SHADE_Engine/src/Editor/EditorWindow/MenuBar/SHEditorMenuBar.cpp

@@ -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"
@@ -359,7 +360,46 @@ 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>())
+      {
+        if(ImGui::CollapsingHeader("Debug Draw", ImGuiTreeNodeFlags_DefaultOpen))
         {
           bool drawColliders = physicsDebugDraw->GetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::COLLIDERS);
           if (ImGui::Checkbox("Draw Colliders", &drawColliders))
@@ -373,6 +413,9 @@ namespace SHADE
           if (ImGui::Checkbox("Draw Rays", &drawRays))
             physicsDebugDraw->SetFlagState(SHPhysicsDebugDrawSystem::DebugDrawFlags::RAYCASTS, drawRays);
         }
+      }
+
+      
 
       ImGui::EndMenu();
     }

SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp

@@ -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                                                */
   /*-----------------------------------------------------------------------------------*/

SHADE_Engine/src/Physics/System/SHPhysicsSystem.h

@@ -63,6 +63,12 @@ namespace SHADE
     [[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                                                                */
     /*---------------------------------------------------------------------------------*/
@@ -70,6 +76,11 @@ namespace SHADE
     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                                                                */
     /*---------------------------------------------------------------------------------*/

SHADE_Engine/src/Physics/System/SHPhysicsSystemInterface.cpp

@@ -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
   {

SHADE_Engine/src/Physics/System/SHPhysicsSystemInterface.h

@@ -93,9 +93,19 @@ namespace SHADE
     [[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 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;
 
   };

SHADE_Managed/src/Physics/Physics.cxx

@@ -31,14 +31,42 @@ namespace SHADE
 
   Vector3 Physics::Gravity::get()
   {
-    // TODO(Diren)
+    return Convert::ToCLI(SHPhysicsSystemInterface::GetGravity());
-
-    return Vector3::Zero;
   }
 
   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);
   }
 
   /*-----------------------------------------------------------------------------------*/

SHADE_Managed/src/Physics/Physics.hxx

@@ -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                                                        */