOfMassB = SHVec3::Zero;
// Matrix needs to maintain its homogenous structure
newConstraint.invInertiaB = SHMatrix::Zero;
newConstraint.invInertiaB.m[3][3] = 1.0f;
}
// Collision data
newConstraint.numContacts = manifold.numContacts;
newConstraint.normal = manifold.normal;
static constexpr size_t TANGENTS_SIZE = sizeof(SHVec3) * SHContact::NUM_TANGENTS;
static constexpr size_t CONTACTS_SIZE = sizeof(SHContact) * SHManifold::MAX_NUM_CONTACTS;
memcpy_s(newConstraint.tangents, TANGENTS_SIZE, manifold.tangents, TANGENTS_SIZE);
memcpy_s(newConstraint.contacts, CONTACTS_SIZE, manifold.contacts, CONTACTS_SIZE);
// Compute rA & rB for contacts
for (uint32_t i = 0; i < newConstraint.numContacts; ++i)
{
newConstraint.contacts[i].rA = newConstraint.contacts[i].position - newConstraint.centerOfMassA;
newConstraint.contacts[i].rB = newConstraint.contacts[i].position - newConstraint.centerOfMassB;
}
}
void SHContactSolver::Reset() noexcept
{
velocityStates.clear();
contactConstraints.clear();
}
void SHContactSolver::SolveContacts(int numIterations, float dt) noexcept
{
preSolve(dt);
for (int i = 0; i < numIterations; ++i)
solve();
}
/*-----------------------------------------------------------------------------------*/
/* Private Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
void SHContactSolver::preSolve(float dt) noexcept
{
const float INV_DT = 1.0f / dt;
for (auto& [key, constraint] : contactConstraints)
{
const float INV_MASS_SUM = constraint.invMassA + constraint.invMassB;
SHVelocityState& velocityStateA = velocityStates.find(key.GetEntityA())->second;
SHVelocityState& velocityStateB = velocityStates.find(key.GetEntityB())->second;
SHVec3 vA = velocityStateA.LinearVelocity;
SHVec3 wA = velocityStateA.AngularVelocity;
SHVec3 vB = velocityStateB.LinearVelocity;
SHVec3 wB = velocityStateB.AngularVelocity;
const SHVec3& LINEAR_LOCK_A = velocityStateA.LinearLockFactor;
const SHVec3& ANGULAR_LOCK_A = velocityStateA.AngularLockFactor;
const SHVec3& LINEAR_LOCK_B = velocityStateB.LinearLockFactor;
const SHVec3& ANGULAR_LOCK_B = velocityStateB.AngularLockFactor;
for (uint32_t i = 0; i < constraint.numContacts; ++i)
{
SHContact& contact = constraint.contacts[i];
// Calculate JM-1JT (Effective mass)
/*
* rXnT * I-1 * rXn:
*
* 1. 3x3 * 3x1 = 3x1
* 2. 1x3 * 3x1 = 1x1
*
* First do I-1 * rXn
* | ix 0 0 || x | | ix * x |
* | 0 iy 0 || y | = | iy * y |
* | 0 0 iz || z | | iz * z |
*
* Then dot product the result with rXnT
* | ix * x |[ u v w ]
* | iy * y | = [ ix * x * w + iy * y * v + iz * z * w ]
* | iz * z |
*
* Simplified:
*
* rXnT /dot (I-1 * rXn)
*/
// Effective mass along Normal
const SHVec3 RA_CROSS_N = SHVec3::Cross(contact.rA, constraint.normal);
const SHVec3 RB_CROSS_N = SHVec3::Cross(contact.rB, constraint.normal);
contact.normalMass = INV_MASS_SUM;
contact.normalMass += SHVec3::Dot(RA_CROSS_N, constraint.invInertiaA * RA_CROSS_N);
contact.normalMass += SHVec3::Dot(RB_CROSS_N, constraint.invInertiaB * RB_CROSS_N);
// Invert the normal mass (we want the actual mass, not the inverse mass)
contact.normalMass = 1.0f / contact.normalMass;
// Effective mass along tangents (same steps as above)
for (int j = 0; j < SHContact::NUM_TANGENTS; ++j)
{
const SHVec3 RA_CROSS_T = SHVec3::Cross(contact.rA, constraint.tangents[j]);
const SHVec3 RB_CROSS_T = SHVec3::Cross(contact.rB, constraint.tangents[j]);
contact.tangentMass[j] = INV_MASS_SUM;
contact.tangentMass[j] += SHVec3::Dot(RA_CROSS_T, constraint.invInertiaA * RA_CROSS_T);
contact.tangentMass[j] += SHVec3::Dot(RB_CROSS_T, constraint.invInertiaB * RB_CROSS_T);
contact.tangentMass[j] = 1.0f / contact.tangentMass[j];
}
// Calculate bias per contact
/*
* error bias = baumgarte factor / dt * penetration
* restituion bias = restitution * (relative velocity /dot normal)
*/
const float ERROR_BIAS = -SHPHYSICS_BAUMGARTE * INV_DT * std::max(0.0f, contact.penetration - SHPHYSICS_LINEAR_SLOP);
// Warm starting
// Compute impulses
SHVec3 impulse = constraint.normal * contact.normalImpulse;
for (int j = 0; j < SHContact::NUM_TANGENTS; ++j)
impulse += constraint.tangents[j] * contact.tangentImpulse[j];
// Apply impulses onto velocities
vA -= impulse * constraint.invMassA * LINEAR_LOCK_A;
wA -= constraint.invInertiaA * SHVec3::Cross(contact.rA, impulse) * ANGULAR_LOCK_A;
vB += impulse * constraint.invMassB * LINEAR_LOCK_B;
wB += constraint.invInertiaB * SHVec3::Cross(contact.rB, impulse) * ANGULAR_LOCK_B;
const SHVec3 RV_A = vA + SHVec3::Cross(wA, contact.rA);
const SHVec3 RV_B = vB + SHVec3::Cross(wB, contact.rB);
const float RV_N = SHVec3::Dot(RV_B - RV_A, constraint.normal);
const float RESTITUTION_BIAS = std::fabs(RV_N) > SHPHYSICS_RESTITUTION_THRESHOLD ? -constraint.restitution * RV_N : 0.0f;
contact.bias = ERROR_BIAS + RESTITUTION_BIAS;
}
velocityStateA.LinearVelocity = vA;
velocityStateA.AngularVelocity = wA;
velocityStateB.LinearVelocity = vB;
velocityStateB.AngularVelocity = wB;
}
}
void SHContactSolver::solve() noexcept
{
for (auto& [key, constraint] : contactConstraints)
{
SHVelocityState& velocityStateA = velocityStates.find(key.GetEntityA())->second;
SHVelocityState& velocityStateB = velocityStates.find(key.GetEntityB())->second;
SHVec3 vA = velocityStateA.LinearVelocity;
SHVec3 wA = velocityStateA.AngularVelocity;
SHVec3 vB = velocityStateB.LinearVelocity;
SHVec3 wB = velocityStateB.AngularVelocity;
const SHVec3& LINEAR_LOCK_A = velocityStateA.LinearLockFactor;
const SHVec3& ANGULAR_LOCK_A = velocityStateA.AngularLockFactor;
const SHVec3& LINEAR_LOCK_B = velocityStateB.LinearLockFactor;
const SHVec3& ANGULAR_LOCK_B = velocityStateB.AngularLockFactor;
for (uint32_t i = 0; i < constraint.numContacts; ++i)
{
SHContact& contact = constraint.contacts[i];
// Compute relative velocity
SHVec3 velocityA = vA + SHVec3::Cross(wA, contact.rA);
SHVec3 velocityB = vB + SHVec3::Cross(wB, contact.rB);
SHVec3 relativeVelocity = velocityB - velocityA;
// Get scalar of relative velocity along the normal
const float VN = SHVec3::Dot(relativeVelocity, constraint.normal);
// Compute true normal impulse
const float OLD_NORMAL_IMPULSE = contact.normalImpulse;
float newNormalImpulse = -(VN + contact.bias) * contact.normalMass;
contact.normalImpulse = std::max(OLD_NORMAL_IMPULSE + newNormalImpulse, 0.0f);
newNormalImpulse = contact.normalImpulse - OLD_NORMAL_IMPULSE;
const SHVec3 NORMAL_IMPULSE = newNormalImpulse * constraint.normal;
// Apply impulses
vA -= NORMAL_IMPULSE * constraint.invMassA * LINEAR_LOCK_A;
wA -= constraint.invInertiaA * SHVec3::Cross(contact.rA, NORMAL_IMPULSE) * ANGULAR_LOCK_A;
vB += NORMAL_IMPULSE * constraint.invMassB * LINEAR_LOCK_B;
wB += constraint.invInertiaB * SHVec3::Cross(contact.rB, NORMAL_IMPULSE) * ANGULAR_LOCK_B;
// Solve normal impulse
// Re-compute relative velocity
velocityA = vA + SHVec3::Cross(wA, contact.rA);
velocityB = vB + SHVec3::Cross(wB, contact.rB);
relativeVelocity = velocityB - velocityA;
// Solve tangent impulse
for (int j = 0; j < SHContact::NUM_TANGENTS; ++j)
{
// Get scalar of relative velocity along tangent
const float VT = SHVec3::Dot(relativeVelocity, constraint.tangents[j]);
// Compute true tangent impulse
const float MAX_TANGENT_IMPULSE = constraint.friction * contact.normalImpulse;
const float OLD_TANGENT_IMPULSE = contact.tangentImpulse[j];
// We cannot exceed the maximum frictional force (coulumb's law)
// Compute true tangent impulse
float newTangentImpulse = -VT * contact.tangentMass[j];
contact.tangentImpulse[j] = std::clamp(OLD_TANGENT_IMPULSE + newTangentImpulse, -MAX_TANGENT_IMPULSE, MAX_TANGENT_IMPULSE);
newTangentImpulse = contact.tangentImpulse[j] - OLD_TANGENT_IMPULSE;
const SHVec3 TANGENT_IMPULSE = newTangentImpulse * constraint.tangents[j];
// Apply impulses
vA -= TANGENT_IMPULSE * constraint.invMassA * LINEAR_LOCK_A;
wA -= constraint.invInertiaA * SHVec3::Cross(contact.rA, TANGENT_IMPULSE) * ANGULAR_LOCK_A;
vB += TANGENT_IMPULSE * constraint.invMassB * LINEAR_LOCK_B;
wB += constraint.invInertiaB * SHVec3::Cross(contact.rB, TANGENT_IMPULSE) * ANGULAR_LOCK_B;
}
}
velocityStateA.LinearVelocity = vA;
velocityStateA.AngularVelocity = wA;
velocityStateB.LinearVelocity = vB;
velocityStateB.AngularVelocity = wB;
}
}
} // namespace SHADE

85
SHADE_Engine/src/Math/Geometry/SHShape.h → SHADE_Engine/src/Physics/Dynamics/SHContactSolver.h
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@ -1,7 +1,8 @@
/****************************************************************************************
* \file SHShape.h
* \file SHContactSolver.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a shape.
* \brief Interface for a Contact Solver that builds contacct constraints and solves
* them.
*
* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
* disclosure of this file or its contents without the prior written consent
@ -11,9 +12,8 @@
#pragma once
// Project Headers
#include "SH_API.h"
#include "Math/SHRay.h"
#include "Constraints/SHContactConstraint.h"
#include "Constraints/SHVelocityState.h"
namespace SHADE
{
@ -21,62 +21,73 @@ namespace SHADE
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
class SH_API SHShape
/**
* @brief
* Encapsulates an object that builds contact constraints and solves them.
*/
class SH_API SHContactSolver
{
public:
/*---------------------------------------------------------------------------------*/
/* Type Definitions */
/*---------------------------------------------------------------------------------*/
enum class Type
{
BOX
, SPHERE
, CAPSULE
, CONVEX_HULL
, COUNT
, NONE = -1
};
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
bool isIntersecting;
using VelocityStates = std::unordered_map<EntityID, SHVelocityState>;
using ContactConstraints = std::unordered_map<SHCollisionKey, SHContactConstraint, SHCollisionKeyHash>;
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
virtual ~SHShape () = default;
SHShape (const SHShape&) = default;
SHShape (SHShape&&) = default;
SHShape& operator=(const SHShape&) = default;
SHShape& operator=(SHShape&&) = default;
SHShape();
SHContactSolver () noexcept = default;
~SHContactSolver () noexcept = default;
/*---------------------------------------------------------------------------------*/
/* Getter Functions */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] Type GetType () const noexcept;
[[nodiscard]] const VelocityStates& GetVelocities () const noexcept;
[[nodiscard]] const ContactConstraints& GetContantConstraints () const noexcept;
/*---------------------------------------------------------------------------------*/
/* Function Members */
/* Member Functions */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] virtual bool TestPoint (const SHVec3& point) const noexcept = 0;
[[nodiscard]] virtual SHRaycastResult Raycast (const SHRay& ray) const noexcept = 0;
/**
* @brief
* Build a contact constraint from a new manifold.
* @param manifold
* A manifold to build a contact constraint from.
*/
void AddContact (const SHCollisionKey& key, const SHManifold& manifold) noexcept;
protected:
void Reset () noexcept;
/**
* @brief
* Solves all the contact constraints.
* @param numIterations
* The number of times to iterate over constraints when solving them.
* @param dt
* The delta time of the simulation step.
*/
void SolveContacts (int numIterations, float dt) noexcept;
private:
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
Type type;
VelocityStates velocityStates;
ContactConstraints contactConstraints;
/*---------------------------------------------------------------------------------*/
/* Member Functions */
/*---------------------------------------------------------------------------------*/
void preSolve (float dt) noexcept;
void solve () noexcept;
};
} // namespace SHADE

128
SHADE_Engine/src/Physics/Dynamics/SHMotionState.cpp Normal file
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/****************************************************************************************
* \file SHMotionState.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a Motion State.
*
* \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 "SHMotionState.h"
// Project Headers
#include "Math/SHMathHelpers.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
SHMotionState::SHMotionState() noexcept
: hasMoved { false }
{}
SHMotionState::SHMotionState(const SHMotionState& rhs) noexcept
: hasMoved { rhs.hasMoved }
, position { rhs.position }
, prevPosition { rhs.prevPosition }
{}
SHMotionState::SHMotionState(SHMotionState&& rhs) noexcept
: hasMoved { rhs.hasMoved }
, position { rhs.position }
, prevPosition { rhs.prevPosition }
{}
/*-----------------------------------------------------------------------------------*/
/* Operator Overload Definitions */
/*-----------------------------------------------------------------------------------*/
SHMotionState& SHMotionState::operator=(const SHMotionState& rhs) noexcept
{
if (this == &rhs)
return *this;
hasMoved = rhs.hasMoved;
position = rhs.position;
prevPosition = rhs.prevPosition;
return *this;
}
SHMotionState& SHMotionState::operator=(SHMotionState&& rhs) noexcept
{
hasMoved = rhs.hasMoved;
position = rhs.position;
prevPosition = rhs.prevPosition;
return *this;
}
SHMotionState::operator bool() const noexcept
{
return hasMoved;
}
/*-----------------------------------------------------------------------------------*/
/* Public Member Function Definition */
/*-----------------------------------------------------------------------------------*/
void SHMotionState::ForcePosition(const SHVec3& newPosition) noexcept
{
hasMoved = true;
prevPosition = newPosition;
position = newPosition;
}
void SHMotionState::ForceOrientation(const SHQuaternion& newOrientation) noexcept
{
hasMoved = true;
prevOrientation = newOrientation;
orientation = newOrientation;
}
void SHMotionState::IntegratePosition(const SHVec3& velocity, float dt) noexcept
{
// Velocities are 0 when objects are static or sleeping. We do not want to integrate them here.
// This call should never reach here.
hasMoved = true;
prevPosition = position;
position += velocity * dt;
}
void SHMotionState::IntegrateOrientation(const SHVec3& velocity, float dt) noexcept
{
// Velocities are 0 when objects are static or sleeping. We do not want to integrate them here.
// This call should never reach here.
hasMoved = true;
prevOrientation = orientation;
orientation += orientation * SHQuaternion{ velocity.x, velocity.y, velocity.z, 0.0f } * dt * 0.5f;
orientation = SHQuaternion::Normalise(orientation);
}
SHVec3 SHMotionState::InterpolatePositions(float factor) const noexcept
{
return SHVec3::ClampedLerp(prevPosition, position, factor);
}
SHQuaternion SHMotionState::InterpolateOrientations(float factor) const noexcept
{
return SHQuaternion::ClampedSlerp(prevOrientation, orientation, factor);
}
} // namespace SHADE

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SHADE_Engine/src/Physics/Dynamics/SHMotionState.h Normal file
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/****************************************************************************************
* \file SHMotionState.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a Motion State.
*
* \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 "Math/SHQuaternion.h"
#include "Math/Vector/SHVec3.h"
namespace SHADE
{
/*-------------------------------------------------------------------------------------*/
/* Type Definitions */
/*-------------------------------------------------------------------------------------*/
/**
* @brief
* Encapsulates the motion state of a rigid body in physics.
*/
struct SH_API SHMotionState
{
public:
/*-----------------------------------------------------------------------------------*/
/* Data Members */
/*-----------------------------------------------------------------------------------*/
bool hasMoved;
SHVec3 position;
SHVec3 prevPosition;
SHQuaternion orientation;
SHQuaternion prevOrientation;
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*-----------------------------------------------------------------------------------*/
SHMotionState () noexcept;
SHMotionState (const SHMotionState& rhs) noexcept;
SHMotionState (SHMotionState&& rhs) noexcept;
~SHMotionState() = default;
/*-----------------------------------------------------------------------------------*/
/* Operator Overloads */
/*-----------------------------------------------------------------------------------*/
SHMotionState& operator= (const SHMotionState& rhs) noexcept;
SHMotionState& operator= (SHMotionState&& rhs) noexcept;
operator bool () const noexcept;
/*-----------------------------------------------------------------------------------*/
/* Function Members */
/*-----------------------------------------------------------------------------------*/
/**
* @brief
* Forcefully sets the position. Meant to be used when transform overrides the rigid body
* positions.
* @param newPosition
* The new position to set.
*/
void ForcePosition (const SHVec3& newPosition) noexcept;
/**
* @brief
* Forcefully sets the orientation. Meant to be used when transform overrides the rigid body
* orientations
* @param newOrientation
* The new orientation to set.
*/
void ForceOrientation (const SHQuaternion& newOrientation) noexcept;
/**
* @brief
* Integrates the positions using linear velocity with respect to time.
* @param velocity
* The linear velocity to integrate.
* @param dt
* The delta time to integrate with respect to.
*/
void IntegratePosition (const SHVec3& velocity, float dt) noexcept;
/**
* @brief
* Integrates the orientation using angular velocity with respect to time.
* @param velocity
* The angular velocity to integrate.
* @param dt
* The delta time to integrate with respect to.
*/
void IntegrateOrientation (const SHVec3& velocity, float dt) noexcept;
/**
* @brief
* Interpolates the position between the previous and the last using a given factor.
* @param factor
* The factor to interpolate by. Should be between 0 & 1.
* @returns
* The interpolated position meant for rendering.
*/
SHVec3 InterpolatePositions (float factor) const noexcept;
/**
* @brief
* Interpolates the orientation between the previous and the last using a given factor.
* @param factor
* The factor to interpolate by. Should be between 0 & 1.
* @returns
* The interpolated orientation meant for rendering.
*/
SHQuaternion InterpolateOrientations (float factor) const noexcept;
};
} // namespace SHADE

190
SHADE_Engine/src/Physics/Dynamics/SHPhysicsWorld.cpp Normal file
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@ -0,0 +1,190 @@
/****************************************************************************************
* \file SHPhysicsWorld.cpp
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Implementation for a Physics World.
*
* \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 "SHPhysicsWorld.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
SHPhysicsWorld::SHPhysicsWorld(const WorldSettings& worldSettings) noexcept
: settings { worldSettings }
, collisionSpace { nullptr }
{
SHLOG_INFO_D("Creating Physics World")
}
SHPhysicsWorld::~SHPhysicsWorld() noexcept
{
collisionSpace = nullptr;
}
/*-----------------------------------------------------------------------------------*/
/* Getter Functions Definitions */
/*-----------------------------------------------------------------------------------*/
const SHContactManager::ContactPoints& SHPhysicsWorld::GetContactPoints() const noexcept
{
return contactManager.GetContactPoints();
}
const SHContactManager::TriggerEvents& SHPhysicsWorld::GetTriggerEvents() const noexcept
{
return contactManager.GetTriggerEvents();
}
const SHContactManager::CollisionEvents& SHPhysicsWorld::GetCollisionEvents() const noexcept
{
return contactManager.GetCollisionEvents();
}
/*-----------------------------------------------------------------------------------*/
/* Setter Functions Definitions */
/*-----------------------------------------------------------------------------------*/
void SHPhysicsWorld::SetCollisionSpace(SHCollisionSpace* _collisionSpace) noexcept
{
collisionSpace = _collisionSpace;
_collisionSpace->SetContactManager(&contactManager);
}
/*-----------------------------------------------------------------------------------*/
/* Public Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
void SHPhysicsWorld::AddRigidBody(SHRigidBody* rigidBody) noexcept
{
const bool INSERTED = rigidBodies.emplace(rigidBody->entityID, rigidBody).second;
if (!INSERTED)
{
SHLOG_WARNING_D("Attempting to add duplicate rigid body {} to the Physics World!", rigidBody->entityID)
}
}
void SHPhysicsWorld::RemoveRigidBody(SHRigidBody* rigidBody) noexcept
{
rigidBodies.erase(rigidBody->entityID);
// Contact manager to remove invalidated contacts
contactManager.RemoveInvalidatedManifold(rigidBody->entityID);
// TODO: Run through the rigid body's contact graph and wake all of its non-static bodies that are asleep
}
void SHPhysicsWorld::Step(float dt)
{
/*
* Detect Collisions
*/
if (collisionSpace)
collisionSpace->DetectCollisions();
/*
* Integrate Forces
*/
for (auto* rigidBody : rigidBodies | std::views::values)
{
if (!rigidBody->IsActive())
continue;
rigidBody->ComputeWorldData();
integrateForces(*rigidBody, dt);
}
/*
* Resolve Contacts
*/
contactManager.SolveCollisions(settings.numVelocitySolverIterations, dt);
/*
* Integrate Velocities
*/
for (auto* rigidBody : rigidBodies | std::views::values)
{
if (!rigidBody->IsActive())
continue;
integrateVelocities(*rigidBody, dt);
}
}
/*-----------------------------------------------------------------------------------*/
/* Private Member Functions Definitions */
/*-----------------------------------------------------------------------------------*/
void SHPhysicsWorld::integrateForces(SHRigidBody& rigidBody, float dt) const noexcept
{
if (rigidBody.bodyType != SHRigidBody::Type::DYNAMIC)
return;
// Integrate forces and gravity into linear velocity
const SHVec3 LINEAR_ACCELERATION = rigidBody.accumulatedForce * rigidBody.invMass;
const SHVec3 GRAVITATIONAL_ACCELERATION = rigidBody.IsGravityEnabled() ? settings.gravity * rigidBody.gravityScale : SHVec3::Zero;
rigidBody.linearVelocity += (LINEAR_ACCELERATION + GRAVITATIONAL_ACCELERATION) * dt;
// Integrate torque into angular velocity
rigidBody.angularVelocity += rigidBody.worldInvInertia * rigidBody.accumulatedTorque * dt;
// Apply drag (exponentially applied)
rigidBody.linearVelocity *= 1.0f / (1.0f + dt * rigidBody.linearDrag);
rigidBody.angularVelocity *= 1.0f / (1.0f + dt * rigidBody.angularDrag);
rigidBody.constrainLinearVelocities();
rigidBody.constrainAngularVelocities();
}
void SHPhysicsWorld::integrateVelocities(SHRigidBody& rigidBody, float dt) const noexcept
{
// Always reset movement flag
rigidBody.motionState.hasMoved = false;
// Set all velocities of static bodies to 0
if (rigidBody.bodyType == SHRigidBody::Type::STATIC)
{
rigidBody.linearVelocity = SHVec3::Zero;
}
// Dynamic & Kinematic bodies
// Both dynamic and kinematic can sleep when their velocities are under the thresholds.
else if (!rigidBody.IsSleeping())
{
rigidBody.constrainLinearVelocities();
rigidBody.constrainAngularVelocities();
rigidBody.motionState.IntegratePosition(rigidBody.linearVelocity, dt);
rigidBody.motionState.IntegrateOrientation(rigidBody.angularVelocity, dt);
// Sync with collider transforms if a collider is present
if (rigidBody.collider)
{
rigidBody.collider->SetPosition(rigidBody.motionState.position);
rigidBody.collider->SetOrientation(rigidBody.motionState.orientation);
rigidBody.collider->Update();
}
}
// Clear all forces
// We clear forces for static bodies as well for redundancy
rigidBody.ClearForces();
}
} // namespace SHADE

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SHADE_Engine/src/Physics/Dynamics/SHPhysicsWorld.h Normal file
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@ -0,0 +1,145 @@
/****************************************************************************************
* \file SHPhysicsWorld.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a Physics World.
*
* \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
#include <unordered_map>
// Project Headers
#include "Physics/Collision/SHCollisionSpace.h"
#include "SHContactManager.h"
#include "SHContactSolver.h"
#include "SHRigidBody.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Type Definitions */
/*-----------------------------------------------------------------------------------*/
/**
* @brief
* Encapsulates the overall simulation of physics. The bulk of dynamics are handled here,
* with the collision detection handled by an attached collision space. <br/>
* A collision space must be created separately and attached with the world.
*/
class SH_API SHPhysicsWorld
{
public:
/*---------------------------------------------------------------------------------*/
/* Type Definitions */
/*---------------------------------------------------------------------------------*/
struct WorldSettings
{
public:
/*-------------------------------------------------------------------------------*/
/* Data Members */
/*-------------------------------------------------------------------------------*/
SHVec3 gravity = SHVec3{ 0.0f, -9.81f, 0.0f };
uint16_t numVelocitySolverIterations = 10;
uint16_t numPositionSolverIterations = 5; // Unused until PGS is implemented
bool sleepingEnabled = true;
};
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
SHPhysicsWorld (const WorldSettings& worldSettings = WorldSettings{}) noexcept;
~SHPhysicsWorld () noexcept;
SHPhysicsWorld (const SHPhysicsWorld&) = delete;
SHPhysicsWorld (SHPhysicsWorld&&) = delete;
/*---------------------------------------------------------------------------------*/
/* Operator Overloads */
/*---------------------------------------------------------------------------------*/
SHPhysicsWorld& operator=(const SHPhysicsWorld&) = delete;
SHPhysicsWorld& operator=(SHPhysicsWorld&&) = delete;
/*---------------------------------------------------------------------------------*/
/* Getter Functions */
/*---------------------------------------------------------------------------------*/
const SHContactManager::ContactPoints& GetContactPoints () const noexcept;
const SHContactManager::TriggerEvents& GetTriggerEvents () const noexcept;
const SHContactManager::CollisionEvents& GetCollisionEvents () const noexcept;
/*---------------------------------------------------------------------------------*/
/* Setter Functions */
/*---------------------------------------------------------------------------------*/
void SetCollisionSpace(SHCollisionSpace* collisionSpace) noexcept;
/*---------------------------------------------------------------------------------*/
/* Member Functions */
/*---------------------------------------------------------------------------------*/
/**
* @brief
* Adds a rigid body to the world for it to be simulated using motion dynamics.
* @param rigidBody
* A rigid body to add. Duplicates will be ignored.
*/
void AddRigidBody (SHRigidBody* rigidBody) noexcept;
/**
* @brief
* Removes a rigid body from the world. It's motion will not be affected unless
* explicitly modified.
* @param rigidBody
* A rigid body to add. Duplicates will be ignored.
*/
void RemoveRigidBody (SHRigidBody* rigidBody) noexcept;
/**
* @brief
* Performs a single simulation step. <br/>
* Detect Collisions -> Integrate Forces -> Resolve Contacts -> Integrate Velocities
* @param dt
* A discrete time step for the simulation. This should be consistent for deterministic
* behaviour.
*/
void Step (float dt);
private:
/*---------------------------------------------------------------------------------*/
/* Type Definitions */
/*---------------------------------------------------------------------------------*/
// EntityIDs are used to map resolved constraints back to bodies
using RigidBodies = std::unordered_map<EntityID, SHRigidBody*>;
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
WorldSettings settings;
SHCollisionSpace* collisionSpace;
RigidBodies rigidBodies;
SHContactManager contactManager;
SHContactSolver contactSolver;
/*---------------------------------------------------------------------------------*/
/* Function Members */
/*---------------------------------------------------------------------------------*/
// TODO: Move to island when islands are set up
void integrateForces (SHRigidBody& rigidBody, float dt) const noexcept;
void integrateVelocities (SHRigidBody& rigidBody, float dt) const noexcept;
};
} // namespace SHADE

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