Simplify using physics

.github/workflows/build-engine-web.yml

@@ -45,7 +45,7 @@ jobs:
           ccache-
 
     - name: Configure CMake
-      run: cmake -B ${{github.workspace}}/build -G "Unix Makefiles" -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DCUBOS_CORE_SAMPLES=ON  -DCUBOS_ENGINE_SAMPLES=ON -DCMAKE_TOOLCHAIN_FILE=${EMSDK}/upstream/emscripten/cmake/Modules/Platform/Emscripten.cmake
+      run: cmake -B ${{github.workspace}}/build -G "Unix Makefiles" -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DCMAKE_CXX_FLAGS="-Wno-c2y-extensions" -DCUBOS_CORE_SAMPLES=ON  -DCUBOS_ENGINE_SAMPLES=ON -DCMAKE_TOOLCHAIN_FILE=${EMSDK}/upstream/emscripten/cmake/Modules/Platform/Emscripten.cmake
       shell: bash
 
     - name: CCache Prolog

CHANGELOG.md

@@ -11,9 +11,16 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 - Hidden trait from hiding components on the inspector (#1526, **@R-Camacho**).
 - Checkbox for showing components that are hidden by default in the entity inspector (#1526, **@R-Camacho**).
+- Collider component (#1426, **@fallenatlas**).
+- ColliderBundle that can add area behavior to the entity (#1426, **@fallenatlas**).
+- Collider start and end intersection events (#1426, **@fallenatlas**).
+- RigidBodyBundle and StaticBodyBundle which replace RigidBodyBundle (#1426, **@fallenatlas**).
+- Methods to change mass and Infinite mass constant on Inertia and Mass components (#1426, **@fallenatlas**).
 
 ### Changed
 
+- Made AccumulatedCorrection component private (#1426, **@fallenatlas**).
+
 ### Removed
 
 ### Fixed

engine/CMakeLists.txt

@@ -90,18 +90,21 @@ set(CUBOS_ENGINE_SOURCE
 	"src/collisions/plugin.cpp"
 	"src/collisions/interface/plugin.cpp"
 	"src/collisions/interface/colliding_with.cpp"
+	"src/collisions/interface/intersection_start.cpp"
+	"src/collisions/interface/intersection_end.cpp"
 	"src/collisions/interface/contact_manifold.cpp"
 	"src/collisions/interface/shapes/box.cpp"
 	"src/collisions/interface/raycast.cpp"
 	"src/collisions/interface/shapes/capsule.cpp"
 	"src/collisions/interface/shapes/voxel.cpp"
 	"src/collisions/interface/collision_layers.cpp"
 	"src/collisions/interface/collision_mask.cpp"
+	"src/collisions/interface/collider.cpp"
 	"src/collisions/interface/collider_aabb.cpp"
+	"src/collisions/interface/collider_bundle.cpp"
 	"src/collisions/broad_phase/plugin.cpp"
 	"src/collisions/broad_phase/sweep_and_prune.cpp"
 	"src/collisions/broad_phase/potentially_colliding_with.cpp"
-	"src/collisions/broad_phase/collision_group.cpp"
 	"src/collisions/narrow_phase/plugin.cpp"
 
 	"src/physics/plugin.cpp"
@@ -125,6 +128,8 @@ set(CUBOS_ENGINE_SOURCE
 	"src/physics/components/impulse.cpp"
 	"src/physics/components/angular_impulse.cpp"
 	"src/physics/components/physics_material.cpp"
+	"src/physics/components/rigid_body_bundle.cpp"
+	"src/physics/components/static_body_bundle.cpp"
 
 	"src/input/plugin.cpp"
 	"src/input/input.cpp"

engine/include/cubos/engine/collisions/collider.hpp

@@ -0,0 +1,66 @@
+/// @file
+/// @brief Component @ref cubos::engine::CollisionMask.
+/// @ingroup collisions-plugin
+
+#pragma once
+
+#include <cstdint>
+
+#include <cubos/core/reflection/reflect.hpp>
+
+#include <cubos/engine/api.hpp>
+
+namespace cubos::engine
+{
+    /// @brief Component that identifies an entity as the owner of a Collider. Works with a CollisionShape (added
+    /// separately).
+    ///
+    /// Between intersecting colliders exist the relations:
+    /// @ref IntersectionStart.
+    /// @ref CollidingWith.
+    /// @ref IntersectionEnd.
+    ///
+    /// @note Since these relations are created during the collision phase, any system that uses them must run
+    ///     after the `collisionsTag`.
+    ///
+    /// Next is an example of how to use the relations associated with Colliders:
+    ///
+    /// @code{.cpp}
+    ///     cubos.system("exited area")
+    ///    .after(collisionsTag)
+    ///    .call([](Query<Entity, Collider&, IntersectionEnd&, Entity, Collider&> query,
+    ///             State& state) {
+    ///        for (auto [ent1, collider1, intersectionEnd, ent2, collider2] : query)
+    ///        {
+    ///             if (collider1.isArea && collider2.isStatic) {
+    ///                 CUBOS_INFO("An area just stopped hitting a static collider. Disabling Area.");
+    ///                 collider1.isActive = false;
+    ///             }
+    ///        }
+    ///    });
+    /// @endcode
+    ///
+    /// @ingroup collisions-plugin
+    struct Collider
+    {
+        CUBOS_REFLECT;
+
+        /// @brief Whether the collider is an Area.
+        ///
+        /// An area collider detects collisions with other Colliders, however, collision manifolds are not generated.
+        ///
+        /// Cannot be changed after creation.
+        const bool isArea = false;
+
+        /// @brief Whether the Collider is Static.
+        ///
+        /// Used when it does not move, or its movement is limited. Static Colliders do not collide with each other.
+        ///
+        /// Cannot be changed after creation.
+        const bool isStatic = false;
+
+        /// @brief Identities if a collider is active. When a Collider is not active, no collisions will be detected
+        /// with it.
+        bool isActive = true;
+    };
+} // namespace cubos::engine

engine/include/cubos/engine/collisions/collider_bundle.hpp

@@ -0,0 +1,41 @@
+/// @file
+/// @brief Component @ref cubos::engine::ColliderBundle.
+/// @ingroup collisions-plugin
+
+#pragma once
+
+#include <cstdint>
+
+#include <cubos/core/reflection/reflect.hpp>
+
+#include <cubos/engine/api.hpp>
+
+namespace cubos::engine
+{
+    /// @brief Bundle that packs the components for a Collider entity.
+    ///
+    /// Adds @ref Collider, @ref CollisionLayers and @ref CollisionMask.
+    ///
+    /// A CollisionShape must be added separately.
+    ///
+    /// @ingroup collisions-plugin
+    struct CUBOS_ENGINE_API ColliderBundle
+    {
+        CUBOS_REFLECT;
+
+        /// @brief Whether the @ref Collider is an Area.
+        bool isArea = false;
+
+        /// @brief Whether the @ref Collider is Static.
+        bool isStatic = false;
+
+        /// @brief Whether the collider is active.
+        bool isActive = true;
+
+        /// @brief Layers of the collider.
+        uint32_t layers = 0x00000001;
+
+        /// @brief Mask of layers which the collider can collide with.
+        uint32_t mask = 0x00000001;
+    };
+} // namespace cubos::engine

engine/include/cubos/engine/collisions/intersection_end.hpp

@@ -0,0 +1,23 @@
+/// @file
+/// @brief Relation @ref cubos::engine::IntersectionEnd.
+/// @ingroup collisions-plugin
+
+#pragma once
+
+#include <glm/vec3.hpp>
+
+#include <cubos/core/reflection/reflect.hpp>
+
+#include <cubos/engine/api.hpp>
+
+namespace cubos::engine
+{
+    /// @brief Relation which identifies the frame when two entities stop colliding.
+    ///
+    /// This relation becomes obsolete when observers support relations.
+    /// @ingroup collisions-plugin
+    struct CUBOS_ENGINE_API IntersectionEnd
+    {
+        CUBOS_REFLECT;
+    };
+} // namespace cubos::engine

engine/include/cubos/engine/collisions/intersection_start.hpp

@@ -0,0 +1,23 @@
+/// @file
+/// @brief Relation @ref cubos::engine::IntersectionStart.
+/// @ingroup collisions-plugin
+
+#pragma once
+
+#include <glm/vec3.hpp>
+
+#include <cubos/core/reflection/reflect.hpp>
+
+#include <cubos/engine/api.hpp>
+
+namespace cubos::engine
+{
+    /// @brief Relation which identifies the frame when two entities start colliding.
+    ///
+    /// This relation becomes obsolete when observers support relations.
+    /// @ingroup collisions-plugin
+    struct CUBOS_ENGINE_API IntersectionStart
+    {
+        CUBOS_REFLECT;
+    };
+} // namespace cubos::engine

engine/include/cubos/engine/collisions/plugin.hpp

@@ -24,16 +24,22 @@ namespace cubos::engine
     /// @brief Adds collision detection to @b Cubos
     ///
     /// ## Components
-    /// - @ref BoxCollisionShape - holds the box collision shape.
-    /// - @ref CapsuleCollisionShape - holds the capsule collision shape.
-    /// - @ref VoxelCollisionShape - holds the voxel collision shape.
+    /// - @ref BoxCollisionShape - holds a box collision shape for a Collider.
+    /// - @ref CapsuleCollisionShape - holds a capsule collision shape for a Collider.
+    /// - @ref VoxelCollisionShape - holds a voxel collision shape for a Collider.
     /// - @ref ColliderAABB - holds collider AABB data.
     /// - @ref CollisionLayers - holds the collision layers where the collider appears in.
     /// - @ref CollisionMask - holds the mask of layers which the collider can collide with.
+    /// - @ref Collider - identifies an entity as the owner of a Collider and its settings.
     ///
-    /// ## Events
-    /// - @ref CollisionEvent - (TODO) emitted when a collision occurs.
-    /// - @ref TriggerEvent - (TODO) emitted when a trigger is entered or exited.
+    /// ## Bundles
+    /// - @ref ColliderBundle - contains all the necessary components for an entity to have collision detection (A
+    /// CollisionShape must be added separately).
+    ///
+    /// ## Relations
+    /// - @ref IntersectionStart - Relates entities during the frame when two entities start colliding.
+    /// - @ref CollidingWith - Relates entities while they are colliding.
+    /// - @ref IntersectionEnd - Relates entities during the frame when two entities stop colliding.
     ///
     /// ## Dependencies
     /// - @ref transform-plugin

engine/include/cubos/engine/physics/components/inertia.hpp

@@ -35,6 +35,10 @@ namespace cubos::engine
     {
         CUBOS_REFLECT;
 
+        static constexpr glm::mat3 INFINITE =
+            glm::mat3(std::numeric_limits<float>::infinity(), 0.0F, 0.0F, 0.0F, std::numeric_limits<float>::infinity(),
+                      0.0F, 0.0F, 0.0F, std::numeric_limits<float>::infinity());
+
         /// @brief The inertia tensor in local space.
         glm::mat3 inertia;
 

engine/include/cubos/engine/physics/components/mass.hpp

@@ -21,9 +21,21 @@ namespace cubos::engine
     {
         CUBOS_REFLECT;
 
+        /// @brief Represents infinite mass. A body with infinite mass does not move.
+        static constexpr float INFINITE = std::numeric_limits<float>::infinity();
+
         float mass;
         float inverseMass;
 
         bool changed = true;
+
+        /// @brief Sets the mass
+        /// @param m The mass
+        void setMass(float m)
+        {
+            mass = m;
+            inverseMass = (mass == INFINITE) ? 0.0F : 1.0F / mass;
+            changed = true;
+        }
     };
 } // namespace cubos::engine

engine/include/cubos/engine/physics/plugin.hpp

@@ -11,7 +11,6 @@
 #include <cubos/core/reflection/external/glm.hpp>
 #include <cubos/core/reflection/external/primitives.hpp>
 
-#include <cubos/engine/physics/components/accumulated_correction.hpp>
 #include <cubos/engine/physics/components/angular_impulse.hpp>
 #include <cubos/engine/physics/components/angular_velocity.hpp>
 #include <cubos/engine/physics/components/center_of_mass.hpp>
@@ -22,7 +21,6 @@
 #include <cubos/engine/physics/components/physics_material.hpp>
 #include <cubos/engine/physics/components/torque.hpp>
 #include <cubos/engine/physics/components/velocity.hpp>
-#include <cubos/engine/physics/physics_bundle.hpp>
 #include <cubos/engine/physics/resources/damping.hpp>
 #include <cubos/engine/physics/resources/solver_constants.hpp>
 #include <cubos/engine/prelude.hpp>
@@ -40,8 +38,11 @@ namespace cubos::engine
     /// - @ref Substeps - holds the amount of substeps for the physics update.
     /// - @ref SolverConstants - holds the constants for the solver.
     ///
+    /// ## Bundles
+    /// - @ref RigidBodyBundle - encapsulates the creation all components required for a rigid body.
+    /// - @ref StaticBodyBundle - encapsulates the creation all components required for a static body.
+    ///
     /// ## Components
-    /// - @ref PhysicsBundle - bundle that holds the physics information to give to a new entity.
     /// - @ref Velocity - holds the information for moving an object straight.
     /// - @ref AngularVelocity - holds the angular velocity of an object.
     /// - @ref Force - holds forces applied on a particle.