HRealEngine

HRealEngine is a custom Game Engine written in C++ built with OpenGL. It started as a 2D focused engine, and has been expanding toward 3D rendering, 3D physics and AI driven gameplay systems. The primary long term goal of the engine is to serve as a playground for AI frameworks, including Behavior Trees, Perception systems, and Navigation Meshes, while remaining a fully functional general purpose engine.

• Start with cloning the repo with git clone --recursive https://github.com/haktan313/HRealEngine

• If you cloned it without the --recursive flag, initialize submodules manually git submodule update --init

• If you make changes to the build files or need to regenerate Visual Studio project files, run scripts/Win-GenProjects.bat this will call premake5 and create the required .sln files.

Table of Contents

• HRealEngine
  • BehaviorTreeLibrary Integration
  • Screenshots
  • Editor & Workflow
  • Scripting
  • Physics
  • Rendering
  • Asset System
  • Project System
  • Core
  • Notes / Roadmap
  • Script Example (BT integration in Scene.cpp)
  • Script Example (Overlap Events)
  • Third-Party Submodules

BehaviorTreeLibrary Integration

The integration is completed, but as an ongoing project there may still be minor bugs or missing edge cases.

• A dockable Behavior Tree Editor window is available inside the engine.
  • Open it from the editor menu: Window → Behavior Tree Editor.
• A BehaviorTreeComponent lets you assign behavior trees to entities.
  • Behavior Trees currently start running when runtime begins.
• Behavior Tree assets are recognized by the Asset Manager.
  • You can drag & drop a Behavior Tree asset from the Content Browser into the component.
• Creating / importing Behavior Tree assets:
  • Use AI System → Create Behavior Tree to create a new .btree asset.
  • Use AI System → Load Behavior Tree As An Asset to import an existing behavior tree file into the project as an engine asset.
• Custom nodes & blackboards:
  • To register custom Blackboards / Actions / Conditions / Decorators, call NodeRegistry registration functions in EditorLayer.cpp and inside of the RegisterBehaviorTreeStuffs().
  • For more details and examples, check the BehaviorTreeLibrary documentation https://github.com/haktan313/BehaviorTreeLibrary

BehaviorTreeLibrary.Example.mp4

OldBTExampleVideo.mp4

Engine.3D.and.2D.Physics.mp4

📸 Screenshots

Behavior Tree	Behavior Tree Runtime Debug
3D	OBJ Mesh
2D	Asset Registry

Editor & Workflow

• ImGui-based scene editor with viewport and gizmos
• Content Browser + file dialogs
• Scene serialization with YAML
• Entity Component System (entt)
• Behavior Tree tooling (editor + runtime debug)

Scripting

• Dual scripting support:
  • C++ Native scripts
  • C# scripting with Mono (hot reloadable assemblies)
• Typical script events:
  • OnCreate, OnUpdate, OnDestroy, OnOverlapBegin, OnOverlapEnd, Destroy, etc.
  • Overlap begin/end events
  • Entity lifetime utilities (Destroy, etc.)

Physics

• 2D Physics (Box2D)
  • Rigidbody2D and collider components integrated into the ECS
  • Collision and overlap events forwarded to scripts
• 3D Physics (Jolt Physics)(recently added)
  • Initial 3D physics pipeline
  • Rigidbody3D and basic 3D collider support

Rendering

• OpenGL rendering
• Framebuffer + RenderCommand / Renderer abstractions
• Orthographic and Perspective cameras with controllers
• 2D Renderer
  • Batch renderer with textures and shaders
• 3D Rendering
  • MeshComponent for rendering 3D entities using mesh and material assets
  • OBJ mesh import and asset based rendering pipeline
  • Material system with texture support
  • Texture assignment support for 3D meshes

Asset System

• Centralized asset registry and asset handles
• Import pipeline for meshes, materials, scenes, textures, and Behavior Trees
• Asset based references used across rendering and scene systems

Project System

• Project configuration and asset directory management
• Per project asset registry and settings
• Support for opening and switching projects inside the editor

Core

• Input handling and event system
• Logging with spdlog

Notes / Roadmap

• My own Navigation Mesh library implementation

Script Example (BT integration in Scene.cpp)

    void Scene::StartBTs()
    {
        Root::RootClear();
        auto view = m_Registry.view<BehaviorTreeComponent>();
        for (auto e : view)
        {
            Entity entity = {e, this};
            auto& btComponent = entity.GetComponent<BehaviorTreeComponent>();
            if (btComponent.BehaviorTreeAsset)
            {
                if (m_BehaviorTreeCache.find(btComponent.BehaviorTreeAsset) == m_BehaviorTreeCache.end())
                {
                    auto metaData = Project::GetActive()->GetEditorAssetManager()->GetAssetMetadata(btComponent.BehaviorTreeAsset);
                    auto path = Project::GetAssetDirectory() / metaData.FilePath;
                    auto name = metaData.FilePath.stem().string();
                    
                    YAML::Node data = YAML::LoadFile(path.string());
                    
                    BehaviorTree* bt = Root::CreateBehaviorTree(name, path.string());
                    BTSerializer serializer(bt);
                    serializer.Deserialize(data);
                    m_BehaviorTreeCache[btComponent.BehaviorTreeAsset] = data;
                    bt->SetOwner<Entity>(&entity);
                    bt->StartTree();
                }
                else
                {
                    YAML::Node& data = m_BehaviorTreeCache.at(btComponent.BehaviorTreeAsset);/*m_BehaviorTreeCache[btComponent.BehaviorTreeAsset];*/
                    auto metaData = Project::GetActive()->GetEditorAssetManager()->GetAssetMetadata(btComponent.BehaviorTreeAsset);
                    auto path = Project::GetAssetDirectory() / metaData.FilePath;
                    auto name = metaData.FilePath.stem().string();
                    
                    BehaviorTree* bt = Root::CreateBehaviorTree(name, path.string());
                    BTSerializer serializer(bt);
                    serializer.Deserialize(data);
                    bt->SetOwner<Entity>(&entity);
                    bt->StartTree();
                }
            }
        }
    }

    void Scene::StopBTs()
    {
        Root::RootClear();
        m_BehaviorTreeCache.clear();
    }

Script Example (Overlap Events)

        if (!m_CollisionBeginEvents.empty())
        {
            for (const auto& collisionEvent : m_CollisionBeginEvents)
            {
                if (m_Scene->GetRegistry().any_of<ScriptComponent>(collisionEvent.A))
                {
                    Entity entityA = {collisionEvent.A, m_Scene};
                    ScriptEngine::OnCollisionBegin(entityA, Entity{collisionEvent.B, m_Scene});
                }
                if (m_Scene->GetRegistry().any_of<ScriptComponent>(collisionEvent.B))
                {
                    Entity entityB = {collisionEvent.B, m_Scene};
                    ScriptEngine::OnCollisionBegin(entityB, Entity{collisionEvent.A, m_Scene});
                }       
                if (m_Scene->GetRegistry().any_of<NativeScriptComponent>(collisionEvent.A))
                {
                    Entity entityA = {collisionEvent.A, m_Scene};
                    auto& nsc = entityA.GetComponent<NativeScriptComponent>();
                    if (nsc.Instance)
                        nsc.Instance->OnCollisionBegin(Entity{collisionEvent.B, m_Scene});
                }
                if (m_Scene->GetRegistry().any_of<NativeScriptComponent>(collisionEvent.B))
                {
                    Entity entityB = {collisionEvent.B, m_Scene};
                    auto& nsc = entityB.GetComponent<NativeScriptComponent>();
                    if (nsc.Instance)
                        nsc.Instance->OnCollisionBegin(Entity{collisionEvent.A, m_Scene});
                }
            }
            m_CollisionBeginEvents.clear();
        }
        if (!m_CollisionEndEvents.empty())
        {
            for (const auto& collisionEvent : m_CollisionEndEvents)
            {
                if (m_Scene->GetRegistry().any_of<ScriptComponent>(collisionEvent.A))
                {
                    Entity entityA = {collisionEvent.A, m_Scene};
                    ScriptEngine::OnCollisionEnd(entityA, Entity{collisionEvent.B, m_Scene});
                }
                if (m_Scene->GetRegistry().any_of<ScriptComponent>(collisionEvent.B))
                {
                    Entity entityB = {collisionEvent.B, m_Scene};
                    ScriptEngine::OnCollisionEnd(entityB, Entity{collisionEvent.A, m_Scene});
                }       
                if (m_Scene->GetRegistry().any_of<NativeScriptComponent>(collisionEvent.A))
                {
                    Entity entityA = {collisionEvent.A, m_Scene};
                    auto& nsc = entityA.GetComponent<NativeScriptComponent>();
                    if (nsc.Instance)
                        nsc.Instance->OnCollisionEnd(Entity{collisionEvent.B, m_Scene});
                }
                if (m_Scene->GetRegistry().any_of<NativeScriptComponent>(collisionEvent.B))
                {
                    Entity entityB = {collisionEvent.B, m_Scene};
                    auto& nsc = entityB.GetComponent<NativeScriptComponent>();
                    if (nsc.Instance)
                        nsc.Instance->OnCollisionEnd(Entity{collisionEvent.A, m_Scene});
                }
            }
            m_CollisionEndEvents.clear();
        }
    -------------------Jolt
        class MyContactListener : public JPH::ContactListener
        {
        public:
            MyContactListener(Scene* scene, JoltWorld* joltWorld) : m_Scene(scene), m_JoltWorld(joltWorld) {}
            virtual JPH::ValidateResult	OnContactValidate(const JPH::Body &inBody1, const JPH::Body &inBody2,
                JPH::RVec3Arg inBaseOffset, const JPH::CollideShapeResult &inCollisionResult) override
            {
                //std::cout << "Contact validate callback" << std::endl;
                // Allows you to ignore a contact before it is created (using layers to not make objects collide is cheaper!)
                return JPH::ValidateResult::AcceptAllContactsForThisBodyPair;
            }

            virtual void OnContactAdded(const JPH::Body &inBody1, const JPH::Body &inBody2,
                const JPH::ContactManifold &inManifold, JPH::ContactSettings &ioSettings) override
            {
                auto entity1ID = (UUID)inBody1.GetUserData();
                auto entity2ID = (UUID)inBody2.GetUserData();
                Entity entity1 = m_Scene->GetEntityByUUID(entity1ID);
                Entity entity2 = m_Scene->GetEntityByUUID(entity2ID);
                if (m_Scene->GetRegistry().valid(entity1) && m_Scene->GetRegistry().valid(entity2))
                    m_JoltWorld->m_CollisionBeginEvents.push_back({ entity1,  entity2 });
                std::cout << "A contact was added" << std::endl;
            }

            virtual void OnContactPersisted(const JPH::Body &inBody1, const JPH::Body &inBody2,
                const JPH::ContactManifold &inManifold, JPH::ContactSettings &ioSettings) override
            {
                //std::cout << "A contact was persisted" << std::endl;
            }

            virtual void OnContactRemoved(const JPH::SubShapeIDPair &inSubShapePair) override
            {
                auto body1ID = inSubShapePair.GetBody1ID();
                auto body2ID = inSubShapePair.GetBody2ID();
                const JPH::BodyInterface &bi = m_JoltWorld->physics_system.GetBodyInterfaceNoLock();

                uint64_t userData1 = bi.GetUserData(body1ID);
                uint64_t userData2 = bi.GetUserData(body2ID);

                UUID entity1ID = (UUID)userData1;
                UUID entity2ID = (UUID)userData2;
                if (entity1ID == 0 || entity2ID == 0)
                    return;
                Entity entity1 = m_Scene->GetEntityByUUID(entity1ID);
                Entity entity2 = m_Scene->GetEntityByUUID(entity2ID);
                if (m_Scene->GetRegistry().valid(entity1) && m_Scene->GetRegistry().valid(entity2))
                    m_JoltWorld->m_CollisionEndEvents.push_back({ entity1,  entity2 });
                std::cout << "A contact was removed" << std::endl;
            }
        private:
            Scene* m_Scene = nullptr;
            JoltWorld* m_JoltWorld = nullptr;
        };
---------------Box2D
    void Scene::OnPhysics2DStart()
    {
        m_PhysicsWorld = new b2World({0.0f, -9.81f});
        m_PhysicsWorld->SetContactListener(new GameContactListener(this));

        auto view = m_Registry.view<Rigidbody2DComponent>();
        for (auto e : view)
        {
            Entity entity = {e, this};
            auto& transform = entity.GetComponent<TransformComponent>();
            auto& rb2d = entity.GetComponent<Rigidbody2DComponent>();

            b2BodyDef bodyDef;
            bodyDef.type = RigidBody2DTypeToBox2D(rb2d.Type);
            bodyDef.position.Set(transform.Position.x, transform.Position.y);
            bodyDef.angle = transform.Rotation.z;

            b2Body* body = m_PhysicsWorld->CreateBody(&bodyDef);
            body->SetFixedRotation(rb2d.FixedRotation);

            body->GetUserData().pointer = entity.GetUUID();
            
            rb2d.RuntimeBody = body;

            if (entity.HasComponent<BoxCollider2DComponent>())
            {
                auto& bc2d = entity.GetComponent<BoxCollider2DComponent>();

                b2PolygonShape shape;
                shape.SetAsBox(bc2d.Size.x * transform.Scale.x, bc2d.Size.y * transform.Scale.y);

                b2FixtureDef fixtureDef;
                fixtureDef.shape = &shape;
                fixtureDef.density = bc2d.Density;
                fixtureDef.friction = bc2d.Friction;
                fixtureDef.restitution = bc2d.Restitution;
                fixtureDef.restitutionThreshold = bc2d.RestitutionThreshold;
                body->CreateFixture(&fixtureDef);
            }
            if (entity.HasComponent<CircleCollider2DComponent>())
            {
                auto& cc2d = entity.GetComponent<CircleCollider2DComponent>();

                b2CircleShape shape;
                shape.m_p.Set(cc2d.Offset.x, cc2d.Offset.y);
                shape.m_radius = cc2d.Radius * transform.Scale.x;

                b2FixtureDef fixtureDef;
                fixtureDef.shape = &shape;
                fixtureDef.density = cc2d.Density;
                fixtureDef.friction = cc2d.Friction;
                fixtureDef.restitution = cc2d.Restitution;
                fixtureDef.restitutionThreshold = cc2d.RestitutionThreshold;
                body->CreateFixture(&fixtureDef);
            }
        }
    }
    
    void Scene::GameContactListener::BeginContact(b2Contact* contact)
    {
        b2Body* bodyA = contact->GetFixtureA()->GetBody();
        b2Body* bodyB = contact->GetFixtureB()->GetBody();

        auto entityA = m_Scene->GetEntityByUUID((UUID)bodyA->GetUserData().pointer);
        auto entityB = m_Scene->GetEntityByUUID((UUID)bodyB->GetUserData().pointer);
        if (m_Scene->m_Registry.valid(entityA) && m_Scene->m_Registry.valid(entityB))
            m_Scene->m_CollisionBeginEvents.push_back({ entityA, entityB });
    }

    void Scene::GameContactListener::EndContact(b2Contact* contact)
    {
        b2Body* bodyA = contact->GetFixtureA()->GetBody();
        b2Body* bodyB = contact->GetFixtureB()->GetBody();

        auto entityA = m_Scene->GetEntityByUUID((UUID)bodyA->GetUserData().pointer);
        auto entityB = m_Scene->GetEntityByUUID((UUID)bodyB->GetUserData().pointer);
        if (m_Scene->m_Registry.valid(entityA) && m_Scene->m_Registry.valid(entityB))
            m_Scene->m_CollisionEndEvents.push_back({ entityA, entityB });
    }

I used a few submodules there is:

📦 Third-Party Submodules

HRealEngine uses the following libraries (all included as Git submodules):

• Jolt Physics - 3D physics engine
• Box2D – 2D physics engine
• mono - C# scripting
• entt – Entity Component System
• GLFW – Window and input handling
• Glad – OpenGL function loader
• ImGui – Immediate mode GUI
• ImGuizmo – Gizmo manipulation for ImGui
• spdlog – Fast logging library
• stb_image – Image loading
• yaml-cpp – Serialization
• glm – Math library for graphics
• asimp - for OBJ
• filewatch