feat(physics): sync runtime physx body state

tests/Physics/test_physics_world.cpp

@@ -280,4 +280,122 @@ TEST(PhysicsWorld_Test, RaycastCanHitTriggerCollider) {
     EXPECT_NEAR(hit.normal.z, -1.0f, 0.02f);
 }
 
+TEST(PhysicsWorld_Test, RuntimeColliderGeometryChangesUpdateRaycast) {
+    using namespace XCEngine::Components;
+
+    Scene scene("PhysicsScene");
+    GameObject* target = scene.CreateGameObject("Target");
+    BoxColliderComponent* boxCollider = target->AddComponent<BoxColliderComponent>();
+    boxCollider->SetSize(XCEngine::Math::Vector3(1.0f, 1.0f, 1.0f));
+
+    XCEngine::Physics::PhysicsWorld world;
+    XCEngine::Physics::PhysicsWorldCreateInfo createInfo = {};
+    createInfo.scene = &scene;
+
+    const bool expectedInitialized = XCEngine::Physics::PhysicsWorld::IsPhysXAvailable();
+    ASSERT_EQ(world.Initialize(createInfo), expectedInitialized);
+
+    XCEngine::Physics::RaycastHit hit;
+    EXPECT_FALSE(world.Raycast(
+        XCEngine::Math::Vector3(0.0f, 1.5f, -5.0f),
+        XCEngine::Math::Vector3::Forward(),
+        10.0f,
+        hit));
+
+    boxCollider->SetSize(XCEngine::Math::Vector3(1.0f, 4.0f, 1.0f));
+
+    const bool result = world.Raycast(
+        XCEngine::Math::Vector3(0.0f, 1.5f, -5.0f),
+        XCEngine::Math::Vector3::Forward(),
+        10.0f,
+        hit);
+
+    if (!expectedInitialized) {
+        EXPECT_FALSE(result);
+        EXPECT_EQ(hit.gameObject, nullptr);
+        return;
+    }
+
+    ASSERT_TRUE(result);
+    EXPECT_EQ(hit.gameObject, target);
+    EXPECT_NEAR(hit.distance, 4.5f, 0.02f);
+}
+
+TEST(PhysicsWorld_Test, RuntimeTriggerFlagChangesUpdateRaycastHit) {
+    using namespace XCEngine::Components;
+
+    Scene scene("PhysicsScene");
+    GameObject* target = scene.CreateGameObject("Target");
+    SphereColliderComponent* sphereCollider = target->AddComponent<SphereColliderComponent>();
+    sphereCollider->SetRadius(1.0f);
+
+    XCEngine::Physics::PhysicsWorld world;
+    XCEngine::Physics::PhysicsWorldCreateInfo createInfo = {};
+    createInfo.scene = &scene;
+
+    const bool expectedInitialized = XCEngine::Physics::PhysicsWorld::IsPhysXAvailable();
+    ASSERT_EQ(world.Initialize(createInfo), expectedInitialized);
+
+    sphereCollider->SetTrigger(true);
+
+    XCEngine::Physics::RaycastHit hit;
+    const bool result = world.Raycast(
+        XCEngine::Math::Vector3(0.0f, 0.0f, -5.0f),
+        XCEngine::Math::Vector3::Forward(),
+        10.0f,
+        hit);
+
+    if (!expectedInitialized) {
+        EXPECT_FALSE(result);
+        EXPECT_EQ(hit.gameObject, nullptr);
+        return;
+    }
+
+    ASSERT_TRUE(result);
+    EXPECT_EQ(hit.gameObject, target);
+    EXPECT_TRUE(hit.isTrigger);
+}
+
+TEST(PhysicsWorld_Test, RuntimeBodyTypeChangesRebuildActorAndEnableSimulation) {
+    using namespace XCEngine::Components;
+
+    if (!XCEngine::Physics::PhysicsWorld::IsPhysXAvailable()) {
+        GTEST_SKIP() << "PhysX backend is not available in this build.";
+    }
+
+    Scene scene("PhysicsScene");
+
+    GameObject* ground = scene.CreateGameObject("Ground");
+    ground->GetTransform()->SetPosition(XCEngine::Math::Vector3(0.0f, -0.5f, 0.0f));
+    BoxColliderComponent* groundCollider = ground->AddComponent<BoxColliderComponent>();
+    groundCollider->SetSize(XCEngine::Math::Vector3(20.0f, 1.0f, 20.0f));
+
+    GameObject* body = scene.CreateGameObject("Body");
+    body->GetTransform()->SetPosition(XCEngine::Math::Vector3(0.0f, 4.0f, 0.0f));
+    RigidbodyComponent* rigidbody = body->AddComponent<RigidbodyComponent>();
+    rigidbody->SetBodyType(XCEngine::Physics::PhysicsBodyType::Static);
+    SphereColliderComponent* sphereCollider = body->AddComponent<SphereColliderComponent>();
+    sphereCollider->SetRadius(0.5f);
+
+    XCEngine::Physics::PhysicsWorld world;
+    XCEngine::Physics::PhysicsWorldCreateInfo createInfo = {};
+    createInfo.scene = &scene;
+    ASSERT_TRUE(world.Initialize(createInfo));
+    ASSERT_EQ(world.GetNativeActorCount(), 2u);
+
+    const float initialY = body->GetTransform()->GetPosition().y;
+    world.Step(1.0f / 60.0f);
+    EXPECT_NEAR(body->GetTransform()->GetPosition().y, initialY, 0.001f);
+
+    rigidbody->SetBodyType(XCEngine::Physics::PhysicsBodyType::Dynamic);
+    world.Step(1.0f / 60.0f);
+    EXPECT_EQ(world.GetNativeActorCount(), 2u);
+
+    for (int index = 0; index < 30; ++index) {
+        world.Step(1.0f / 60.0f);
+    }
+
+    EXPECT_LT(body->GetTransform()->GetPosition().y, initialY - 0.1f);
+}
+
 } // namespace