Fix scaling rigidbodies and collider updates (#10757)

packages/spatial/src/physics/systems/PhysicsPreTransformSystem.ts

@@ -40,11 +40,14 @@ import { Vector3_Zero } from '../../common/constants/MathConstants'
 import { SceneComponent } from '../../renderer/components/SceneComponents'
 import { EntityTreeComponent, getAncestorWithComponent } from '../../transform/components/EntityTree'
 import { TransformComponent } from '../../transform/components/TransformComponent'
-import { computeTransformMatrix, isDirty, TransformSystem } from '../../transform/systems/TransformSystem'
+import { computeTransformMatrix, isDirty, TransformDirtyUpdateSystem } from '../../transform/systems/TransformSystem'
 import { Physics } from '../classes/Physics'
 import { ColliderComponent } from '../components/ColliderComponent'
 import { RigidBodyComponent } from '../components/RigidBodyComponent'
 
+const _vec3 = new Vector3()
+const _quat = new Quaternion()
+
 const position = new Vector3()
 const rotation = new Quaternion()
 const scale = new Vector3()
@@ -86,9 +89,9 @@ export const lerpTransformFromRigidbody = (entity: Entity, alpha: number) => {
   if (parentEntity) {
     const sceneEntity = getAncestorWithComponent(entity, SceneComponent)
     const sceneTransform = getComponent(sceneEntity, TransformComponent)
-    // todo: figure out proper scale support
-    const scale = getComponent(entity, TransformComponent).scale
     // if the entity has a parent, we need to use the scene space
+    TransformComponent.getMatrixRelativeToScene(entity, mat4)
+    mat4.decompose(_vec3, _quat, scale)
     transform.matrix.compose(position, rotation, scale)
     transform.matrixWorld.multiplyMatrices(sceneTransform.matrixWorld, transform.matrix)
 
@@ -165,9 +168,10 @@ const copyTransformToCollider = (entity: Entity) => {
   computeTransformMatrix(entity)
   const rigidbodyEntity = getAncestorWithComponent(entity, RigidBodyComponent)
   if (!rigidbodyEntity) return
-  TransformComponent.getMatrixRelativeToEntity(entity, rigidbodyEntity, mat4)
-  mat4.decompose(position, rotation, scale)
-  Physics.setColliderPose(world, entity, position, rotation)
+  const colliderDesc = Physics.createColliderDesc(world, entity, rigidbodyEntity)
+  if (!colliderDesc) return
+  Physics.removeCollider(world, entity)
+  Physics.attachCollider(world, colliderDesc, rigidbodyEntity, entity)
 }
 
 const rigidbodyQuery = defineQuery([TransformComponent, RigidBodyComponent])
@@ -209,6 +213,6 @@ export const execute = () => {
 
 export const PhysicsPreTransformSystem = defineSystem({
   uuid: 'ee.engine.PhysicsPreTransformSystem',
-  insert: { before: TransformSystem },
+  insert: { after: TransformDirtyUpdateSystem },
   execute
 })

packages/spatial/src/transform/systems/TransformSystem.ts

@@ -134,7 +134,7 @@ export const isDirty = (entity: Entity) => TransformComponent.dirtyTransforms[en
 
 const sortedTransformEntities = [] as Entity[]
 
-const execute = () => {
+const sortAndMakeDirtyEntities = () => {
   // TODO: move entity tree mutation logic here for more deterministic and less redundant calculations
 
   // if transform order is dirty, sort by reference depth
@@ -143,7 +143,6 @@ const execute = () => {
   /**
    * Sort transforms if needed
    */
-  const xrFrame = getState(XRState).xrFrame
 
   let needsSorting = TransformComponent.transformsNeedSorting
 
@@ -173,7 +172,9 @@ const execute = () => {
       TransformComponent.dirtyTransforms[getOptionalComponent(entity, EntityTreeComponent)?.parentEntity ?? -1] ||
       false
   }
+}
 
+const execute = () => {
   const dirtySortedTransformEntities = sortedTransformEntities.filter(isDirtyNonRigidbody)
   for (const entity of dirtySortedTransformEntities) computeTransformMatrix(entity)
 
@@ -186,6 +187,8 @@ const execute = () => {
   const viewerEntity = getState(EngineState).viewerEntity
   const cameraEntities = cameraQuery()
 
+  const xrFrame = getState(XRState).xrFrame
+
   for (const entity of cameraEntities) {
     if (xrFrame && entity === viewerEntity) continue
     const camera = getComponent(entity, CameraComponent)
@@ -244,10 +247,16 @@ export const TransformSystem = defineSystem({
   reactor
 })
 
+export const TransformDirtyUpdateSystem = defineSystem({
+  uuid: 'ee.engine.TransformDirtyUpdateSystem',
+  insert: { before: TransformSystem },
+  execute: sortAndMakeDirtyEntities
+})
+
 export const TransformDirtyCleanupSystem = defineSystem({
   uuid: 'ee.engine.TransformDirtyCleanupSystem',
   insert: { after: TransformSystem },
   execute: () => {
-    for (const entity in TransformComponent.dirtyTransforms) TransformComponent.dirtyTransforms[entity] = false
+    for (const entity in TransformComponent.dirtyTransforms) delete TransformComponent.dirtyTransforms[entity]
   }
 })