Assets/Scenes/PhysicsTest.shade

@@ -4,14 +4,14 @@
   NumberOfChildren: 0
   Components:
     Transform Component:
-      Translate: {x: 0, y: 7, z: 0}
+      Translate: {x: 0, y: 7, z: -0.5}
       Rotate: {x: 0, y: 0, z: 0.785398185}
       Scale: {x: 0.999999344, y: 0.999999821, z: 0.999999523}
       IsActive: true
     RigidBody Component:
       Type: Dynamic
       Drag: 0.00999999978
-      Angular Drag: 0
+      Angular Drag: 0.100000001
       Use Gravity: true
       Interpolate: true
       Sleeping Enabled: true
@@ -34,11 +34,7 @@
           Position Offset: {x: 0, y: 0, z: 0}
           Rotation Offset: {x: 0, y: 0, z: 0}
       IsActive: true
-  Scripts:
+  Scripts: ~
-    - Type: PhysicsTestObj
-      Enabled: true
-      forceAmount: 200
-      torqueAmount: 5
 - EID: 1
   Name: Default
   IsActive: true
@@ -70,7 +66,7 @@
     Camera Component:
       Position: {x: 0, y: 2, z: 7}
       Pitch: 0
-      Yaw: 95
+      Yaw: 0
       Roll: 0
       Width: 1920
       Height: 1080
@@ -182,9 +178,9 @@
       Scale: {x: 1, y: 1, z: 1}
       IsActive: true
     RigidBody Component:
-      Type: Static
+      Type: Dynamic
       Drag: 0.00999999978
-      Angular Drag: 0.00999999978
+      Angular Drag: 0.100000001
       Use Gravity: true
       Interpolate: true
       Sleeping Enabled: true

Assets/Scenes/x.shade

@@ -4,7 +4,7 @@
   NumberOfChildren: 0
   Components:
     Transform Component:
-      Translate: {x: 0, y: 0, z: 0}
+      Translate: {x: 2, y: 0, z: 0}
       Rotate: {x: 0, y: 0, z: 0}
       Scale: {x: 1, y: 1, z: 1}
       IsActive: true
@@ -12,7 +12,7 @@
       Type: Dynamic
       Drag: 0.00999999978
       Angular Drag: 0.100000001
-      Use Gravity: false
+      Use Gravity: true
       Interpolate: true
       Sleeping Enabled: false
       Freeze Position X: false
@@ -41,7 +41,7 @@
   NumberOfChildren: 0
   Components:
     Camera Component:
-      Position: {x: 0, y: 0, z: -10}
+      Position: {x: 0, y: 0, z: 5}
       Pitch: 0
       Yaw: 0
       Roll: 0
@@ -51,4 +51,50 @@
       Far: 10000
       Perspective: true
       IsActive: true
+  Scripts: ~
+- EID: 2
+  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: 1, y: 1, z: 1}
+      IsActive: true
+    RigidBody Component:
+      Type: Dynamic
+      Drag: 0.00999999978
+      Angular Drag: 0.100000001
+      Use Gravity: false
+      Interpolate: true
+      Sleeping Enabled: false
+      Freeze Position X: true
+      Freeze Position Y: true
+      Freeze Position Z: true
+      Freeze Rotation X: false
+      Freeze Rotation Y: false
+      Freeze Rotation Z: false
+      IsActive: true
+    Collider Component:
+      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}
+        - 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: 2, y: 0, z: 0}
+          Rotation Offset: {x: 0, y: 0, z: 0}
+      IsActive: true
   Scripts: ~

SHADE_Engine/src/Physics/Collision/Shapes/SHBox.cpp

@@ -97,6 +97,19 @@ namespace SHADE
   /* Public Member Function Definitions                                                */
   /*-----------------------------------------------------------------------------------*/
 
+  void SHBox::Update() noexcept
+  {
+    const SHTransform& PARENT_TRANSFORM = collider->GetTransform();
+    SetScale(PARENT_TRANSFORM.scale);
+
+    if (rp3dCollider)
+    {
+      const rp3d::Transform OFFSETS{ positionOffset, SHQuaternion::FromEuler(rotationOffset) };
+      rp3dCollider->setLocalToBodyTransform(OFFSETS);
+    }
+  }
+
+
   SHMatrix SHBox::GetTRS() const noexcept
   {
     const SHQuaternion  ROTATION  = collider->GetTransform().orientation * SHQuaternion::FromEuler(rotationOffset);

SHADE_Engine/src/Physics/Collision/Shapes/SHBox.h

@@ -65,6 +65,7 @@ namespace SHADE
     /* Function Members                                                                */
     /*---------------------------------------------------------------------------------*/
 
+    void                    Update  ()  noexcept override;
     [[nodiscard]] SHMatrix  GetTRS  ()  const noexcept override;
 
   private:

SHADE_Engine/src/Physics/Collision/Shapes/SHCollisionShape.h

@@ -127,7 +127,7 @@ namespace SHADE
      * @brief
      * Computes the transform of the shape.
     */
-    void Update() noexcept;
+    virtual void Update() noexcept;
 
     /**
      * @brief

SHADE_Engine/src/Physics/Collision/Shapes/SHSphere.cpp

@@ -98,10 +98,25 @@ namespace SHADE
   /* 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);
+
+    if (rp3dCollider)
+    {
+      const rp3d::Transform OFFSETS{ positionOffset, SHQuaternion::FromEuler(rotationOffset) };
+      rp3dCollider->setLocalToBodyTransform(OFFSETS);
+    }
+  }
+
+
   SHMatrix SHSphere::GetTRS() const noexcept
   {
     const SHQuaternion  ROTATION  = collider->GetTransform().orientation * SHQuaternion::FromEuler(rotationOffset);
-    const SHVec3        SCALE     = GetWorldRadius() * 2.0f;
+    const SHVec3        SCALE     = GetWorldRadius();
 
     const SHMatrix      TRS       = SHMatrix::Rotate(ROTATION) * SHMatrix::Translate(collider->GetTransform().position);
     const SHVec3        POSITION  = SHVec3::Transform(positionOffset, TRS);

SHADE_Engine/src/Physics/Collision/Shapes/SHSphere.h

@@ -65,6 +65,7 @@ namespace SHADE
     /* Function Members                                                                */
     /*---------------------------------------------------------------------------------*/
 
+    void                    Update  ()  noexcept override;
     [[nodiscard]] SHMatrix  GetTRS  ()  const noexcept override;
 
   private:

SHADE_Engine/src/Physics/Interface/SHColliderComponent.cpp

@@ -33,19 +33,6 @@ namespace SHADE
   , collisionBody { nullptr }
   {}
 
-  SHColliderComponent::~SHColliderComponent()
-  {
-    int32_t numShapes = static_cast<int32_t>(shapes.size());
-    while (--numShapes >= 0)
-    {
-      delete shapes[numShapes];
-      shapes[numShapes] = nullptr;
-    }
-
-    shapes.clear();
-  }
-
-
   /*-----------------------------------------------------------------------------------*/
   /* Getter Function Definitions                                                       */
   /*-----------------------------------------------------------------------------------*/
@@ -150,6 +137,18 @@ namespace SHADE
   /* Public Function Member Definitions                                                */
   /*-----------------------------------------------------------------------------------*/
 
+  void SHColliderComponent::OnDestroy()
+  {
+    int32_t numShapes = static_cast<int32_t>(shapes.size());
+    while (--numShapes >= 0)
+    {
+      delete shapes[numShapes];
+      shapes[numShapes] = nullptr;
+    }
+
+    shapes.clear();
+  }
+
   const SHMatrix& SHColliderComponent::ComputeTRS() noexcept
   {
     return transform.ComputeTRS();
@@ -198,8 +197,6 @@ namespace SHADE
 
   int SHColliderComponent::AddBoxCollisionShape(const SHVec3& relativeExtents, const SHVec3& posOffset, const SHVec3& rotOffset)
   {
-    SHASSERT(factory, "Physics factory missing from Collider Component! Unable to add colliders!")
-
     const uint32_t NEW_INDEX = static_cast<uint32_t>(shapes.size());
 
     // Create collision shape

SHADE_Engine/src/Physics/Interface/SHColliderComponent.h

@@ -60,7 +60,7 @@ namespace SHADE
     SHColliderComponent    ()                                 noexcept;
     SHColliderComponent    (const SHColliderComponent& rhs)   noexcept = default;
     SHColliderComponent    (SHColliderComponent&& rhs)        noexcept = default;
-    ~SHColliderComponent   ()                                 override;
+    ~SHColliderComponent   ()                                 override = default;
 
     /*---------------------------------------------------------------------------------*/
     /* Operator Overloads                                                              */
@@ -101,6 +101,8 @@ namespace SHADE
     /* Function Members                                                                */
     /*---------------------------------------------------------------------------------*/
 
+    void OnDestroy() override;
+
      /**
      * @brief
      * Computes the TRS for the collider's transform

SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.cpp

@@ -155,21 +155,22 @@ namespace SHADE
 
     type = newType;
 
-    SHASSERT(rigidBody, "Unable to find rp3dBody on RigidBodyComponent!")
+    if (rigidBody)
-
-    switch (type)
     {
-      case Type::STATIC: 
+      switch (type)
-        rigidBody->setType(rp3d::BodyType::STATIC);
+      {
-        break;
+        case Type::STATIC: 
-      case Type::KINEMATIC: 
+          rigidBody->setType(rp3d::BodyType::STATIC);
-        rigidBody->setType(rp3d::BodyType::KINEMATIC);
+          break;
-        break;
+        case Type::KINEMATIC: 
-      case Type::DYNAMIC: 
+          rigidBody->setType(rp3d::BodyType::KINEMATIC);
-        rigidBody->setType(rp3d::BodyType::DYNAMIC);
+          break;
-        break;
+        case Type::DYNAMIC: 
-      default:
+          rigidBody->setType(rp3d::BodyType::DYNAMIC);
-        break;
+          break;
+        default:
+          break;
+      }
     }
   }
 

SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.h

@@ -158,8 +158,8 @@ namespace SHADE
     , LINEAR_Y    = 0x8
     , LINEAR_Z    = 0x10
     , ANGULAR_X   = 0x20
-    , ANGULAR_Y   = 0x30
+    , ANGULAR_Y   = 0x40
-    , ANGULAR_Z   = 0x40
+    , ANGULAR_Z   = 0x80
     };
 
     /*---------------------------------------------------------------------------------*/

SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp

@@ -134,6 +134,7 @@ namespace SHADE
     }
 
     objectManager.SetFactory(&factory);
+    collisionListener.BindToSystem(this);
     raycaster.BindToSystem(this);
   }