feat: add bullet3 collision system

CMakeLists.txt

@@ -150,6 +150,7 @@ add_executable(${PROJECT_NAME}
     src/game/components/health.cpp
     src/game/components/player.cpp
     src/game/game-registration.cpp
+    src/game/systems/collision-system.cpp
 
     src/common/systems/forward-renderer.cpp
 )

src/game/components/collider.cpp

@@ -6,15 +6,24 @@ static gameplay::ColliderShape parseColliderShape(const std::string& value, game
     return fallback;
 }
 
+static inline gameplay::CollisionLayer layerStringToGroup(const std::string& layer) {
+    if (layer == "player") return gameplay::CollisionLayer::LAYER_PLAYER;
+    if (layer == "enemy") return gameplay::CollisionLayer::LAYER_ENEMY;
+    if (layer == "projectile") return gameplay::CollisionLayer::LAYER_PROJECTILE;
+    if (layer == "trigger") return gameplay::CollisionLayer::LAYER_TRIGGER;
+    return gameplay::CollisionLayer::LAYER_ENVIRONMENT;  // environment is the default layer
+}
+
 namespace gameplay {
 
     void ColliderComponent::deserialize(const nlohmann::json& data) {
         if (!data.is_object()) return;
         shape = parseColliderShape(data.value("shape", std::string("Sphere")), shape);
-        layer = data.value("layer", layer);
         radius = data.value("radius", radius);
         height = data.value("height", height);
         isTrigger = data.value("isTrigger", isTrigger);
+        std::string stringLayer = data.value("layer", "");
+        layer = layerStringToGroup(stringLayer);
     }
 
 }  // namespace gameplay

src/game/components/collider.hpp

@@ -6,12 +6,20 @@ namespace gameplay {
 
     enum class ColliderShape { Sphere, Capsule };
 
+    enum CollisionLayer : short {
+        LAYER_PLAYER = 1 << 0,       // bit 0:  0000 0001
+        LAYER_ENEMY = 1 << 1,        // bit 1:  0000 0010
+        LAYER_ENVIRONMENT = 1 << 2,  // bit 2:  0000 0100
+        LAYER_PROJECTILE = 1 << 3,   // bit 3:  0000 1000
+        LAYER_TRIGGER = 1 << 4,      // bit 4:  0001 0000
+    };
+
     class ColliderComponent : public our::Component {
     public:
         ColliderShape shape = ColliderShape::Sphere;
-        std::string layer = "default";
+        CollisionLayer layer = CollisionLayer::LAYER_ENVIRONMENT;
         float radius = 0.5f;
-        float height = 1.0f;
+        float height = 1.0f;  // must be the total height
         bool isTrigger = false;
 
         static std::string getID() {

src/game/systems/collision-system.cpp

@@ -0,0 +1,295 @@
+#include "collision-system.hpp"
+
+#include <btBulletCollisionCommon.h>
+
+#include <components/collider.hpp>
+#include <ecs/entity.hpp>
+#include <glm/glm.hpp>
+#include <glm/gtc/quaternion.hpp>
+
+// Helper functions for GLM-Bullet conversions
+inline btVector3 glmToBtVec3(const glm::vec3& v) {
+    return btVector3(v.x, v.y, v.z);
+}
+inline glm::vec3 btToGlmVec3(const btVector3& v) {
+    return glm::vec3(v.getX(), v.getY(), v.getZ());
+}
+static btTransform entityToBtTransform(our::Entity* entity) {
+    glm::mat4 m = entity->getLocalToWorldMatrix();
+
+    // Extract position from column 3
+    glm::vec3 pos = glm::vec3(m[3]);
+
+    // Extract rotation by stripping scale from the 3x3 submatrix.
+    // Each column of the 3x3 has length = scale along that axis.
+    // Normalizing each column removes the scale, leaving pure rotation.
+    glm::mat3 rotMat;
+    rotMat[0] = glm::normalize(glm::vec3(m[0]));
+    rotMat[1] = glm::normalize(glm::vec3(m[1]));
+    rotMat[2] = glm::normalize(glm::vec3(m[2]));
+    glm::quat rot = glm::quat_cast(rotMat);
+
+    btTransform t;
+    t.setOrigin(btVector3(pos.x, pos.y, pos.z));
+    t.setRotation(btQuaternion(rot.x, rot.y, rot.z, rot.w));
+    return t;
+}
+
+namespace gameplay {
+
+    inline short getMaskForLayer(short group) {
+        switch (group) {
+            case LAYER_PLAYER:
+                return LAYER_ENEMY | LAYER_ENVIRONMENT | LAYER_TRIGGER;
+            case LAYER_ENEMY:
+                return LAYER_PLAYER | LAYER_PROJECTILE | LAYER_ENVIRONMENT;
+            case LAYER_ENVIRONMENT:
+                return LAYER_PLAYER | LAYER_ENEMY | LAYER_PROJECTILE;
+            case LAYER_PROJECTILE:
+                return LAYER_ENEMY | LAYER_ENVIRONMENT;
+            case LAYER_TRIGGER:
+                return LAYER_PLAYER;
+            default:
+                return 0;
+        }
+    }
+
+    void CollisionSystem::initialize() {
+        // collision configuration contains default setup for memory, collision setup.
+        collisionConfiguration = new btDefaultCollisionConfiguration();
+
+        // use the default collision dispatcher
+        dispatcher = new btCollisionDispatcher(collisionConfiguration);
+
+        broadphase = new btDbvtBroadphase();
+
+        // the default constraint solver
+        collisionWorld = new btCollisionWorld(dispatcher, broadphase, collisionConfiguration);
+    }
+
+    void CollisionSystem::destroy() {
+        // remove collision objects
+        for (auto& [entity, obj] : entityToBullet) {
+            collisionWorld->removeCollisionObject(obj);
+            delete obj;
+        }
+        entityToBullet.clear();
+
+        // remove shapes
+        for (auto shape : ownedShapes) {
+            delete shape;
+        }
+        ownedShapes.clear();
+
+        // delete bullet internals
+        delete collisionWorld;
+        delete broadphase;
+        delete dispatcher;
+        delete collisionConfiguration;
+        collisionWorld = nullptr;
+        broadphase = nullptr;
+        dispatcher = nullptr;
+        collisionConfiguration = nullptr;
+
+        frameCollisions.clear();
+    }
+
+    void CollisionSystem::update(our::World* world) {
+        // clear previous frame's collisions
+        frameCollisions.clear();
+
+        // Sync entities with colliders to Bullet
+        for (auto entity : world->getEntities()) {
+            ColliderComponent* collider = entity->getComponent<ColliderComponent>();
+
+            if (!collider) continue;
+
+            if (entityToBullet.find(entity) == entityToBullet.end()) {
+                addEntity(entity);
+            } else {
+                syncTransform(entity);
+            }
+        }
+
+        // Remove bullet objects for entities that no longer exists
+        std::vector<our::Entity*> toRemove;
+        for (const auto& [entity, obj] : entityToBullet) {
+            if (world->getEntities().find(entity) == world->getEntities().end()) {
+                removeEntity(entity);
+            }
+        }
+
+        // Run collision detection
+        collisionWorld->performDiscreteCollisionDetection();
+
+        // Read collision events
+        int numManifolds = dispatcher->getNumManifolds();
+        for (int i = 0; i < numManifolds; i++) {
+            // any potential collision will have a manifold, even if it has no contact points
+            btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
+            const btCollisionObject* objA = manifold->getBody0();
+            const btCollisionObject* objB = manifold->getBody1();
+            our::Entity* entityA = static_cast<our::Entity*>(objA->getUserPointer());
+            our::Entity* entityB = static_cast<our::Entity*>(objB->getUserPointer());
+
+            // check if they collide (if they have contact points)
+            // find deepest contact point (the one with the largest penetration depth)
+            int numContacts = manifold->getNumContacts();
+            if (numContacts == 0) continue;
+            float deepest = 0.0f;
+            int deepestIndex = -1;
+            for (int j = 0; j < numContacts; j++) {
+                // negative distance means penetration, and positive distance means separation. So we want the most
+                // negative distance.
+                float d = manifold->getContactPoint(j).getDistance();
+                if (d < deepest) {
+                    deepest = d;
+                    deepestIndex = j;
+                }
+            }
+
+            if (deepestIndex != -1) {
+                // we have a collision!
+                btManifoldPoint& contactPoint = manifold->getContactPoint(deepestIndex);
+                CollisionEvent event;
+                event.entityA = entityA;
+                event.entityB = entityB;
+                event.point = btToGlmVec3(contactPoint.getPositionWorldOnB());
+                event.normal = btToGlmVec3(contactPoint.m_normalWorldOnB);
+                event.penetrationDepth = -contactPoint.getDistance();  // convert back to positive penetration depth
+                frameCollisions.push_back(event);
+            }
+        }
+        // apply pushback for non-trigger collisions
+        for (const CollisionEvent& event : frameCollisions) {
+            // discard the trigger collisions since they don't need pushback
+            auto* colliderA = event.entityA->getComponent<ColliderComponent>();
+            auto* colliderB = event.entityB->getComponent<ColliderComponent>();
+
+            if (!colliderA || !colliderB) continue;
+            if (colliderA->isTrigger || colliderB->isTrigger) continue;
+
+            // push back logic (don't push environments)
+            if (colliderA->layer == CollisionLayer::LAYER_ENVIRONMENT) {
+                event.entityB->localTransform.position -= event.normal * event.penetrationDepth;
+            } else if (colliderB->layer == CollisionLayer::LAYER_ENVIRONMENT) {
+                event.entityA->localTransform.position += event.normal * event.penetrationDepth;
+            } else {  // this may be edited or removed later
+                event.entityA->localTransform.position -= event.normal * (event.penetrationDepth / 2.0f);
+                event.entityB->localTransform.position += event.normal * (event.penetrationDepth / 2.0f);
+            }
+        }
+    }
+
+    // On-demand function
+    HitInfo CollisionSystem::raycast(const Ray& ray, float maxDistance, const short targetLayer) const {
+        HitInfo hitInfo;
+
+        if (!collisionWorld) return hitInfo;
+        btVector3 from = glmToBtVec3(ray.origin);
+        btVector3 to = glmToBtVec3(ray.origin + ray.direction * maxDistance);
+
+        btCollisionWorld::ClosestRayResultCallback callback(from, to);
+
+        callback.m_collisionFilterGroup = btBroadphaseProxy::AllFilter;  // check against all layers
+        callback.m_collisionFilterMask = targetLayer;                    // only collide with the target layer
+
+        collisionWorld->rayTest(from, to, callback);
+
+        if (callback.hasHit()) {
+            hitInfo.hit = true;
+            hitInfo.entity = static_cast<our::Entity*>(callback.m_collisionObject->getUserPointer());
+            hitInfo.point = btToGlmVec3(callback.m_hitPointWorld);
+            hitInfo.normal = btToGlmVec3(callback.m_hitNormalWorld);
+            hitInfo.distance = callback.m_closestHitFraction * maxDistance;
+        }
+
+        return hitInfo;
+    }
+
+    // On-demand function
+    std::vector<our::Entity*> CollisionSystem::overlapSphere(const glm::vec3& center, float radius, short targetLayer) {
+        std::vector<our::Entity*> results;
+        if (!collisionWorld) return results;
+
+        for (const auto& [entity, obj] : entityToBullet) {
+            short objGroup = obj->getBroadphaseHandle()->m_collisionFilterGroup;
+            if ((objGroup & targetLayer) == 0) continue;
+
+            glm::vec3 entityPos = btToGlmVec3(obj->getWorldTransform().getOrigin());
+
+            ColliderComponent* collider = entity->getComponent<ColliderComponent>();
+            float entityRadius = collider ? collider->radius : 0.0f;
+
+            // sphere vs sphere hit check
+            float dist = glm::length(entityPos - center);
+            if (dist <= radius + entityRadius) {
+                results.push_back(entity);
+            }
+        }
+
+        return results;
+    }
+
+    void CollisionSystem::addEntity(our::Entity* entity) {
+        auto* collider = entity->getComponent<ColliderComponent>();
+        if (!collider) return;
+
+        // Create the collision shape based on component data
+        btCollisionShape* shape = nullptr;
+        switch (collider->shape) {
+            case ColliderShape::Sphere:
+                shape = new btSphereShape(collider->radius);
+                break;
+            case ColliderShape::Capsule: {
+                // convert from total height to spine
+                float spine = collider->height - 2.0f * collider->radius;
+                if (spine < 0.0f) spine = 0.0f;
+                shape = new btCapsuleShape(collider->radius, spine);
+                break;
+            }
+        }
+        ownedShapes.push_back(shape);
+
+        // Create the collision object
+        btCollisionObject* obj = new btCollisionObject();
+        obj->setCollisionShape(shape);
+        obj->setWorldTransform(entityToBtTransform(entity));
+        obj->setUserPointer(entity);  // so we can go back to the entity
+
+        // Mark non-environment objects as KINEMATIC.
+        if (collider->layer != CollisionLayer::LAYER_ENVIRONMENT) {
+            obj->setCollisionFlags(obj->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+        }
+
+        // Add to Bullet world with layer filtering
+        short group = collider->layer;
+        short mask = getMaskForLayer(group);
+        collisionWorld->addCollisionObject(obj, group, mask);
+        entityToBullet[entity] = obj;
+    }
+
+    void CollisionSystem::removeEntity(our::Entity* entity) {
+        if (entityToBullet.find(entity) == entityToBullet.end()) return;
+
+        btCollisionObject* obj = entityToBullet[entity];
+        collisionWorld->removeCollisionObject(obj);
+        delete obj;
+        entityToBullet.erase(entity);
+    }
+
+    void CollisionSystem::syncTransform(our::Entity* entity) {
+        btCollisionObject* obj = entityToBullet[entity];
+
+        if (!obj) return;
+
+        obj->setWorldTransform(entityToBtTransform(entity));
+
+        // Update the broadphase AABB so Bullet uses the new position for collision detection
+        collisionWorld->updateSingleAabb(obj);
+    }
+    const std::vector<CollisionEvent>& CollisionSystem::getCollisions() const {
+        return frameCollisions;
+    }
+
+}  // namespace gameplay