Fixed heap corruption caused by out-of-sync collider active states

Assets/Scenes/SS_Playground.shade

@@ -41,17 +41,17 @@
 - EID: 3
   Name: Default
   IsActive: true
-  NumberOfChildren: 1
+  NumberOfChildren: 0
   Components:
     Transform Component:
-      Translate: {x: -0.597273231, y: 5, z: 0}
+      Translate: {x: 0.141888797, y: 5, z: 0}
-      Rotate: {x: -0, y: 0, z: 0.490080804}
+      Rotate: {x: -0, y: 0, z: 0.490080774}
       Scale: {x: 0.999999702, y: 0.999999702, z: 1}
       IsActive: true
     RigidBody Component:
-      Type: Static
+      Type: Dynamic
       Auto Mass: false
-      Mass: .inf
+      Mass: 1
       Drag: 0.00999999978
       Angular Drag: 0.00999999978
       Use Gravity: true
@@ -88,26 +88,9 @@
   NumberOfChildren: 0
   Components:
     Transform Component:
-      Translate: {x: 0, y: -2, z: 0}
+      Translate: {x: 0.34412086, y: 3.23541069, z: 0}
-      Rotate: {x: 0, y: 0, z: 0}
+      Rotate: {x: 0, y: 0, z: 0.490080804}
-      Scale: {x: 1, y: 1, z: 1}
+      Scale: {x: 0.999999702, y: 0.999999702, z: 1}
-      IsActive: true
-    RigidBody Component:
-      Type: Dynamic
-      Auto Mass: false
-      Mass: 1
-      Drag: 0.00999999978
-      Angular Drag: 0.00999999978
-      Use Gravity: true
-      Gravity Scale: 1
-      Interpolate: true
-      Sleeping Enabled: true
-      Freeze Position X: false
-      Freeze Position Y: false
-      Freeze Position Z: false
-      Freeze Rotation X: false
-      Freeze Rotation Y: false
-      Freeze Rotation Z: false
       IsActive: true
     Collider Component:
       Colliders:
@@ -120,5 +103,5 @@
           Density: 1
           Position Offset: {x: 0, y: 0, z: 0}
           Rotation Offset: {x: 0, y: 0, z: 0}
-      IsActive: true
+      IsActive: false
   Scripts: ~

SHADE_Engine/src/Editor/EditorWindow/Inspector/SHEditorComponentView.hpp

@@ -432,8 +432,6 @@ namespace SHADE
       // TODO: Handle differences between composite & hull collider
       if (ImGui::BeginMenu("Add Collider"))
       {
-        int newColl = -1;
-
         if (ImGui::Selectable("Box Collider"))
         {
           auto* compositeCollider = reinterpret_cast<SHCompositeCollider* const>(component->GetCollider());

SHADE_Engine/src/Physics/Collision/SHCollider.cpp

@@ -204,7 +204,7 @@ namespace SHADE
 
     for (auto* shape : shapes)
     {
-      if (PREV_STATE) // Previously inactive
+      if (!PREV_STATE) // Previously inactive
         broadphase->Insert(shape->id, shape->ComputeAABB());
       else            // Previously active
         broadphase->Remove(shape->id);
@@ -300,7 +300,7 @@ namespace SHADE
     };
 
      // Remove from broadphase
-    if (broadphase)
+    if (IsActive() && broadphase)
       broadphase->Remove((*shape)->id);
 
     shapeLibrary->DestroyShape(*shape);

SHADE_Engine/src/Physics/Collision/SHCollisionSpace.cpp

@@ -49,12 +49,15 @@ namespace SHADE
       return;
     }
 
+    if (collider->IsActive())
+    {
       collider->broadphase = &broadphase;
 
-    // Add all existing shapes to the broadphase
+      // Attempt to add all existing shapes to the broadphase
       for (const auto* shape : collider->shapes)
         broadphase.Insert(shape->id, shape->ComputeAABB());
     }
+  }
 
   void SHCollisionSpace::RemoveCollider(SHCollider* collider) noexcept
   {
@@ -64,6 +67,9 @@ namespace SHADE
     if (NUM_SHAPES == 0)
       return;
 
+    // If collider is inactive, skip removals since they were already removed
+    if (collider->IsActive())
+    {
       for (uint32_t i = 0; i < NUM_SHAPES; ++i)
         broadphase.Remove(collider->shapes[i]->id);
 
@@ -72,6 +78,7 @@ namespace SHADE
         contactManager->RemoveInvalidatedTrigger(collider->entityID);
         contactManager->RemoveInvalidatedManifold(collider->entityID);
       }
+    }
 
     /*
      * TODO:

SHADE_Engine/src/Physics/Dynamics/SHContactManager.cpp

@@ -252,22 +252,13 @@ namespace SHADE
     {
       // New states start at invalid. In the first frame of collision, move to enter.
       // If it already in enter, move to stay
-      if (state == SHCollisionState::ENTER)
+      state = state == SHCollisionState::INVALID ? SHCollisionState::ENTER : SHCollisionState::STAY;
-        state = SHCollisionState::STAY;
-
-      if (state == SHCollisionState::INVALID)
-        state = SHCollisionState::ENTER;
     }
     else
     {
       // If already exited and still not colliding, the collision has expired.
       // Invalid states are removed in the next frame
-      if (state == SHCollisionState::EXIT)
+      state = state == SHCollisionState::EXIT ? SHCollisionState::INVALID : SHCollisionState::EXIT;
-        state = SHCollisionState::INVALID;
-
-      // If previously colliding, move to exit.
-      if (state == SHCollisionState::ENTER || state == SHCollisionState::STAY)
-        state = SHCollisionState::EXIT;
     }
   }
 

SHADE_Engine/src/Physics/Dynamics/SHPhysicsWorld.cpp

@@ -86,8 +86,6 @@ namespace SHADE
 
   void SHPhysicsWorld::Step(float dt)
   {
-    
-
     /*
      * Detect Collisions
      */

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

@@ -57,6 +57,7 @@ namespace SHADE
       for (const auto& COLLIDER_COMPONENT : COLLIDER_COMPONENT_DENSE)
       {
         const auto* COLLIDER = COLLIDER_COMPONENT.GetCollider();
+        if (COLLIDER->IsActive())
           drawCollider(debugDrawSystem, *COLLIDER);
       }
     }
@@ -65,6 +66,7 @@ namespace SHADE
       for (const auto EID : physicsDebugDrawSystem->collidersToDraw)
       {
         const auto* COLLIDER = SHComponentManager::GetComponent<SHColliderComponent>(EID)->GetCollider();
+        if (COLLIDER->IsActive())
           drawCollider(debugDrawSystem, *COLLIDER);
       }
     }

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

@@ -52,8 +52,19 @@ namespace SHADE
         const bool RIGIDBODY_ACTIVE = physicsObject.rigidBody->IsActive();
 
         if (IS_ACTIVE != RIGIDBODY_ACTIVE)
+        {
           physicsObject.rigidBody->SetIsActive(IS_ACTIVE);
 
+          // If previously active, we remove it from the world.
+          // If previously inactive, we add it back to the world.
+          // This removes the need to check for inactive objects in the world every frame to remove invalid contacts.
+
+          if (IS_ACTIVE)  // Previously inactive
+            physicsSystem->physicsWorld->AddRigidBody(physicsObject.rigidBody);
+          else            // Previously active
+            physicsSystem->physicsWorld->RemoveRigidBody(physicsObject.rigidBody);
+        }
+
         if (UPDATE_TRANSFORM)
         {
           const SHVec3&       WORLD_POS = TRANSFORM_COMPONENT->GetWorldPosition();
@@ -71,8 +82,19 @@ namespace SHADE
         const bool COLLIDER_ACTIVE  = physicsObject.collider->IsActive();
 
         if (IS_ACTIVE != COLLIDER_ACTIVE)
+        {
           physicsObject.collider->SetIsActive(IS_ACTIVE);
 
+          // If previously active, we remove it from the world.
+          // If previously inactive, we add it back to the world.
+          // This removes the need to check for inactive objects in the world every frame to remove invalid contacts.
+
+          if (IS_ACTIVE)  // Previously inactive
+            physicsSystem->collisionSpace->AddCollider(physicsObject.collider);
+          else            // Previously active
+            physicsSystem->collisionSpace->RemoveCollider(physicsObject.collider);
+        }
+
         if (UPDATE_TRANSFORM)
         {
           const SHVec3&       WORLD_POS = TRANSFORM_COMPONENT->GetWorldPosition();