feat(physics): mesh collider#439
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Sequence Diagram(s)sequenceDiagram
participant S as RigidBodySystem
participant E as Entity (Components)
participant Mesh as Object::Mesh
participant Colliders as Collider Components
participant J as Physics Engine (Jolt)
S->>E: Inspect components (RigidBody + colliders + mesh)
alt Sphere present
S->>J: Create SphereShape
else alt Capsule present
S->>J: Create CapsuleShape
else alt Box present
S->>J: Create BoxShape
else alt MeshCollider present
S->>Mesh: Extract vertices
S->>J: Create ConvexHullShape (use MeshCollider.maxConvexRadius)
else alt Mesh present (no collider)
S->>Mesh: Extract vertices
S->>J: Create ConvexHullShape (default config)
else
S->>S: Log warning (no collider/mesh)
end
Estimated code review effort🎯 3 (Moderate) | ⏱️ ~20 minutes Possibly related PRs
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Actionable comments posted: 4
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⚠️ Outside diff range comments (2)
src/plugin/physics/src/component/BoxCollider.hpp (1)
37-42: Documentation example may have incorrect API signature.Same issue as in
MeshCollider.hpp- the example showsAddComponentwith two arguments, but actual usage in examples shows single-argument calls.Proposed fix
* `@code` * Physics::Component::BoxCollider collider; * collider.halfExtents = glm::vec3(0.5f, 1.0f, 0.5f); -* entity.AddComponent<Physics::BoxCollider>(core, collider); +* entity.AddComponent<Physics::Component::BoxCollider>(collider); * `@endcode`src/plugin/physics/src/component/CapsuleCollider.hpp (1)
55-61: Documentation example may have incorrect API signature.Consistent with the other collider headers, the example uses two-argument
AddComponentwhile actual usage appears to use single-argument calls.Proposed fix
* `@code` * Physics::Component::CapsuleCollider collider; * collider.halfHeight = 0.8f; // Cylinder part is 1.6m tall * collider.radius = 0.3f; // Total height = 1.6 + 0.6 = 2.2m -* entity.AddComponent<Physics::Component::CapsuleCollider>(core, collider); +* entity.AddComponent<Physics::Component::CapsuleCollider>(collider); * `@endcode`
🤖 Fix all issues with AI agents
In `@src/plugin/physics/src/builder/VehicleBuilder.hpp`:
- Line 212: The chassis was switched to a MeshCollider via
chassis.AddComponent<Component::MeshCollider>() which makes _chassisHalfExtents
and SetChassisHalfExtents() no-ops; update VehicleBuilder so
SetChassisHalfExtents() either (a) switches the chassis collider to a
BoxCollider and sets its extents (e.g., replace or add Component::BoxCollider to
the chassis when SetChassisHalfExtents is called), or (b) mark
SetChassisHalfExtents() deprecated/removed and add a new explicit API (e.g.,
SetChassisAsBox / UseBoxCollider) that adds Component::BoxCollider with the
provided extents while leaving MeshCollider as the default; ensure references to
chassis.AddComponent<Component::MeshCollider>(), _chassisHalfExtents, and
SetChassisHalfExtents() are updated accordingly and that behavior is
documented/covered by tests.
- Line 212: VehicleBuilder.hpp uses Component::MeshCollider in the call
chassis.AddComponent<Component::MeshCollider>() but does not include its header;
add the MeshCollider header include at the top of VehicleBuilder.hpp (e.g.,
include the MeshCollider declaration header such as "Component/MeshCollider.hpp"
or the project's corresponding header that defines Component::MeshCollider) so
the symbol is available for compilation.
In `@src/plugin/physics/src/component/MeshCollider.hpp`:
- Around line 44-53: The documentation example for MeshCollider uses the wrong
Entity::AddComponent signature by passing `core` explicitly; update the example
so calls to AddComponent match the actual API used elsewhere: call
entity.AddComponent<Physics::Component::MeshCollider>(collider) and
entity.AddComponent<Physics::Component::RigidBody>(rigidBody) (i.e., remove the
`core` argument) while keeping the same MeshCollider and RigidBody symbols and
descriptive comments.
In `@src/plugin/physics/src/system/RigidBodySystem.cpp`:
- Around line 32-68: CreateConvexHullFromMesh currently builds the hull from raw
mesh vertices without applying the entity Transform scale; update the function
signature (CreateConvexHullFromMesh) to accept a glm/Jolt-compatible scale
parameter (e.g., Vec3 scale), multiply each vertex by that scale before
converting with Utils::ToJoltVec3, and use the scaled joltPoints to construct
ConvexHullShapeSettings; also update the caller (CreateShapeFromColliders) to
pass the Transform's scale from the registry when invoking
CreateConvexHullFromMesh.
🧹 Nitpick comments (1)
src/plugin/physics/src/system/RigidBodySystem.cpp (1)
152-153: Add more context to the error log.The new error is a helpful guard, but it would be more actionable if it included the entity id (and possibly the mesh presence/vertex count) for faster debugging.
| /** | ||
| * @brief Create a ConvexHullShape from mesh vertices | ||
| * @param mesh The mesh component containing vertices | ||
| * @param meshCollider Mesh collider settings (convex radius) | ||
| * @return RefConst to the created shape, or nullptr on failure | ||
| */ | ||
| static JPH::RefConst<JPH::Shape> CreateConvexHullFromMesh(const Object::Component::Mesh &mesh, | ||
| const Component::MeshCollider &meshCollider) | ||
| { | ||
| const auto &vertices = mesh.GetVertices(); | ||
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|
||
| if (vertices.empty()) | ||
| { | ||
| Log::Warn("MeshCollider: Mesh has no vertices, cannot create convex hull"); | ||
| return nullptr; | ||
| } | ||
|
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| JPH::Array<JPH::Vec3> joltPoints; | ||
| joltPoints.reserve(vertices.size()); | ||
|
|
||
| for (const auto &vertex : vertices) | ||
| { | ||
| joltPoints.push_back(Utils::ToJoltVec3(vertex)); | ||
| } | ||
|
|
||
| float maxConvexRadius = meshCollider.maxConvexRadius; | ||
| JPH::ConvexHullShapeSettings settings(joltPoints, maxConvexRadius); | ||
|
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||
| JPH::ShapeSettings::ShapeResult result = settings.Create(); | ||
| if (!result.IsValid()) | ||
| { | ||
| Log::Error(fmt::format("MeshCollider: Failed to create convex hull shape: {}", result.GetError().c_str())); | ||
| return nullptr; | ||
| } | ||
|
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||
| return result.Get(); | ||
| } |
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Convex hull ignores Transform scale—mesh vertices need to be scaled during shape creation.
The mesh vertices are stored raw (not scale-baked) in the Mesh component. When CreateConvexHullFromMesh builds the convex hull, it does not apply the entity's Transform scale, resulting in incorrect physics geometry size. The SoftBodySystem already establishes the pattern of passing scale to mesh-based shape creation (see CreateJoltSharedSettings).
Pass the scale from the Transform to CreateConvexHullFromMesh and apply it to vertices:
🔧 Example adjustment
-static JPH::RefConst<JPH::Shape> CreateConvexHullFromMesh(const Object::Component::Mesh &mesh,
- const Component::MeshCollider &meshCollider)
+static JPH::RefConst<JPH::Shape> CreateConvexHullFromMesh(const Object::Component::Mesh &mesh,
+ const Component::MeshCollider &meshCollider,
+ const glm::vec3 &scale)
{
const auto &vertices = mesh.GetVertices();
@@
for (const auto &vertex : vertices)
{
- joltPoints.push_back(Utils::ToJoltVec3(vertex));
+ joltPoints.push_back(Utils::ToJoltVec3(vertex * scale));
}Then call it with the Transform's scale in CreateShapeFromColliders where the Transform is available via the registry.
🤖 Prompt for AI Agents
In `@src/plugin/physics/src/system/RigidBodySystem.cpp` around lines 32 - 68,
CreateConvexHullFromMesh currently builds the hull from raw mesh vertices
without applying the entity Transform scale; update the function signature
(CreateConvexHullFromMesh) to accept a glm/Jolt-compatible scale parameter
(e.g., Vec3 scale), multiply each vertex by that scale before converting with
Utils::ToJoltVec3, and use the scaled joltPoints to construct
ConvexHullShapeSettings; also update the caller (CreateShapeFromColliders) to
pass the Transform's scale from the registry when invoking
CreateConvexHullFromMesh.
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2 participants
Not related to any issues.
Add support form mesh colliders using Jolt's
ConvexHullShape.The "DefaultCollider" was useless and was remove. Instead, if a user doesn't add any collider, a mesh collider will be used by default.
Existing colliders (Box, Sphere) can still be used, they are a lot less expensive for simple shapes than full mesh colliders.
See the updated physics example (with graphics) for more detail
Summary by CodeRabbit
New Features
Documentation
Refactor
Tests
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