collider fixes

crates/unavi-scripting/src/api/wired/physics/collider.rs

@@ -7,7 +7,10 @@ use crate::{
     state::StoreState,
 };
 
-use super::bindings::wired::physics::types::{HostCollider, Shape};
+use super::bindings::{
+    types::{ShapeCylinder, Vec3},
+    wired::physics::types::{HostCollider, Shape},
+};
 
 #[derive(Debug)]
 pub struct Collider {
@@ -32,6 +35,17 @@ impl Collider {
             ref_count: RefCountCell::default(),
         }
     }
+
+    /// Returns the equivalent Bevy component.
+    pub fn component(&self) -> avian3d::prelude::Collider {
+        match self.shape {
+            Shape::Cuboid(Vec3 { x, y, z }) => avian3d::prelude::Collider::cuboid(x, y, z),
+            Shape::Cylinder(ShapeCylinder { height, radius }) => {
+                avian3d::prelude::Collider::cylinder(radius, height)
+            }
+            Shape::Sphere(radius) => avian3d::prelude::Collider::sphere(radius),
+        }
+    }
 }
 
 impl HostCollider for StoreState {

crates/unavi-scripting/src/api/wired/physics/rigid_body.rs

@@ -29,6 +29,15 @@ impl RigidBody {
             rigid_body_type,
         }
     }
+
+    /// Returns the equivalent Bevy component.
+    pub fn component(&self) -> avian3d::prelude::RigidBody {
+        match self.rigid_body_type {
+            RigidBodyType::Dynamic => avian3d::prelude::RigidBody::Dynamic,
+            RigidBodyType::Fixed => avian3d::prelude::RigidBody::Static,
+            RigidBodyType::Kinematic => avian3d::prelude::RigidBody::Kinematic,
+        }
+    }
 }
 
 impl RefCount for RigidBody {

crates/unavi-scripting/src/api/wired/scene/gltf/node.rs

@@ -1,5 +1,6 @@
 use std::cell::Cell;
 
+use avian3d::prelude::MassPropertiesBundle;
 use bevy::{
     prelude::{Transform as BTransform, *},
     utils::HashMap,
@@ -12,9 +13,12 @@ use crate::{
         utils::{RefCount, RefCountCell, RefResource},
         wired::{
             input::{bindings::InputHandler, input_handler::InputHandlerSender},
-            math::bindings::types::{Transform, Vec3},
-            physics::bindings::types::{Collider, RigidBody, RigidBodyType, Shape, ShapeCylinder},
-            scene::bindings::node::{Host, HostNode},
+            math::bindings::types::Transform,
+            physics::bindings::types::{Collider, RigidBody},
+            scene::bindings::{
+                node::{Host, HostNode},
+                scene::Node,
+            },
         },
     },
     state::{MaterialState, PrimitiveState, StoreState},
@@ -309,14 +313,25 @@ impl HostNode for StoreState {
         let node = self.table.get_mut(&self_)?;
         node.transform = value.into();
 
-        self.node_insert(
-            self_.rep(),
-            BTransform {
-                translation: value.translation.into(),
-                rotation: value.rotation.into(),
-                scale: value.scale.into(),
-            },
-        );
+        let mut transform = BTransform {
+            translation: value.translation.into(),
+            rotation: value.rotation.into(),
+            scale: value.scale.into(),
+        };
+
+        // parry3d (used in avian physics) panics when scale is 0
+        const ALMOST_ZERO: f32 = 10e-10;
+        if transform.scale.x == 0.0 {
+            transform.scale.x = ALMOST_ZERO;
+        }
+        if transform.scale.y == 0.0 {
+            transform.scale.y = ALMOST_ZERO;
+        }
+        if transform.scale.z == 0.0 {
+            transform.scale.z = ALMOST_ZERO;
+        }
+
+        self.node_insert(self_.rep(), transform);
 
         Ok(())
     }
@@ -346,21 +361,16 @@ impl HostNode for StoreState {
         let collider = match &value {
             Some(value) => {
                 let collider = self.table.get(value)?;
-                let collider = match collider.shape {
-                    Shape::Cuboid(Vec3 { x, y, z }) => avian3d::prelude::Collider::cuboid(x, y, z),
-                    Shape::Cylinder(ShapeCylinder { height, radius }) => {
-                        avian3d::prelude::Collider::cylinder(radius, height)
-                    }
-                    Shape::Sphere(radius) => avian3d::prelude::Collider::sphere(radius),
-                };
-                Some(collider)
+                Some(collider.component())
             }
             None => None,
         };
 
         let node = self.table.get_mut(&self_)?;
         node.collider = value;
 
+        compute_mass_properties(&self_, self)?;
+
         self.node_insert_option(self_.rep(), collider);
 
         Ok(())
@@ -385,19 +395,16 @@ impl HostNode for StoreState {
         let rigid_body = match &value {
             Some(value) => {
                 let rigid_body = self.table.get(value)?;
-                let rigid_body = match rigid_body.rigid_body_type {
-                    RigidBodyType::Dynamic => avian3d::prelude::RigidBody::Dynamic,
-                    RigidBodyType::Fixed => avian3d::prelude::RigidBody::Static,
-                    RigidBodyType::Kinematic => avian3d::prelude::RigidBody::Kinematic,
-                };
-                Some(rigid_body)
+                Some(rigid_body.component())
             }
             None => None,
         };
 
         let node = self.table.get_mut(&self_)?;
         node.rigid_body = value;
 
+        compute_mass_properties(&self_, self)?;
+
         self.node_insert_option(self_.rep(), rigid_body);
 
         Ok(())
@@ -457,6 +464,31 @@ impl HostNode for StoreState {
 
 impl Host for StoreState {}
 
+fn compute_mass_properties(
+    node_res: &Resource<Node>,
+    state: &mut StoreState,
+) -> Result<(), ResourceTableError> {
+    let rep = node_res.rep();
+    let node = state.table.get(node_res)?;
+
+    if node.rigid_body.is_some() {
+        if let Some(collider) = &node.collider {
+            let collider = state.table.get(collider)?;
+
+            state.node_insert(
+                rep,
+                MassPropertiesBundle::new_computed(&collider.component(), 1.0),
+            );
+        } else {
+            state.node_insert(rep, MassPropertiesBundle::default());
+        }
+    } else {
+        state.node_remove::<avian3d::prelude::MassPropertiesBundle>(rep)
+    }
+
+    Ok(())
+}
+
 fn calc_global_transform(
     transform: BTransform,
     node: &NodeRes,

crates/unavi-scripting/src/state.rs

@@ -74,21 +74,9 @@ impl StoreState {
         T::from_res(res, &self.table)
     }
 
-    /// Inserts a component into the given node.
-    pub fn node_insert<T: Component>(&mut self, node: u32, value: T) {
-        let nodes = self.entities.nodes.clone();
-
-        self.commands.push(move |world: &mut World| {
-            let nodes = nodes.read().unwrap();
-            let entity = nodes.get(&node).unwrap();
-            let mut entity = world.entity_mut(*entity);
-            entity.insert(value);
-        });
-    }
-
     /// Inserts a component into the given node if the value is `Some`.
     /// If the value is `None`, removes the component from the entity.
-    pub fn node_insert_option<T: Component>(&mut self, node: u32, value: Option<T>) {
+    pub fn node_insert_option<T: Bundle>(&mut self, node: u32, value: Option<T>) {
         let nodes = self.entities.nodes.clone();
 
         self.commands.push(move |world: &mut World| {
@@ -103,6 +91,16 @@ impl StoreState {
             }
         });
     }
+
+    /// Inserts a component into the given node.
+    pub fn node_insert<T: Bundle>(&mut self, node: u32, value: T) {
+        self.node_insert_option(node, Some(value))
+    }
+
+    /// Removes a component from the given node.
+    pub fn node_remove<T: Bundle>(&mut self, node: u32) {
+        self.node_insert_option::<T>(node, None)
+    }
 }
 
 #[derive(Default)]

wasm/example-unavi-shapes/src/lib.rs

@@ -19,34 +19,29 @@ impl GuestScript for Script {
 
         {
             let cuboid = Cuboid::new(Vec3::new(1.0, 0.5, 1.5)).to_physics_node();
-            assert!(cuboid.collider().is_some());
             cuboid.set_transform(Transform::from_translation(Vec3::new(3.0, 0.0, 0.0)));
             scene.add_node(&cuboid);
         }
 
         {
             let sphere = Sphere::new_ico(0.5).to_physics_node();
-            assert!(sphere.collider().is_some());
             sphere.set_transform(Transform::from_translation(Vec3::new(1.5, 0.0, 2.0)));
             scene.add_node(&sphere);
         }
 
         {
             let sphere = Sphere::new_uv(0.5).to_physics_node();
-            assert!(sphere.collider().is_some());
             sphere.set_transform(Transform::from_translation(Vec3::new(1.5, 0.0, 0.0)));
             scene.add_node(&sphere);
         }
 
         {
             let cylinder = Cylinder::new(0.5, 1.0).to_physics_node();
-            assert!(cylinder.collider().is_some());
             scene.add_node(&cylinder);
         }
 
         {
             let rectangle = Rectangle::new(Vec2::splat(1.0)).to_physics_node();
-            assert!(rectangle.collider().is_some());
             rectangle.set_transform(Transform::from_translation(Vec3::new(-1.5, 0.0, 0.0)));
             scene.add_node(&rectangle);
         }

wasm/test-wired-scene/src/lib.rs

@@ -12,8 +12,7 @@ mod scene;
 mod wired_math_impls;
 mod wired_scene_impls;
 
-#[derive(Default)]
-struct Script {}
+struct Script;
 
 impl GuestScript for Script {
     fn new() -> Self {
@@ -24,7 +23,7 @@ impl GuestScript for Script {
         node::test_node_api();
         scene::test_scene_api();
 
-        Script::default()
+        Script
     }
 
     fn update(&self, _delta: f32) {

wasm/test-wired-scene/src/node.rs

@@ -1,10 +1,11 @@
 use crate::{
     bindings::wired::{
         log::api::{log, LogLevel},
+        physics::types::{Collider, RigidBodyType, Shape},
         scene::{
             gltf::Gltf,
             mesh::Mesh,
-            node::{Node, Transform},
+            node::{Node, RigidBody, Transform},
         },
     },
     panic_log,
@@ -106,4 +107,18 @@ pub fn test_node_api() {
         );
         panic_log(&err);
     }
+
+    let collider = Collider::new(Shape::Sphere(0.5));
+    node.set_collider(Some(&collider));
+    assert!(node.collider().is_some());
+
+    let rigid_body = RigidBody::new(RigidBodyType::Dynamic);
+    node.set_rigid_body(Some(&rigid_body));
+    assert!(node.rigid_body().is_some());
+
+    node.set_collider(None);
+    assert!(node.collider().is_none());
+
+    node.set_rigid_body(None);
+    assert!(node.rigid_body().is_none());
 }

wasm/unavi-shapes/src/shapes/rectangle.rs

@@ -9,8 +9,6 @@ use crate::bindings::{
     },
 };
 
-const COLLIDER_DEPTH: f32 = 0.0001;
-
 pub struct Rectangle {
     size: RefCell<Vec2>,
 }
@@ -41,9 +39,7 @@ impl GuestRectangle for Rectangle {
         let node = self.to_node();
         let size = self.size();
         node.set_collider(Some(&Collider::new(Shape::Cuboid(Vec3::new(
-            size.x,
-            size.y,
-            COLLIDER_DEPTH,
+            size.x, size.y, 0.0,
         )))));
         node
     }