Fixed bug where AABB nodes were not updating on collider size change

Assets/Application.SHConfig

@@ -1,4 +1,4 @@
 Start in Fullscreen: false
-Starting Scene ID: 97402985
+Starting Scene ID: 92914350
 Window Size: {x: 1920, y: 1080}
 Window Title: SHADE Engine

Assets/Editor/Editor.SHConfig

@@ -1,4 +1,4 @@
 Start Maximized: true
-Working Scene ID: 97402985
+Working Scene ID: 92914350
 Window Size: {x: 1920, y: 1080}
 Style: 0

Assets/Scenes/SS_Playground.shade

@@ -21,7 +21,7 @@
   NumberOfChildren: 0
   Components:
     Transform Component:
-      Translate: {x: 0, y: 0, z: 0}
+      Translate: {x: 0.5, y: 0, z: 0}
       Rotate: {x: 0, y: 0, z: 0}
       Scale: {x: 1, y: 1, z: 1}
       IsActive: true
@@ -31,7 +31,7 @@
         - Is Trigger: false
           Collision Tag: 1
           Type: Sphere
-          Radius: 2
+          Radius: 3
           Friction: 0.400000006
           Bounciness: 0
           Density: 1

SHADE_Engine/src/Physics/Collision/Broadphase/SHDynamicAABBTree.cpp

@@ -170,20 +170,16 @@ namespace SHADE
     insertLeaf(NEW_INDEX);
   }
 
-  void SHAABBTree::Update(SHCollisionShapeID id, const SHAABB& AABB)
+  void SHAABBTree::Update(SHCollisionShapeID id, const SHAABB& newAABB)
   {
     // Get node index
     const int32_t INDEX_TO_UPDATE = nodeMap[id];
 
     Node& nodeToUpdate = nodes[INDEX_TO_UPDATE];
 
-    // If new AABB has not moved enough, skip.
-    if (nodeToUpdate.AABB.Contains(AABB))
-      return;
-
-    removeLeaf(INDEX_TO_UPDATE);
-
-    nodeToUpdate.AABB = AABB;
+    // Update the AABB directly
+    const SHAABB OLD_AABB = nodeToUpdate.AABB;
+    nodeToUpdate.AABB     = newAABB;
 
     // Fatten the AABB
     const SHVec3 EXTENSION{ AABB_EXTENSION };
@@ -194,6 +190,13 @@ namespace SHADE
     nodeToUpdate.AABB.SetMin(newMin);
     nodeToUpdate.AABB.SetMax(newMax);
 
+    // If new AABB has not moved enough, skip.
+    // We only modify the position &/ size, but the AABB remains within this space.
+    if (OLD_AABB.Contains(nodeToUpdate.AABB))
+      return;
+
+    // Re-insert the node to find it's new neighbour
+    removeLeaf(INDEX_TO_UPDATE);
     insertLeaf(INDEX_TO_UPDATE);
   }
 

SHADE_Engine/src/Physics/Collision/Shapes/SHBox.cpp

@@ -206,6 +206,10 @@ namespace SHADE
 
     // Recompute Relative radius
     relativeExtents = 2.0f * Extents / scale;
+
+    // Hack: Indicate that the collider needs to update the broadphase proxy
+    if (collider)
+      collider->SetScale(collider->GetScale());
   }
 
   void SHBox::SetRelativeExtents(const SHVec3& newRelativeExtents) noexcept
@@ -214,6 +218,10 @@ namespace SHADE
 
     // Recompute world radius
     Extents = relativeExtents * scale * 0.5f;
+
+    // Hack: Indicate that the collider needs to update the broadphase proxy
+    if (collider)
+      collider->SetScale(collider->GetScale());
   }
 
   void SHBox::SetScale(const SHVec3& newScale) noexcept
@@ -222,6 +230,10 @@ namespace SHADE
 
     // Recompute world radius
     Extents = relativeExtents * scale * 0.5f;
+
+    // Hack: Indicate that the collider needs to update the broadphase proxy
+    if (collider)
+      collider->SetScale(collider->GetScale());
   }
 
   /*-----------------------------------------------------------------------------------*/

SHADE_Engine/src/Physics/Collision/Shapes/SHSphere.cpp

@@ -167,6 +167,10 @@ namespace SHADE
 
     // Recompute Relative radius
     relativeRadius = 2.0f * Radius / scale;
+
+    // Hack: Indicate that the collider needs to update the broadphase proxy
+    if (collider)
+      collider->SetScale(collider->GetScale());
   }
 
   void SHSphere::SetRelativeRadius(float newRelativeRadius) noexcept
@@ -175,6 +179,10 @@ namespace SHADE
 
     // Recompute world radius
     Radius = relativeRadius * scale * 0.5f;
+
+    // Hack: Indicate that the collider needs to update the broadphase proxy
+    if (collider)
+      collider->SetScale(collider->GetScale());
   }
 
   void SHSphere::SetScale(float maxScale) noexcept
@@ -183,6 +191,10 @@ namespace SHADE
 
     // Recompute world radius
     Radius = relativeRadius * scale * 0.5f;
+
+    // Hack: Indicate that the collider needs to update the broadphase proxy
+    if (collider)
+      collider->SetScale(collider->GetScale());
   }
 
   /*-----------------------------------------------------------------------------------*/