Fixed bug where collider offsets were not recomputed

SHADE_Engine/src/Physics/Collision/CollisionShapes/SHCollisionShape.cpp

@@ -95,6 +95,15 @@ namespace SHADE
     return flags & FLAG_VALUE;
   }
 
+  bool SHCollisionShape::IsDirty() const noexcept
+  {
+    static constexpr int FLAG_POS = 6;
+    static constexpr uint8_t FLAG_VALUE = 1U << FLAG_POS;
+
+    return flags & FLAG_VALUE;
+  }
+
+
   const SHCollisionTag& SHCollisionShape::GetCollisionTag() const noexcept
   {
     return *collisionTag;
@@ -116,21 +125,25 @@ namespace SHADE
 
   void SHCollisionShape::SetDensity(float density) noexcept
   {
+    setDirty(true);
     material.SetDensity(density);
   }
 
   void SHCollisionShape::SetMaterial(const SHPhysicsMaterial& newMaterial) noexcept
   {
+    setDirty(true);
     material = newMaterial;
   }
 
   void SHCollisionShape::SetPositionOffset(const SHVec3& posOffset) noexcept
   {
+    setDirty(true);
     positionOffset = posOffset;
   }
 
   void SHCollisionShape::SetRotationOffset(const SHVec3& rotOffset) noexcept
   {
+    setDirty(true);
     rotationOffset = rotOffset;
   }
 
@@ -147,10 +160,28 @@ namespace SHADE
     collisionTag = newCollisionTag;
   }
 
+  /*-----------------------------------------------------------------------------------*/
+  /* Public Function Member Definitions                                                */
+  /*-----------------------------------------------------------------------------------*/
+
+  void SHCollisionShape::ClearDirty() noexcept
+  {
+    setDirty(false);
+  }
+
   /*-----------------------------------------------------------------------------------*/
   /* Private Function Member Definitions                                               */
   /*-----------------------------------------------------------------------------------*/
 
+  void SHCollisionShape::setDirty(bool isDirty) noexcept
+  {
+    static constexpr int FLAG_POS = 6;
+    static constexpr uint8_t FLAG_VALUE = 1U << FLAG_POS;
+
+    isDirty ? flags |= FLAG_VALUE : flags &= ~FLAG_VALUE;
+  }
+
+
 } // namespace SHADE
 
 RTTR_REGISTRATION

SHADE_Engine/src/Physics/Collision/CollisionShapes/SHCollisionShape.h

@@ -91,6 +91,7 @@ namespace SHADE
     [[nodiscard]] Type                      GetType           ()  const noexcept;
     [[nodiscard]] bool                      IsTrigger         ()  const noexcept;
     [[nodiscard]] bool                      IsColliding       ()  const noexcept;
+    [[nodiscard]] bool                      IsDirty           ()  const noexcept;
 
     [[nodiscard]] const SHCollisionTag&     GetCollisionTag   ()  const noexcept;
 
@@ -98,24 +99,31 @@ namespace SHADE
     /* Setter Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    void    SetFriction         (float friction)                        noexcept;
+    void  SetFriction         (float friction)                        noexcept;
-    void    SetBounciness       (float bounciness)                      noexcept;
+    void  SetBounciness       (float bounciness)                      noexcept;
-    void    SetDensity          (float density)                         noexcept;
+    void  SetDensity          (float density)                         noexcept;
-    void    SetMaterial         (const SHPhysicsMaterial& newMaterial)  noexcept;
+    void  SetMaterial         (const SHPhysicsMaterial& newMaterial)  noexcept;
 
-    void    SetPositionOffset   (const SHVec3& posOffset)               noexcept;
+    void  SetPositionOffset   (const SHVec3& posOffset)               noexcept;
-    void    SetRotationOffset   (const SHVec3& rotOffset)               noexcept;
+    void  SetRotationOffset   (const SHVec3& rotOffset)               noexcept;
 
     // Flags
-    void    SetIsTrigger        (bool isTrigger)                        noexcept;
     
-    void    SetCollisionTag     (SHCollisionTag* newCollisionTag)       noexcept;
+    void  SetIsTrigger        (bool isTrigger)                        noexcept;
+
+    void  SetCollisionTag     (SHCollisionTag* newCollisionTag)       noexcept;
 
     /*---------------------------------------------------------------------------------*/
     /* Member Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    [[nodiscard]] virtual SHMatrix GetInertiaTensor (float mass) const noexcept = 0;
+    /**
+     * @brief 
+     * Clears the dirty flag of the collider. 
+    */
+    void                            ClearDirty        ()                  noexcept;
+
+    [[nodiscard]] virtual SHMatrix  GetInertiaTensor  (float mass)  const noexcept = 0;
 
   protected:
     /*---------------------------------------------------------------------------------*/
@@ -129,10 +137,17 @@ namespace SHADE
     SHVec3              positionOffset;
     SHVec3              rotationOffset;
 
-    uint8_t             flags;          // 0 0 wasColliding isColliding trigger capsule sphere box
+    uint8_t             flags;          // 0 dirty wasColliding isColliding trigger capsule sphere box
     SHCollisionTag*     collisionTag;
 
     RTTR_ENABLE()
+
+  private:
+    /*---------------------------------------------------------------------------------*/
+    /* Member Functions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    void setDirty (bool isDirty) noexcept;
   };
 
 } // namespace SHADE

SHADE_Engine/src/Physics/Collision/CollisionShapes/SHSphereCollisionShape.h

@@ -37,8 +37,8 @@ namespace SHADE
    * @brief
    * Encapsulate a Sphere Collision Shape used for Physics Simulations.
   */
-  class SH_API SHSphereCollisionShape : public SHCollisionShape
+  class SH_API SHSphereCollisionShape final : public SHCollisionShape
-                                      , private SHSphere
+                                            , private SHSphere
   {
   private:
     /*---------------------------------------------------------------------------------*/

SHADE_Engine/src/Physics/Collision/SHCollider.cpp

@@ -30,6 +30,7 @@ namespace SHADE
   : entityID        { eid }
   , shapeIDCounter  { 0 }
   , debugDraw       { false }
+  , dirty           { true }
   , rigidBody       { nullptr }
   , shapeFactory    { nullptr }
   , transform       { worldTransform }
@@ -41,6 +42,7 @@ namespace SHADE
   : entityID        { rhs.entityID }
   , shapeIDCounter  { rhs.shapeIDCounter }
   , debugDraw       { rhs.debugDraw }
+  , dirty           { rhs.dirty }
   , rigidBody       { rhs.rigidBody }
   , shapeFactory    { rhs.shapeFactory }
   , transform       { rhs.transform }
@@ -58,6 +60,7 @@ namespace SHADE
   : entityID        { rhs.entityID }
   , shapeIDCounter  { rhs.shapeIDCounter }
   , debugDraw       { rhs.debugDraw }
+  , dirty           { rhs.dirty }
   , rigidBody       { rhs.rigidBody }
   , shapeFactory    { rhs.shapeFactory }
   , transform       { rhs.transform }
@@ -100,6 +103,7 @@ namespace SHADE
 
     entityID      = rhs.entityID;
     debugDraw     = rhs.debugDraw;
+    dirty         = rhs.dirty;
     rigidBody     = rhs.rigidBody;
     shapeFactory  = rhs.shapeFactory;
     transform     = rhs.transform;
@@ -119,6 +123,7 @@ namespace SHADE
 
     entityID      = rhs.entityID;
     debugDraw     = rhs.debugDraw;
+    dirty         = rhs.dirty;
     rigidBody     = rhs.rigidBody;
     shapeFactory  = rhs.shapeFactory;
     transform     = rhs.transform;
@@ -201,21 +206,25 @@ namespace SHADE
 
   void SHCollider::SetTransform(const SHTransform& newTransform) noexcept
   {
+    dirty = true;
     transform = newTransform;
   }
 
   void SHCollider::SetPosition(const SHVec3& newPosition) noexcept
   {
+    dirty = true;
     transform.position = newPosition;
   }
 
   void SHCollider::SetOrientation(const SHQuaternion& newOrientation) noexcept
   {
+    dirty = true;
     transform.orientation = newOrientation;
   }
 
   void SHCollider::SetScale(const SHVec3& newScale) noexcept
   {
+    dirty = true;
     transform.scale = newScale;
   }
 
@@ -284,6 +293,28 @@ namespace SHADE
     return static_cast<int>(shapes.size());
   }
 
+  void SHCollider::Update()
+  {
+    // Forcefully recompute everything since the transform was changed
+    if (dirty)
+    {
+      RecomputeShapes();
+      dirty = false;
+      return;
+    }
+    
+    // Recompute any shapes set to dirty
+    for (auto* shape : shapes)
+    {
+      if (shape->IsDirty())
+      {
+        recomputeShape(shape);
+        shape->ClearDirty();
+      }
+    }
+  }
+
+
   void SHCollider::RemoveCollisionShape(int index)
   {
     if (!shapeFactory)
@@ -329,25 +360,7 @@ namespace SHADE
   void SHCollider::RecomputeShapes() noexcept
   {
     for (auto* shape : shapes)
-    {
+      recomputeShape(shape);
-      switch (shape->GetType())
-      {
-        case SHCollisionShape::Type::SPHERE:
-        {
-          recomputeSphere(dynamic_cast<SHSphereCollisionShape*>(shape));
-          break;
-        }
-        case SHCollisionShape::Type::BOX:
-        {
-          break;
-        }
-        case SHCollisionShape::Type::CAPSULE:
-        {
-          break;
-        }
-        default: break;
-      }
-    }
   }
 
   /*-----------------------------------------------------------------------------------*/
@@ -403,6 +416,33 @@ namespace SHADE
     ++shapeIDCounter;
   }
 
+  void SHCollider::recomputeShape(SHCollisionShape* shape) noexcept
+  {
+    if (!shape)
+    {
+      SHLOGV_ERROR_D("Shape missing from Collider {}", entityID)
+      return;
+    }
+
+    switch (shape->GetType())
+    {
+      case SHCollisionShape::Type::SPHERE:
+      {
+        recomputeSphere(dynamic_cast<SHSphereCollisionShape*>(shape));
+        break;
+      }
+      case SHCollisionShape::Type::BOX:
+      {
+        break;
+      }
+      case SHCollisionShape::Type::CAPSULE:
+      {
+        break;
+      }
+      default: break;
+    }
+  }
+
   void SHCollider::recomputeSphere(SHSphereCollisionShape* sphere) noexcept
   {
     // Recompute world radius

SHADE_Engine/src/Physics/Collision/SHCollider.h

@@ -132,6 +132,12 @@ namespace SHADE
 
     // TODO: Add Box & Capsule
 
+    /**
+     * @brief
+     * Recomputes any shapes that were set to dirty.
+    */
+    void  Update                  ();
+
     /**
      * @brief
      * Removes a shape from the container. Removal reduces the size of the container.
@@ -158,6 +164,7 @@ namespace SHADE
     uint32_t                  shapeIDCounter;  // This increments everytime a shape is added to differentiate shapes.
 
     bool                      debugDraw;
+    bool                      dirty;
 
     SHRigidBody*              rigidBody;
     SHCollisionShapeFactory*  shapeFactory;
@@ -173,7 +180,8 @@ namespace SHADE
     void copyShapes       (const SHCollider& rhsCollider);
     void copyShape        (const SHCollisionShape* rhsShape);
 
-    void recomputeSphere  (SHSphereCollisionShape* sphere) noexcept;
+    void recomputeShape   (SHCollisionShape* shape)         noexcept;
+    void recomputeSphere  (SHSphereCollisionShape* sphere)  noexcept;
   };
 
 } // namespace SHADE

SHADE_Engine/src/Physics/System/Routines/SHPhysicsPreUpdateRoutine.cpp

@@ -41,7 +41,7 @@ namespace SHADE
     {
       const auto* TRANSFORM_COMPONENT = SHComponentManager::GetComponent_s<SHTransformComponent>(entityID);
 
-      if (!TRANSFORM_COMPONENT || !TRANSFORM_COMPONENT->HasChanged())
+      if (!TRANSFORM_COMPONENT)
         continue;
 
       const SHVec3&       WORLD_POS = TRANSFORM_COMPONENT->GetWorldPosition();
@@ -50,7 +50,7 @@ namespace SHADE
 
       // We assume that all engine components and physics object components have been successfully linked
 
-      if (physicsObject.rigidBody)
+      if (physicsObject.rigidBody && TRANSFORM_COMPONENT->HasChanged())
       {
         SHMotionState& motionState = physicsObject.rigidBody->GetMotionState();
 
@@ -60,11 +60,14 @@ namespace SHADE
 
       if (physicsObject.collider)
       {
-        physicsObject.collider->SetPosition(WORLD_POS);
+        if (TRANSFORM_COMPONENT->HasChanged())
-        physicsObject.collider->SetOrientation(WORLD_ROT);
+        {
-        physicsObject.collider->SetScale(WORLD_SCL);
+          physicsObject.collider->SetPosition(WORLD_POS);
+          physicsObject.collider->SetOrientation(WORLD_ROT);
+          physicsObject.collider->SetScale(WORLD_SCL);
+        }
 
-        physicsObject.collider->RecomputeShapes();
+        physicsObject.collider->Update();
       }
     }
   }