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Refactored Raycasting, Added Layers for Raycasting to C#, Fixed Collision Tag Panel #331

Merged
direnbharwani merged 10 commits from SP3-2-Physics into main 2023-02-03 16:26:07 +08:00
Conversation 0 Commits 10 Files Changed 78 +499 -92
15 changed files with 499 additions and 92 deletions
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Showing only changes of commit b6d91d5492 - Show all commits

32
Assets/CollisionTags.SHConfig
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@ -1,16 +1,16 @@
0 1
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0 1 3
1 2 65535
2 3 65534
3 4 65534
4 5 65534
5 6 65534
6 7 65534
7 8 65534
8 9 65534
9 10 65534
10 11 65534
11 12 65534
12 13 65534
13 14 65534
14 15 65534
15 16 65534

300
Assets/Scenes/MainGameWithAIFixed.shade
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File diff suppressed because it is too large Load Diff

12
Assets/Scenes/x.shade
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@ -4,8 +4,8 @@
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 2, y: 0, z: 0}
Rotate: {x: 0, y: 0, z: 0}
Translate: {x: 2, y: 2, z: 0}
Rotate: {x: -0, y: 0, z: -0}
Scale: {x: 1, y: 1, z: 1}
IsActive: true
RigidBody Component:
@ -58,8 +58,8 @@
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: 0, y: -3, z: 0}
Rotate: {x: 0, y: 0, z: 0}
Translate: {x: 0, y: 0, z: 0}
Rotate: {x: -0, y: 0, z: -0}
Scale: {x: 1, y: 1, z: 1}
IsActive: true
RigidBody Component:
@ -79,7 +79,7 @@
Collider Component:
Colliders:
- Is Trigger: false
Collision Tag: 1
Collision Tag: 3
Type: Sphere
Radius: 1
Friction: 0.400000006
@ -88,7 +88,7 @@
Position Offset: {x: 0, y: 0, z: 0}
Rotation Offset: {x: 0, y: 0, z: 0}
- Is Trigger: false
Collision Tag: 1
Collision Tag: 2
Type: Box
Half Extents: {x: 1, y: 1, z: 1}
Friction: 0.400000006

69
SHADE_Engine/src/Physics/Collision/CollisionTags/SHCollisionTagMatrix.cpp
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@ -14,18 +14,36 @@
// Primary Header
#include "SHCollisionTagMatrix.h"
#include "Tools/Utilities/SHUtilities.h"
namespace SHADE
{
/*-----------------------------------------------------------------------------------*/
/* Static Data Member Definitions */
/*-----------------------------------------------------------------------------------*/
SHCollisionTag SHCollisionTagMatrix::collisionTags[SHCollisionTag::NUM_LAYERS];
bool SHCollisionTagMatrix::dirty = true;
SHCollisionTag SHCollisionTagMatrix::collisionTags[SHCollisionTag::NUM_LAYERS];
/*-----------------------------------------------------------------------------------*/
/* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/
bool SHCollisionTagMatrix::IsDirty() noexcept
{
// Check if any collision tag is dirty
for (auto& tag : collisionTags)
{
if (tag.IsDirty())
{
dirty = true;
break;
}
}
return dirty;
}
const std::string& SHCollisionTagMatrix::GetTagName(int tagIndex)
{
if (tagIndex < 0 || tagIndex > SHCollisionTag::NUM_LAYERS)
@ -91,6 +109,8 @@ namespace SHADE
if (collisionTag.GetName() != tagName)
continue;
dirty = true;
collisionTag = newTag;
return;
}
@ -105,6 +125,8 @@ namespace SHADE
if (collisionTag.GetName() != tagName)
continue;
dirty = true;
collisionTag.SetMask(mask);
return;
}
@ -125,6 +147,8 @@ namespace SHADE
if (tagIndex < 0 || tagIndex > SHCollisionTag::NUM_LAYERS)
throw std::invalid_argument("Index out of range!");
dirty = true;
collisionTags[tagIndex] = newTag;
}
@ -133,6 +157,8 @@ namespace SHADE
if (tagIndex < 0 || tagIndex > SHCollisionTag::NUM_LAYERS)
throw std::invalid_argument("Index out of range!");
dirty = true;
collisionTags[tagIndex].SetMask(mask);
}
@ -145,8 +171,9 @@ 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 +214,40 @@ 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();
}
@ -215,9 +264,19 @@ 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();
}
void SHCollisionTagMatrix::Clear() noexcept
{
dirty = false;
for (auto& tag : collisionTags)
tag.dirty = false;
}
} // namespace SHADE

24
SHADE_Engine/src/Physics/Collision/CollisionTags/SHCollisionTagMatrix.h
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@ -29,6 +29,7 @@ namespace SHADE
/* Getter Functions */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] static bool IsDirty () noexcept;
[[nodiscard]] static const std::string& GetTagName (int tagIndex);
[[nodiscard]] static int GetTagIndex (const std::string& tagName) noexcept;
@ -39,29 +40,36 @@ namespace SHADE
/* Setter Functions */
/*---------------------------------------------------------------------------------*/
static void SetTagName (const std::string& oldTagName, const std::string& newTagName) noexcept;
static void SetTag (const std::string& tagName, const SHCollisionTag& newTag) noexcept;
static void SetTag (const std::string& tagName, uint16_t mask) noexcept;
static void SetTagName (const std::string& oldTagName, const std::string& newTagName) noexcept;
static void SetTag (const std::string& tagName, const SHCollisionTag& newTag) noexcept;
static void SetTag (const std::string& tagName, uint16_t mask) noexcept;
// Unsafe Setters: Can throw exceptions
static void SetTagName (int tagIndex, const std::string& newTagName);
static void SetTag (int tagIndex, const SHCollisionTag& newTag);
static void SetTag (int tagIndex, uint16_t mask);
static void SetTagName (int tagIndex, const std::string& newTagName);
static void SetTag (int tagIndex, const SHCollisionTag& newTag);
static void SetTag (int tagIndex, uint16_t mask);
/*---------------------------------------------------------------------------------*/
/* Function Members */
/*---------------------------------------------------------------------------------*/
static void Init (const std::filesystem::path& tagNameFilePath) noexcept;
static void Exit (const std::filesystem::path& tagNameFilePath) noexcept;
static void Init (const std::filesystem::path& tagNameFilePath) noexcept;
static void Exit (const std::filesystem::path& tagNameFilePath) noexcept;
/**
* @brief
* Clears the dirty flag.
*/
static void Clear () noexcept;
private:
/*---------------------------------------------------------------------------------*/
/* Data Members */
/*---------------------------------------------------------------------------------*/
static bool dirty;
static SHCollisionTag collisionTags[SHCollisionTag::NUM_LAYERS];
};
}

19
SHADE_Engine/src/Physics/Collision/CollisionTags/SHCollisionTags.cpp
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@ -23,15 +23,18 @@ namespace SHADE
/*-----------------------------------------------------------------------------------*/
SHCollisionTag::SHCollisionTag() noexcept
: mask { SHUtilities::ConvertEnum(Layer::ALL) }
: dirty { true }
, mask { SHUtilities::ConvertEnum(Layer::ALL) }
{}
SHCollisionTag::SHCollisionTag(uint16_t _mask) noexcept
: mask { _mask }
: dirty { true }
, mask { _mask }
{}
SHCollisionTag::SHCollisionTag(Layer layer) noexcept
: mask { SHUtilities::ConvertEnum(layer) }
: dirty { true }
, mask { SHUtilities::ConvertEnum(layer) }
{}
/*-----------------------------------------------------------------------------------*/
@ -57,6 +60,11 @@ namespace SHADE
/* Getter Function Definitions */
/*-----------------------------------------------------------------------------------*/
bool SHCollisionTag::IsDirty() const noexcept
{
return dirty;
}
uint16_t SHCollisionTag::GetMask() const noexcept
{
return mask;
@ -86,6 +94,7 @@ namespace SHADE
void SHCollisionTag::SetMask(uint16_t newMask) noexcept
{
dirty = true;
mask = newMask;
}
@ -96,6 +105,8 @@ namespace SHADE
void SHCollisionTag::SetLayerState(Layer layer, bool state) noexcept
{
dirty = true;
const auto VALUE = SHUtilities::ConvertEnum(layer);
state ? mask |= VALUE : mask &= ~(VALUE);
}
@ -105,6 +116,8 @@ namespace SHADE
if (layerIndex < 0 || layerIndex > NUM_LAYERS)
throw std::invalid_argument("Index out of range!");
dirty = true;
const auto VALUE = 1U << layerIndex;
state ? mask |= (VALUE) : mask &= ~(VALUE);
}

9
SHADE_Engine/src/Physics/Collision/CollisionTags/SHCollisionTags.h
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@ -23,6 +23,13 @@ namespace SHADE
class SH_API SHCollisionTag
{
private:
/*---------------------------------------------------------------------------------*/
/* Friends */
/*---------------------------------------------------------------------------------*/
friend class SHCollisionTagMatrix;
public:
/*---------------------------------------------------------------------------------*/
/* Type Definitions */
@ -82,6 +89,7 @@ namespace SHADE
/* Getter Functions */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] bool IsDirty () const noexcept;
[[nodiscard]] uint16_t GetMask () const noexcept;
[[nodiscard]] const std::string& GetName () const noexcept;
[[nodiscard]] bool GetLayerState (Layer layer) const noexcept;
@ -101,6 +109,7 @@ namespace SHADE
/* Data Members */
/*---------------------------------------------------------------------------------*/
bool dirty;
uint16_t mask;
std::string name;
};

6
SHADE_Engine/src/Physics/Collision/Shapes/SHBox.cpp
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@ -102,11 +102,7 @@ namespace SHADE
const SHTransform& PARENT_TRANSFORM = collider->GetTransform();
SetScale(PARENT_TRANSFORM.scale);
if (rp3dCollider)
{
const rp3d::Transform OFFSETS{ positionOffset, SHQuaternion::FromEuler(rotationOffset) };
rp3dCollider->setLocalToBodyTransform(OFFSETS);
}
SHCollisionShape::Update();
}

10
SHADE_Engine/src/Physics/Collision/Shapes/SHCollisionShape.cpp
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@ -118,6 +118,9 @@ namespace SHADE
void SHCollisionShape::SetCollisionTag(SHCollisionTag* newCollisionTag) noexcept
{
collisionTag = newCollisionTag;
if (rp3dCollider)
rp3dCollider->setCollideWithMaskBits(collisionTag->GetMask());
}
void SHCollisionShape::SetFriction(float friction) noexcept
@ -184,6 +187,13 @@ namespace SHADE
/* Public Member Function Definitions */
/*-----------------------------------------------------------------------------------*/
void SHCollisionShape::UpdateCollisionTags() noexcept
{
if (collisionTag->IsDirty())
rp3dCollider->setCollideWithMaskBits(collisionTag->GetMask());
}
void SHCollisionShape::Update() noexcept
{
if (rp3dCollider)

6
SHADE_Engine/src/Physics/Collision/Shapes/SHCollisionShape.h
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@ -123,6 +123,12 @@ namespace SHADE
/* Member Functions */
/*---------------------------------------------------------------------------------*/
/**
* @brief
* Re-sets the collision tags if it is dirty.
*/
void UpdateCollisionTags() noexcept;
/**
* @brief
* Computes the transform of the shape.

6
SHADE_Engine/src/Physics/Collision/Shapes/SHSphere.cpp
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@ -105,11 +105,7 @@ namespace SHADE
const float SPHERE_SCALE = std::fabs(SHMath::Max({ PARENT_TRANSFORM.scale.x, PARENT_TRANSFORM.scale.y, PARENT_TRANSFORM.scale.z }));
SetScale(SPHERE_SCALE);
if (rp3dCollider)
{
const rp3d::Transform OFFSETS{ positionOffset, SHQuaternion::FromEuler(rotationOffset) };
rp3dCollider->setLocalToBodyTransform(OFFSETS);
}
SHCollisionShape::Update();
}

6
SHADE_Engine/src/Physics/Interface/PhysicsObject/SHPhysicsObjectManager.cpp
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@ -15,6 +15,7 @@
// Project Headers
#include "Math/Transform/SHTransformComponent.h"
#include "Physics/Collision/CollisionTags/SHCollisionTagMatrix.h"
#include "Physics/Collision/Shapes/SHSphere.h"
#include "Physics/Collision/Shapes/SHBox.h"
#include "Physics/Interface/SHColliderComponent.h"
@ -385,6 +386,11 @@ namespace SHADE
}
default: break;
}
collisionShape->SetMaterial(collisionShape->GetMaterial());
const auto& COLLISION_TAG = collisionShape->GetCollisionTag();
collisionShape->SetCollisionTag(SHCollisionTagMatrix::GetTag(COLLISION_TAG.GetName()));
}
physicsObject->body->updateMassPropertiesFromColliders();

6
SHADE_Engine/src/Physics/Interface/SHColliderComponent.cpp
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@ -272,6 +272,12 @@ namespace SHADE
shape->Update();
}
void SHColliderComponent::UpdateCollisionTags() noexcept
{
for (auto& shape : shapes)
shape->UpdateCollisionTags();
}
} // namespace SHADE

6
SHADE_Engine/src/Physics/Interface/SHColliderComponent.h
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@ -158,6 +158,12 @@ namespace SHADE
*/
void Update () noexcept;
/**
* @brief
* Re-sets any dirty collision tags on collision shapes.
*/
void UpdateCollisionTags () noexcept;
private:
/*---------------------------------------------------------------------------------*/

80
SHADE_Engine/src/Physics/System/Routines/SHPhysicsPreUpdateRoutine.cpp
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@ -36,6 +36,9 @@ namespace SHADE
{
auto* physicsSystem = reinterpret_cast<SHPhysicsSystem*>(GetSystem());
// Update colliders since collision tag has changed
const bool UPDATE_COLLISION_TAGS = SHCollisionTagMatrix::IsDirty();
// Get all physics objects & sync transforms
auto& physicsObjects = physicsSystem->objectManager.GetPhysicsObjects();
for (auto& [entityID, physicsObject] : physicsObjects)
@ -44,52 +47,61 @@ namespace SHADE
// Assume transform is always active
const bool UPDATE_TRANSFORM = TRANSFORM_COMPONENT && TRANSFORM_COMPONENT->HasChanged();
if (!UPDATE_TRANSFORM)
continue;
// We assume that all engine components and physics object components have been successfully linked
if (!physicsObject.body)
continue;
// Set body transform
const SHVec3& WORLD_POS = TRANSFORM_COMPONENT->GetWorldPosition();
const SHQuaternion& WORLD_ROT = TRANSFORM_COMPONENT->GetWorldOrientation();
auto* shadeBody = SHComponentManager::GetComponent_s<SHRigidBodyComponent>(entityID);
auto* shadeCollider = SHComponentManager::GetComponent_s<SHColliderComponent>(entityID);
const rp3d::Transform NEW_TRANSFORM{ WORLD_POS, WORLD_ROT };
physicsObject.body->setTransform(NEW_TRANSFORM);
// Sync rigid body active states if one exists
if (auto* shadeBody = SHComponentManager::GetComponent_s<SHRigidBodyComponent>(entityID); shadeBody)
if (UPDATE_TRANSFORM)
{
const bool SHADE_BODY_ACTIVE = SHSceneManager::CheckNodeAndComponentsActive<SHRigidBodyComponent>(entityID);
const bool RP3D_BODY_ACTIVE = physicsObject.body->isActive();
// Set body transform
const SHVec3& WORLD_POS = TRANSFORM_COMPONENT->GetWorldPosition();
const SHQuaternion& WORLD_ROT = TRANSFORM_COMPONENT->GetWorldOrientation();
if (SHADE_BODY_ACTIVE != RP3D_BODY_ACTIVE)
physicsObject.body->setIsActive(SHADE_BODY_ACTIVE);
const rp3d::Transform NEW_TRANSFORM{ WORLD_POS, WORLD_ROT };
physicsObject.body->setTransform(NEW_TRANSFORM);
shadeBody->position = WORLD_POS;
shadeBody->orientation = WORLD_ROT;
// Sync rigid body active states if one exists
if (shadeBody)
{
const bool SHADE_BODY_ACTIVE = SHSceneManager::CheckNodeAndComponentsActive<SHRigidBodyComponent>(entityID);
const bool RP3D_BODY_ACTIVE = physicsObject.body->isActive();
if (SHADE_BODY_ACTIVE != RP3D_BODY_ACTIVE)
physicsObject.body->setIsActive(SHADE_BODY_ACTIVE);
shadeBody->position = WORLD_POS;
shadeBody->orientation = WORLD_ROT;
}
// Sync collider active states if one exists
if (shadeCollider)
{
const bool SHADE_COLLIDER_ACTIVE = SHSceneManager::CheckNodeAndComponentsActive<SHColliderComponent>(entityID);
const bool RP3D_COLLIDERS_ACTIVE = shadeCollider->flags & SHColliderComponent::ACTIVE_FLAG;
// Modify the static body's active state
// The collision listener & raycaster will handle culling inactive colliders.
if (SHADE_COLLIDER_ACTIVE != RP3D_COLLIDERS_ACTIVE)
physicsObject.body->setIsActive(SHADE_COLLIDER_ACTIVE);
shadeCollider->transform.position = WORLD_POS;
shadeCollider->transform.orientation = WORLD_ROT;
shadeCollider->transform.scale = TRANSFORM_COMPONENT->GetWorldScale();
shadeCollider->Update();
}
}
// Sync collider active states if one exists
if (auto* shadeCollider = SHComponentManager::GetComponent_s<SHColliderComponent>(entityID); shadeCollider)
{
const bool SHADE_COLLIDER_ACTIVE = SHSceneManager::CheckNodeAndComponentsActive<SHColliderComponent>(entityID);
const bool RP3D_COLLIDERS_ACTIVE = shadeCollider->flags & SHColliderComponent::ACTIVE_FLAG;
// Modify the static body's active state
// The collision listener & raycaster will handle culling inactive colliders.
if (SHADE_COLLIDER_ACTIVE != RP3D_COLLIDERS_ACTIVE)
physicsObject.body->setIsActive(SHADE_COLLIDER_ACTIVE);
shadeCollider->transform.position = WORLD_POS;
shadeCollider->transform.orientation = WORLD_ROT;
shadeCollider->transform.scale = TRANSFORM_COMPONENT->GetWorldScale();
shadeCollider->Update();
}
if (UPDATE_COLLISION_TAGS && shadeCollider)
shadeCollider->UpdateCollisionTags();
}
// Clear collision tag dirty flags
SHCollisionTagMatrix::Clear();
}
} // namespace SHADE