From ffa4b52ad350b01e59d1bd800034f3ac023008ea Mon Sep 17 00:00:00 2001
From: antopilo <antoinepilote1@hotmail.com>
Date: Mon, 13 Mar 2023 23:32:49 -0400
Subject: [PATCH] Added transform to rigidbody

---
 Nuake/src/Core/Physics/DynamicWorld.cpp   |  8 ++++++--
 Nuake/src/Core/Physics/Rigibody.h         |  3 ++-
 Nuake/src/Core/Physics/Rigidbody.cpp      |  5 +++--
 Nuake/src/Scene/Systems/PhysicsSystem.cpp | 12 ++++++------
 4 files changed, 17 insertions(+), 11 deletions(-)

diff --git a/Nuake/src/Core/Physics/DynamicWorld.cpp b/Nuake/src/Core/Physics/DynamicWorld.cpp
index 0f74b536..546a4819 100644
--- a/Nuake/src/Core/Physics/DynamicWorld.cpp
+++ b/Nuake/src/Core/Physics/DynamicWorld.cpp
@@ -312,14 +312,18 @@ namespace Nuake
 				
 				JPH::TriangleList triangles;
 				triangles.reserve(indices.size());
-
+				Matrix4 transform = rb->_transform;
+				transform[3] = Vector4(0, 0, 0, 1.0f);
 				for (int i = 0; i < indices.size() - 3; i += 3)
 				{
 					const Vector3& p1 = vertices[indices[i]].position;
 					const Vector3& p2 = vertices[indices[i + 1]].position;
 					const Vector3& p3 = vertices[indices[i + 2]].position;
 
-					triangles.push_back(JPH::Triangle(JPH::Float3(p1.x, p1.y, p1.z), JPH::Float3(p2.x, p2.y, p2.z), JPH::Float3(p3.x, p3.y, p3.z)));
+					const Vector4& tp1 = transform * Vector4(p1, 1.0f);
+					const Vector4& tp2 = transform * Vector4(p2, 1.0f);
+					const Vector4& tp3 = transform * Vector4(p3, 1.0f);
+					triangles.push_back(JPH::Triangle(JPH::Float3(tp1.x, tp1.y, tp1.z), JPH::Float3(tp2.x, tp2.y, tp2.z), JPH::Float3(tp3.x, tp3.y, tp3.z)));
 				}
 
 				JPH::MeshShapeSettings shapeSettings(std::move(triangles));
diff --git a/Nuake/src/Core/Physics/Rigibody.h b/Nuake/src/Core/Physics/Rigibody.h
index 29186127..ebe76d66 100644
--- a/Nuake/src/Core/Physics/Rigibody.h
+++ b/Nuake/src/Core/Physics/Rigibody.h
@@ -16,10 +16,11 @@ namespace Nuake
 			Entity _entity;
 		public:
 			float _mass;
+			Matrix4 _transform;
 
 			RigidBody();
 			RigidBody(glm::vec3 position, Entity handle);
-			RigidBody(float mass, glm::vec3 position, Ref<PhysicShape> shape, Entity entity, glm::vec3 initialVel = glm::vec3(0, 0, 0));
+			RigidBody(float mass, glm::vec3 position, Matrix4 _transform, Ref<PhysicShape> shape, Entity entity, glm::vec3 initialVel = glm::vec3(0, 0, 0));
 
 			void UpdateTransform();
 
diff --git a/Nuake/src/Core/Physics/Rigidbody.cpp b/Nuake/src/Core/Physics/Rigidbody.cpp
index f0337eec..1135022c 100644
--- a/Nuake/src/Core/Physics/Rigidbody.cpp
+++ b/Nuake/src/Core/Physics/Rigidbody.cpp
@@ -18,11 +18,12 @@ namespace Nuake
 			
 		}
 
-		RigidBody::RigidBody(float mass, glm::vec3 position, Ref<PhysicShape> shape, Entity entity, glm::vec3 initialVel) :
+		RigidBody::RigidBody(float mass, glm::vec3 position, Matrix4 transform, Ref<PhysicShape> shape, Entity entity, glm::vec3 initialVel) :
 			_position(position),
 			_collisionShape(shape),
 			_mass(mass),
-			_entity(entity)
+			_entity(entity),
+			_transform(transform)
 		{
 			
 		}
diff --git a/Nuake/src/Scene/Systems/PhysicsSystem.cpp b/Nuake/src/Scene/Systems/PhysicsSystem.cpp
index 28a44edc..59ccd449 100644
--- a/Nuake/src/Scene/Systems/PhysicsSystem.cpp
+++ b/Nuake/src/Scene/Systems/PhysicsSystem.cpp
@@ -25,28 +25,28 @@ namespace Nuake
 		auto view = m_Scene->m_Registry.view<TransformComponent, RigidBodyComponent>();
 		for (auto e : view)
 		{
-			auto [transform, rigidbody] = view.get<TransformComponent, RigidBodyComponent>(e);
+			auto [transform, rigidBodyComponent] = view.get<TransformComponent, RigidBodyComponent>(e);
 			Entity ent = Entity({ e, m_Scene });
 			Ref<Physics::RigidBody> rigidBody;
 			if (ent.HasComponent<BoxColliderComponent>())
 			{
-				float mass = rigidbody.Mass;
+				float mass = rigidBodyComponent.Mass;
 
 				BoxColliderComponent& boxComponent = ent.GetComponent<BoxColliderComponent>();
 				Ref<Physics::Box> boxShape = CreateRef<Physics::Box>(boxComponent.Size);
 
-				rigidBody = CreateRef<Physics::RigidBody>(mass, transform.GetGlobalPosition(), boxShape, ent);
+				rigidBody = CreateRef<Physics::RigidBody>(rigidBodyComponent.Mass, transform.GetGlobalPosition(), transform.GetGlobalTransform(), boxShape, ent);
 				PhysicsManager::Get()->RegisterBody(rigidBody);
  			}
 
 			if (ent.HasComponent<SphereColliderComponent>())
 			{
-				float mass = rigidbody.Mass;
+				float mass = rigidBodyComponent.Mass;
 
 				const auto& component = ent.GetComponent<SphereColliderComponent>();
 				auto shape = CreateRef<Physics::Sphere>(component.Radius);
 
-				rigidBody = CreateRef<Physics::RigidBody>(mass, transform.GetGlobalPosition(), shape, ent);
+				rigidBody = CreateRef<Physics::RigidBody>(rigidBodyComponent.Mass, transform.GetGlobalPosition(), transform.GetGlobalTransform(), shape, ent);
 				PhysicsManager::Get()->RegisterBody(rigidBody);
 			}
 
@@ -69,7 +69,7 @@ namespace Nuake
 					}
 					Ref<Mesh> mesh = submeshes[subMeshId];
 					auto shape = CreateRef<Physics::MeshShape>(mesh);
-					rigidBody = CreateRef<Physics::RigidBody>(1.0f, transform.GetGlobalPosition(), shape, ent);
+					rigidBody = CreateRef<Physics::RigidBody>(rigidBodyComponent.Mass, transform.GetGlobalPosition(), transform.GetGlobalTransform(), shape, ent);
 					PhysicsManager::Get()->RegisterBody(rigidBody);
 				}
 			}