refactor: shape agnostic aabb update

engine/include/cubos/engine/collisions/collider.hpp

@@ -19,5 +19,10 @@ namespace cubos::engine
         bool fresh = true;      ///< Whether the collider is fresh. This is an hack and should be done in ECS.
         ColliderAABB localAABB; ///< Local space AABB of the collider.
         ColliderAABB worldAABB; ///< World space AABB of the collider.
+
+        /// @brief Margin of the collider.
+        ///
+        /// When the collider shape has sharp edges, a margin is needed.
+        float margin = 0.0F;
     };
 } // namespace cubos::engine

engine/include/cubos/engine/collisions/shapes/box.hpp

@@ -13,12 +13,5 @@ namespace cubos::engine
     struct [[cubos::component("cubos/box_collision_shape", VecStorage)]] BoxCollisionShape
     {
         cubos::core::geom::Box shape; ///< Box shape.
-
-        /// @brief Margin of the collider. Needed for collision stability.
-        ///
-        /// The collider margin avoids collision errors by rounding off sharp corners. It is
-        /// absolute so the collider's transform won't affect it. Shouldn't be changed without good
-        /// reason, as it's preferable to scale down the collider shape to account for it.
-        float margin = 0.04F;
     };
 } // namespace cubos::engine

engine/samples/collisions/main.cpp

@@ -114,6 +114,7 @@ static void updateCollided(Query<Read<Collider>> query, Write<State> state, Read
         {
             if (collider1 == entity || collider2 == entity)
             {
+                CUBOS_WARN("Collision detected!");
                 state->collided = true;
                 break;
             }
@@ -148,7 +149,7 @@ int main()
     cubos.startupSystem(addColliders);
 
     cubos.system(updateTransform).before("cubos.transform.update");
-    cubos.system(updateCollided).tagged("updated").after("cubos.collisions");
+    cubos.system(updateCollided).tagged("updated").after("cubos.collisions.broad");
     cubos.system(render).after("updated");
 
     cubos.run();

engine/src/cubos/engine/collisions/broad_phase.cpp

@@ -4,9 +4,9 @@ using cubos::engine::ColliderAABB;
 
 using CollisionType = BroadPhaseCollisions::CollisionType;
 
-void updateBoxAABBs(Query<Read<LocalToWorld>, Read<BoxCollisionShape>, Write<Collider>> query)
+void setupBoxAABBs(Query<Read<BoxCollisionShape>, Write<Collider>> query)
 {
-    for (auto [entity, localToWorld, shape, collider] : query)
+    for (auto [entity, shape, collider] : query)
     {
         if (collider->fresh)
         {
@@ -15,7 +15,18 @@ void updateBoxAABBs(Query<Read<LocalToWorld>, Read<BoxCollisionShape>, Write<Col
             collider->localAABB = ColliderAABB{diag[0], diag[1]};
             collider->fresh = false;
         }
+    }
+}
+
+void setupCapsuleAABBs(Query<Read<CapsuleCollisionShape>, Write<Collider>> query)
+{
+    (void)query;
+}
 
+void updateAABBs(Query<Read<LocalToWorld>, Write<Collider>> query)
+{
+    for (auto [entity, localToWorld, collider] : query)
+    {
         // Get the 4 points of the collider.
         glm::vec3 corners[4];
         collider->localAABB.box().corners4(corners);
@@ -40,20 +51,13 @@ void updateBoxAABBs(Query<Read<LocalToWorld>, Read<BoxCollisionShape>, Write<Col
         max = glm::max(max, glm::abs(rotatedCorners[3]));
 
         // Add the collider's margin.
-        max += glm::vec3{shape->margin};
+        max += glm::vec3{collider->margin};
 
         // Set the AABB.
         collider->worldAABB = ColliderAABB{translation - max, translation + max};
     }
 }
 
-void updateCapsuleAABBs(Query<Read<LocalToWorld>, Read<CapsuleCollisionShape>, Read<Collider>> query,
-                        Write<BroadPhaseCollisions> collisions)
-{
-    (void)query;
-    (void)collisions;
-}
-
 void updateMarkers(Query<Read<Collider>> query, Write<BroadPhaseCollisions> collisions)
 {
     // TODO: This is parallelizable.

engine/src/cubos/engine/collisions/broad_phase.hpp

@@ -30,22 +30,24 @@ void trackNewEntities(Query<Read<S>, OptRead<Collider>> query, Write<BroadPhaseC
 {
     // TODO: This is a bit of a hack. We should detect newly added colliders instead of using them as a marker.
 
-    for (auto [entity, shape, aabb] : query)
+    for (auto [entity, shape, collider] : query)
     {
-        if (!aabb)
+        if (!collider)
         {
             commands.add(entity, Collider{});
             collisions->addEntity(entity);
         }
     }
 }
 
-/// @brief Updates the AABBs of all box colliders.
-void updateBoxAABBs(Query<Read<LocalToWorld>, Read<BoxCollisionShape>, Write<Collider>> query);
+/// @brief Setups the AABBs of all box colliders.
+void setupBoxAABBs(Query<Read<BoxCollisionShape>, Write<Collider>> query);
 
-/// @brief Updates the AABBs of all capsule colliders.
-void updateCapsuleAABBs(Query<Read<LocalToWorld>, Read<CapsuleCollisionShape>, Read<Collider>> query,
-                        Write<BroadPhaseCollisions> collisions);
+/// @brief Setups the AABBs of all capsule colliders.
+void setupCapsuleAABBs(Query<Read<CapsuleCollisionShape>, Write<Collider>> query);
+
+/// @brief Updates the AABBs of all colliders.
+void updateAABBs(Query<Read<LocalToWorld>, Write<Collider>> query);
 
 /// @brief Updates the sweep markers of all colliders.
 void updateMarkers(Query<Read<Collider>> query, Write<BroadPhaseCollisions> collisions);

engine/src/cubos/engine/collisions/plugin.cpp

@@ -15,15 +15,16 @@ void cubos::engine::collisionsPlugin(Cubos& cubos)
 
     cubos.system(trackNewEntities<BoxCollisionShape>).tagged("cubos.collisions.missing");
     cubos.system(trackNewEntities<CapsuleCollisionShape>).tagged("cubos.collisions.missing");
-    cubos.tag("cubos.collisions.missing").before("cubos.collisions.aabb");
+    cubos.tag("cubos.collisions.missing").before("cubos.collisions.aabb.setup");
 
-    cubos.system(updateBoxAABBs).tagged("cubos.collisions.aabb");
-    cubos.system(updateCapsuleAABBs).tagged("cubos.collisions.aabb");
-    cubos.tag("cubos.collisions.aabb").after("cubos.transform.update");
+    cubos.system(setupBoxAABBs).tagged("cubos.collisions.aabb.setup");
+    cubos.system(setupCapsuleAABBs).tagged("cubos.collisions.aabb.setup");
+    cubos.system(updateAABBs)
+        .after("cubos.collisions.aabb.setup")
+        .after("cubos.transform.update")
+        .before("cubos.collisions.broad.markers");
 
-    cubos.system(updateMarkers).tagged("cubos.collisions.broad.markers").after("cubos.collisions.aabb");
+    cubos.system(updateMarkers).tagged("cubos.collisions.broad.markers");
     cubos.system(sweep).tagged("cubos.collisions.broad.sweep").after("cubos.collisions.broad.markers");
     cubos.system(findPairs).tagged("cubos.collisions.broad").after("cubos.collisions.broad.sweep");
-
-    cubos.tag("cubos.collisions.broad").before("cubos.collisions");
 }