SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp

@@ -275,8 +275,6 @@ namespace SHADE
     for (size_t i = 0; i < SHVec3::SIZE; ++i)
       localInvInertia[i] = 1.0f / localInvInertia[i];
 
-    
-
     // Build raycast layer from colliders. If none exist....then this never stops simulating technically.
     // I'm too lazy to handle that case, so I'll just throw an error.
     uint16_t raycastLayers  = 0;
@@ -302,7 +300,7 @@ namespace SHADE
     int   iterationCounter  = simInfo.maxSteps;
     do
     {
-      raycastInfo.distance      = linearVelocity.Length();
+      raycastInfo.distance      = linearVelocity.Length() * simInfo.timeStep;   // Do not take the entire velocity's length as that is for an entire second.
       raycastInfo.ray.position  = bodyPosition;
       raycastInfo.ray.direction = SHVec3::Normalise(linearVelocity);
 
@@ -337,7 +335,7 @@ namespace SHADE
       // Integrate Velocities
       // Integrate forces and gravity into linear velocity
       const SHVec3 LINEAR_ACCELERATION        = accumulatedForce * invMass;
-      const SHVec3 GRAVITATIONAL_ACCELERATION = rigidBody->IsGravityEnabled() ? worldState.settings.gravity * rigidBody->GetGravityScale() : SHVec3::Zero;
+      const SHVec3 GRAVITATIONAL_ACCELERATION = simInfo.simulateGravity ? worldState.settings.gravity * rigidBody->GetGravityScale() : SHVec3::Zero;
 
       linearVelocity += (LINEAR_ACCELERATION + GRAVITATIONAL_ACCELERATION) * simInfo.timeStep * LINEAR_LOCK;
       angularVelocity += worldInvInertia * (accumulatedTorque * simInfo.timeStep);

SHADE_Engine/src/Physics/System/SHPhysicsSystem.h

@@ -81,6 +81,7 @@ namespace SHADE
 
       // Whether or not to clear the force after the first iteration
       bool      continuousForce = false;
+      bool      simulateGravity = true;
       float     timeStep        = static_cast<float>(SHPhysicsConstants::DEFAULT_FIXED_DT);
       int       maxSteps        = -1;
     };