feat(physics): sync runtime physx body state

engine/src/Physics/PhysX/PhysXWorldBackend.cpp

@@ -295,20 +295,61 @@ void ApplyDynamicBodyProperties(
     }
 }
 
-void SyncActorBindingPose(ActorBinding& binding) {
+void SyncShapeBindingState(
+    const Components::GameObject& actorOwner,
+    ShapeBinding& shapeBinding) {
+    if (!shapeBinding.shape || !shapeBinding.collider) {
+        return;
+    }
+
+    shapeBinding.shape->setLocalPose(
+        BuildShapeLocalPose(actorOwner, *shapeBinding.collider));
+    shapeBinding.shape->setGeometry(BuildColliderGeometry(*shapeBinding.collider).any());
+    shapeBinding.shape->setFlag(physx::PxShapeFlag::eSCENE_QUERY_SHAPE, true);
+
+    const bool isTrigger = shapeBinding.collider->IsTrigger();
+    shapeBinding.shape->setFlag(physx::PxShapeFlag::eSIMULATION_SHAPE, !isTrigger);
+    shapeBinding.shape->setFlag(physx::PxShapeFlag::eTRIGGER_SHAPE, isTrigger);
+    shapeBinding.shape->userData = shapeBinding.collider;
+    shapeBinding.sourceGameObject = shapeBinding.collider->GetGameObject();
+
+    if (shapeBinding.material) {
+        shapeBinding.material->setStaticFriction(
+            std::max(0.0f, shapeBinding.collider->GetStaticFriction()));
+        shapeBinding.material->setDynamicFriction(
+            std::max(0.0f, shapeBinding.collider->GetDynamicFriction()));
+        shapeBinding.material->setRestitution(
+            std::clamp(shapeBinding.collider->GetRestitution(), 0.0f, 1.0f));
+    }
+}
+
+bool BindingNeedsActorRebuild(const ActorBinding& binding) {
+    if (!binding.actor) {
+        return false;
+    }
+
+    const bool shouldUseDynamicActor =
+        binding.rigidbody != nullptr &&
+        binding.rigidbody->GetBodyType() != PhysicsBodyType::Static;
+    const bool usesDynamicActor = binding.dynamicActor != nullptr;
+    return shouldUseDynamicActor != usesDynamicActor;
+}
+
+void SyncActorBindingState(ActorBinding& binding) {
     if (!binding.actor || !binding.owner) {
         return;
     }
 
     for (ShapeBinding& shapeBinding : binding.shapes) {
-        if (shapeBinding.shape && shapeBinding.collider) {
-            shapeBinding.shape->setLocalPose(
-                BuildShapeLocalPose(*binding.owner, *shapeBinding.collider));
-        }
+        SyncShapeBindingState(*binding.owner, shapeBinding);
     }
 
     const physx::PxTransform targetPose = ToPxTransform(*binding.owner->GetTransform());
     if (binding.dynamicActor) {
+        if (binding.rigidbody) {
+            ApplyDynamicBodyProperties(*binding.dynamicActor, *binding.rigidbody);
+        }
+
         if (binding.rigidbody && binding.rigidbody->GetBodyType() == PhysicsBodyType::Kinematic) {
             binding.dynamicActor->setKinematicTarget(targetPose);
         }
@@ -450,7 +491,7 @@ void PhysXWorldBackend::Step(float fixedDeltaTime) {
         return;
     }
 
-    SyncActorPosesToScene();
+    SyncActorStateToScene();
 
     m_native->scene->simulate(fixedDeltaTime);
     m_native->scene->fetchResults(true);
@@ -515,7 +556,7 @@ bool PhysXWorldBackend::Raycast(
         return false;
     }
 
-    SyncActorPosesToScene();
+    SyncActorStateToScene();
 
     physx::PxRaycastBuffer hitBuffer;
     const physx::PxHitFlags hitFlags = physx::PxHitFlag::ePOSITION | physx::PxHitFlag::eNORMAL;
@@ -570,14 +611,21 @@ size_t PhysXWorldBackend::GetShapeCount() const {
 #endif
 }
 
-void PhysXWorldBackend::SyncActorPosesToScene() {
+void PhysXWorldBackend::SyncActorStateToScene() {
 #if XCENGINE_ENABLE_PHYSX
     if (!m_native) {
         return;
     }
 
+    for (const auto& [_, binding] : m_native->actorsByOwner) {
+        if (BindingNeedsActorRebuild(binding)) {
+            RebuildSceneState();
+            break;
+        }
+    }
+
     for (auto& [_, binding] : m_native->actorsByOwner) {
-        SyncActorBindingPose(binding);
+        SyncActorBindingState(binding);
     }
 #endif
 }

engine/src/Physics/PhysX/PhysXWorldBackend.h

@@ -43,7 +43,7 @@ public:
 
 private:
     void RebuildSceneState(Components::Component* ignoredComponent = nullptr);
-    void SyncActorPosesToScene();
+    void SyncActorStateToScene();
 
     PhysicsWorldCreateInfo m_createInfo = {};
     bool m_initialized = false;