Fix rig driven collider update bug

Author: STREGA

Sources/GameMath/3D Types/3D Physics/3D Colliders/OrientedBoundingBox3D.swift

@@ -12,12 +12,14 @@ public struct OrientedBoundingBox3D: Collider3D, Sendable {
     public private(set) var radius: Size3 // Positive halfwidth extents of OBB along each axis
     internal var _radius: Size3
     internal var _offset: Position3
+    internal var _rotation: Quaternion
 
     public var size: Size3 {return radius * 2}
 
     public init(center: Position3 = .zero, offset: Position3 = .zero, radius: Size3, rotation: Quaternion) {
         self.center = center
         self.rotation = rotation
+        self._rotation = rotation
         self.offset = offset
         self._offset = offset
         self._radius = radius
@@ -38,16 +40,17 @@ public struct OrientedBoundingBox3D: Collider3D, Sendable {
     public private(set) var boundingBox: AxisAlignedBoundingBox3D
 
     mutating public func update(transform: Transform3) {
-        rotation = transform.rotation
         center = transform.position
         offset = _offset * transform.scale
         radius = _radius * transform.scale
+        rotation = _rotation * transform.rotation.conjugate
         self.boundingBox.update(transform: transform)
     }
 
     public mutating func update(sizeAndOffsetUsingTransform transform: Transform3) {
         _offset = transform.position
         _radius = transform.scale / 2
+        _rotation = transform.rotation
         self.boundingBox.update(sizeAndOffsetUsingTransform: transform)
     }
 }
@@ -75,6 +78,7 @@ public extension OrientedBoundingBox3D {
         self._radius = Size3(width: (x.y - x.x) / 2.0, height: (y.y - y.x) / 2.0, depth: (z.y - z.x) / 2.0)
         self.radius = _radius
         self.rotation = .zero
+        self._rotation = .zero
         self.boundingBox = AxisAlignedBoundingBox3D(center: center, offset: offset, radius: radius)
     }
 }

Sources/GateEngine/ECS/3D Specific/Physics/Collision3DComponent.swift

@@ -72,6 +72,21 @@ public final class Collision3DComponent: Component {
         self.collider.update(transform: transform)
         self.rayCastCollider?.update(transform: transform)
     }
+    
+    @MainActor
+    @inlinable
+    internal func updateColliders(_ rigComponent: Rig3DComponent) {
+        // Update collider from animation
+        if let colliderJointName = rigComponent.updateColliderFromBoneNamed {
+            if let joint = rigComponent.skeleton.jointNamed(colliderJointName) {
+                let matrix = joint.modelSpace
+                self.update(sizeAndOffsetUsingTransform: matrix.transform)
+                self.rayCastCollider?.update(sizeAndOffsetUsingTransform: matrix.transform)
+            } else {
+                fatalError("Failed to find joint \(colliderJointName).")
+            }
+        }
+    }
 
     @inlinable
     public func update(sizeAndOffsetUsingTransform transform: Transform3) {

Sources/GateEngine/ECS/3D Specific/Physics/Collision3DSystem.swift

@@ -15,7 +15,12 @@ public final class Collision3DSystem: System {
             return false
         })
         for entity in staticEntities {
-            entity.collision3DComponent.updateColliders(entity.transform3)
+            let collisionComponent = entity.collision3DComponent
+            // Update collider from animation
+            if let rigComponent = entity.component(ofType: Rig3DComponent.self) {
+                collisionComponent.updateColliders(rigComponent)
+            }
+            collisionComponent.updateColliders(entity.transform3)
         }
         let dynamicEntities = context.entities.filter({
             guard let collisionComponenet = $0.component(ofType: Collision3DComponent.self) else {return false}
@@ -50,27 +55,10 @@ public final class Collision3DSystem: System {
             func updateCollider() {
                 collisionComponent.updateColliders(transformComponent.transform)
             }
-
+            
             // Update collider from animation
             if let rigComponent = dynamicEntity.component(ofType: Rig3DComponent.self) {
-                if let colliderJointName = rigComponent.updateColliderFromBoneNamed {
-                    if let joint = rigComponent.skeleton.jointNamed(colliderJointName) {
-                        let position =
-                            (transformComponent.transform.matrix() * joint.modelSpace).position
-                            - transformComponent.position
-                        let rotation =
-                            transformComponent.rotation * joint.modelSpace.rotation.conjugate
-                        let scale = joint.modelSpace.scale
-                        let transform = Transform3(
-                            position: position,
-                            rotation: rotation,
-                            scale: scale
-                        )
-                        collisionComponent.update(sizeAndOffsetUsingTransform: transform)
-                    } else {
-                        fatalError("Failed to find joint \(colliderJointName).")
-                    }
-                }
+                collisionComponent.updateColliders(rigComponent)
             }
 
             collisionComponent.touching.removeAll(keepingCapacity: true)