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Added Capsule Collider, AABB Query & SimulateBody for Trajectory path prediction #402

Merged
direnbharwani merged 13 commits from SP3-2-Physics into main 2023-03-07 20:11:22 +08:00
Conversation 0 Commits 13 Files Changed 32 +264 -35
7 changed files with 264 additions and 35 deletions
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Showing only changes of commit 33ccdccd8a - Show all commits

61
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/SHPhysicsSystem.h"
#include "Physics/System/SHPhysicsDebugDrawSystem.h"
#include "Camera/SHCameraSystem.h"
#include "Tools/Utilities/SHClipboardUtilities.h"
@ -359,21 +360,63 @@ namespace SHADE
{
if (ImGui::BeginMenu("Physics Settings"))
{
if (auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>())
{
SHEditorWidgets::DragVec3
(
"Gravity", { "X", "Y", "Z" },
[physicsSystem] {return physicsSystem->GetGravity(); },
[physicsSystem](SHVec3 const& value) { physicsSystem->SetGravity(value); }
, false, "Global Gravity", 0.1f, "%.3f", 0.0f, 0.0f
);
SHEditorWidgets::SliderScalar<uint16_t>
(
"Velocity Iterations", ImGuiDataType_U16, (uint16_t)1, (uint16_t)32,
[physicsSystem] { return physicsSystem->GetNumVelocityIterations(); },
[physicsSystem](uint16_t value) { physicsSystem->SetNumVelocityIterations(value); },
"Number of times velocity is solved per collision. Higher values increase precision at the cost of performance.",
"%zu"
);
SHEditorWidgets::SliderScalar<uint16_t>
(
"Position Iterations", ImGuiDataType_U16, (uint16_t)1, (uint16_t)32,
[physicsSystem] { return physicsSystem->GetNumPositionIterations(); },
[physicsSystem](uint16_t value) { physicsSystem->SetNumPositionIterations(value); },
"Number of times position is solved per collision. Higher values increase precision at the cost of performance.",
"%zu"
);
SHEditorWidgets::CheckBox
(
"Sleeping Enabled",
[physicsSystem] { return physicsSystem->IsSleepingEnabled(); },
[physicsSystem](bool value) { physicsSystem->EnableSleeping(value); },
"If bodies are allowed to sleep. Sleeping increases performance of the simulation and should be left enabled."
);
}
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);
if(ImGui::CollapsingHeader("Debug Draw", ImGuiTreeNodeFlags_DefaultOpen))
{
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 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 drawRays = physicsDebugDraw->GetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::RAYCASTS);
if (ImGui::Checkbox("Draw Rays", &drawRays))
physicsDebugDraw->SetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::RAYCASTS, drawRays);
}
}
ImGui::EndMenu();
}
}

44
SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp
View File

@ -73,6 +73,26 @@ namespace SHADE
return collisionListener.GetTriggerInfoContainer();
}
const SHVec3& SHPhysicsSystem::GetGravity() const noexcept
{
return worldState.settings.gravity;
}
uint16_t SHPhysicsSystem::GetNumVelocityIterations() const noexcept
{
return worldState.settings.numVelocitySolverIterations;
}
uint16_t SHPhysicsSystem::GetNumPositionIterations() const noexcept
{
return worldState.settings.numPositionSolverIterations;
}
bool SHPhysicsSystem::IsSleepingEnabled() const noexcept
{
return worldState.settings.sleepingEnabled;
}
/*-----------------------------------------------------------------------------------*/
/* Setter Function Definitions */
/*-----------------------------------------------------------------------------------*/
@ -112,6 +132,30 @@ namespace SHADE
}
}
void SHPhysicsSystem::SetGravity(const SHVec3& gravity) noexcept
{
worldState.settings.gravity = gravity;
worldState.UpdateSettings();
}
void SHPhysicsSystem::SetNumVelocityIterations(uint16_t value) noexcept
{
worldState.settings.numVelocitySolverIterations = value;
worldState.UpdateSettings();
}
void SHPhysicsSystem::SetNumPositionIterations(uint16_t value) noexcept
{
worldState.settings.numPositionSolverIterations = value;
worldState.UpdateSettings();
}
void SHPhysicsSystem::EnableSleeping(bool sleepingAllowed) noexcept
{
worldState.settings.sleepingEnabled = sleepingAllowed;
worldState.UpdateSettings();
}
/*-----------------------------------------------------------------------------------*/
/* Public Function Member Definitions */
/*-----------------------------------------------------------------------------------*/

23
SHADE_Engine/src/Physics/System/SHPhysicsSystem.h
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@ -57,18 +57,29 @@ namespace SHADE
/* Getter Functions */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] double GetFixedUpdateRate () const noexcept;
[[nodiscard]] double GetFixedDT () const noexcept;
[[nodiscard]] double GetFixedUpdateRate () const noexcept;
[[nodiscard]] double GetFixedDT () const noexcept;
[[nodiscard]] const std::vector<SHCollisionInfo>& GetAllTriggerInfo () const noexcept;
[[nodiscard]] const std::vector<SHCollisionInfo>& GetAllCollisionInfo () const noexcept;
[[nodiscard]] const std::vector<SHCollisionInfo>& GetAllTriggerInfo () const noexcept;
[[nodiscard]] const std::vector<SHCollisionInfo>& GetAllCollisionInfo () const noexcept;
// World Settings
[[nodiscard]] const SHVec3& GetGravity () const noexcept;
[[nodiscard]] uint16_t GetNumVelocityIterations () const noexcept;
[[nodiscard]] uint16_t GetNumPositionIterations () const noexcept;
[[nodiscard]] bool IsSleepingEnabled () const noexcept;
/*---------------------------------------------------------------------------------*/
/* Setter Functions */
/*---------------------------------------------------------------------------------*/
void SetFixedUpdateRate (double fixedUpdateRate) noexcept;
void SetFixedDT (double fixedDt) noexcept;
void SetFixedUpdateRate (double fixedUpdateRate) noexcept;
void SetFixedDT (double fixedDt) noexcept;
void SetGravity (const SHVec3& gravity) noexcept;
void SetNumVelocityIterations (uint16_t value) noexcept;
void SetNumPositionIterations (uint16_t value) noexcept;
void EnableSleeping (bool sleepingAllowed) noexcept;
/*---------------------------------------------------------------------------------*/
/* Function Members */

91
SHADE_Engine/src/Physics/System/SHPhysicsSystemInterface.cpp
View File

@ -60,14 +60,7 @@ namespace SHADE
return 0.0;
}
void SHPhysicsSystemInterface::SetFixedDT(double fixedDT) noexcept
{
auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
if (physicsSystem)
physicsSystem->SetFixedDT(fixedDT);
SHLOGV_WARNING("Failed to set fixed delta time.");
}
int SHPhysicsSystemInterface::GetFixedUpdateRate() noexcept
{
@ -79,6 +72,55 @@ namespace SHADE
return 0.0;
}
SHVec3 SHPhysicsSystemInterface::GetGravity() noexcept
{
auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
if (physicsSystem)
return physicsSystem->GetGravity();
SHLOGV_WARNING("Failed to get gravity. Zero Vec3 returned instead.");
return SHVec3::Zero;
}
uint16_t SHPhysicsSystemInterface::GetNumVelocityIterations() noexcept
{
auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
if (physicsSystem)
return physicsSystem->GetNumVelocityIterations();
SHLOGV_WARNING("Failed to get number of velocity iterations. 0 returned instead.");
return 0;
}
uint16_t SHPhysicsSystemInterface::GetNumPositionIterations() noexcept
{
auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
if (physicsSystem)
return physicsSystem->GetNumPositionIterations();
SHLOGV_WARNING("Failed to get number of position iterations. 0 returned instead.");
return 0;
}
bool SHPhysicsSystemInterface::IsSleepingEnabled() noexcept
{
auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
if (physicsSystem)
return physicsSystem->IsSleepingEnabled();
SHLOGV_WARNING("Failed to check if sleeping is enabled. False returned instead.");
return false;
}
void SHPhysicsSystemInterface::SetFixedDT(double fixedDT) noexcept
{
auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
if (physicsSystem)
physicsSystem->SetFixedDT(fixedDT);
SHLOGV_WARNING("Failed to set fixed delta time.");
}
void SHPhysicsSystemInterface::SetFixedUpdateRate(double fixedUpdateRate) noexcept
{
auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
@ -88,6 +130,41 @@ namespace SHADE
SHLOGV_WARNING("Failed to set fixed update rate.");
}
void SHPhysicsSystemInterface::SetGravity(const SHVec3& gravity) noexcept
{
auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
if (physicsSystem)
return physicsSystem->SetGravity(gravity);
SHLOGV_WARNING("Failed to set gravity.");
}
void SHPhysicsSystemInterface::SetNumVelocityIterations(uint16_t value) noexcept
{
auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
if (physicsSystem)
return physicsSystem->SetNumVelocityIterations(value);
SHLOGV_WARNING("Failed to set number of velocity iterations.");
}
void SHPhysicsSystemInterface::SetNumPositionIterations(uint16_t value) noexcept
{
auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
if (physicsSystem)
return physicsSystem->SetNumPositionIterations(value);
SHLOGV_WARNING("Failed to set number of position iterations.");
}
void SHPhysicsSystemInterface::EnableSleeping(bool sleepingAllowed) noexcept
{
auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
if (physicsSystem)
return physicsSystem->EnableSleeping(sleepingAllowed);
SHLOGV_WARNING("Failed to set global sleeping state.");
}
const std::vector<SHPhysicsRaycastResult>& SHPhysicsSystemInterface::Raycast(const RaycastInfo& info) noexcept
{

24
SHADE_Engine/src/Physics/System/SHPhysicsSystemInterface.h
View File

@ -90,13 +90,23 @@ namespace SHADE
/* Static Usage Functions */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] static const std::vector<SHCollisionInfo>& GetCollisionInfo () noexcept;
[[nodiscard]] static const std::vector<SHCollisionInfo>& GetTriggerInfo () noexcept;
[[nodiscard]] static double GetFixedDT () noexcept;
[[nodiscard]] static void SetFixedDT (double fixedDT) noexcept;
[[nodiscard]] static int GetFixedUpdateRate () noexcept;
[[nodiscard]] static void SetFixedUpdateRate (double fixedUpdateRate) noexcept;
[[nodiscard]] static const std::vector<SHPhysicsRaycastResult>& Raycast (const RaycastInfo& info) noexcept;
[[nodiscard]] static const std::vector<SHCollisionInfo>& GetCollisionInfo () noexcept;
[[nodiscard]] static const std::vector<SHCollisionInfo>& GetTriggerInfo () noexcept;
[[nodiscard]] static double GetFixedDT () noexcept;
[[nodiscard]] static int GetFixedUpdateRate () noexcept;
[[nodiscard]] static SHVec3 GetGravity () noexcept;
[[nodiscard]] static uint16_t GetNumVelocityIterations () noexcept;
[[nodiscard]] static uint16_t GetNumPositionIterations () noexcept;
[[nodiscard]] static bool IsSleepingEnabled () noexcept;
static void SetFixedDT (double fixedDT) noexcept;
static void SetFixedUpdateRate (double fixedUpdateRate) noexcept;
static void SetGravity (const SHVec3& gravity) noexcept;
static void SetNumVelocityIterations (uint16_t value) noexcept;
static void SetNumPositionIterations (uint16_t value) noexcept;
static void EnableSleeping (bool sleepingAllowed) noexcept;
[[nodiscard]] static const std::vector<SHPhysicsRaycastResult>& Raycast (const RaycastInfo& info) noexcept;
};
}

36
SHADE_Managed/src/Physics/Physics.cxx
View File

@ -31,14 +31,42 @@ namespace SHADE
Vector3 Physics::Gravity::get()
{
// TODO(Diren)
return Vector3::Zero;
return Convert::ToCLI(SHPhysicsSystemInterface::GetGravity());
}
void Physics::Gravity::set(Vector3 value)
{
(void)value;
SHPhysicsSystemInterface::SetGravity(Convert::ToNative(value));
}
uint16_t Physics::VelocityIterations::get()
{
return SHPhysicsSystemInterface::GetNumVelocityIterations();
}
void Physics::VelocityIterations::set(uint16_t value)
{
SHPhysicsSystemInterface::SetNumVelocityIterations(value);
}
uint16_t Physics::PositionIterations::get()
{
return SHPhysicsSystemInterface::GetNumPositionIterations();
}
void Physics::PositionIterations::set(uint16_t value)
{
SHPhysicsSystemInterface::SetNumPositionIterations(value);
}
bool Physics::SleepingEnabled::get()
{
return SHPhysicsSystemInterface::IsSleepingEnabled();
}
void Physics::SleepingEnabled::set(bool value)
{
SHPhysicsSystemInterface::EnableSleeping(value);
}
/*-----------------------------------------------------------------------------------*/

18
SHADE_Managed/src/Physics/Physics.hxx
View File

@ -33,7 +33,23 @@ namespace SHADE
void set(Vector3 value);
}
// TODO(Diren): Add more properties for physics system settings.
static property uint16_t VelocityIterations
{
uint16_t get();
void set(uint16_t value);
}
static property uint16_t PositionIterations
{
uint16_t get();
void set(uint16_t value);
}
static property bool SleepingEnabled
{
bool get();
void set(bool value);
}
/*---------------------------------------------------------------------------------*/
/* Raycast Function Members */