SHADE_Engine/src/Physics/Components/SHRigidBodyComponent.h

@@ -144,6 +144,9 @@ namespace SHADE
     /* Data Members                                                                    */
     /*---------------------------------------------------------------------------------*/
 
+    static constexpr size_t NUM_FLAGS       = 8;
+    static constexpr size_t NUM_DIRTY_FLAGS = 16;
+
     Type              type;
 
     // rX rY rZ pX pY pZ slp g

SHADE_Engine/src/Physics/SHPhysicsObject.cpp

@@ -143,37 +143,122 @@ namespace SHADE
     rb->orientation = tf->GetWorldRotation();
   }
 
-  void SHPhysicsObject::DestroyRigidBody() noexcept
-  {
-    
-  }
-
   void SHPhysicsObject::CreateCollisionBody(const SHTransformComponent* tf, SHColliderComponent* c)
   {
     
   }
 
-  void SHPhysicsObject::DestroyCollisionBody() noexcept
-  {
-    
-  }
-
   int SHPhysicsObject::AddCollider(SHCollider* collider)
   {
     return 0;
   }
 
+  void SHPhysicsObject::DestroyRigidBody() noexcept
+  {
+    
+  }
+
+  void SHPhysicsObject::DestroyCollisionBody() noexcept
+  {
+    
+  }
+
   void SHPhysicsObject::RemoveCollider(int index) noexcept
   {
     
   }
 
-  void SHPhysicsObject::SyncRigidBody() noexcept
+  void SHPhysicsObject::SyncRigidBody(SHRigidBodyComponent* rb) const noexcept
   {
+    SHASSERT(rp3dBody != nullptr, "ReactPhysics body does not exist!")
+
+    if (rb->dirtyFlags == 0)
+      return;
+
+    auto* rigidBody = reinterpret_cast<rp3d::RigidBody*>(rp3dBody);
+
+    const uint16_t RB_FLAGS = rb->dirtyFlags;
+    for (size_t i = 0; i < SHRigidBodyComponent::NUM_DIRTY_FLAGS; ++i)
+    {
+      // Check if current dirty flag has been set to true
+      if (RB_FLAGS & 1U << i)
+      {
+        switch (i)
+        {
+          case 0: // Gravity
+          {
+            rigidBody->enableGravity(rb->IsGravityEnabled());
+            break;
+          }
+          case 1: // Sleeping
+          {
+            rigidBody->setIsAllowedToSleep(rb->IsAllowedToSleep());
+            break;
+          }
+          case 2: // Linear Constraints
+          {
+            const rp3d::Vector3 CONSTRAINTS
+            {
+              rb->flags & 1U << 2 ? 0.0f : 1.0f,
+              rb->flags & 1U << 3 ? 0.0f : 1.0f,
+              rb->flags & 1U << 4 ? 0.0f : 1.0f
+            };
+
     
+            rigidBody->setLinearLockAxisFactor(CONSTRAINTS);
+            break;
+          }
+          case 3: // Angular Constraints
+          {
+            const rp3d::Vector3 CONSTRAINTS
+            {
+              rb->flags & 1U << 5 ? 0.0f : 1.0f,
+              rb->flags & 1U << 6 ? 0.0f : 1.0f,
+              rb->flags & 1U << 7 ? 0.0f : 1.0f
+            };
+
+            rigidBody->setAngularLockAxisFactor(CONSTRAINTS);
+            break;
+          }
+          case 4: // Type
+          {
+            rigidBody->setType(static_cast<rp3d::BodyType>(rb->GetType()));
+            break;
+          }
+          case 5: // Mass
+          {
+            rigidBody->setMass(rb->GetMass());
+            break;
+          }
+          case 6: // Drag
+          {
+            rigidBody->setLinearDamping(rb->GetDrag());
+            break;
+          }
+          case 7: // Angular Drag
+          {
+            rigidBody->setAngularDamping(rb->GetAngularDrag());
+            break;
+          }
+          case 8: // Linear Velocity
+          {
+            rigidBody->setLinearVelocity(rb->GetLinearVelocity());
+            break;
+          }
+          case 9: // Angular Velocity
+          {
+            rigidBody->setAngularVelocity(rb->GetAngularVelocity());
+            break;
+          }
+          default: break;
+        }
+      }
+    }
+
+    rb->dirtyFlags = 0;
   }
 
-  void SHPhysicsObject::SyncColliders() noexcept
+  void SHPhysicsObject::SyncColliders(SHColliderComponent* c) const noexcept
   {
     
   }

SHADE_Engine/src/Physics/SHPhysicsObject.h

@@ -70,15 +70,15 @@ namespace SHADE
     /*---------------------------------------------------------------------------------*/
 
     void  CreateRigidBody       (const SHTransformComponent* tf, SHRigidBodyComponent* rb, SHColliderComponent* c);
-    void  DestroyRigidBody      ()  noexcept;
-
     void  CreateCollisionBody   (const SHTransformComponent* tf, SHColliderComponent* c);
     int   AddCollider           (SHCollider* collider);
-    void  RemoveCollider        (int index) noexcept;
-    void  DestroyCollisionBody  ()  noexcept;
 
-    void  SyncRigidBody         ()  noexcept;
+    void  DestroyRigidBody      ()                            noexcept;
-    void  SyncColliders         ()  noexcept;
+    void  RemoveCollider        (int index)                   noexcept;
+    void  DestroyCollisionBody  ()                            noexcept;
+
+    void  SyncRigidBody         (SHRigidBodyComponent* rb)    const noexcept;
+    void  SyncColliders         (SHColliderComponent* c)      const noexcept;
 
   private:
     /*---------------------------------------------------------------------------------*/

SHADE_Engine/src/Physics/SHPhysicsSystem.cpp

@@ -477,11 +477,7 @@ namespace SHADE
       if (!COMPONENT_ACTIVE)
         continue;
 
-      if (comp.dirtyFlags > 0)
+      physicsObject->SyncRigidBody(&comp);
-      {
-        SyncRigidBody(physicsObject, &comp);
-        comp.dirtyFlags = 0;
-      }
     }
   }