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

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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 +54 -33
8 changed files with 54 additions and 33 deletions
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Showing only changes of commit e89f5df35f - Show all commits

2
SHADE_Engine/src/Physics/RP3DWrapper/SHPhysicsWorld.cpp → SHADE_Engine/src/Physics/RP3DWrapper/SHPhysicsWorldState.cpp
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@ -11,7 +11,7 @@
#include <SHpch.h>
// Primary Header
#include "SHPhysicsWorld.h"
#include "SHPhysicsWorldState.h"
namespace SHADE
{

9
SHADE_Engine/src/Physics/RP3DWrapper/SHPhysicsWorld.h → SHADE_Engine/src/Physics/RP3DWrapper/SHPhysicsWorldState.h
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@ -1,7 +1,7 @@
/****************************************************************************************
* \file SHPhysicsWorld.h
* \file SHPhysicsWorldState.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Interface for a Physics World.
* \brief Interface for a Physics World State.
*
* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
* disclosure of this file or its contents without the prior written consent
@ -14,6 +14,7 @@
// Project Headers
#include "Math/Vector/SHVec3.h"
#include "Physics/SHPhysicsConstants.h"
namespace SHADE
{
@ -37,8 +38,8 @@ namespace SHADE
/*-------------------------------------------------------------------------------*/
SHVec3 gravity = SHVec3{ 0.0f, -9.81f, 0.0f };
uint16_t numVelocitySolverIterations = 10;
uint16_t numPositionSolverIterations = 5;
uint16_t numVelocitySolverIterations = SHPhysicsConstants::DEFAULT_VELOCITY_ITERATIONS;
uint16_t numPositionSolverIterations = SHPhysicsConstants::DEFAULT_POSITION_ITERATIONS;
bool sleepingEnabled = true;
};

25
SHADE_Engine/src/Physics/SHPhysicsConstants.h Normal file
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@ -0,0 +1,25 @@
/****************************************************************************************
* \file SHPhysicsConstants.h
* \author Diren D Bharwani, diren.dbharwani, 390002520
* \brief Declaration of Constants used for physics simulations
*
* \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/Vector/SHVec3.h"
namespace SHADE
{
struct SHPhysicsConstants
{
static constexpr double DEFAULT_FIXED_DT = 1.0 / 60.0;
static constexpr int DEFAULT_VELOCITY_ITERATIONS = 10;
static constexpr int DEFAULT_POSITION_ITERATIONS = 5;
};
}

7
SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp
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@ -34,7 +34,7 @@ namespace SHADE
SHPhysicsSystem::SHPhysicsSystem() noexcept
: worldUpdated { false }
, interpolationFactor { 0.0 }
, fixedDT { DEFAULT_FIXED_STEP }
, fixedDT { SHPhysicsConstants::DEFAULT_FIXED_DT }
{
// Add more events here to register them
@ -63,11 +63,6 @@ namespace SHADE
return fixedDT;
}
double SHPhysicsSystem::GetDefaultFixedDT() const noexcept
{
return DEFAULT_FIXED_STEP;
}
const std::vector<SHCollisionInfo>& SHPhysicsSystem::GetAllCollisionInfo() const noexcept
{
return collisionListener.GetCollisionInfoContainer();

4
SHADE_Engine/src/Physics/System/SHPhysicsSystem.h
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@ -21,7 +21,7 @@
#include "Math/Geometry/SHAABB.h"
#include "Physics/Collision/SHCollisionInfo.h"
#include "Physics/Interface/PhysicsObject/SHPhysicsObjectManager.h"
#include "Physics/RP3DWrapper/SHPhysicsWorld.h"
#include "Physics/RP3DWrapper/SHPhysicsWorldState.h"
#include "Physics/RP3DWrapper/SHCollisionListener.h"
#include "Physics/RP3DWrapper/SHRaycaster.h"
#include "Scene/SHSceneGraph.h"
@ -59,7 +59,6 @@ namespace SHADE
[[nodiscard]] double GetFixedUpdateRate () const noexcept;
[[nodiscard]] double GetFixedDT () const noexcept;
[[nodiscard]] double GetDefaultFixedDT () const noexcept;
[[nodiscard]] const std::vector<SHCollisionInfo>& GetAllTriggerInfo () const noexcept;
[[nodiscard]] const std::vector<SHCollisionInfo>& GetAllCollisionInfo () const noexcept;
@ -70,6 +69,7 @@ namespace SHADE
void SetFixedUpdateRate (double fixedUpdateRate) noexcept;
void SetFixedDT (double fixedDt) noexcept;
/*---------------------------------------------------------------------------------*/
/* Function Members */
/*---------------------------------------------------------------------------------*/

24
SHADE_Engine/src/Physics/System/SHPhysicsSystemInterface.cpp
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@ -60,21 +60,11 @@ namespace SHADE
return 0.0;
}
double SHPhysicsSystemInterface::GetDeafultFixedDT() noexcept
void SHPhysicsSystemInterface::SetFixedDT(double fixedDT) noexcept
{
auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
if (physicsSystem)
return physicsSystem->GetDefaultFixedDT();
SHLOGV_WARNING("Failed to get defualt fixed delta time. 0.0 returned instead.");
return 0.0;
}
void SHPhysicsSystemInterface::SetFixedDT(double value) noexcept
{
auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
if (physicsSystem)
physicsSystem->SetFixedDT(value);
physicsSystem->SetFixedDT(fixedDT);
SHLOGV_WARNING("Failed to set fixed delta time.");
}
@ -89,6 +79,16 @@ namespace SHADE
return 0.0;
}
void SHPhysicsSystemInterface::SetFixedUpdateRate(double fixedUpdateRate) noexcept
{
auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
if (physicsSystem)
return physicsSystem->SetFixedUpdateRate(fixedUpdateRate);
SHLOGV_WARNING("Failed to set fixed update rate.");
}
const std::vector<SHPhysicsRaycastResult>& SHPhysicsSystemInterface::Raycast(const RaycastInfo& info) noexcept
{
static std::vector<SHPhysicsRaycastResult> emptyVec;

12
SHADE_Engine/src/Physics/System/SHPhysicsSystemInterface.h
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@ -90,12 +90,12 @@ 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 value) noexcept;
[[nodiscard]] static double GetDeafultFixedDT () noexcept;
[[nodiscard]] static int GetFixedUpdateRate () noexcept;
[[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;
};

4
SHADE_Managed/src/Engine/Time.cxx
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@ -17,6 +17,7 @@ of DigiPen Institute of Technology is prohibited.
// External Dependencies
#include "FRC/SHFramerateController.h"
#include "Physics/System/SHPhysicsSystemInterface.h"
#include "Physics/SHPhysicsConstants.h"
// Primary Header
#include "Time.hxx"
@ -47,7 +48,6 @@ namespace SHADE
double Time::DefaultFixDeltaTime::get()
{
return SHPhysicsSystemInterface::GetDeafultFixedDT();
return SHPhysicsConstants::DEFAULT_FIXED_DT;
}
}