imagine my shock the week-long issue predicated on scaling issues (constraint solving is now scaling aware, automatic ragdoll rigging seems to work, but need to actually bind the transforms to joint matrices)

bin/data/config.json

@@ -8,7 +8,7 @@
 				"useLightmaps": false,
 				"max": 32,
 				"shadows": {
-					"enabled": false,
+					"enabled": true,
 					"update": 4,
 					"max": 16,
 					"samples": 2
@@ -351,7 +351,10 @@
 			},
 			"debug draw": {
 				"static": true,
-				"dynamic": true
+				"dynamic": true,
+				"contacts": false,
+				"constraints": true,
+				"rays": false
 			},
 			"fixed step": true,
 			"substeps": 4

bin/data/entities/cesiumMan.json

@@ -14,7 +14,7 @@
 			"axis": [ 0, 1, 0 ],
 			"angle": 0
 		},
-		"scale": [ 5.0, 5.0, 5.0 ]
+		"scale": [ 10.0, 10.0, 10.0 ]
 	},
 	"system": {
 		"hot reload": {
@@ -27,6 +27,9 @@
 			"debug": {
 				"print": {
 					"animations": true
+				},
+				"draw": {
+					"armature": true
 				}
 			},
 			"exporter": {

bin/data/entities/craeture.json

@@ -2,8 +2,8 @@
 	"type": "Object",
 	"name": "Craeture",
 	"ignore": false,
+	"import": "./craetureModel.json",
 	"assets": [
-		"./craetureModel.json",
 		"./scripts/craeture.lua"
 	],
 	"behaviors": [
@@ -11,13 +11,10 @@
 		"SoundEmitterBehavior"
 	],
 	"transform": {
+		"position": [ -7.04676, 10.169565, -44.0822 ],
 		//"position": [ 0, 1.5, 21 ],
-		"position": [ 16.3489, 1.37972, -68.1571 ],
+		//"position": [ 16.3489, 1.37972, -68.1571 ],
-		"rotation": {
+		"scale": [ 0.3, 0.3, 0.3 ]
-			"axis": [ 0, 1, 0 ],
-			"angle": 0
-		},
-		"scale": [ 1, 1, 1 ]
 	},
 	"system": {
 		"hot reload": {
@@ -26,7 +23,17 @@
 	},
 	"metadata": {
 		"name": "Craeture",
-
+		"graph": {
+			"debug": {
+				"draw": {
+					"armature": true
+				}
+			},
+			"physics": {
+				"ragdoll": true
+			}
+		}
+		/*
 		"physics": {
 			"gravity": [ 0, -9.81, 0 ],
 			"inertia": [ 0, 0, 0 ],
@@ -41,5 +48,6 @@
 			
 			"shared": false
 		}
+		*/
 	}
 }

bin/data/entities/craetureModel.json

@@ -7,9 +7,7 @@
 	//	"/player/bear.glb"
 		{ "filename": "/player/bear/graph.json" }
 	],
-	"behaviors": [
+	"behaviors": [],
-		"CraetureBehavior"
-	],
 	"transform": {
 		"position": [ 0, -2.5, 0 ],
 	//	"position": [ 12.5715, 3.53811, 7.6238 ],
@@ -18,7 +16,7 @@
 			"axis": [ 0, 1, 0 ],
 			"angle": 0
 		},
-		"scale": [ 0.35, 0.35, 0.35 ],
+	//	"scale": [ 0.35, 0.35, 0.35 ],
 		"reference": "parent"
 	},
 	"system": {
@@ -50,6 +48,7 @@
 				"filter": "linear",
 				"flip textures": false,
 				"invert": false,
+				"render": false,
 				"skinned": true
 			},
 			"animations": {

bin/data/entities/door.json

@@ -6,8 +6,9 @@
 	"metadata": {
 		"physics": {
 			"mass": 0,
-			"inertia": [0, 0, 0],
+		//	"inertia": [0, 0, 0],
-			"type": "bounding box"
+		//	"type": "bounding box"
+			"type": "mesh"
 		}
 	}
 }

bin/data/shaders/base/line/frag.glsl

@@ -5,5 +5,7 @@ layout (location = 0) in vec4 inColor;
 layout (location = 0) out vec4 outColor;
 
 void main() {
-	outColor = inColor;
+	// needs to be specified like this for some unknown reason
+	outColor.rgb = inColor.rgb;
+	outColor.a = inColor.a;
 }

engine/inc/uf/engine/graph/graph.h

@@ -150,6 +150,7 @@ namespace uf {
 		void UF_API override( pod::Graph& );
 		void UF_API animate( pod::Graph&, const uf::stl::string&, float = 1, bool = true );
 
+		uf::stl::vector<pod::Bone> collectBones( const pod::Graph& graph, const pod::Node& node );
 		uf::stl::vector<pod::OBB> obbFromSkin( const pod::Graph& graph, const pod::Node& node );
 		void rigRagdoll( pod::Graph& graph, pod::Node& node );
 		

engine/inc/uf/engine/graph/pod.inl

@@ -58,6 +58,11 @@ namespace pod {
 		uf::stl::vector<pod::Matrix4f> inverseBindMatrices;
 	};
 
+	struct UF_API Bone {
+		pod::Vector3f start;
+		pod::Vector3f end;
+	};
+
 	struct UF_API Animation {
 		struct Sampler {
 			uf::stl::string interpolator;

engine/inc/uf/utils/math/physics/common.h

@@ -12,6 +12,8 @@ namespace impl {
 
 	pod::Transform<> getTransform( const pod::PhysicsBody& body );
 	pod::Vector3f getPosition( const pod::PhysicsBody& body, bool useTransform = false );
+	pod::Vector3f apply( const pod::Transform<>& t, const pod::Vector3f& p );
+	pod::Vector3f applyInverse( const pod::Transform<>& t, const pod::Vector3f& p );
 
 	pod::PhysicsBody physicsBodyHullView( const pod::PhysicsBody& body, int32_t index = -1 );
 	pod::PhysicsBody physicsBodyTriView( const pod::TriangleWithNormal triangle, const pod::PhysicsBody& body = {} );

engine/inc/uf/utils/math/physics/impl.h

@@ -58,8 +58,8 @@ namespace uf {
 		const pod::CollisionEvent::events_t& UF_API getCollisionEvents( const pod::World& world );
 		pod::CollisionEvent::events_t UF_API getCollisionEvents( const pod::PhysicsBody& body );
 		
-		pod::PhysicsBody& UF_API create( uf::Object&, float mass = 0.0f, const pod::Vector3f& = {} );
+		pod::PhysicsBody& UF_API create( uf::Object&, float mass = 0.0f, const pod::Vector3f& = {}, const pod::Quaternion<>& = {0,0,0,1} );
-		pod::PhysicsBody& UF_API create( pod::World&, uf::Object&, float mass = 0.0f, const pod::Vector3f& = {} );
+		pod::PhysicsBody& UF_API create( pod::World&, uf::Object&, float mass = 0.0f, const pod::Vector3f& = {}, const pod::Quaternion<>& = {0,0,0,1} );
 		void UF_API destroy( uf::Object& );
 		void UF_API destroy( pod::PhysicsBody& );
 	}

engine/inc/uf/utils/math/physics/structs.h

@@ -407,7 +407,8 @@ namespace pod {
 		float inverseMass = 0.0f;
 		int32_t viewIndex = -1; // -1 means it's not an aliased view
 
-		pod::Vector3f offset = {};
+		pod::Vector3f offsetPosition = {};
+		pod::Quaternion<> offsetOrientation = { 0, 0, 0, 1 };
 
 		pod::Vector3f velocity = {};
 		pod::Vector3f forceAccumulator = {};
@@ -437,7 +438,6 @@ namespace pod {
 		bool resolveBlockContact = true; // attempts to resolve an invalid BlockNxN solve with an BlockN-1xN-1 solve
 		bool useGjk = false; // currently don't have a way to broadphase mesh => narrowphase tri via GJK
 		
-		pod::CollisionMask debugDraw = pod::Collider::CATEGORY_NONE; // draws wireframe of collision bodies
 		bool async = false; // dedicated thread for physics sim
 		float timestep = 1.0f / 60.0f; // timestep for fixed step ticks
 		bool fixedStep = true; // run physics simulation with a fixed delta time (with accumulation), rather than rely on actual engine deltatime
@@ -485,6 +485,13 @@ namespace pod {
 		};
 
 		float groundedThreshold = 0.7f; // threshold before marking a body as grounded
+
+		struct {
+			pod::CollisionMask mask = pod::Collider::CATEGORY_NONE; // draws wireframe of collision bodies
+			bool contacts = false;
+			bool constraints = false;
+			bool rays = false;
+		} debugDraw;
 	};
 
 	struct World {

engine/src/engine/ext/ext.cpp

@@ -223,17 +223,24 @@ void UF_API uf::load( ext::json::Value& json ) {
 		}
 		auto& configEnginePhysicsDebugDrawJson = configEnginePhysicsJson["debug draw"];
 		if ( ext::json::isObject( configEnginePhysicsDebugDrawJson ) ) {
-			if ( configEnginePhysicsDebugDrawJson["static"].as<bool>() ) uf::physics::settings.debugDraw |= pod::Collider::CATEGORY_STATIC;
+			if ( configEnginePhysicsDebugDrawJson["static"].as<bool>() ) uf::physics::settings.debugDraw.mask |= pod::Collider::CATEGORY_STATIC;
-			if ( configEnginePhysicsDebugDrawJson["dynamic"].as<bool>() ) uf::physics::settings.debugDraw |= pod::Collider::CATEGORY_DYNAMIC;
+			if ( configEnginePhysicsDebugDrawJson["dynamic"].as<bool>() ) uf::physics::settings.debugDraw.mask |= pod::Collider::CATEGORY_DYNAMIC;
-			if ( configEnginePhysicsDebugDrawJson["player"].as<bool>() ) uf::physics::settings.debugDraw |= pod::Collider::CATEGORY_PLAYER;
+			if ( configEnginePhysicsDebugDrawJson["player"].as<bool>() ) uf::physics::settings.debugDraw.mask |= pod::Collider::CATEGORY_PLAYER;
-			if ( configEnginePhysicsDebugDrawJson["npc"].as<bool>() ) uf::physics::settings.debugDraw |= pod::Collider::CATEGORY_NPC;
+			if ( configEnginePhysicsDebugDrawJson["npc"].as<bool>() ) uf::physics::settings.debugDraw.mask |= pod::Collider::CATEGORY_NPC;
-			if ( configEnginePhysicsDebugDrawJson["trigger"].as<bool>() ) uf::physics::settings.debugDraw |= pod::Collider::CATEGORY_TRIGGER;
+			if ( configEnginePhysicsDebugDrawJson["trigger"].as<bool>() ) uf::physics::settings.debugDraw.mask |= pod::Collider::CATEGORY_TRIGGER;
-			if ( configEnginePhysicsDebugDrawJson["projectile"].as<bool>() ) uf::physics::settings.debugDraw |= pod::Collider::CATEGORY_PROJECTILE;
+			if ( configEnginePhysicsDebugDrawJson["projectile"].as<bool>() ) uf::physics::settings.debugDraw.mask |= pod::Collider::CATEGORY_PROJECTILE;
-			if ( configEnginePhysicsDebugDrawJson["character"].as<bool>() ) uf::physics::settings.debugDraw |= pod::Collider::CATEGORY_CHARACTER;
+			if ( configEnginePhysicsDebugDrawJson["character"].as<bool>() ) uf::physics::settings.debugDraw.mask |= pod::Collider::CATEGORY_CHARACTER;
-			if ( configEnginePhysicsDebugDrawJson["all"].as<bool>() ) uf::physics::settings.debugDraw |= pod::Collider::CATEGORY_ALL;
+			if ( configEnginePhysicsDebugDrawJson["all"].as<bool>() ) uf::physics::settings.debugDraw.mask |= pod::Collider::CATEGORY_ALL;
+			
+			uf::physics::settings.debugDraw.contacts = configEnginePhysicsDebugDrawJson["contacts"].as( uf::physics::settings.debugDraw.contacts );
+			uf::physics::settings.debugDraw.constraints = configEnginePhysicsDebugDrawJson["constraints"].as( uf::physics::settings.debugDraw.constraints );
+			uf::physics::settings.debugDraw.rays = configEnginePhysicsDebugDrawJson["rays"].as( uf::physics::settings.debugDraw.rays );
 
 		} else if ( configEnginePhysicsDebugDrawJson.is<bool>() && configEnginePhysicsDebugDrawJson.as<bool>() ) {
-			uf::physics::settings.debugDraw = pod::Collider::CATEGORY_ALL;
+			uf::physics::settings.debugDraw.mask = pod::Collider::CATEGORY_ALL;
+			uf::physics::settings.debugDraw.contacts = true;
+			uf::physics::settings.debugDraw.constraints = true;
+			uf::physics::settings.debugDraw.rays = true;
 		}
 	}
 

engine/src/engine/graph/animation.cpp

@@ -76,17 +76,18 @@ namespace {
 	#endif
 	}
 
-	pod::Matrix4f localMatrix( pod::Graph& graph, int32_t index ) {
+	pod::Matrix4f localMatrix( const pod::Graph& graph, int32_t index ) {
 		auto& node = 0 < index && index <= graph.nodes.size() ? graph.nodes[index] : graph.root;
+		auto& transform = node.transform;
 		return
-			uf::matrix::translate( uf::matrix::identity(), node.transform.position ) *
+			uf::matrix::translate( uf::matrix::identity(), transform.position ) *
-			uf::quaternion::matrix(node.transform.orientation) *
+			uf::quaternion::matrix(transform.orientation) *
-			uf::matrix::scale( uf::matrix::identity(), node.transform.scale ) *
+			uf::matrix::scale( uf::matrix::identity(), transform.scale ) *
-			node.transform.model;
+			transform.model;
 	}
-	pod::Matrix4f worldMatrix( pod::Graph& graph, int32_t index ) {
+	pod::Matrix4f worldMatrix( const pod::Graph& graph, int32_t index ) {
 		pod::Matrix4f matrix = ::localMatrix( graph, index );
-		auto& node = *uf::graph::find( graph, index );
+		auto& node = 0 < index && index <= graph.nodes.size() ? graph.nodes[index] : graph.root;
 		int32_t parent = node.parent;
 		while ( 0 < parent && parent <= graph.nodes.size() ) {
 			matrix = ::localMatrix( graph, parent ) * matrix;
@@ -261,6 +262,25 @@ void uf::graph::updateAnimation( pod::Graph& graph, pod::Node& node ) {
 }
 
 // separate function in the event something later might need it
+uf::stl::vector<pod::Bone> uf::graph::collectBones( const pod::Graph& graph, const pod::Node& node ) {
+	auto& storage = ::getGraphStorage(uf::scene::getCurrentScene());
+	auto& name = graph.skins[node.skin];
+	auto& skin = storage.skins[name];
+
+	uf::stl::vector<pod::Bone> bones( graph.nodes.size() );
+	for ( auto i = 0; i < skin.joints.size(); ++i ) {
+		auto nodeID = skin.joints[i];
+		auto& node = graph.nodes[nodeID];
+		if ( node.parent < 0 ) continue;
+		auto& parent = graph.nodes[node.parent];
+
+		auto tA = uf::transform::flatten( parent.transform );
+		auto tB = uf::transform::flatten( node.transform );
+
+		bones[nodeID] = pod::Bone{ tA.position, tB.position };
+	}
+	return bones;
+}
 uf::stl::vector<pod::OBB> uf::graph::obbFromSkin( const pod::Graph& graph, const pod::Node& node ) {
 	const float wThresold = 0.15f;
 
@@ -290,11 +310,11 @@ uf::stl::vector<pod::OBB> uf::graph::obbFromSkin( const pod::Graph& graph, const
 
 			for ( auto w = 0; w < 4; ++w ) {
 				if ( weights[w] <= wThresold ) continue;
-				uint16_t boneID = joints[w];
+				uint16_t jointID = joints[w];
-				pod::Vector3f localPos = uf::matrix::multiply( skin.inverseBindMatrices[boneID], pos );
+				pod::Vector3f localPos = uf::matrix::multiply( skin.inverseBindMatrices[jointID], pos );
 
-				bounds[boneID].center = uf::vector::min( bounds[boneID].center, localPos );
+				bounds[jointID].center = uf::vector::min( bounds[jointID].center, localPos );
-				bounds[boneID].extent = uf::vector::max( bounds[boneID].extent, localPos );
+				bounds[jointID].extent = uf::vector::max( bounds[jointID].extent, localPos );
 			}
 		}
 	}
@@ -310,5 +330,107 @@ uf::stl::vector<pod::OBB> uf::graph::obbFromSkin( const pod::Graph& graph, const
 }
 
 void uf::graph::rigRagdoll( pod::Graph& graph, pod::Node& node ) {
-	// scrapped for now
+	auto& storage = ::getGraphStorage(uf::scene::getCurrentScene());
+	auto& name = graph.skins[node.skin];
+	auto& skin = storage.skins[name];
+
+	auto bounds = uf::graph::obbFromSkin( graph, node );
+	auto bones = uf::graph::collectBones( graph, node );
+	auto armatureTransform = uf::transform::flatten( graph.root.entity->getComponent<pod::Transform<>>() );
+
+	// create physics bodies
+	uf::stl::vector<pod::PhysicsBody*> bodies( graph.nodes.size(), NULL );
+
+	for ( auto i = 0; i < skin.joints.size(); ++i ) {
+		auto nodeID = skin.joints[i];
+		auto& node = graph.nodes[nodeID];
+		if ( node.parent < 0 ) continue;
+		auto& entity = *node.entity;
+		auto transform = uf::transform::flatten( entity.getComponent<pod::Transform<>>() );
+
+		// this definitely could be done better......
+		auto& bone = bones[nodeID];
+		auto& obb = bounds[i];
+	//	if ( obb.extent.x < 0 ) continue;
+		// transform center into world space
+		auto boneCenter = uf::transform::apply( armatureTransform, (bone.end + bone.start) * 0.5f );
+		// transform back into local space
+		auto offset = uf::transform::applyInverse( transform, boneCenter );
+		auto orientation = uf::quaternion::identity();
+		float length = uf::vector::norm( offset ) * 2.0f;
+
+		float mass = 100.0f;
+		auto& body = uf::physics::create( entity, mass, offset, orientation );
+		if ( obb.extent.x < 0 ) {
+			uf::physics::initialize( body, pod::Sphere{ 0.1f } );
+		} else {
+			uf::physics::initialize( body, pod::OBB{ pod::Vector3f{}, obb.extent * armatureTransform.scale } );
+		}
+		//uf::physics::initialize( body, pod::Capsule{ 0.5f, length * 0.5f } );
+
+		bodies[nodeID] = &body;
+	}
+
+	// create constraints
+	for ( auto i = 0; i < skin.joints.size(); ++i ) {
+		auto nodeID = skin.joints[i];
+		auto& node = graph.nodes[nodeID];
+		if ( !bodies[node.parent] ) continue; // no parent body, skip constraint
+		if ( !bodies[nodeID] ) continue; // no node body, skip constraint
+		
+		auto& bodyA = *bodies[node.parent];
+		auto& bodyB = *bodies[nodeID];
+
+		auto tA = uf::transform::flatten( *bodyA.transform ); // bone start
+		auto tB = uf::transform::flatten( *bodyB.transform ); // bone end
+
+		auto pivot = tA.position;
+		auto axis = uf::vector::normalize( tB.position - tA.position );
+
+		auto& constraint = uf::physics::constrain( bodyA, bodyB );
+		uf::physics::constrainConeTwist( constraint, pivot, axis );
+	}
+
+	// works only pre-init and for no scaling
+#if 0
+	for ( auto i = 0; i < skin.joints.size(); ++i ) {
+		auto nodeID = skin.joints[i];
+		auto& node = graph.nodes[nodeID];
+		if ( node.parent < 0 ) continue;
+		auto& entity = *node.entity;
+
+		auto boneStart = uf::transform::applyInverse( node.transform, pod::Vector3f{0, 0, 0} );
+		auto offset = uf::vector::lerp( boneStart, pod::Vector3f{}, 0.5f );
+		auto orientation = uf::quaternion::identity();
+		// float length = ...
+
+		float mass = 0.0f;
+		auto& body = uf::physics::create( entity, mass, offset, orientation );
+		uf::physics::initialize( body, pod::Sphere{ 0.5f } );
+
+		bodies[nodeID] = &body;
+	}
+
+	// create constraints
+	for ( auto i = 0; i < skin.joints.size(); ++i ) {
+		auto nodeID = skin.joints[i];
+		auto& node = graph.nodes[nodeID];
+		if ( node.parent < 0 ) continue;
+		auto& parent = graph.nodes[node.parent];
+		if ( bodies.count( node.parent ) == 0 ) continue;
+		if ( bodies.count( nodeID ) == 0 ) continue;
+		
+		auto& bodyA = bodies[node.parent];
+		auto& bodyB = bodies[nodeID];
+
+		auto tA = uf::transform::flatten( parent.transform );
+		auto tB = uf::transform::flatten( node.transform );
+
+		auto pivot = tA.position;
+		auto axis = uf::vector::normalize( tB.position - tA.position );
+
+		auto& constraint = uf::physics::constrain( *bodyA, *bodyB );
+		uf::physics::constrainConeTwist( constraint, pivot, axis );
+	}
+#endif
 }

engine/src/engine/graph/graph.cpp

@@ -1113,17 +1113,6 @@ void uf::graph::process( pod::Graph& graph ) {
 	}
 */
 
-	UF_DEBUG_TIMER_MULTITRACE("Rigging ragdolls");
-	for ( auto& node : graph.nodes ) {
-		if ( node.skin < 0 || node.mesh < 0 ) continue;
-		ext::json::Value tag = ext::json::find( node.name, graphMetadataJson["tags"] );
-		if ( ext::json::isNull( tag ) ) tag["physics"] = graphMetadataJson["physics"];
-		if ( tag["physics"]["ragdoll"].as<bool>(false) ) {
-			uf::graph::rigRagdoll( graph, node );
-		}
-	}
-	UF_DEBUG_TIMER_MULTITRACE_END("Rigged ragdolls.");
-
 	UF_DEBUG_TIMER_MULTITRACE("Updating master graph");
 #if UF_GRAPH_EXTENDED
 	uf::graph::reload( graph );
@@ -1406,6 +1395,15 @@ void uf::graph::initialize( pod::Graph& graph ) {
 		if ( entity->getUid() == 0 ) entity->initialize();
 	});
 
+	auto& graphMetadataJson = graph.metadata;
+	for ( auto& node : graph.nodes ) {
+		if ( node.skin < 0 || node.mesh < 0 ) continue;
+		ext::json::Value tag = ext::json::find( node.name, graphMetadataJson["tags"] );
+		if ( ext::json::isNull( tag ) ) tag["physics"] = graphMetadataJson["physics"];
+		if ( tag["physics"]["ragdoll"].as<bool>(false) ) {
+			uf::graph::rigRagdoll( graph, node );
+		}
+	}
 
 	auto& scene = uf::scene::getCurrentScene();
 	scene.invalidateGraph();

engine/src/engine/object/behaviors/graph.cpp

@@ -13,6 +13,7 @@
 #include <uf/utils/mesh/mesh.h>
 #include <uf/utils/string/hash.h>
 #include <uf/utils/io/inputs.h>
+#include <uf/utils/debug/draw.h>
 
 UF_BEHAVIOR_REGISTER_CPP(uf::GraphBehavior)
 UF_BEHAVIOR_TRAITS_CPP(uf::GraphBehavior, ticks = true, renders = false, thread = "")
@@ -68,13 +69,32 @@ void uf::GraphBehavior::initialize( uf::Object& self ) {
 }
 void uf::GraphBehavior::destroy( uf::Object& self ) {}
 void uf::GraphBehavior::tick( uf::Object& self ) {
-	/* Test */ {
+	if ( !this->hasComponent<pod::Graph>() ) return;
-		TIMER(1, uf::inputs::kbm::states::T ) {
-			UF_MSG_DEBUG("Regenerating graph graphics...");
 	auto& graph = this->getComponent<pod::Graph>();
-			uf::graph::reload( graph );
+	if ( !graph.metadata["debug"]["draw"]["armature"].as<bool>(false) ) return;
+	auto& transform = this->getComponent<pod::Transform<>>();
+	for ( auto& node : graph.nodes ) {
+		if ( node.skin < 0 || node.mesh < 0 ) continue;
+		auto bones = uf::graph::collectBones( graph, node );
+		for ( auto& bone : bones ) {
+			bone.start = uf::transform::apply( transform, bone.start );
+			bone.end = uf::transform::apply( transform, bone.end );
+
+			uf::debug::drawLine( bone.start, bone.end, pod::Vector4f{ 0, 1, 0, 1 } );
 		}
 	}
+
+	static bool hid = false;
+	if ( hid ) return;
+	hid = true;
+	this->process([&](uf::Entity* entity){
+		if ( !entity->hasComponent<uf::Graphic>() ) return;
+		auto& graphic = entity->getComponent<uf::Graphic>();
+		if ( !graphic.initialized ) return;
+		auto& descriptorSet = graphic.getDescriptorSet();
+		descriptorSet.metadata.process = false;
+		uf::renderer::states::rebuild = true;
+	});
 }
 void uf::GraphBehavior::render( uf::Object& self ) {}
 void uf::GraphBehavior::Metadata::serialize( uf::Object& self, uf::Serializer& serializer ) {}

engine/src/ext/lua/usertypes/physics.cpp

@@ -31,7 +31,8 @@ namespace binds {
 
 		pod::Transform<> getTransform( pod::PhysicsBody& body ) {
 			pod::Transform<> t;
-			t.position = body.offset;
+			t.position = body.offsetPosition;
+			t.orientation = body.offsetOrientation;
 			t.reference = body.transform;
 			return uf::transform::flatten( t );
 		}

engine/src/utils/debug/draw.cpp

@@ -219,7 +219,7 @@ void uf::debug::draw( float dt ) {
 		graphic.material.device = &uf::renderer::device;
 
 		// to-do: bin by descriptor instead of one global set
-		graphic.descriptor.depth.test = true;
+		graphic.descriptor.depth.test = false;
 		graphic.descriptor.depth.write = false;
 		graphic.descriptor.renderTarget = 1; // "forward";
 		graphic.descriptor.topology = uf::renderer::enums::PrimitiveTopology::LINE_LIST;

engine/src/utils/math/physics/common.cpp

@@ -65,12 +65,9 @@ void impl::updateActivity( pod::PhysicsBody& body, float dt ) {
 // to-do: find a succinct way to explain this madness
 pod::Transform<> impl::getTransform( const pod::PhysicsBody& body ) {
 	pod::Transform<> t;
-	t.position = body.offset;
+	t.position = body.offsetPosition;
-#if UF_PHYSICS_SYNC_TRANSFORMS
+	t.orientation = body.offsetOrientation;
-	t.reference = const_cast<pod::Transform<>*>( &body.flattenedTransform );
-#else
 	t.reference = body.transform;
-#endif
 	return uf::transform::flatten( t );
 }
 // get position of a body, uses bounds center or transform's position
@@ -78,6 +75,23 @@ pod::Vector3f impl::getPosition( const pod::PhysicsBody& body, bool useTransform
 	if ( !useTransform ) return impl::aabbCenter( body.bounds );
 	return impl::getTransform( body ).position;
 }
+// applies a transform
+pod::Vector3f impl::apply( const pod::Transform<>& t, const pod::Vector3f& p ) {
+	return uf::transform::apply( t, p );
+}
+// applies an inverse transform
+pod::Vector3f impl::applyInverse( const pod::Transform<>& t, const pod::Vector3f& p ) {
+	return uf::transform::applyInverse( t, p );
+}
+/*
+// these isometrically applies a transform
+pod::Vector3f impl::apply( const pod::Transform<>& t, const pod::Vector3f& p ) {
+	return uf::quaternion::rotate( t.orientation, p + t.position );
+}
+pod::Vector3f impl::applyInverse( const pod::Transform<>& t, const pod::Vector3f& p ) {
+	return uf::quaternion::rotate( uf::quaternion::inverse( t.orientation ), p - t.position );
+}
+*/
 // creates a view of a hull body
 pod::PhysicsBody impl::physicsBodyHullView( const pod::PhysicsBody& body, int32_t index ) {
 	pod::PhysicsBody view = body;
@@ -94,7 +108,8 @@ pod::PhysicsBody impl::physicsBodyTriView( const pod::TriangleWithNormal triangl
 		view.collider.triangle.normal = impl::triangleNormal( (const pod::Triangle&) triangle );
 	}
 	// assume triangle is already transformed
-	view.offset = {};
+	view.offsetPosition = {};
+	view.offsetOrientation = {0,0,0,1};
 	view.transform = NULL;
 	return view;
 }

engine/src/utils/math/physics/constraints/ballSocket.cpp

@@ -14,8 +14,11 @@ void impl::solveBallSocketConstraint( pod::Constraint& constraint, float dt ) {
 	auto tA = impl::getTransform( a );
 	auto tB = impl::getTransform( b );
 
-	auto rA = uf::quaternion::rotate( tA.orientation, joint.localAnchorA );
+	auto anchorA = joint.localAnchorA * tA.scale;
-	auto rB = uf::quaternion::rotate( tB.orientation, joint.localAnchorB );
+	auto anchorB = joint.localAnchorB * tB.scale;
+
+	auto rA = uf::quaternion::rotate( tA.orientation, anchorA );
+	auto rB = uf::quaternion::rotate( tB.orientation, anchorB );
 
 	pod::Matrix3f K = {};
 	pod::Vector3f axes[3] = { {1,0,0}, {0,1,0}, {0,0,1} };
@@ -63,13 +66,12 @@ pod::Constraint& uf::physics::constrainBallSocket( pod::Constraint& constraint,
 void impl::drawBallSocket( const pod::Constraint& constraint ) {
 	if ( !constraint.a || !constraint.b ) return;
 
-	auto tA = impl::getTransform(*constraint.a);
-	auto tB = impl::getTransform(*constraint.b);
-
 	const auto& joint = constraint.ballSocket;
+	auto tA = impl::getTransform( *constraint.a );
+	auto tB = impl::getTransform( *constraint.b );
 
-	auto pA = tA.position + uf::quaternion::rotate(tA.orientation, joint.localAnchorA);
+	auto pA = uf::transform::apply( tA, joint.localAnchorA );
-	auto pB = tB.position + uf::quaternion::rotate(tB.orientation, joint.localAnchorB);
+	auto pB = uf::transform::apply( tB, joint.localAnchorB );
 
 	uf::debug::drawLine( tA.position, pA );
 	uf::debug::drawLine( tB.position, pB );

engine/src/utils/math/physics/constraints/coneTwist.cpp

@@ -172,26 +172,26 @@ pod::Constraint& uf::physics::constrainConeTwist( pod::Constraint& constraint, c
 void impl::drawConeTwist( const pod::Constraint& constraint ) {
 	if ( !constraint.a || !constraint.b ) return;
 
-	auto tA = impl::getTransform(*constraint.a);
-	auto tB = impl::getTransform(*constraint.b);
 	const auto& joint = constraint.coneTwist;
+	auto tA = impl::getTransform( *constraint.a );
+	auto tB = impl::getTransform( *constraint.b );
 
-	auto pA = tA.position + uf::quaternion::rotate(tA.orientation, joint.localAnchorA);
+	auto pA = uf::transform::apply( tA, joint.localAnchorA );
-	auto pB = tB.position + uf::quaternion::rotate(tB.orientation, joint.localAnchorB);
+	auto pB = uf::transform::apply( tB, joint.localAnchorB );
 
-	auto taA = uf::quaternion::rotate(tA.orientation, joint.localTwistAxisA);
+	auto taA = uf::quaternion::rotate( tA.orientation, joint.localTwistAxisA );
-	auto taB = uf::quaternion::rotate(tB.orientation, joint.localTwistAxisB);
+	auto taB = uf::quaternion::rotate( tB.orientation, joint.localTwistAxisB );
 
-	auto raA = uf::quaternion::rotate(tA.orientation, joint.localReferenceAxisA);
+	auto raA = uf::quaternion::rotate( tA.orientation, joint.localReferenceAxisA );
-	auto raB = uf::quaternion::rotate(tB.orientation, joint.localReferenceAxisB);
+	auto raB = uf::quaternion::rotate( tB.orientation, joint.localReferenceAxisB );
 
-	uf::debug::drawLine( pA, pB );
+	uf::debug::drawLine( pA, pB, pod::Vector4f{ 1, 1, 0, 1 } ); // yellow
 
 	float axisLength = 0.5f;
-	uf::debug::drawLine( pA, pA + taA * axisLength );
+	uf::debug::drawLine( pA, pA + taA * axisLength, pod::Vector4f{ 1, 0, 1, 1 } ); // pink
-	uf::debug::drawLine( pB, pB + taB * axisLength );
+	uf::debug::drawLine( pB, pB + taB * axisLength, pod::Vector4f{ 1, 0, 1, 1 } );
 
 	float refLength = 0.25f;
-	uf::debug::drawLine( pA, pA + raA * refLength );
+	uf::debug::drawLine( pA, pA + raA * refLength, pod::Vector4f{ 0, 1, 1, 1 } ); // cyan
-	uf::debug::drawLine( pB, pB + raB * refLength );
+	uf::debug::drawLine( pB, pB + raB * refLength, pod::Vector4f{ 0, 1, 1, 1 } );
 }

engine/src/utils/math/physics/constraints/distance.cpp

@@ -11,8 +11,11 @@ void impl::solveDistanceConstraint( pod::Constraint& constraint, float dt ) {
 	auto tA = impl::getTransform( a );
 	auto tB = impl::getTransform( b );
 
-	auto rA = uf::quaternion::rotate( tA.orientation, joint.localAnchorA );
+	auto anchorA = joint.localAnchorA * tA.scale;
-	auto rB = uf::quaternion::rotate( tB.orientation, joint.localAnchorB );
+	auto anchorB = joint.localAnchorB * tB.scale;
+
+	auto rA = uf::quaternion::rotate( tA.orientation, anchorA );
+	auto rB = uf::quaternion::rotate( tB.orientation, anchorB );
 
 	auto pA = tA.position + rA;
 	auto pB = tB.position + rB;
@@ -58,13 +61,12 @@ pod::Constraint& uf::physics::constrainDistance( pod::Constraint& constraint, co
 void impl::drawDistance( const pod::Constraint& constraint ) {
 	if ( !constraint.a || !constraint.b ) return;
 
-	auto tA = impl::getTransform(*constraint.a);
-	auto tB = impl::getTransform(*constraint.b);
-
 	const auto& joint = constraint.distance;
+	auto tA = impl::getTransform( *constraint.a );
+	auto tB = impl::getTransform( *constraint.b );
 
-	auto pA = tA.position + uf::quaternion::rotate(tA.orientation, joint.localAnchorA);
+	auto pA = uf::transform::apply( tA, joint.localAnchorA );
-	auto pB = tB.position + uf::quaternion::rotate(tB.orientation, joint.localAnchorB);
+	auto pB = uf::transform::apply( tB, joint.localAnchorB );
 
 	uf::debug::drawLine( tA.position, pA );
 	uf::debug::drawLine( tB.position, pB );

engine/src/utils/math/physics/constraints/hinge.cpp

@@ -76,16 +76,15 @@ pod::Constraint& uf::physics::constrainHinge( pod::Constraint& constraint, const
 void impl::drawHinge( const pod::Constraint& constraint ) {
 	if ( !constraint.a || !constraint.b ) return;
 
-	auto tA = impl::getTransform(*constraint.a);
-	auto tB = impl::getTransform(*constraint.b);
-
 	const auto& joint = constraint.hinge;
+	auto tA = impl::getTransform( *constraint.a );
+	auto tB = impl::getTransform( *constraint.b );
 
-	auto pA = tA.position + uf::quaternion::rotate(tA.orientation, joint.localAnchorA);
+	auto pA = uf::transform::apply( tA, joint.localAnchorA );
-	auto pB = tB.position + uf::quaternion::rotate(tB.orientation, joint.localAnchorB);
+	auto pB = uf::transform::apply( tB, joint.localAnchorB );
 
-	auto aA = uf::quaternion::rotate(tA.orientation, joint.localAxisA);
+	auto aA = uf::quaternion::rotate( tA.orientation, joint.localAxisA );
-	auto aB = uf::quaternion::rotate(tB.orientation, joint.localAxisB);
+	auto aB = uf::quaternion::rotate( tB.orientation, joint.localAxisB );
 
 	uf::debug::drawLine( pA, pB );
 

engine/src/utils/math/physics/constraints/slider.cpp

@@ -12,8 +12,11 @@ void impl::solveSliderConstraint( pod::Constraint& constraint, float dt ) {
 	auto tA = impl::getTransform( a );
 	auto tB = impl::getTransform( b );
 
-	auto rA = uf::quaternion::rotate( tA.orientation, joint.localAnchorA );
+	auto anchorA = joint.localAnchorA * tA.scale;
-	auto rB = uf::quaternion::rotate( tB.orientation, joint.localAnchorB );
+	auto anchorB = joint.localAnchorB * tB.scale;
+
+	auto rA = uf::quaternion::rotate( tA.orientation, anchorA );
+	auto rB = uf::quaternion::rotate( tB.orientation, anchorB );
 
 	auto pA = tA.position + rA;
 	auto pB = tB.position + rB;

engine/src/utils/math/physics/constraints/spring.cpp

@@ -11,8 +11,11 @@ void impl::solveSpringConstraint( pod::Constraint& constraint, float dt ) {
 	auto tA = impl::getTransform( a );
 	auto tB = impl::getTransform( b );
 
-	auto rA = uf::quaternion::rotate( tA.orientation, joint.localAnchorA );
+	auto anchorA = joint.localAnchorA * tA.scale;
-	auto rB = uf::quaternion::rotate( tB.orientation, joint.localAnchorB );
+	auto anchorB = joint.localAnchorB * tB.scale;
+
+	auto rA = uf::quaternion::rotate( tA.orientation, anchorA );
+	auto rB = uf::quaternion::rotate( tB.orientation, anchorB );
 
 	auto worldAnchorA = tA.position + rA;
 	auto worldAnchorB = tB.position + rB;

engine/src/utils/math/physics/draw.cpp

@@ -7,6 +7,7 @@
 
 
 void impl::drawManifold( const pod::Manifold& manifold ) {
+	if ( !uf::physics::settings.debugDraw.contacts ) return;
 	for ( auto& contact : manifold.points ) {
 		auto& start = contact.point;
 		auto end = contact.point + (contact.normal * MIN(contact.penetration, 0.1f) * 2);
@@ -15,7 +16,7 @@ void impl::drawManifold( const pod::Manifold& manifold ) {
 	}
 }
 void impl::drawBody( const pod::PhysicsBody& body ) {
-	if ( !(body.collider.category & uf::physics::settings.debugDraw) ) return;
+	if ( !(body.collider.category & uf::physics::settings.debugDraw.mask) ) return;
 	switch( body.collider.type ) {
 		case pod::ShapeType::AABB:
 			impl::drawAabb( body );
@@ -44,8 +45,9 @@ void impl::drawBody( const pod::PhysicsBody& body ) {
 	}
 }
 void impl::drawConstraint( const pod::Constraint& constraint ) {
-	if ( !(constraint.a->collider.category & uf::physics::settings.debugDraw) ) return;
+	if ( !uf::physics::settings.debugDraw.constraints ) return;
-	if ( !(constraint.b->collider.category & uf::physics::settings.debugDraw) ) return;
+	if ( !(constraint.a->collider.category & uf::physics::settings.debugDraw.mask) ) return;
+	if ( !(constraint.b->collider.category & uf::physics::settings.debugDraw.mask) ) return;
 
 	switch( constraint.type ) {
 		case pod::ConstraintType::BALL_AND_SOCKET:

engine/src/utils/math/physics/impl.cpp

@@ -66,7 +66,7 @@ void uf::physics::tick( pod::World& world, float dt ) {
 		accumulator -= timestep; 
 	}
 
-	if ( uf::physics::settings.debugDraw != pod::Collider::CATEGORY_NONE ) impl::draw( world, dt );
+	if ( uf::physics::settings.debugDraw.mask != pod::Collider::CATEGORY_NONE ) impl::draw( world, dt );
 }
 void uf::physics::terminate() {
 	uf::physics::terminate( uf::scene::getCurrentScene() );
@@ -241,7 +241,7 @@ void uf::physics::step( pod::World& world, float dt ) {
 		// dispatch collision events
 		impl::dispatchManifold( manifold, collisionEvents, activeCollisions, previousCollisions );
 		// draw collision events
-		if ( uf::physics::settings.debugDraw ) impl::drawManifold( manifold );
+		if ( uf::physics::settings.debugDraw.contacts ) impl::drawManifold( manifold );
 	}
 	// dispatch exiting collisions
 	for ( auto& [ key, pair ] : previousCollisions ) {
@@ -534,7 +534,7 @@ pod::CollisionEvent::events_t uf::physics::getCollisionEvents( const pod::Physic
 	return res;
 }
 // body creation
-pod::PhysicsBody& uf::physics::create( pod::World& world, uf::Object& object, float mass, const pod::Vector3f& offset ) {
+pod::PhysicsBody& uf::physics::create( pod::World& world, uf::Object& object, float mass, const pod::Vector3f& positionOffset, const pod::Quaternion<>& orientationOffset ) {
 	auto& root = object.getComponent<pod::PhysicsBody>();
 	auto isRoot = !root.world;
 	auto& body = isRoot ? root : *(new pod::PhysicsBody);
@@ -542,10 +542,8 @@ pod::PhysicsBody& uf::physics::create( pod::World& world, uf::Object& object, fl
 	body.world = &world;
 	body.object = &object;
 	body.transform = &object.getComponent<pod::Transform<>>();
-#if UF_PHYSICS_SYNC_TRANSFORMS
+	body.offsetPosition = positionOffset;
-	body.flattenedTransform = uf::transform::flatten( *body.transform );
+	body.offsetOrientation = orientationOffset;
-#endif
-	body.offset = offset;
 	body.inverseMass = mass == 0.0f ? 0.0f : 1.0f / mass;
 	body.collider.type = {};
 
@@ -578,8 +576,8 @@ pod::PhysicsBody& uf::physics::create( pod::World& world, uf::Object& object, fl
 	return body;
 }
 
-pod::PhysicsBody& uf::physics::create( uf::Object& object, float mass, const pod::Vector3f& offset ) {
+pod::PhysicsBody& uf::physics::create( uf::Object& object, float mass, const pod::Vector3f& positionOffset, const pod::Quaternion<>& orientationOffset ) {
-	return create( getWorld(), object, mass, offset );
+	return create( getWorld(), object, mass, positionOffset, orientationOffset );
 }
 
 void uf::physics::destroy( uf::Object& object ) {

engine/src/utils/math/physics/narrowphase/epa.cpp

@@ -178,7 +178,7 @@ void impl::getSupportFace( const pod::PhysicsBody& body, const pod::Vector3f& di
 bool impl::generateClippingManifold( const pod::PhysicsBody& a, const pod::PhysicsBody& b, const pod::Contact& contact, pod::Manifold& manifold ) {
 	if ( !uf::vector::isValid(contact.point) ) return false;
 
-	auto& normal = contact.normal;
+	auto normal = contact.normal;
 
 	pod::Vector3f polyA[4];
 	pod::Vector3f polyB[4];
@@ -192,18 +192,31 @@ bool impl::generateClippingManifold( const pod::PhysicsBody& a, const pod::Physi
 		return true;
 	}
 
-	// to-do: reference face is the most perpendicular face
+	pod::Vector3f normalA = uf::vector::normalize(uf::vector::cross(polyA[1] - polyA[0], polyA[2] - polyA[0]));
-	pod::Vector3f* refPoly = polyA;
+	pod::Vector3f normalB = uf::vector::normalize(uf::vector::cross(polyB[1] - polyB[0], polyB[2] - polyB[0]));
-	pod::Vector3f* incPoly = polyB;
+
-	int refCount = countA;
+	float dotA = uf::vector::dot(normalA, normal);
-	int incCount = countB;
+	float dotB = uf::vector::dot(normalB, -normal);
+
+	pod::Vector3f* refPoly;
+	pod::Vector3f* incPoly;
+	int refCount, incCount;
+	pod::Vector3f refNormal;
+
+	if ( dotA > dotB ) {
+		refPoly = polyA; refCount = countA; refNormal = normalA;
+		incPoly = polyB; incCount = countB;
+	} else {
+		refPoly = polyB; refCount = countB; refNormal = normalB;
+		incPoly = polyA; incCount = countA;
+
+		normal = -normal;
+	}
 
 	pod::Vector3f clipBuffer[8];
 	int clipCount = incCount;
 	for ( auto i = 0; i < incCount; ++i ) clipBuffer[i] = incPoly[i];
 
-	pod::Vector3f refNormal = uf::vector::normalize(uf::vector::cross(refPoly[1] - refPoly[0], refPoly[2] - refPoly[0]));
-
 	for ( auto i = 0; i < refCount; ++i ) {
 		pod::Vector3f edgeStart = refPoly[i];
 		pod::Vector3f edgeEnd = refPoly[(i + 1) % refCount];

engine/src/utils/math/physics/narrowphase/ray.cpp

@@ -342,7 +342,7 @@ pod::RayQuery uf::physics::rayCast( const pod::Ray& ray, const pod::World& world
 		}
 	}
 	
-	if ( uf::physics::settings.debugDraw ) impl::drawRay( ray, rayHit );
+	if ( uf::physics::settings.debugDraw.rays ) impl::drawRay( ray, rayHit );
 
 	return rayHit;
 }